CN109381285B - Finger and artificial limb - Google Patents
Finger and artificial limb Download PDFInfo
- Publication number
- CN109381285B CN109381285B CN201811502433.1A CN201811502433A CN109381285B CN 109381285 B CN109381285 B CN 109381285B CN 201811502433 A CN201811502433 A CN 201811502433A CN 109381285 B CN109381285 B CN 109381285B
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- driving
- base
- finger
- link
- phalanx
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- 238000005452 bending Methods 0.000 claims description 8
- 210000003811 finger Anatomy 0.000 description 53
- 230000007246 mechanism Effects 0.000 description 8
- 210000003414 extremity Anatomy 0.000 description 7
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000002035 prolonged effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 210000003813 thumb Anatomy 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- 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
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
-
- 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
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Transplantation (AREA)
- Vascular Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Cardiology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a finger and a prosthetic limb, wherein the finger is used for the prosthetic limb, and comprises a base and a phalangeal component, and a driving piece is movably connected on the base; the phalangeal assembly comprises a proximal phalangeal rotatably connected with the base; the driving piece is matched with the driving part through the driving groove to drive the proximal phalanx to rotate, one of the driving groove and the driving part is arranged on the driving piece, the other driving part is correspondingly arranged on the proximal phalanx, the driving part is inserted into the driving groove, and the driving groove is provided with a space for the driving part to move along the rotation direction of the proximal phalanx relative to the driving groove; when the driving piece moves relative to the base, the inner wall of the driving groove is abutted with the driving part so as to drive the proximal phalanx to rotate. The invention improves the structure of the finger and prevents the finger from being damaged under the action of external force.
Description
Technical Field
The invention relates to the technical field of artificial limbs, in particular to a finger and an artificial limb.
Background
In existing prostheses, the transmission mechanism for driving the movement of the finger is generally characterized by non-back driving. Taking worm gear and worm drive mechanism as an example, the worm is connected with the motor, and the worm wheel is connected with the finger, and the worm rotates through driving the worm wheel, and then drives the finger activity, because the auto-lock characteristic of worm gear and worm, when external force acts on the finger, worm gear and worm can't carry out reverse drive so that the finger dodges, makes the finger appear damaging easily under the effect of external force.
Disclosure of Invention
The invention mainly aims to provide a finger, which aims to avoid the problem that the finger is damaged by external force after the finger is subjected to the external force, so that the service life of the finger is prolonged.
To achieve the above object, the present invention proposes a finger for a prosthesis, the finger comprising:
the base is movably connected with a driving piece;
a phalangeal assembly including a proximal phalangeal rotatably connected to the base;
the driving piece is matched with the driving groove and the driving part to drive the proximal phalanx to rotate, one of the driving groove and the driving part is arranged on the driving piece, the other driving part is correspondingly arranged on the proximal phalanx, the driving part is inserted into the driving groove, and the driving groove is provided with a space for the driving part to move relative to the driving groove along the rotation direction of the proximal phalanx; when the driving piece moves relative to the base, the inner wall of the driving groove is abutted with the driving part so as to drive the proximal phalanx to rotate.
Preferably, the driving piece is rotatably connected with the base, and the driving groove and/or the driving part are/is arranged on the axial side surface of the driving piece.
Preferably, the driving groove extends in a fan-shaped annular structure along the circumferential direction of the driving piece, and the driving part extends in a strip-shaped structure along the radial direction of the driving piece.
Preferably, the number of the driving grooves is plural, and the plurality of the driving grooves are distributed along the circumferential direction of the driving member; and/or the number of the groups of groups,
the number of the driving parts is a plurality of, and the driving parts are distributed along the circumferential direction of the driving piece.
Preferably, the driving member includes a worm wheel, and the base is provided with a worm which is engaged with the worm wheel;
the base is provided with a motor, and an output shaft of the motor is connected with the worm.
Preferably, the phalangeal assembly comprises a distal phalangeal, the proximal phalangeal comprises a first link and a second link, the driving element is connected with the first link or the second link, two ends of the first link are respectively connected with the base and the distal phalangeal in a rotating manner, and two ends of the second link are respectively connected with the base and the distal phalangeal in a rotating manner, so that the base, the first link, the second link and the distal phalangeal form a four-bar mechanism.
Preferably, the first link and the second link are disposed to intersect.
Preferably, the distal phalanx has a first curved position and a first straightened position relative to the proximal phalanx; the finger comprises a first reset elastic piece, one end of the first reset elastic piece is connected with the proximal phalanx, the other end of the first reset elastic piece is connected with the distal phalanx, so that elastic force is applied to the distal phalanx, and the elastic force is used for enabling the distal phalanx to rotate relative to the proximal phalanx along the direction from the first bending position to the first straightening position; and/or the number of the groups of groups,
the proximal phalanx having a second curved position and a second straightened position relative to the base; the finger comprises a second reset elastic piece, one end of the second reset elastic piece is connected with the base, the other end of the second reset elastic piece is connected with the proximal phalanx so as to apply elastic force to the proximal phalanx, and the elastic force is used for enabling the proximal phalanx to rotate relative to the base along the direction from the second bending position to the second straightening position.
Preferably, the first restoring elastic member comprises a torsion spring, the torsion spring is mounted on the distal phalanx and/or the proximal phalanx, one end of the torsion spring is abutted with the proximal phalanx, and the other end of the torsion spring is abutted with the distal phalanx.
The invention also proposes a prosthesis comprising:
palm;
and a finger as described above, the finger comprising:
the base is connected with the palm, and a driving piece is movably connected to the base;
a phalangeal assembly including a proximal phalangeal rotatably connected to the base;
the driving piece is matched with the driving groove and the driving part to drive the proximal phalanx to rotate, one of the driving groove and the driving part is arranged on the driving piece, the other driving part is correspondingly arranged on the proximal phalanx, the driving part is inserted into the driving groove, and the driving groove is provided with a space for the driving part to move relative to the driving groove along the rotation direction of the proximal phalanx; when the driving piece moves relative to the base, the inner wall of the driving groove is abutted with the driving part so as to drive the proximal phalanx to rotate.
According to the invention, the driving piece is matched with the proximal phalanx through the driving groove and the driving part to drive the proximal phalanx to rotate, wherein one of the driving groove and the driving part is arranged on the driving piece, the other driving groove is correspondingly arranged on the proximal phalanx, and the driving groove is provided with a space for the driving part to move along the rotation direction of the proximal phalanx relative to the driving groove. Therefore, the proximal phalanx rotates at a certain angle relative to the driving piece, and when the finger is acted by external force, the proximal phalanx can rotate relative to the base so as to buffer and avoid, and the finger is prevented from being damaged under the action of the external force, so that the service life of the finger is prolonged.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of one embodiment of a prosthesis according to the present invention;
FIG. 2 is a cross-sectional view of the internal structure of the prosthesis of FIG. 1;
FIG. 3 is a schematic view of a finger according to an embodiment of the present invention, wherein the base is not shown;
FIG. 4 is an enlarged view of FIG. 3 at A;
FIG. 5 is a schematic view of a second connecting rod according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of an embodiment of a driving member according to the present invention;
FIG. 7 is a schematic view of an embodiment of a finger of the present invention, wherein the base is not shown, and the finger is in a straightened state;
fig. 8 is a schematic view of an exploded structure of the finger of the present invention in a bent state, in which the base is not shown.
Reference numerals illustrate:
the achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without any inventive effort, are intended to be within the scope of the invention.
It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.
Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
The invention provides a finger which is mainly used for a prosthetic limb.
Referring to fig. 1, 3 and 4, the finger 10 includes a base 11 and a phalangeal assembly 12, the base 11 is used for connecting with a palm 20 of a prosthesis, a driving member 13 is disposed on the base 11, and the driving member 13 is movably connected with the base 11; the phalangeal assembly 12 includes a proximal phalangeal 18 rotatably connected to the base 11, and a driver 13 for receiving a driving force from the power plant of the prosthesis and transmitting the driving force to the proximal phalangeal 18 to drive rotation of the proximal phalangeal 18 relative to the base 11. The driving member 13 may be rotatably connected to the base 11, or may be slidably connected to the base 11, which may be determined according to the structure of the driving member 13. When the driving member 13 is slidably connected to the base 11, the power device may drive the driving member 13 to slide relative to the base 11 via a screw rod, an air cylinder, or the like, so as to drive the proximal phalanx 18 to rotate. When the driving member 13 is rotatably connected to the base 11, the driving member 13 may be driven to rotate relative to the base 11 by a gear, a worm, or the like. Optionally, the driving member 13 may be rotatably connected to the base 11, so as to reduce the space of the finger 10 occupied by the driving member 13 moving relative to the base 11, which is beneficial to reducing the overall volume of the finger 10.
The artificial limb can be used for a human body, and can also be used for any robot with the object grabbing function, such as an industrial robot, a humanoid robot, a submarine exploration robot and the like.
In order to enable the phalangeal assembly 12 to rotate relative to the base 11 after being subjected to external force, the phalangeal assembly is avoided, and the finger 10 is prevented from being damaged under the action of the external force. As shown in fig. 4, 5 and 6, the driving member 13 may be driven to rotate by the cooperation of the driving slot 131 and the driving portion 151, one of the driving slot 131 and the driving portion 151 is disposed on the driving member 13, and the other is correspondingly disposed on the proximal phalanx 18, when the driving member 13 and the proximal phalanx 18 are mounted on the base 11, the driving portion 151 is inserted into the driving slot 131, and when the driving member 13 moves relative to the base 11 under the driving of the driving mechanism, the inner wall of the driving slot 131 abuts against the driving portion 151, so that the driving force of the driving member 13 is transmitted to the proximal phalanx 18, and the proximal phalanx 18 is rotated.
The dimensions of the driving groove 131 and the driving portion 151 may be set such that the driving groove 131 has a space in which the driving portion 151 moves relative to the driving groove 131 in the rotation direction of the proximal phalanx 18. Therefore, when the phalangeal assembly 12 is subjected to an external force, the driving part 151 can move in the driving groove 131, so that the proximal phalangeal 18 can rotate relative to the base 11 and the driving member 13 without being limited by the driving member 13, and the phalangeal assembly 12 is prevented from being damaged under the action of the external force.
It should be noted that, the driving member 13 may be provided with a driving slot 131, and the driving portion 151 may be correspondingly disposed on the proximal phalanx 18; the driving part 151 may be provided on the driving member 13, and a driving groove 131 may be provided at a position corresponding to the proximal phalanx 18; alternatively, the driving part 151 and the driving groove 131 may be simultaneously provided on the driving member 13, and the corresponding driving groove 131 and driving part 151 may be provided on the proximal phalanx 18, specifically depending on the structures of the driving member 13 and the proximal phalanx 18. It can be understood that when the driving member 13 is provided with the driving groove 131 and the driving portion 151 is correspondingly disposed on the proximal phalanx 18, if the phalanx assembly 12 is avoided under the external force, the driving portion 151 on the proximal phalanx 18 moves in the rotation direction of the proximal phalanx 18 in the driving groove 131 of the driving member 13; when the driving part 151 is disposed on the driving member 13 and the driving groove 131 is formed at the position corresponding to the proximal phalanx 18, if the phalanx assembly 12 is retracted by the external force, the driving groove 131 on the proximal phalanx 18 moves along the rotation direction of the proximal phalanx 18, that is, the driving part 151 moves in the opposite direction of the rotation direction of the proximal phalanx 18 relative to the driving groove 131 in the driving groove 131 on the proximal phalanx 18 of the driving member 13.
In this embodiment, the number of the driving grooves 131 may be one or more, however, when the number of the driving grooves 131 is plural, the number of the driving portions 151 is also plural, so as to reduce the acting force between the inner wall of each driving groove 131 and the driving portion 151, and avoid damaging the driving portion 151 or the inner wall of the driving groove 131 due to excessive acting force between the inner wall of the driving groove 131 and the driving portion 151. Further, when the number of the driving grooves 131 is plural, the plural driving grooves 131 may be distributed along the circumferential direction of the driving piece 13 to make full use of the structure of the driving piece 13.
Alternatively, the plurality of driving grooves 131 may be uniformly distributed along the circumferential direction of the driving member 13, so that the forces of the plurality of driving portions 151 on the plurality of driving grooves 131 are uniformly distributed along the circumferential direction of the driving member 13, and the driving member 13 is stressed more uniformly and rotates more stably. For example: the number of the driving grooves 131 may be two and symmetrically disposed about the rotation axis of the driving member 13 so that the reaction force of the driving portion 151 to the driving member 13 is symmetrically distributed on both sides of the rotation axis of the driving member 13, thereby stabilizing the rotation of the driving member 13. The plurality of driving grooves 131 may be formed in the driving member 13, may be formed in the proximal phalanx 18, or may be formed in the driving member 13, with a portion of the driving grooves 131 being formed in the driving member 13 and another portion of the driving grooves 131 being formed in the proximal phalanx 18.
As shown in fig. 6, when the driving member 13 is rotatably connected to the base 11, and the driving slot 131 is formed in the driving member 13, the driving slot 131 may be formed on the axial side (rotation axis direction) of the driving member 13, and then the portion of the proximal phalanx 18 engaged with the driving member 13 is also opposite to the axial side of the driving member 13. Therefore, the processing of the driving groove 131 is more convenient, the strength of the driving groove 131 is improved, the movable space of the proximal phalanx 18 can be reduced, the structures of the driving piece 13 and the proximal phalanx 18 are more compact, and the size of the finger 10 is reduced. Of course, the driving groove 131 may be formed in the outer peripheral wall of the driving element 13, and may be specifically determined according to the structure of the driving element 13.
The driving groove 131 may extend in a fan-shaped ring structure along the circumferential direction of the driving member 13, and the driving portion 151 on the proximal phalange 18 may extend in a bar-shaped structure along the radial direction of the driving member 13. This can increase the contact area between the driving portion 151 and the inner wall of the driving groove 131, and reduce the probability of damage to the driving portion 151 and the inner wall of the driving groove 131. Of course, the driving groove 131 may be provided in an arc shape, a rectangular shape, or the like, and may be specifically determined according to the structure of the driving member 13.
Alternatively, the included angle formed by the two sidewalls of the driving groove 131 along the circumferential direction of the driving member 13 may be greater than or equal to 60 °, so that the phalangeal assembly 12 can rotate by an angle greater than or equal to 60 ° relative to the base 11 after being subjected to an external force, so as to perform effective avoidance. The specific degree of the included angle formed by the two sidewalls of the driving groove 131 along the circumferential direction of the driving member 13 may be determined according to practical situations. For example: the drive groove 131 may be formed at an angle of 70 °, 90 °, 120 ° or the like along both side walls of the drive member 13 in the circumferential direction.
Alternatively, two fan-shaped driving grooves 131 may be formed on the circumferential side surface of the driving member 13, and the two driving grooves 131 are symmetrical about the rotation axis of the driving member 13, so that the reaction force of the proximal phalanx 18 to the driving member 13 is uniformly distributed on the driving member 13, and the contact area between the driving portion 151 and the inner wall of the driving groove 131 is increased.
In this embodiment, the driving portion 151 may be disposed on an axial side surface of the driving member 13, and the driving groove 131 is correspondingly disposed on the proximal phalanx 18 and opposite to the axial side surface of the driving member 13, so that the structures of the driving member 13 and the proximal phalanx 18 are more compact, and will not be described herein. The number of the driving portions 151 may be plural, and the driving portions 151 may be distributed along the circumferential direction of the driving member 13, which is not described herein. In addition, similarly, when the driving groove 131 is formed on the proximal phalanx 18 and the driving portion 151 is disposed on the axial side of the driving member 13, the driving groove 131 on the proximal phalanx 18 may extend along the circumferential direction of the driving member 13 to form a fan-shaped structure, and the driving portion 151 on the driving member 13 may extend along the radial direction of the driving member 13 to form a bar-shaped structure, which will not be described herein.
In this embodiment, as shown in fig. 6, the driving member 13 may include a worm wheel, and a worm 14 meshed with the worm wheel is disposed on the base 11, where the worm 14 is used for being connected to a power device of the prosthesis, so as to receive a driving force from the power device, and drive the worm wheel to rotate, so as to drive the phalangeal assembly 12 to move. It can be understood that, because the worm gear has a self-locking characteristic, when the power device drives the finger 10 to move to the set position, the finger 10 does not need to be maintained in position by providing driving force, so that the energy consumption of the power device can be reduced, and the duration of the artificial limb can be prolonged. Of course, the driving member 13 may have a gear, a cam, or the like, and may be specifically determined according to the structure of the base 11.
Wherein the power means may be connected to the base 11; the power device may be connected to the palm 20, and the base 11 may be connected to the palm 20, and then the power device may be connected to the worm 14; of course, the power device and the base 11 are connected to modularize the finger 10, and when the finger 10 is mounted on the palm 20, the power device is only required to be electrically connected with a power supply of the artificial limb, so that the finger 10 is more convenient to mount, and the transmission mechanism on the finger 10 is more stable to transmit.
It should be noted that the power device includes any device capable of driving the driving member 13 to rotate, such as the motor 16, and the present embodiment is not limited thereto. In one implementation, as shown in fig. 2, the power device may include a motor 16 and a speed reducer 17, where the motor 16 is connected to the speed reducer 17 and is mounted on the base 11, and an output shaft of the speed reducer 17 is connected to the driving member 13 to provide a larger driving force to drive the driving member 13 to rotate.
On the basis of any of the above embodiments, the phalangeal member 12 of the finger 10 may include a proximal phalangeal 18 and a distal phalangeal 19, one end of the proximal phalangeal 18 is rotatably connected with the base 11, and the other end is connected with and rotates in parallel with the distal phalangeal 19, and when the distal phalangeal 19 rotates relative to the base 11, the distal phalangeal 19 is driven to rotate relative to the proximal phalangeal 18, so that the phalangeal member 12 is bent or straightened.
Specifically, as shown in fig. 2, 3 and 7, the proximal phalanx 18 may include a second link 15 and a first link 21, one end of the first link 21 is rotatably connected with the base 11, the other end of the first link 21 is rotatably connected with the distal phalanx 19, one end of the second link 15 is rotatably connected with the base 11, and the other end is rotatably connected with the distal phalanx 19, so that the base 11, the second link 15, the first link 21 and the distal phalanx 19 form a four-bar linkage mechanism, and the proximal phalanx 18 is connected with the distal phalanx 19 and rotates in linkage. When the proximal phalanx 18 rotates, that is, the second link 15 and the first link 21 rotate, the distal phalanx 19 is driven to rotate, whereas when the distal phalanx 19 rotates, the proximal phalanx 18 is driven to rotate. Thus, the phalangeal assembly 12 can be either bent or straightened by controlling rotation of at least one of the second link 15 or the first link 21 of the proximal phalange 18.
The driving member 13 may be engaged with the first link 21 through the driving slot 131 and the driving portion 151, that is, the driving member 13 is connected with the first link 21 to drive the first link 21 to rotate, thereby driving the proximal phalanx 18 and the distal phalanx 19 to rotate, and bending or straightening the phalanx assembly. Alternatively, the driving member 13 is coupled to the second link 15 through the engagement of the driving slot 131 and the driving portion 151, that is, the driving member 13 is coupled to the second link 15 to drive the second link 15 to rotate, thereby driving the proximal phalanx 18 and the distal phalanx 19 to rotate, and bending or straightening the phalanx assembly.
Alternatively, as shown in fig. 3, when the driving member 13 drives the second link 15 to rotate, the rotation axis direction of the driving member 13 and the rotation axis direction of the second link 15 may be made coincident, so that the structures of the driving member 13 and the second link 15 are made more compact, and the volume of the finger 10 is reduced. Specifically, a hinge shaft (not shown) may be provided on the base 11, which passes through the driving member 13 and the second link 15 in order to make the rotation axes of the driving member 13 and the second link 15 coaxial. Of course, the rotation axis direction of the driving member 13 and the rotation axis direction of the second link 15 may be parallel to each other, or may be disposed at a certain angle, which may be determined according to the structure of the finger 10.
When the rotation axis direction of the driver 13 and the rotation axis direction of the second link 15 are identical, and the driving groove 131 and/or the driving portion 151 are provided on the axial side surface of the driver 13, the structure of the driver 13 and the second link 15 is more compact.
Likewise, when the driving member 13 drives the first link 21 to rotate, the rotation axis direction of the driving member 13 and the rotation axis direction of the first link 21 can be consistent, so that the structures of the driving member 13 and the first link 21 are more compact, and will not be described herein.
In this embodiment, as shown in fig. 3, 7 and 8, the first link 21 and the second link 15 may be disposed in an intersecting manner, so that the width of the proximal phalange 18 can be reduced, and when the proximal phalange 18 is rotated by a certain angle relative to the base 11, the distal phalange 19 is rotated by a larger angle relative to the proximal phalange 18, thereby enabling the bending and straightening actions of the finger 10 to approach those of the actual finger 10.
The shape of the first link 21 and the second link 15 may be specifically determined according to the structure of the finger 10, for example: the second link 15 may be increased in size, so that the second link 15 forms the main structure of the proximal phalanx 18, and a receiving cavity (not shown) is provided in the second link 15, and a portion of the first link 21 is received in the second link 15 to increase the strength of the proximal phalanx 18 and make the structure of the proximal phalanx 18 more compact.
When the driving piece 13 is rotationally connected with the base 11, as shown in fig. 1 and 8, the number of the second connecting rods 15 can be two, and the end portions of the two second connecting rods 15 close to the base 11 are located at two sides of the driving piece 13, and the two sides of the driving piece 13 drive the second connecting rods 15 to rotate through the driving grooves 131 and the driving portion 151, so that the stress on the two sides of the driving piece 13 is uniform, and the driving piece 13 runs more stably. Alternatively, the first link 21 may be positioned between the two driving members 13, so that the second link 15 protects the first link 21, and the second link 15 and the first link 21 are more compact, reducing the size of the proximal phalanx 18.
In this embodiment, the finger 10 may also include a resilient member for applying a resilient force to the proximal phalange 18 or distal phalange 19 to move the phalange assembly 12 toward a straightened state. It will be appreciated that the worm and gear, gear set, etc. drive mechanisms typically have a return clearance, for example, a worm and gear, and that a small return clearance for the worm and gear mechanism in the finger 10 will result in a fingertip having a movement clearance of a few millimeters, which can make the hand unable to grasp an item stably. By the elastic member, the distal phalange 19 can be tightened in the extending direction, so that the movement gap in the extending direction of the fingertip is eliminated, and when the hand grabs an object, the accurate position between the fingers can be maintained without shaking. In addition, when the phalangeal assembly 12 is subjected to the action of external force to avoid, after the external force disappears, the phalangeal assembly 12 can be reset under the action of the elastic element, so that the phalangeal assembly 12 moves more stably.
Specifically, as shown in fig. 3, 7 and 8, when the phalangeal assembly 12 is in a flexed condition, the distal phalange 19 is in a first flexed position relative to the proximal phalange 18, and when the phalange assembly 12 is in a straightened condition, the distal phalange 19 is in a first straightened position relative to the proximal phalange 18. The finger 10 may be made to include a first return spring 22 having one end of the first return spring 22 coupled to the proximal phalange 18 and the other end coupled to the distal phalange 19 to apply a spring force to the distal phalange 19 for rotating the distal phalange 19 relative to the proximal phalange 18 in a direction from the first flexed position to the first straightened position to tighten the distal phalange 19 in the direction of extension and to eliminate play in the distal phalange 19.
It should be noted that the first restoring elastic member 22 may be connected to the second link 15 of the proximal phalanx 18, may be connected to the first link 21 of the proximal phalanx 18, and may be connected to both the second link 15 and the first link 21, depending on the structure of the proximal phalanx 18.
In addition, the first return elastic member 22 may have various structures. In one embodiment, the first restoring resilient member 22 may comprise a torsion spring that may be mounted on the second link 15 and/or the distal phalange 19 with one end of the torsion spring abutting the proximal phalange 18 and the other end abutting the distal phalange 19 to exert a resilient force on the distal phalange 19 to tighten the distal phalange 19 in the extension direction. It will be appreciated that the torsion spring is very convenient to install and improves the efficiency of assembly of the finger 10. Moreover, the torsion spring is structurally adapted to the phalangeal assembly 12 such that the spring force applied by the torsion spring to the distal phalange 19 is in a direction consistent with the direction of rotation of the proximal phalange 18 from the first curved position to the first straightened position, and therefore, the spring force of the torsion spring is utilized in a very high degree. One end of the torsion spring may abut against the first link 21 of the proximal phalanx 18, may abut against the second link 15 of the proximal phalanx 18, and may abut against both the first link 21 and the second link 15, depending on the structure of the proximal phalanx 18.
Alternatively, the second link 15 and the distal phalanx 19 may be hinged together by a hinge shaft, and the torsion spring may be sleeved on the hinge shaft, so that the assembly of the torsion spring is more convenient, and the structure of the phalanx assembly 12 is simpler.
As shown in fig. 7 and 8, when the phalangeal assembly 12 is in a flexed condition, the proximal phalangeal 18 is in a second flexed position relative to the base 11, and when the phalangeal assembly 12 is in a straightened condition, the proximal phalangeal 18 is in a second straightened position relative to the base 11. In this embodiment, the finger 10 may also include a second restoring elastic member (not shown), where one end of the second restoring elastic member is connected to the base 11 and the other end of the second restoring elastic member is connected to the proximal phalanx 18, so as to apply an elastic force to the proximal phalanx 18, and the elastic force is used to rotate the proximal phalanx 18 relative to the base 11, so as to drive the proximal phalanx 18 to rotate relative to the base 11 in the direction from the second bending position to the second straightening position, so that the proximal phalanx 18 and the distal phalanx 19 are stretched toward the stretching direction, and the movement gap of the distal phalanx 19 is eliminated.
The other end of the second restoring elastic member may be connected to the second link 15, or may be connected to the first link 21, or may be connected to both the second link 15 and the first link 21, which may be specifically determined according to the structure of the phalangeal assembly 12, which is not limited in this embodiment.
Likewise, the second restoring elastic member may also include a torsion spring, where the torsion spring is mounted on the base 11 and/or the proximal phalanx 18, and one end of the torsion spring abuts against the base 11 and the other end abuts against the proximal phalanx 18, which will not be described herein.
It should be noted that the finger 10 may include one of the first return elastic member 22 and the second return elastic member, or may include both the first return elastic member 22 and the second return elastic member, which may be specifically determined according to the structure of the phalangeal assembly 12.
In other embodiments, the proximal phalanx 18 and distal phalanx 19 of the phalanx assembly 12 can be fixedly attached (e.g., adapted for use with a thumb finger), i.e., the distal phalanx 19 does not rotate relative to the proximal phalanx 18, to simplify the construction of the phalanx assembly 12. At this time, the proximal phalanx 18 may be made to include one of the first link 21 and the second link 15, and the structure of the proximal phalanx 18 and the distal phalanx 19 may be formed by arranging the structure of the first link 21 or the second link 15.
The invention also proposes a prosthesis comprising a finger, the specific structure of which refers to the above-mentioned embodiments, as the prosthesis proposed by the invention comprises all the solutions of all the embodiments of the finger described above, at least with the same technical effects as the finger described above, not described here.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.
Claims (8)
1. A finger for use in a prosthesis, the finger comprising:
the base is movably connected with a driving piece;
a phalangeal assembly including a proximal phalangeal rotatably connected to the base;
the driving piece is matched with the driving part through a driving groove to drive the proximal phalanx to rotate, one of the driving groove and the driving part is arranged on the driving piece, the other driving groove is correspondingly arranged on the proximal phalanx, the driving piece is rotationally connected with the base, the driving groove and the driving part are arranged on the axial side face of the driving piece, the driving groove extends along the circumferential direction of the driving piece to form a fan-shaped annular structure, the driving part extends along the radial direction of the driving piece to form a strip-shaped structure, an included angle formed by the driving groove along the two circumferential side walls of the driving piece is larger than or equal to 60 degrees, the driving part is inserted into the driving groove, and the driving groove is provided with a space for the driving part to move along the rotation direction of the proximal phalanx relative to the driving groove; when the driving piece moves relative to the base, the inner wall of the driving groove is abutted with the driving part so as to drive the proximal phalanx to rotate.
2. The finger of claim 1, wherein the number of the driving grooves is plural, and the driving grooves are distributed along the circumferential direction of the driving member; and/or the number of the groups of groups,
the number of the driving parts is a plurality of, and the driving parts are distributed along the circumferential direction of the driving piece.
3. The finger of claim 1, wherein the driving member comprises a worm gear, and the base has a worm thereon, the worm engaging the worm gear;
the base is provided with a motor, and an output shaft of the motor is connected with the worm.
4. The finger of claim 1, wherein the phalangeal assembly comprises a distal phalange, the proximal phalange comprises a first link and a second link, the driving member is coupled to the first link or the second link, the first link is rotatably coupled at each end to the base and the distal phalange, and the second link is rotatably coupled at each end to the base and the distal phalange, such that the base, the first link, the second link, and the distal phalange comprise a four-bar linkage.
5. The finger according to claim 4, wherein the first link and the second link are disposed crosswise.
6. The finger of claim 4, wherein the distal phalange has a first bent position and a first straightened position relative to the proximal phalange; the finger comprises a first reset elastic piece, one end of the first reset elastic piece is connected with the proximal phalanx, the other end of the first reset elastic piece is connected with the distal phalanx, so that elastic force is applied to the distal phalanx, and the elastic force is used for enabling the distal phalanx to rotate relative to the proximal phalanx along the direction from the first bending position to the first straightening position; and/or the number of the groups of groups,
the proximal phalanx having a second curved position and a second straightened position relative to the base; the finger comprises a second reset elastic piece, one end of the second reset elastic piece is connected with the base, the other end of the second reset elastic piece is connected with the proximal phalanx so as to apply elastic force to the proximal phalanx, and the elastic force is used for enabling the proximal phalanx to rotate relative to the base along the direction from the second bending position to the second straightening position.
7. The finger according to claim 6, wherein the first return spring comprises a torsion spring mounted on the distal phalanx and/or the proximal phalanx with one end of the torsion spring abutting the proximal phalanx and the other end abutting the distal phalanx.
8. A prosthesis, the prosthesis comprising:
palm;
and a finger according to any one of claims 1 to 7, the base of the finger being connected to the palm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811502433.1A CN109381285B (en) | 2018-12-07 | 2018-12-07 | Finger and artificial limb |
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| CN201811502433.1A CN109381285B (en) | 2018-12-07 | 2018-12-07 | Finger and artificial limb |
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| CN109381285B true CN109381285B (en) | 2024-03-08 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110774300B (en) * | 2019-11-08 | 2022-08-30 | 腾讯科技（深圳）有限公司 | Under-actuated clamp holder and artificial intelligent electronic clamping equipment |
| EP4153099A1 (en) * | 2020-05-19 | 2023-03-29 | RCM Enterprise L.L.C. | Powered finger with locking rack mechanism |
| PL440584A1 (en) * | 2022-04-20 | 2023-10-23 | Aether Biomedical Spółka Z Ograniczoną Odpowiedzialnością | Prosthetic device |
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| CN105058409A (en) * | 2015-09-06 | 2015-11-18 | 丹阳假肢厂有限公司 | Two-dimensional thumb bionic hand |
| CN206623102U (en) * | 2017-03-22 | 2017-11-10 | 江苏金刚文化科技集团股份有限公司 | A kind of thumb component and robot |
| CN108852566A (en) * | 2018-07-26 | 2018-11-23 | 深圳市心流科技有限公司 | Finger module and artificial limb |
| CN209629914U (en) * | 2018-12-07 | 2019-11-15 | 深圳市心流科技有限公司 | Finger and artificial limb |
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|---|---|---|---|---|
| CN105058409A (en) * | 2015-09-06 | 2015-11-18 | 丹阳假肢厂有限公司 | Two-dimensional thumb bionic hand |
| CN206623102U (en) * | 2017-03-22 | 2017-11-10 | 江苏金刚文化科技集团股份有限公司 | A kind of thumb component and robot |
| CN108852566A (en) * | 2018-07-26 | 2018-11-23 | 深圳市心流科技有限公司 | Finger module and artificial limb |
| CN209629914U (en) * | 2018-12-07 | 2019-11-15 | 深圳市心流科技有限公司 | Finger and artificial limb |
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