CN201572217U - Human-simulated artificial hand used for rehabilitation - Google Patents
Human-simulated artificial hand used for rehabilitation Download PDFInfo
- Publication number
- CN201572217U CN201572217U CN2009202147715U CN200920214771U CN201572217U CN 201572217 U CN201572217 U CN 201572217U CN 2009202147715 U CN2009202147715 U CN 2009202147715U CN 200920214771 U CN200920214771 U CN 200920214771U CN 201572217 U CN201572217 U CN 201572217U
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- finger
- another person
- joint
- frame
- dactylus
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Abstract
The utility model provides a human-simulated artificial hand used for rehabilitation, which belongs to the technical field of medical rehabilitation. The artificial hand comprises a thumb, an index finger, a middle finger, a ring finger, a little finger, a vola seat, a miniature DC motor, a cylindrical gear, a sector gear, a base flange and a pressure plate, wherein the thumb is fixed on the vola seat through the pressure plate; the index finger, the middle finger, the ring finger and the little finger are in rotational connection with the vola seat; the miniature DC motor is fixed on the vola seat through the pressure plate; the cylindrical gear is positioned at the top of the output shaft of the miniature DC motor; and the base flange and the vola seat are fixedly connected with each other.
Description
Technical field
The utility model relates to a kind of device of medical rehabilitation technical field, specifically is that a kind of apery type that is used for rehabilitation is done evil through another person.
Background technology
In recent years, owing to reasons such as vehicle accident, industrial injury and diseases, China people with disability's quantity significantly increases, according to the statistics of China Disabled Federation, and the whole nation existing people with disability's sum about 6,000 ten thousand people, wherein nearly 8,770,000 people of physical disabilities.For physical disabilities person, lost the part limbs and not only can cause inconvenience in life, the work, and hit by psychology to a certain extent, artificial limb is installed can be allowed them remedy defective on the partial function, obtain the part compensation psychologically.In recent years, various doing evil through another person arisen at the historic moment.
It is very strict in size and upper weight limit system to do evil through another person, and weight requires below 600g, and size is identical with staff, and because of most of upper limb amputee is unwilling to cause others' attention to its physical disabilities, therefore doing evil through another person will be similar with staff in shape.Simultaneously can not be too complicated on the structure, complex structure will cause the doing evil through another person increase of weight, dependability reduces.How taking into account do evil through another person degree of freedom and assurance and do evil through another person easy to usely, is the do evil through another person bottleneck of development of current restriction.Do evil through another person not only in appearance with true palmistry seemingly, can finish the basic acts that true hands can be finished on the function, to such an extent as to natural form is all consistent with staff as far as possible on the grip; Claimed structure is simple simultaneously, and reliable in action is cheap, in light weight.
At present modal doing evil through another person done evil through another person for single-degree-of-freedom 3 fingers, whole autograph letter turned to 3 fingers, and do not contain the joint, and that only can realize hands grabs, holds action, though simple and reliable, have certain practicality, follow true hands on shape and function, to differ greatly.
Find through retrieval prior art, U.S. Patent number is 5,080,682, name is called the patent of " ARTIFICIALROBOTIC HAND ", adopt five motors to drive the structure of five fingers of doing evil through another person separately, finger is divided into different dactylus and couples together, and drives tooth bar by roller gear is installed on the motor output end, drives backguy, the bending and the tensile action of 5 fingers can be realized, comparatively complicated action can be finished.But the prior art is owing to adopted 5 motors, and adopts tooth bar to drive, and structure is comparatively complicated, causes the volume and weight of doing evil through another person bigger, and the control system that needs is extremely complicated, also has one section big distance from practical application.
The utility model content
This utility model is at the prior art above shortcomings, provide a kind of apery type that is used for rehabilitation to do evil through another person, under the prerequisite that does not increase the volume and weight of doing evil through another person, can make and do evil through another person in shape more as true hands, and can improve the motility of doing evil through another person, on function, obtain expansion and reinforcement.Simultaneously, described unique joint designs of doing evil through another person has guaranteed that sufficiently stable frictional force is arranged between the different dactylus, uses frictional force to remain unchanged substantially for a long time, can reliably use for a long time, and simple in structure, in light weight, be fit to the residual patient of limb and wear for a long time.
This utility model is achieved through the following technical solutions, this utility model comprises: thumb, forefinger, middle finger, the third finger, little finger of toe, palm seat, DC micromotor, roller gear, sector gear, base flange and pressing plate, wherein: thumb is fixed on the palm seat by pressing plate, forefinger, middle finger, the third finger and little finger of toe and palm seat are rotationally connected, DC micromotor is fixed on the palm seat by pressing plate, roller gear is positioned at the output shaft top of DC micromotor, and the base flange is fixedlyed connected with the palm seat.
Described thumb, forefinger, middle finger, the third finger and little finger of toe include nearly dactylus, middle finger joint, dactylus far away, first joint and second joint, wherein: nearly dactylus and palm seat are rotationally connected, the two ends in first joint connect nearly dactylus and middle finger joint respectively, the two ends of second joint connect middle finger joint and dactylus far away respectively, are equipped with Self-locking screw between described nearly dactylus and the middle finger joint and between middle finger joint and the dactylus far away.
The nearly dactylus of described forefinger is provided with sector gear.
The nearly dactylus and the palm seat of described thumb are rotationally connected, and angle of rotation is 90 degree, realize interior receipts, the abduction function of thumb;
Described palm seat is provided with two and refers to the frame axle and refer to frame, and forefinger, middle finger, the third finger and little finger of toe are fixedlyed connected with referring to frame respectively, refers to that the two ends of frame are connected with referring to the frame axle respectively, refers to that the frame axle is fixedly set in the palm seat.
Described roller gear and sector gear carry out engaged transmission, can control the rotating of DC micromotor according to the subjective idea of the residual patient's brain of limb by myoelectric control system, DC micromotor drives roller gear and sector gear engaged transmission drive prosthetic finger frame is rotated motion, thereby realizes that the open and close of doing evil through another person moves.
Described base flange comprises: flange, loam cake and lower cover, wherein: loam cake is fixed by the palm seat that is threaded and does evil through another person, flange is provided with an annular groove and O type circle, loam cake is positioned on the base flange, link to each other with lower cover by trip bolt, in the annular groove on the flange of O type circle between loam cake and lower cover, the effect of O type circle is to guarantee under the trip bolt effect, certain frictional force is arranged between flange and the loam cake, do evil through another person in use, by the external force effect, as under the help that perfects hands, can rotate and do evil through another person, realize the rotary function of staff wrist.
This utility model has taken into full account the demand of doing evil through another person on shape and function, and simultaneously under the prerequisite of simple in structure, good reliability that guarantees to do evil through another person, each finger all contains 2 joints, and different dactylus can remain on diverse location each other; The thumb heel can revolve and turn 90 degrees, and realizes the peculiar interior function of receiving abduction of staff; Do evil through another person and to realize mutual rotation between base and the base flange.By a micromachine (containing reduction box), drive 4 motions that refer to except that thumb by gear drive, the realization basic action of grabbing, hold of doing evil through another person, can adjust simultaneously the relative position of each dactylus under external force, thumb can be parallel to the palm plane from turning to perpendicular to the palm plane, more as true hands, on function, realized the function of the peculiar adduction of thumb abduction of staff in shape.And, only use a motor, obtained most of function that a plurality of degree of freedom are done evil through another person.Simple and reliable on the structure, easy to use, good reliability.
Description of drawings
Fig. 1 is this utility model overall construction drawing.
Fig. 2 is a diagram of gears.
Fig. 3 is the thumb structural representation.
Fig. 4 is all the other four finger structural representations.
Fig. 5 is the articulation structure sketch map.
Fig. 6 is the passive bending effect figure in joint.
Fig. 7 is for referring to frame overall structure figure.
Fig. 8 forms structure chart for the base flange;
Wherein: (a) flange, (b) loam cake, (c) lower cover.
The specific embodiment
Below embodiment of the present utility model is elaborated; present embodiment is being to implement under the prerequisite with technical solutions of the utility model; provided detailed embodiment and concrete operating process, but protection domain of the present utility model is not limited to following embodiment.
As shown in Figure 1, present embodiment comprises: thumb 1, forefinger 2, middle finger 3, the third finger 4, little finger of toe 5, palm seat 6, DC micromotor 7, sector gear 8, roller gear 9, the base flange 10 and the first pressing plate 11a, the second pressing plate 11b, the 3rd pressing plate 11c and the 4th pressing plate 11d and refer to frame 12.As shown in Figure 2, this each finger of doing evil through another person all contains two joints, is respectively joint far away and middle joint, all can passive bending.Each finger all can be divided into nearly dactylus, middle finger 3 joints and dactylus far away, and the nearly dactylus of forefinger 2, middle finger 3, the third finger 4 and little finger of toe 5 is formed and referred to that frame 12, sector gear 8 are positioned on the nearly dactylus of forefinger 2.Motor and thumb 1 nearly dactylus are fixed on the palm seat by the first pressing plate 11a, the second pressing plate 11b, the 3rd pressing plate 11c and the 4th pressing plate 11d.
As can be seen from Fig. 1, thumb 1 nearly dactylus is fixed on the palm seat 6 by pressing plate 11c, 11d and thumb 1 bottom installation shaft 16a, 16b, can rotate 90 degree around thumb 1 first bottom installation shaft 16a, the second bottom installation shaft 16b, receipts, abduction function in realizing; All the other 4 refer to the bottom all with refer to that frame 12 links together, this refers to that the frame two ends are provided with first and refer to frame axle 13a, the first finger frame axle 13b, palm seat 6 both sides are provided with locating hole, refer to that the frame axle is installed on the palm seat in the locating hole on the frame axle insertion palm seat by will referring to; Guarantee sector gear with refer to frame and with refer to combining closely of thumb 1 nearly dactylus that frame is connected as a single entity.As can be seen from Figure 2, the first screw hole 17a, the second screw hole 17b are arranged on the sector gear, be used for sector gear and forefinger 2 nearly dactylus are fixed, also having a hole 18 is to be used for closely cooperating with the finger frame axle 13a near motor output end, as shown in Figure 1.
From Fig. 1, it can also be seen that, DC micromotor contains change speed gear box and is fixed on the palm seat by the first pressing plate 11a, the second pressing plate 11b, roller gear 9 is positioned at the motor output shaft top, as shown in Figure 2, roller gear and sector gear have constituted a gear train assembly, the residual patient's of limb subjective desire can be passed to electric machine control system by myoelectric control system, the rotating of control DC micromotor 6, and then the engaged transmission by roller gear and sector gear drives the prosthetic finger frame and is rotated motion, thereby realizes the open and close action of doing evil through another person.
Be illustrated in figure 3 as the structural representation of thumb 1, articular sclerite 15b on the dactylus far away of thumb 1 is inserted into the joint groove 14b the inside of middle finger 3 joints, in conjunction with Fig. 3 as can be seen, middle position at articular sclerite and joint groove all has through hole, can provide thrust by locking nut, guarantee the frictional force of articular sclerite and joint groove faying face.Finger-joint structurally except articular sclerite and joint groove, also has a very important structure, is exactly articular cavity.Be illustrated in figure 4 as the structure chart of dactylus far away, middle finger 3 joints.Dactylus far away as can be seen structurally comprises articular sclerite 15c, articular cavity 18a, and middle finger 3 joints structurally comprise articular sclerite 15d, joint groove 14c and articular cavity 18b.Articular sclerite similarly is being the intermediate structure that a ball obtains after by two Plane intersects parallel to each other in shape, and the structure on the both sides that the joint groove similarly is an onesize ball to be obtained after by two Plane intersects parallel to each other.Articular sclerite and joint groove structurally are complementary, after articular sclerite is inserted into the joint groove, and after by Self-locking screw articular sclerite and joint groove being compressed, do not consider structures such as chamfering and screw, shape after articular sclerite and the combination of joint groove is a ball, and this ball closely contacts respectively with the articular cavity of two dactylus.This structure can guarantee that the combination between the different dactylus is tight, and very similar with the structure of true man's finger-joint, and apery is fine.
Can adjust the relative position of different dactylus in the joint by the external force effect, provide two kinds of different situations as Fig. 6, be the situation of the passive bending in joint as Fig. 6 a, the situation that Fig. 6 b then stretches fully for the joint.Rely on the frictional force on articular sclerite and groove composition surface, joint between the different dactylus, and the frictional force between articular sclerite, joint groove and the articular cavity, under the effect of withdrawing from external force, make that the relative position between the different dactylus remains unchanged.
Except that thumb 1, the joint of all the other 4 joints that refer to and thumb 1 is structurally the same.As shown in Figure 4, structurally, be divided into nearly dactylus, middle finger 3 joints and dactylus far away, dactylus far away is exactly the finger of saying usually.The structure that connects nearly dactylus and middle finger 3 joints is middle joint, and what connect middle finger 3 joints and dactylus far away is joint far away.
Provided the overall structure figure that refers to frame and the nearly dactylus of forefinger 2, middle finger 3, the third finger 4, little finger of toe 5 as Fig. 7, the nearly dactylus that refers to frame and forefinger 2, middle finger 3, the third finger 4, little finger of toe 5 structurally is connected as a single entity, form and to refer to frame, can process as an integral body man-hour adding.Refer to that the frame two ends are provided with first and refer to that frame axle 13a, first refers to frame axle 13b, the hole 18 that 3 axle 13a of its middle finger insert sector gear guarantees sector gear and refers to that frame rotates together.
Described apery type is done evil through another person and is also comprised the base flange, and referring to Fig. 8, the base flange comprises flange a, loam cake b and lower cover c, and loam cake is fixed together by the palm seat bottom that is threaded and does evil through another person, and an annular groove is arranged on the flange, places O type circle on it.O type circle has guaranteed to have enough frictional force between loam cake and the flange, and connects by trip bolt between loam cake and the lower cover.Flange is connected with arm tube receptive cavity, and the arm tube is equivalent to people's arm.As can be seen, the base flange has been realized the function of wrist rotation.
Claims (8)
1. an apery type that is used for rehabilitation is done evil through another person, comprise: thumb, forefinger, middle finger, the third finger, little finger of toe, palm seat, DC micromotor, roller gear, sector gear, base flange and pressing plate, it is characterized in that: thumb is fixed on the palm seat by pressing plate, the nearly dactylus that forefinger, middle finger, the third finger and little finger of toe four refer to is formed and is referred to frame, be rotationally connected with the palm seat, DC micromotor is fixed on the palm seat by pressing plate, roller gear is positioned at the output shaft top of DC micromotor, and the base flange is fixedlyed connected with the palm seat.
2. the apery type that is used for rehabilitation according to claim 1 is done evil through another person, it is characterized in that, described thumb, forefinger, middle finger, the third finger and little finger of toe include nearly dactylus, middle finger joint, dactylus far away, first joint and second joint, wherein: the nearly dactylus of forefinger, middle finger, the third finger and little finger of toe is formed and is referred to frame, be rotationally connected with the palm seat, the two ends in first joint connect nearly dactylus and middle finger joint respectively, and the two ends of second joint connect middle finger joint and dactylus far away respectively.
3. the apery type that is used for rehabilitation according to claim 2 is done evil through another person, and it is characterized in that, is equipped with Self-locking screw between described nearly dactylus and the middle finger joint and between middle finger joint and the dactylus far away.
4. the apery type that is used for rehabilitation according to claim 2 is done evil through another person, and it is characterized in that, the nearly dactylus of described forefinger is provided with sector gear.
5. the apery type that is used for rehabilitation according to claim 4 is done evil through another person, it is characterized in that, described roller gear and sector gear carry out engaged transmission, and DC micromotor drives roller gear and sector gear engaged transmission drive prosthetic finger frame is rotated the open and close action that the motion realization is done evil through another person.
6. the apery type that is used for rehabilitation according to claim 1 is done evil through another person, and it is characterized in that, the nearly dactylus and the palm seat of described thumb are rotationally connected, and angle of rotation is 90 degree.
7. the apery type that is used for rehabilitation according to claim 1 is done evil through another person, it is characterized in that, described palm seat is provided with two and refers to the frame axle and refer to frame, the nearly dactylus of forefinger, middle finger, the third finger and little finger of toe structurally is an one, form and refer to frame, the two ends that refer to frame are connected with referring to the frame axle respectively, refer to that the frame axle is fixedly set in the palm seat.
8. the apery type that is used for rehabilitation according to claim 1 is done evil through another person, it is characterized in that, described base flange comprises: flange, loam cake and lower cover, wherein: loam cake is fixed by the palm seat that is threaded and does evil through another person, flange is provided with an annular groove and O type circle, loam cake is positioned on the base flange, links to each other with lower cover by trip bolt, in the annular groove on the flange of O type circle between loam cake and lower cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202147715U CN201572217U (en) | 2009-12-03 | 2009-12-03 | Human-simulated artificial hand used for rehabilitation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202147715U CN201572217U (en) | 2009-12-03 | 2009-12-03 | Human-simulated artificial hand used for rehabilitation |
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| Publication Number | Publication Date |
|---|---|
| CN201572217U true CN201572217U (en) | 2010-09-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009202147715U Expired - Fee Related CN201572217U (en) | 2009-12-03 | 2009-12-03 | Human-simulated artificial hand used for rehabilitation |
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| CN (1) | CN201572217U (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103417355A (en) * | 2012-12-02 | 2013-12-04 | 上海理工大学 | Wearable exoskeleton hand function rehabilitation trainer |
| CN104367405A (en) * | 2014-11-21 | 2015-02-25 | 华南理工大学 | Humanoid type myoelectricity artificial hand |
| CN104367404A (en) * | 2014-11-21 | 2015-02-25 | 华南理工大学 | Palm mechanism of humanoid type myoelectricity artificial hand |
| CN104434349A (en) * | 2014-11-14 | 2015-03-25 | 北京理工大学 | Classification-combination light artificial hand |
| CN105380773A (en) * | 2015-11-10 | 2016-03-09 | 哈尔滨工业大学 | Exercise assisting device based on elongate pneumatic muscles |
| CN105411810A (en) * | 2014-09-12 | 2016-03-23 | 精工爱普生株式会社 | Driving apparatus and driving method therefor |
| WO2017075884A1 (en) * | 2015-11-04 | 2017-05-11 | 中国科学院深圳先进技术研究院 | Prosthetic hand |
| WO2018006722A1 (en) * | 2016-07-04 | 2018-01-11 | 中国科学院深圳先进技术研究院 | Bionic prosthetic hand |
| DE102017000229A1 (en) | 2017-01-14 | 2018-07-19 | Stefan Schulz | Hand prosthesis body |
| CN109938963A (en) * | 2019-03-15 | 2019-06-28 | 杭州电子科技大学 | Worn type hand mechanical exoskeleton with auxiliary grasping and rehabilitation training function |
| CN110202600A (en) * | 2019-06-26 | 2019-09-06 | 上海恒元界机器人科技有限公司 | The profiling hand of anthropomorphic robot |
| CN111496822A (en) * | 2020-04-17 | 2020-08-07 | 五邑大学 | Finger structure and glove thereof |
| CN113927611A (en) * | 2021-07-29 | 2022-01-14 | 深圳墨影科技有限公司 | Terminal tongs of robot |
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2009
- 2009-12-03 CN CN2009202147715U patent/CN201572217U/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103417355B (en) * | 2012-12-02 | 2015-03-11 | 上海理工大学 | Wearable exoskeleton hand function rehabilitation trainer |
| CN103417355A (en) * | 2012-12-02 | 2013-12-04 | 上海理工大学 | Wearable exoskeleton hand function rehabilitation trainer |
| CN105411810A (en) * | 2014-09-12 | 2016-03-23 | 精工爱普生株式会社 | Driving apparatus and driving method therefor |
| CN104434349A (en) * | 2014-11-14 | 2015-03-25 | 北京理工大学 | Classification-combination light artificial hand |
| CN104367404B (en) * | 2014-11-21 | 2016-07-06 | 华南理工大学 | A kind of palm mechanism of apery myoelectricity artificial hand |
| CN104367405A (en) * | 2014-11-21 | 2015-02-25 | 华南理工大学 | Humanoid type myoelectricity artificial hand |
| CN104367404A (en) * | 2014-11-21 | 2015-02-25 | 华南理工大学 | Palm mechanism of humanoid type myoelectricity artificial hand |
| WO2017075884A1 (en) * | 2015-11-04 | 2017-05-11 | 中国科学院深圳先进技术研究院 | Prosthetic hand |
| CN105380773A (en) * | 2015-11-10 | 2016-03-09 | 哈尔滨工业大学 | Exercise assisting device based on elongate pneumatic muscles |
| WO2018006722A1 (en) * | 2016-07-04 | 2018-01-11 | 中国科学院深圳先进技术研究院 | Bionic prosthetic hand |
| JP2019520163A (en) * | 2016-07-04 | 2019-07-18 | 中国科学院深▲チェン▼先進技術研究院Ｓｈｅｎｚｈｅｎ Ｉｎｓｔｉｔｕｔｅｓ Ｏｆ Ａｄｖａｎｃｅｄ Ｔｅｃｈｎｏｌｏｇｙ Ｃｈｉｎｅｓｅ Ａｃａｄｅｍｙ Ｏｆ Ｓｃｉｅｎｃｅｓ | Bionic prosthesis |
| DE102017000229A1 (en) | 2017-01-14 | 2018-07-19 | Stefan Schulz | Hand prosthesis body |
| CN109938963A (en) * | 2019-03-15 | 2019-06-28 | 杭州电子科技大学 | Worn type hand mechanical exoskeleton with auxiliary grasping and rehabilitation training function |
| CN110202600A (en) * | 2019-06-26 | 2019-09-06 | 上海恒元界机器人科技有限公司 | The profiling hand of anthropomorphic robot |
| CN111496822A (en) * | 2020-04-17 | 2020-08-07 | 五邑大学 | Finger structure and glove thereof |
| CN113927611A (en) * | 2021-07-29 | 2022-01-14 | 深圳墨影科技有限公司 | Terminal tongs of robot |
| CN113927611B (en) * | 2021-07-29 | 2022-12-13 | 深圳墨影科技有限公司 | Terminal tongs of robot |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20100908 Termination date: 20101203 |