CN111631846A - Two-degree-of-freedom artificial limb wrist - Google Patents
Two-degree-of-freedom artificial limb wrist Download PDFInfo
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- CN111631846A CN111631846A CN202010524818.9A CN202010524818A CN111631846A CN 111631846 A CN111631846 A CN 111631846A CN 202010524818 A CN202010524818 A CN 202010524818A CN 111631846 A CN111631846 A CN 111631846A
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- Prior art keywords
- gear
- platform
- wrist
- degree
- connecting pin
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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
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
- A61F2/585—Wrist joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
-
- 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
- A61F2002/701—Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors
Abstract
The invention discloses a two-degree-of-freedom artificial limb wrist, which relates to the technical field of artificial limbs imitating human bodies, and comprises a rotating structure and a side-turning structure, wherein the rotating structure comprises a wrist base, a first driving motor, a transmission system and a rotating platform, and the first driving motor drives the rotating platform to rotate through the transmission system; the side-turning structure comprises a second driving motor, a second transmission system and a side-turning platform, wherein the second driving motor drives the side-turning platform to turn on the side through the second transmission system. Through the implementation of the invention, the rotation and side-turning functions of the artificial limb wrist are realized, the degree of freedom of the artificial limb is improved, and the artificial limb has the advantages of compact structure, simple operation, light weight and the like, and improves the human-imitating property and the dexterity of the artificial limb of a user.
Description
Technical Field
The invention relates to the technical field of artificial limbs imitating human bodies, in particular to an artificial limb wrist with two degrees of freedom.
Background
At present, more and more amputation patients are caused by industrial injuries, traffic accidents, diseases and other factors in China, and the living of the patients is greatly inconvenient due to the limb disabilities, particularly the hand loss. The traditional artificial limb only has one gripping function, and is inconvenient in many occasions requiring wrist movement. Therefore, the artificial limb wrist simulating and restoring the function of the human wrist to a certain extent is an urgent need of a hand amputation patient, and has great market demand. The common artificial limb wrists on the market have simple functions, mostly only have the freedom degree of one rotation function, and have complex structure, large volume and heavy weight, so that the actual life requirements of amputation patients cannot be met.
Therefore, the technical personnel in the field strive to develop a two-degree-of-freedom artificial limb wrist, solve the problems of single function, complex structure and inconvenient use of the traditional artificial limb, not only can increase the degree of freedom of the artificial limb, but also can realize multiple functions of rotation, side turning and the like, thereby improving the humanoid property and the dexterity of the artificial limb.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the technical problems to be solved by the present invention are: how to realize the functions of rotation and side turning of the artificial limb wrist so as to improve the flexibility and the humanoid property of the artificial limb used by the disabled patient.
In order to achieve the purpose, the invention provides a two-degree-of-freedom artificial limb wrist which comprises a rotating structure and a side-turning structure, wherein the rotating structure is used for achieving a rotating function, and the side-turning structure is used for achieving a side-turning function.
Furthermore, the rotating structure comprises a wrist base, a first driving motor, a transmission system and a rotating platform, wherein the static end of the first driving motor is fixed in a groove of the wrist base, and the power of the first driving motor drives the rotating platform to rotate through the first transmission system.
Furthermore, the first transmission system comprises a first bevel gear, a second bevel gear, a D-shaped connecting pin, a first straight gear, a second gear, a connecting pin and a bearing; the first driving motor is provided with an output shaft, the output shaft is sleeved with a first bevel gear, the first bevel gear is meshed with a second bevel gear, a D-shaped connecting pin is connected with a second bevel gear and a first straight gear respectively, the first straight gear is meshed with the second gear, two connecting holes of the second gear are formed in the side edge of the second gear, a bearing connecting hole is formed in the side edge of the bearing, one end of the second connecting pin is connected with the two connecting holes of the second gear, and the other end of the second connecting pin penetrates through the bearing connecting hole and the rotary platform.
Further, the side-turning structure comprises a second driving motor, a second transmission system and a side-turning platform; and the static end of the second driving motor is fixed in the groove of the wrist base, and the power of the second driving motor drives the side-turning platform to turn on the side through the second transmission system.
Furthermore, the transmission system II comprises a straight gear III, a straight gear IV and a connecting pin III, the output end of the driving motor II is connected with the straight gear IV, the straight gear IV is meshed with the straight gear III, and the straight gear III is connected with the side-turning platform through the connecting pin III.
Further, the right side of wrist base still is equipped with wrist side groove, wrist side groove holds straight-teeth gear four and straight-teeth gear three, the both sides of the platform of turning on one's side are equipped with the platform locating hole of turning on one's side, the one end of connecting pin three is connected straight-teeth gear three, and the other end passes the right side the platform locating hole of turning on one's side with the platform of turning on one's side is connected.
Furthermore, the left side of the wrist base is connected with the side-turning platform through a fourth connecting pin.
Further, the center of the platform of turning on one's side is equipped with the platform gear groove of turning on one's side, the platform gear groove of turning on one's side holds straight-teeth gear one and gear two, the upper end of gear two still is equipped with gear two locating holes, rotary platform's center is equipped with the rotary platform locating hole, the bearing sets up in the rotary platform locating hole, just the bearing housing is established outside two locating holes of gear.
Further, the output shaft is a D-shaped shaft.
Further, be provided with rotary platform screw hole on the rotary platform, the rotary platform screw hole is used for being connected the assembly with the artificial limb finger.
Compared with the prior art, the invention at least has the following beneficial technical effects:
according to the two-degree-of-freedom artificial limb wrist provided by the invention, the rotation and side turning functions of the artificial limb wrist are realized through the rotation structure and the side turning structure, the degree of freedom of the artificial limb is improved, and the two-degree-of-freedom artificial limb wrist has the advantages of compact structure, simplicity in operation, light weight and the like, and is convenient to install and maintain in the future.
The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is an exploded view of the present invention;
FIG. 3 is a schematic view of the rollover state limit position of the present invention;
FIG. 4 is a schematic view of the rollover state limit position of the present invention;
wherein: 1-wrist base; 151-wrist side groove; 2, driving a motor I; 3-bevel gear one; 4-bevel gear two; 5-a D-shaped connecting pin I; 6, connecting pin IV; 7, a first straight gear; 71-a spur gear positioning hole; 8, a second gear; 81-connecting hole of gear II; 82-a second gear positioning hole; 9-side turning over the platform; 91-side-turn platform gear groove 92-side-turn platform positioning hole; 10, a bearing; 101-bearing connection hole; 11-a rotating platform; 111-rotating platform threaded hole; 112-rotating the platform positioning hole; 12-driving a second motor; 13-connecting pin III; 14-straight gear four; 15-straight gear three; and 16, connecting the second pin.
Detailed Description
The technical contents of the preferred embodiments of the present invention will be more clearly and easily understood by referring to the drawings attached to the specification. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.
In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.
As shown in fig. 1 to 2, the prosthetic wrist is composed of a swivel structure and a rollover structure. The rotating structure comprises a wrist base 1, a first driving motor 2, a transmission system and a rotating platform 11, wherein the power of the first driving motor 2 drives the rotating platform 11 to rotate through the transmission system I; the side-turning structure comprises a second driving motor 12, a second transmission system and a side-turning platform 9; the power of the driving motor II 12 drives the rollover platform 9 to rollover through the transmission system II.
The static end of a first driving motor 2 of the rotating structure is fixed in a groove of the wrist base 1, and a transmission system comprises a first bevel gear 3, a second bevel gear 4, a D-shaped connecting pin 5, a first straight gear 7, a second gear 8, a second connecting pin 16 and a bearing 10; the driving motor I2 is provided with an output shaft, the output shaft is a D-shaped shaft, a bevel gear I3 is sleeved on the output shaft, the bevel gear I3 is meshed with a bevel gear II 4, a straight gear positioning hole 71 is formed in the center of a straight gear I7, one end of a D-shaped connecting pin I5 is connected with the bevel gear II 4, the other end of the D-shaped connecting pin I passes through the straight gear positioning hole 71 and is fixed with the straight gear I7, the straight gear I7 is meshed with a gear II 8, a gear II connecting hole 81 is formed in the side edge of the gear II 8, a bearing connecting hole 101 is formed in the side edge of a bearing 10, one end of a connecting pin II 16 is connected with the gear II connecting hole.
The static end of a second driving motor 12 of the side-turning structure is fixed in a groove of the wrist base 1, a second transmission system comprises a third spur gear 15, a fourth spur gear 14 and a third connecting pin 13, the output end of the second driving motor 12 is connected with the fourth spur gear 14, the fourth spur gear 14 is meshed with the third spur gear 15, and the third spur gear 15 is connected with the side-turning platform 9 through the third connecting pin 13.
The right side of the wrist base 1 is further provided with a wrist side groove 151, the wrist side groove 151 accommodates a fourth spur gear 14 and a third spur gear 15, side-turning platform positioning holes 92 are formed in the two sides of the side-turning platform 9, one end of a third connecting pin 13 is connected with the third spur gear 15, and the other end of the third connecting pin penetrates through the side-turning platform positioning hole 92 in the right side to be connected with the side-turning platform 9. The left side of the wrist base 1 is connected with the side-turning platform 9 through a connecting pin four 6. The center of the side-turning platform 9 is provided with a side-turning platform gear groove 91, the side-turning platform gear groove 91 is used for accommodating a first spur gear 7 and a second spur gear 8, the upper end of the second spur gear 8 is also provided with a second gear positioning hole 82, the center of the rotary platform 11 is provided with a rotary platform positioning hole 112, the bearing 10 is arranged in the rotary platform positioning hole 112, and the bearing 10 is sleeved outside the second gear positioning hole 82.
The rotary platform 11 is further provided with a rotary platform threaded hole 111, and the rotary platform threaded hole 111 is used for being connected and assembled with an artificial finger, wherein the artificial finger is in the prior art.
The working principle of the two-degree-of-freedom artificial limb wrist of the embodiment is as follows:
in an initial state, as shown in fig. 1, when an output shaft of a driving motor I2 rotates in a forward direction, a bevel gear I3 on the driving motor I rotates along with the output shaft, a bevel gear II 4 meshed with the bevel gear I3 is driven to rotate, a straight gear I7 starts to rotate through a D-shaped connecting pin I5, a gear II 8 meshed with the straight gear I7 is driven to rotate, and a rotating platform 11 starts to rotate through a connecting pin II 16, so that the rotating function of the artificial limb wrist is achieved. When the output shaft of the first drive motor 2 rotates reversely, the rotary platform 11 also rotates reversely.
When the second driving motor 12 rotates forwards, the third spur gear 15 connected with the output shaft rotates forwards, and simultaneously the fourth spur gear 14 meshed with the third spur gear 15 is driven to rotate backwards to drive the rollover platform 9 to rotate backwards until the first limit position of rotation shown in fig. 3 is reached; similarly, when the second driving motor 12 rotates reversely, the third spur gear 15 rotates reversely, the fourth spur gear 14 rotates forwardly, and the rollover platform 9 rotates forwardly until the second extreme position of rollover as shown in fig. 4 is reached. Thereby realizing the function of side turning of the artificial limb wrist.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. The two-degree-of-freedom artificial limb wrist is characterized by comprising a rotating structure and a side-turning structure, wherein the rotating structure is used for realizing a rotating function, and the side-turning structure is used for realizing a side-turning function.
2. A two degree-of-freedom prosthetic wrist according to claim 1, wherein the rotary structure includes a wrist base, a first drive motor, a drive train and a rotary platform, a stationary end of the first drive motor being secured within a slot in the wrist base, the first drive motor driving the rotary platform for rotation via the drive train.
3. A two degree-of-freedom prosthetic wrist according to claim 2, wherein the first drive system comprises a first bevel gear, a second bevel gear, a first D-shaped connecting pin, a first spur gear, a second connecting pin and a bearing; the first driving motor is provided with an output shaft, the output shaft is sleeved with a first bevel gear, the first bevel gear is meshed with a second bevel gear, a D-shaped connecting pin is connected with a second bevel gear and a first straight gear respectively, the first straight gear is meshed with the second gear, two connecting holes of the second gear are formed in the side edge of the second gear, a bearing connecting hole is formed in the side edge of the bearing, one end of the second connecting pin is connected with the two connecting holes of the second gear, and the other end of the second connecting pin penetrates through the bearing connecting hole and the rotary platform.
4. A two degree-of-freedom prosthetic wrist according to claim 3, wherein the rollover structure includes a second drive motor, a second transmission system and a rollover platform; and the static end of the second driving motor is fixed in the groove of the wrist base, and the second driving motor drives the side-turning platform to turn on the side through the second transmission system.
5. A two degree-of-freedom prosthetic wrist as claimed in claim 4, wherein the second drive system includes a third spur gear, a fourth spur gear and a third connecting pin, the output of the second drive motor is connected to the fourth spur gear, the fourth spur gear is engaged with the third spur gear, and the third spur gear is connected to the rollover platform via the third connecting pin.
6. A two degree-of-freedom prosthetic wrist as claimed in claim 5, wherein a wrist side groove is further formed in the right side of the wrist base, the wrist side groove accommodates the fourth spur gear and the third spur gear, side-turn platform positioning holes are formed in both sides of the side-turn platform, one end of the third connecting pin is connected to the third spur gear, and the other end of the third connecting pin penetrates through the side-turn platform positioning hole in the right side to be connected with the side-turn platform.
7. A two degree of freedom prosthetic wrist according to claim 5, wherein the left side of the wrist base is connected to the rollover platform by a fourth connecting pin.
8. The two degree-of-freedom prosthetic wrist of claim 5, wherein the rollover platform has a rollover platform gear slot at the center thereof, the rollover platform gear slot accommodates the first spur gear and the second gear, the second gear has a second gear positioning hole at the upper end thereof, the rotation platform has a rotation platform positioning hole at the center thereof, the bearing is disposed in the rotation platform positioning hole, and the bearing sleeve is disposed outside the second gear positioning hole.
9. A two degree of freedom prosthetic wrist according to claim 3, wherein the output shaft is a D-shaft.
10. A two degree of freedom prosthetic wrist according to claim 5, wherein the rotary platform is provided with a rotary platform threaded aperture for attachment to a prosthetic finger.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010524818.9A CN111631846A (en) | 2020-06-10 | 2020-06-10 | Two-degree-of-freedom artificial limb wrist |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010524818.9A CN111631846A (en) | 2020-06-10 | 2020-06-10 | Two-degree-of-freedom artificial limb wrist |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111631846A true CN111631846A (en) | 2020-09-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010524818.9A Pending CN111631846A (en) | 2020-06-10 | 2020-06-10 | Two-degree-of-freedom artificial limb wrist |
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Application publication date: 20200908 |
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