CN201861802U - Five-degree-of-freedom artificial hand - Google Patents

Five-degree-of-freedom artificial hand Download PDF

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Publication number
CN201861802U
CN201861802U CN 201020638767 CN201020638767U CN201861802U CN 201861802 U CN201861802 U CN 201861802U CN 201020638767 CN201020638767 CN 201020638767 CN 201020638767 U CN201020638767 U CN 201020638767U CN 201861802 U CN201861802 U CN 201861802U
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base
joint
connected
worm
micro
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CN 201020638767
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Chinese (zh)
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王博成
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王博成
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Abstract

The utility model discloses a five-degree-of-freedom artificial hand and aims to provide a five-degree-of-freedom artificial hand which has simple structure, multiple degrees of freedom, small size, light weight and reasonable price. The five-degree-of-freedom artificial hand comprises a wrist part, a palm part and a finger part, wherein the finger part comprises five fingers; each finger comprises a base joint, a hollow base phalanx, a proximal phalanx and a distal phalanx; a mini worm is arranged inside a base joint support of each base joint; a driven bevel gear is coaxially arranged at one end of each mini worm; the mini worms are meshed with mini worm wheels; transmission shafts of the mini worm wheels are arranged on the base joint supports; a mini DC motor is arranged in the cavity of each base phalanx; each mini DC motor is connected with a mini speed reducer; a driving bevel gear is arranged on the output shaft of each mini speed reducer; the hollow base phalanxes are fixedly connected with the base joint supports; one end of a reset spring is fixedly connected with each hollow base phalanx and the other end thereof is fixedly connected with the proximal phalanx; each mini worm wheel is fixedly connected with a base joint housing and connected with one end of a traction cable; and the other ends of the traction cables are fixedly connected with the proximal phalanxes.

Description

五自由度假肢手 Five degrees of freedom prosthetic hand

技术领域 FIELD

[0001] 本实用新型涉及一种五自由度假肢手。 [0001] The present invention relates to a prosthetic hand five degrees of freedom. 背景技术 Background technique

[0002] 仿人假肢手安装于断手残疾人残肢上,实现人手的某些功能。 [0002] humanoid prosthetic hand mounted on a hand-off stump of persons with disabilities, perform certain functions of a human hand. 目前,世界上运作最成功,应用最广泛的电动型假肢手为德国OttoBock公司出品的OttoBock SUVA手。 Currently, the operation of the world's most successful and most widely used type of electric prosthetic hand for the German OttoBock company produced OttoBock SUVA hand. 此型假肢手拾取表面肌点信号(EMG),由微处理器处理后形成指令,驱动微型电动机。 This type of prosthetic hand muscles point signal pickup surface (the EMG), processed by the microprocessor after the instruction is formed, the drive micromotors. 经微型直齿圆柱齿轮减速,通过连杆,实现假肢手的开合运动。 Micro via a spur gear, through the link, to achieve the opening and closing movement of the prosthetic hand. 此种假肢手只有1个自由度,不能实现对被抓取物体很好的包络和更多的动作。 Such a prosthetic hand is only one degree of freedom, we can not achieve the object being grasped good envelope and more action.

[0003] 与其相关的研究领域机器人多指灵巧手虽然不能直接作为假肢手使用,但对假肢手的研究起到了巨大的技术推动作用。 [0003] associated with the field of robotics research multi-fingered hand, although not directly as a prosthetic hand to use, but the study of prosthetic hand technology has played a huge role in promoting. 世界上上很多研究机构都致力于EMG控制假肢手的研究并力图应用于残疾人。 On many of the world's research institutions are working on the EMG controlled prosthetic hand and trying to apply to people with disabilities. 英国南安普顿大学研制了Remedi手,此手有1个拇指和4个手指,每个手指有3个关节。 University of Southampton Remedi developed a hand, this hand has a thumb and four fingers, each finger has three joints. 末端两个关节的运动是耦合的。 Moving ends of the two joints is coupled. 每个手指由1台微电机驱动,只有拇指由两台微电机驱动。 Each finger is driven by a micro-motor units, a thumb driven by two micro-motor. 采用压阻传感器和动态压电传感器来检测抓取力。 Piezoresistive sensor and a piezoelectric sensor to detect dynamic gripping force. 意大利研制了MARCUS假肢手。 MARCUS Italy developed a prosthetic hand. 该手有拇指,食指和中指。 The hand thumb, index and middle fingers. 有两台微电机,一台用于驱动拇指,另一台用于驱动食指和中指。 There are two micro-motor, for driving a thumb, the other for driving the index and middle fingers. 手内装有位置、力、滑动传感器以保证稳定的抓取。 Built with hand position, force, sliding the sensor to ensure stable grasping. 加拿大多伦多大学研制了从动自适应控制式假肢手TBM。 University of Toronto developed driven adaptive control prosthetic hand TBM. TBM手的五个手指通过一套弹性杆的差分机构分配动力,从而把一个驱动源的动力分配到五个手指。 TBM by five fingers of a hand of the power distribution mechanism of a differential elastic rod, thereby a driving power source assigned to five fingers. 国内哈尔滨工业大学研制HIT手。 China Harbin Institute of Technology developed HIT hands. 此手有17个自由度,由13台微电机驱动,并用压力传感器反馈控制抓取压力。 This hand has 17 degrees of freedom, driven by a micro-motor units 13, and the pressure sensor gripping pressure feedback control. 上海交通大学研制了弹性杆欠驱动假肢手,五个手指由三台微电机驱动。 Shanghai Jiaotong University developed elastic rod underactuated prosthetic hand, five fingers driven by three micro-motor.

[0004] 虽然基于EMG的假肢手技术得到了发展,但尚存在很多问题影响了其广泛使用。 [0004] Although EMG prosthetic hand based techniques have been developed, but there are still many issues that affect their widespread use.

[0005] 最主要的问题包括: [0005] The main problems include:

[0006] 1、尺寸大,重量重:一般所研制的假肢手其尺寸为人手的1. 5倍,重量为人手重量的2倍或以上。 [0006] 1, large size, heavy weight: Usually the developed prosthetic hand is 1.5 times the size of a human hand, the weight of 2 times or more by weight of manpower. 绝大部分假肢手采用轻质合金材料制造,其密度远大于人手密度。 Hand prosthesis manufactured using most of the light alloy material, the density is much greater than the density of manpower. 机构复杂,用了为数众多的微电机导致尺寸增大。 Mechanism is complicated, with numerous micro-motor results in an increase in size.

[0007] 2、价格昂贵:由于采用了众多的微电机,微型传感器,微型机构。 [0007] 2, expensive: As a result of a large number of micro-motors, micro-sensors, micro-mechanism. 有的为了减轻重量,采用了特殊材料,如环氧碳纤维。 Some To reduce weight, the use of special materials, such as carbon fiber epoxy. 使材料和制造成本增加。 The material and the manufacturing cost is increased. 现代假肢手价格一般都在人民币三十万元或以上。 Modern prosthetic hand prices are generally three hundred thousand yuan or more. 有的假肢手制造成本就达人民币六十万元。 Some prosthetic hand manufacturing costs amounted to six hundred thousand yuan. 一般的残疾人很难支付。 Difficult to cover general disabilities.

[0008] 3、可靠性低:绝大部分假肢手的研究还是原理性的。 [0008] 3, low reliability: the vast majority of research or principle prosthetic hand. 由于结构复杂,元器件众多, 导线杂乱,距实际应用尚有较大差距。 Because of the complex structure of many components, wire clutter away from practical application still lags far behind.

实用新型内容 SUMMARY

[0009] 本实用新型是为了克服现有技术中的不足之处,提供一种结构简单,多自由度,尺寸小,重量轻,价格适中的五自由度假肢手。 [0009] The present invention is to overcome the shortcomings of the prior art, providing a simple, multi-degree of freedom, small size, light weight, affordable prosthetic hand of five degrees of freedom.

[0010] 本实用新型通过下述技术方案实现: [0010] The present invention is achieved by the following technical scheme:

[0011] 一种五自由度假肢手,其特征在于,由腕部、手掌部和手指部组成,所述手指部由拇指、食指、中指、无名指和小指五个手指组成;每个手指由基关节、空心的基指节、近指节、 远指节组成;所述远指节与近指节固定连接;所述近指节通过销轴与所述基指节连接,所述基关节包括基关节支架、罩在基关节支架外的基关节外罩,所述基关节支架上安装有微型蜗杆,所述微型蜗杆的一端安装有同轴的从动锥齿轮,所述微型蜗杆与微型蜗轮啮合,所述微型蜗轮的传动轴安装在基关节支架上,所述基指节的空腔内安装有微型直流电机,所述微型直流电机与微型减速机连接,所述微型减速机的输出轴上安装有与所述从动锥齿轮啮合的主动锥齿轮;所述基指节与所述基关节支架固定连接,复位弹簧一端与所述基指节固定连接,所述复位弹簧的另一端与近 [0011] A prosthetic hand five degrees of freedom, wherein the wrist, the palm portion and finger portions composed of the finger portion by the thumb, index, middle, ring and little fingers five; each finger from the group joint, knuckle hollow base, near knuckles distal phalanx composition; and near the distal phalanx phalanx fixedly connected; said proximal phalanx is connected by a pin to the knuckle group, said group comprising joint yl joint holder, the outer cover of the base substrate holder joint cover joint, the joint is mounted on the base bracket are miniature worm, the worm is mounted at one end of the micro coaxial driven bevel gear, the worm meshing with the micro-micro worm the micro worm drive shaft joint bracket mounted on the base, said base section refers to the output shaft is mounted within the cavity micro-motor, a micro-miniature DC motor with reducer is connected, the micro-reducer active mounted bevel gear with the driven bevel gear; the base and the base knuckle joint bracket fixedly connected with the base end of the return spring is fixedly connected to the knuckle, the other end of the return spring is near 节固定连接;所述微型蜗轮与所述基关节外罩固定连接,所述微型蜗轮与牵引索一端连接,所述牵引索另一端与近指节内部固定连接;五个手指中的拇指安装在拇指支架上,所述拇指支架的两端分别安装有转动轴,所述拇指支架一端的转动轴通过回转轴承安装在腕部,所述拇指支架另一端的转动轴安装在滑块的轴孔内,所述滑块与安装在手掌部的滑道滑动连接;每个手指基关节外罩与手掌通过螺钉连接。 Fixing section; said worm wheel is fixedly connected to the micro-yl joint housing, the worm wheel is connected to the micro end of the traction cables, the other end of the traction cable and is fixedly connected near refers to the internal section; five fingers mounted thumb thumb bracket, both ends of the bracket are attached to the thumb rotary shaft, said rotary shaft thumb end bracket is mounted on the wrist by the rotation of a bearing, the pivot of the thumb of the other end of the stent mounted on the slider shaft hole, the slider is mounted in the slide portion slidably connected to the palm; yl each finger joint connected to the housing by screws palm.

[0012] 两个表面肌电信号传感器安放于残疾人残肢的肌肉表皮上,每个表面肌电信号传感器分别依次通过差动放大电路、滤波电路与微控制器的A/D变换排序器的输入端连接, 五个微型直流电机驱动电路的输入端分别通过各自的电平变换电路与微控制器的GPIOA 端口连接,五个微型直流电机驱动电路分别通过各自的阻容网络电路分流后与微控制器的A/D变换顺序器的输入端连接。 [0012] The two surface EMG sensor mounted on a residual limb disabilities muscle epidermis, respectively, each EMG sensor surface passes through the differential amplifier circuit, a filter circuit and the microcontroller A / D converter Sequencer input terminal, five miniature DC motor drive circuit input terminal respectively connected to a respective port GPIOA level converting circuit with a microcontroller, five micro-motor driving circuit respectively after each shunt RC network circuit with the micro a controller / D converter connected to the input of the order.

[0013] 所述基关节支架为航空铝合金材料,手掌部、腕部以及每个手指的远指节、近指节、基指节均为材料密度为1. 2-1. 4g/cm3的高强度聚合物材料。 [0013] The base bracket joint aerospace aluminum alloy, palm, wrist and the distal phalanx of each finger, near knuckles, the knuckles are based material density of 1. 2-1. 4g / cm3 of high strength polymer material.

[0014] 所述主动锥齿轮的轴径通过第一深沟球轴承与基关节支架连接。 [0014] axis diameter of the driving bevel gear is connected via a first joint groove ball bearings and the base bracket.

[0015] 所述蜗杆的两端分别通过第二深沟球轴承和第三深沟球轴承与基关节支架连接。 The [0015] two ends respectively connected to the worm via a second and a third groove ball bearing and the deep groove ball bearings yl joint holder.

[0016] 所述微型蜗轮的传动轴为空心轴。 The [0016] micro worm shaft is a hollow shaft.

[0017] 本实用新型具有下述技术效果: [0017] The present invention has the following technical effects:

[0018] 1、本实用新型的假肢手中,每个手指由基关节、基指节、近指节、远指节组成,每个手指由一台微型直流电机驱动,蜗杆连同基指节、近指节、远指节一起可绕蜗轮中心正逆方向回转,形成了基关节的转动,近指节传动的合手运动采用牵引索拉动,而张手运动由复位弹簧复位运动实现,减少了微电机、传感器、微型机构等的数量,从而简化了假肢手的结构, 可靠性高,成本低。 [0018] 1, the present invention prosthetic hand, by the base of each finger joint, knuckle group, nearly knuckles distal phalanx, each finger driven by a micro-motor, together with the worm group knuckles, near knuckles distal phalanx together rotatably about a forward and reverse direction the worm wheel center, forming a rotation group joints, proximal interphalangeal joint drive engagement movement of the hand using traction Sola stationary and hand to the motion achieved by a return spring return movement, reducing the micro number of motors, sensors, micro-mechanism and the like, thereby simplifying the structure of the prosthetic hand, high reliability, and low cost.

[0019] 2、本实用新型的假肢手中的拇指采用手动实现上摆、下摆、内旋和外旋动作,具有多个自由度,扩展了拇指的功能,增强了拇指的灵活性,而且简化了拇指结构,造价低。 [0019] 2, the present invention uses a thumb placed in the hands of the prosthesis, hem, internal and external rotation on operation of a manual implement having a plurality of degrees of freedom, the thumb extended functionality, enhances the flexibility of the thumb, but also simplifies thumb structure, low cost.

[0020] 3、本实用新型的假肢手的手掌部、腕部以及每个手指的远指节、近指节、基指节均为高强度聚合物材料,是轻质合金材料密度的一半,重量更轻。 [0020] 3, the present invention prosthetic palm of the hand, wrist and the distal phalanx of each finger, knuckle near the base knuckle polymeric material are high strength, lightweight material density is half the alloy, lighter weight.

[0021] 4、本实用新型的假肢手锥齿轮副、蜗轮蜗杆副都采用滚动轴承类型中的深沟轴承作为支承,可以承受径向力、轴向力,摩擦力小,可以采用输出力矩小的电机,可以减少假肢手的外形尺寸。 [0021] 4, the hand prosthesis of the present invention bevel gear, worm gear are used in deep groove type rolling bearing as a support, it can withstand radial forces, axial forces, friction is small, a small output torque may be employed motor, it is possible to reduce the dimensions of the prosthetic hand.

[0022] 5、本实用新型的假肢手采用蜗轮蜗杆传动机构,具有机械自锁功能,即使电机失电也不会使抓牢的物体掉落,可靠性高。 [0022] 5, the hand prosthesis of the present invention uses a worm gear, having a mechanical self-locking function, even if the motor does not cause loss of power grip of falling objects, and high reliability.

[0023] 6、本实用新型的假肢手的电路中,取电机驱动电路驱动电流的分流来间接测取电机力矩,实现力控制,省去了必需的表面压力传感器,简化了系统。 [0023] 6, the hand prosthesis of the present invention circuits, driving circuit for driving the motor takes to shunt current indirect measure motor torque take to achieve force control, eliminating the necessary surface pressure sensors, the system is simplified. 附图说明 BRIEF DESCRIPTION

[0024] 图1为本实用新型五自由度假肢手的示意图; [0024] Figure 1 is a schematic view of a hand prosthesis disclosure of five degrees of freedom;

[0025] 图2为本实用新型五自由度假肢手的手指结构示意图; [0025] FIG. 2 is a schematic structural invention fingers five degrees of freedom of the prosthetic hand;

[0026] 图3为本实用新型五自由度假肢手的电路原理图。 [0026] FIG invention five degrees of freedom of the hand prosthesis of the present circuit diagram.

具体实施方式 detailed description

[0027] 以下结合附图和具体实施例对本实用新型进行详细说明。 [0027] The detailed description and specific embodiments of the present invention follows in conjunction with the accompanying drawings.

[0028] 本实用新型五自由度假肢手的示意图如图1和图2所示,由腕部23、手掌部四和手指部组成。 [0028] The present invention is a schematic view of five degrees of freedom prosthetic hand as shown in FIGS. 1 and 2 by 23, four fingers and a palm portion composed of arm portions. 所述手指部由拇指、食指、中指、无名指和小指五个手指组成,每个手指由基关节、空心的基指节7、近指节2、远指节1组成,所述远指节1与近指节2固定连接,所述近指节2通过销轴22与所述基指节7连接,所述基关节包括基关节支架10、罩在基关节支架外的基关节外罩17,所述基关节支架10上安装有微型蜗杆15,所述微型蜗杆15的一端安装有同轴的从动锥齿轮13,所述微型蜗杆15与微型蜗轮20啮合,所述微型蜗轮的传动轴19 安装在基关节支架10上,其中,所述微型蜗轮的传动轴19最好为空心轴。 The finger portion by the thumb, index, middle, ring and little fingers five fingers, each finger joints from the base, the hollow base knuckles 7, near the knuckle 2, a distal phalanx composed of the distal phalanx 1 2 and is fixedly connected near the knuckles, the knuckles nearly 2 connected by a pin 22 and the base knuckle 7, said joint comprising a base substrate holder joint 10, an outer cover cap yl group articular joint bracket 17, the mounting said substrate holder joint 10 are miniature worm 15, one end of the worm 15 is mounted micro driven bevel gear 13 has a coaxial, 15 engaged with the worm wheel 20. the micro-miniature worm, the worm gear drive shaft 19 is mounted miniature joint holder on the base 10, wherein said micro worm gear drive shaft 19 is preferably a hollow shaft. 所述基指节7的空腔内安装有微型直流电机8,所述微型直流电机8与微型减速机9连接,所述微型减速机9的输出轴上安装有与所述从动锥齿轮13啮合的主动锥齿轮12。 Group refers to a section of the cavity 7, 8 is attached to micro-motor, a micro-motor 8 is connected to the micro-reducer 9, the micro-reducer mounted on the output shaft 9 has a bevel gear 13 and the driven the driving bevel gear 12 meshing. 所述基指节7与所述基关节支架10固定连接,复位弹簧5 —端通过销钉6与所述基指节7固定连接,所述复位弹簧5的另一端通过销钉4与近指节2固定连接。 The base 7 and the base knuckle joint bracket 10 is fixedly connected to a return spring 5 - 7 knuckle end fixedly connected to the base 6 by a pin, the other end of the return spring 4 and 5 by a pin near the knuckle 2 fixed connection. 所述微型蜗轮20通过销钉18与基关节外罩17固定连接,所述微型蜗轮20与牵引索21 —端连接,所述牵引索21另一端与近指节2 内部通过紧定螺钉3固定连接。 The microcomputer 17 is fixed to the worm wheel 20 is connected by a pin joint with the base housing 18, the worm wheel 20 and the micro-pulling rope 21 - end connected to a pulling cable 21 near the other end of the inner section 2 refers to the set screw 3 is fixedly connected through. 五个手指中的拇指沈安装在拇指支架25上,所述拇指支架25的两端分别安装有转动轴,所述拇指支架一端的转动轴通过回转轴承M安装在腕部23,所述拇指支架25另一端的转动轴安装在滑块27的轴孔内,所述滑块27与安装在手掌部的滑道观滑动连接。 Five fingers thumb sink bracket 25 mounted on the thumb, the thumb support 25 is mounted at both ends of the rotating shaft, respectively, the pivot of the thumb end bracket is mounted on the wrist by the rotation bearing 23 M, the stent thumb the other end of the rotary shaft 25 is mounted in the axial bore of the slider 27, the slider 27 slidably mounted on guide rails connected with the concept of the palm portion. 每个手指的基关节外罩与手掌通过螺钉连接。 Base cover joints of each finger is connected by screws with the palm of the hand.

[0029] 本实施例中的电路原理图如图3所示,假肢手使用两个表面肌电信号传感器,安放于残疾人残肢的肌肉表皮上。 [0029] The schematic circuit diagram of the present embodiment shown in FIG. 3, the hand prosthesis surface EMG using two sensors, placed on the residual limb disabilities muscle epidermidis. 一个表面肌电信号传感器(EMG传感器1)通过差动放大电路1、滤波电路1与微控制器A/D变换排序器的通道0连接,一个表面肌电信号传感器(EMG 传感器2、通过差动放大电路2、滤波电路2与微控制器A/D变换排序器的通道1连接。五个微型直流电机驱动电路的输入端分别通过各自的电平变换电路与微控制器的GPIOA端口连接,五个微型直流电机驱动电路分别通过各自的阻容网络电路分流后与微控制器的A/ D变换排序器的输入端连接。 A surface EMG sensor (EMG sensor 1) via the differential amplifier circuit 1, the filter circuit 1 is connected to the microcontroller A / D conversion Channel 0 Sequencer, one surface of the EMG sensor (EMG sensor 2, through a differential amplifying circuit 2, a filter circuit 2 is connected to the micro-controller a / D converter channel 1 sequencer input terminal five micro-motor drive circuit through their respective level conversion circuit with a microcontroller GPIOA port, five a micro-motor drive circuit are connected to the microcontroller a / D conversion input terminal of the sequencer after each shunt circuit through the RC network.

[0030] 电路板可以制作成手掌形状,以嵌入手掌空腔内。 [0030] The circuit board may be made into the shape of a palm, palm fitted to the cavity. 微控制器可以选用信号处理器系列DSPF2810。 The microcontroller can use the signal processors DSPF2810.

[0031 ] 为了减轻重量,所述基关节支架为航空铝合金材料,可以选用航空铝LC4,手掌部、 腕部以及每个手指的远指节、近指节、基指节均为材料密度为1. 2-1. 4g/cm3的高强度聚合物材料,可以选用PA6060,使整手的重量为600克,与人手相当。 [0031] To reduce weight, the aluminum alloy base material for the aerospace joint holder, can use aerospace aluminum LC4, palm, wrist and the distal phalanx of each finger, knuckle near the base knuckle of both material density high strength polymer material 1. 2-1. 4g / cm3 can choose PA6060, so that the whole weight of the hand 600 g, and considerable manpower.

[0032] 为了减少摩擦,所述主动锥齿轮的轴径通过第一深沟球轴承11与基关节支架连接。 [0032] In order to reduce friction, the shaft diameter of the bevel gear 11 by deep groove ball bearings of the first group is connected to the joint bracket. 所述蜗杆的两端分别通过第二深沟球轴承14和第三深沟球轴承16与基关节支架连接。 The second ends of the worm are deep groove ball bearings 14 and the third groove ball bearings 16 and the holder are connected by the joint group.

[0033] 表面肌电信号传感器发出的信号经过放大和滤波处理后送到微处理器,对表面肌电信号进行解析,如果为合手指令则调用合手运动子程序,如果为开手指令则调用开手运动子程序。 Signal [0033] surface EMG signals from a sensor after amplification and filtering to the microprocessor, the surface EMG signal resolution, if the instruction is HT HT motion subroutine call, if the instruction is on hand open hand motion subroutine call. 并通过GPIOA端口输出合手或开手指令给微型直流电机驱动电路驱动微型直流电机。 And an output port through GPIOA open hand or hands together micro-motor instruction to the drive circuit for driving micro-motor. 微型直流电机通过微型减速机、主动锥齿轮、从动锥齿轮带动微型蜗杆转动,微型蜗杆带动微型蜗轮相对于基关节支架转动。 Micro-motor through the micro-reducer, driving bevel gear, driven bevel gear rotatably driven miniature worm, worm driven miniature micro worm is rotated relative to the base bracket joint. 当微型蜗轮相对于基关节支架逆时针转动时,微型蜗轮拉动牵引索,从而带动近指节,使其绕基指节的销轴相对顺时针回转,同时复位弹簧则被拉伸。 When the worm wheel relative to the rotation of the micro-yl joint holder counterclockwise, micro worm pulling cable is pulled, so as to drive near the knuckle, knuckle around the base so that the pin is relatively rotated clockwise, while the return spring were stretched. 当蜗轮相对于基关节支架顺时针回转时,牵索引被放松。 When the worm wheel relative to the base bracket joint clockwise rotation, the retractor index is relaxed. 近指节在复位弹簧的弹力作用下,绕基指节上的销轴逆时针回转。 Near knuckles elastic force of the return spring, the counterclockwise rotation about the pin means on the base section. 因而,近指节相对于基指节的回转运动是被动的。 Accordingly, with respect to the knuckle near the rotary motion segment means a group is passive. 基关节运动与近指关节运动是耦合的,由一台微型直流电机驱动,为欠驱动机构。 Groups near the articulation means is coupled to the articulation, driven by a miniature DC motor, an under drive mechanism.

Claims (6)

  1. 1. 一种五自由度假肢手,其特征在于,由腕部、手掌部和手指部组成,所述手指部由拇指、食指、中指、无名指和小指五个手指组成;每个手指由基关节、空心的基指节、近指节、远指节组成;所述远指节与近指节固定连接;所述近指节通过销轴与所述基指节连接,所述基关节包括基关节支架、罩在基关节支架外的基关节外罩,所述基关节支架上安装有微型蜗杆,所述微型蜗杆的一端安装有同轴的从动锥齿轮,所述微型蜗杆与微型蜗轮啮合,所述微型蜗轮的传动轴安装在基关节支架上,所述基指节的空腔内安装有微型直流电机,所述微型直流电机与微型减速机连接,所述微型减速机的输出轴上安装有与所述从动锥齿轮啮合的主动锥齿轮;所述基指节与所述基关节支架固定连接,复位弹簧一端与所述基指节固定连接,所述复位弹簧的另一端与近指节 A prosthetic hand five degrees of freedom, wherein the wrist, the palm portion and finger portions composed of the finger portion by the thumb, index, middle, ring and little fingers five; each group by a finger joint hollow base knuckle, near knuckles distal phalanx composition; and near the distal phalanx phalanx fixedly connected; near the knuckle by a pin connected to the base knuckle, said joint comprising yl group joint holder, the outer cover of the base substrate holder joint cover joint, the joint is mounted on the base bracket are miniature worm, the worm is mounted at one end of the micro coaxial driven bevel gear, the worm meshing with the micro-miniature worm wheel, the micro worm drive shaft joint bracket mounted on the base, said base means is mounted within the cavity section micro-motor, a micro-miniature DC motor with reducer is connected, the micro-reducer mounted on the output shaft there driving bevel gear that meshes with the driven bevel gear; the base and the base knuckle joint bracket fixedly connected with the base end of the return spring is fixedly connected to the knuckle, the other end of the return spring and proximal interphalangeal festival 定连接;所述微型蜗轮与所述基关节外罩固定连接,所述微型蜗轮与牵引索一端连接,所述牵引索另一端与近指节内部固定连接;五个手指中的拇指安装在拇指支架上,所述拇指支架的两端分别安装有转动轴,所述拇指支架一端的转动轴通过回转轴承安装在腕部,所述拇指支架另一端的转动轴安装在滑块的轴孔内,所述滑块与安装在手掌部的滑道滑动连接;每个手指基关节外罩与手掌通过螺钉连接。 Set; said worm wheel is fixedly connected to the micro-yl joint housing, worm wheel and the miniature cable pulling one end connected to said traction cable and the other end fixedly connected near refers to the internal section; five fingers thumb thumb mounting bracket on the thumb are attached to both ends of the stent rotary shaft, said rotary shaft holder thumb end bearing is mounted by a swivel arm, the pivot of the thumb at the other end of the stent mounted shaft hole of the slider, the said slider chute mounted on the palm portion slidably connected; yl each finger joint connected to the housing by screws palm.
  2. 2.根据权利要求1所述的五自由度假肢手,其特征在于,两个表面肌电信号传感器安放于残疾人残肢的肌肉表皮上,每个表面肌电信号传感器分别依次通过差动放大电路、滤波电路与微控制器的A/D变换排序器的输入端连接,五个微型直流电机驱动电路的输入端分别通过各自的电平变换电路与微控制器的GPIOA端口连接,五个微型直流电机驱动电路分别通过各自的阻容网络电路分流后与微控制器的A/D变换排序器的输入端连接。 Five degrees of freedom according to claim 1 of the hand prosthesis, wherein the two surface EMG sensor mounted on the skin of persons with disabilities muscle stump, each EMG sensor surface passes through the differential amplifier, respectively, a circuit, filter circuit and a microcontroller / D converter connected to the input sequencer, five miniature DC motor drive circuit input terminal respectively connected to a respective port GPIOA level converting circuit with a microcontroller, five miniature DC motor drive circuit are connected to the microcontroller a / D conversion input terminal of the sequencer after each shunt circuit through the RC network.
  3. 3.根据权利要求1所述的五自由度假肢手,其特征在于,所述基关节支架为航空铝合金材料,手掌部、腕部以及每个手指的远指节、近指节、基指节均为材料密度为1.2-1.4g/ cm3的高强度聚合物材料。 The five degrees of freedom of said hand prosthesis as claimed in claim 1, characterized in that the base bracket joint aerospace aluminum alloy, palm, wrist and the distal phalanx of each finger, knuckle near the base means section of material density are 1.2-1.4g / cm3 high-strength polymeric material.
  4. 4.根据权利要求1所述的五自由度假肢手,其特征在于,所述主动锥齿轮的轴径通过第一深沟球轴承与基关节支架连接。 Five degrees of freedom according to claim 1 of the hand prosthesis, wherein the driving shaft diameter of the bevel gear connected by a first bearing and the deep groove ball joint bracket base.
  5. 5.根据权利要求1所述的五自由度假肢手,其特征在于,听述蜗杆的两端分别通过第二深沟球轴承和第三深沟球轴承与基关节支架连接。 Five degrees of freedom according to claim 1 of the hand prosthesis, wherein both ends of the sounds of the worm are deep groove ball bearings and a second deep groove ball bearings and a third group connected via a holder joint.
  6. 6.根据权利要求1所述的五自由度假肢手,其特征在于,所述微型蜗轮的传动轴为空心轴。 Five degrees of freedom according to claim 1 of the hand prosthesis, wherein said micro worm shaft is a hollow shaft.
CN 201020638767 2010-12-02 2010-12-02 Five-degree-of-freedom artificial hand CN201861802U (en)

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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103705323A (en) * 2014-01-14 2014-04-09 哈尔滨工业大学 Motor built-in type modularized prosthetic finger with self-locking function
CN103720528A (en) * 2014-01-27 2014-04-16 上海科生假肢有限公司 Practical sensible artificial hand
CN105358100A (en) * 2013-05-03 2016-02-24 奥托·博克保健产品有限公司 Artificial finger
CN106038005A (en) * 2015-11-18 2016-10-26 杭州若比邻机器人科技有限公司 Mounting structure of general prosthetic fingers of prosthetic hand
CN106037999A (en) * 2015-11-18 2016-10-26 杭州若比邻机器人科技有限公司 Prosthetic finger
CN106038002A (en) * 2015-11-18 2016-10-26 杭州若比邻机器人科技有限公司 Connecting structure of worm wheel and transmission rope of prosthetic finger
CN106038001A (en) * 2015-11-18 2016-10-26 杭州若比邻机器人科技有限公司 Proximal interphalangeal joint structure of prosthetic finger
CN106038008A (en) * 2015-11-18 2016-10-26 杭州若比邻机器人科技有限公司 Connecting structure of proximal phalanx and proximal interphalangeal joint of prosthetic finger
CN106038004A (en) * 2015-11-18 2016-10-26 杭州若比邻机器人科技有限公司 Connecting structure of middle phalanx and proximal phalanx of prosthetic finger
CN106974749A (en) * 2017-04-25 2017-07-25 北京展翼计划科技发展有限公司 Bionic prosthetic hand and device based on 3D printing

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105358100A (en) * 2013-05-03 2016-02-24 奥托·博克保健产品有限公司 Artificial finger
CN103705323A (en) * 2014-01-14 2014-04-09 哈尔滨工业大学 Motor built-in type modularized prosthetic finger with self-locking function
CN103705323B (en) * 2014-01-14 2016-03-23 哈尔滨工业大学 Motor with self-locking feature built-in modular false finger
CN103720528A (en) * 2014-01-27 2014-04-16 上海科生假肢有限公司 Practical sensible artificial hand
CN103720528B (en) * 2014-01-27 2016-01-13 上海科生假肢有限公司 Practical feeling prosthetic hand
CN106038001A (en) * 2015-11-18 2016-10-26 杭州若比邻机器人科技有限公司 Proximal interphalangeal joint structure of prosthetic finger
CN106037999A (en) * 2015-11-18 2016-10-26 杭州若比邻机器人科技有限公司 Prosthetic finger
CN106038002A (en) * 2015-11-18 2016-10-26 杭州若比邻机器人科技有限公司 Connecting structure of worm wheel and transmission rope of prosthetic finger
CN106038005A (en) * 2015-11-18 2016-10-26 杭州若比邻机器人科技有限公司 Mounting structure of general prosthetic fingers of prosthetic hand
CN106038008A (en) * 2015-11-18 2016-10-26 杭州若比邻机器人科技有限公司 Connecting structure of proximal phalanx and proximal interphalangeal joint of prosthetic finger
CN106038004A (en) * 2015-11-18 2016-10-26 杭州若比邻机器人科技有限公司 Connecting structure of middle phalanx and proximal phalanx of prosthetic finger
CN106038004B (en) * 2015-11-18 2018-03-02 杭州若比邻机器人科技有限公司 The prosthetic finger knuckle near the base section of the connecting structure refers to
CN106038005B (en) * 2015-11-18 2018-01-30 杭州若比邻机器人科技有限公司 The mounting structure generally prosthetic finger prosthetic hand
CN106038008B (en) * 2015-11-18 2018-03-02 杭州若比邻机器人科技有限公司 Prosthetic group of the finger joints connecting structure of the base section
CN106038001B (en) * 2015-11-18 2018-03-02 杭州若比邻机器人科技有限公司 Prosthetic group of the finger joint structure
CN106037999B (en) * 2015-11-18 2018-03-02 杭州若比邻机器人科技有限公司 Prosthetic finger
CN106974749A (en) * 2017-04-25 2017-07-25 北京展翼计划科技发展有限公司 Bionic prosthetic hand and device based on 3D printing

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