CN110101490A - A kind of prosthetic hand - Google Patents

Abstract

The invention discloses a kind of prosthetic hands, in its passive joint: being provided with the finger mounted slot for installing finger base in palm seat, first support plate is fixedly mounted on the bottom end cell wall of finger mounted slot, the top of first pin shaft is connect with the top cell wall of finger mounted slot, and the bottom end of the first pin shaft is connect with the first support plate；The bottom of finger base is arranged in second support plate, and finger base and the second support plate are rotatably sleeved on the first pin shaft；The first pit group is constituted by multiple first pits in first support plate；Multiple second dimple groups are provided in second support plate, the pit distribution mode of each second dimple group is identical as the first pit group；Interval angles between adjacent second dimple group are configured according to the default latched position of finger base；It is folded with support ball correspondingly between first pit group and a second dimple group.Finger in the prosthetic hand can be locked in special angle, realize the operation to application scenarios common in life.

Description

A kind of prosthetic hand

Technical field

The present invention relates to artificial limb manufacturing technology field, in particular to a kind of prosthetic hand.

Background technique

Prosthetic hand can be obviously improved disabled person's life.

A kind of artificial hand thumb with two-dimentional function is disclosed in the patent application document of Publication No. CN208212111U, The artificial hand thumb has certain coupling mechanism force, but thumb coupling mechanism force is small unreliable, and long time running is prone to wear failure, cannot It is locked in certain fixed angle.

A kind of artificial hand thumb with passive joint is disclosed in the patent application document of Publication No. CN201135511Y, There is provided joint resistance by pure friction, thumb coupling mechanism force long time running frictional force becomes smaller, and reliability is smaller, failure risk compared with Greatly, it cannot be locked in certain fixed angle.

Therefore, a novel prosthetic hand how is designed, finger can be enabled to lock in special angle, to realize in life The operation of common application scenarios is current those skilled in the art technical problem urgently to be resolved.

Summary of the invention

In view of this, finger can be locked in special angle the purpose of the present invention is to provide a kind of novel prosthetic hand, To realize the operation to application scenarios common in life.

To achieve the above object, the invention provides the following technical scheme:

A kind of prosthetic hand, including passive joint, the passive joint include finger base, palm seat, the first pin shaft, first Support plate and the second support plate, in which:

The finger mounted slot for installing the finger base is provided in the palm seat, first support plate is fixed It is mounted on the bottom end cell wall of the finger mounted slot, the top cell wall on the top of first pin shaft and the finger mounted slot Connection, the bottom end of first pin shaft is connect with first support plate；

The bottom of the finger base is arranged in second support plate, and the finger base and second support plate can It is rotationally set on first pin shaft；

Multiple first pits are symmetrically provided with along the first circular trace in first support plate, multiple described One pit constitutes the first pit group；The second circular trace is provided with multiple second dimple groups in second support plate, each The distribution mode of multiple second dimples in the second dimple group is identical as the first pit group；First circular rail The center of circle of mark and second circular trace is respectively positioned on the central axis of first pin shaft；The adjacent second dimple group Between interval angles be configured according to the default latched position of the finger base；

A support ball is respectively arranged in each first pit, the depth of first pit is greater than the support The radius of ball, the depth of the second dimple is less than the radius of the support ball, also, the diameter of the support ball is greater than or waits In the sum of first pit and the depth of the second dimple.

In above-mentioned prosthetic hand, screw thread connects between the top of first pin shaft and the top cell wall of the finger mounted slot It connects；

The first elastic component is provided between the top and the finger base of first pin shaft.

In above-mentioned prosthetic hand, it is provided with stepped hole in the finger base, the stepped hole includes the first hole section and the Two hole sections, in which:

First hole section is located at the top of the finger base and diameter is relatively large, and the first elastic component setting exists It in first hole section and is set on first pin shaft, first elastic component can be in first pin shaft and the hand Refer to and provides axial pre tightening force between pedestal；

Second hole section connects with first hole section and diameter is relatively small, and first pin shaft is rotationally arranged In the stepped hole with the second hole section clearance fit.

In above-mentioned prosthetic hand, in the stepped hole, first elastic component bottom is provided with thrust bearing.

In above-mentioned prosthetic hand, the screw thread for installing jackscrew is additionally provided on the top cell wall of the finger mounted slot Hole, the jackscrew are used to carry out radial abutting to the top of first pin shaft.

In above-mentioned prosthetic hand, the root of the thumb mechanism in the prosthetic hand is provided with the passive joint, described Finger base is the thumb pedestal positioned at the root of the thumb mechanism.

In above-mentioned prosthetic hand, the thumb mechanism includes fixed pedestal, actuator body, driver telescopic rod, close It slaps finger, far slap finger, finger tip, in which:

The fixed pedestal and the nearly palm finger are hinged at the first articulated shaft；

The nearly palm finger and the remote palm finger are hinged at the second articulated shaft, also, the fixed pedestal and described Remote palm finger is hinged with the both ends of back link respectively；

The nearly palm finger and the actuator body are hinged at third articulated shaft, the driver telescopic rod and described Remote palm finger is hinged at the 4th articulated shaft, the driver telescopic rod can the relatively described actuator body do linear expansion fortune It is dynamic；

The remote palm finger and the finger tip are hinged at the 5th articulated shaft, also, the remote palm finger and the finger tip It is hinged with the both ends of front rod respectively；

When the driver telescopic rod stretches out the actuator body, the intracardiac bending of the remote palm finger thenad is driven to turn It is dynamic, also, the remote palm finger drives the intracardiac bending rotation of the nearly palm finger thenad, the remote palm hand by the back link Refer to and the intracardiac bending rotation of the finger tip thenad is driven by the front rod, to enable the thumb mechanism analog finger Bending motion；

When the driver telescopic rod retracts in the actuator body, thumb mechanism counter motion, with mould The stretching routine of human-imitated finger.

In above-mentioned prosthetic hand, be provided with arc chute on the remote palm finger, the center of circle of the arc chute with The second hinged overlapping of axles, the 4th articulated shaft can be slided along the arc chute；

It is provided with the second elastic component between the driver telescopic rod and the remote palm finger, second elastic component is institute Remote palm finger is stated to provide around the counter-rotational restoring force of the second articulated shaft.

In above-mentioned prosthetic hand, respectively included in every finger mechanism in the prosthetic hand other than thumb mechanism Remote finger joint, the first swing rod, the second swing rod, third swing rod, finger bracket, linear actuator, load cell and third elastic component, Wherein:

One end of first swing rod is hinged by the second pin shaft and the root of the remote finger joint, and the other end passes through third pin Axis and the finger bracket are hinged；

One end of second swing rod is hinged by the 4th pin shaft and the root of the remote finger joint, and the other end passes through the 5th pin Axis and the finger bracket are hinged, first swing rod and second swing rod composition cross-coupling connecting rod arranged in a crossed manner, described Relatively described 4th pin shaft of second pin shaft is more leaned on closer to the back side of the finger, the relatively described third pin shaft of the 5th pin shaft The back side of the nearly finger；

One end of the third swing rod is hinged on the 5th pin shaft, and the other end is driven by the 6th pin shaft and the straight line The driving end of dynamic device is hinged；

The fixing end of the linear actuator, also, the load cell and palm is arranged in the load cell It is connected between bracket by flexural pivot；

One end of the third elastic component is connect with second pin shaft, and the other end is connect with the 5th pin shaft；

When the elongation of the driving end of the linear actuator, the driving end pushes the third swing rod around the 5th pin Axis rotation, the third swing rod are connected by contact block and second swing rod and push second swing rod around described the The rotation of five pin shafts, also, the remote finger joint is rotated by the cross-coupling connecting rod around the 4th pin shaft, and it is curved to simulate finger Song movement；

When the remote finger joint is by load is grasped, the load cell can measure the grasping load；

When the remote finger joint is by the pressure for pressing to the finger towards the back of the hand direction, the cross-coupling connecting rod is driven to revolve Turn, the third swing rod and second swing rod are detached from the contact block, the third elastic component elongation, to simulate hand at this time Refer to passive flexure operation, the straight line simulator is not subject to load at this time；When the pressure disappears, in the third elastic component Under the action of, the third swing rod and second swing rod connect again, restore normal position.

In above-mentioned prosthetic hand, the thin film switch for controlling power supply opening and closing is provided on the back of the hand of the prosthetic hand；

And/or the vibrating motor for prompt modes switching is integrated on the palm of the prosthetic hand；

And/or the display device for showing electricity is integrated at the wrist of the prosthetic hand；

And/or the finger root in the prosthetic hand other than thumb is respectively arranged with protection protrusion, closes for protecting It is not exposed to save internal structure.

It can be seen from the above technical proposal that prosthetic hand provided by the invention, recessed by second in above-mentioned passive joint Hole can be realized the purpose for enabling finger have larger coupling mechanism force in certain specific positions.Further, also pass through the first elasticity Part can be realized the adjustment to the passive torque resistance of finger.

Detailed description of the invention

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with It obtains other drawings based on these drawings.

Fig. 1 is the positive centre of the palm structural schematic diagram of prosthetic hand provided in an embodiment of the present invention；

Fig. 2 is the cross-sectional view of the passive joint in the thumb of prosthetic hand provided in an embodiment of the present invention；

Fig. 3 is the cross-sectional view in the section S-S in Fig. 2；

Fig. 4 is the bottom view of the passive joint in Fig. 2；

Fig. 5 is the first pit distribution structural schematic diagram of the first support plate in Fig. 2；

Fig. 6 is the second dimple distributed architecture schematic diagram of the second support plate in Fig. 2；

Fig. 7 is the structural schematic diagram of the thumb in prosthetic hand provided in an embodiment of the present invention；

Fig. 8 is the index finger/middle finger/third finger/little finger structural schematic diagram in prosthetic hand provided in an embodiment of the present invention；

Fig. 9 is the structure schematic diagram of prosthetic hand provided in an embodiment of the present invention.

Wherein:

101- palm seat, the first pin shaft of 102-, 103- jackscrew, the first elastic component of 104-, 105- finger base,

106- thrust bearing, 107- support plate-A, 108- support ball, 109- support plate-B,

111- finger mounted slot, 112- pedestal through slot；

201- fixed pedestal, 202- actuator body, 203- driver telescopic rod,

204- closely slaps finger, 205- back link, and 206- far slaps finger, 207- finger tip, 208- front rod；

The remote finger joint of 301-, 302- pin shaft, 303- pin shaft, the second swing rod of 304-, the first swing rod of 305-,

306- third swing rod, 307- pin shaft, 308- pin shaft, 309- finger bracket, 310- pin shaft,

311- linear actuator, 312- load cell, 313- flexural pivot, 314- palm rest,

315- third elastic component；

401- thin film switch, 402- protection protrusion.

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 embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.

Fig. 1 to Fig. 9 is please referred to, Fig. 1 is the positive centre of the palm structural schematic diagram of prosthetic hand provided in an embodiment of the present invention, Fig. 2 For the cross-sectional view of the passive joint in the thumb of prosthetic hand provided in an embodiment of the present invention, Fig. 3 is the section S-S in Fig. 2 Cross-sectional view, Fig. 4 are the bottom view of the passive joint in Fig. 2, and Fig. 5 is the first pit distribution structure of the first support plate in Fig. 2 Schematic diagram, Fig. 6 are the second dimple distributed architecture schematic diagram of the second support plate in Fig. 2, and Fig. 7 is provided in an embodiment of the present invention The structural schematic diagram of thumb in prosthetic hand, Fig. 8 be prosthetic hand provided in an embodiment of the present invention in index finger/middle finger/it is unknown Finger/little finger structural schematic diagram, Fig. 9 are the structure schematic diagram of prosthetic hand provided in an embodiment of the present invention.

Fig. 2 to Fig. 6 is please referred to, passive joint is provided in prosthetic hand provided in an embodiment of the present invention, passive joint includes Finger base 105, palm seat 101, the first pin shaft 102, the first support plate 109 and the second support plate 107, in which:

The finger mounted slot 111 for installing finger base 105 is provided in palm seat 101, the first support plate 109 is fixed It is mounted on the bottom end cell wall of finger mounted slot 111, the top of the first pin shaft 102 and the top cell wall of finger mounted slot 111 connect It connects, the bottom end of the first pin shaft 102 is connect with the first support plate 109；

The bottom of finger base 105 is arranged in second support plate 107, and finger base 105 and the second support plate 107 can be rotated Ground is set on the first pin shaft 102；

Multiple first pits are symmetrically provided with along the first circular trace in first support plate 109, multiple first is recessed Hole constitutes the first pit group；Second circular trace is provided with multiple second dimple groups in second support plate 107, each second is recessed The distribution mode of multiple second dimples in the group of hole is identical as the first pit group；First circular trace and the second circular trace The center of circle is respectively positioned on the central axis of the first pin shaft 102；Interval angles between adjacent second dimple group are according to finger base 105 default latched position is configured；

A support ball 108 is respectively arranged in each first pit, the depth of the first pit is greater than the half of support ball 108 Diameter, the depth of second dimple are less than the radius of support ball 108, also, support the diameter of ball 108 be greater than or equal to the first pit and The sum of depth of second dimple.

Specifically, as shwon in Figures 5 and 6, multiple first pits are evenly arranged in the second support plate 107；Multiple Two pits are arranged in the first support plate 109 according to specific interval angles.

It is specifically described by taking second dimple group there are three settings in the second support plate 107 as an example below, for details, reference can be made to Such as Fig. 2, Fig. 5 and Fig. 6.Wherein: the diameter of the first circular trace R1 and the second circular trace R2 are equal；In order to enable the first support plate 109 and second uniform force between support plate 107, multiple first pits central symmetry in the first circular trace；Second dimple Quantity be the first pit quantity most times figures in be three times；Interval between second dimple group K1 and second dimple group K2 Angle is α, and the interval angles between second dimple group K2 and third pit group K3 are the specific value of β, α and β according to finger base The default latched position of seat 105 is configured.

When supporting ball 108 to be located in the first pit group and second dimple group K1, finger base 105 is located at the first locking bit It sets；When supporting ball 108 to be located in the first pit group and second dimple group K2, finger base 105 is located at the second latched position；When When support ball 108 is located in the first pit group and second dimple group K3, finger base 105 is located at third latched position.Finger base The variable locking position of seat 105 corresponds to the differently curved radian of finger, to grasp to different size of object.

In other specific embodiments, two or more second dimple groups are also provided with, the present invention does not make this It is specific to limit.

The operating principle of above-mentioned passive joint: under the action of the first elastic component 103, the second support plate 107 and first Support plate 109 compresses support 108；

When finger base 105 passively rotates, support ball 108 from one group of second dimple being arranged in the first support plate 109 Roll out, support ball 108 roll out after, pivoting finger pedestal 105 it is smaller by dynamic resistance；Then, support ball 108 enters next group the In two pits, at this point, support ball 108 is locked；

Since the multiple groups second dimple finger tip being arranged in the first support plate 109 is respectively arranged with specific adjusting angle, therefore Finger base 105 is equipped with larger coupling mechanism force in certain certain bits.

As it can be seen that prosthetic hand provided in an embodiment of the present invention can be realized order by the second dimple in above-mentioned passive joint Finger has the purpose of larger coupling mechanism force in certain specific positions.More than the coupling mechanism force, then finger base can passively rotate.

Specifically, as shown in Figure 2, screw thread between the top of the first pin shaft 102 and the top cell wall of finger mounted slot 111 Connection, is provided with the first elastic component 104 between the top and finger base 105 of the first pin shaft 102.To pass through the first elasticity Part 104 can enable the second support plate 107 compress the first support plate 109.Moreover, screwing in palm seat 1 by adjusting the first pin shaft 2 Depth, the decrement of adjustable first elastic component 104, thus realize to the passive torque resistance of finger, (i.e. finger overcomes it In the coupling mechanism force of specific position) adjustment.

Specifically, as shown in Figure 2, stepped hole 112 is provided in finger base 105, stepped hole 112 includes the first hole section With the second hole section, in which: the first hole section is located at the top of finger base 105 and diameter is relatively large, the setting of the first elastic component 104 It in the first hole section and is set on the first pin shaft 102, the first elastic component 104 can be in the first pin shaft 102 and finger base 105 Between axial pre tightening force is provided；Second hole section connects with the first hole section and diameter is relatively small, and the first pin shaft 102 rotationally covers It is located in stepped hole 112 and the second hole section clearance fit.Further, it in stepped hole 112, is set in 104 bottom of the first elastic component It is equipped with thrust bearing 106.

Specifically, the first support plate 109 includes bottom end mounting portion and top disk, which is preferably polygon Column structure, top disk are disk.Accordingly, it is provided on the bottom end cell wall of finger mounted slot 111 for installing first The polygon mounting hole of the bottom end mounting portion of support plate 109 is matched between the polygon mounting hole and the first support plate 109 for interference It closes, to can not relatively rotate between the two, realizes the bottom end that the first support plate 109 is fixedly mounted on to finger mounted slot 111 Purpose on cell wall.

Specifically, the second support plate 107 includes tip attachment portion and bottom end disk, which is preferably polygon Column structure, bottom end disk are disk.Accordingly, the bottom end of stepped hole 112 is to pacify for installing the top of the second support plate 107 The third hole section in dress portion, the section of third hole section are preferably polygon, are matched between third hole section and the second support plate 107 for interference It closes, to can not relatively rotate between the two, realizes the bottom end that the second support plate 107 is fixedly mounted on to finger base 105 Purpose.

Further, as shown in Figures 2 and 3, it is additionally provided on the top cell wall of finger mounted slot 111 for installing top The threaded hole of silk 103, jackscrew 103 are used to carry out radial abutting to the top of the first pin shaft 102.

Specifically, two or more abutment planes are provided on the top side wall of the first pin shaft 102, jackscrew 103 and one It when abutment plane abuts, can play the role of circumferentially limiting to the first pin shaft 102, guarantee that the first pin shaft 102 no longer rotates.

To sum up, the first pin shaft 102 sequentially passes through palm seat 101, the first elastic component 104, thrust bearing 106, finger Pedestal 105, the second support plate 107, the first support plate 109, wherein finger base 105 and the second support plate 107 can be around the first pins Axis 102 rotates.

Preferably, in prosthetic hand provided in an embodiment of the present invention, the root of thumb mechanism is provided with above-mentioned passive joint, I.e. above-mentioned finger base 105 is the thumb pedestal positioned at the root of thumb mechanism.(in addition, can also be according to reality on other fingers Above-mentioned passive joint is arranged in border, and the present invention is not especially limited this.)

In a particular embodiment, as shown in fig. 7, in prosthetic hand provided by the invention, thumb mechanism includes fixed pedestal 201, actuator body 202, driver telescopic rod 203, nearly palm finger 204, the remote palm finger 206, finger tip 207.Wherein:

Fixed pedestal 201 and nearly palm finger 204 are hinged at the first articulated shaft D；

Nearly palm finger 204 and remote palm finger 206 are hinged at the second articulated shaft B, also, fixed pedestal 201 and remote palm hand Refer to that 206 is hinged with the both ends of back link 205 respectively；

Nearly palm finger 204 and actuator body 202 are hinged at third articulated shaft A, driver telescopic rod 203 and remote palm hand Refer to 206 the 4th articulated shaft C at hingedly, driver telescopic rod 203 can opposing driver ontology 202 do linear expansion movement；

Remote palm finger 206 and finger tip 207 are hinged at the 5th articulated shaft E, also, remote palm finger 206 and finger tip 207 are distinguished It is hinged with the both ends of front rod 208.

When driver telescopic rod 203 stretches out actuator body 202, the remote intracardiac bending rotation of the palm 206 thenad of finger is driven (rotating clockwise), also, remote palm finger 206 drives the nearly intracardiac bending rotation of the palm 204 thenad of finger by back link 205 (rotating clockwise), remote finger 206 of slapping (are turned clockwise by the intracardiac bending rotation of drive 207 thenad of finger tip of front rod 208 It is dynamic), to enable the bending motion of thumb mechanism analog finger.

When driver telescopic rod 203 retracts in actuator body 202, thumb mechanism counter motion, to simulate manpower The stretching routine of finger.

Further, arc chute, the center of circle of arc chute and the second hinge are provided on above-mentioned remote palm finger 206 Spindle B is overlapped, and the 4th articulated shaft C can be slided along arc chute；It is arranged between driver telescopic rod 203 and remote palm finger 206 There is the second elastic component, the second elastic component is that remote palm finger 206 is provided around the second counter-rotational restoring force of articulated shaft B.The circular arc Shape sliding slot and the second elastic component constitute buffer gear, can play the effect of buffering during transport.

In addition, above-mentioned buffer gear can also be arranged at other similar hinge, such as the 5th using same principle At articulated shaft E.Thus, can be suitable by buffer gear when actuator body 202 and opposing stationary driver telescopic rod 203 The remote palm end finger 206 of hour hands rotation and finger tip 207.

In other specific embodiments, buffer gear is also possible to open type, replaces arc chute, far palm hand with rod piece Refer to that 206 is close to the 4th articulated shaft C by spring (i.e. the second elastic component), can also play the role of unidirectionally pushing.

In specific embodiment, as shown in figure 8, in prosthetic hand provided by the invention, every other than thumb mechanism Respectively included in finger mechanism remote finger joint 301, the first swing rod 304, the second swing rod 305, third swing rod 306, finger bracket 309, Linear actuator 311, load cell 312 and third elastic component 315.Wherein:

One end of first swing rod 305 is hinged by the second pin shaft 303 and the root of remote finger joint 301, and the other end passes through third Pin shaft 308 and finger bracket 309 are hinged；

One end of second swing rod 304 is hinged by the 4th pin shaft 302 and the root of remote finger joint 301, and the other end passes through the 5th Pin shaft 307 and finger bracket 309 are hinged, the first swing rod 305 and the composition cross-coupling connecting rod arranged in a crossed manner of the second swing rod 304, the Opposite 4th pin shafts 302 of two pin shafts 303 are closer to the back side of finger, and the opposite third pin shaft 308 of the 5th pin shaft 307 is closer to finger The back side；

One end of third swing rod 306 is hinged on the 5th pin shaft 307, and the other end passes through the 6th pin shaft 310 and linear drives The driving end of device 311 is hinged；

The fixing end of linear actuator 311, also, load cell 312 and palm rest is arranged in load cell 312 It is connected between 314 by flexural pivot 313；

One end of third elastic component 315 is connect with the second pin shaft 303, and the other end is connect with the 5th pin shaft 307.

When the elongation of the driving end of linear actuator 311, driving end pushes third swing rod 306 to rotate around the 5th pin shaft 307, Third swing rod 306 is connected by contact block and the second swing rod 304 and the second swing rod 304 is pushed to rotate around the 5th pin shaft 307, Also, remote finger joint 301 is rotated by cross-coupling connecting rod around the 4th pin shaft 302, to simulate digital flexion movement.

When remote finger joint 301 is by load is grasped, load cell 312 can measure grasping load.

When remote finger joint 301 is by the pressure for pressing to finger towards the back of the hand direction, the rotation of cross-coupling connecting rod is driven, at this time the Three swing rods 306 and the second swing rod 304 disengage block, and third elastic component 315 extends, to simulate the passive flexure operation of finger (i.e. to the bending in the back of the hand direction), straight line simulator 311 is not subject to load at this time；When the pressure disappears, in third elastic component 315 Under the action of, third swing rod 306 and the second swing rod 304 connect again, restore normal position.

Wherein, when normal position and simulation digital flexion act, third elastic component 315 is tensional state, third swing rod 306 Contact condition is in the second swing rod 304.

In order to further optimize the above technical scheme, in the prosthetic hand provided in the specific embodiment of the invention:

The thin film switch 401 for controlling power supply opening and closing is provided on the back of the hand, prosthetic hand when not used, can be opened by film It closes 401 and closes power supply, save electricity and use the time；

And/or the vibrating motor for prompt modes switching is integrated on the palm of prosthetic hand；

And/or the display device for showing electricity is integrated at the wrist of prosthetic hand；

And/or the finger root in prosthetic hand other than thumb is respectively arranged with protection protrusion 402, closes for protecting It is not exposed to save internal structure, moreover, will not block gloves when prosthetic hand band gloves.

To sum up, prosthetic hand provided in an embodiment of the present invention is made of palm, thumb and remaining four finger, and remaining four Finger may be implemented flexure operation and independently to bend and stretch, and the infolding that flexure operation vertical direction may be implemented in thumb is turned up movement With independently bend and stretch.Wherein: respectively having a linear actuator in thumb and remaining four finger, there is individual power control on driver The power control crawl for grasping object and automatic bending movement may be implemented by controlling program in unit；Thumb is along the vertical direction Infolding is turned up movement, and passive joint is used；The driver of thumb is inside thumb, and the driver of remaining four finger is in palm Inside, each driver are both provided with load cell, and the measurement of driver load may be implemented, to realize the power control of finger Control；The prosthetic hand has been internally integrated control circuit, and is provided with standard communication interface, and the modes such as electromyography signal may be implemented Communication.

As it can be seen that prosthetic hand provided in an embodiment of the present invention, not only passes through the second dimple in above-mentioned passive joint, Neng Goushi Now enable finger that there is the purpose of larger coupling mechanism force in certain specific positions.Moreover, all adjustment mechanisms in the prosthetic hand are integrated In joint, spaces compact；Finger can be finely adjusted by dynamic resistance by the first elastic component 103.

In addition, it should be noted that, in other specific embodiments, it may also is that

The quantity for the first pit being arranged in second support plate 107 is not necessarily 4, and setting principle is support strength foot It is enough, and support force is uniformly distributed；

Each elastic component can be helical spring, or disc spring or other elastic energy storage parts adjust spring-compressed The mode of amount can also be increase gasket；

The distribution mode for the second dimple being arranged in first support plate 109 can be cam disc form；

The polygonal cross-section of the bottom end mounting portion of first support plate 109 can be hexagon or other polygonized structures, or (such as jackscrew form) can also be fixed using other forms in person, to guarantee the first support plate 109 and finger base 105 It is circumferentially fixed.

Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning Covering non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes that A little elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged Except there is also other identical elements in the process, method, article or apparatus that includes the element.

Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other The difference of embodiment, the same or similar parts in each embodiment may refer to each other.

The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one The widest scope of cause.

Claims (10)

1. a kind of prosthetic hand, which is characterized in that including passive joint, the passive joint includes finger base (105), palm seat (101), the first pin shaft (102), the first support plate (109) and the second support plate (107), in which:

It is provided with the finger mounted slot (111) for installing the finger base (105) in the palm seat (101), described One support plate (109) is fixedly mounted on the bottom end cell wall of the finger mounted slot (111), the top of first pin shaft (102) End is connect with the top cell wall of the finger mounted slot (111), the bottom end of first pin shaft (102) and first support plate (109) it connects；

Second support plate (107) setting is in the bottom of the finger base (105), the finger base (105) and described Second support plate (107) is rotatably sleeved on first pin shaft (102)；

Multiple first pits are symmetrically provided with along the first circular trace on first support plate (109), it is multiple described First pit constitutes the first pit group；The second circular trace is provided with multiple second dimples on second support plate (107) The distribution mode of group, multiple second dimples in each second dimple group is identical as the first pit group；Described The center of circle of one circular trace and second circular trace is respectively positioned on the central axis of first pin shaft (102)；Adjacent Interval angles between the second dimple group are configured according to the default latched position of the finger base (105)；

A support ball (108) is respectively arranged in each first pit, the depth of first pit is greater than the branch The radius of ball (108) is supportted, the depth of the second dimple is less than the radius of support ball (108), also, the support ball (108) diameter is greater than or equal to the sum of first pit and depth of the second dimple.

2. prosthetic hand according to claim 1, which is characterized in that the top of first pin shaft (102) and the finger It is threadedly coupled between the top cell wall of mounting groove (111)；

The first elastic component (104) are provided between the top and the finger base (105) of first pin shaft (102).

3. prosthetic hand according to claim 2, which is characterized in that be provided with stepped hole on the finger base (105) (112), the stepped hole (112) includes the first hole section and the second hole section, in which:

First hole section is located at the top of the finger base (105) and diameter is relatively large, first elastic component (104) It is arranged in first hole section and is set on first pin shaft (102), first elastic component (104) can be described Axial pre tightening force is provided between first pin shaft (102) and the finger base (105)；

Second hole section connects with first hole section and diameter is relatively small, and first pin shaft (102) rotationally covers It is located in the stepped hole (112) and the second hole section clearance fit.

4. prosthetic hand according to claim 3, which is characterized in that in the stepped hole (112), in first elastic component (104) bottom is provided with thrust bearing (106).

5. prosthetic hand according to claim 2, which is characterized in that on the top cell wall of the finger mounted slot (111) also Be provided with the threaded hole for installing jackscrew (103), the jackscrew (103) be used for the top of first pin shaft (102) into Conduct is to abutting.

6. prosthetic hand according to any one of claims 1 to 5, which is characterized in that the thumb mechanism in the prosthetic hand Root be provided with the passive joint, the finger base (105) is the thumb base positioned at the root of the thumb mechanism Seat.

7. prosthetic hand according to claim 6, which is characterized in that the thumb mechanism includes fixed pedestal (201), drives Dynamic device ontology (202), driver telescopic rod (203) closely slap finger (204), far slap finger (206), finger tip (207), in which:

The fixed pedestal (201) and the nearly palm finger (204) are hinged at the first articulated shaft；

The nearly palm finger (204) and the remote palm finger (206) are hinged at the second articulated shaft, also, the fixed pedestal (201) and remote palm finger (206) is hinged with the both ends of back link (205) respectively；

The nearly palm finger (204) and the actuator body (202) are hinged at third articulated shaft, the driver telescopic rod (203) and the remote palm finger (206) is hinged at the 4th articulated shaft, and the driver telescopic rod (203) can the relatively described drive Dynamic device ontology (202) do linear expansion movement；

The remote palm finger (206) and the finger tip (207) are hinged at the 5th articulated shaft, also, the remote palm finger (206) It is hinged with the both ends of front rod (208) respectively with the finger tip (207)；

When the driver telescopic rod (203) stretches out actuator body (202), drive the remote palm finger (206) to Rotation is bent in the centre of the palm, also, the remote palm finger (206) drives the nearly palm finger (204) by the back link (205) The intracardiac bending rotation of thenad, the remote palm finger (206) drive the finger tip (207) to the centre of the palm by the front rod (208) Interior bending rotation, to enable the bending motion of the thumb mechanism analog finger；

When the driver telescopic rod (203) the retraction actuator body (202) is interior, the thumb mechanism is reversely transported It is dynamic, to simulate the stretching routine of finger.

8. prosthetic hand according to claim 7, which is characterized in that be provided with arc-shaped cunning on the remote palm finger (206) Slot, the center of circle of the arc chute and the described second hinged overlapping of axles, the 4th articulated shaft can be along the arc chute Sliding；

The second elastic component, second elasticity are provided between the driver telescopic rod (203) and the remote palm finger (206) Part is that the remote palm finger (206) is provided around the counter-rotational restoring force of the second articulated shaft.

9. prosthetic hand according to any one of claims 1 to 5, which is characterized in that in addition to thumb machine in the prosthetic hand Remote finger joint (301), the first swing rod (304), the second swing rod (305), third pendulum are respectively included in every finger mechanism except structure Bar (306), finger bracket (309), linear actuator (311), load cell (312) and third elastic component (315), in which:

One end of first swing rod (305) is hinged by the second pin shaft (303) and the root of the remote finger joint (301), another End is hinged by third pin shaft (308) and the finger bracket (309)；

One end of second swing rod (304) is hinged by the 4th pin shaft (302) and the root of the remote finger joint (301), another End passes through the 5th pin shaft (307) and the finger bracket (309) hingedly, first swing rod (305) and second swing rod (304) composition cross-coupling connecting rod arranged in a crossed manner, relatively described 4th pin shaft (302) of the second pin shaft (303) is closer to institute State the back side of finger, the relatively described third pin shaft (308) of the 5th pin shaft (307) is closer to the back side of the finger；

One end of the third swing rod (306) is hinged on the 5th pin shaft (307), and the other end passes through the 6th pin shaft (310) It is hinged with the driving end of the linear actuator (311)；

The fixing end in the linear actuator (311), also, the load cell is arranged in the load cell (312) (312) it is connected between palm rest (314) by flexural pivot (313)；

One end of the third elastic component (315) is connect with second pin shaft (303), the other end and the 5th pin shaft (307) it connects；

When the elongation of the driving end of the linear actuator (311), the driving end pushes the third swing rod (306) around described The rotation of 5th pin shaft (307), the third swing rod (306) are connected and are pushed away with second swing rod (304) by contact block It moves second swing rod (304) to rotate around the 5th pin shaft (307), also, the remote finger joint (301) passes through the intersection coupling It closes connecting rod to rotate around the 4th pin shaft (302), to simulate digital flexion movement；

When the remote finger joint (301) is by load is grasped, the load cell (312) can measure the grasping load；

When the remote finger joint (301) is by the pressure for pressing to the finger towards the back of the hand direction, the cross-coupling connecting rod is driven Rotation, the third swing rod (306) and second swing rod (304) are detached from the contact block, the third elastic component at this time (315) it extends, to simulate the passive flexure operation of finger, the straight line simulator (311) is not subject to load at this time；When the pressure When disappearance, under the action of third elastic component (315), the third swing rod (306) and second swing rod (304) are again It connects, restores normal position.

10. prosthetic hand according to claim 1, which is characterized in that be provided on the back of the hand of the prosthetic hand for controlling The thin film switch (401) of power supply opening and closing；

And/or the vibrating motor for prompt modes switching is integrated on the palm of the prosthetic hand；

And/or the display device for showing electricity is integrated at the wrist of the prosthetic hand；

And/or the finger root in the prosthetic hand other than thumb is respectively arranged with protection protrusion (402), for protecting Intra articular structure is not exposed.