CN107280825A - 3D printing multiple freedom degrees hand-prosthesis thumb movable device - Google Patents

3D printing multiple freedom degrees hand-prosthesis thumb movable device Download PDF

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Publication number
CN107280825A
CN107280825A CN201710500459.1A CN201710500459A CN107280825A CN 107280825 A CN107280825 A CN 107280825A CN 201710500459 A CN201710500459 A CN 201710500459A CN 107280825 A CN107280825 A CN 107280825A
Authority
CN
China
Prior art keywords
coupling part
palm
thumb
compression spring
prosthesis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201710500459.1A
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Chinese (zh)
Other versions
CN107280825B (en
Inventor
王多琎
伊尔夏提·艾热提
喻洪流
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University of Shanghai for Science and Technology
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University of Shanghai for Science and Technology
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Priority to CN201710500459.1A priority Critical patent/CN107280825B/en
Publication of CN107280825A publication Critical patent/CN107280825A/en
Application granted granted Critical
Publication of CN107280825B publication Critical patent/CN107280825B/en
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Classifications

    • 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
    • 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
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • A61F2/586—Fingers
    • A61F2002/587—Thumbs

Abstract

The present invention relates to a kind of 3D printing multiple freedom degrees hand-prosthesis thumb movable device, thumb coupling part rotates connection palm coupling part by flat head screw, flat head screw makes between thumb coupling part and palm coupling part to realize elastic connection by big compression spring through being fixedly connected with the nut built in thumb coupling part after the packing ring and big compression spring built in palm coupling part；Thumb coupling part and palm coupling part are equipped with end-tooth, and connection is engaged by end-tooth between thumb coupling part and palm coupling part；Palm coupling part side is matchedly connected by circumference buckle with the circumferential bayonet slot on palm medial surface, and opposite side is rotated with palm by small compression spring and stud and is connected, and makes between palm coupling part and palm to realize elastic hinge joint by small compression spring and stud.The present invention, so as to expand the scope of activities of thumb, finally realizes the more holding functions of multiple freedom degrees hand-prosthesis by manually adjusting the optional position that can fix thumb when turning over each time.

Description

3D printing multiple freedom degrees hand-prosthesis thumb movable device
Technical field
Done evil through another person the present invention relates to a kind of 3D printing, more particularly, to a kind of 3D printing multiple freedom degrees hand-prosthesis thumb moving machine Structure, belongs to 3D printing and does evil through another person technical field.
Background technology
3D printing multiple freedom degrees hand-prosthesis is the vacation of the purely mechanic driving occurred with the development of 3D printing technique in recent years Hand.Although existing 3D printing is done evil through another person and brings facility for disabled person's life, because the current free degree of doing evil through another person is less, also not Disabled person's daily life can be met.Existing 3D printing mechanical prosthetic hand can only grip spherical article, can't realize, normal human hand Many holding functions.Accordingly, it would be desirable to design it is a can grip the multiple freedom degrees hand-prosthesis of more different shape articles, but this There is the problem that the holding function more done evil through another person is realized in limited control range in money multiple freedom degrees hand-prosthesis.
The content of the invention
The present invention provides a kind of 3D to solve the technical problem of the more holding functions of increase of 3D printing mechanical prosthetic hand Multiple freedom degrees hand-prosthesis thumb movable device is printed, this, which is done evil through another person, can be achieved to grip card, cup, spherical article, can also realize Finger to the palm function.
To achieve the above object, the technical scheme is that：A kind of 3D printing multiple freedom degrees hand-prosthesis thumb movable device, bag Thumb coupling part, palm coupling part, palm are included, the thumb coupling part rotates connection palm by flat head screw and connected Part, and flat head screw through after the packing ring and big compression spring built in palm coupling part with the spiral shell built in thumb coupling part Mother is fixedly connected, and makes between thumb coupling part and palm coupling part to realize elastic connection by big compression spring；The thumb Refer to coupling part and palm coupling part is equipped with end-tooth, end-tooth is passed through between thumb coupling part and palm coupling part Engagement connection；Palm coupling part side is matchedly connected by circumference buckle with the circumferential bayonet slot on palm medial surface, separately Side is rotated with palm by small compression spring and stud and is connected, and is made between palm coupling part and palm by small compression spring Elastic hinge joint is realized with stud.
Between the thumb coupling part and palm coupling part by adjust end-tooth position of engagement adjustable thumb around The angle of the connection central axis of thumb coupling part and palm coupling part.
By adjusting the circumference buckle of palm coupling part and the circumference of palm between the palm coupling part and palm The position of engagement adjustable thumb of neck is around palm coupling part and the angle of the connection central axis of palm.
The beneficial effects of the invention are as follows：
The present invention thumb bindiny mechanism in active procedure, respectively by manually adjust the end-tooth on palm coupling part and Circumference buckle and thumb coupling part and the link position of the circumferential bayonet slot on palm, the adjustment of angle needed for realizing, and can Guarantee often turns over an angle with regard to that can fix a position, realizes that thumb smoothly grips article.And thumb can be fixed to exist Optional position when turning over each time, so as to expand the scope of activities of thumb, finally realizes that multiple freedom degrees hand-prosthesis is more Holding function.
Brief description of the drawings
Fig. 1 is the 3D printing multiple freedom degrees hand-prosthesis thumb movable device explosive view of the present invention；
Fig. 2 is palm coupling part structural representation.
Embodiment
One step explanation is made to the present invention with embodiment below in conjunction with the accompanying drawings：
Such as Fig. 1, shown in 2,3D printing multiple freedom degrees hand-prosthesis thumb movable device of the invention, including thumb coupling part 1, palm Coupling part 2, palm 3, small compression spring 4, big compression spring 5, packing ring 6, flat head screw 7, stud 8, nut 9.
Thumb coupling part 1 rotates connection palm coupling part 2 by flat head screw 7, and flat head screw 7 connects through palm It is fixedly connected after packing ring 6 and big compression spring 5 built in socket part point 2 with the nut 9 built in thumb coupling part 1, connects thumb Socket part point realizes elastic connection between 1 and palm coupling part 2 by big compression spring 5.Thumb coupling part 1 and palm connection Part 2 is equipped with end-tooth, and connection is engaged by end-tooth between thumb coupling part 1 and palm coupling part 2, passes through adjustment The end-tooth position of engagement can adjust
Connection central shaft of the thumb around thumb coupling part 1 and palm coupling part 2（X-axis）The angle of rotation.
The side of palm coupling part 2 is matchedly connected by circumference buckle with the circumferential bayonet slot on the medial surface of palm 3, opposite side Rotated and be connected with palm 3 by small compression spring 4 and stud 8, made between palm coupling part 2 and palm 3 by small compression bullet Spring 4 and stud 8 realize elastic hinge joint.By adjusting the circumference buckle of palm coupling part 2 and engaging for the circumferential bayonet slot of palm 3 Position adjustable thumb is around palm coupling part 2 and the connection central shaft of palm 3（Y-axis）The angle of rotation.
As shown in Fig. 2 structure of the palm coupling part 2 for connection thumb and palm.In thumb active procedure, small compression Spring 4 and big compression spring 5 are all built in end-tooth and circumference buckle on palm coupling part 2, palm coupling part 2, energy It is enough to ensure often to turn over an angle with regard to a position fixed, realize that thumb smoothly grips article.
When connection central shaft of the thumb around thumb coupling part 1 and palm coupling part 2 need to be adjusted（X-axis）The angle of rotation When, thumb coupling part 1 is pulled outward, makes the end-tooth on thumb coupling part 1 and the end face on palm coupling part 2 Tooth is disengaged, and compresses big compression spring 5, is rotated further by after thumb coupling part 1 to required angle, is made thumb connecting portion The end-tooth divided on 1 is engaged under the drive of the restoring force of big compression spring 5 with the end-tooth on palm coupling part 2, is completed The adjustment of required angle.
When thumb need to be adjusted around palm coupling part 2 and the connection central shaft of palm 3（Y-axis）During the angle of rotation, by hand Slap the side of stud 8 into palm 3 of coupling part 2 to move, make the circumference buckle on palm coupling part 2 and the circumference on palm 3 Neck is disengaged, and compresses small compression spring 4, is rotated further by after palm coupling part 2 to required angle, is made palm coupling part Circumference on 2 is buckled under the drive of the restoring force of small compression spring 4, is engaged with the circumferential bayonet slot on palm 3, angle needed for completing The adjustment of degree.

Claims (3)

1. a kind of 3D printing multiple freedom degrees hand-prosthesis thumb movable device, including thumb coupling part（1）, palm coupling part（2）、 Palm（3）, it is characterised in that：The thumb coupling part (1) rotates connection palm coupling part (2) by flat head screw (7), And flat head screw (7) through the packing ring (6) and big compression spring (5) built in palm coupling part (2) afterwards with thumb coupling part (1) nut (9) built in is fixedly connected, and is made between thumb coupling part (1) and palm coupling part (2) by big compression spring (5) elastic connection is realized；The thumb coupling part (1) and palm coupling part (2) are equipped with end-tooth, thumb coupling part (1) it is connected between palm coupling part (2) by end-tooth engagement；Palm coupling part (2) side passes through circumference card Button is matchedly connected with the circumferential bayonet slot on palm (3) medial surface, and opposite side passes through small compression spring (4) and stud (8) and palm (3) connection is rotated, is made between palm coupling part (2) and palm (3) by small compression spring (4) and stud (8) realization elasticity It is hinged.
2. 3D printing multiple freedom degrees hand-prosthesis thumb movable device according to claim 1, it is characterised in that：The thumb connects Socket part point is between (1) and palm coupling part (2) by adjusting end-tooth position of engagement adjustable thumb around thumb coupling part (1) and palm coupling part (2) connection central axis angle.
3. 3D printing multiple freedom degrees hand-prosthesis thumb movable device according to claim 1, it is characterised in that：The palm connects Socket part is point between (2) and palm (3) by adjusting the circumference buckle of palm coupling part (2) and the circumferential bayonet slot of palm (3) Position of engagement adjustable thumb is around palm coupling part (2) and the angle of the connection central axis of palm (3).
CN201710500459.1A 2017-06-27 2017-06-27 3D printing multiple freedom degrees hand-prosthesis thumb movable device Active CN107280825B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710500459.1A CN107280825B (en) 2017-06-27 2017-06-27 3D printing multiple freedom degrees hand-prosthesis thumb movable device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710500459.1A CN107280825B (en) 2017-06-27 2017-06-27 3D printing multiple freedom degrees hand-prosthesis thumb movable device

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CN107280825B CN107280825B (en) 2019-01-15

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220409402A1 (en) * 2021-06-28 2022-12-29 Alt-Bionics, Inc. Modular prosthetic hand system

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3659294A (en) * 1969-05-03 1972-05-02 Bock Orthopaed Ind Adjustable link for prosthetic limb
US4332038A (en) * 1980-12-19 1982-06-01 Freeland John L Artificial hand
GB2274398A (en) * 1993-01-08 1994-07-27 Rehabilitation Services Ltd Artificial leg
CN101069658A (en) * 2006-05-03 2007-11-14 奥托·博克保健Ip两合公司 Prosthetic joint
CN101340867A (en) * 2005-12-20 2009-01-07 奥托·博克保健Ip两合公司 Hand prosthesis with two drive devices
CN201275158Y (en) * 2008-07-18 2009-07-22 江苏省伤残人康复中心 Electric elbow joint of electric artificial limb
CN201486963U (en) * 2009-08-25 2010-05-26 宁波酷奇文具有限公司 Clutch locking structure with angle capable of being adjusted quickly
CN204274728U (en) * 2014-11-26 2015-04-22 丹阳假肢厂有限公司 Bionic hand forefinger
WO2015163569A1 (en) * 2014-04-21 2015-10-29 한국기술교육대학교 산학협력단 Exoskeleton-type glove
CN204893977U (en) * 2015-08-10 2015-12-23 苏州驱指自动化科技有限公司 Nodal pattern mechanical finger closes
CN204913941U (en) * 2015-08-10 2015-12-30 苏州驱指自动化科技有限公司 Conversion assembly of finger connecting piece
CN106344223A (en) * 2016-11-08 2017-01-25 哈尔滨工业大学 Thumb passive joint for artificial hand of disabled people

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3659294A (en) * 1969-05-03 1972-05-02 Bock Orthopaed Ind Adjustable link for prosthetic limb
US4332038A (en) * 1980-12-19 1982-06-01 Freeland John L Artificial hand
GB2274398A (en) * 1993-01-08 1994-07-27 Rehabilitation Services Ltd Artificial leg
CN101340867A (en) * 2005-12-20 2009-01-07 奥托·博克保健Ip两合公司 Hand prosthesis with two drive devices
CN101069658A (en) * 2006-05-03 2007-11-14 奥托·博克保健Ip两合公司 Prosthetic joint
CN201275158Y (en) * 2008-07-18 2009-07-22 江苏省伤残人康复中心 Electric elbow joint of electric artificial limb
CN201486963U (en) * 2009-08-25 2010-05-26 宁波酷奇文具有限公司 Clutch locking structure with angle capable of being adjusted quickly
WO2015163569A1 (en) * 2014-04-21 2015-10-29 한국기술교육대학교 산학협력단 Exoskeleton-type glove
CN204274728U (en) * 2014-11-26 2015-04-22 丹阳假肢厂有限公司 Bionic hand forefinger
CN204893977U (en) * 2015-08-10 2015-12-23 苏州驱指自动化科技有限公司 Nodal pattern mechanical finger closes
CN204913941U (en) * 2015-08-10 2015-12-30 苏州驱指自动化科技有限公司 Conversion assembly of finger connecting piece
CN106344223A (en) * 2016-11-08 2017-01-25 哈尔滨工业大学 Thumb passive joint for artificial hand of disabled people

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220409402A1 (en) * 2021-06-28 2022-12-29 Alt-Bionics, Inc. Modular prosthetic hand system
US11771571B2 (en) * 2021-06-28 2023-10-03 Alt-Bionics, Inc. Modular prosthetic hand system

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