CN109893307A - The ratchet stop with air bag based on 3D printing moves mechanical prosthetic limb and application method - Google Patents
The ratchet stop with air bag based on 3D printing moves mechanical prosthetic limb and application method Download PDFInfo
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- CN109893307A CN109893307A CN201910249990.5A CN201910249990A CN109893307A CN 109893307 A CN109893307 A CN 109893307A CN 201910249990 A CN201910249990 A CN 201910249990A CN 109893307 A CN109893307 A CN 109893307A
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- ratchet
- limb
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- 238000010146 3D printing Methods 0.000 title claims abstract description 36
- 238000000034 method Methods 0.000 title claims abstract description 12
- 210000003414 extremity Anatomy 0.000 claims abstract description 67
- 230000007246 mechanism Effects 0.000 claims abstract description 32
- 210000000707 wrist Anatomy 0.000 claims abstract description 20
- 238000004519 manufacturing process Methods 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 239000007787 solid Substances 0.000 claims 1
- 210000000245 forearm Anatomy 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 210000001037 metacarpus Anatomy 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y80/00—Products made by additive manufacturing
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- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Engineering & Computer Science (AREA)
- Vascular Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- Cardiology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Oral & Maxillofacial Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Chemical & Material Sciences (AREA)
- Manufacturing & Machinery (AREA)
- Materials Engineering (AREA)
- Prostheses (AREA)
Abstract
A kind of ratchet stop with air bag based on 3D printing moves mechanical prosthetic limb and application method, belongs to prosthesis technique field.The ratchet stop with air bag based on 3D printing moves mechanical prosthetic limb, including being sequentially connected artificial limb finger section, artificial limb palmar hand, artificial limb wrist, the small arm of artificial limb and connection deformed limb portion, artificial limb finger section includes the clamping plate one and clamping plate two being oppositely arranged, the inside of the clamping plate one and clamping plate two is equipped with air bag, the clamping plate one is connected with gear one, the clamping plate two is connected with gear two, the gear one and the engagement of gear two are to drive clamping plate one and clamping plate two to open and close, artificial limb palmar hand includes connecting plate one, connecting plate two, the link mechanism that the gripping body and control clamping plate one and clamping plate two of control clamping plate one and two clamping of clamping plate loosen.The ratchet stop with air bag based on 3D printing moves mechanical prosthetic limb and application method, and structure is simple, light weight, at low cost, and soft crawl feel is realized by mechanical structure.
Description
Technical field
The present invention relates to prosthesis technique field, in particular to a kind of ratchet stop motivation tool with air bag based on 3D printing is false
Limb and application method.
Background technique
Hand and forearm are human body important components, if because emergency situations lose hand and forearm, it is necessary to which artificial limb replaces
The appearance and partial function of hand and forearm, realize the clamping of object.Existing artificial limb higher cost, structure is complicated, only a small number of
It is able to achieve the function of clamping.The control algolithm that manipulator clamps dynamics is complicated, it is difficult to realize soft clamping feel thus cannot
Achieve the purpose that normally to clamp object.If increasing multisensor algorithm can be made to cross as complexity, its stability can be reduced instead,
Increase its cost.
Summary of the invention
Control algolithm in order to solve manipulator of the existing technology is complicated, is difficult to realize soft feel clamping, at
This high technical problem, the present invention provides a kind of, and the ratchet stop with air bag based on 3D printing moves mechanical prosthetic limb and user
Method, structure is simple, light weight, at low cost, and soft crawl feel is realized by mechanical structure.
To achieve the goals above, the technical scheme is that
A kind of dynamic mechanical prosthetic limb of the ratchet stop with air bag based on 3D printing, including it is sequentially connected artificial limb finger section, artificial limb
Palmar hand, artificial limb wrist, the small arm of artificial limb and connection deformed limb portion；
The artificial limb finger section includes the clamping plate one and clamping plate two being oppositely arranged, and the inside of the clamping plate one and clamping plate two is equal
Equipped with air bag, the clamping plate one is connected with gear one, and the clamping plate one is set in connecting shaft one with gear one, the clamping plate
Two are connected with gear two, and the clamping plate two is set in connecting shaft two with gear two, the gear one and the engagement of gear two with
Clamping plate one and clamping plate two is driven to open and close；
The artificial limb palmar hand includes connecting plate one, connecting plate two, the gripping body for controlling clamping plate one and two clamping of clamping plate
With control clamping plate one and the link mechanism that loosens of clamping plate two, the connecting plate one and connecting plate two are arranged in parallel, and respectively with
The connecting shaft one is fixedly connected with connecting shaft two；The gripping body includes steering engine one, gear three, gear four, five and of gear
Ratchet stop mechanism, the ratchet stop mechanism includes ratchet and pawl, and the output end and gear three of the steering engine one are connected, institute
It states gear three to engage with gear one, the gear four is connected with clamping plate two far from the side of gear two, the gear four and gear
Five engagements, the gear five are connected with ratchet, and the ratchet and gear five are set in connecting shaft three, the connecting shaft three with
Connecting plate two is connected, and the pawl is connect by link mechanism with steering engine two, and the steering engine two pushes pawl by link mechanism
Far from ratchet.
The link mechanism includes movable connecting rod one and movable connecting rod two, one end and the pawl of the movable connecting rod one
One end far from ratchet connects, and the other end of the movable connecting rod one is equipped with sliding slot one；Described two one end of movable connecting rod and steering engine
Two output end is connected, and the other end of the movable connecting rod two is connect with shaft, and the shaft is arranged in the sliding slot one, and
A sliding along the chute.
It further includes fixed block that the ratchet stop with air bag based on 3D printing, which moves mechanical prosthetic limb, the fixed block and clamping plate
Two are connected, and the fixed block is equipped with sliding slot two, and the movable connecting rod one is arranged in the sliding slot two, and two movement along the chute；
Inner wall of the fixed block close to ratchet side is equipped with inclined wall, and the inclined wall is located at the top of pawl.
The connecting plate one between gear two and clamping plate two, the connecting plate two be located at clamping plate two and gear four it
Between；Gear six is equipped between the clamping plate one and connecting plate two, the gear six is connected with clamping plate one, the gear six and gear
Seven engagements, the gear seven are connected between connecting plate two and clamping plate two, and with clamping plate two.
The gear six is set in connecting shaft one, and the gear four and gear seven are set in the connecting shaft two.
The clamping plate one is identical with the structure of clamping plate two, is arcuate structure.
The air bag is connect with air accumulator by tracheae, and the air accumulator setting is set on the small arm of artificial limb, the tracheae
There is two-position three way magnetic valve.
Motor is equipped in the artificial limb wrist, the motor is by shaft coupling and connecting plate one and connecting plate two close to artificial limb
The side of wrist connects.
The artificial limb wrist, the small arm of artificial limb and with connection deformed limb portion be all made of 3D printing manufacture complete；The connecting rod machine
Structure, gear one, gear two, gear three, gear four, gear five, gear six, gear seven, ratchet and pawl are all made of 3D printing system
Make completion.
A kind of above-mentioned ratchet stop with air bag based on 3D printing moves the application method of mechanical prosthetic limb, includes the following steps:
Step 1: the crawl angle of the motor rotation adjustment artificial limb palmar hand of starting artificial limb wrist；
Step 2: starting steering engine one makes two clamping of clamping plate one and clamping plate, clamping plate one and clamping plate two respectively away from target object 2~
When 6mm, steering engine one is closed, ratchet stop mechanism locks the position of clamping plate one and clamping plate two；
It is inflated Step 3: opening two-position three way magnetic valve to air bag, full of between clamping plate one and clamping plate two and target object
Gap clamps object；
Step 4: the gas in air bag is discharged by two-position three way magnetic valve, together when needing to unclamp artificial limb finger section
When, starting steering engine two is popped up pawl by link mechanism, is separated with ratchet, and steering engine one rotates backward the false clamping plate one of realization and folder
Plate two loosens.
Beneficial effects of the present invention:
A kind of ratchet stop with air bag based on 3D printing of the invention moves mechanical prosthetic limb, using cleverly mechanical structure and
Grasp mode obtains soft crawl feel, to simplified control algorithm, reduce cost, structure is simple, has good stabilization
Property.Pressure, which is generated, by the clamping of artificial limb finger section and air bag inflation acts on clamping object simultaneously；The pressure that air bag inflation generates
It is capable of providing soft crawl feel, and air bag can fill up the gap between finger and object, bigger contact surface is provided
Product, obtains good crawl effect；The limit of ratchet mechanism stop mechanism fixes artificial limb finger section clamping position, discharges steering engine one
Pressure.
Detailed description of the invention
Fig. 1 is the structural representation that a kind of ratchet stop with air bag based on 3D printing provided by the invention moves mechanical prosthetic limb
Figure；
Fig. 2 is the schematic elevation view of artificial limb palmar hand provided by the invention；
Fig. 3 is the schematic rear view of artificial limb palmar hand provided by the invention；
Fig. 4 is the structural schematic diagram of link mechanism provided by the invention；
Fig. 5 is the structural schematic diagram of fixed block provided by the invention.
Wherein, 1- artificial limb palmar hand, 2- artificial limb wrist, the small arm of 3- artificial limb, 4- connection deformed limb portion, 5- artificial limb finger section,
6- air bag, 7- steering engine one, 8- gear one, 9- gear two, 10- gear three, 11- gear four, 12- ratchet, 13- pawl, 14- clamping plate
One, 15- clamping plate two, 16- connecting plate one, 17- connecting plate two, 18- steering engine two, 19- movable connecting rod two, 20- movable connecting rod one,
21- fixed block, 22- shaft, 23- sliding slot one, 24- inclined wall.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.?
In description of the invention, it should be noted that the side of the instructions such as term " on ", "lower", "inner", "outside", " side ", " other side "
Position or positional relationship are to be based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description of the present invention and simplification of the description,
Rather than the device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation, because
This is not considered as limiting the invention.In addition, term " one ", " two ", " three ", " four ", " five ", " six ", " seven " are only used for
Purpose is described, relative importance is not understood to indicate or imply.Unless otherwise clearly defined and limited, term " peace
Dress ", " being provided with ", " connection " etc., shall be understood in a broad sense, such as " connection ", may be a fixed connection, be also possible to detachably connect
It connects, or is integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, intermediate matchmaker can also be passed through
Jie is indirectly connected, and can be the connection inside two elements.It for the ordinary skill in the art, can be with concrete condition
Understand the concrete meaning of above-mentioned term in the present invention.
Of the existing technology in order to solve the problems, such as, as shown in Figures 1 to 5, the present invention provides one kind to be based on 3D printing
The ratchet stop with air bag move mechanical prosthetic limb, including be sequentially connected artificial limb finger section 5, artificial limb palmar hand 1, artificial limb wrist 2, artificial limb
Small arm 3 and connection deformed limb portion 4；Artificial limb finger section 5 includes the clamping plate 1 and clamping plate 2 15 being oppositely arranged, clamping plate 1 and folder
The inside of plate 2 15 is equipped with air bag 6, and clamping plate 1 and gear 1 are connected, and clamping plate 1 and gear 1 are set in connecting shaft
On one, clamping plate 2 15 and gear 29 are connected, and clamping plate 2 15 and gear 29 are set in connecting shaft two, gear 1 and gear
29 engagements are to drive clamping plate 1 and clamping plate 2 15 to open and close；Artificial limb palmar hand 1 includes connecting plate 1, connecting plate 2 17, control
The link mechanism that the gripping body and control clamping plate 1 and clamping plate 2 15 of 2 15 clamping of clamping plate 1 and clamping plate loosen, connecting plate
1 and connecting plate 2 17 be arranged in parallel, and be fixedly connected respectively with connecting shaft one and connecting shaft two；Gripping body includes rudder
Machine 1, gear 3 10, gear 4 11, gear five and ratchet stop mechanism, ratchet stop mechanism include ratchet 12 and pawl 13,
The output end and gear 3 10 of steering engine 1 are connected, and gear 3 10 is engaged with gear 1, and gear 4 11 and clamping plate 2 15 are far from tooth
It takes turns 29 side to be connected, gear 4 11 engage with gear five, and gear five and ratchet 12 are connected, and ratchet 12 is arranged with gear five
In connecting shaft three, connecting shaft three and connecting plate 2 17 are connected, and pawl 13 is connect by link mechanism with steering engine 2 18, steering engine two
18 push pawl 13 far from ratchet 12 by link mechanism, and link mechanism includes movable connecting rod 1 and movable connecting rod 2 19, fortune
One end of dynamic connecting rod 1 is connect with pawl 13 far from one end of ratchet 12, and the other end of movable connecting rod 1 is equipped with sliding slot one
23；The output end of 2 19 one end of movable connecting rod and steering engine 2 18 is connected, and the other end of movable connecting rod 2 19 is connect with shaft 22, turns
Axis 22 is arranged in sliding slot 1, and one 23 sliding along the chute.
In the present invention, clamping plate 1 is identical with the structure of clamping plate 2 15, is arcuate structure, clamping plate 1 and clamping plate 2 15
For clamping object, while being also the carrier of air bag 6, the folding of clamping plate 1 and clamping plate 2 15, folder are realized by gripping body
It is equipped with air bag 6 on the inside of 2 15 arcuate structure of plate 1 and clamping plate, air bag 6 is connect with air accumulator by tracheae, and air accumulator is set
It sets in the small arm 3 of artificial limb, tracheae is equipped with two-position three way magnetic valve, and when needing to clamp target object, air accumulator passes through two three
Three-way electromagnetic valve is inflated into air bag 6, and when needing to decontrol target object, gas is discharged by two-position three way magnetic valve for air bag 6；
Clamping plate 1 and clamping plate 2 15 are made of the plate of two pieces of arcs respectively, and clamping plate 1 and clamping plate 2 15 is made to have certain thickness
Object is clamped, the middle inside of clamping plate 1 and clamping plate 2 15 is arranged in air bag 6, for providing soft pressure to object to be clamped
Power.When clamping plate 1 and clamping plate 2 15 being needed to need to clamp, gear drive control clamping plate 1 and clamping plate two are driven by steering engine 1
15 clamping, meanwhile, ratchet stop mechanism passes through the one-directional rotation of gear five and 4 11 conjugate control gear set of gear, realizes hand
The backward hold of finger.When clamping plate 1 and clamping plate 2 15 being needed to need to unclamp, steering engine 2 18 passes through link mechanism for 13 bullet of pawl
Ratchet 12 out realize rotating backward for gear, that is, realize the release of artificial limb finger.
In the present invention, as shown in figs. 1 and 3, gear 1 is located at the side of clamping plate 1, and is connected with clamping plate 1, gear
It just will drive the rotation of clamping plate 1 when one 8 rotation, gear 1 engages with gear 29, while the rotation of gear 1
Band moving gear 29 rotates, and then clamping plate 2 15 is driven to rotate, and realizes the open and close movement of clamping plate 1 and clamping plate 2 15.
In the present invention, connecting plate 1 between gear 29 and clamping plate 2 15, connecting plate 2 17 be located at clamping plate 2 15 with
Between gear 4 11；Gear six is equipped between clamping plate 1 and connecting plate 2 17, gear six and clamping plate 1 are connected, gear six with
Gear seven engages, and gear seven is connected between connecting plate 2 17 and clamping plate 2 15, and with clamping plate 2 15, six company of being set in of gear
In spindle one, gear 4 11 and gear seven are set in connecting shaft two, and gear six and gear seven can make based on 3D printing
Ratchet stop with air bag moves the more steady of mechanical prosthetic limb work.
In the present embodiment, as shown in Figures 2 and 4, one end of movable connecting rod 1 and pawl 13 connect far from one end of ratchet 12
It connects, the other end of movable connecting rod 1 is connect with cube structure, and sliding slot 1 is located on the cube structure；Movable connecting rod one
20, sliding slot two, connecting shaft one, connecting shaft two and the direction of connecting shaft three are parallel, and with connecting plate 1 and connecting plate two
17 are vertically arranged.Sliding slot 1 is oblong, and sliding slot two is that cylindrical and movable connecting rod 1 cooperates.Fixed block 21 can guarantee
Stable two movement along the chute of movable connecting rod 1, when 12 13 cooperating of pawl of ratchet, can supporting movement connecting rod 1, protect
Demonstrate,prove the stabilization of 12 pawl 13 of ratchet work；Steering when pawl 13 pops up can also be controlled, fixed block 21 is close to 12 side of ratchet
Inner wall be equipped with inclined wall 24, inclined wall 24 is located at the top of pawl 13, for making pawl 13 during the pop-up of pawl 13
It is rotated to the side far from ratchet 12.
In the present invention, it further includes fixed block 21, fixed block 21 that the ratchet stop with air bag based on 3D printing, which moves mechanical prosthetic limb,
It is connected with clamping plate 2 15, fixed block 21 is equipped with sliding slot two, and movable connecting rod 1 is arranged in sliding slot two, and two movement along the chute；
Inner wall of the fixed block 21 close to 12 side of ratchet is equipped with inclined wall 24, and inclined wall 24 is located at the top of pawl 13.In artificial limb wrist 2
Equipped with motor, motor is connect with connecting plate 1 and connecting plate 2 17 close to the side of artificial limb wrist 2 by shaft coupling, for driving
Start metacarpus rotation.When motor is connect by shaft coupling with connecting plate 1 and connecting plate 2 17, connecting plate 1 and connecting plate
2 17 are equipped with plate close to the position of a middle side part of artificial limb wrist 2, and shaft coupling is connect with plate.Artificial limb wrist 2, artificial limb forearm
Portion 3 and and connection deformed limb portion 4 be all made of 3D printing manufacture complete；Link mechanism, gear 1, gear 29, gear 3 10, gear
4 11, gear five, gear six, gear seven, ratchet 12 and pawl 13 are all made of 3D printing manufacture and complete.Artificial limb wrist 2, artificial limb are small
Arm 3 and and connection deformed limb portion 4 be the prior art, and by 3D printing manufacture completion, be stitched together by 3D printing splice
It is bolted on aluminum profile, light weight and at low cost.The inside for connecting deformed limb portion 4 is equipped with sponge, and outside is equipped with bandage,
Adjustable-tightness is able to carry out good human-computer interaction.
A kind of above-mentioned ratchet stop with air bag based on 3D printing moves the application method of mechanical prosthetic limb, includes the following steps:
Step 1: the crawl angle of the motor rotation adjustment artificial limb palmar hand 1 of starting artificial limb wrist 2；
Step 2: starting steering engine 1 makes 2 15 clamping of clamping plate 1 and clamping plate, clamping plate 1 and clamping plate 2 15 are respectively away from mesh
When marking 2~6mm of object, steering engine 1 is closed, ratchet stop mechanism locks the position of clamping plate 1 and clamping plate 2 15；
It is inflated Step 3: opening two-position three way magnetic valve to air bag 6, full of clamping plate 1 and clamping plate 2 15 and target object
Between gap, clamp object；
Step 4: the gas in air bag 6 is discharged by two-position three way magnetic valve, together when needing to unclamp artificial limb finger section 5
When, starting steering engine 2 18 is popped up pawl 13 by link mechanism, is separated with ratchet 12, and steering engine 1 rotates backward the false folder of realization
Plate 1 and clamping plate 2 15 loosen.
In the present invention, the crawl angle of the motor rotation adjustment artificial limb palmar hand 1 of starting artificial limb wrist 2 makes artificial limb palm
Portion 1 and 5 angle of artificial limb finger section and the angle of target object are suitble to grab, and opening two-position three way magnetic valve makes air accumulator to air bag
6 inflations provide enough clampings full of the gap between clamping plate 1 and clamping plate 2 15 and target object, and for crawl target object
Power；
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of ratchet stop with air bag based on 3D printing moves mechanical prosthetic limb, which is characterized in that including being sequentially connected prosthetic hand
Finger portion, artificial limb palmar hand, artificial limb wrist, the small arm of artificial limb and connection deformed limb portion；
The artificial limb finger section includes the clamping plate one and clamping plate two being oppositely arranged, and the inside of the clamping plate one and clamping plate two is equipped with
Air bag, the clamping plate one are connected with gear one, and the clamping plate one is set in connecting shaft one with gear one, the clamping plate two with
Gear two is connected, and the clamping plate two is set in connecting shaft two with gear two, and the gear one and the engagement of gear two are to drive
Clamping plate one and clamping plate two open and close；
The artificial limb palmar hand includes connecting plate one, connecting plate two, gripping body and the control for controlling clamping plate one and two clamping of clamping plate
The link mechanism that clamping plate one and clamping plate two processed loosen, the connecting plate one and connecting plate two are arranged in parallel, and respectively with it is described
Connecting shaft one is fixedly connected with connecting shaft two；The gripping body includes steering engine one, gear three, gear four, gear five and ratchet
Stop mechanism, the ratchet stop mechanism includes ratchet and pawl, and the output end and gear three of the steering engine one are connected, the tooth
Wheel three is engaged with gear one, and the gear four is connected with clamping plate two far from the side of gear two, and the gear four is nibbled with gear five
Close, the gear five is connected with ratchet, and the ratchet and gear five are set in connecting shaft three, the connecting shaft three with connect
Plate two is connected, and the pawl is connect by link mechanism with steering engine two, and the steering engine two pushes pawl separate by link mechanism
Ratchet.
2. the ratchet stop with air bag according to claim 1 based on 3D printing moves mechanical prosthetic limb, which is characterized in that described
Link mechanism includes movable connecting rod one and movable connecting rod two, one end of the movable connecting rod one and the pawl far from ratchet one
The other end of end connection, the movable connecting rod one is equipped with sliding slot one；The output end of described two one end of movable connecting rod and steering engine two is solid
Even, the other end of the movable connecting rod two is connect with shaft, and the shaft is arranged in the sliding slot one, and one is slided along the chute
It is dynamic.
3. the ratchet stop with air bag according to claim 1 based on 3D printing moves mechanical prosthetic limb, which is characterized in that described
It further includes fixed block that the ratchet stop with air bag based on 3D printing, which moves mechanical prosthetic limb, and the fixed block and clamping plate two are connected, described
Fixed block is equipped with sliding slot two, and the movable connecting rod one is arranged in the sliding slot two, and two movement along the chute；The fixed block leans on
The inner wall of nearly ratchet side is equipped with inclined wall, and the inclined wall is located at the top of pawl.
4. the ratchet stop with air bag according to claim 1 based on 3D printing moves mechanical prosthetic limb, which is characterized in that described
Connecting plate one is between gear two and clamping plate two, and the connecting plate two is between clamping plate two and gear four；The clamping plate one
Gear six is equipped between connecting plate two, the gear six is connected with clamping plate one, and the gear six is engaged with gear seven, the tooth
Wheel seven is connected between connecting plate two and clamping plate two, and with clamping plate two.
5. the ratchet stop with air bag according to claim 4 based on 3D printing moves mechanical prosthetic limb, which is characterized in that described
Gear six is set in connecting shaft one, and the gear four and gear seven are set in the connecting shaft two.
6. the ratchet stop with air bag according to claim 1 based on 3D printing moves mechanical prosthetic limb, which is characterized in that described
Clamping plate one is identical with the structure of clamping plate two, is arcuate structure.
7. the ratchet stop with air bag according to claim 1 based on 3D printing moves mechanical prosthetic limb, which is characterized in that described
The air bag is connect with air accumulator by tracheae, and in the small arm of artificial limb, the tracheae is equipped with two three for the air accumulator setting
Three-way electromagnetic valve.
8. the ratchet stop with air bag according to claim 1 based on 3D printing moves mechanical prosthetic limb, which is characterized in that described
Motor is equipped in artificial limb wrist, the motor is connected by shaft coupling and connecting plate one and connecting plate two close to the side of artificial limb wrist
It connects.
9. the ratchet stop with air bag according to claim 4 based on 3D printing moves mechanical prosthetic limb, which is characterized in that described
The small arm of artificial limb wrist, artificial limb and with connection deformed limb portion be all made of 3D printing manufacture complete；The link mechanism, gear one, tooth
Wheel two, gear three, gear four, gear five, gear six, gear seven, ratchet and pawl are all made of 3D printing manufacture and complete.
10. a kind of ratchet stop with air bag based on 3D printing moves the application method of mechanical prosthetic limb, use is described in claim 1
The ratchet stop with air bag based on 3D printing moves mechanical prosthetic limb, which comprises the steps of:
Step 1: the crawl angle of the motor rotation adjustment artificial limb palmar hand of starting artificial limb wrist；
Step 2: starting steering engine one makes two clamping of clamping plate one and clamping plate, clamping plate one and clamping plate two are respectively away from 2~6mm of target object
When, steering engine one is closed, ratchet stop mechanism locks the position of clamping plate one and clamping plate two；
Step 3: opening two-position three way magnetic valve gives air bag inflation, full of the gap between clamping plate one and clamping plate two and target object,
Clamp object；
Step 4: the gas in air bag is discharged by two-position three way magnetic valve when needing to unclamp artificial limb finger section, meanwhile, it opens
Dynamic steering engine two is popped up pawl by link mechanism, is separated with ratchet, and steering engine one rotates backward the false clamping plate one of realization and clamping plate two
Loosen.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910249990.5A CN109893307A (en) | 2019-03-29 | 2019-03-29 | The ratchet stop with air bag based on 3D printing moves mechanical prosthetic limb and application method |
| PCT/CN2019/082269 WO2020199240A1 (en) | 2019-03-29 | 2019-04-11 | 3d printing-based ratchet stop mechanical prosthesis having airbag and usage method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910249990.5A CN109893307A (en) | 2019-03-29 | 2019-03-29 | The ratchet stop with air bag based on 3D printing moves mechanical prosthetic limb and application method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109893307A true CN109893307A (en) | 2019-06-18 |
Family
ID=66954239
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910249990.5A Pending CN109893307A (en) | 2019-03-29 | 2019-03-29 | The ratchet stop with air bag based on 3D printing moves mechanical prosthetic limb and application method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109893307A (en) |
| WO (1) | WO2020199240A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110587571A (en) * | 2019-10-18 | 2019-12-20 | 南京蜘蛛侠智能机器人有限公司 | Mechanical arm trolley |
| EP3932371A3 (en) * | 2020-06-30 | 2022-04-06 | OT Supply GmbH | Belt retraction system for a prosthesis shaft and locking section, mounting adapter, and sliding stopper for same |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2020199240A1 (en) | 2020-10-08 |
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