CN112494187B - Bionic wrist device - Google Patents
Bionic wrist device Download PDFInfo
- Publication number
- CN112494187B CN112494187B CN202011377775.2A CN202011377775A CN112494187B CN 112494187 B CN112494187 B CN 112494187B CN 202011377775 A CN202011377775 A CN 202011377775A CN 112494187 B CN112494187 B CN 112494187B
- Authority
- CN
- China
- Prior art keywords
- stretching
- fixedly connected
- hinged
- bionic
- receiving cavity
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 210000000707 wrist Anatomy 0.000 title claims abstract description 38
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 30
- 210000003414 extremity Anatomy 0.000 claims abstract description 16
- 238000005452 bending Methods 0.000 claims description 51
- 238000005096 rolling process Methods 0.000 claims description 6
- 238000007789 sealing Methods 0.000 claims description 3
- 230000003592 biomimetic effect Effects 0.000 claims 1
- 230000010354 integration Effects 0.000 abstract description 2
- 210000001364 upper extremity Anatomy 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 210000004247 hand Anatomy 0.000 description 3
- 210000000988 bone and bone Anatomy 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 210000000245 forearm Anatomy 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 210000000623 ulna Anatomy 0.000 description 2
- 206010053652 Limb deformity Diseases 0.000 description 1
- 208000002720 Malnutrition Diseases 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000002266 amputation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000001071 malnutrition Effects 0.000 description 1
- 235000000824 malnutrition Nutrition 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 208000015380 nutritional deficiency disease Diseases 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
-
- 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
- A61F2/78—Means for protecting prostheses or for attaching them to the body, e.g. bandages, harnesses, straps, or stockings for the limb stump
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
-
- 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
- A61F2/78—Means for protecting prostheses or for attaching them to the body, e.g. bandages, harnesses, straps, or stockings for the limb stump
- A61F2002/7887—Means for protecting prostheses or for attaching them to the body, e.g. bandages, harnesses, straps, or stockings for the limb stump for connecting limb exoprostheses to the stump bone
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
Landscapes
- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Biomedical Technology (AREA)
- Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Cardiology (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a bionic wrist device, which relates to the technical field of medical rehabilitation instruments and life auxiliary appliances, and comprises the following components: the device comprises a driving module and a pose adjusting module, wherein one end of the pose adjusting module is hinged with one end of the driving module, the other end of the pose adjusting module is fixedly connected with a bionic hand, and the other end of the driving module is fixedly connected with a prosthetic residual limb of a patient. Through the implementation of the invention, the driving module provides power for the pose adjusting module, the pose adjusting module changes the pose state of the bionic artificial hand, the buckling extension and the inward-retraction and outward-extension functions of the bionic wrist are realized, and the invention has the advantages of ingenious structure, high integration level, simple operation, small and flexible performance and the like.
Description
Technical Field
The invention relates to the field of medical rehabilitation instruments and life auxiliary appliances, in particular to a bionic wrist device.
Background
The human hand has evolved over millions of years, with a high degree of dexterity and excellent handling properties. The hand is one of the most important limb parts of the human body, and various daily activities of people can not be carried out. The wrist of a person is the endmost joint in the upper limb, and upper limb deformity will first cause loss of wrist function. The number of patients with limb disability in China is huge, and according to the second sampling survey of the population with the limb disability in 2006, the proportion of the population with the limb disability accounts for 6.34% of the total population, wherein the main type of the limb disability is limb disability, and about 2412 thousands of people exist. According to the latest completed second national disability sampling survey and sixth national population census data, calculating 8502 thousands of people in total of various disabilities in China when the survey node is calculated, wherein the total number of the disabled people accounts for 6.38% of the total number of the population at the time; the population with abnormal or disabled limbs is 2472 ten thousand people, accounting for 29.08% of the total number of disabled people, wherein the limb is rated as about 80 ten thousand people for disabled people, and the upper limb stuffiness accounts for 2/3 of the disabled people. The number of the patients with the disabled upper limbs is about 100 ten thousand in the global scope, and accounts for 1/6100 of the total population, and the number is in a rising trend year by year along with aging of population, traffic accidents and other factors popularized along with the popularization of private vehicles with developed traffic. The social capacity of the amputee is reduced due to diseases, disasters and the like, and meanwhile, the social capacity of the amputee is different from the amputee according to different amputation positions, so that the social capacity of the amputee is far lower than that of the amputee. The special group brings a plurality of inconveniences to life, work and study because of limb malnutrition, and simultaneously causes serious attack on psychology.
The wrist plays a role in adjusting the positions and postures of the hands, plays an important role in the movement space and dexterity of the hands, and the wrist of the hand is positioned between the palm and the forearm, is jointly composed of radius, ulna and 8 wrist bones at the distal end of the radius and ulna, and can realize 3 degrees of freedom of rotation bowl of the forearm, bending and stretching of the wrist and deflection under the action of a plurality of bones and muscle groups. The absence of wrist degrees of freedom means that approximately half of the 7 degrees of freedom of the upper limb, excluding the hand, will be lost. The research strength of the upper limb with multiple degrees of freedom is increased, the problems of dexterity and grasping ability of hands are solved, and the upper limb is supplemented along with multiple degrees of freedom, in particular to wrist joints occupying important positions.
Accordingly, those skilled in the art have been working to develop a bionic wrist device that meets the need for freedom of the wrist.
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 achieve wrist flexion-extension and deviation functions.
To achieve the above object, the present invention provides a bionic wrist device comprising: the device comprises a driving module and a pose adjusting module, wherein one end of the pose adjusting module is hinged with one end of the driving module, the other end of the pose adjusting module is fixedly connected with a bionic hand, and the other end of the driving module is fixedly connected with a prosthetic residual limb of a patient.
Further, the driving module comprises a guide disc, a folding and unfolding motor, a receiving cavity, a clamping plate, a bending and stretching motor, a bending and stretching sliding block and a switching shaft, wherein the guide disc is fixedly connected with the receiving cavity, the folding and unfolding motor, the bending and stretching motor and the inside of the receiving cavity are fixedly connected, the clamping plate is fixedly connected with the receiving cavity, one end of the receiving cavity is fixedly connected with the tail end of a residual limb of a human body, the bending and stretching sliding block is in sliding connection with the bending and stretching motor, and the switching shaft is fixedly connected with the guide disc.
Further, one end of the bending and stretching sliding block is hinged with the short connecting rod, the other end of the short connecting rod is hinged with the reversing block, and the reversing block is connected with a bending and stretching pin.
Further, a supporting table is arranged in the receiving cavity, the guide disc is fixedly installed on the supporting table, the guide disc is connected with the switching shaft through a rolling bearing, and the switching shaft is a hollow shaft.
Further, the folding and unfolding motor is connected with a folding and unfolding sliding block in a sliding mode, the folding and unfolding sliding block is hinged to one end of the long connecting rod, and the other end of the long connecting rod is hinged to one end of the folding and unfolding pin.
Further, the guide plate is provided with an auxiliary hole.
Further, the pose adjusting module comprises a folding and unfolding piece, an adjusting ring, a bending and stretching piece and a rotating pin; one end of the expanding piece is hinged with one end of the adjusting ring through the rotating pin; the other end of the adjusting ring is fixedly connected with one end of the bending and stretching piece, and the other end of the bending and stretching piece is hinged with the receiving cavity.
Further, the pose adjusting module is further provided with a joint bearing and a fixing boss, the joint bearing is fixedly connected with the bionic hand through an inner sealing cover and the fixing boss, and an inner cavity of the joint bearing is fixedly connected with one end of the switching shaft.
Further, the folding and unfolding piece is further provided with a folding and unfolding adjusting hole and a supporting hole, the supporting hole is hinged with the adjusting ring, and the folding and unfolding adjusting hole is hinged with the other end of the folding and unfolding pin.
Further, the bending and stretching piece is further provided with a bending and stretching adjusting hole and a rotating hole, the rotating hole is hinged with the receiving cavity, and the bending and stretching adjusting hole is hinged with the other end of the bending and stretching pin.
Compared with the prior art, the invention has at least the following beneficial technical effects:
according to the invention, the buckling extension and deflection functions of the artificial wrist are realized through the bionic wrist device by converting the linear motion of the two motors into the rotary motion, so that the flexibility and the controllability of the artificial wrist are improved, the comfort level of wearing the artificial hand by a disabled patient is improved, and the utilization rate of the artificial hand is improved.
The conception, specific structure, and technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, features, and effects of the present invention.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a bionic wrist device of the present invention;
FIG. 2 is a schematic diagram of a driving module structure of the present invention;
FIG. 3 is a schematic view of a pose adjustment module according to the present invention;
FIG. 4 is a schematic view of the external structure of the pose adjusting module of the present invention;
wherein: 1000-a driving module; 1001-a guide disc; 1002-a folding and unfolding motor; 1003-receiving cavity; 1004-clamping plates; 1005-bending and stretching motor; 1006—a support table; 1007-a flexion and extension slide; 1008-short link; 1009—a commutation block; 1010-extending pins; 1011-adaptor shaft; 1012-folding and unfolding pins; 1013-long links; 1014-retracting the slider; 1015-auxiliary holes; 1016-rolling bearing; 2000-pose adjusting module; 2001-stents; 2002-adjusting ring; 2003-flexor; 2004-flexion and extension adjustment holes; 2005-rotating hole; 2006-rotating pins; 2007-inner cover; 2008-knuckle bearing; 2009-collapse adjustment aperture.
Detailed Description
The following description of the preferred embodiments of the present invention refers to the accompanying drawings, which make the technical contents thereof more clear and easier to understand. The present invention may be embodied in many different forms of embodiments and the scope of the present invention is not limited to only the embodiments described herein.
In the drawings, like structural elements are referred to by like reference numerals and components having similar structure or function are referred to by like reference numerals. The dimensions and thickness of each component shown in the drawings are arbitrarily shown, and the present invention is not limited to the dimensions and thickness of each component. The thickness of the components is exaggerated in some places in the drawings for clarity of illustration.
As shown in fig. 1, the bionic wrist device comprises a driving module 1000 and a pose adjusting module 2000, wherein one end of the pose adjusting module 2000 is hinged with one end of the driving module 1000, the other end of the pose adjusting module 2000 is fixedly connected with one end of a bionic hand, and the other end of the driving module 1000 is fixedly connected with a prosthetic residual limb.
As shown in fig. 2, the driving module 1000 includes a guide disc 1001, a retracting motor 1002, a receiving chamber 1003, a clamping plate 1004, a bending motor 1005, a bending slider 1007, a reversing block 1009, a short link 1008, a bending pin 1010, a switching shaft 1011, a retracting pin 1012, a long link 1013, a rolling bearing 1016, and a retracting slider 1014; the guide disc 1001 is fixedly connected with the receiving cavity 1003, the retracting motor 1002 and the stretching motor 1005 are fixedly connected with the inside of the receiving cavity 1003, the clamping plate 1004 is fixedly connected with the receiving cavity 1003 and used for clamping the retracting motor 1002 and the stretching motor 1005, one end of the receiving cavity 1003 is fixedly connected with the tail end of a residual limb of a human body, the stretching slider 1007 is slidably connected with the stretching motor 1005, the retracting slider 1014 is slidably connected with the retracting motor 1002, one end of the short connecting rod 1008 is hinged with the stretching slider 1007, the other end of the short connecting rod 1008 is hinged with the reversing block 1009, one end of the stretching pin 1010 is hinged with the reversing block 1009, the reversing shaft 1011 is fixedly connected with the guide disc 1001 through a rolling bearing 1016, one end of the long connecting rod 1013 is hinged with the retracting slider 1014, and the other end of the long connecting rod 1013 is hinged with the retracting pin 1012.
As shown in fig. 3, the pose adjustment module 2000 includes a retractor 2001, an adjustment ring 2002, a flexor 2003, a rotation pin 2006, a knuckle bearing 2008, an inner cover 2007; one end of the expanding and contracting member 2001 is hinged with one end of the adjusting ring 2002 through a rotating pin 2006, so that the shifting function of the expanding and contracting member 2001 can be realized; the other end of the adjusting ring 2002 is fixedly connected with one end of the extending piece 2003, and the other end of the extending piece 2003 is hinged with a receiving cavity 1003 in the driving module 1000, so that the extending function of the extending piece 2003 can be realized; the knuckle bearing 2008 is fixedly connected with the hand of the artificial hand through the inner sealing cover 2007, the inner cavity of the knuckle bearing 2008 is fixedly connected with one end of the switching shaft 1011 in the driving module 1000, and the knuckle bearing 2008 is matched with the extension member 2001 and the flexion and extension member 2003 for use, so that the functions of flexion, extension and deviation of the wrist can be realized.
The retracting part 2001 is provided with a retracting adjustment hole 2009 and a supporting hole 2010, the supporting hole 2010 is hinged with the adjusting ring 2002, the retracting adjustment hole 2009 is hinged with the other end of the retracting pin 1012, the retracting motor 1002 drives the retracting slide block 1014, the retracting slide block 1014 drives the retracting pin 1012 through the long connecting rod 1013, and the inward retracting and outward expanding functions of the wrist can be realized.
The bending and stretching piece 2003 is provided with a bending and stretching adjusting hole 2004 and a rotating hole 2005, the rotating hole 2005 is hinged with the receiving cavity 1003, the bending and stretching adjusting hole 2004 is hinged with the other end of the bending and stretching pin 1010, the bending and stretching sliding block 1007 is driven by the bending and stretching motor 1005, and the bending and stretching sliding block 1007 drives the bending and stretching pin 1010 through the short connecting rod 1008, so that the wrist deviation function can be realized.
As shown in fig. 4, a fixing boss 2011 is disposed at one end of the extension member 2003 for fixedly mounting the whole bionic hand, and a rolling bearing 1016 is mounted at one end of the adapter shaft 1011 for reducing radial play of the adapter shaft 1011. The receiving chamber 1003 is provided with a support table 1006 to provide support for the overall device while also providing for the secure mounting of the guide disc 1001. The guide disc 1001 is provided with an auxiliary hole 1015 for providing a guide effect for the screw shafts of the extension motor 1005 and the retraction motor 1002, and simultaneously reducing the bending moment of the screw shafts of the extension motor 1005 and the retraction motor 1002 and improving the running stability of the retraction motor 1002 of the extension motor 1005.
The reversing block 1009 is installed between the short connecting rod 1008 and the bending and stretching pin 1010, and converts the linear movement of the bending and stretching motor 1005 into the rotary movement of the bending and stretching piece 2003, so as to realize the bending and stretching function of the bionic wrist.
The adapter shaft 1011 is designed into a hollow form, one end of the adapter shaft is fixedly connected with the supporting table 1006, the other end of the adapter shaft is fixedly connected with the knuckle bearing 2008 and used for supporting the whole device, and a central hole between shafts of the adapter shaft is used for wiring of the whole driving motor of the bionic hand.
The retracting motor 1002 rotates forward or backward to drive the retracting slide block 1014 to move, the retracting slide block 1014 drives the retracting pin 1012 to move, and the retracting pin 1012 is matched with the retracting adjustment hole 2009 to drive the retracting part 2001 to rotate relative to the rotating pin 2006, so that the deviation function of the bionic wrist part can be realized.
The bending and stretching motor 1005 rotates forward or reversely to drive the bending and stretching sliding block 1007 to move, the bending and stretching sliding block 1007 drives the bending and stretching pin 1010 to move through the reversing block 1009, and the bending and stretching pin 1010 is matched with the bending and stretching adjusting hole 2004 to drive the bending and stretching piece 2003 to rotate relative to the rotating hole 2005, so that the bending and stretching function of the bionic wrist can be realized.
The application steps of the invention are as follows:
after the device provided by the invention is installed, the device comprises: the wrist is in a normal state of the human hand by the fine adjustment flexion and extension motor 1005 and the extension motor 1002.
The control terminal is opened, the folding motor 1002 is controlled by a forward or reverse program, the folding motor 1002 is electrified to drive the folding sliding block 1014 to move forward or reverse, the folding sliding block 1014 drives the folding pin 1012 to move forward or reverse, the folding pin 1012 is matched with the folding adjusting hole 2009, and the folding member 2001 is driven to perform forward or reverse rotation relative to the rotating pin 2006, so that the function of simulating wrist deviation is realized.
The control terminal is opened, the bending and stretching motor 1005 is controlled by a forward or reverse program, the bending and stretching motor 1005 is electrified to drive the bending and stretching sliding block 1007 to move forward or reversely, the bending and stretching sliding block 1007 drives the bending and stretching pin 1010 to move forward or reversely through the reversing block 1009, the bending and stretching pin 1010 is matched with the bending and stretching adjusting hole 2004 to drive the bending and stretching piece 2003 to perform forward or reverse rotation relative to the rotating hole 2005, and the bending and stretching function of the simulated wrist is realized.
The bionic wrist device designed by the invention realizes the functions of buckling extension and adduction and abduction of the bionic wrist by changing the pose state of the bionic artificial hand through the pose adjusting module, and has the advantages of ingenious structure, high integration level, simple operation, small size, flexibility and the like.
The foregoing describes in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations can be made in accordance with the concepts of the invention without requiring creative effort by one of ordinary skill in the art. Therefore, all technical solutions which can be obtained by logic analysis, reasoning or limited experiments based on the prior art by the person skilled in the art according to the inventive concept shall be within the scope of protection defined by the claims.
Claims (6)
1. A bionic wrist device, comprising: the device comprises a driving module and a pose adjusting module, wherein one end of the pose adjusting module is hinged with one end of the driving module, the other end of the pose adjusting module is fixedly connected with a bionic hand, the other end of the driving module is fixedly connected with a prosthetic residual limb of a patient, the driving module comprises a guide disc, a stretching motor, a receiving cavity, a clamping plate, a stretching motor, a stretching sliding block and a switching shaft, the guide disc is fixedly connected with the receiving cavity, the stretching motor and the stretching motor are fixedly connected with the inside of the receiving cavity, the clamping plate is fixedly connected with the receiving cavity, one end of the receiving cavity is fixedly connected with the tail end of a human residual limb, the stretching sliding block is in sliding connection with the stretching motor, the switching shaft is fixedly connected with the guide disc, one end of the stretching sliding block is in hinged connection with a short connecting rod, the other end of the short connecting rod is in hinged connection with a reversing block, the stretching sliding block is connected with a stretching pin, the other end of the stretching sliding block is in hinged connection with one end of a long connecting rod, and the other end of the long connecting rod is in hinged connection with a stretching pin, and the stretching pin comprises a stretching adjusting piece and a stretching ring; one end of the expanding piece is hinged with one end of the adjusting ring through the rotating pin; the other end of the adjusting ring is fixedly connected with one end of the bending and stretching piece, and the other end of the bending and stretching piece is hinged with the receiving cavity.
2. The bionic wrist device according to claim 1, wherein a supporting table is arranged in the receiving cavity, the guide disc is fixedly arranged on the supporting table, the guide disc is connected with the switching shaft through a rolling bearing, and the switching shaft is a hollow shaft.
3. The biomimetic wrist device according to claim 1, wherein the guiding disc is provided with auxiliary holes.
4. The bionic wrist device according to claim 1, wherein the pose adjusting module further comprises a joint bearing and a fixing boss, the joint bearing is fixedly connected with the bionic hand through an inner sealing cover and the fixing boss, and an inner cavity of the joint bearing is fixedly connected with one end of the adapting shaft.
5. The bionic wrist device according to claim 4, wherein the folding member is further provided with a folding adjusting hole and a supporting hole, the supporting hole is hinged with the adjusting ring, and the folding adjusting hole is hinged with the other end of the folding pin.
6. The bionic wrist device according to claim 5, wherein the flexing piece is further provided with a flexing adjusting hole and a rotating hole, the rotating hole is hinged with the receiving cavity, and the flexing adjusting hole is hinged with the other end of the flexing pin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011377775.2A CN112494187B (en) | 2020-11-30 | 2020-11-30 | Bionic wrist device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011377775.2A CN112494187B (en) | 2020-11-30 | 2020-11-30 | Bionic wrist device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112494187A CN112494187A (en) | 2021-03-16 |
| CN112494187B true CN112494187B (en) | 2023-11-21 |
Family
ID=74969020
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011377775.2A Active CN112494187B (en) | 2020-11-30 | 2020-11-30 | Bionic wrist device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112494187B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102178574A (en) * | 2011-05-11 | 2011-09-14 | 上海理工大学 | Compact bionic bendable artificial wrist joint |
| CN106377344A (en) * | 2016-09-23 | 2017-02-08 | 哈尔滨理工大学 | Three-freedom-degree prosthetic arm wrist joint controlled by electromyographic signal |
| CN107301415A (en) * | 2017-08-08 | 2017-10-27 | 方超 | Gesture acquisition system |
| CN109259906A (en) * | 2018-10-30 | 2019-01-25 | 上海理工大学 | A kind of multi-modal artificial hand of modularization |
| CN111529148A (en) * | 2020-05-08 | 2020-08-14 | 上海理工大学 | Bionic thumb device |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015120083A1 (en) * | 2014-02-04 | 2015-08-13 | Rehabilitation Institute Of Chicago | Modular and lightweight myoelectric prosthesis components and related methods |
| US11185426B2 (en) * | 2016-09-02 | 2021-11-30 | Touch Bionics Limited | Systems and methods for prosthetic wrist rotation |
| US10369024B2 (en) * | 2016-09-02 | 2019-08-06 | Touch Bionics Limited | Systems and methods for prosthetic wrist rotation |
-
2020
- 2020-11-30 CN CN202011377775.2A patent/CN112494187B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102178574A (en) * | 2011-05-11 | 2011-09-14 | 上海理工大学 | Compact bionic bendable artificial wrist joint |
| CN106377344A (en) * | 2016-09-23 | 2017-02-08 | 哈尔滨理工大学 | Three-freedom-degree prosthetic arm wrist joint controlled by electromyographic signal |
| CN107301415A (en) * | 2017-08-08 | 2017-10-27 | 方超 | Gesture acquisition system |
| CN109259906A (en) * | 2018-10-30 | 2019-01-25 | 上海理工大学 | A kind of multi-modal artificial hand of modularization |
| CN111529148A (en) * | 2020-05-08 | 2020-08-14 | 上海理工大学 | Bionic thumb device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112494187A (en) | 2021-03-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109172063B (en) | Rigid-flexible coupling artificial limb hand with flexible grabbing characteristic | |
| CN201572217U (en) | Human-simulated artificial hand used for rehabilitation | |
| CN110711110B (en) | Push-down under-actuated finger rehabilitation training device | |
| CN103538077A (en) | Mechanical simulated hand with multi-degree of freedom | |
| CN103356312A (en) | Six degrees of freedom artificial limb arm driven by electromyographic signal | |
| CN108210132B (en) | A kind of bionical dynamic knee joint in list source and its implementation | |
| CN111110408B (en) | Finger knuckle, finger and palm structure of human imitation | |
| CN112494187B (en) | Bionic wrist device | |
| CN106821560B (en) | A kind of two-way gear drive artificial hand | |
| CN209933083U (en) | Wearable elastic rigid composite rod artificial limb finger | |
| Nemoto et al. | F3Hand II: A flexible five-fingered prosthetic hand using curved pneumatic artificial muscles | |
| CN207627573U (en) | A kind of auxiliary power upper limb ectoskeleton | |
| CN110538015B (en) | Mechanical artificial limb arm | |
| Zinck et al. | Design of a compact, reconfigurable, prosthetic wrist | |
| CN110731842B (en) | Pneumatic muscle driven thumb device for smart hand | |
| CN109864838B (en) | Wearable elastic rigid composite rod artificial finger | |
| US11786380B2 (en) | Bionic wrist joint based on asymmetric 3-RRR parallel mechanism | |
| CN211460693U (en) | Pneumatic muscle-driven intelligent hand device | |
| CN111419489B (en) | Linkage mechanism for realizing adduction and abduction of four fingers of artificial palm | |
| Zheng et al. | Design of a low-cost and humanoid myoelectric prosthetic hand driven by a single actuator to realize basic hand functions | |
| Li et al. | The prosthetic arm: A dramatic improvement for the limb amputation from the humerus | |
| CN112773667A (en) | Three-branch two-rotation ankle joint rehabilitation parallel robot mechanism | |
| CN209004586U (en) | A kind of healing hand function finger joint training device | |
| CN108784893A (en) | A kind of prosthetic hand | |
| CN212592587U (en) | Linkage mechanism for realizing adduction and abduction of four fingers of artificial palm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |