CN106038007A - Bionic artificial hand - Google Patents
Bionic artificial hand Download PDFInfo
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- CN106038007A CN106038007A CN201610520941.7A CN201610520941A CN106038007A CN 106038007 A CN106038007 A CN 106038007A CN 201610520941 A CN201610520941 A CN 201610520941A CN 106038007 A CN106038007 A CN 106038007A
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- finger
- assembly
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- rope
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
- A61F2/586—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2002/701—Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors
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- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Biomedical Technology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Cardiology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Prostheses (AREA)
Abstract
The invention provides a bionic artificial hand. The bionic artificial hand comprises a palm part, a finger part, and a thumb-index web part, the finger part includes a forefinger assembly, a middle finger assembly, a ring finger assembly, a little finger assembly, and a thumb assembly, wherein the forefinger assembly, the middle finger assembly, the ring finger assembly, and the little finger assembly are respectively connected to the upper end of the palm part in a detachable manner, the thumb-index web part is vertically and rotatably connected to the inside of the palm part, and the thumb assembly is detachably connected to the thumb-index web part. According to the bionic artificial hand, the thumb assembly can internally or externally rotate, and the forefinger assembly, the middle finger assembly, the ring finger assembly, the little finger assembly and the thumb assembly can be stretched or bent. The bionic artificial hand is light in weight and convenient for long time wearing and use for patients.
Description
Technical field
The present invention is related to a kind of prosthetic hand, more particularly to the bionical prosthetic hand in a kind of rehabilitation medical instrument field.
Background technology
Myoelectric limb hands can replace the limbs of incompleteness, can provide just for the daily life of upper deficiency of skeletal limb people with disability patient
Profit, is one of the important research direction in current rehabilitation engineering field.
Safe ratio in existing product controls myoelectric limb hands and only has these three fingers of thumb, forefinger and middle finger, and it is only
Hands can be realized open or close the action of this single-mode and complete to capture；It addition, safe ratio controls myoelectric limb hands
The integrated structure of finger, it is impossible to realize based on multiarticulate coupled motions.Therefore, this product practicality in daily life
Property is the highest.
Existing product also has the prosthetic hand of five fingers, in addition to nameless and little finger of toe carry out coupled motions, can be single
Solely control every finger motion, it is achieved more hand motion；And four fingers in addition to thumb possess in addition to far referring to joint joint
The feature of two articular couple motion.But, the metacarpal bone carpal joint of the thumb of this kind of prosthetic hand does not possess independent degree, because of
The spinning movement of this thumb inward turning or outward turning needs the most manually to assist rotation；Although it addition, it achieves in outward appearance, action
Bionic Design, but cause bigger burden because of heavier-weight (weigh more than 500g) to patient, be not suitable for wearing for a long time.
At present, although existing multi-freedom degree muscle-electric prosthetic hand give each joint give degree of freedom realize single finger and
The self-movement in joint, actionable quantity is many, but owing to number of motors is numerous, causes control system complicated, and maintenance cost is high；
Further, since heavier-weight, directly result in and problems such as aching, tired easily occurs after patient wears for a long time, thus cannot grow
Time wears and uses.Therefore, this kind of prosthetic hand is not only had a greatly reduced quality in practicality, and in place of most critical be price not
Luxuriant and rich with fragrance, it is difficult to be accepted towards general patient by general family.
Secondly, myoelectric limb hands on the market uses metal material in configuration aspects due to main part, not only makes weight
Increasing, and joint vice division chief uses the traditional transmission modes such as gear, and multistage engagement makes transmission efficiency poor, the moment of torsion of motor obtains
Play the most to the limit, finally cause and need to use high pulling torque output motor expensive, that volume is bigger to make up.
But such remedial measure improves cost on the contrary, additionally increases weight.
It addition, the myoelectric limb hands both deposited is the most barely satisfactory on Grasping skill, not only when grasping body due to other
The interference of finger and cause the user assisted movement by upper limb of having to convert and regulate and suitably capture posture, and
When grasping object, make containing certain cladding power and the viscous-elastic behaviour of frictional force to capture object owing to referring to that fu jie structure does not possess
Stability inadequate.Further, when finger is by lateral (being parallel to palm plane) External Force Acting, because being not provided with load protection
Structure and make finger-joint be susceptible to damage, and the practicality of whole prosthetic hand is had a greatly reduced quality, and this is also direct
Myoelectric limb manual dexterity is not enough to cause user to be thought, the big reason that practicality is the highest.
Furthermore, owing to existing myoelectric limb hands profile is the most bionical, when patient wears use prosthetic hand in public
Easily cause the attention of surrounding population, making wearer produce conflict psychology, so that reducing by wish, causing it would rather use nothing
The cosmetic limb hands of any holding function, also resists the myoelectric limb hands using profile the most bionical.
Summary of the invention
It is an object of the invention to provide a kind of bionical prosthetic hand, its thumb assembly can inward turning or outward turning, and forefinger assembly,
Middle finger assembly, nameless assembly, little finger assembly and thumb assembly are capable of stretching or flexing action, this bionical prosthetic hand weight
Gently, profile bionical, facilitate patient wear for a long time and use.
The above-mentioned purpose of the present invention can use following technical proposal to realize:
The present invention provides a kind of bionical prosthetic hand, described bionical prosthetic hand to include:
Palm component；
Finger parts, it has forefinger assembly, middle finger assembly, nameless assembly, little finger assembly and thumb assembly, described food
Finger assembly, described middle finger assembly, described nameless assembly and described little finger assembly are connected to described palmar hand the most opening or closing
The upper end of part；
Tiger's jaw parts, it can vertically be rotationally connected with the inner side of described palm component, and described thumb assembly is opening or closing
It is connected to described tiger's jaw parts.
In a preferred embodiment, finger actuation motor it is provided with in described palm component, on described finger actuation motor
Connect and have rotary shaft, described rotary shaft is provided with multiple annular groove, described forefinger assembly, described middle finger group along its axial direction
Part, described nameless assembly, described little finger assembly and described thumb assembly are respectively by tendon of index finger rope, tendon of middle finger rope, the third finger
Tendon rope, tendon of little finger rope and tendon of thumb rope are connected in multiple annular grooves of described rotary shaft.
In a preferred embodiment, the described nameless length of tendon rope, the length of described tendon of little finger rope are all higher than described
The length of tendon of index finger rope and the length of described tendon of middle finger rope.
In a preferred embodiment, cavity, described finger actuation motor and described rotation it are provided with in described palm component
Axle is respectively positioned in described cavity, and described cavity is externally provided with protective cover plate.
In a preferred embodiment, described palm component is provided with thumb drives motor, and described tiger's jaw parts are connected to
The rotating shaft of described thumb drives motor, one end of described thumb assembly is articulated in described tiger's jaw parts.
In a preferred embodiment, described thumb assembly connecting and has tiger's jaw slide plate, described tiger's jaw slide plate is slidably
Being plugged in described tiger's jaw parts, described tiger's jaw slide plate is provided with chute, and described tiger's jaw parts are provided with spacing plug, described limit
Position plug is located in described chute.
In a preferred embodiment, described forefinger assembly, described middle finger assembly, described nameless assembly, described little finger of toe
Being respectively arranged with elastic webbing at the finger back of the body of assembly and described thumb assembly, described elastic webbing is connected to described palm component.
In a preferred embodiment, described forefinger assembly, described middle finger assembly, described nameless assembly and described little finger of toe
The structure of assembly is the most identical, and it is closely referred to joint joint piece, middle finger joint joint piece by be sequentially connected and far referred to joint joint piece group respectively
Becoming, described near finger saves joint piece by described tendon of index finger rope, described tendon of middle finger rope, described nameless tendon rope or described tendon of little finger rope
Be connected to described rotary shaft, described middle finger joint joint piece be rotatably connected at described near refer to joint joint piece upper end, described far
Refer to that joint joint piece is connected to the upper end of described middle finger joint joint piece.
In a preferred embodiment, being provided with elastic component in described nearly finger joint joint piece, one end of described elastic component is passed through
Upper tendon rope is connected to described middle finger joint joint piece, and the other end of described elastic component is connected to described palm component by lower tendon rope.
In a preferred embodiment, described remote finger joint joint piece is shaped in described middle finger joint joint piece；Or, institute
State and far refer to that joint joint piece is fixedly connected on described middle finger joint joint piece by multiple plugs.
In a preferred embodiment, described thumb assembly includes the metacarpal bone wrist joints being sequentially connected, closely refers to save joint
Part and far finger joint joint piece, described metacarpal bone wrist joints is connected to described rotary shaft, described nearly finger by described tendon of thumb rope
Joint joint piece is connected to described metacarpal bone wrist joints by plug, and described remote finger joint joint piece is connected to described nearly finger by plug
Joint joint piece.
In a preferred embodiment, described remote finger joint joint piece includes joint piece skeleton body and is connected to described joint
Finger fu jie structure on part skeleton body.
In a preferred embodiment, described finger fu jie structure is become by 3D printer one with described joint piece skeleton body
Type；Or, described finger fu jie structure is connected to described joint piece skeleton body by bonding or mosaic mode.
Feature and the advantage of the bionical prosthetic hand of the present invention be:
One, the present invention devises one and only uses two micro-machines (that is, finger actuation motor and thumb drives motor)
As driving, drive thumb assembly, forefinger assembly, middle finger assembly, nameless assembly and these five fingers of little finger assembly respectively
Stretching, extension or flexing action, and the inward turning of the metacarpal bone wrist joints of thumb assembly or outward turning action.That is, the present invention is by even
Be connected on tiger's jaw parts drive the thumb drives motor of thumb inward turning or outward turning to drive thumb assembly inward turning or outward turning so that
Thumb assembly can rotate to form the parallel or different spatial of opposition with other four finger assemblies vertically；And pass through
The rotary shaft of finger actuation motor drives five finger assembly flexings or stretching, extension simultaneously.Thus realize thumb assembly with other four
Finger assembly has coordinated the grip of various form to capture, precision captures and side captures these three in normal person's daily life
Shared ratio is up to the main grasp mode of 85%.
Two, the present invention drives five finger assemblies to stretch or flexing by the rotary shaft of finger actuation motor simultaneously, passes through
The path of the different tendon rope pipelines being arranged in palm component, so that coupling is located in different length in different tendon rope pipeline
Tendon rope realize the isolated movement of finger assembly.The i.e. present invention derives again nameless assembly and the segregation lag of little finger assembly
Motion, makes nameless assembly and little finger assembly be designed as producing delay relative to forefinger assembly and middle finger assembly from structure and bends
Song, touches or interference problem being prevented effectively from false touch.So just make when precision captures, it is to avoid nameless assembly and little finger of toe
The phenomenon that assembly occurs misoperation maybe cannot capture prior to forefinger assembly and middle finger component touch object, improves crawl energy
Power.
Three, the present invention according to the different length of every finger assembly calculate and have matched stiffness factor the most be suitable for five
Elastic webbing, each elastic webbing is separately positioned on the finger back portion of each finger assembly.That is, as passively replying power source, be arranged on
Elastic webbing at the finger back of the body of five finger assemblies pulls on each finger assembly and realizes stretching.It is embodied in, when finger drives
Dynamic driven by motor rotary shaft reversion, while loosening each finger assembly tendon rope of traction, each finger assembly will refer at the back of the body each due to it
The resilience force of elastic webbing and return to the state that the five fingers open, thus realize the stretching of each finger assembly.
Four, the finger fu jie structure of the flexibility far referring to joint joint piece of the present invention can be beaten by 3D with the joint piece skeleton body of rigidity
Print machine is one-body molded, to remove installation or the bonding operation increase caused and cost raising from；Or, flexible finger fu jie structure is also
Joint piece skeleton body can be connected to by bonding or mosaic mode.This refers to that fu jie structure is the soft of use flexible rubber-like materials composition
Property structure, with this improve finger assembly capture object time contact area and strengthen surface friction property, promote capture thing
Cladding power during product and skin-friction force, to be greatly improved the stability grasping object.
Five, about without friction structure part, such as: quote " it addition, closely refer to joint joint piece with in the revolution of palm component
The heart and middle finger joint joint piece save the centre of gyration of joint piece with closely finger, are single-revolution line, owing to being edge at those joint pieces
The respective centre of gyration formed with other joints constitute construct without fricative linear contact lay, stopped traditional articulation pair by
When mutual face contact causes in motion, produce rubbing action and weaken the situation of finger power output.This nothing of the present invention
The linear contact lay structure of friction can be by the maximized output of power output efficiency of finger actuation motor to each finger assembly.”
Or " mode being connected with joint employing axle in joint compared to existing prosthetic hand, will certainly contact with each other between face at it
Produce frictional force thus reduce the delivery efficiency of power.Non-axle is used to connect between each joint piece of each finger assembly of the present invention,
I.e. linear contact lay mode, therefore frictional force is zero, it is to avoid finger actuation motor exports the internal loss caused.”
Accompanying drawing explanation
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, in embodiment being described below required for make
Accompanying drawing be briefly described, it should be apparent that, below describe in accompanying drawing be only some embodiments of the present invention, for
From the point of view of those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other according to these accompanying drawings
Accompanying drawing.
Fig. 1 is the front view of the bionical prosthetic hand of the present invention.
Fig. 2 is the rearview of the bionical prosthetic hand of the present invention.
Fig. 3 is the structural representation of the palm component of the bionical prosthetic hand of the present invention.
Fig. 4 is the structural representation of the thumb assembly of the bionical prosthetic hand of the present invention.
Fig. 5 is the structural representation one of the forefinger assembly of the bionical prosthetic hand of the present invention.
Fig. 6 is the structural representation two of the forefinger assembly of the bionical prosthetic hand of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Describe, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments wholely.Based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of protection of the invention.
As depicted in figs. 1 and 2, the present invention provides a kind of bionical prosthetic hand, and it includes palm component 1, finger parts 2 and tiger
Mouthpiece 3, wherein: finger parts 2 have forefinger assembly 21, middle finger assembly 22, nameless assembly 23, little finger assembly 24 and thumb
Assembly 25, described forefinger assembly 21, described middle finger assembly 22, described nameless assembly 23 and described little finger assembly 24 can be opened respectively
It is connected to the upper end of described palm component 1 with closing；Tiger's jaw parts 3 can vertically be rotationally connected with the inner side of described palm component 1,
Described thumb assembly 25 is connected to described tiger's jaw parts 3 opening or closing.
Specifically, palm component 1 is the parts that a contour structures is similar to human hand shape, in the present invention, and this palm component 1
Global shape carried out Bionic Design according to average-size and the size of the adult female right hand；This palm component 1 is in its both sides
And it is both designed as fillet surface moulding close to the structure at wrist, to simulate the outer shape of staff more realistically.In this reality
Executing in example, the lower end of this palm component 1 (that is, this palm component 1 be connected with wrist end) is connected to have and can extend wrist
The connecting shaft 11 in joint, facilitates later stage extension wrist function or uses directly as fixing connection end.
Finger parts 2 are by forefinger assembly 21, middle finger assembly 22, nameless assembly 23, little finger assembly 24 and thumb assembly 25
Composition, wherein, forefinger assembly 21, middle finger assembly 22, nameless assembly 23 and little finger assembly 24 are connected to palm component 1
Upper end.In the present invention, the position angle that this forefinger assembly 21, middle finger assembly 22 are positioned on palm component 1 is fit to precision and grabs
The position of spatial conjugate analytical Calculation when taking；And third finger assembly 23, little finger assembly 24 are positioned at the position angle on palm component 1
Degree then meets the irregular cambered surface distribution of staff.In the present embodiment, as it is shown on figure 3, be provided with finger actuation electricity in palm component 1
Machine 4, this finger actuation motor 4 connects and has rotary shaft 41, and this rotary shaft 41 is by multiple plugs 42 and finger actuation motor 4
Rotating shaft is connected；It is provided with sliding bearing 43 in the outside of palm component 1, in this sliding bearing 43, is equipped with central shaft 44, turn
Moving axis 41 will be positioned by sliding bearing 43 and central shaft 44 and be supported.It is interval with along its axial direction in this rotary shaft 41
Multiple annular grooves 411, this forefinger assembly 21, middle finger assembly 22, nameless assembly 23, little finger assembly 24 and thumb assembly 25 points
Tong Guo tendon of index finger rope 211, tendon of middle finger rope 221, nameless tendon rope 231, tendon of little finger rope 241 and tendon of thumb rope 251 not be connected to turn
In multiple annular grooves 411 of moving axis 41, thus this finger actuation motor 4 can pass through above tendon rope (that is, tendon of index finger rope 211,
Tendon of middle finger rope 221, nameless tendon rope 231, tendon of little finger rope 241 and tendon of thumb rope 251) drive each finger assembly (that is, forefinger
Assembly 21, middle finger assembly 22, nameless assembly 23, little finger assembly 24 and thumb assembly 25) flexing that jointly completes the five fingers moves
Make (that is, closed action).So, when finger actuation motor 4 drives rotary shaft 41 to rotate forward, five tendon ropes just can be driven to drive
Five finger assemblies realize closed action；And finger actuation motor 4 is when driving rotary shaft 41 to invert, be equivalent to put five tendon ropes
Pine, prepares for realizing the expansion action of five finger assemblies.
In the present embodiment, as it is shown on figure 3, be provided with five cabling pipelines in palm component 1, these five cabling pipelines include
Tendon of index finger rope pipeline 12, tendon of middle finger rope pipeline 13, nameless tendon rope pipeline 14, tendon of little finger rope pipeline 15 and tendon of thumb rope pipeline
16, wherein, tendon of index finger rope 211 is located in tendon of index finger rope pipeline 12, and tendon of middle finger rope 221 is located in tendon of middle finger rope pipeline 13,
Nameless tendon rope 231 is located in nameless tendon rope pipeline 14, and tendon of little finger rope 241 is located in tendon of little finger rope pipeline 15, thumb
Tendon rope 251 is located in tendon of thumb rope pipeline 16.Further, cavity 17, above-mentioned five cabling pipelines it are provided with in this palm component 1
Being connected with cavity 17 respectively, this cavity 17 is located at the top of palm component 1, finger actuation motor 4 and rotary shaft 41 and is respectively positioned on
In this cavity 17.In the present embodiment, as in figure 2 it is shown, this cavity 17 is externally provided with a protective cover plate 18.Due to tendon of index finger rope 211,
Tendon of middle finger rope 221, nameless tendon rope 231, tendon of little finger rope 241 and tendon of thumb rope 251 are to drive forefinger assembly 21, middle finger assembly
22, nameless assembly 23, little finger assembly 24 and the accurate core running part of thumb assembly 25, and need imitative in view of profile
Life is simulated the actual form of staff and is no longer additionally increased unnecessary spatial volume, it is therefore desirable to by arranging built-in cavity
17 place above-mentioned running part and protective cover plate 18 carries out protective treatment that is dust-proof and that avoid abnormal contact to it.
Consider when precision captures, if forefinger assembly 21, middle finger assembly 22, nameless assembly 23 and little finger assembly 24
These four finger assemblies are simultaneously with identical angular velocity flexing, then nameless assembly 23, little finger assembly 24 are susceptible to elder generation
Contact crawl object in other three finger assemblies (that is, forefinger assembly 21, middle finger assembly 22 and thumb assembly 25) and lead
Cause false touch to touch or the problem such as interference, such as, when capturing the small size object being positioned in plane, generally require thumb assembly
25, forefinger assembly 21 and middle finger assembly 22 cooperatively form the accurate kneading of three point contact, and now nameless assembly 23 and little finger of toe
If assembly 24 is with identical speed flexing and then contact plane simultaneously, this bionical prosthetic hand can be caused cannot to realize three finger groups
3 accurate kneading action of part, so that accurate grasping movement can not realize well or capture failure.
Therefore, in an embodiment of the invention, by the nameless length of tendon rope 231, the length of tendon of little finger rope 241
It is both designed as the length more than tendon of index finger rope 211 and the length of tendon of middle finger rope 221.
Specifically, the length of above-mentioned nameless tendon rope 231 refers to that this third finger tendon rope 231 is connected from nameless assembly 23
The one end connect is to the physical length being connected between one end of rotary shaft 41, and the length of this tendon of little finger rope 241 refers to this tendon of little finger
Rope 241 from one end of being connected with little finger assembly 24 to the physical length being connected between one end of rotary shaft 41, this tendon of index finger
The length of rope 211 refer to this tendon of index finger rope 211 from the one end being connected with forefinger assembly 21 to the one end being connected to rotary shaft 41
Between physical length, the length of this tendon of middle finger rope 221 refers to that this tendon of middle finger rope 221 is from the one end being connected with middle finger assembly 22
To the physical length being connected between one end of rotary shaft 41.Because of tendon of index finger rope 211, tendon of middle finger rope 221, nameless tendon rope 231
It is located in respectively with tendon of little finger rope 241 and is positioned at the tendon of index finger rope pipeline 12 of palm component 1, tendon of middle finger rope pipeline 13, the third finger
In tendon rope pipeline 14, tendon of little finger rope pipeline 15, therefore the present invention is by the nameless length of tendon rope 231, the length of tendon of little finger rope 241
It is both designed as the length more than tendon of index finger rope 211 and the length of tendon of middle finger rope 221, namely by the length of nameless tendon rope pipeline 14
The length of degree and tendon of little finger rope pipeline 15 is both designed as the length more than tendon of index finger rope pipeline 12 and the length of tendon of middle finger rope pipeline 13
Degree.
The path of the present invention different tendon rope pipelines by being arranged in palm component 1, so that coupling is located in not
Realize the isolated movement of each finger assembly with the different tendon rope length in tendon rope pipeline, make nameless assembly 23 and little finger assembly
The curvature movement of 24 is slow in forefinger assembly 21 with the curvature movement of middle finger assembly 22；By such mode, thumb assembly 25,
Forefinger assembly 21 and middle finger assembly 22 will be faster than nameless assembly 23 and little finger assembly 24 reaches formation three before same flexion angle
The accurate kneading action of point, thus avoid above-mentioned carried false touch to touch or interference problem.
In one embodiment of this invention, as shown in figures 1 and 3, this palm component 1 is additionally provided with thumb drives motor 5,
Tiger's jaw parts 3 are connected to the rotating shaft 51 of thumb drives motor 5, and one end of thumb assembly 25 is articulated in this tiger's jaw parts 3.
In the present embodiment, please refer to shown in Fig. 4, this thumb assembly 25 includes the metacarpal bone wrist joints being sequentially connected
252, closely referring to joint joint piece 253 and far refer to joint joint piece 254, metacarpal bone wrist joints 252 is connected to hands by tendon of thumb rope 251
Refer to drive the rotary shaft 41 of motor 4, closely refer to that joint joint piece 253 is connected to metacarpal bone wrist joints 252 by plug 255, far refer to joint
Joint piece 254 is connected to closely refer to save joint piece 253 by plug (not shown).
This metacarpal bone wrist joints 252 has pivot end 2521, this thumb assembly 25 pivot joint by metacarpal bone wrist joints 252
The opposite sides that end 2521 is articulated in tiger's jaw parts 3 so that this thumb assembly 25 can relatively tiger's jaw parts 3 realize flexing or
Stretching.Further, the metacarpal bone wrist joints 252 of this thumb assembly 25 connects and has tiger's jaw slide plate 256, this tiger's jaw slide plate
256 are plugged in tiger's jaw parts 3 slidably, and tiger's jaw slide plate 256 is provided with chute 2561, and tiger's jaw parts 3 are provided with spacing inserting
Bolt 31, this spacing plug 31 is fixed on tiger's jaw parts 3 through chute 2561.When tiger's jaw slide plate 256 is existed by tendon of thumb rope 251
When sliding in tiger's jaw parts 3, namely when thumb assembly 25 realizes flexing or stretching, this chute 2561 is relative to spacing plug
31 reciprocatingly slide, thus limit the tiger's jaw slide plate 256 maximum limit position in tiger's jaw parts 3, with the palm to thumb assembly 25
Angle when bone wrist joints 252 occurs flexing or stretches carries out spacing, to prevent metacarpal bone wrist joints 252 in the process slided
The middle situation departing from tiger's jaw parts 3 occurs, and can reach to eliminate angular error and thumb assembly 25 in extension limit position
Increase the purpose of intensity.
Use one end to fix one end floating location between the tiger's jaw parts 3 of the present invention and thumb drives motor 5 to be connected.Tool
For body, this thumb drives motor 5 is arranged on the middle and lower part, inner side of palm component 1, the upper end of these tiger's jaw parts 3 and thumb drives
The rotating shaft 51 of motor 5 is fixing to be connected；The other end of tiger's jaw parts 3 is provided with connecting hole 32, the connecting hole 32 side by matched in clearance
Formula is connected to the short axle 10 of palm component lower end to form a revolute pair.When the rotating shaft 51 of thumb drives motor 5 is with rotating with it
Time, drive thumb assembly 25 to realize inward turning or outward turning action by driving connected tiger's jaw parts 3；And this one
The connected mode floated in the fixing one end of end had not only ensured that thumb assembly 25 inward turning or the smooth and easy of outward turning action provided freely but also for it
Rigid support.
The present invention drives thumb assembly 25 inward turning by the tiger's jaw parts 3 being connected in the rotating shaft 51 of thumb drives motor 5
Or outward turning, so that thumb assembly 25 can rotate to or the different spatial of opposition parallel with remaining four finger；Also by finger
The rotary shaft 41 driving motor 4 drive five finger assemblies (that is, forefinger assembly 21, middle finger assembly 22, nameless assembly 23,
Little finger assembly 24 and thumb assembly 25) realize flexing or stretching, extension.The inward turning of thumb assembly 25 or outward turning and five finger assemblies
Cooperation is completed the grip crawl of various form by flexing or stretching, extension, precision captures and side crawl these three grasp mode, and this
Plant polymorphic grasping movement shared ratio in normal person's daily life and be up to 85%.
According to an embodiment of the invention, this forefinger assembly 21, middle finger assembly 22, nameless assembly 23 and little finger of toe group
The structure of part 24 is the most identical, and it is closely referred to joint joint piece 61, middle finger joint joint piece 62 by be sequentially connected and far referred to joint joint respectively
Part 63 forms, and this closely refers to save joint piece 61 by tendon of index finger rope 211, tendon of middle finger rope 221, nameless tendon rope 231 or tendon of little finger rope
241 are connected to rotary shaft 41, and middle finger joint joint piece 62 is rotatably connected at the upper end closely referring to joint joint piece 61, far refers to joint joint
Part 63 is connected to the upper end of middle finger joint joint piece 62.
Specifically, close except finger due to this forefinger assembly 21, middle finger assembly 22, nameless assembly 23 and little finger assembly 24
Beyond joint length difference, the most consistent, as a example by forefinger assembly 21, the most only carry out structure explanation.Such as Fig. 5
Shown in Fig. 6, this forefinger assembly 21 is by closely referring to joint joint piece 61, middle finger joint joint piece 62 and far referring to joint this three part of joint piece 63
Composition.The drive mechanism of this forefinger assembly 21 is to drive tendon of index finger rope by the finger actuation motor 4 being arranged in palm component 1
211 drive closely finger joint joint piece 61 action, and wherein tendon of index finger rope pipeline 12 and finger actuation are passed through in one end of tendon of index finger rope 211
The rotary shaft 41 of motor 4 is connected, and its other end is fixed on the inside closely referring to joint joint piece 61 by cable hole 611；Drive at finger
The rotary shaft 41 of galvanic electricity machine 4 drives while closely referring to that joint joint piece 61 rotates, and the second tendon of index finger rope 212 can be driven to rotate,
Wherein, the second tendon of index finger rope 212 is fixed for two ends, and it is internal that middle finger joint joint piece 62 is fixed on by cable hole 621 in its one end, its
The other end is fixed on palm component 1 through closely finger joint joint piece 61 by cable hole 612.
When finger actuation motor 4 drives tendon of index finger rope 211 to rotate, tendon of index finger rope 211 and the second tendon of index finger rope 212
Composition linkage can make closely to refer to save joint piece 61, middle finger joint joint piece 62 produces flexing simultaneously, and owing to tendon rope drive is permissible
Realize natural to object, anthropomorphic grasping movement.Far refer to that saving joint piece 63 is then fixed on middle finger joint joint piece by plug 631
At 62, both can realize personalized customization, simultaneously the most quick detachable easy care.
It addition, in the present invention, closely referring to be provided with inside joint joint piece 61 cavity 613, cavity 613 is interior can be provided with elasticity
Part 614, in the present embodiment, is symmetrically provided with two elastic components 614 in cavity 613, this elastic component 614 can be such as
Spring, only illustrates at this as a example by the elastic component 614 being positioned at cavity 613 right side.As it is shown in figure 5, this elastic component 614
One end is fixed on middle finger joint joint piece 62 by upper tendon rope by cable hole 615, and the other end of this elastic component 614 is led to by lower tendon rope
Crossing cable hole 616 and be fixed on palm component 1, on this, tendon rope and lower tendon rope are fixed length.So bear side at forefinger assembly 21
When (being parallel to the plane of palm component 1) bigger external force, elastic component 614 will deform upon, and thus elastic component 614 is possible not only to
The effect that flexibility is dodged is played, it is also possible to transmit the force to closely refer to save joint piece 61 and the two of middle finger joint joint piece 62 as damping
Individual fixing end to weaken impulsive force, it is achieved thereby that non-damageable can the load protection of the passive forefinger assembly 21 of lateral displacement
Structure, is greatly improved the safety of bionical prosthetic hand.
In addition, in the present invention, closely refer to joint joint piece 61 two ends be respectively formed with in inclined-plane 617 and lower in
Inclined-plane 618, is formed with lower interior inclined-plane 622 at middle finger joint joint piece 62 with one end that closely finger joint joint piece 61 is connected, interior on this
Inclined-plane 617, lower interior inclined-plane 618 and the setting on lower interior inclined-plane 622, it is ensured that closely refer to joint joint piece 61 palm opposite parts 1 and
Middle finger joint joint piece 62 relative proximity refers to save the angle of bend of joint piece 61；It addition, closely refer to returning of joint joint piece 61 and palm component 1
The centre of gyration turning center and middle finger joint joint piece 62 and closely refer to joint joint piece 61, is single-revolution line, at those joint pieces
Owing to being to be formed to constitute with other joints along the respective centre of gyration to construct without fricative linear contact lay, stop traditional joint
Revolute pair weakens the situation of finger power output owing to mutual face contact causes producing rubbing action when motion.The present invention
This friction free linear contact lay structure can be by the maximized output of power output efficiency of finger actuation motor 4 to each finger
On assembly.
It addition, in one embodiment of this invention, this far refers to that saving joint piece 63 can be integrally formed at middle finger joint joint piece 62；
Or, in other examples, this far refers to that saving joint piece 63 can be fixedly connected on middle finger joint joint piece by multiple plugs 631
62, the most not only install and become the easiest, and if it occur that can be replaced this with direct convenience after situation about damaging
Far refer to that joint joint piece 63 is so that later maintenance；It addition, forefinger assembly 21 is divided into 3 parts (that is, closely refer to joint joint piece 61,
Middle finger joint joint piece 62 and far refer to save joint piece 63) the main advantage that constitutes is can be according to each patient's finger or even joint
Different length and thickness carry out personalized customization, will greatly expand suitable towards in the case of different user of this bionical prosthetic hand
Use scope.
In an embodiment of the invention, as shown in Figure 2 and Figure 4, this forefinger assembly 21, middle finger assembly 22, unknown
Flexible band 213, elastic webbing 222, elastic webbing is connected respectively at the finger back of the body of finger assembly 23, little finger assembly 24 and thumb assembly 25
232, elastic webbing 242 and elastic webbing 257, and elastic webbing 213, elastic webbing 222, elastic webbing 232, elastic webbing 242 and elastic webbing
257 run through each finger assembly is connected to palm component 1.Wherein, the elastic webbing 213 shown in Fig. 2, elastic webbing 222, bullet
Property band 232, elastic webbing 242 be mounted in the gap that each finger assembly refers to be formed between the groove at the back of the body and the projection in groove
In.
Specifically, as shown in Figure 3 and Figure 4, in the upper end of the back of the hand side of palm component 1, namely along arranging forefinger assembly
21, the position of the palm component 1 of middle finger assembly 22, nameless assembly 23 and little finger assembly 24, is respectively equipped with four snap fits 19,
Elastic webbing 213, elastic webbing 222, elastic webbing 232 and elastic webbing 242 extend through in forefinger assembly 21, middle finger assembly 22, unknown
Finger assembly 23 and little finger assembly 24 respective middle finger joint joint piece 62 and closely finger save joint piece 61, and each are attached to palm component
Four snap fits 19 on 1.And elastic webbing 257 closely refers to joint joint piece 253 and metacarpal bone wrist joints 252 through thumb assembly 25
And it is connected to tiger's jaw parts 3.
The present invention calculates and have matched, according to the different length of every finger assembly, five bullets that stiffness factor is suitable for the most
Property band, elastic webbing 213, elastic webbing 222, elastic webbing 232, elastic webbing 242 and elastic webbing 257 be separately positioned on forefinger assembly 21,
Middle finger assembly 22, nameless assembly 23, little finger assembly 24 and the finger back portion of thumb assembly 25, that is, move as passive reply
Power source, be arranged on five finger assemblies refers to that the elastic webbing at back pulls on each finger assembly and realizes stretching.Concrete table
It is now, when finger actuation motor 4 drives rotary shaft 41 to invert, while loosening each finger assembly tendon rope of traction, each finger assembly
To refer to that at the back of the body, the resilience force of each elastic webbing returns to the state that the five fingers open due to it, thus the stretching, extension realizing finger assembly is moved
Make.
According to an embodiment of the invention, forefinger assembly 21, middle finger assembly 22, nameless assembly 23 and little finger assembly
The far finger joint joint piece 254 far referring to joint joint piece 63 and thumb assembly of 24 all includes joint piece skeleton body 632 and connects
Finger fu jie structure 633 on this joint piece skeleton body 632.
Specifically, this refers to that fu jie structure 633 can be one-body molded, to remove peace from by 3D printer with joint piece skeleton body 632
Dress and the bonding operation caused increase and cost raising；Or, in other embodiments, this refers to that fu jie structure 633 can be by viscous
Connecing or mosaic mode is connected to joint piece skeleton body 632, this is inlayed connected mode and refers at joint piece skeleton body 632 and finger fu jie
The fit structure of such as projection and groove is set between structure 633, so that joint piece skeleton body 632 mutually blocks with finger fu jie structure 633
Snap fit is closed.In the present invention, this refers to that fu jie structure 633 is the flexible structure using flexible rubber-like materials to constitute, with forefinger assembly
As a example by 21, far referring to be come by the number of proportion respective between computational analysis flexible material and skeleton body at joint joint piece 63
The identical normal person of approximation refers to the viscoelasticity of abdomen, and the farthest refer to joint joint piece 63 refers to fu jie structure 633 and joint piece skeleton body 632
Volume ratio is 0.54～0.66.Improve cladding power to article when finger assembly captures object with this, increase and article simultaneously
During the contact of surface, produced frictional force is greatly improved the stability grasping object.
The present invention devises one and only uses two micro-machines (that is, finger actuation motor 4 and thumb drives motor 5) to make
For driving, simultaneously drive thumb assembly 25, forefinger assembly 21, middle finger assembly 22, nameless assembly 23 and little finger assembly 24 this
The stretching, extension of five fingers or flexing action；And the inward turning of the rotating shaft 51 around thumb drives motor 5 of thumb assembly 25 or outward turning
Action.The grip crawl of various form, accurate crawl and side can be produced by above combination of actions and capture these three crawl
Pattern, and these grasping movement occupy 85% more than in daily life.Further, in the present invention, closely refer to joint joint piece 61
Inside it is provided with load protector, makes finger assembly (that is, forefinger assembly 21, middle finger assembly 22, nameless assembly 23 and little finger of toe group
Part 24) by larger side outward force time can produce flexibility and dodge, and be difficult to damaged.
It addition, the bionical prosthetic hand of the present invention has done more in terms of for patient's some details in actual use
Design for hommization: the lag motion of the nameless assembly 23 of design and little finger assembly 24 improves crawl energy during accurate crawl
Power, uses flexible structure to approximate the viscous-elastic behaviour of human simulation finger abdomen to improve Grasping skill, and is applicable to individual character
Change quick detachable, the finger-joint part structure of easy care of customization.
Finally, the present invention has also taken into account structure simplification in terms of manufacture and mounting process the most as far as possible, maintenance considers easily,
And combine 3D printing technique and finally achieve lightweight, low cost and profile Bionic Design, substantially increase bionical prosthetic hand
Sexual valence when practicality.
Feature and the advantage of the bionical prosthetic hand of the present invention be:
One, compared to the existing prosthetic hand using single motor to control, only possess the five fingers active flexion and stretching, this
Bright bionical prosthetic hand realizes controlling thumb by adding thumb drives motor 5 in the range of allowing in palm component 1
Assembly 25 inward turning or outward turning action, the most just solve this type of prosthetic hand and needed thumb to be manually adjusted before grasping different objects
Refer to position, or be fixed after locking with instrument and could start to grasp these intermediate steps of object.
Two, the prosthetic hand manufactured compared to existing employing all-metal, not only cost is high, weight is big so that patient is due to negative
Carry on a shoulder pole overweight and for the problem that cannot wear for a long time, the present invention uses high-strength resin material to combine 3D and prints and process each finger
The joint piece of assembly, not only shortens manufacturing cycle, low cost, and without secondary operations, it is most important that weight is subtracted significantly
Gently, and obtained after the long-time actual wear of patient that burden is little, evaluated and feedback without the good of sense of discomfort.
Three, compared to existing can only the five fingers simultaneously flexing or stretching, extension, can only accomplish that grip captures this kind of single crawl mould
The prosthetic hand of formula, the present invention drives thumb assembly inward turning or outward turning action and five finger assemblies respectively only with two micro-machines
Stretching, extension or flexing action, and the combination of these actions can couple to account in actual daily life and manually make 85% more than
Side captures, precision captures and grip grasping movement, not only increases grasping movement, and improves practicality.
Four, compared to existing prosthetic hand not under referring to the present situation improving Grasping skill further at abdomen, the present invention uses
The finger fu jie structure 633 of flexible rubber-like materials, that is, devise can the structure of viscous-elastic behaviour of human simulation finger abdomen,
Increase cladding power and frictional force to object when capturing object with this, improve by stability when improving grasping object and grab
Take ability.It addition, this refers to that fu jie structure 633 uses the integrated printing of 3D with joint piece skeleton body 632, eliminate installation and make with bonding
The operation become increases and cost improves.
Five, compared to existing prosthetic hand later maintenance difficulty and do not consider finger load protection mechanism present situation under, this
Invention devise the most personalized but also readily accessible, safeguard finger-joint, also achieve finger by larger side to
Flexibility can be produced during (being parallel to palm plane) external force to dodge, and be difficult to impaired can passively lateral displacement closely refer to joint close
Joint part 61 constructs.
Six, the mode being connected with joint employing axle in joint compared to existing prosthetic hand, will certainly contact with each other at it
Produce frictional force between face thus reduce the delivery efficiency of power.Non-axle is used between each joint piece of each finger assembly of the present invention
Connecting, i.e. linear contact lay mode, therefore frictional force is zero, it is to avoid finger actuation motor 4 exports the internal loss caused.
It addition, those skilled in the art will appreciate that, the bionical prosthetic hand that the present invention is above-mentioned, allow in palm component 1
In the range of, the finger actuation motor 4 of the present invention and thumb drives motor 5 can be by other type of drive such as motor or pneumatic-hydraulic
Replace；In the range of in palm component 1 and each finger assembly, space allows, each tendon rope can arbitrary placement；In each finger assembly
Tendon rope composition linkage can be replaced V belt translation or other type of composition linkage；Due to regulation composition linkage tendon rope length and
Position can arbitrarily change the flexion angles speed of finger-joint and adjust the size of power output, therefore this drive system can be also used in
At other any machine driving of non-bionical prosthetic hand；All inserting bolt types between each joint piece are fixing can be replaced bolt fix,
Buckle such as fixes at the fastening means of other form；Refer to that the flexible structure of fu jie structure 633 is in addition to 3D integration prints, it is possible to use
Inlay, other the combining form such as bonding；Owing to each tendon rope drive is taken up space the least, therefore can arbitrarily change palm component
1 and the size of each finger assembly and profile outward appearance；The each elastic webbing of penetration type could alternatively be spring, torsion spring or rubber band etc.
Elastomeric element with intrinsic stiffness factor；Material and manufacture means that whole bionical prosthetic hand manufacture is used not only are limited to
Print in resin, rubber-like materials and 3D, other material or change manufacture can be chosen as required.Each tendon rope removes
Can use outside PE line, it be also possible to use the line of other materials, rope or belt substitutes.
The foregoing is only several embodiments of the present invention, those skilled in the art is according to application documents disclosure
The embodiment of the present invention can be carried out various change or modification without departing from the spirit and scope of the present invention.
Claims (13)
1. a bionical prosthetic hand, it is characterised in that described bionical prosthetic hand includes:
Palm component；
Finger parts, it has forefinger assembly, middle finger assembly, nameless assembly, little finger assembly and thumb assembly, described forefinger group
Part, described middle finger assembly, described nameless assembly and described little finger assembly are connected to described palm component the most opening or closing
Upper end；
Tiger's jaw parts, it can vertically be rotationally connected with the inner side of described palm component, and described thumb assembly connects opening or closing
In described tiger's jaw parts.
Bionical prosthetic hand the most as claimed in claim 1, it is characterised in that be provided with finger actuation motor in described palm component,
Connect on described finger actuation motor and have rotary shaft, described rotary shaft is provided with multiple annular groove along its axial direction, described
Forefinger assembly, described middle finger assembly, described nameless assembly, described little finger assembly and described thumb assembly pass through tendon of index finger respectively
Rope, tendon of middle finger rope, nameless tendon rope, tendon of little finger rope and tendon of thumb rope are connected in multiple annular grooves of described rotary shaft.
Bionical prosthetic hand the most as claimed in claim 2, it is characterised in that the described nameless length of tendon rope, described tendon of little finger
The length of rope is all higher than length and the length of described tendon of middle finger rope of described tendon of index finger rope.
Bionical prosthetic hand the most as claimed in claim 2, it is characterised in that be provided with cavity, described finger in described palm component
Driving motor and described rotary shaft to be respectively positioned in described cavity, described cavity is externally provided with protective cover plate.
Bionical prosthetic hand the most as claimed in claim 1, it is characterised in that described palm component is provided with thumb drives motor,
Described tiger's jaw parts are connected to the rotating shaft of described thumb drives motor, and one end of described thumb assembly is articulated in described tiger's jaw portion
Part.
Bionical prosthetic hand the most as claimed in claim 5, it is characterised in that connect on described thumb assembly and have tiger's jaw slide plate, institute
Stating tiger's jaw slide plate to be plugged in slidably in described tiger's jaw parts, described tiger's jaw slide plate is provided with chute, on described tiger's jaw parts
Being provided with spacing plug, described spacing plug is located in described chute.
Bionical prosthetic hand the most as claimed in claim 1, it is characterised in that described forefinger assembly, described middle finger assembly, described nothing
Being respectively arranged with elastic webbing at the finger back of the body of name finger assembly, described little finger assembly and described thumb assembly, described elastic webbing is connected to
Described palm component.
Bionical prosthetic hand the most as claimed in claim 2, it is characterised in that described forefinger assembly, described middle finger assembly, described nothing
Name finger assembly is the most identical with the structure of described little finger assembly, and it is closely referred to joint joint piece, middle finger joint joint by be sequentially connected respectively
Part and far finger joint joint piece composition, described nearly finger joint joint piece passes through described tendon of index finger rope, described tendon of middle finger rope, the described third finger
Tendon rope or described tendon of little finger rope are connected to described rotary shaft, and described middle finger joint joint piece is rotatably connected at described near finger and saves pass
The upper end of joint part, the described remote upper end referring to that joint joint piece is connected to described middle finger joint joint piece.
Bionical prosthetic hand the most as claimed in claim 8, it is characterised in that be provided with elastic component in described nearly finger joint joint piece, institute
The one end stating elastic component is connected to described middle finger joint joint piece by upper tendon rope, and the other end of described elastic component is by lower tendon rope even
It is connected to described palm component.
Bionical prosthetic hand the most as claimed in claim 8, it is characterised in that described remote finger joint joint piece is shaped in described
Middle finger joint joint piece；Or, described remote finger joint joint piece is fixedly connected on described middle finger joint joint piece by multiple plugs.
11. bionical prosthetic hands as claimed in claim 2, it is characterised in that described thumb assembly includes the metacarpal bone being sequentially connected
Wrist joints, closely finger joint joint piece and far finger joint joint piece, described metacarpal bone wrist joints is connected to by described tendon of thumb rope
Described rotary shaft, described nearly finger joint joint piece is connected to described metacarpal bone wrist joints by plug, and described remote finger joint joint piece leads to
Cross plug and be connected to described nearly finger joint joint piece.
The 12. bionical prosthetic hands as described in claim 8 or 11, it is characterised in that described remote finger joint joint piece includes joint piece
Skeleton body and the finger fu jie structure being connected on described joint piece skeleton body.
13. bionical prosthetic hands as claimed in claim 12, it is characterised in that described finger fu jie structure and described joint piece skeleton body
One-body molded by 3D printer；Or, described finger fu jie structure is connected to described joint piece skeleton by bonding or mosaic mode
Body.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610520941.7A CN106038007B (en) | 2016-07-04 | 2016-07-04 | Bionical prosthetic hand |
| PCT/CN2017/090255 WO2018006722A1 (en) | 2016-07-04 | 2017-06-27 | Bionic prosthetic hand |
| JP2018569128A JP6712332B2 (en) | 2016-07-04 | 2017-06-27 | Prosthetic hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610520941.7A CN106038007B (en) | 2016-07-04 | 2016-07-04 | Bionical prosthetic hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106038007A true CN106038007A (en) | 2016-10-26 |
| CN106038007B CN106038007B (en) | 2017-11-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610520941.7A Active CN106038007B (en) | 2016-07-04 | 2016-07-04 | Bionical prosthetic hand |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP6712332B2 (en) |
| CN (1) | CN106038007B (en) |
| WO (1) | WO2018006722A1 (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP2019520163A (en) | 2019-07-18 |
| JP6712332B2 (en) | 2020-06-17 |
| WO2018006722A1 (en) | 2018-01-11 |
| CN106038007B (en) | 2017-11-07 |
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