CN108972515A - A kind of bionic movement function upper limb - Google Patents
A kind of bionic movement function upper limb Download PDFInfo
- Publication number
- CN108972515A CN108972515A CN201811048806.2A CN201811048806A CN108972515A CN 108972515 A CN108972515 A CN 108972515A CN 201811048806 A CN201811048806 A CN 201811048806A CN 108972515 A CN108972515 A CN 108972515A
- Authority
- CN
- China
- Prior art keywords
- thumb
- fixed
- bevel gear
- plate
- wrist
- 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
Links
- 230000033001 locomotion Effects 0.000 title claims abstract description 45
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 31
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 28
- 210000003813 thumb Anatomy 0.000 claims abstract description 278
- 210000003811 finger Anatomy 0.000 claims abstract description 118
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 44
- 210000000245 forearm Anatomy 0.000 claims abstract description 35
- 210000004932 little finger Anatomy 0.000 claims abstract description 32
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 22
- 210000003414 extremity Anatomy 0.000 claims abstract description 16
- 210000000707 wrist Anatomy 0.000 claims description 76
- 235000014676 Phragmites communis Nutrition 0.000 claims description 47
- 230000005540 biological transmission Effects 0.000 claims description 19
- 230000001360 synchronised effect Effects 0.000 claims description 16
- 230000007246 mechanism Effects 0.000 claims description 14
- 230000008859 change Effects 0.000 claims description 5
- 239000007787 solid Substances 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 13
- 238000005452 bending Methods 0.000 description 6
- 238000010276 construction Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 210000001145 finger joint Anatomy 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 210000000811 metacarpophalangeal joint Anatomy 0.000 description 2
- 241000905957 Channa melasoma Species 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 210000002310 elbow joint Anatomy 0.000 description 1
- 208000021760 high fever Diseases 0.000 description 1
- 230000008676 import Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- 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
-
- 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
- A61F2/70—Operating or control means electrical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Transplantation (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Biomedical Technology (AREA)
- Oral & Maxillofacial Surgery (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)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
The application discloses kind of a bionic movement function upper limb, at hand including artificial limb, wrist joint, forearm, wrist joint both ends respectively with artificial limb at hand, forearm connection, the artificial limb includes index finger at hand, middle finger, it is nameless, little finger of toe, thumb, palm, the index finger, middle finger, it is nameless, little finger of toe, it is mounted on palm, the palm includes hand support plate, thumb wheel motor reducer is fixed in hand support plate, the fixed lead screw of the output shaft of thumb wheel motor reducer, lead screw screws nut, nut is slidably connected with the guided way in hand support plate along up and down direction, the fixed pin being arranged on nut slides in sliding groove, thumb turntable is downwards, front is extended with driving beam, sliding groove is provided in driving beam, sliding groove is horizontally disposed along left and right directions, the rotational support of thumb turntable is provided in hand support plate, described Thumb is installed on thumb turntable, realizes the position adjustment of thumb, it is close with Healthy People thumb movement function.
Description
Technical field
The present invention relates to a kind of bionical upper limb more particularly to a kind of bionic movement function upper limbs.
Background technique
China is populous nation, and the patient of upper limb or hand missing is up to tens million of, and there is an urgent need to install for this part population
Artificial limb is improved the quality of living, in addition, in certain environment, to there is a great harm for human body or unbearable, for example (,) it is nuclear reaction, outer
Space, high temperature high fever production in, need to carry out operation using bionic hand or arm.
The thumb of current bionic hand cannot rotate, or only one degree of freedom, and the hand function with the mankind differs greatly,
It is not able to satisfy the requirement of the bionic hand function in prosthetic hand or production engineering, normal thumb not only has metacarpophalangeal pass
Section, distal end articulations digitorum manus, thumb and palm interconnecting piece also have one degree of freedom, the i.e. adjustment of thumb position posture.
Most bionical upper limbs is expensive, relies primarily on import, and the finger of bionical upper limb generallys use two fortune
Movable joint cannot think that healthy finger grasps object like that, and existing bionical upper limb generallys use motor driven bracing wire, bracing wire traction
Realize the movement of finger-joint, due to needing to be arranged reset spring between finger-joint, bracing wire will overcome the resistance of spring to carry out
Pulling motion wastes the power of driving motor, and since bracing wire is repeatedly subjected to the effect of alternate stress in distraction procedure, holds
Easy relaxation and fatigue fracture, poor reliability.
There are some bionic finger joints to drive using connecting rod, since the angle between the efficiency and connecting rod of connecting rod is there are relationship,
The stationarity of the operating of motor is impacted, the service life of motor is influenced, and the angle change between connecting rod makes between connecting rod
Velocity of rotation also in nonlinear change, the movement velocity of connecting rod is unstable, and the effect for grasping object is poor.
In the technical solution of the application, there is thumb position to adjust rotating function, very with Healthy People finger motion function
It is close；The position adjustment rotating function of thumb is rotated using a motor driven lead screw, screws nut on lead screw, consolidating on nut
Rationed marketing pushes thumb wheel；Using single motor with dynamic bevel gear mechanism and the belt wheel tape handler being fixed on palm frame,
Realize the movement in the same direction of metacarpophalangeal joints and proximal interphalangeal joints；It is connect using bevel gear with sliding bar after three, rear slide bar passes through
Slide bar pin and preceding slide bar are hinged, and preceding slide bar is slidably connected with jack rod sleeve, and jack rod sleeve is connect with turn disc, is set on jack rod sleeve
It is equipped with drive rod, drive rod is connect with drive plate, and slide bar is translatable always after realization；Using drive rod and eccentric drive plate and turn
Moving plate connection, realize jack rod sleeve can only translational motion, ensure that preceding slide bar and rear slide bar in the bending process in transmission process
Efficiency；Thumb realizes the bionic movement of thumb metacarpophalangeal section and left knee using bevel gear transmission and tape handler.It adopts
With gear drive, realize that four refer to the stationarity and harmony with thumb joint movement.Four refer in the structure with thumb, remove
Outside motor, remaining parts can be used nonmetallic materials and be made, and mitigate the weight of bionic movement function upper limb.Sliding bar mechanism uses
The hinge of translation connects, and without connecting using universal coupling, improves the stability of transmission efficiency and transmission.
Summary of the invention
It is an object of the invention to: adjustment can be rotated, four refers to using motor and gear driving by providing a kind of thumb position
Mechanism realizes that three-degree-of-freedom motion, thumb realize two-freedom movement and wrist joint motor driven using motor gear mechanism
The bionic movement function upper limb of swing.
The object of the present invention is achieved like this: a kind of bionic movement function upper limb, including artificial limb at hand, wrist joint 22,
Forearm 33,22 both ends of wrist joint respectively with artificial limb at hand, forearm connect, and realize artificial limb at hand, between forearm
Swing, the artificial limb includes index finger 1, middle finger 2, nameless 3, little finger of toe 4, thumb 5, palm 11 at hand, the index finger 1, in
Refer to 2, the third finger 3, little finger of toe 4, be mounted on palm 11；
The palm 11 includes: hand support plate 1105, thumb turntable 1108, thumb wheel motor reducer 1109, nut
1110, thumb wheel motor rack 1111, lead screw 1112, guided way 1113, bearing bearing block 1115, fixed pin 1116, thumb turn
Axis 1118, thumb wheel motor reducer 1109 are fixed on thumb wheel motor rack 1111, and thumb wheel motor rack 1111 is solid
It is scheduled in hand support plate 1105, the lower end of the fixed lead screw 1112 of the output shaft of thumb wheel motor reducer 1109, lead screw 1112
Top screw nut 1110, the front and back side of nut 1110 is provided with the perforative elongated slot of up and down direction, 1110 front and back side of nut
Elongated slot be slidably connected respectively with a guided way 1113, guided way 1113 is fixed in hand support plate 1105, realize nut
1110 slide up and down along guided way 1113, and nut 1110 is provided with the nut beam 1117 stretched out backward, and nut beam 1117 is fixed
The right end of the left end of fixed pin 1116, fixed pin 1116 slides in sliding groove 1114, the thumb turntable 1108 downwards,
Front is extended with driving beam, sliding groove 1114 is provided in driving beam, sliding groove 1114 is horizontally disposed along left and right directions, described
The fixed thumb shaft 1118 in 1108 lower end of thumb turntable left end, the right part of thumb shaft 1118 is mounted on bearing bearing block
In 1115 inner hole, bearing bearing block 1115 is fixed in hand support plate 1105；
Thumb 5 is installed on the thumb turntable 1108.
The wrist joint 22 includes wrist axis 2201, wrist bevel gear 1, wrist bevel gear 2 2203, rotary gear shaft
2204, wrist motor reducer 2205, wrist motor rack 2206, wrist rotating shaft support 2207, after the hand support plate 1105
Two wrists passes are fixed in two wrist joint connecting plates 1106 stretched out backward of end setting, the upper and lower part of the wrist axis 2201 respectively
Connecting plate 1106, the fixed wrist bevel gear 2 2203 of wrist axis 2201 are saved, wrist bevel gear 2 2203 engages with wrist bevel gear 1, wrist
The upper and lower end of axis 2201 is respectively fixedly connected with forearm front end, and the wrist bevel gear 1 is fixed on rotary gear shaft 2204
Front end, the middle part of rotary gear shaft 2204 are rotatably installed on wrist rotating shaft support 2207,2207 upper and lower end of wrist rotating shaft support point
It not being fixed on forearm, the axis hole of 2204 rear end of rotary gear shaft setting is fixedly connected with the output shaft of wrist motor reducer 2205,
Wrist motor reducer 2205 is fixed on wrist motor rack 2206, and wrist motor rack 2206 is fixed on forearm.
The forearm 33 include: upper small cantilever crane 3301, forearm connecting plate 3302, under small cantilever crane 3303, wrist axis 2201
Upper and lower end respectively fixed small cantilever crane 3301, under small cantilever crane 3303 front end, 2207 upper and lower end of wrist rotating shaft support is solid respectively
Be scheduled on small cantilever crane 3301, under on small cantilever crane 3303, the upper and lower end of wrist motor rack 2206 is separately fixed at small cantilever crane
3301, under on small cantilever crane 3303, upper small cantilever crane 3301 left and right sides of small cantilever crane 3303 under passes through a forearm respectively and connect
Plate 3302 is fixedly connected.
The front end of the hand support plate 1105 is disposed with index finger erecting bed 1101, middle finger erecting bed from top to bottom
1104, nameless erecting bed 1103, little finger of toe erecting bed 1102, install index finger, middle finger, ring finger and little finger respectively.
The thumb 5 includes: thumb connecting shaft 501, thumb belt wheel 1, thumb double linked wheel 511, thumb bevel gear
One 513, thumb motor reducer 514, thumb motor rack 515, thumb bevel gear 2 516, the thumb connecting shaft 501
Afterwards, front end is rotatablely connected the lower end of metacarpophalangeal plate 507 under metacarpophalangeal plate 502, thumb on thumb, the fixed thumb of thumb connecting shaft 501 respectively
Refer to that belt wheel 1, thumb motor reducer 514 are fixed on thumb on metacarpophalangeal plate 502 by thumb motor rack 515, thumb electricity
The fixed thumb bevel gear 1 of the output shaft of machine speed reducer 514, thumb bevel gear 1 simultaneously with thumb bevel gear 2 516,
The thumb bevel gear three of 511 rear end of thumb double linked wheel setting engages, and the small end and thumb of the thumb bevel gear 2 516 bore tooth
The small end of wheel three is oppositely arranged, and the thumb bevel gear 2 516 is fixed on thumb on proximal end pin 503, and proximal end is sold on thumb
The lower end of distal plate 504 on 503 upper fixed thumb, proximal end pin 503 is rotatablely connected the upper of metacarpophalangeal plate 502 on thumb on thumb
The thumb belt wheel two-way at end, 511 front end of the thumb double linked wheel setting crosses thumb synchronous belt 509 and one 510 shape of thumb belt wheel
It is connected at V belt translation, 511 loop of thumb double linked wheel is under thumb on proximal end pin 512, proximal end pin 512 and thumb under thumb
The upper end rotation connection of metacarpophalangeal plate 507 under the lower end of lower distal plate 506 and thumb；
The thumb mounting hole being arranged on thumb turntable 1108 fixes thumb connecting shaft 501, metacarpophalangeal plate 502 and thumb on the thumb
Refer to that the front and back side of lower metacarpophalangeal plate 507 passes through a thumb metacarpophalangeal connecting plate 508 respectively and is fixedly connected, distal plate on the thumb
504 pass through a thumb distal end connecting plate 505 with 506 front and back side of distal plate under thumb respectively is fixedly connected.
The structure of index finger 1 is identical as middle finger 2, the third finger 3, the structure of little finger of toe 4, and index finger 1 includes index finger connecting shaft 101, band
Take turns one 110, finger motor reducer 111, bevel gear 1, bevel gear 2 115, double linked wheel 116, bevel gear 4 120, cone tooth
5 121 are taken turns, the upper and lower end of index finger connecting shaft 101 is rotatablely connected the rear end of metacarpophalangeal plate 102, lower metacarpophalangeal plate 109, index finger respectively
101 fixed pulley 1 of connecting shaft, finger motor reducer 111 are directly or indirectly fixed on metacarpophalangeal plate 102, finger electricity
The fixed bevel gear 1 of the output shaft of machine speed reducer 111, bevel gear 1 simultaneously with bevel gear 2 115,116 upper end of double linked wheel
The bevel gear three of setting engages；
The bevel gear 2 115 is fixed on proximal end pin 114, and the front end of upper 114 top of proximal end pin and upper metacarpophalangeal plate 102 turns
Dynamic connection, upper 114 middle part of proximal end pin are fixedly connected with the rear end of upper proximal end fingerboard 103, and 116 loop of double linked wheel is lower close
Hold the upper end of pin 108, lower proximal end fingerboard 107 and lower hinge of the lower metacarpophalangeal plate 109 by lower proximal end pin 108, lower proximal end pin 108
It is rotatablely connected with the lower metacarpophalangeal plate 109 of lower proximal end fingerboard 107, the synchronous pulley two of 116 lower end of the double linked wheel setting passes through same
Step band 117 forms V belt translation with belt wheel 1 and connect；
The bevel gear 1 connect by slide bar transmission mechanism with rotating disc 118, rotating disc 118 pass through drive rod 125 and
The connection of drive plate Synchronous Transmission, and can be rotated synchronously after realizing bevel gear 1 and 118 change in location of rotating disc；
The rear end of 126 fixed rotating shaft 127 of drive plate, rotating shaft support 134 is rotatablely connected in the middle part of shaft 127, and rotating shaft support 134 is fixed
On upper proximal end fingerboard 103, drive plate 126 is rotatably installed in rotating disc support 128, is rotatablely connected shaft in the middle part of shaft 127
Support 134, rotating disc support 128, rotating shaft support 134 are fixed on proximal end fingerboard 103, the front end fixed cone tooth of shaft 135
5 121 are taken turns, bevel gear 5 121 engages with bevel gear 4 120, and bevel gear 4 120 is fixed on distal pin 119, upper distal pin
The rear end of 119 fixed upper distal end fingerboards 104, upper distal pin 119 are rotatablely connected the front end of upper proximal end fingerboard 103, the shaft
127 is coaxial with drive plate 126, and rotating disc 118 and bevel gear 1 are coaxially disposed, and the front end of lower proximal end fingerboard 107 passes through lower remote
Hold pin 106 and the rear end of lower distal end fingerboard 105 hinged；The upper proximal end pin 114 and lower proximal end pin 108 is coaxial, lower distal pin
106 is coaxial with upper distal pin 119.
The index finger mounting hole being arranged on index finger erecting bed 1101 fixes index finger connecting shaft 101, sets on middle finger erecting bed 1104
The middle finger mounting hole set fixes middle finger connecting shaft, and the fixed third finger of the nameless mounting hole being arranged on nameless erecting bed 1103 is even
Spindle, the fixed little finger of toe connecting shaft of the little finger of toe mounting hole being arranged on little finger of toe erecting bed 1102.
Slide bar transmission mechanism includes rear slide bar 122, slide bar pin 123, preceding slide bar 124, drive rod 125, sliding sleeve 129, along
The circumferencial direction of bevel gear 1 walks rear slide bar 122 there are three settings, and slide bar 122 is horizontally disposed with along the longitudinal direction after three,
The sliding rod hole being arranged on slide bar 122 and bevel gear 1 after three slides back and forth and rear slide bar rotates along sliding rod hole and connects
It connects, each rear 122 front of slide bar passes through a slide bar pin 123 respectively and a preceding slide bar 124 is hinged, and slide bar pin 123 is along perpendicular
Histogram is slidably connected with a sliding sleeve 129 respectively to setting, the preceding slide bar 124 of each of three preceding slide bars 124, three sliding sleeves
129 is uniformly distributed along the circumferencial direction of rotating disc 118, and the sliding sleeving hole rotation that three sliding sleeves 129 and rotating disc 118 are axially arranged connects
It connects；
Each sliding sleeve 129 advances through the upside rear stretching end that a drive rod 125 is fixed after rotating disc 118, anterior extension end and passes
Be arranged on Moving plate 126 drive rod mounting hole rotation connection, drive plate 126 is identical with 118 mechanism of rotating disc, drive plate 126 and
Rotating disc 118 is along the center of up and down direction away from equal to the distance between 125 rear stretching end of drive rod and anterior extension end.
It further include reed 1, reed seat 1, reed 2 132, reed seat 2 133, each sliding sleeve 129 backs through
After rotating disc 118, a reed seat 2 133 is fixed, the upper and lower side of reed seat 2 133 is fixed with reed 2 132, reed two
132 have elasticity, and reed 2 132 is contacted with preceding slide bar 124, to prevent upper metacarpophalangeal plate 102 conllinear with upper proximal end fingerboard 103
When, the preceding independently sliding of slide bar 124, the position that the rear end of the bevel gear 1 is adapted with rear slide bar 122 fixes one
Reed seat 1, the two sides up and down of reed seat 1 are respectively arranged with reed 1, and reed 1 has elasticity, reed one
130 are in contact with rear slide bar 122, to prevent the rear independently sliding of slide bar 122.
The front side of the hand support plate 1105, rear side fix centre of the palm front cover 1119, centre of the palm rear cover 1107 respectively.
Compared with prior art, the present invention has the advantage that
1. there is thumb position to adjust rotating function, very close with Healthy People finger motion function；
2. the position adjustment rotating function of thumb using the rotation of motor driven lead screw, screws nut on lead screw, on nut
Fixed pin pushes thumb wheel；
3. the application, with dynamic bevel gear mechanism and the belt wheel tape handler being fixed on palm frame, is realized using single motor
The movement in the same direction of metacarpophalangeal joints and proximal interphalangeal joints；
4. connect with sliding bar after three using bevel gear, rear slide bar passes through slide bar pin and preceding slide bar is hinged, and preceding slide bar and
Jack rod sleeve is slidably connected, and jack rod sleeve is connect with turn disc, and drive rod is provided on jack rod sleeve, and drive rod and drive plate connect
It connects, slide bar is translatable always after realization；
5. connect using drive rod with eccentric drive plate and rotating disc, realization jack rod sleeve can only translational motion, ensure that advancing slip
Bar and efficiency of the rear slide bar in the bending process in transmission process；
6. the bionic movement that thumb realizes thumb metacarpophalangeal section and left knee using bevel gear transmission and tape handler.
7. using gear drive, realize that four refer to the stationarity and harmony with thumb joint movement.
8. four refer in the structure with thumb that in addition to motor, remaining parts can be used nonmetallic materials and be made, and mitigate bionical fortune
The weight of dynamic function upper limb.
Detailed description of the invention
Fig. 1 is the overall construction drawing of the upper limb of bionic movement function.
Fig. 2 is the overall construction drawing one at hand of the upper limb of bionic movement function.
Fig. 3 is the overall construction drawing two at hand of the upper limb of bionic movement function.
Fig. 4 is the structural schematic diagram one of thumb wheel mechanism.
Fig. 5 is the structural schematic diagram two of thumb wheel mechanism.
Fig. 6 is the general structure schematic diagram of index finger.
Fig. 7 is the metacarpophalangeal plate connection driving device structure schematic diagram of index finger.
Fig. 8 is the proximal end fingerboard and metacarpophalangeal board connecting structure schematic diagram of index finger.
Fig. 9 is that index finger proximal end fingerboard and metacarpophalangeal plate are drivingly connected structural schematic diagram one.
Figure 10 is that proximal end fingerboard and metacarpophalangeal plate are drivingly connected structural schematic diagram two.
Figure 11 is that proximal end fingerboard and distal end fingerboard are drivingly connected structural schematic diagram one.
Figure 12 is that proximal end fingerboard and distal end fingerboard are drivingly connected structural schematic diagram two.
Figure 13 is drive rod structural schematic diagram.
Figure 14 is that defensive connecting board structure schematic diagram is provided on fingerboard.
Figure 15 is the overall construction drawing one of thumb.
Figure 16 is the overall construction drawing two of thumb.
Figure 17 is the overall construction drawing three at hand of the upper limb of bionic movement function.
Figure 18 is palm and forearm attachment structure schematic diagram.
Figure 19 is wrist joint structure schematic diagram.
Appended drawing reference: 11- palm, 22- wrist joint, 33- forearm, 1- index finger, 2- middle finger, the 3- third finger, 4- little finger of toe, 5- thumb
Distal end fingerboard under finger, 101- index finger connecting shaft, the upper metacarpophalangeal plate of 102-, the upper proximal end fingerboard of 103-, the upper distal end fingerboard of 104-, 105-,
Metacarpophalangeal plate, 110- belt wheel one, 111- index finger are electric under proximal end pin, 109- under proximal end fingerboard, 108- under distal pin, 107- under 106-
The upper proximal end pin of machine, 112- index finger motor rack, 113- bevel gear one, 114-, 115- bevel gear two, 116- double linked wheel, 117- are synchronous
Slide bar after band, 118- rotating disc, the upper distal pin of 119-, 120- bevel gear four, 121- bevel gear five, 122-, 123- slide bar pin,
Slide bar before 124-, 125- drive rod, 126- drive plate, 127- shaft, the support of 128- rotating disc, 129- sliding sleeve, 130- reed one,
131- reed seat one, 132- reed two, 133- reed seat two, 134- rotating shaft support, 137- metacarpophalangeal connecting plate, the connection of the proximal end 138-
Plate, the distal end 139- connecting plate, 1101- index finger erecting bed, 1102- little finger of toe erecting bed, 1103- third finger erecting bed, 1104- middle finger
Erecting bed, 1105- hand support plate, 1106- wrist connecting plate, the centre of the palm 1107- rear cover, 1108- thumb turntable, 1109- thumb wheel
Motor reducer, 1110- nut, 1111- thumb wheel motor rack, 1112- lead screw, 1113- guided way, 1114- sliding groove,
1115- bearing bearing block, 1116- fixed pin, 1117- nut beam, 1118- thumb shaft, the centre of the palm 1119- front cover, 2201- wrist
Axis, 2202- wrist bevel gear one, 2203- wrist bevel gear two, 2204- rotary gear shaft, 2205- wrist motor reducer, 2206- wrist
Small cantilever crane, 501- thumb under portion's motor rack, 2207- wrist rotating shaft support, the upper small cantilever crane of 3301-, 3302- forearm connecting plate, 3303-
Refer to that connecting shaft, metacarpophalangeal plate on 502- thumb, proximal end pin on 503- thumb, distal plate, 505- thumb distal end connect on 504- thumb
Metacarpophalangeal plate, 508- thumb metacarpophalangeal connecting plate, 509- thumb synchronous belt, 510- thumb under distal plate, 507- thumb under plate, 506- thumb
Refer to belt wheel one, 511- thumb double linked wheel, proximal end pin under 512- thumb, 513- thumb bevel gear one, 514- thumb motor reducer,
515- thumb motor rack, 516- thumb bevel gear two.
Specific embodiment
In conjunction with Fig. 1~19, bionic movement function upper limb of the invention, including artificial limb at hand, wrist joint 22, forearm 33, institute
22 both ends of wrist joint stated respectively with artificial limb at hand, forearm connect, and realize swing of the artificial limb at hand, between forearm, it is described
Artificial limb at hand include index finger 1, middle finger 2, nameless 3, little finger of toe 4, thumb 5, palm 11, it is the index finger 1, middle finger 2, nameless
3, little finger of toe 4, thumb 5 are arranged on palm 11, and the connection of index finger 1, middle finger 2, the third finger 3, little finger of toe 4, thumb 5 and palm 11
Place can be swung along palm 11, and the application is respectively defined as far from volar direction, forearm far from carpal direction with index finger 1
Front and rear direction is respectively defined as upper and lower direction with the positioned direction of index finger 1, little finger of toe 4, with the flexible court of index finger 1
To left side is defined as, right side is defined as with the direction that index finger 1 can be unfolded, to describe the application.
The thumb 5 includes: thumb connecting shaft 501, metacarpophalangeal plate 502 on thumb, proximal end pin 503 on thumb, on thumb
Metacarpophalangeal plate 507, thumb metacarpophalangeal connecting plate under distal plate 506, thumb under distal plate 504, thumb distal end connecting plate 505, thumb
508, proximal end pin 512, thumb bevel gear one under thumb synchronous belt 509, thumb belt wheel 1, thumb double linked wheel 511, thumb
513, thumb motor reducer 514, thumb motor rack 515, thumb bevel gear 2 516, the thumb connecting shaft 501 it is rear,
Front end is rotatablely connected the lower end of metacarpophalangeal plate 507 under metacarpophalangeal plate 502, thumb on thumb respectively, and the front of thumb connecting shaft 501 is fixed
Thumb belt wheel 1, thumb motor reducer 514 are fixed on thumb motor rack 515, and thumb motor rack 515 is fixed on thumb
On upper metacarpophalangeal plate 502, the fixed thumb bevel gear 1 of the output shaft of thumb motor reducer 514, thumb bevel gear 1 is together
When with thumb bevel gear 2 516,511 rear end of thumb double linked wheel be arranged thumb bevel gear three engage, the thumb bevel gear
2 516 small end and the small end of thumb bevel gear three are oppositely arranged, and the thumb bevel gear 2 516 is fixed on proximal end on thumb
The front end of pin 503, on thumb on the fixed thumb in the middle part of proximal end pin 503 distal plate 504 lower end, proximal end pin 503 on thumb
Rear end thereof connects the upper end of metacarpophalangeal plate 502 on thumb, the thumb belt wheel two-way mistake of 511 front end of the thumb double linked wheel setting
Thumb synchronous belt 509 forms V belt translation with thumb belt wheel 1 and connect, and 511 loop of thumb double linked wheel is close under thumb
The rear end of pin 512 is held, the upper end that the lower end of distal plate 506 passes through metacarpophalangeal plate 507 under proximal end pin 512 under thumb and thumb under thumb
Hingedly, proximal end pin 512 and the upper end of metacarpophalangeal plate 507 under the lower end of distal plate 506 under thumb and thumb are rotatablely connected under thumb.
The front and back side of metacarpophalangeal plate 502 and metacarpophalangeal plate 507 under thumb passes through a thumb metacarpophalangeal respectively and connects on the thumb
Fishplate bar 508 is fixedly connected, and distal plate 504 passes through a thumb with 506 front and back side of distal plate under thumb respectively on the thumb
Distal end connecting plate 505 is fixedly connected.
The palm 11 includes: hand support plate 1105, centre of the palm rear cover 1107, thumb turntable 1108, thumb wheel motor
Speed reducer 1109, thumb wheel motor rack 1111, lead screw 1112, guided way 1113, bearing bearing block 1115, is consolidated nut 1110
The front end of rationed marketing 1116, thumb shaft 1118, centre of the palm front cover 1119, the hand support plate 1105 is disposed with from top to bottom
Index finger erecting bed 1101, middle finger erecting bed 1104, nameless erecting bed 1103, little finger of toe erecting bed 1102, index finger erecting bed 1101
The index finger mounting hole of upper setting fixes index finger connecting shaft 101, the fixed middle finger of the middle finger mounting hole being arranged on middle finger erecting bed 1104
Connecting shaft, the fixed nameless connecting shaft of the nameless mounting hole being arranged on nameless erecting bed 1103, on little finger of toe erecting bed 1102
The fixed little finger of toe connecting shaft of the little finger of toe mounting hole of setting, the intermediate upper end of the hand support plate 1105 is provided with thumb turntable
1108, the fixed thumb connecting shaft 501 of the thumb mounting hole being arranged on thumb turntable 1108, thumb wheel motor reducer 1109 is solid
It is scheduled on thumb wheel motor rack 1111, thumb wheel motor rack 1111 is fixed in hand support plate 1105, thumb wheel motor
The lower end of the fixed lead screw 1112 of the output shaft of speed reducer 1109, the top of lead screw 1112 screw nut 1110, before nut 1110
Rear side is provided with the perforative elongated slot of up and down direction, and the elongated slot of 1110 front and back side of nut connects with a sliding of guided way 1113 respectively
It connects, guided way 1113 is fixed in hand support plate 1105, realizes that nut 1110 is slided up and down along guided way 1113, nut 1110
It is provided with the nut beam 1117 stretched out backward, the left end of the fixed fixed pin 1116 of nut beam 1117, the right end of fixed pin 1116 exists
Sliding in sliding groove 1114, the thumb turntable 1108 downwards, front be extended with driving beam, sliding is provided in driving beam
Slot 1114, sliding groove 1114 is horizontally disposed along left and right directions, the fixed thumb shaft 1118 in 1108 lower end of thumb turntable
Left end, the right part of thumb shaft 1118 is mounted in the inner hole of bearing bearing block 1115, and bearing bearing block 1115 is fixed on hand
In support plate 1105.
The front side of the hand support plate 1105, rear side fix centre of the palm front cover 1119, centre of the palm rear cover 1107 respectively.
Two wrist joint connecting plates 1106 stretched out backward are arranged in 1105 rear end of hand support plate.
The wrist joint 22 includes wrist axis 2201, wrist bevel gear 1, wrist bevel gear 2 2203, rotary gear shaft
2204, wrist motor reducer 2205, wrist motor rack 2206, wrist rotating shaft support 2207, the wrist axis 2201 it is upper and lower
Portion is rotatablely connected wrist joint connecting plate 1106, the fixed wrist bevel gear 2 2203 of wrist axis 2201, wrist bevel gear 2 2203 and wrist respectively
Bevel gear 1 engages, the upper and lower end of wrist axis 2201 respectively fixed small cantilever crane 3301, under small cantilever crane 3303 front end.
The wrist bevel gear 1 is fixed on the front end of rotary gear shaft 2204, and the middle part of rotary gear shaft 2204 rotates peace
On wrist rotating shaft support 2207,2207 upper and lower end of wrist rotating shaft support be separately fixed at small cantilever crane 3301, under small cantilever crane
On 3303, the axis hole of 2204 rear end of rotary gear shaft setting is fixedly connected with the output shaft of wrist motor reducer 2205, wrist motor
Speed reducer 2205 is fixed on wrist motor rack 2206, and the upper and lower end of wrist motor rack 2206 is separately fixed at small cantilever crane
3301, under on small cantilever crane 3303.
The forearm 33 include: upper small cantilever crane 3301, forearm connecting plate 3302, under small cantilever crane 3303, upper small cantilever crane
3301 under the left and right sides of small cantilever crane 3303 pass through a forearm connecting plate 3302 respectively and be fixedly connected.
The upper small cantilever crane 3301, under the rear end of small cantilever crane 3303 be provided with forearm mounting hole 3304, for realizing
Forearm 33 is connect with elbow joint, or forearm 33 is fixed on the forearm for lacking the patient of wrist joint and hand.
Index finger 1, middle finger 2, nameless 3, the structure having the same of little finger of toe 4, the application describe to replace with the structure of index finger 1
And show middle finger 2, the third finger 3, the structure of little finger of toe 4, the index finger 1 include: index finger connecting shaft 101, upper metacarpophalangeal plate 102, on
Proximal end fingerboard 103, upper distal end fingerboard 104, lower distal end fingerboard 105, lower distal pin 106, lower proximal end fingerboard 107, lower proximal end pin
108, lower metacarpophalangeal plate 109, belt wheel 1, index finger motor reducer 111, index finger motor rack 112, bevel gear 1, upper proximal end
Pin 114, bevel gear 2 115, double linked wheel 116, synchronous belt 117, rotating disc 118, upper distal pin 119, bevel gear 4 120, cone tooth
Take turns 5 121, rear slide bar 122, slide bar pin 123, preceding slide bar 124, drive rod 125, drive plate 126, shaft 127, rotating disc support
128, sliding sleeve 129, reed 1, reed seat 1, reed 2 132, reed seat 2 133, rotating shaft support 134, shaft 127,
Connecting plate 136, metacarpophalangeal connecting plate 137, proximal end connecting plate 138, distal end connecting plate 139, the upper metacarpophalangeal plate 102, lower metacarpophalangeal
The rear end of plate 109 is rotatablely connected the upper and lower end of index finger connecting shaft 101, the lower part fixed pulley one of index finger connecting shaft 101 respectively
110, index finger motor reducer 111 is fixed on index finger motor rack 112, and index finger motor rack 112 is fixed on metacarpophalangeal plate 102,
The fixed bevel gear 1 of the output shaft of index finger motor reducer 111, bevel gear 1 simultaneously with bevel gear 2 115, double linked wheel
The bevel gear three of 116 upper ends setting engages, and the small end of bevel gear 2 115 and the small end of bevel gear three are oppositely arranged.
The bevel gear 2 115 is fixed on the lower end of proximal end pin 114, upper 114 top of proximal end pin and upper metacarpophalangeal plate 102
Front end rotation connection, 114 middle part of upper proximal end pin is fixedly connected with the rear end of upper proximal end fingerboard 103, the work of double linked wheel 116
The lower hinge in the upper end of lower proximal end pin 108, lower proximal end fingerboard 107 and lower metacarpophalangeal plate 109 by lower proximal end pin 108 is covered, under
Proximal end pin 108 and the lower metacarpophalangeal plate 109 of lower proximal end fingerboard 107 are rotatablely connected, the synchronous pulley of 116 lower end of the double linked wheel setting
Two, which form V belt translation with belt wheel 1 by synchronous belt 117, connect.
Rear slide bar 122 there are three being arranged is walked along the circumferencial direction of bevel gear 1, slide bar 122 is along front and back after three
Direction is horizontally disposed, the sliding rod hole being arranged on slide bar 122 and bevel gear 1 after three slide back and forth and rear slide bar along
Sliding rod hole rotation connection, each rear 122 front of slide bar passes through a slide bar pin 123 respectively and a preceding slide bar 124 is hinged, slide bar
Pin 123 is placed in the vertical direction, and the preceding slide bar 124 of each of three preceding slide bars 124 connects with a sliding of sliding sleeve 129 respectively
It connects, three sliding sleeves 129 are uniformly distributed along the circumferencial direction of rotating disc 118, the cunning that three sliding sleeves 129 and rotating disc 118 are axially arranged
Sets of holes rotation connection, after each sliding sleeve 129 backs through rotating disc 118, fixes a reed seat 2 133, reed seat 2 133
Upper and lower side be fixed with reed 2 132, reed 2 132 has elasticity, and reed 2 132 is contacted with preceding slide bar 124, before realization
Frictional force is provided when slide bar slides back and forth, when preventing metacarpophalangeal plate 102 conllinear with upper proximal end fingerboard 103, preceding slide bar 124 is independently sliding
It is dynamic, the transmission effect that bevel gear 1 arrives rotating disc 118 is influenced, each sliding sleeve 129 advances through the inner hole after rotating disc 118
The upside rear stretching end an of drive rod 125 is fixed, 125 upper end of drive rod is provided with the rear stretching end stretched out backward, passes
125 lower end of lever is provided with the anterior extension end forward extended out, and the drive rod mounting hole rotation being arranged on anterior extension end and drive plate 126 connects
It connects, drive plate 126 is identical as 118 mechanism of rotating disc, and drive plate 126 and rotating disc 118 are along the center of up and down direction away from being equal to
The distance between 125 rear stretching end of drive rod and anterior extension end.To realize that sliding sleeve 129 is only translated relative to upper proximal end fingerboard 103
Movement, does not rotate, and slide bar 124 only does translational motion relative to upper proximal end fingerboard 103 before making, and does not rotate, slide bar pin
123 remain that vertical direction is arranged, and realize that preceding slide bar 124 and rear slide bar 122 can be along horizontal direction relative rotations and same
When transmit power, to realize that the rotation of bevel gear 1 is moved by transmission belt turn between rear slide bar 122 and preceding slide bar 124
Disk 118 rotates synchronously.The external cylindrical surface of the rotating disc 118 is mounted in the inner hole of rotating disc support 128, rotating disc support
128 are fixed on proximal end fingerboard 103, are rotatably installed in the inner hole of 134 lower end of rotating shaft support in the middle part of the shaft 127,
134 upper end of rotating shaft support is fixed on proximal end fingerboard 103.
The structure that the preceding slide bar 124 and sliding sleeve 129 is slidably connected are as follows: 129 inner hole of sliding sleeve is rectangle, advancing slip
The outer surface of bar 124 is rectangle, and outside rectangular surface and the 129 rectangle inner hole of sliding sleeve of slide bar 124 are slidably connected.
A reed seat 1 is fixed in the position that the rear end of the bevel gear 1 and rear slide bar 122 are adapted,
The two sides up and down of reed seat 1 are respectively arranged with reed 1, and reed 1 has elasticity, reed 1 and rear slide bar
122 are in contact, and when preventing metacarpophalangeal plate 102 conllinear with upper proximal end fingerboard 103, i.e., when index finger stretches, prevent rear slide bar 122 autonomous
Sliding influences the transmission effect that bevel gear 1 arrives rotating disc 118, and since reed 1 has elasticity, rear slide bar 122 is being passed
Frictional force during dynamic is small, such as 1 N, without back-and-forth motion of the slide bar 122 in transmission process after not influencing.
The rotating disc 118 and bevel gear 1 is coaxially disposed.
The rear end of 126 fixed rotating shaft 127 of drive plate is rotatablely connected rotating shaft support 134, shaft in the middle part of shaft 127
Support 134 is fixed on proximal end fingerboard 103, the fixed bevel gear 5 121 in the front end of shaft 127, bevel gear 5 121 and bevel gear
4 120 engagements, bevel gear 4 120 are fixed on the lower end of distal pin 119, fixed upper distal end fingerboard 104 in the middle part of upper distal pin 119
Rear end, the upper end of upper distal pin 119 is rotatablely connected the front end of upper proximal end fingerboard 103.
The shaft 127 is coaxially disposed with drive plate 126, the rotating disc 118 with bevel gear 1 is coaxial sets
It sets.
The front end of the lower proximal end fingerboard 107 is hinged by the rear end of lower distal pin 106 and lower distal end fingerboard 105.
Upper metacarpophalangeal plate 102 respectively passes through a metacarpophalangeal connecting plate 137 with the left and right side of lower metacarpophalangeal plate 109 and is fixedly connected, upper close
End fingerboard 103 respectively passes through a proximal end connecting plate 138 with the left and right side of lower proximal end fingerboard 107 and is fixedly connected, upper distal end fingerboard
104, which respectively pass through a distal end connecting plate 139 with the left and right side of lower distal end fingerboard 105, is fixedly connected.
The upper proximal end pin 114 and lower proximal end pin 108 is coaxial, and lower distal pin 106 and upper distal pin 119 are coaxial.
Above-mentioned motor is connect with control system in the application, and those skilled in the art can be realized to above-mentioned each motor
Control driving, can be realized four fingers (index finger, middle finger, ring finger and little finger) bend and stretch control and thumb bend and stretch, wrist joint
The control of swing.
When control system control index finger bending, the electrical power in index finger motor reducer 111, motor driven cone are controlled
Gear 1 rotates, and bevel gear 2 115 rotates, and proximal end fingerboard 103 rotates in drive, and bevel gear 1 drives double linked wheel simultaneously
116 rotations form V belt translation with belt wheel 1 by synchronous belt 117 and connect, and V belt translation can be substituted with chain conveyer, due to index finger
Connecting shaft 101 is fixed on palm frame 1105, and lower metacarpophalangeal plate 109 is swung relative to index finger connecting shaft 101, due to bevel gear two
115 and 116 rotation direction of double linked wheel on the contrary, or more proximal end fingerboard 103 it is identical as lower metacarpophalangeal 109 swaying directions of plate, due to cone
Gear 1 rotates, and slide bar 124 moves before rear slide bar 122 is driven by slide bar pin 123, drives 118 rotation process of rotating disc
In, since metacarpophalangeal plate 102 swings relative to upper proximal end fingerboard 103, is bent, rear slide bar 122 and preceding slide bar on upper proximal end fingerboard 103
124 are bent along slide bar pin 123, are driven between drive plate 126 and rotating disc 118 using drive rod 125, after drive rod 125
The fixed sliding sleeve 129 in end is stretched, sliding sleeve 129 is rotated relative to rotating disc 118, is only translatable relative to upper proximal end fingerboard 103, slide bar pin
123 are placed in the vertical direction always, and rear slide bar 122 can be bent with preceding slide bar 124 along slide bar pin 123 always, and on
When metacarpophalangeal plate 102 is swung relative to upper proximal end fingerboard 103, rear slide bar 122 and preceding slide bar 124 towards upper metacarpophalangeal plate 102 with it is upper close
When fingerboard 103 being held to swing the movement of bending position direction, side, front are slided respectively backward for rear slide bar 122, preceding slide bar 124, adapt to cone
Gear 1 and rotating disc 118 are close to each other, the distance between the change in location that becomes smaller, rotating disc driven by drive rod 125
Drive plate 126 rotates, and drive plate 126 drives shaft 127 to rotate, and shaft 127 is rotated with dynamic bevel gear 5 121, bevel gear 4 120
Rotation, bevel gear 4 120 drive upper distal end fingerboard 104 to rotate by upper distal pin 119, and metacarpophalangeal plate 102, upper proximal end refer in realization
Plate 103, upper distal end fingerboard 104 synchronize swing in the same direction, realize that the four of bionic movement refers to (index finger, middle finger, ring finger and little finger) fortune
It is dynamic.
When control system control thumb bending, the electrical power in thumb motor reducer 514, thumb bevel gear are controlled
One 513 rotations, thumb bevel gear 2 516 and thumb double linked wheel 511 rotate, and rotation direction is on the contrary, thumb bevel gear 2 516 drives
Distal plate 504 is swung on dynamic thumb, and thumb belt wheel 1 is fixed in thumb connecting shaft 501, and thumb double linked wheel 511 rotates, and is led to
The V belt translation for crossing thumb synchronous belt 509 swings metacarpophalangeal plate 507 under thumb along thumb connecting shaft 501, and metacarpophalangeal plate under thumb
507 is identical as 504 swaying direction of distal plate on thumb, realizes the bionic movement of thumb 5.
When control system control wrist joint bending, the electrical power in wrist motor reducer 2205 is controlled, tooth is passed through
Take turns shaft 2204 drive wrist bevel gear 1 rotate, wrist bevel gear 2 2203 rotate, upper small cantilever crane 3301, under small cantilever crane 3303
It is rotated along wrist axis 2201, realizes wrist bionic movement.
When controlling thumb wheel adjustment position, control thumb wheel motor reducer 1109 is powered, thumb wheel motor
Speed reducer 1109 drives lead screw 1112 to rotate, and nut 1110 moves up and down, and fixed pin 1116 drives thumb turntable 1108 to rotate.
Claims (10)
1. a kind of bionic movement function upper limb, including artificial limb at hand, wrist joint (22), forearm (33), the wrist joint (22)
Both ends respectively with artificial limb at hand, forearm connect, and realize swing of the artificial limb at hand, between forearm, the artificial limb wraps at hand
Include index finger (1), middle finger (2), nameless (3), little finger of toe (4), thumb (5), palm (11), the index finger (1), middle finger (2), nothing
Name refers to (3), little finger of toe (4), is mounted on palm (11)；
The palm (11) includes: hand support plate (1105), thumb turntable (1108), thumb wheel motor reducer
(1109), nut (1110), thumb wheel motor rack (1111), lead screw (1112), guided way (1113), bearing bearing block
(1115), fixed pin (1116), thumb shaft (1118), thumb wheel motor reducer (1109) are fixed on thumb wheel motor
On frame (1111), thumb wheel motor rack (1111) is fixed on hand support plate (1105), thumb wheel motor reducer
(1109) lower end of output shaft fixed lead screw (1112), the top of lead screw (1112) screw nut (1110), nut (1110)
Front and back side be provided with the perforative elongated slot of up and down direction, before and after nut (1110) elongated slot of side respectively with a guided way
(1113) it is slidably connected, guided way (1113) is fixed on hand support plate (1105), realizes nut (1110) along guided way
(1113) it slides up and down, nut (1110) is provided with the nut beam (1117) stretched out backward, the fixed fixed pin of nut beam (1117)
(1116) left end, the sliding in sliding groove (1114) of the right end of fixed pin (1116), the thumb turntable (1108) are downward
Side, front are extended with driving beam, are provided in driving beam sliding groove (1114), sliding groove (1114) is set along left and right directions level
It sets, the left end of thumb turntable (1108) lower end fixed thumb shaft (1118), the right part installation of thumb shaft (1118)
In the inner hole of bearing bearing block (1115), bearing bearing block (1115) is fixed on hand support plate (1105)；
Thumb (5) are installed on the thumb turntable (1108).
2. bionic movement function upper limb according to claim 1, it is characterised in that: the wrist joint (22) includes wrist axis
(2201), wrist bevel gear one (2202), wrist bevel gear two (2203), rotary gear shaft (2204), wrist motor reducer (2205),
Wrist motor rack (2206), wrist rotating shaft support (2207), hand support plate (1105) rear end are arranged two and stretch out backward
Wrist joint connecting plate (1106), the upper and lower part of the wrist axis (2201) is rotatablely installed wrist joint connecting plate (1106) respectively,
Wrist axis (2201) is fixed wrist bevel gear two (2203), and wrist bevel gear two (2203) engages with wrist bevel gear one (2202), wrist axis
(2201) upper and lower end is respectively fixedly connected with forearm front end, and the wrist bevel gear one (2202) is fixed on rotary gear shaft
(2204) front end is rotatably installed on wrist rotating shaft support (2207) in the middle part of rotary gear shaft (2204), wrist rotating shaft support
(2207) upper and lower end is separately fixed on forearm, and the axis hole of rotary gear shaft (2204) rear end setting is fixedly connected with wrist motor and subtracts
The output shaft of fast machine (2205), wrist motor reducer (2205) are fixed on wrist motor rack (2206), wrist motor rack
(2206) it is fixed on forearm.
3. bionic movement function upper limb according to claim 2, it is characterised in that: the forearm (33) includes: upper small
Cantilever crane (3301), forearm connecting plate (3302), under small cantilever crane (3303), the upper and lower end of wrist axis (2201) fixed upper forearm respectively
Frame (3301), under small cantilever crane (3303) front end, wrist rotating shaft support (2207) upper and lower end is separately fixed at small cantilever crane
(3301), under on small cantilever crane (3303), the upper and lower end of wrist motor rack (2206) be separately fixed at small cantilever crane (3301), under
On small cantilever crane (3303), upper small cantilever crane (3301) left and right sides of small cantilever crane (3303) under passes through a forearm connecting plate respectively
(3302) it is fixedly connected.
4. bionic movement function upper limb according to claim 1, it is characterised in that: before the hand support plate (1105)
End is disposed with index finger erecting bed (1101), middle finger erecting bed (1104), nameless erecting bed (1103), little finger of toe from top to bottom
Erecting bed (1102), installs index finger, middle finger, ring finger and little finger respectively.
5. bionic movement function upper limb according to claim 1, it is characterised in that: the thumb (5) includes: that thumb connects
Spindle (501), thumb belt wheel one (510), thumb double linked wheel (511), thumb bevel gear one (513), thumb motor reducer
(514), thumb motor rack (515), thumb bevel gear two (516), rear, the front end of the thumb connecting shaft (501) turn respectively
The dynamic lower end for connecting metacarpophalangeal plate (507) under metacarpophalangeal plate (502), thumb on thumb, the fixed thumb belt wheel one of thumb connecting shaft (501)
(510), thumb motor reducer (514) is fixed on thumb on metacarpophalangeal plate (502) by thumb motor rack (515), thumb electricity
The output shaft of machine speed reducer (514) is fixed thumb bevel gear one (513), thumb bevel gear one (513) simultaneously with thumb bevel gear
Two (516), thumb double linked wheel (511) rear end setting thumb bevel gear three engage, the thumb bevel gear two (516) it is small
It holds and is oppositely arranged with the small end of thumb bevel gear three, the thumb bevel gear two (516) is fixed on proximal end pin (503) on thumb
On, the lower end of distal plate (504) on the upper fixed thumb of (503) is sold in proximal end on thumb, proximal end pin (503) rotation connection on thumb
The upper end of metacarpophalangeal plate (502) on thumb, it is synchronous that the thumb belt wheel two-way of thumb double linked wheel (511) the front end setting crosses thumb
Band (509) forms V belt translation with thumb belt wheel one (510) and connect, thumb double linked wheel (511) loop proximal end under thumb
It sells on (512), the upper end of proximal end pin (512) and metacarpophalangeal plate (507) under the lower end of distal plate (506) under thumb and thumb under thumb
Rotation connection；
The thumb mounting hole being arranged on thumb turntable (1108) is fixed thumb connecting shaft (501), metacarpophalangeal plate on the thumb
(502) pass through a thumb metacarpophalangeal connecting plate (508) respectively with the front and back side of metacarpophalangeal plate (507) under thumb to be fixedly connected, it is described
Thumb on to pass through a thumb distal end connecting plate (505) respectively solid for side before and after distal plate (506) under distal plate (504) and thumb
Fixed connection.
6. bionic movement function upper limb according to claim 1, it is characterised in that: the structure of index finger (1) and middle finger (2),
Nameless (3), the structure of little finger of toe (4) are identical, and index finger (1) includes that index finger connecting shaft (101), belt wheel one (110), finger motor subtract
Fast machine (111), bevel gear one (113), bevel gear two (115), double linked wheel (116), bevel gear four (120), bevel gear five
(121), the upper and lower end of index finger connecting shaft (101) is rotatablely connected the rear end of metacarpophalangeal plate (102), lower metacarpophalangeal plate (109) respectively,
Index finger connecting shaft (101) fixed pulley one (110), finger motor reducer (111) are directly or indirectly fixed on metacarpophalangeal plate
(102) on, the output shaft of finger motor reducer (111) is fixed bevel gear one (113), bevel gear one (113) simultaneously with cone tooth
Take turns two (115), the bevel gear three of double linked wheel (116) upper end setting engages；
The bevel gear two (115) is fixed on proximal end pin (114), upper proximal end pin (114) top and upper metacarpophalangeal plate (102)
Front end rotation connection, is fixedly connected with the rear end of upper proximal end fingerboard (103) in the middle part of upper proximal end pin (114), the double linked wheel
(116) loop sells the upper end of (108) in lower proximal end, and lower proximal end fingerboard (107) is sold with lower metacarpophalangeal plate (109) by lower proximal end
(108) lower hinge, lower proximal end pin (108) are rotatablely connected with metacarpophalangeal plate (109) under lower proximal end fingerboard (107), and described is double
The synchronous pulley two of connection wheel (116) lower end setting forms V belt translation with belt wheel one (110) by synchronous belt (117) and connect；
The bevel gear one (113) is connect by slide bar transmission mechanism with rotating disc (118), and rotating disc (118) passes through transmission
Bar (125) is connect with drive plate Synchronous Transmission, and realizing can be same after bevel gear one (113) and rotating disc (118) change in location
Step rotation；
The rear end of drive plate (126) fixed rotating shaft (127), shaft (127) middle part are rotatablely connected rotating shaft support (134), shaft branch
Support (134) is fixed on proximal end fingerboard (103), and drive plate (126) is rotatably installed in rotating disc support (128), shaft
(127) middle part is rotatablely connected rotating shaft support (134), and rotating disc support (128), rotating shaft support (134) are fixed on proximal end fingerboard
(103) on, the front end of shaft (135) is fixed bevel gear five (121), and bevel gear five (121) engages with bevel gear four (120), bores
Gear four (120) is fixed on distal pin (119), the rear end of distal end fingerboard (104) in upper distal pin (119) fixation, upper remote
The front end of proximal end fingerboard (103), the shaft (127) and drive plate (126) coaxially, rotate in pin (119) rotation connection of end
Disk (118) and bevel gear one (113) are coaxially disposed, and the front end of lower proximal end fingerboard (107) passes through lower distal pin (106) and lower distal end
The rear end of fingerboard (105) is hinged；The described upper proximal end pin (114) and lower proximal end pin (108) coaxially, lower distal pin (106) with it is upper
Distal pin (119) is coaxial.
7. bionic movement function upper limb according to claim 6, it is characterised in that: be arranged on index finger erecting bed (1101)
Index finger mounting hole is fixed index finger connecting shaft (101), the fixed middle finger connection of the middle finger mounting hole being arranged on middle finger erecting bed (1104)
Axis, the fixed nameless connecting shaft of the nameless mounting hole being arranged on nameless erecting bed (1103), on little finger of toe erecting bed (1102)
The fixed little finger of toe connecting shaft of the little finger of toe mounting hole of setting.
8. bionic movement function upper limb according to claim 6, it is characterised in that: slide bar transmission mechanism includes rear slide bar
(122), slide bar pin (123), preceding slide bar (124), drive rod (125), sliding sleeve (129), along the circumference side of bevel gear one (113)
To there are three step settings rear slide bar (122), slide bar (122) is horizontally disposed with along the longitudinal direction after three, slide bar (122) after three
It is slid back and forth with the sliding rod hole being arranged on bevel gear one (113) and rear slide bar is rotatablely connected along sliding rod hole, each rear slide bar
(122) front passes through a slide bar pin (123) and a preceding slide bar (124) hingedly respectively, and slide bar pin (123) is along vertical direction
Setting, each of three preceding slide bars (124) preceding slide bar (124) are slidably connected with a sliding sleeve (129) respectively, three sliding sleeves
(129) sliding sleeving hole uniformly distributed along the circumferencial direction of rotating disc (118), that three sliding sleeves (129) are axially arranged with rotating disc (118)
Rotation connection；
Each sliding sleeve (129) advances through the upside rear stretching end that a drive rod (125) is fixed after rotating disc (118), transmission
The drive rod mounting hole being arranged on the anterior extension end of bar (125) and drive plate (126) is rotatablely connected, drive plate (126) and rotating disc
(118) structure is identical, and drive plate (126) is extended back along the center of up and down direction away from drive rod (125) are equal to rotating disc (118)
The distance between end and anterior extension end.
9. bionic movement function upper limb according to claim 8, it is characterised in that: slide bar transmission mechanism further includes reed one
(130), reed seat one (131), reed two (132), reed seat two (133), each sliding sleeve (129) back through rotating disc
(118) after, a reed seat two (133) is fixed, the upper and lower side of reed seat two (133) is fixed with reed two (132), reed
Two (132) have elasticity, and reed two (132) is contacted with preceding slide bar (124), to prevent upper metacarpophalangeal plate (102) from referring to upper proximal end
When plate (103) is conllinear, preceding slide bar (124) is independently slided, and rear end and the rear slide bar (122) of the bevel gear one (113) are mutually fitted
A reed seat one (131) is fixed in the position answered, and the two sides up and down of reed seat one (131) are respectively arranged with reed one (130),
Reed one (130) has elasticity, and reed one (130) is in contact with rear slide bar (122), to prevent rear slide bar (122) independently sliding
It is dynamic.
10. -9 described in any item bionic movement function upper limbs according to claim 1, it is characterised in that: the hand support plate
(1105) front side, rear side fix centre of the palm front cover (1119), centre of the palm rear cover (1107) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811048806.2A CN108972515B (en) | 2018-09-10 | 2018-09-10 | Bionic movement function upper limb |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811048806.2A CN108972515B (en) | 2018-09-10 | 2018-09-10 | Bionic movement function upper limb |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108972515A true CN108972515A (en) | 2018-12-11 |
| CN108972515B CN108972515B (en) | 2024-02-06 |
Family
ID=64545201
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811048806.2A Active CN108972515B (en) | 2018-09-10 | 2018-09-10 | Bionic movement function upper limb |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108972515B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109938963A (en) * | 2019-03-15 | 2019-06-28 | 杭州电子科技大学 | Worn type hand mechanical exoskeleton with auxiliary grasping and rehabilitation training function |
| CN112659165A (en) * | 2021-01-26 | 2021-04-16 | 韩靖 | Simulation manipulator |
| CN112716751A (en) * | 2020-12-28 | 2021-04-30 | 燕山大学 | Exoskeleton finger rehabilitation robot |
| CN112773661A (en) * | 2020-12-28 | 2021-05-11 | 燕山大学 | Exoskeleton forefinger function rehabilitation robot |
| CN112809716A (en) * | 2021-01-26 | 2021-05-18 | 韩靖 | Master finger assembly of simulation manipulator |
| DE102020115096A1 (en) | 2020-06-05 | 2021-12-09 | Stefan Schulz | Metacarpal for a hand prosthesis |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB596209A (en) * | 1945-10-19 | 1947-12-30 | Edward Walter Hobbs | Improvements in artificial hands |
| SU973122A1 (en) * | 1981-02-13 | 1982-11-15 | Украинский Научно-Исследовательский Институт Протезирования,Протезостроения,Экспертизы И Восстановления Трудоспособности Инвалидов | Artifical hand |
| CN101474794A (en) * | 2009-01-23 | 2009-07-08 | 清华大学 | Bionic robot under-actuated delicacy hand device |
| CN101486191A (en) * | 2009-02-26 | 2009-07-22 | 清华大学 | Displacement under-actuated robot hand apparatus |
| CN102303317A (en) * | 2011-08-15 | 2012-01-04 | 清华大学 | Thread connecting rod type two-degrees-of-freedom robot thumb root joint device |
| CN202149051U (en) * | 2011-06-29 | 2012-02-22 | 吴敏书 | Oscillation amplitude adjusting and controlling device for oscillating electric fan |
| CN102579227A (en) * | 2012-02-28 | 2012-07-18 | 浙江大学 | Hand and wrist exoskeleton rehabilitation training device |
| KR101201455B1 (en) * | 2012-07-31 | 2012-11-14 | 이춘우 | hand of robot |
| CN103027768A (en) * | 2012-12-13 | 2013-04-10 | 重庆市弘山川光电股份有限公司 | Assistive manipulator |
| CN105193525A (en) * | 2015-10-29 | 2015-12-30 | 国家康复辅具研究中心 | Bionic hand with five fingers based on nickel-titanium memory alloy |
| CN106038007A (en) * | 2016-07-04 | 2016-10-26 | 中国科学院深圳先进技术研究院 | Bionic artificial hand |
| CN206445813U (en) * | 2016-03-18 | 2017-08-29 | 杜宇 | A kind of drive lacking humanoid dexterous arm device |
| CN209207494U (en) * | 2018-09-10 | 2019-08-06 | 河南翔宇医疗设备股份有限公司 | Bionic motor function upper limb |
-
2018
- 2018-09-10 CN CN201811048806.2A patent/CN108972515B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB596209A (en) * | 1945-10-19 | 1947-12-30 | Edward Walter Hobbs | Improvements in artificial hands |
| SU973122A1 (en) * | 1981-02-13 | 1982-11-15 | Украинский Научно-Исследовательский Институт Протезирования,Протезостроения,Экспертизы И Восстановления Трудоспособности Инвалидов | Artifical hand |
| CN101474794A (en) * | 2009-01-23 | 2009-07-08 | 清华大学 | Bionic robot under-actuated delicacy hand device |
| CN101486191A (en) * | 2009-02-26 | 2009-07-22 | 清华大学 | Displacement under-actuated robot hand apparatus |
| CN202149051U (en) * | 2011-06-29 | 2012-02-22 | 吴敏书 | Oscillation amplitude adjusting and controlling device for oscillating electric fan |
| CN102303317A (en) * | 2011-08-15 | 2012-01-04 | 清华大学 | Thread connecting rod type two-degrees-of-freedom robot thumb root joint device |
| CN102579227A (en) * | 2012-02-28 | 2012-07-18 | 浙江大学 | Hand and wrist exoskeleton rehabilitation training device |
| KR101201455B1 (en) * | 2012-07-31 | 2012-11-14 | 이춘우 | hand of robot |
| CN103027768A (en) * | 2012-12-13 | 2013-04-10 | 重庆市弘山川光电股份有限公司 | Assistive manipulator |
| CN105193525A (en) * | 2015-10-29 | 2015-12-30 | 国家康复辅具研究中心 | Bionic hand with five fingers based on nickel-titanium memory alloy |
| CN206445813U (en) * | 2016-03-18 | 2017-08-29 | 杜宇 | A kind of drive lacking humanoid dexterous arm device |
| CN106038007A (en) * | 2016-07-04 | 2016-10-26 | 中国科学院深圳先进技术研究院 | Bionic artificial hand |
| CN209207494U (en) * | 2018-09-10 | 2019-08-06 | 河南翔宇医疗设备股份有限公司 | Bionic motor function upper limb |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109938963A (en) * | 2019-03-15 | 2019-06-28 | 杭州电子科技大学 | Worn type hand mechanical exoskeleton with auxiliary grasping and rehabilitation training function |
| DE102020115096A1 (en) | 2020-06-05 | 2021-12-09 | Stefan Schulz | Metacarpal for a hand prosthesis |
| CN112716751A (en) * | 2020-12-28 | 2021-04-30 | 燕山大学 | Exoskeleton finger rehabilitation robot |
| CN112773661A (en) * | 2020-12-28 | 2021-05-11 | 燕山大学 | Exoskeleton forefinger function rehabilitation robot |
| CN112659165A (en) * | 2021-01-26 | 2021-04-16 | 韩靖 | Simulation manipulator |
| CN112809716A (en) * | 2021-01-26 | 2021-05-18 | 韩靖 | Master finger assembly of simulation manipulator |
| CN112659165B (en) * | 2021-01-26 | 2024-02-13 | 韩靖 | Simulation manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108972515B (en) | 2024-02-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108972515A (en) | A kind of bionic movement function upper limb | |
| CN105662783B (en) | Exoskeleton type upper limb rehabilitation training robot | |
| CN111281741B (en) | Reconfigurable exoskeleton upper limb rehabilitation robot for different body types | |
| CN201743884U (en) | Robot for rehabilitating and training upper limb | |
| CN106924013A (en) | A kind of dermaskeleton type upper limb rehabilitation image training robot | |
| CN112641598B (en) | Finger rehabilitation exoskeleton robot with adduction and abduction and flexion and extension functions | |
| CN102499857A (en) | Exoskeleton wearable upper limb rehabilitation robot | |
| CN112716751B (en) | Exoskeleton finger rehabilitation robot | |
| CN109875841A (en) | A kind of wrist convalescence device | |
| CN209207494U (en) | Bionic motor function upper limb | |
| CN205094941U (en) | Hand function rehabilitation training device utensil | |
| CN104490566A (en) | Rehabilitation trainer for lower limbs | |
| CN108814898A (en) | A kind of healing hand function training system | |
| CN106618954A (en) | Series parallel ankle recovery machinery and using method thereof | |
| CN109907939A (en) | Finger motion rehabilitation image training robot based on lasso trick driving and myoelectric control | |
| CN109771222A (en) | A kind of finger gymnastic robot with interior receipts outreach function | |
| CN110037890A (en) | A kind of healing hand function exoskeleton robot based on double four-bar mechanisms | |
| JP2021512743A (en) | Upper limb nerve rehabilitation training equipment | |
| CN109758339A (en) | A kind of Spatial Parallel driving wrist robots for rehabilitation therapy | |
| CN110151494A (en) | More drive module exoskeleton mechanisms | |
| RU138420U1 (en) | DEVICE FOR DEVELOPING ELECTRONIC JOINT CONTRACTURES | |
| CN207462308U (en) | A kind of dermaskeleton type upper limb rehabilitation image training robot | |
| CN108837424A (en) | A kind of 15 freedom degree manipulators in rehabilitation mechanism of exoskeleton-type | |
| CN108972605A (en) | A kind of bionic hand for simulating hand exercise | |
| CN106426241B (en) | Apery hand mechanical paw |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 456300 Middle Section of Di'er Avenue, Neihuang County, Anyang City, Henan Province Applicant after: Xiangyu Medical Co.,Ltd. Address before: 456300 Middle Section of Di'er Avenue, Neihuang County, Anyang City, Henan Province Applicant before: ANYANG XIANGYU MEDICAL EQUIPMENT Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |