CN109172061B

CN109172061B - Multi-degree-of-freedom upper limb prosthesis

Info

Publication number: CN109172061B
Application number: CN201811048807.7A
Authority: CN
Inventors: 李志强; 马龙祥; 杨章振; 李晓堂
Original assignee: Henan Xiangyu Medical Equipment Co Ltd
Current assignee: Henan Xiangyu Medical Equipment Co Ltd
Priority date: 2018-09-10
Filing date: 2018-09-10
Publication date: 2024-01-02
Anticipated expiration: 2038-09-10
Also published as: CN109172061A

Abstract

The application discloses multi freedom's upper limb artificial limb, including the forefinger, the forefinger includes the forefinger screw rod, respectively the screw thread is closed soon before the forefinger screw rod, the back nut is rotated to opposite forefinger front and back nut, the forefinger back nut is connected with the L shape of forefinger mounting panel to one side right through forefinger palm connecting rod one, the L shape corner of forefinger mounting panel is articulated with forefinger palm knuckle, forefinger front nut is connected with the one side right through forefinger proximal end connecting rod one and forefinger proximal end knuckle L shape, forefinger proximal end knuckle axle is rotated with the proximal end knuckle L shape corner of forefinger and is connected, the one end of acting as go-between of forefinger distal end knuckle L shape corner is fixed on the forefinger eccentric wheel, the another side of acting as go-between the other end knuckle L shape is articulated with the one side right of forefinger distal end knuckle L shape, the difference between little one-level distal end knuckle and its traction portion of acting as go-between, realize five finger multi freedom bionic design.

Description

Multi-degree-of-freedom upper limb prosthesis

Technical Field

The invention relates to an upper limb artificial limb, in particular to an upper limb artificial limb with multiple degrees of freedom, which can be used for disabled people.

Background

The accidents such as traffic accidents, industrial injuries and the like cause partial limb stumps to the bodies of some people, and the existing artificial limb upper limb technology is rapidly developed.

The upper limb artificial limb is synchronously controlled by four fingers and thumbs, so that the living needs of users can be met; each finger in the four fingers adopts a single motor to drive a screw rod to rotate, threads arranged on two sides of the screw rod close to the end part are opposite in rotation direction, and the same-direction rotation of the metacarpophalangeal knuckle and the proximal knuckle is realized; the distal knuckle in the four fingers is wound on the eccentric wheel through the stay wire, so that the distal knuckle is bent, and the distal knuckle is provided with a reset spring, so that the distal knuckle is reset autonomously; elastic pads are arranged on the four fingers and the thumb joints, and palm pads are also arranged on the palms, so that a certain protection effect on the object is realized when the object is gripped.

Disclosure of Invention

The invention aims at: the upper limb artificial limb with multiple degrees of freedom is provided, wherein each finger of four fingers adopts single motor driving to realize synchronous movement of three knuckles, the thumb adopts single motor driving to realize synchronous movement of two knuckles, and the wrist joint adopts single motor driving to realize wrist swinging.

The purpose of the invention is realized in the following way: the utility model provides an upper limb artificial limb of multi freedom, includes prosthetic hand, wrist joint 7, forearm 8, wrist joint 7 both ends be connected with prosthetic hand, forearm respectively to realize the swing between prosthetic hand, the forearm, prosthetic hand include index finger 1, middle finger 2, ring finger 3, little finger 4, thumb 5, palm 6, index finger 1, middle finger 2, ring finger 3, little finger 4, thumb 5 set up on palm 6, index finger 1, middle finger 2, ring finger 3, little finger 4 have the same structure, index finger 1 include: the index finger palm knuckle 101, the index finger near end knuckle 102, the index finger far end knuckle 103 and the index finger screw 132, wherein the index finger palm knuckle 101 is provided with a rotary support of the index finger screw 132, the index finger screw 132 and the index finger palm knuckle 101 are arranged in parallel along the front-back direction, the front part and the back part of the index finger screw 132 are respectively screwed with the index finger front nut 129 and the index finger back nut 131, the index finger pin II 110 fixed on the upper side of the index finger back nut 131 is rotationally connected with the front end of the index finger connecting rod I109, the index finger mounting plate 107 is L-shaped, the L-shaped corner of the index finger mounting plate 107 is hinged with the back end of the index finger palm knuckle 101 through the index finger shaft 118, one side of the L-shaped of the index finger mounting plate 107 is of a hollow structure and stretches out to the right side, and the upper end of one side of the L-shaped index finger mounting plate 107 is hinged with the back end of the index finger connecting rod I109 through the index finger pin I108;

The front screw thread of the index finger screw 132 is opposite to the rear screw thread, the index finger palm knuckle 101 is provided with an index finger rear nut 131 and an index finger front nut 129 which slide forwards and backwards along the index finger palm knuckle 101, and the index finger palm knuckle 101, the index finger near end knuckle 102 and the index finger far end knuckle 103 are all in an up-down symmetrical structure;

the upper end of the end part of the L-shaped one side of the fore-finger proximal joint 102 is hinged with the front end of the first 113 of the fore-finger proximal joint through three 116 of the fore-finger pins, the upper end and the lower end of the first 124 of the fore-finger proximal joint are rotatably arranged at the upper and lower parts of the first 124 of the fore-finger proximal joint, the middle part of the first 124 of the fore-finger proximal joint is fixed with the eccentric wheel 128 of the fore-finger proximal joint, the rear part of the eccentric wheel 128 of the fore-finger is fixed with one end of the stay wire 126, the other end of the stay wire 126 is fixed on the tension shaft of the fore-finger, the other end 103 of the L-shaped one side of the fore-finger proximal joint 102 is bent to the right side, the upper end 103 of the L-shaped one side of the fore-finger joint is hinged with the front end of the first 113 of the fore-finger proximal joint through three 116 of the fore-finger pins, the upper and lower ends of the first 124 of the fore-finger proximal joint are rotatably arranged at the corner of the L-finger joint, the upper and lower ends of the first 103 of the fore-finger proximal joint are fixedly arranged at the front end of the fore-finger joint 101 of the fore-finger proximal joint, the middle part of the fore-finger joint is fixedly arranged at the middle part of the fore-finger joint, the middle part of the fore-finger joint is fixedly arranged at the middle part of the fore-finger joint 101 of the fore-finger joint, the fore-finger joint is arranged at the right, the fore-finger joint is fixedly;

The index finger mounting plate 107 is fixed on the palm 6, and a rotation driving mechanism is arranged at the front end of the index finger screw 132.

The first index finger 1, the middle finger 2, the ring finger 3 and the little finger 4 are horizontally arranged along the front-back direction, the lower end of one side of the L shape of the index finger mounting plate 107 is hinged with the rear end of the second index finger palm connecting rod 119 through a seventh index finger pin 133, the upper end of a fourth index finger pin 120 is fixed at the lower side of the index finger rear nut 131, the lower end of the fourth index finger pin 120 is rotationally connected with the front end of the second index finger palm connecting rod 119, the first index finger pin 108 is coaxial with the seventh index finger pin 133, the fourth index finger pin 120 is coaxial with the second index finger pin 110, and the second index finger palm connecting rod 119 and the first index finger palm connecting rod 109 are vertically symmetrical about the symmetry plane of the upper-lower direction of the index finger palm knuckle 101;

the forefinger front nut 129 is used for fixing the upper end of the forefinger pin five 121, the lower end of the forefinger pin five 121 is rotationally connected with the rear end of the forefinger proximal connecting rod two 122, the lower end of the end part of the L-shaped side of the forefinger proximal knuckle 102 is hinged with the front end of the forefinger proximal connecting rod two 122 through the forefinger pin six 123, the forefinger pin five 121 is coaxial with the forefinger pin ten 140, the forefinger pin six 123 is coaxial with the forefinger pin three 116, and the forefinger proximal connecting rod two 122 and the forefinger proximal connecting rod one 113 are vertically symmetrical with respect to the symmetry plane of the forefinger palm knuckle 101;

The lower side of the end of the L-shaped side of the index finger distal knuckle 103 is hinged with the lower side of the other side of the L-shaped side of the index finger proximal knuckle 102 through an index finger pin eight 134, an index finger torsion spring one 135 is arranged between the lower side of the L-shaped side of the index finger distal knuckle 103 and the lower side of the L-shaped side of the index finger proximal knuckle 102, the index finger torsion spring one 135 is movably sleeved on the index finger pin eight 134 and used for realizing the reset after the index finger distal knuckle 103 bends and swings back and forth, the index finger pin eight 134 is coaxial with the index finger pin nine 138, the symmetry plane of the index finger torsion spring one 135 and the index finger torsion spring two 137 relative to the upper and lower directions of the index finger palm knuckle 101 is up and down symmetrical so as to improve the stability of the connection among the index finger distal knuckle 101, the index finger proximal knuckle 102 and the index finger distal knuckle 103.

The front end of the index screw 132 is provided with a rotation driving mechanism, and the structure is as follows: the index finger motor reducer 111 is fixed on the index finger motor frame 112, a belt wheel I115 is fixed on an output shaft of the motor reducer 111, the belt wheel I115 and a belt wheel II 139 form belt transmission through a synchronous belt 114, the belt wheel II 139 is fixed at the front end of the index finger screw 132, the index finger motor frame 112 is fixed on the index finger palm knuckle 101, and the index finger motor frame 112 is provided with a cavity 1121 avoiding the screw bearing pedestal 130.

The index finger palm knuckle 101 is provided with an index finger rear nut 131 and an index finger front nut 129, and the structure of the mechanism sliding back and forth along the index finger palm knuckle 101 is as follows: the index finger rear nut 131 and the index finger front nut 129 are respectively provided with a rear sliding plate and a front sliding plate which extend to the left side, the index finger palm knuckle 101 is provided with a front nut sliding groove 1101 and a rear nut sliding groove 1102 which are horizontally arranged along the front-rear direction, the rear sliding plate and the front sliding plate respectively slide along the front-rear direction in the front nut sliding groove 1101 and the rear nut sliding groove 1102,

the index finger eccentric wheel 128 is in a fan shape, the center angle of the fan-shaped index finger eccentric wheel 128 is 150-180 degrees, the outer edge of the index finger eccentric wheel 128 is elliptical, and the long axis direction of the index finger eccentric wheel 128 is along the front-back direction;

the index finger stay wire 126 bypasses the upper part of the index finger eccentric wheel 128 and bypasses the lower part of the index finger guide wheel 127, the index finger guide wheel 127 is rotatably arranged in the middle of the index finger guide wheel shaft 125, and the upper end and the lower end of the index finger guide wheel shaft 125 are fixed on the index finger proximal knuckle 102.

The thumb 5 is arranged along the up-down direction, and the thumb 5 comprises: the thumb metacarpal joint 501, the thumb proximal joint 502, the thumb mounting plate 503 and the thumb screw 524, the thumb metacarpal joint 501 and the thumb proximal joint 502 are in a front-back symmetrical structure, the thumb mounting plate 503 is L-shaped, the L-shaped corner of the thumb mounting plate 503 is hinged with the rear end of the thumb metacarpal joint 501 through the thumb proximal joint shaft 514, one side of the L-shaped of the thumb mounting plate 503 is of a hollow structure and is positioned on the right side of the thumb metacarpal joint 501, the upper end of one side of the L-shaped of the thumb mounting plate 503 is hinged with the lower end of the thumb metacarpal connecting rod 505 through a thumb pin I504, the upper end of the thumb metacarpal connecting rod I505 is rotationally connected with the front end of a thumb pin II 506, the rear end of the thumb pin II 506 is fixed at the rear end of a thumb lower nut 527, the thumb lower nut 527 forms screw transmission with the lower part of the thumb screw 524, the middle part of the thumb screw 524 is rotatably arranged in a thumb screw bearing seat 528, the thumb screw bearing seat 528 is fixed in the middle of the right side surface of the thumb palm knuckle 501, the thumb screw 524 and the thumb palm knuckle 501 are arranged in parallel along the up-down direction, the upper part of the thumb screw 524 and the thumb upper nut 523 form a screw pair transmission, the screw threads on the upper part of the thumb screw 524 are opposite to the screw threads on the lower part, the thumb lower nut 527 and the thumb upper nut 523 are respectively provided with a thumb lower sliding plate and a thumb upper sliding plate which extend to the left side, the thumb palm knuckle 501 is provided with a thumb upper nut sliding groove 5011, a thumb lower nut sliding groove 5012 and a thumb upper sliding plate which are arranged along the up-down direction, and the thumb lower sliding plate and the thumb upper sliding plate are respectively arranged in the thumb lower nut sliding groove 5012 and the thumb upper nut sliding groove 5011;

The rear side of the thumb upper nut 523 fixes the front end of the thumb pin three 509, and the rear end of the thumb pin three 509 is rotationally connected with the rear end of the thumb proximal connecting rod one 510;

the thumb proximal knuckle 502 is L-shaped, one L-shaped side of the thumb proximal knuckle 502 is located on the right side of the thumb metacarpal knuckle 501, the thumb proximal knuckle 502 is of a hollow structure, the front end of the thumb proximal knuckle 502 is connected by a thumb connecting beam, the rear end of the L-shaped side of the thumb proximal knuckle 502 is hinged with the upper end of the thumb proximal connecting rod one 510 through a thumb pin four 513, the L-shaped corner of the thumb proximal knuckle 502 is rotatably installed at the front and rear parts of the thumb proximal knuckle shaft 514, and the front and rear ends of the thumb proximal knuckle shaft 514 are fixed at the upper end of the thumb metacarpal knuckle 501;

the thumb motor speed reducer 507 is fixed on the thumb motor frame 508, the output shaft of the thumb motor speed reducer 507 is fixed with a first thumb belt pulley 512, the first thumb belt pulley 512 and a second thumb belt pulley 522 form belt transmission through a thumb synchronous belt 511, the second thumb belt pulley 522 is fixed at the upper end of a thumb screw 524, the thumb motor frame 508 is fixed on a thumb metacarpal knuckle 501, and the thumb motor frame 508 is provided with a cavity avoiding a thumb screw bearing seat 528;

The front end of one L-shaped edge of the thumb mounting plate 503 is hinged with the lower end of a thumb metacarpophalangeal connecting rod II 517 through a thumb pin III 516, the rear end of a thumb pin III 518 is fixed on a thumb lower nut 527, the front end of the thumb pin III 518 is rotationally connected with the upper end of the thumb metacarpophalangeal connecting rod II 517, the thumb pin III 516 is coaxial with a thumb pin I504, the thumb pin III 518 is coaxial with a thumb pin II 506, and the symmetry surfaces of the thumb metacarpophalangeal connecting rod II 517 and the thumb metacarpophalangeal connecting rod I505 relative to the front-back direction of the thumb metacarpophalangeal joint 501 are front-back symmetrical;

the thumb upper nut 523 fixes the rear end of a thumb pin seven 519, the front end of the thumb pin seven 519 is rotationally connected with the lower end of a thumb proximal connecting rod II 520, the front end of the end part of the L-shaped side of the thumb proximal knuckle 502 is hinged with the upper end of a thumb proximal connecting rod II 520 through a thumb pin eight 529, the thumb pin seven 519 is coaxial with a thumb pin III 509, the thumb pin eight 529 is coaxial with a thumb pin IV 513, and the thumb proximal connecting rod II 520 and the thumb proximal connecting rod I510 are in front-back symmetry with respect to the front-back direction of the thumb metacarpal knuckle 501; the thumb mounting plate 503 is fixed on the palm 6.

The palm 6 includes: the palm rest 609 and the palm pad, wherein the front end of the palm rest 609 is sequentially provided with an index finger mounting table 601, a middle finger mounting table 602, a ring finger mounting table 603 and a little finger mounting table 604 from top to bottom, the index finger mounting table 601 is used for fixing the index finger mounting plate 107, the middle finger mounting table 602 is used for fixing the middle finger mounting plate, the ring finger mounting table 603 is used for fixing the ring finger mounting plate, and the little finger mounting table 604 is used for fixing the little finger mounting plate; the rear end of the palm frame 609 is provided with two wrist joint mounting plates 606 which extend backwards, and the wrist joint mounting plates 606 are provided with wrist joint shaft holes 607.

The wrist joint 7 includes: the wrist motor speed reducer 706 and the wrist connecting shaft 707 are respectively fixed on the upper arm support 801 and the lower arm support 802 at the upper end and the lower end of the wrist shaft 701, the wrist mounting plate 606 is rotatably mounted on the upper portion and the lower portion of the wrist shaft 701, the wrist gear two 703 is fixed on the wrist shaft 701, the wrist gear two 703 is meshed with the wrist gear one 702, the wrist gear one 702 and the wrist gear two 703 are bevel gears with equal teeth, the wrist gear one 702 is fixed on the front end of the wrist connecting shaft 707, the middle part of the wrist connecting shaft 707 is rotatably mounted in an inner hole of the wrist connecting shaft support 704, the wrist connecting shaft support 704 is fixed on the upper arm support 801 and the lower arm support 802, the output shaft of the wrist motor speed reducer 706 is fixed in an inner hole at the rear end of the wrist connecting shaft 707, and the wrist motor speed reducer 706 is fixed on the upper arm support 801 and the lower arm support 802.

The forearm 8 comprises a forearm upper bracket 801, a forearm lower bracket 802, a forearm right guard plate 803 and a forearm left guard plate 804, wherein the forearm left guard plate 804 and the forearm right guard plate 803 are fixed on the left side and the right side of the forearm upper bracket 801 and the forearm lower bracket 802.

The left sides of the index finger palm knuckle 101, the index finger near end knuckle 102 and the index finger far end knuckle 103 are respectively fixed with an index finger palm knuckle pad 106, an index finger near knuckle pad 105 and an index finger far knuckle pad 104, and the index finger far knuckle pad 104, the index finger near knuckle pad 105 and the index finger palm knuckle pad 106 have elasticity;

the left sides of the thumb palm knuckle 501 and the thumb proximal knuckle 502 are respectively fixed with a thumb palm knuckle pad and a thumb proximal knuckle pad, and the thumb palm knuckle pad and the thumb proximal knuckle pad have elasticity;

the palm rest 609 is fixed with a palm pad 608 on the right side, and the palm pad 608 has elasticity.

Compared with the prior art, the invention has the following advantages:

the four fingers and the thumb are adopted for synchronous control, so that the living needs of users can be met;

each finger in the four fingers adopts a single motor to drive a screw rod to rotate, threads arranged on two sides of the screw rod close to the end part are opposite in rotation direction, and the same-direction rotation of the metacarpophalangeal knuckle and the proximal knuckle is realized;

The distal knuckle in the four fingers is wound on the eccentric wheel through the stay wire, so that the distal knuckle is bent, and the distal knuckle is provided with a reset spring, so that the distal knuckle is reset autonomously;

elastic pads are arranged on the four fingers and the thumb joints, and palm pads are also arranged on the palms, so that a certain protection effect on the object is realized when the object is gripped.

Drawings

Fig. 1 is a general structural diagram of an upper limb prosthesis with multiple degrees of freedom.

Fig. 2 is a general construction view of a hand portion of the prosthesis.

Fig. 3 is a general construction view of a finger of a prosthesis.

Figure 4 is a diagram of the transmission structure of the back half of the index finger of the prosthetic hand.

Fig. 5 is a diagram showing the transmission structure of the rear half of the index finger of the prosthetic hand with the motor reducer removed.

Fig. 6 is a schematic view of the index finger palm knuckle bending drive structure.

Fig. 7 is a schematic view of the proximal knuckle bending drive configuration of the index finger.

Fig. 8 is a schematic diagram of the distal knuckle bending drive configuration of the index finger.

Fig. 9 is a second schematic diagram of the distal knuckle bending drive configuration of the index finger.

Fig. 10 is a thumb overall structure diagram.

Fig. 11 is a general structural view of the thumb with the motor reducer removed.

Fig. 12 is an overall block diagram of a thumb mounted knuckle pad.

Fig. 13 is a schematic structural view of the palm rest.

Fig. 14 is a schematic view of the hand-wrist joint connection.

Fig. 15 is a schematic diagram of the structure of the wrist drive motor reducer mounted on the forearm.

Fig. 16 is a second general structural view of a multi-degree of freedom upper limb prosthesis.

Fig. 17 is a schematic diagram of the index finger motor frame.

Reference numerals: reference numerals: 1-index finger, 2-middle finger, 3-ring finger, 4-little finger, 5-thumb, 6-palm, 7-wrist joint, 8-little arm, 101-index finger palm knuckle, 102-index finger proximal knuckle, 103-index finger distal knuckle, 104-index finger distal knuckle pad, 105-index finger proximal knuckle pad, 106-index finger palm knuckle pad, 107-index finger mounting plate, 108-index finger pin one, 109-index finger palm connecting rod one, 110-index finger pin two, 111-index finger motor reducer, 112-index finger motor rack, 1121-index finger rack cavity, 113-index finger proximal connecting rod one, 114-synchronous belt, 115-pulley one, 116-index finger pin three, 118-index finger shaft, 119-index finger connecting rod two 120-index finger Pin IV, 121-index finger Pin five, 122-index finger proximal connecting rod II, 123-index finger Pin six, 124-index finger proximal knuckle spindle, 125-index finger guide wheel spindle, 126-index finger pull wire, 127-index finger guide wheel, 128-index finger eccentric wheel, 129-index finger front nut, 130-screw bearing seat, 131-index finger rear nut, 132-index finger screw, 133-index finger pin seven, 134-index finger pin eight, 135-index finger torsion spring I, 136-index finger pull wire spindle, 137-index finger torsion spring II, 138-index finger pin nine, 139-belt wheel II, 140-index finger pin ten, 1101-front nut chute, 1102-rear nut chute, 501-thumb palm knuckle, 502-thumb proximal knuckle, 503-thumb mounting plate, 504-thumb pin one, 505-thumb metacarpal link one, 506-thumb pin two, 507-thumb motor reducer, 508-thumb motor frame, 509-thumb pin three, 510-thumb proximal link one, 511-thumb timing belt, 512-thumb pulley one, 513-thumb pin four, 514-thumb proximal knuckle spindle, 515-thumb metacarpal spindle, 516-thumb pin five, 517-thumb metacarpal link two, 518-thumb pin six, 519-thumb pin seven, 520-thumb proximal link two, 522-thumb pulley two, 523-thumb upper nut, 524-thumb screw, 525-thumb proximal knuckle pad, 526-thumb metacarpal pad, 527-thumb lower nut, 528-thumb screw bearing seat, 529-thumb pin eight, 5011-thumb upper nut runner, 5012-thumb lower nut runner, 601-index finger mount, 602-middle finger mount, 603-ring finger mount, 604-little finger mount, 605-thumb mount, 606-wrist mount plate, 607-wrist shaft hole, 608-palm pad, 609-palm rest, 701-wrist shaft, 702-wrist gear one, 703-wrist gear two, 704-wrist connecting shaft support, 705-wrist motor rack, 706-wrist motor reducer, 707-wrist connecting shaft, 801-little arm upper support, 802-little arm lower support, 803-little arm return shield, 804-little arm left shield.

Description of the embodiments

Referring to fig. 1 to 17, the multi-degree-of-freedom upper limb prosthesis of the invention comprises a prosthetic hand, a wrist joint 7 and a forearm 8, wherein two ends of the wrist joint 7 are respectively connected with the prosthetic hand and the forearm, and swing between the prosthetic hand and the forearm is realized, the prosthetic hand comprises an index finger 1, a middle finger 2, a ring finger 3, a little finger 4, a thumb 5 and a palm 6, the index finger 1, the middle finger 2, the ring finger 3, the little finger 4 and the thumb 5 are arranged on the palm 6, and the joints of the index finger 1, the middle finger 2, the ring finger 3, the little finger 4 and the palm 6 can swing along the palm 6.

Index finger 1, middle finger 2, ring finger 3, little finger 4 have the same structure, this application replaces and indicates the structure of middle finger 2, ring finger 3, little finger 4 with the structural description of index finger 1, index finger 1 include: index finger joint 101, index finger proximal joint 102, index finger distal joint 103, index finger distal joint pad 104, index finger proximal joint pad 105, index finger joint pad 106, index finger mounting plate 107, index finger pin one 108, index finger link one 109, index finger pin two 110, index finger motor reducer 111, index finger motor mount 112, index finger proximal link one 113, timing belt 114, pulley one 115, index finger pin three 116, index finger shaft 118, index finger link two 119, index finger pin four 120, index finger pin five 121, index finger proximal link two 122, index finger pin six 123, index finger proximal joint shaft 124, index finger guide axle 125, index finger pull 126, index finger guide 127, index finger cam 128, index finger nut 129, screw bearing housing 130, index finger back nut 131, index finger screw 132, index pin seven 133, index finger pin eight 134, index finger pin torsion spring one 135, index finger pull axle 136, index finger torsion spring two 137, index pin nine 138, pulley two 139, index finger pin ten 140, the forefinger mounting plate 107 is L-shaped, the L-shaped corner of the forefinger mounting plate 107 is hinged with the rear end of the forefinger palmar knuckle 101 through a forefinger palmar shaft 118, one side of the L-shape of the forefinger mounting plate 107 is of a hollow structure, the upper end of one side of the L-shape of the forefinger mounting plate 107 is hinged with the rear end of the forefinger palmar connecting rod 109 through a forefinger pin one 108, the front end of the forefinger palmar connecting rod 109 is rotationally connected with the upper end of the forefinger pin two 110, the lower end of the forefinger pin two 110 is fixed on the upper side of the forefinger rear nut 131, the forefinger palmar knuckle 101, the forefinger near end knuckle 102 and the forefinger far end knuckle 103 are all in a vertically symmetrical structure, the forefinger rear nut 131 and the rear part of the forefinger screw 132 form a spiral transmission, the middle part of the forefinger screw 132 is rotationally arranged in the screw bearing seat 130, the screw bearing pedestal 130 is fixed in the middle of the right side surface of the index finger palm knuckle 101, the index finger screw 132 and the index finger palm knuckle 101 are arranged in parallel along the front-back direction, the front part of the index finger screw 132 and the index finger front nut 129 form screw pair transmission, the screw threads of the front part of the index finger screw 132 are opposite to the screw threads of the rear part, the index finger rear nut 131 and the index finger front nut 129 are respectively provided with a rear sliding plate and a front sliding plate which extend out from the left side, the index finger palm knuckle 101 is provided with a front nut sliding groove 1101 and a rear nut sliding groove 1102 which are horizontally arranged along the front-back direction, and the rear sliding plate and the front sliding plate respectively slide along the front-back direction in the front nut sliding groove 1101 and the rear nut sliding groove 1102.

The forefinger front nut 129 is used for fixing the lower end of the forefinger pin ten 140, the upper end of the forefinger pin ten 140 is rotationally connected with the rear end of the forefinger proximal end connecting rod one 113, the forefinger proximal end knuckle 102 is L-shaped, one L-shaped side of the forefinger proximal end knuckle 102 is positioned on the right side of the forefinger palm knuckle 101, the forefinger proximal end knuckle 102 is of a hollow structure, the front part of the forefinger proximal end knuckle 102 is connected with the front end of the forefinger proximal end connecting rod one 113 through the forefinger pin three 116, the upper end of the end part of the L-shaped side of the forefinger proximal end knuckle 102 is hinged with the front end of the forefinger proximal end connecting rod one 113, the upper part and the lower part of the forefinger proximal end knuckle shaft 124 are rotationally arranged at the L-shaped corner of the forefinger proximal end knuckle shaft 124, the upper end and the lower end of the forefinger proximal end knuckle shaft 124 are fixed at the front end of the forefinger palm knuckle 101, the middle part of forefinger proximal end knuckle axle 124 is fixed forefinger eccentric wheel 128, forefinger eccentric wheel 128 is fan-shaped central angle and is 150-180 degrees, forefinger eccentric wheel 128 outer fringe is oval, and its major axis direction sets up along fore-and-aft direction, and the one end of forefinger stay wire 126 is fixed at the rear portion of forefinger eccentric wheel 128, and forefinger stay wire 126 walks around forefinger eccentric wheel 128 top, walks around the below of forefinger leading wheel 127, and its other end is fixed on forefinger stay wire axle 136, forefinger leading wheel 127 rotate and install at forefinger leading wheel axle 125 middle part, the upper and lower extreme of forefinger leading wheel axle 125 is fixed on forefinger proximal end knuckle 102, the both ends rotation of forefinger stay wire axle 136 are connected in the corner of forefinger distal end knuckle 103.

The other side tip of the L shape of forefinger proximal end knuckle 102 crooked to the right side, forefinger distal end knuckle 103 be L shape, the L shape of forefinger distal end knuckle 103 is on one side and stretches out to the right side, the tip upside on one side of the L shape of forefinger distal end knuckle 103 articulates with the another side tip upside of the L shape of forefinger proximal end knuckle 102 through forefinger pin nine 138, be provided with forefinger torsion spring two 137 between the another side of the L shape of forefinger distal end knuckle 103 and forefinger proximal end knuckle 102, forefinger torsion spring two 137 loop is on forefinger pin nine 138 for realize the reset after forefinger distal end knuckle 103 crooked, front end back left swing.

The index finger motor reducer 111 is fixed on the index finger motor frame 112, a belt wheel I115 is fixed on an output shaft of the motor reducer 111, the belt wheel I115 and a belt wheel II 139 form belt transmission through a synchronous belt 114, the belt wheel II 139 is fixed at the front end of the index finger screw 132, the index finger motor frame 112 is fixed on the index finger palm knuckle 101, and the index finger motor frame 112 is provided with a cavity 1121 avoiding the screw bearing pedestal 130.

In order to improve the stability of the index finger rear nut 131 driving the index finger mounting plate 107 and the index finger front nut 129 driving the index finger proximal end knuckle 102 to rotate relative to the index finger palm knuckle 101, the lower end of one side of the L shape of the index finger mounting plate 107 is hinged with the rear end of the index finger palm connecting rod II 119 through the index finger pin III 133, the upper end of the index finger pin IV 120 is fixed at the lower side of the index finger rear nut 131, the lower end of the index finger pin IV 120 is rotationally connected with the front end of the index finger palm connecting rod II 119, the index finger pin IV 108 is coaxial with the index finger pin IV 133, the index finger pin IV 120 is coaxial with the index finger pin IV 110, and the symmetry plane of the index finger palm connecting rod II 119 and the index finger palm connecting rod IV 109 relative to the upper and lower direction of the index finger palm knuckle 101 is up and down symmetrical.

The upper end of index finger front nut 129 fixed index finger pin five 121, the rear end of index finger near-end connecting rod two 122 is rotated to the lower extreme of index finger pin five 121, and the lower extreme of the L shape on one side of index finger near-end knuckle 102 passes through index finger pin six 123 and the front end of index finger near-end connecting rod two 122 articulates, index finger pin five 121 and index finger pin ten 140 coaxial, index finger pin six 123 and index finger pin three 116 coaxial, index finger near-end connecting rod two 122 and index finger near-end connecting rod one 113 be the up-and-down symmetry about the symmetry plane of index finger palm knuckle 101.

The lower side of the end of the L-shaped side of the index finger distal knuckle 103 is hinged with the lower side of the other side end of the L-shaped side of the index finger proximal knuckle 102 through an index finger pin eight 134, an index finger torsion spring one 135 is arranged between the lower side of the L-shaped side of the index finger distal knuckle 103 and the lower side of the L-shaped side of the index finger proximal knuckle 102, the index finger torsion spring one 135 is movably sleeved on the index finger pin eight 134 and used for realizing the reset after the index finger distal knuckle 103 bends and the front end swings back and forth, the index finger pin eight 134 is coaxial with the index finger pin nine 138, and the index finger torsion spring one 135 and the index finger torsion spring two 137 are in up-down symmetry with respect to the symmetry plane of the index finger palm knuckle 101.

The index finger mounting plate 107 is fixed on the palm 6.

The left sides of the index finger palm knuckle 101, the index finger near end knuckle 102 and the index finger far end knuckle 103 are respectively fixed with an index finger palm knuckle pad 106, an index finger near knuckle pad 105 and an index finger far knuckle pad 104, and the index finger far knuckle pad 104, the index finger near knuckle pad 105 and the index finger palm knuckle pad 106 have elasticity.

The structure of the thumb 5 is basically the same as that of the index finger 1, and the difference is that: thumb 5 lacks index finger distal knuckle 103 and index finger pin eight 134, index finger torsion spring one 135, index finger pull shaft 136, index finger torsion spring two 137, index finger pin nine 138, index finger guide axle 125, index finger pull wire 126, index finger guide wheel 127, and index finger cam 128 than index finger 6.

The index finger 1, the middle finger 2, the ring finger 3 and the little finger 4 are horizontally arranged along the front-back direction.

The thumb 5 is arranged along the up-down direction.

The thumb 5 comprises: the thumb 5 comprises: thumb metacarpal joint 501, thumb proximal knuckle 502, thumb mounting plate 503, thumb pin one 504, thumb metacarpal bar one 505, thumb pin two 506, thumb motor reducer 507, thumb motor housing 508, thumb pin three 509, thumb proximal bar one 510, thumb timing belt 511, thumb pulley one 512, thumb pin four 513, thumb proximal knuckle spindle 514, thumb metacarpal spindle 515, thumb pin five 516, thumb metacarpal bar two 517, thumb pin six 518, thumb pin seven 519, thumb proximal link two 520, thumb pulley two 522, thumb upper nut 523, thumb screw 524, thumb proximal knuckle pad 525, thumb metacarpal pad 526, thumb lower nut 527, thumb screw bearing housing 528, thumb pin eight 529.

The thumb metacarpal knuckle 501 and the thumb proximal knuckle 502 are in a front-back symmetrical structure, the L-shaped corner of the thumb mounting plate 503 is hinged with the rear end of the thumb metacarpal knuckle 501 through a thumb proximal knuckle shaft 514, one side of the L-shaped of the thumb mounting plate 503 is in a hollow structure and is positioned on the right side of the thumb metacarpal knuckle 501, the upper end of one side of the L-shaped of the thumb mounting plate 503 is hinged with the lower end of the thumb metacarpal connecting rod 505 through a thumb pin I504, the upper end of the thumb metacarpal connecting rod I505 is rotationally connected with the front end of a thumb pin II 506, the rear end of the thumb pin II 506 is fixed at the rear side of a thumb lower nut 527, the lower nut 527 forms screw transmission with the lower part of a thumb screw 524, the middle part of the thumb screw 524 is rotatably arranged in a thumb screw bearing seat 528, the thumb screw bearing seat 528 is fixed in the middle of the right side surface of the thumb palm knuckle 501, the thumb screw 524 and the thumb palm knuckle 501 are arranged in parallel along the up-down direction, the upper part of the thumb screw 524 and the thumb upper nut 523 form a screw pair transmission, the threads on the upper part of the thumb screw 524 and the threads on the lower part are opposite in rotation direction, the thumb lower nut 527 and the thumb upper nut 523 are respectively provided with a thumb lower sliding plate and a thumb upper sliding plate which extend to the left side, the thumb palm knuckle 501 is provided with a thumb upper nut sliding groove 5011 and a thumb lower nut sliding groove 5012 which are arranged along the up-down direction, and the thumb lower sliding plate and the thumb upper sliding plate are respectively arranged on the thumb lower nut sliding groove 5012 and the thumb upper nut sliding groove 5011.

The rear side of the thumb top nut 523 secures the front end of the thumb pin three 509, the rear end of the thumb pin three 509 is rotatably connected to the rear end of the thumb proximal link one 510,

the thumb proximal knuckle 502 is L-shaped, one L-shaped side of the thumb proximal knuckle 502 is located on the right side of the thumb metacarpal knuckle 501, the thumb proximal knuckle 502 is of a hollow structure, the front end of the thumb proximal knuckle 502 is connected by a thumb connecting beam, the rear end of the L-shaped side of the thumb proximal knuckle 502 is hinged with the upper end of the thumb proximal connecting rod one 510 through a thumb pin four 513, the L-shaped corner of the thumb proximal knuckle 502 is rotatably mounted on the front and rear parts of the thumb proximal knuckle shaft 514, and the front and rear ends of the thumb proximal knuckle shaft 514 are fixed on the upper end of the thumb metacarpal knuckle 501.

The thumb motor speed reducer 507 is fixed on the thumb motor frame 508, the output shaft of the thumb motor speed reducer 507 is fixed with a first thumb belt pulley 512, the first thumb belt pulley 512 and a second thumb belt pulley 522 form belt transmission through a thumb synchronous belt 511, the second thumb belt pulley 522 is fixed at the upper end of a thumb screw 524, the thumb motor frame 508 is fixed on a thumb metacarpal knuckle 501, and the thumb motor frame 508 is provided with a cavity avoiding a thumb screw bearing seat 528.

In order to improve the stability of the rotation of the thumb mounting plate 503 driven by the thumb lower nut 527 and the rotation of the thumb proximal knuckle 502 driven by the thumb upper nut 523 relative to the thumb metacarpal knuckle 501, the front end of one side of the L shape of the thumb mounting plate 503 is hinged with the lower end of the thumb metacarpal link II 517 through the thumb pin III 516, the rear end of the thumb pin III 518 is fixed on the thumb lower nut 527, the front end of the thumb pin III 518 is rotationally connected with the upper end of the thumb metacarpal link II 517, the thumb pin III 516 is coaxial with the thumb pin I504, the thumb pin III 518 is coaxial with the thumb pin II 506, and the symmetry surfaces of the thumb metacarpal link II 517 and the thumb metacarpal link I505 relative to the front-rear direction of the thumb metacarpal knuckle 501 are in front-rear symmetry.

The thumb upper nut 523 fixes the rear end of the thumb pin seven 519, the front end of the thumb pin seven 519 is rotationally connected with the lower end of the thumb proximal connecting rod two 520, the front end of the end part of the L-shaped side of the thumb proximal knuckle 502 is hinged with the upper end of the thumb proximal connecting rod two 520 through the thumb pin eight 529, the thumb pin seven 519 is coaxial with the thumb pin three 509, the thumb pin eight 529 is coaxial with the thumb pin four 513, and the thumb proximal connecting rod two 520 and the thumb proximal connecting rod one 510 are in front-back symmetry with respect to the front-back direction of the thumb metacarpal knuckle 501.

The thumb mounting plate 503 is fixed on the palm 6.

The left sides of the thumb palm knuckle 501 and the thumb proximal knuckle 502 are respectively fixed with a thumb palm knuckle pad and a thumb proximal knuckle pad, and the thumb palm knuckle pad and the thumb proximal knuckle pad have elasticity.

The palm 6 includes: a palm rest 609 and a palm pad,

the front end of palm frame 609 from top to bottom has set gradually forefinger mount pad 601, well finger mount pad 602, ring finger mount pad 603, little finger mount pad 604, forefinger mount pad 601 fixed forefinger mount pad 107, well finger mount pad 602 fixed middle finger mount pad, ring finger mount pad 603 fixed ring finger mount pad, little finger mount pad 604 fixed little finger mount pad.

The rear end of the palm frame 609 is provided with two wrist joint mounting plates 606 which extend backwards, and the wrist joint mounting plates 606 are provided with wrist joint shaft holes 607.

The motor is connected with the control system, and a person skilled in the art can control and drive the motors, and can control the flexion and extension of four fingers (index finger, middle finger, ring finger and little finger) and the flexion and extension of the thumb and the swing of the wrist joint.

When the control system controls the forefinger to bend, the motor in the forefinger motor reducer 111 is controlled to be electrified, the first belt pulley 115 is driven to rotate, the first belt pulley 114 drives the forefinger screw 132 to rotate, the forefinger screw 132 is rotationally connected with the screw bearing pedestal 130 fixed on the forefinger palm knuckle 101, when the forefinger screw 132 rotates, the forefinger back nut 131 is slidingly connected with the forefinger palm knuckle 101, the forefinger back nut 131 moves backwards, the forefinger palm knuckle 102 swings towards the palm center side around the forefinger palm shaft 118 through the backward movement of the forefinger palm connecting rod 109 and the forefinger palm connecting rod 119, the forefinger mounting plate 107 is fixed on the palm, the forefinger palm knuckle 101 swings towards the palm center side around the forefinger palm shaft 118 because the threads at the front part and the rear part of the forefinger screw 132 rotate oppositely, the forefinger front nut 129 moves forwards while the forefinger screw 132 rotates, the forefinger near connecting rod 113 and the forefinger near connecting rod 122 move forwards, the forefinger near knuckle 102 is pushed to swing towards the palm center side around the forefinger near finger thumb knuckle shaft 124, when the index finger proximal knuckle 102 swings, the index finger proximal knuckle axle 124 is fixed on the index finger palm knuckle 101, the index finger eccentric wheel 128 is fixed on the index finger proximal knuckle axle 124, the index finger eccentric wheel 128 is elliptical in shape, the long axis is arranged along the front-back direction, the index finger pull wire 126 is wound on the index finger eccentric wheel 128, the index finger pull wire 126 pulls the index finger pull wire shaft 136, the index finger distal knuckle 103 rotates around the index finger pin eight 134 and the index finger pin nine 138 to realize the bending of the index finger distal knuckle 103 to the palm center side, thus realizing the bending motion of four fingers, when the index finger motor reducer 111 is controlled to rotate, the index finger palm knuckle 101 and the index finger proximal knuckle 102 are opened, the index finger pull wire 126 is relaxed, the index finger distal knuckle 103 is opened under the reset action of the index finger torsion spring one 135 and the index finger torsion spring two 137, the extension of the index finger is realized.

When the control system controls the thumb to bend, the motor in the thumb motor speed reducer 507 is controlled to be electrified, the first thumb belt pulley 512 rotates, the thumb synchronous belt 511 drives the second thumb belt pulley 522 to rotate, the thumb screw 524 rotates, the lower thumb nut 527 moves downwards, the upper thumb nut 523 moves upwards, the thumb knuckle 501 rotates around the thumb knuckle shaft 515, the thumb proximal knuckle 502 rotates around the thumb proximal knuckle shaft 514, the bending of the two thumbs is realized, the reverse rotation of the thumb motor speed reducer 507 is controlled, and the thumb 5 extends.

When the control system controls the wrist joint to bend, a motor in the wrist motor reducer 706 is controlled to be electrified, the wrist motor reducer 706 drives the wrist connecting shaft 707 to rotate, the first wrist gear 702 rotates, the first wrist gear 702 drives the second wrist gear 703 to rotate, the second wrist gear 703 is fixed on the wrist joint shaft 701, and the upper end and the lower end of the wrist joint shaft 701 are respectively fixed with the forearm upper support 801 and the forearm lower support 802, so that swinging between the forearm 8 and the palm is realized.

Claims

1. The utility model provides an upper limb artificial limb of multi freedom, includes prosthetic hand (6), wrist joint (7), forearm (8), wrist joint (7) both ends be connected with prosthetic hand, forearm respectively to realize the swing between prosthetic hand, the forearm, prosthetic hand (6) include forefinger (1), well finger (2), ring finger (3), little finger (4), thumb (5), palm (609), forefinger (1), well finger (2), ring finger (3), little finger (4), thumb (5) set up on palm (609), forefinger (1), well finger (2), ring finger (3), little finger (4) have the same structure, forefinger (1) include: index finger palm knuckle (101), index finger proximal end knuckle (102), index finger distal end knuckle (103), index finger screw rod (132), its characterized in that: the rotating support of the index finger screw rod (132) is arranged on the index finger palm knuckle (101), the index finger screw rod (132) and the index finger palm knuckle (101) are arranged in parallel along the front-back direction, the front part and the rear part of the index finger screw rod (132) are respectively screwed with the index finger front nut (129) and the index finger rear nut (131), the index finger pin II (110) fixed on the upper side of the index finger rear nut (131) is rotationally connected with the front end of the index finger palm connecting rod I (109), the index finger mounting plate (107) is L-shaped, the L-shaped corner of the index finger mounting plate (107) is hinged with the rear end of the index finger palm knuckle (101) through the index finger palm shaft (118), one side of the L-shaped of the index finger mounting plate (107) is of a hollow structure and stretches out to the right side, and the upper end of one side of the L-shaped side of the index finger mounting plate (107) is hinged with the rear end of the index finger palm connecting rod I (109) through the index finger pin I (108);

The front threads of the index finger screw (132) are opposite to the rear threads, an index finger rear nut (131) and an index finger front nut (129) are arranged on the index finger palm knuckle (101) and slide back and forth along the index finger palm knuckle (101), and the index finger palm knuckle (101), the index finger near-end knuckle (102) and the index finger far-end knuckle (103) are in an up-down symmetrical structure;

the forefinger pin ten (140) fixed on the upper side of the forefinger front nut (129) is rotationally connected with the rear end of the forefinger near-end connecting rod one (113), the forefinger near-end knuckle (102) is L-shaped, one L-shaped side of the forefinger near-end knuckle (102) is positioned on the right side of the forefinger palm knuckle (101), the forefinger near-end knuckle (102) is of a hollow structure, the front part of the forefinger near-end knuckle is connected by adopting a connecting beam (1021), the upper end of the end part of the L-shaped side of the forefinger near-end knuckle (102) is hinged with the front end of the forefinger near-end connecting rod one (113) through the forefinger pin three (116), the L-shaped corner of the forefinger near-end knuckle (102) is rotationally arranged on the upper part and the lower part of the forefinger near-end knuckle shaft (124), the upper end and the lower end of the index finger proximal knuckle spindle (124) are fixed at the front end of the index finger palm knuckle (101), the middle part of the index finger proximal knuckle spindle (124) is fixed with an index finger eccentric wheel (128), the rear part of the index finger eccentric wheel (128) is fixed with one end of an index finger pull wire (126), the other end of the index finger pull wire (126) is fixed on an index finger pull wire shaft (136), the other end of the L shape of the index finger proximal knuckle (102) is bent to the right side, the index finger distal knuckle (103) is L-shaped, one side of the L shape of the index finger distal knuckle (103) extends to the right side, the upper side of the end of the L shape of the index finger distal knuckle (103) is hinged with the upper side of the other end of the L shape of the index finger proximal knuckle (102) through an index finger pin nine (138), an index finger torsion spring II (137) is arranged between the upper side of one L-shaped side of the index finger distal knuckle (103) and the upper side of the other L-shaped side of the index finger proximal knuckle (102), and the two ends of the index finger pulling shaft (136) are rotationally connected at the corners of the L-shaped side of the index finger distal knuckle (103);

The index finger mounting plate (107) is fixed on the palm (6), and a rotation driving mechanism is arranged at the front end of the index finger screw (132).

2. The multi-degree of freedom upper limb prosthesis of claim 1 wherein: the novel multifunctional finger comprises an index finger (1), a middle finger (2), a ring finger (3) and a little finger (4), wherein the index finger (1), the middle finger (3) and the little finger (4) are horizontally arranged along the front-back direction, the lower end of one side of the L shape of the index finger mounting plate (107) is hinged with the rear end of an index finger palm connecting rod II (119) through an index finger pin seven (133), the upper end of an index finger pin IV (120) is fixed at the lower side of an index finger rear nut (131), the lower end of the index finger pin IV (120) is rotationally connected with the front end of the index finger palm connecting rod II (119), an index finger pin IV (108) is coaxial with the index finger pin seven (133), the index finger pin IV (120) is coaxial with the index finger pin II (110), and the symmetry plane of the index finger palm connecting rod II (119) and the index finger palm connecting rod IV (109) along the upper-lower direction of the index finger palm knuckle (101) is vertically symmetrical;

the front index finger nut (129) is used for fixing the upper end of the front index finger pin five (121), the lower end of the front index finger pin five (121) is rotationally connected with the rear end of the front index finger near end connecting rod two (122), the lower end of the end part of the L-shaped side of the front index finger near end knuckle (102) is hinged with the front end of the front index finger near end connecting rod two (122) through the front index finger pin six (123), the front index finger pin five (121) is coaxial with the front index finger pin ten (140), the front index finger pin six (123) is coaxial with the front index finger pin three (116), and the symmetry planes of the front index finger near end connecting rod two (122) and the front index finger near end connecting rod one (113) in the up-down direction are in up-down symmetry with respect to the front index finger palm knuckle (101);

The lower side of the end part of the L-shaped side of the index finger far-end knuckle (103) is hinged with the lower side of the other side of the L-shaped side of the index finger near-end knuckle (102) through an index finger pin eight (134), an index finger torsion spring one (135) is arranged between the lower side of one side of the L-shaped side of the index finger far-end knuckle (103) and the lower side of the other side of the L-shaped side of the index finger near-end knuckle (102), the index finger torsion spring one (135) is movably sleeved on the index finger pin eight (134), the device is used for realizing the reset after the bending of the index finger distal knuckle (103) and the back and left swinging of the front end, the index finger pin eight (134) and the index finger pin nine (138) are coaxial, the first index finger torsion spring (135) and the second index finger torsion spring (137) are vertically symmetrical relative to the symmetry plane of the index finger palm knuckle (101) in the vertical direction, and the device is used for improving the stability of the connection among the index finger palm knuckle (101), the index finger proximal knuckle (102) and the index finger distal knuckle (103).

3. The multi-degree of freedom upper limb prosthesis of claim 1 wherein: the front end of the index screw (132) is provided with a rotation driving mechanism, and the structure is as follows: the index finger motor speed reducer (111) is fixed on an index finger motor frame (112), a belt wheel I (115) is fixed on an output shaft of the motor speed reducer (111), the belt wheel I (115) and a belt wheel II (139) form belt transmission through a synchronous belt (114), the belt wheel II (139) is fixed at the front end of an index finger screw rod (132), the index finger motor frame (112) is fixed on an index finger palm knuckle (101), and the index finger motor frame (112) is provided with a cavity (1121) for avoiding a screw bearing seat (130).

4. The multi-degree of freedom upper limb prosthesis of claim 1 wherein: the index finger palm knuckle (101) is provided with an index finger rear nut (131) and an index finger front nut (129) which are arranged along the structure of the mechanism of the index finger palm knuckle (101) in a front-back sliding way, and the structure is as follows: the forefinger rear nut (131) and the forefinger front nut (129) are respectively provided with a rear sliding plate and a front sliding plate which extend to the left side, the forefinger palm knuckle (101) is provided with a front nut sliding groove (1101) and a rear nut sliding groove (1102) which are horizontally arranged along the front-rear direction, and the rear sliding plate and the front sliding plate respectively slide along the front-rear direction in the front nut sliding groove (1101) and the rear nut sliding groove (1102).

5. The multi-degree of freedom upper limb prosthesis of claim 1 wherein: the index finger eccentric wheel (128) is in a fan shape, the center angle of the fan-shaped index finger eccentric wheel (128) is (150) - (180 degrees), the outer edge of the index finger eccentric wheel (128) is elliptical, and the long axis direction of the index finger eccentric wheel is along the front-back direction;

the index finger stay wire (126) bypasses the upper part of the index finger eccentric wheel (128) and bypasses the lower part of the index finger guide wheel (127), the index finger guide wheel (127) is rotatably arranged in the middle of the index finger guide wheel shaft (125), and the upper end and the lower end of the index finger guide wheel shaft (125) are fixed on the index finger proximal knuckle (102).

6. The multi-degree of freedom upper limb prosthesis of claim 1 wherein: the thumb (5) is arranged along the up-down direction, and the thumb (5) comprises: the thumb palm knuckle (501), the thumb near end knuckle (502), the thumb mounting plate (503) and the thumb screw (524), the thumb palm knuckle (501) and the thumb near end knuckle (502) are in a front-back symmetrical structure, the thumb mounting plate (503) is L-shaped, the L-shaped corner of the thumb mounting plate (503) is hinged with the rear end of the thumb palm knuckle (501) through the thumb near end knuckle shaft (514), one side of the L-shaped of the thumb mounting plate (503) is of a hollow structure and is positioned on the right side of the thumb palm knuckle (501), the upper end of one side of the L-shaped of the thumb mounting plate (503) is hinged with the lower end of the thumb palm connecting rod I (505) through the thumb pin I (504), the upper end of the thumb palm connecting rod I (505) is rotationally connected with the front end of the thumb pin II (506), the rear end of the thumb pin II (506) is fixed on the rear side of the thumb lower nut (527), the middle part of the thumb lower nut (527) is rotationally driven with the lower part of the thumb screw (524) to form a spiral, the middle part of the screw bearing seat (524) is rotationally arranged in the middle part of the thumb bearing (528) in the direction parallel to the thumb palm screw 528, the middle part is arranged on the middle part of the thumb bearing (528) and is parallel to the thumb palm screw 528, the screw thread on the upper part of the thumb screw (524) is opposite to the screw thread on the lower part, the thumb lower nut (527) and the thumb upper nut (523) are respectively provided with a thumb lower sliding plate and a thumb upper sliding plate which extend leftwards, and the thumb palm knuckle (501) is provided with a thumb upper nut chute (5011) and a thumb lower nut chute (5012) which are arranged along the up-down direction, and the thumb lower sliding plate and the thumb upper sliding plate are respectively arranged on the thumb lower nut chute (5012) and the thumb upper nut chute (5011);

The rear side of the thumb upper nut (523) is fixed with the front end of a thumb pin III (509), and the rear end of the thumb pin III (509) is rotationally connected with the rear end of a thumb proximal connecting rod I (510);

the thumb proximal knuckle (502) is L-shaped, one L-shaped side of the thumb proximal knuckle (502) is positioned on the right side of the thumb palm knuckle (501), the front end of the thumb proximal knuckle (502) is in a hollow structure, the front end of the thumb proximal knuckle is connected with the rear end of the L-shaped side of the thumb proximal knuckle (502) through a thumb pin IV (513) and is hinged with the upper end of a thumb proximal connecting rod I (510), the L-shaped corner of the thumb proximal knuckle (502) is rotatably arranged at the front part and the rear part of a thumb proximal knuckle shaft (514), and the front end and the rear end of the thumb proximal knuckle shaft (514) are fixed at the upper end of the thumb palm knuckle (501);

the thumb motor speed reducer (507) is fixed on the thumb motor frame (508), the output shaft of the thumb motor speed reducer (507) is fixed with a first thumb belt wheel (512), the first thumb belt wheel (512) and a second thumb belt wheel (522) form belt transmission through a thumb synchronous belt (511), the second thumb belt wheel (522) is fixed at the upper end of a thumb screw (524), the thumb motor frame (508) is fixed on a thumb metacarpal knuckle (501), and the thumb motor frame (508) is provided with a cavity avoiding a bearing seat (528) of the thumb screw;

The front end of one L-shaped edge of the thumb mounting plate (503) is hinged with the lower end of a thumb metacarpal connecting rod II (517) through a thumb pin III (516), the rear end of a thumb pin III (518) is fixed on a thumb lower nut (527), the front end of the thumb pin III (518) is rotationally connected with the upper end of the thumb metacarpal connecting rod II (517), the thumb pin III (516) is coaxial with a thumb pin I (504), the thumb pin III (518) is coaxial with a thumb pin II (506), and the symmetry plane of the thumb metacarpal connecting rod II (517) and the thumb metacarpal connecting rod I (505) relative to the front-back direction of the thumb metacarpal joint (501) is front-back symmetrical;

the upper thumb nut (523) is used for fixing the rear end of a thumb pin seven (519), the front end of the thumb pin seven (519) is rotationally connected with the lower end of a thumb proximal connecting rod II (520), the front end of the end part of the L-shaped side of the thumb proximal knuckle (502) is hinged with the upper end of the thumb proximal connecting rod II (520) through a thumb pin eight (529), the thumb pin seven (519) is coaxial with a thumb pin III (509), the thumb pin eight (529) is coaxial with a thumb pin IV (513), and the symmetry plane of the thumb proximal connecting rod II (520) and the thumb proximal connecting rod I (510) relative to the front-back direction of the thumb palm knuckle (501) is front-back symmetrical; the thumb mounting plate (503) is fixed on the palm (6).

7. The multi-degree of freedom upper limb prosthesis of any of claims 1-6 wherein: the palm (6) comprises: the palm rest (609) and a palm pad, wherein the front end of the palm rest (609) is sequentially provided with an index finger mounting table (601), a middle finger mounting table (602), a ring finger mounting table (603) and a little finger mounting table (604) from top to bottom, the index finger mounting table (601) is used for fixing the index finger mounting plate (107), the middle finger mounting table (602) is used for fixing the middle finger mounting plate, the ring finger mounting table (603) is used for fixing the ring finger mounting plate, and the little finger mounting table (604) is used for fixing the little finger mounting plate; the rear end of the palm frame (609) is provided with two wrist joint mounting plates (606) which extend backwards, and the wrist joint mounting plates (606) are provided with wrist joint shaft holes (607).

8. The multi-degree of freedom upper limb prosthesis of claim 7 wherein: the wrist joint (7) comprises: the wrist motor speed reducer comprises a wrist joint shaft (701), a first wrist gear (702), a second wrist gear (703), a wrist connecting shaft support (704), a wrist motor rack (705), a wrist motor speed reducer (706) and a wrist connecting shaft (707), wherein an upper forearm upper support (801) and a lower forearm lower support (802) are respectively fixed at the upper end and the lower end of the wrist joint shaft (701), a wrist mounting plate (606) is rotatably mounted on the upper part and the lower part of the wrist joint shaft (701), the second wrist gear (703) is fixed on the wrist joint shaft (701), the second wrist gear (703) is meshed with the first wrist gear (702), the first wrist gear (702) and the second wrist gear (703) are bevel gears with the same number of teeth, the first wrist gear (702) is fixed at the front end of the wrist connecting shaft (707), the middle part of the wrist connecting shaft (707) is rotatably mounted in an inner hole of the wrist connecting shaft support (704), the connecting shaft support (704) is fixed on the upper forearm upper support (801) and the lower forearm lower support (802), an output shaft of the wrist motor speed reducer (706) is fixed in a rear end of the motor inner hole (707), and the wrist motor speed reducer (706) is fixed on the lower forearm support (801).

9. The multi-degree of freedom upper limb prosthesis of claim 8 wherein: the forearm (8) comprises a forearm upper bracket (801), a forearm lower bracket (802), a forearm right guard plate (803) and a forearm left guard plate (804), wherein the forearm upper bracket (801), the forearm lower bracket (802) is provided with a left fixed forearm left guard plate (804) and a right fixed forearm right guard plate (803).

10. The multi-degree of freedom upper limb prosthesis of any of claims 1-6 or 8 or 9 wherein: the left sides of the index finger palm knuckle (101), the index finger near-end knuckle (102) and the index finger far-end knuckle (103) are respectively fixed with an index finger palm knuckle pad (106), an index finger near-knuckle pad (105) and an index finger far-knuckle pad (104), and the index finger far-knuckle pad (104), the index finger near-knuckle pad (105) and the index finger palm knuckle pad (106) have elasticity;

the left sides of the thumb palm knuckle (501) and the thumb proximal knuckle (502) are respectively fixed with a thumb palm knuckle pad and a thumb proximal knuckle pad, and the thumb palm knuckle pad and the thumb proximal knuckle pad have elasticity;

the palm pad (608) is fixed on the right side of the palm frame (609), and the palm pad (608) has elasticity.