CN104688392B - Itself complete power source bionic mechanical hand - Google Patents
Itself complete power source bionic mechanical hand Download PDFInfo
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- CN104688392B CN104688392B CN201510071803.0A CN201510071803A CN104688392B CN 104688392 B CN104688392 B CN 104688392B CN 201510071803 A CN201510071803 A CN 201510071803A CN 104688392 B CN104688392 B CN 104688392B
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- Prior art keywords
- knuckle
- wrist
- finger
- gear
- thumb
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Abstract
The invention discloses a kind of itself power source bionic mechanical hand completely, including coupling linkage, cam mechanism and gear mechanism, described coupling linkage includes four first knuckles referred to, second knuckle, third knuckle, the first finger bar, the second finger bar, connecting rod, thumb and folding, first knuckle, second knuckle are connected by latch, second knuckle is connected by the first finger bar with third knuckle, and third knuckle is connected by the second finger bar with connecting rod；It is bolted between the finger joint of thumb, the finger joint of root is connected by folding and bolt with palm.The invention belongs to one kind of complete body-powered upper limb prosthesis, its most of part can greatly reduce its manufacturing cost, also just reduce its market price using 3D printer manufacture.
Description
Technical field
The present invention relates to a kind of bionic mechanical hand, and in particular to a kind of itself power source bionic mechanical hand completely.
Background technology
The possibility for being caused people disabled due to the various unsafe factors in life is still present, and wherein finger incompleteness is given
The life of disabled person brings very big trouble.Society, mesh are taken care of oneself and return in order to which disabled person can realize to greatest extent
Preceding people have worked out a variety of artificial limbs.
Wherein cosmetic arm only focuses on making up the defect of limbs outward appearance, makes outward appearance true to nature, wearing comfort, lightweight
Just, without practicality.Although the function of the compensatory hand of tool-type artificial limb energy, needs the association by another hand during execution
Help.Externally powered prosthesis is then directly or indirectly to provide the activity of power drive artificial limb using electric energy with the function of compensatory hand.Mixing
Type upper extremity prosthesis can also control elbow joint motion, deformed limb myoelectricity in addition to the function with cosmetic value using itself power source
The electromyographic signal control finger opening and closing of electric signal or other muscle, but its cost is high, it is expensive.Body-powered upper limb prosthesis is complete
Entirely using itself strength as power source, the activity of control machinery finger.He can not only compensatory hand function, and can break away from externally
The dependence of boundary's energy.
The content of the invention
In view of the shortcomings of the prior art, the present invention seeks to be to provide a kind of itself power source bionic mechanical completely
Hand, belongs to one kind of complete body-powered upper limb prosthesis, and its most of part can be greatly reduced using 3D printer manufacture
Its manufacturing cost, also just reduces its market price.
To achieve these goals, the present invention is to realize by the following technical solutions：Itself complete bionical machine in power source
Tool hand, including coupling linkage, cam mechanism and gear mechanism, described coupling linkage include four first knuckles referred to, the
Two finger joints, third knuckle, first refer to bar, the second finger bar, connecting rod, thumb and folding, and first knuckle, second knuckle pass through latch
It is connected, second knuckle is connected by the first finger bar with third knuckle, third knuckle is connected by the second finger bar with connecting rod；Thumb
Finger joint between be bolted, the finger joint of root is connected by folding and bolt with palm.
Preferably, described gear mechanism include rack, spring top cap, the first wrist gear, the second wrist gear, set wrist and
Clamping lock, rack two ends are connected with connecting rod, bidentate wheel construction respectively, and bidentate wheel construction is meshed with spring top cap side, spring top
Crown portion is engaged with the camshaft in cam mechanism, and nameless corresponding camshaft is also engaged with the first wrist gear, and first
Wrist gear, the second wrist gear are meshed, and set wrist is connected with palm, and set wrist side is provided with clamping lock.
Preferably, the described palm side relative with thumb, which is provided with baffle plate, baffle plate, is provided with plate.
Preferably, on the inside of described baffle plate, set wrist and thumb intracavitary side and hand sticker near position have elastomeric material.
The present invention controls hand using wrist flex as power by coupling linkage, cam mechanism and pinion and rack
The bending of finger is simultaneously main to realize that all bending and conventional gesture, as main activity form, can be realized and be used as the normal of finger finger
Function.By wrist flex drive gear, so that gear band moving cam axle is moved, cam axle makes spring contraction, sliding tooth
Take turns rack motion.Because camshaft radius of curvature is different, make different spring contractions to control corresponding digital flexion, realize
Finger different gestures.
The invention has the advantages that：
1st, completely using itself strength as power source, the activity of control machinery finger, to realize various gestures.
2nd, the defect of limbs outward appearance is made up, makes wearing comfort, weight light.
3rd, the artificial limb makes up functional defect and prophylactic function is further degenerated, and makes disabled person realize life certainly to greatest extent
Reason and recurrence society.It can not only compensatory hand function, and the dependence of the energy to external world can be broken away from.
4th, the most of part of itself power source manipulator completely can greatly reduce it and be manufactured into using 3D printer manufacture
This, makes its cheap.
Brief description of the drawings
Describe the present invention in detail with reference to the accompanying drawings and detailed description；
Fig. 1 is structural representation of the invention.
Embodiment
In order that objects and advantages of the present invention are more clearly understood, the present invention is carried out with reference to embodiments further
Describe in detail.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to limit this hair
It is bright.
Reference picture 1, present embodiment uses following technical scheme：Itself complete power source bionic mechanical hand, including coupling
Close linkage, cam mechanism and gear mechanism, described coupling linkage includes four first knuckles 1 referred to, second knuckle 2, the
Three finger joints 3, first refer to bar 4, second and refer to bar 5, connecting rod 6, thumb 13 and folding 14, and first knuckle 1, second knuckle 2 are by inserting
Pin 16 is connected, and second knuckle 2 is connected by the first finger bar 4 with third knuckle 3, and third knuckle 3 refers to bar 5 and connecting rod 6 by second
It is connected；It is bolted between the finger joint of thumb 13, the finger joint of root is connected by folding 14 and bolt with palm 18.
Described gear mechanism includes rack 7, spring top cap 8, the first wrist gear 9, the second wrist gear 10, set wrist 11 and card
Lock 12, the two ends of rack 7 are connected with connecting rod 6, bidentate wheel construction respectively, and bidentate wheel construction is meshed with the side of spring top cap 8, spring
The top of top cap 8 is engaged with the camshaft 17 in cam mechanism, and nameless corresponding camshaft also matches with the first wrist gear 9
Close, the first wrist gear 9, the second wrist gear 10 are meshed, set wrist 11 is connected with palm 18, set wrist 11 side is provided with clamping lock 12.
Described palm 18 side relative with thumb is provided with baffle plate 19, baffle plate 19 and is provided with plate 15.
Described baffle plate 19, the inner side of set wrist 11 and thumb intracavitary side and hand sticker near position have elastomeric material.
The wearing mode of present embodiment is：When patient wears the simulation manipulator, the clamping lock of set wrist point is opened,
Then palm is placed on correct position, then fastens clamping lock.Wherein baffle plate, set wrist inner side and thumb intracavitary side and hand sticker are near
Position has elastomeric material (such as sponge), palm and wrist is compressed with bionic mechanical hand, and reduction activity error is prevented simultaneously
Rigid plastics scratch hand, the comfort level that increase patient uses.
Bionic mechanical hand printed material selects ABS plastic, molecular formula：C45H51N3X2
Molecular weight：633.91
Physical property：The terpolymer of acrylonitrile, butadiene and styrene, A represents acrylonitrile, and B represents butadiene, S
Represent styrene.
The characteristics of product has high intensity, low weight.Opaque, outward appearance has concurrently in shallow ivory white, nontoxic, tasteless
Tough, hard, firm characteristic, burning is slow, and flame is in yellow, has plastics softening after black smoke, burning, burns, sends special Chinese cassia tree
Smell, but without melting drip phenomenon.It is a kind of one of conventional engineering plastics.Proportion：1.05 grams/cc, inprocess shrinkage
Rate：0.4-0.7%, forming temperature：200-240 DEG C, drying condition：80-90 DEG C/2 hours.
Chemical characteristic：
(1) preferably, impact strength is higher, and chemical stability, electrical property is good for combination property.
(2) weldability with 372 lucite is good, and two-color plastic is made, and can chrome-faced, spray painting processing.
(3) there are high-impact, high heat-resisting, fire-retardant, enhancing, transparency level other.
(4) mobility is than HIPS almost, better than PMMA, PC etc., and pliability is good.
Advantage：ABS plastic has excellent combination property, have fabulous impact strength, good stability of the dimension, electrical property,
Wearability, chemical proof, dyeability, processing and forming and machining are preferable.ABS resin is water-fast, inorganic salts, alkali and acid
Class, insoluble in most of alcohols and varsol, and is readily soluble in aldehyde, ketone, ester and some chlorohydrocarbons.
Suitable device (3D printer)：ProJetTMSD3500 and HD3500, ProJetTM5000, ProJetTM6000 with
7000, ProJet 1500 and ProJet 1000
The simulation manipulator digital flexion system is by coupling bar mechanism controls.Present design assumes that disabled person lacks five
Finger, is connected using coupling linkage and constitutes the five fingers, and it bends by finger back coupling bar mechanism controls,
The various postures of the artificial limb digital flexion pass through cam mechanism control.The cam of each digital flexion is controlled to pass through curvature
Different gestures are realized in the combination of the high lower part of radius.Under normal state, finger is in straight configuration, now corresponds to cam whole
For it is recessed it is low go out.So that the axle turns clockwise as an example, there is following situation successively afterwards：
1st, the recessed lower of forefinger correspondence camshaft, correspondence simulation manipulator shows the posture of " one "；
2nd, four height for referring to all correspondence camshafts protrude, all bendings；
3rd, little finger correspondence camshaft it is recessed it is low go out, little finger bending, simulation manipulator shows the gesture of " three "；
4th, little finger and the nameless recessed lower for corresponding to camshaft, little finger and nameless bending, simulation manipulator pendulum
Go out " two " or " V " gesture；
5th, the high convex of forefinger correspondence camshaft, other recessed lowers of correspondence, simulation manipulator shows " three " or " OK " gesture.
Whether is the bending of above-mentioned situation cooperation thumb, just can show the gesture of " six " " seven " " eight " " nine " " ten " again.
Gear mechanism sums up the bending for being mainly used in driving finger.Whole manipulator is bent downwardly by wrist to be carried
For power.Its course of work is bent downwardly for wrist, the gear for being fixed on set wrist is meshed with the gear on the back of the hand, so that
Drive cam shaft is rotated.Due to being distributed the profile of different curvature radius in the length of camshaft, therefore in camshaft rotation
When, the big place of cam curvature radius will be moved downward the cap on spring, and band moving gear and rack are moved, so as to transmit
Coupling linkage in power to finger, drives finger motion.
The artificial limb uses gear drive, and transmission is accurate, and stability is high；Meanwhile, the single bending of armrest star passes through gear shaft
Replacing can be achieved various gestures.It controls the bending of finger completely using itself strength as power.Its is simple in construction, and manufacture is held
Easily.Patient is by being familiar with using and taking exercise for artificial limb, and the functional defect and prophylactic function that can make up hand are further degenerated, and are made residual
Disease people realizes to greatest extent takes care of oneself and returns society.It can not only compensatory hand function, and can break away from externally
The dependence of boundary's energy.In addition, the manufacture of its most of part can be using 3D printer manufacture, cost is low, cheap.Due to
Its is simple in construction, therefore maintenance is also easier.
Present embodiment is used as a kind of complete body-powered upper limb prosthesis, it is adaptable to unfortunately lacked in different accidents
The crowd of different fingers, according to oneself needs, disassembles unwanted some mechanical finger.It is using itself strength completely
Power, not by directly or indirectly being constrained by power of electricity, it is easy to control, can realize the conventional gesture of life, capture thing, compensatory
The function of hand, solves the problems, such as to lose the normal routine of the disabled person of finger；Communication exchange is can also be used for, such as shows 1 and arrives
10 numeral, OK and the gesture of triumph.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (2)
1. itself complete power source bionic mechanical hand, it is characterised in that including coupling linkage, cam mechanism and gear mechanism, institute
The coupling linkage stated includes four first knuckles (1) referred to, second knuckle (2), third knuckle (3), the first finger bar (4), second
Refer to bar (5), connecting rod (6), thumb (13) and folding (14), first knuckle (1), second knuckle (2) are connected by latch (16),
Second knuckle (2) is connected by the first finger bar (4) with third knuckle (3), and third knuckle (3) refers to bar (5) and connecting rod by second
(6) it is connected；It is bolted between the finger joint of thumb (13), the finger joint of root passes through folding (14) and bolt and palm
(18) connect, described gear mechanism include rack (7), spring top cap (8), the first wrist gear (9), the second wrist gear (10),
Wrist (11) and clamping lock (12) are covered, rack (7) two ends are connected with connecting rod (6), bidentate wheel construction respectively, bidentate wheel construction and spring top
Cap (8) side is meshed, and is engaged at the top of spring top cap (8) with the camshaft (17) in cam mechanism, the length of camshaft (17)
The profile of different curvature radius is distributed on degree, nameless corresponding camshaft is also engaged with the first wrist gear (9), the first wrist tooth
Wheel (9), the second wrist gear (10) are meshed, and set wrist (11) is connected with palm (18), and set wrist (11) side is provided with clamping lock (12).
2. itself power source bionic mechanical hand completely according to claim 1, it is characterised in that described palm (18) with it is big
The relative side of thumb, which is provided with baffle plate (19), baffle plate (19), is provided with plate (15), on the inside of baffle plate (19), set wrist (11) and
Has elastomeric material with hand sticker near position in thumb intracavitary side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510071803.0A CN104688392B (en) | 2015-02-07 | 2015-02-07 | Itself complete power source bionic mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510071803.0A CN104688392B (en) | 2015-02-07 | 2015-02-07 | Itself complete power source bionic mechanical hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104688392A CN104688392A (en) | 2015-06-10 |
| CN104688392B true CN104688392B (en) | 2017-09-22 |
Family
ID=53336238
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510071803.0A Expired - Fee Related CN104688392B (en) | 2015-02-07 | 2015-02-07 | Itself complete power source bionic mechanical hand |
Country Status (1)
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106726027B (en) * | 2016-02-24 | 2019-01-22 | 吉林大学 | A kind of drive lacking prosthetic hand |
| CN106974749A (en) * | 2017-04-25 | 2017-07-25 | 北京展翼计划科技发展有限公司 | Bionical prosthetic hand and device based on 3D printing |
| RU176303U1 (en) * | 2017-07-11 | 2018-01-16 | Станислав Александрович Муравьёв | BIONIC HAND BRUSHES |
| CN111194254B (en) * | 2017-12-11 | 2023-03-31 | 何思杰 | Drive assembly for moving a body part |
| CN108210270B (en) * | 2018-01-15 | 2020-05-08 | 哈尔滨工程大学 | Bionic human hand breast massage device |
| CN108371575A (en) * | 2018-01-23 | 2018-08-07 | 莆田学院 | A kind of severed finger auxiliary grip and knocking device |
| CN112494186A (en) * | 2020-10-21 | 2021-03-16 | 南昌大学 | Mechanical auxiliary grabbing device for thumb missing crowd |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB125318A (en) * | 1918-02-25 | 1919-04-17 | Otto Legrand Dilworth | Improvements in Artificial Hands. |
| DE102005061313A1 (en) * | 2005-12-20 | 2007-08-16 | Otto Bock Healthcare Ip Gmbh & Co. Kg | hand prosthesis |
| KR100968343B1 (en) * | 2008-08-06 | 2010-07-08 | 경북대학교 산학협력단 | Myoelectric hand with new adaptive grasping and self-locking mechanism |
| CN101524297B (en) * | 2009-03-20 | 2010-12-29 | 武汉大学 | Exoskeleton manipulator and use method |
| CN101879101B (en) * | 2010-08-19 | 2012-08-15 | 上海理工大学 | Bionic mechanical prosthetic hand driven by wrist joint |
| CN202199717U (en) * | 2011-08-25 | 2012-04-25 | 杭州震远电器有限公司 | Bush chain manipulator |
| US8951303B2 (en) * | 2012-06-11 | 2015-02-10 | Ut-Battelle, Llc | Freeform fluidics |
| CN103213137B (en) * | 2013-04-16 | 2016-05-25 | 清华大学 | The quick grabbed under-actuated robot hand of cam-type |
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2015
- 2015-02-07 CN CN201510071803.0A patent/CN104688392B/en not_active Expired - Fee Related
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| CN104688392A (en) | 2015-06-10 |
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Granted publication date: 20170922 |