CN203935304U - A kind of Novel bionic ectoskeleton wire-control type artificial limb - Google Patents
A kind of Novel bionic ectoskeleton wire-control type artificial limb Download PDFInfo
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- CN203935304U CN203935304U CN201420329563.0U CN201420329563U CN203935304U CN 203935304 U CN203935304 U CN 203935304U CN 201420329563 U CN201420329563 U CN 201420329563U CN 203935304 U CN203935304 U CN 203935304U
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Abstract
The utility model relates to a kind of Novel bionic ectoskeleton wire-control type artificial limb, comprising: ectoskeleton palm device, connecting device, finger selecting arrangement.Wherein said ectoskeleton palm device comprises a thumb artificial limb, a forefinger artificial limb, a middle finger artificial limb, a nameless artificial limb, a little finger of toe artificial limb, six parts of a palm housing; Wherein said power connector comprises part of a release link; Wherein said finger selecting arrangement comprises an arm housing, a case lid, the lid that resets, four cable wire link control modules, a ratchet sour jujube bar step-by-step movement is selected five parts of module, and this utility model is the ectoskeleton wire-control type bionics artificial limb that a kind of applicable 3D that can select different fingers to make various gestures for different situations prints.
Description
Technical field
This utility model relates to a kind of Novel bionic ectoskeleton wire-control type artificial limb, the especially a kind of full mechanical exoskeleton artificial limb that can select each finger to make various different gestures.
Background technology
Since the dawn of human civilization, the progress along with human society, supplements loss, and weak thing is strengthened, and in this sense, artificial limb, as amputee's necessary, is done painstaking research by people always.According to the statistics of international artificial limb association, the whole world has the patient of 3,200,000 physical disabilities at present, and 80% in them live in developing country, wherein only 5% can afford and wears artificial limb.Now popular on market is all that some control the artificial limb of its motion by bioelectric current.Sensitivity is very high, closely similar with the true limbs of human body.But this artificial limb also has its drawback, such as: must every day charging, be most importantly expensively difficult to allow the not high family of income be born.
On market, had by 3d and printed the artificial limb customized to patient now, the personage of the cheap finger disability for a lot of developing countries has brought hope.But these artificial limbs also exist a lot of drawbacks, such as, cannot select to want crooked finger, can only whole grasped, unclamping of whole hands cannot be made various gestures as normal person, very dumb; Secondly, can not accomplish to grab my difform solid according to practical situation, at every turn can only be with the stiff crawl article of a kind of crooked gesture, the crawl of can not fitting closely, the article of crawl are very easy to drop, and have potential safety hazard.
Drawback for existing wire-control type hand artificial limb, we have designed novel optional finger wire-control type bionics artificial limb, this novel artificial limb has a kind of finger selection mechanism, by changing being connected of rope and artificial limb on every finger, makes wire-control type hand artificial limb can control separately the activity of every finger.
Summary of the invention
The technical problems to be solved in the utility model is: existing wire-control type hand artificial limb uses dumb, cannot realize the independent control to every finger.The present invention relates to a kind of novel optional finger wire-control type bionics artificial limb, this novel artificial limb has a kind of finger selection mechanism, by fitting together with wire-control type hand artificial limb, make wire-control type hand artificial limb more flexible, can control separately the activity of every finger, make wire-control type hand artificial limb more flexible, and then realize more action.
To achieve these goals, this use is by the following technical solutions novel:
A Novel bionic ectoskeleton wire-control type artificial limb, comprising: ectoskeleton palm device, connecting device, finger selecting arrangement.Wherein said ectoskeleton palm device comprises 1 thumb artificial limb, 1 forefinger artificial limb, 1 middle finger artificial limb, 1 nameless artificial limb, 1 little finger of toe artificial limb, 6 parts of 1 palm housing; Wherein said power connector comprises 1 part of 1 release link; Wherein said finger selecting arrangement comprises 1 arm housing, 1 case lid, and 1 lid that resets, 4 cable wire link control modules, 1 ratchet sour jujube bar step-by-step movement is selected 5 parts of module.It is characterized in that: forefinger artificial limb, middle finger artificial limb, nameless artificial limb, little finger of toe artificial limb, respectively with the point articulated installation of palm housing corresponding matching, thumb artificial limb and arm housing are by the hinged installation of thumb artificial limb cable wire part, release link front end universal joint and palm housing are by the hinged installation of spherical hinge, the hinged installation of spherical hinge is passed through with the lid that resets in release link rear end, 4 cable wire link control module longitudinal sliding blocks part is the forefinger cable wire included with palm housing respectively, middle finger cable wire, nameless cable wire, the hinged installation of little finger of toe cable wire part, ratchet sour jujube bar step-by-step movement selects corresponding cable wire one end in module to overlap and the hinged installation of palm housing by cable guard arm and cable wire, ratchet sour jujube bar step-by-step movement is selected module, 4 cable wire link control modules coordinate installation with arm housing inner chamber side by side, reset is covered above 4 cable wire link control modules and is coordinated installation with arm housing, case lid coordinates installation in the reset side of covering with arm housing.
Wherein, described thumb artificial limb partly comprises rubber artificial limb finger, pvc sucker fingerstall, ball palm set, thumb finger tip ectoskeleton housing, thumb refers to middle ectoskeleton housing, ball ectoskeleton housing, connect cable wire, horizontal the first bar of thumb, horizontal the second bar of thumb, longitudinal the first bar of thumb, thumb power rail, leading block, rubber artificial limb finger and thumb finger tip ectoskeleton housing, thumb refers to that middle ectoskeleton housing is sticked together, pvc sucker fingerstall and thumb refer to that middle ectoskeleton housing is sticked together, ball palm set and ball ectoskeleton housing are sticked together, horizontal the first bar of thumb and thumb finger tip ectoskeleton housing are hinged, longitudinal the first bar of the other end and thumb and horizontal the second bar of thumb are hinged, longitudinal the first bar of thumb and thumb refer to that middle ectoskeleton housing is hinged, the horizontal second bar other end of thumb and thumb power rail are hinged, thumb power rail and ball ectoskeleton housing are hinged, leading block and ball ectoskeleton housing are hinged, and cable wire was installed by leading block and hinged cooperation of thumb power rail.
Wherein, described forefinger artificial limb partly comprises rubber artificial limb finger, pvc sucker fingerstall, forefinger finger tip ectoskeleton housing, forefinger refers to middle ectoskeleton housing, forefinger refers to root ectoskeleton housing, horizontal the first bar of forefinger, horizontal the second bar of forefinger, horizontal the 3rd bar of forefinger, longitudinal the first bar of forefinger, longitudinal the second bar of forefinger, forefinger power rail, rubber artificial limb finger and forefinger finger tip ectoskeleton housing, forefinger refers to middle ectoskeleton housing, forefinger refers to that root ectoskeleton housing is sticked together, pvc sucker and forefinger refer to that root ectoskeleton housing is sticked together, horizontal the first bar of forefinger and forefinger finger tip ectoskeleton housing are hinged, longitudinal the first bar of the other end and forefinger and horizontal the second bar of forefinger are hinged, longitudinal the first bar of forefinger and forefinger refer to that middle ectoskeleton housing is hinged, the horizontal second bar other end of forefinger and longitudinal the second bar of forefinger and horizontal the 3rd bar of forefinger are hinged, longitudinal the second bar of forefinger and forefinger refer to that root ectoskeleton housing is hinged, horizontal the 3rd bar of forefinger and forefinger power rail be hinged coordinates installation.
Wherein, described middle finger artificial limb partly comprises rubber artificial limb finger, pvc sucker fingerstall, middle finger finger tip ectoskeleton housing, middle finger refers to middle ectoskeleton housing, middle finger refers to root ectoskeleton housing, horizontal the first bar of middle finger, horizontal the second bar of middle finger, horizontal the 3rd bar of intermediate value, longitudinal the first bar of middle finger, longitudinal the second bar of middle finger, middle finger power rail, rubber artificial limb finger and middle finger tip ectoskeleton housing, ectoskeleton housing in middle finger, middle finger refers to that root ectoskeleton housing is sticked together, pvc sucker and middle finger refer to that root ectoskeleton housing is sticked together, horizontal the first bar of middle finger and middle finger finger tip ectoskeleton housing are hinged, longitudinal the first bar of the other end and middle finger and horizontal the second bar of middle finger are hinged, longitudinal the first bar of middle finger and middle finger refer to that middle ectoskeleton housing is hinged, the horizontal second bar other end of middle finger and longitudinal the second bar of middle finger and horizontal the 3rd bar of middle finger are hinged, longitudinal the second bar of middle finger and middle finger refer to that root ectoskeleton housing is hinged, horizontal the 3rd bar of middle finger and middle finger power rail be hinged coordinates installation.
Wherein, described nameless artificial limb partly comprises rubber artificial limb finger, pvc sucker fingerstall, nameless finger tip ectoskeleton housing, the third finger refers to middle ectoskeleton housing, the third finger refers to root ectoskeleton housing, nameless horizontal the first bar, nameless horizontal the second bar, nameless horizontal the 3rd bar, nameless longitudinal the first bar, nameless longitudinal the first bar, nameless power rail, rubber artificial limb finger and nameless finger tip ectoskeleton housing, the third finger refers to middle ectoskeleton housing, the third finger refers to that root ectoskeleton housing is sticked together, pvc sucker and the third finger refer to that root ectoskeleton housing is sticked together, nameless horizontal the first bar and nameless finger tip ectoskeleton housing are hinged, the other end is hinged with nameless longitudinal the first bar and nameless horizontal the second bar, nameless longitudinal the first bar and the third finger refer to that middle ectoskeleton housing is hinged, the nameless horizontal second bar other end is hinged with nameless longitudinal the second bar and nameless horizontal the 3rd bar, nameless longitudinal the second bar refers to that with the third finger root ectoskeleton housing is hinged, and horizontal the 3rd bar of the third finger and nameless power rail be hinged coordinates installation.
Wherein, described little finger of toe artificial limb partly comprises rubber artificial limb finger, pvc sucker fingerstall, little finger of toe finger tip ectoskeleton housing, little finger of toe refers to middle ectoskeleton housing, little finger of toe refers to root ectoskeleton housing, horizontal the first bar of little finger of toe, horizontal the second bar of little finger of toe, horizontal the 3rd bar of little finger of toe, longitudinal the first bar of little finger of toe, longitudinal the second bar of little finger of toe, little finger of toe power rail, rubber artificial limb finger and little finger of toe finger tip ectoskeleton housing, little finger of toe refers to middle ectoskeleton housing, little finger of toe refers to that root ectoskeleton housing is sticked together, pvc sucker and little finger of toe refer to that root ectoskeleton housing is sticked together, horizontal the first bar of little finger of toe and little finger of toe finger tip ectoskeleton housing are hinged, longitudinal the first bar of the other end and little finger of toe and horizontal the second bar of little finger of toe are hinged, longitudinal the first bar of little finger of toe and little finger of toe refer to that middle ectoskeleton housing is hinged, the horizontal second bar other end of little finger of toe and longitudinal the second bar of little finger of toe and horizontal the 3rd bar of little finger of toe are hinged, longitudinal the second bar of little finger of toe and little finger of toe refer to that root ectoskeleton housing is hinged, horizontal the 3rd bar of little finger of toe and little finger of toe power rail be hinged coordinates installation.
Wherein, described palm housing parts comprises palm palm set, palm ectoskeleton housing (band raster), forefinger leading block, middle finger leading block, nameless leading block, little finger of toe leading block, forefinger cable wire, middle finger cable wire, nameless cable wire, little finger of toe cable wire, forefinger torsionspring, middle finger torsionspring, nameless torsionspring, little finger of toe torsionspring, forefinger cable guard arm, middle finger cable guard arm, nameless cable guard arm, little finger of toe cable guard arm, palm palm set and palm ectoskeleton housing are sticked together, forefinger leading block, middle finger leading block, nameless leading block, little finger of toe leading block is hinged with hinged place corresponding on palm ectoskeleton housing respectively, forefinger cable wire, middle finger cable wire, nameless cable wire, little finger of toe cable wire is walked around respectively forefinger leading block, middle finger leading block, nameless leading block, little finger of toe leading block is respectively through forefinger cable guard arm, middle finger cable guard arm, nameless cable guard arm, little finger of toe cable guard arm, forefinger torsionspring, middle finger torsionspring, nameless torsionspring, little finger of toe torsionspring is separately fixed at forefinger leading block, middle finger leading block, nameless leading block, little finger of toe leading block rear coordinates installs.
Wherein, described release link comprises release link front bar, Compress Spring, release link rear bar, universal joint, release link front bar is installed with universal joint is concentric, and release link front bar is coaxially connected with release link rear bar, and Compress Spring coordinates installation with release link front bar, release link rear bar.
Wherein, 4 described cable wire link control modules are respectively forefinger cable wire link control module, middle finger cable wire link control module, nameless cable wire link control module, little finger of toe cable wire link control module, each cable wire link control module includes longitudinal sliding block, rear hook, roundlet pin, Compress Spring, front driving lever, front hook base plate, longitudinal sliding block coordinates installation with front hook base plate, rear hook and longitudinal sliding block are hinged by roundlet pin, Compress Spring is clipped between longitudinal sliding block inner chamber and rear hook, and front driving lever coordinates installation with front hook base plate hinged.
Wherein, described ratchet sour jujube bar step-by-step movement selects module to comprise respectively transverse slider housing, transverse slider Compress Spring, part on transverse slider, part under transverse slider, little ratchet, large ratchet, sour jujube bar, sour jujube bar extension spring, wrist cable wire, part on transverse slider, under transverse slider, part coordinates installation with little ratchet is hinged respectively, large ratchet and clavula pawl center of rotation coaxial cooperation also coordinate installation with part on transverse slider is hinged, transverse slider Compress Spring packs in transverse slider housing and divides and coordinate installation with transverse slider bottom, part on sour jujube bar and transverse slider, transverse slider bottom is divided and is coordinated installation, sour jujube bar extension spring one end and sour jujube bar are hinged, wrist cable wire and sour jujube bar be hinged coordinates installation.
The beneficial effects of the utility model are: this utility model can select needed finger to realize different gesture motion for the different demands of user, and the most of part of this utility model all can be printed by 3D simultaneously, cheap, convenient manufacture.And this utility model for convenience detach with by demand specific aim assembling, greatly the lifting of degree the scope of application, there is immeasurable market value.Whole device power provides by wrist, convenient and flexible operation.This utility model has been used pvc sucker fingerstall to be connected with the residual finger of user, makes artificial limb finger closely reliable with being connected of residual finger, handling better.
accompanying drawing explanation
Fig. 1 is this utility model oblique view;
Fig. 2 is ectoskeleton palm device thumb artificial limb oblique view;
Fig. 3 is ectoskeleton palm device forefinger artificial limb oblique view;
Fig. 4 is ectoskeleton palm device middle finger artificial limb oblique view;
Fig. 5 is the nameless artificial limb oblique view of ectoskeleton palm device;
Fig. 6 is ectoskeleton palm device little finger of toe artificial limb oblique view;
Fig. 7 is ectoskeleton palm device palm housing oblique view;
Fig. 8 is connecting device oblique view;
Fig. 9 is finger selecting arrangement oblique view;
Figure 10 is that finger selecting arrangement ratchet sour jujube bar step-by-step movement is selected module top view;
Figure 11 is finger selecting arrangement cable wire link control module oblique view;
1. ectoskeleton palm devices wherein, 2. connecting device, 3. point selecting arrangement, 101. thumb artificial limbs, 102. forefinger artificial limbs, 103. middle finger artificial limbs, 104. nameless artificial limbs, 105. little finger of toe artificial limbs, 106. palm housings, 201. universal joint, 202. release link front bars, 203. Compress Spring, 204. release link rear bars, 301. arm housings, 302. case lid, 303. ratchet sour jujube bar step-by-step movements are selected module, 304. cable wire link control modules, 305. reset covers, 10101. rubber artificial limb finger, 10102.pvc sucker fingerstall, 10103. ball palm set, 10104. ball ectoskeleton housing, 10105. connection cable wire, 10106. thumb power rail, horizontal the second bar of 10107. thumbs, 10108. leading block, longitudinal the first bar of 10109. thumbs, horizontal the first bar of 10110. thumbs, 10111. thumbs refer to middle ectoskeleton housing, 10112. thumb finger tip ectoskeleton housings, 10201. rubber artificial limb finger, 10202. forefinger finger tip ectoskeleton housings, horizontal the first bar of 10203. forefingers, longitudinal the first bar of 10204. forefingers, horizontal the second bar of 10205. forefingers, longitudinal the second bar of 10206. forefingers, horizontal the 3rd bar of 10207. forefingers, 10208. forefinger power rail, 10209. forefingers refer to root ectoskeleton housing, 10210.pvc sucker fingerstall, 10211. forefingers refer to middle ectoskeleton housing, 10301. rubber artificial limb finger, 10302. middle finger finger tip ectoskeleton housings, horizontal the first bar of 10303. middle fingers, longitudinal the first bar of 10304. middle fingers, horizontal the second bar of 10305. middle fingers, longitudinal the second bar of 10306. middle fingers, horizontal the 3rd bar of 10307. middle fingers, 10308. middle finger power rail, 10309. middle fingers refer to root ectoskeleton housing, 10310.pvc sucker fingerstall, 10311. middle fingers refer to middle ectoskeleton housing, 10401. rubber artificial limb finger, 10402. nameless finger tip ectoskeleton housings, 10403. nameless horizontal the first bars, 10404. nameless longitudinal the first bars, 10405. nameless horizontal the second bars, 10406. nameless longitudinal the second bars, 10407. nameless horizontal the 3rd bars, 10408. nameless power rail, 10409. third fingers refer to root ectoskeleton housing, 10410.pvc sucker fingerstall, 10411. third fingers refer to middle ectoskeleton housing, 10501. rubber artificial limb finger, 10502. little finger of toe finger tip ectoskeleton housings, horizontal the first bar of 10503. little fingers of toe, longitudinal the first bar of 10504. little fingers of toe, horizontal the second bar of 10505. little fingers of toe, longitudinal the second bar of 10506. little fingers of toe, horizontal the 3rd bar of 10507. little fingers of toe, 10508. little finger of toe power rail, 10509. little fingers of toe refer to root ectoskeleton housing, 10510.pvc sucker fingerstall, 10511. little fingers of toe refer to middle ectoskeleton housing, 10601. forefinger leading block, 10602. middle finger leading block, 10603. nameless leading block, 10604. little finger of toe leading block, 10605. palm palm set, 10606. little finger of toe cable guard arm, 10607. nameless cable guard arm, 10608. middle finger cable guard arm, 10609. forefinger cable guard arm, 10610. little finger of toe cable wire, 10611. nameless cable wire, 10612. middle finger cable wire, 10613. forefinger cable wire, 10614. palm ectoskeleton housings (band raster), 10615. forefinger torsionspring, 10616. middle finger torsionspring, 10617. nameless torsionspring, 10618. little finger of toe torsionspring, 30301. wrist cable wire, 30302. sour jujube bar, 30303. transverse slider Compress Spring, 30304. transverse slider housing, 30305. part under transverse slider, 30306. part on transverse slider, 30307. little ratchet, 30308. large ratchet, 30309. sour jujube bar extension spring, 30407. longitudinal sliding block, 30404. rear hook, 30405. roundlet pin, 30402. Compress Spring, 30404. front driving lever, 30406 front hooks, 30401 base plates.
the specific embodiment
Below in conjunction with instantiation, such scheme is described further.Should understand these embodiment is for this utility model being described rather than limiting scope of the present utility model.The implementation condition adopting in embodiment can be done further adjustment according to the condition of concrete producer, and not marked implementation condition is generally the condition in normal experiment.
A Novel bionic ectoskeleton wire-control type artificial limb, comprising: ectoskeleton palm device 1, connecting device 2, finger selecting arrangement 3.Wherein said ectoskeleton palm device comprises 105,1 palm housings 106 of 104,1 little finger of toe artificial limbs of 103,1 third fingers of 102,1 middle finger artificial limbs of 101,1 forefinger artificial limbs of 1 thumb artificial limb; Wherein said power connector comprises 1 release link 2; Wherein said finger selecting arrangement comprises that 302,1 of 301,1 case lid of 1 arm housing reset and cover 304,1 ratchet sour jujube bar step-by-step movements selection modules 303 of 305,4 cable wire link control modules.It is characterized in that: forefinger artificial limb 102, middle finger artificial limb 103, nameless artificial limb 104, little finger of toe artificial limb 105, respectively with the point articulated installation of palm housing 106 corresponding matching, thumb artificial limb 101 passes through the 10105 hinged installations of thumb artificial limb cable wire part with arm housing 301, release link front end universal joint 201 passes through the hinged installation of spherical hinge with palm housing 106, the hinged installation of spherical hinge is crossed with the lid logical 305 that resets in release link rear end 204, 4 cable wire link control module longitudinal sliding block parts 30407 are the forefinger cable wire 10613 included with palm housing respectively, middle finger cable wire 10612, nameless cable wire 10611, the hinged installation of little finger of toe cable wire 10610 part, ratchet sour jujube bar step-by-step movement selects corresponding cable wire 30301 one end in module 303 to overlap and the hinged installation of palm housing 106 by cable guard arm and cable wire, ratchet sour jujube bar step-by-step movement is selected module 303, 4 cable wire link control modules 304 coordinate installation with arm housing 301 inner chambers side by side, reset is covered 305 and coordinate installation with arm housing 301 above 4 cable wire link control module 304, case lid 302 coordinates installation with arm housing 301 above reset covers 305.
Wherein, described thumb artificial limb part 101 comprises rubber artificial limb finger 10101, pvc sucker fingerstall 10102, ball palm set 10103, thumb finger tip ectoskeleton housing 10112, thumb refers to middle ectoskeleton housing 10111, ball ectoskeleton housing 10104, connect cable wire 10105, horizontal the first bar 10110 of thumb, horizontal the second bar 10107 of thumb, longitudinal the first bar 10109 of thumb, thumb power rail 10106, leading block 10108, rubber artificial limb finger 10101 and thumb finger tip ectoskeleton housing 10112, thumb refers to that middle ectoskeleton housing 10111 is sticked together, pvc sucker fingerstall 10102 refers to that with thumb middle ectoskeleton housing 10111 is sticked together, ball palm set 10103 is sticked together with ball ectoskeleton housing 10104, horizontal the first bar 10110 of thumb is hinged with thumb finger tip ectoskeleton housing 10112, longitudinal the first bar 10109 of the other end and thumb and horizontal the second bar 10107 of thumb are hinged, longitudinal the first bar 10109 of thumb refers to that with thumb middle ectoskeleton housing 10111 is hinged, horizontal second bar 10107 other ends of thumb and thumb power rail 10106 are hinged, thumb power rail 10106 is hinged with ball ectoskeleton housing 10104, leading block 10108 is hinged with ball ectoskeleton housing 10104, cable wire 10105 was installed by leading block 10108 and hinged cooperation of thumb power rail 10106.
Wherein, described forefinger artificial limb part 102 comprises rubber artificial limb finger 10201, pvc sucker fingerstall 10210, forefinger finger tip ectoskeleton housing 10202, forefinger refers to middle ectoskeleton housing 10211, forefinger refers to root ectoskeleton housing 10209, horizontal the first bar 10203 of forefinger, horizontal the second bar 10205 of forefinger, horizontal the 3rd bar 10207 of forefinger, longitudinal the first bar 10204 of forefinger, longitudinal the second bar 10206 of forefinger, forefinger power rail 10208, rubber artificial limb finger 10201 and forefinger finger tip ectoskeleton housing 10202, forefinger refers to middle ectoskeleton housing 10211, forefinger refers to that root ectoskeleton housing 10209 is sticked together, pvc sucker 10210 refers to that with forefinger root ectoskeleton housing 10209 is sticked together, horizontal the first bar 10203 of forefinger is hinged with forefinger finger tip ectoskeleton housing 10202, longitudinal the first bar 10204 of the other end and forefinger is hinged with horizontal the second bar 10206 of forefinger, longitudinal the first bar 10204 of forefinger refers to that with forefinger middle ectoskeleton housing 10211 is hinged, horizontal second bar 10205 other ends of forefinger and longitudinal the second bar 10206 of forefinger and horizontal the 3rd bar 10207 of forefinger are hinged, longitudinal the second bar 10206 of forefinger refers to that with forefinger root ectoskeleton housing 10209 is hinged, horizontal the 3rd bar 10207 of forefinger and forefinger power rail 10208 be hinged coordinates installation.
Wherein, described middle finger artificial limb part 103 comprises rubber artificial limb finger 10301, pvc sucker fingerstall 10310, middle finger finger tip ectoskeleton housing 10302, middle finger refers to middle ectoskeleton housing 10311, middle finger refers to root ectoskeleton housing 10309, horizontal the first bar 10302 of middle finger, horizontal the second bar 10305 of middle finger, horizontal the 3rd bar 10307 of intermediate value, longitudinal the first bar 10304 of middle finger, longitudinal the second bar 10306 of middle finger, middle finger power rail 10308, rubber artificial limb finger 10301 and middle finger tip ectoskeleton housing 10302, ectoskeleton housing 10311 in middle finger, middle finger refers to that root ectoskeleton housing 10309 is sticked together, pvc sucker 10310 refers to that with middle finger root ectoskeleton housing 10309 is sticked together, horizontal the first bar 10302 of middle finger is hinged with middle finger finger tip ectoskeleton housing 10302, longitudinal the first bar 10304 of the other end and middle finger is hinged with horizontal the second bar 10305 of middle finger, longitudinal the first bar 10304 of middle finger refers to that with middle finger middle ectoskeleton housing 10311 is hinged, horizontal second bar 10305 other ends of middle finger and longitudinal the second bar 10306 of middle finger and horizontal the 3rd bar 10307 of middle finger are hinged, longitudinal the second bar 10306 of middle finger refers to that with middle finger root ectoskeleton housing 10309 is hinged, horizontal the 3rd bar 10307 of middle finger and middle finger power rail 10308 be hinged coordinates installation.
Wherein, described nameless artificial limb part 104 comprises rubber artificial limb finger 10401, pvc sucker fingerstall 10410, nameless finger tip ectoskeleton housing 10402, the third finger refers to middle ectoskeleton housing 10411, the third finger refers to root ectoskeleton housing 10409, nameless horizontal the first bar 10403, nameless horizontal the second bar 10405, nameless horizontal the 3rd bar 10407, nameless longitudinal the first bar 10404, nameless longitudinal the second bar 10406, nameless power rail 10408, rubber artificial limb finger 10401 and nameless finger tip ectoskeleton housing 10402, the third finger refers to middle ectoskeleton housing 10411, the third finger refers to that root ectoskeleton housing 10402 is sticked together, pvc sucker 10410 refers to that with the third finger root ectoskeleton housing 10409 is sticked together, nameless horizontal the first bar 10403 is hinged with nameless finger tip ectoskeleton housing 10402, the other end is hinged with nameless horizontal the second bar 10405 with nameless longitudinal the first bar 10404, nameless longitudinal the first bar 10404 refers to that with the third finger middle ectoskeleton housing 10411 is hinged, nameless horizontal second bar 10405 other ends are hinged with nameless longitudinal the second bar 10406 and nameless horizontal the 3rd bar 10407, nameless longitudinal the second bar 10406 refers to that with the third finger root ectoskeleton housing 10409 is hinged, nameless horizontal the 3rd bar 10407 and nameless power rail 10408 be hinged coordinates installation.
Wherein, described little finger of toe artificial limb part 105 comprises rubber artificial limb finger 10501, pvc sucker fingerstall 10510, little finger of toe finger tip ectoskeleton housing 10502, little finger of toe refers to middle ectoskeleton housing 10511, little finger of toe refers to root ectoskeleton housing 10509, horizontal the first bar 10503 of little finger of toe, horizontal the second bar 10505 of little finger of toe, horizontal the 3rd bar 10507 of little finger of toe, longitudinal the first bar 10504 of little finger of toe, longitudinal the second bar 10506 of little finger of toe, little finger of toe power rail 10508, rubber artificial limb finger 10501 and little finger of toe finger tip ectoskeleton housing 10502, little finger of toe refers to middle ectoskeleton housing 10511, little finger of toe refers to that root ectoskeleton housing 10509 is sticked together, pvc sucker 10510 refers to that with little finger of toe root ectoskeleton housing 10509 is sticked together, horizontal the first bar 10503 of little finger of toe is hinged with little finger of toe finger tip ectoskeleton housing 10502, longitudinal the first bar 10504 of the other end and little finger of toe is hinged with horizontal the second bar 10505 of little finger of toe, longitudinal the first bar 10504 of little finger of toe refers to that with little finger of toe middle ectoskeleton housing 10511 is hinged, horizontal second bar 10505 other ends of little finger of toe and longitudinal the second bar 10506 of little finger of toe and horizontal the 3rd bar 10507 of little finger of toe are hinged, longitudinal the second bar 10506 of little finger of toe refers to that with little finger of toe root ectoskeleton housing 10509 is hinged, horizontal the 3rd bar 10507 of little finger of toe and little finger of toe power rail 10508 be hinged coordinates installation.
Wherein, described palm housing parts 106 comprises palm palm set 10605, palm ectoskeleton housing (band raster) 10614, forefinger leading block 10601, middle finger leading block 10602, nameless leading block 10603, little finger of toe leading block 10604, forefinger cable wire 10613, middle finger cable wire 10612, nameless cable wire 10611, little finger of toe cable wire 10610, forefinger torsionspring 10615, middle finger torsionspring 10616, nameless torsionspring 10617, little finger of toe torsionspring 10618, forefinger cable guard arm 10609, middle finger cable guard arm 10608, nameless cable guard arm 10607, little finger of toe cable guard arm 10606, palm palm set 10605 is sticked together with palm ectoskeleton housing 10614, forefinger leading block 10601, middle finger leading block 10602, nameless leading block 10603, little finger of toe leading block 10604 is hinged with hinged place corresponding on palm ectoskeleton housing 10614 respectively, forefinger cable wire 10613, middle finger cable wire 10612, nameless cable wire 10603, little finger of toe cable wire 10610 is walked around respectively forefinger leading block 10601, middle finger leading block 10612, nameless leading block 10611, little finger of toe leading block 10604 is respectively through forefinger cable guard arm 10609, middle finger cable guard arm 10608, nameless cable guard arm 10607, little finger of toe cable guard arm 10606, forefinger torsionspring 10615, middle finger torsionspring 10616, nameless torsionspring 10617, little finger of toe torsionspring 10618 is separately fixed at forefinger leading block 10601, middle finger leading block 10612, nameless leading block 10611, little finger of toe leading block 10604 rears coordinate installs.
Wherein, described release link 2 comprises release link front bar 202, Compress Spring 203, release link rear bar 204, universal joint 201, release link front bar 202 and the concentric installation of universal joint 201, release link front bar 202 is coaxially connected with release link rear bar 204, and Compress Spring 203 coordinates installation with release link front bar 202, release link rear bar 204.
Wherein, 4 described cable wire link control modules 304 are respectively forefinger cable wire link control module, middle finger cable wire link control module, nameless cable wire link control module, little finger of toe cable wire link control module, each cable wire link control module 304 includes longitudinal sliding block 30407, rear hook 30403, roundlet pin 30405, Compress Spring 30402, front driving lever 30404, front hook base plate 30406, 30401, longitudinal sliding block 30407 and front hook base plate 30406, 30401 coordinate installation, rear hook 30403 is hinged by roundlet pin 30405 with longitudinal sliding block 30407, Compress Spring 30402 is clipped between longitudinal sliding block 30407 inner chambers and rear hook 30403, front driving lever 30404 and front hook base plate 30406, 30401 hinged cooperations are installed.
Wherein, described ratchet sour jujube bar step-by-step movement selects module 303 to comprise respectively transverse slider housing 30304, transverse slider Compress Spring 30303, on transverse slider, part 30306, under transverse slider, part 30305, clavula pawl 30307, large ratchet 30308, sour jujube bar 30302, sour jujube bar extension spring 30309, wrist cable wire 30301, on transverse slider, part 30306, under transverse slider, part 30305 coordinates installation with clavula pawl 30307 is hinged respectively, large ratchet 30308 and clavula pawl 30307 center of rotation coaxial cooperation also coordinate installation with part on transverse slider 30306 is hinged, transverse slider Compress Spring 30303 packs in transverse slider housing 30304 and coordinates installation with part under transverse slider 30305, part 30306 on sour jujube bar 30302 and transverse slider, under transverse slider, part 30305 coordinates installation, sour jujube bar extension spring 30309 one end and sour jujube bar 30302 are hinged, wrist cable wire 30301 coordinates installation with sour jujube bar hinged 30302.
operation principle:
This utility model relates to a kind of Novel bionic ectoskeleton wire-control type artificial limb, the especially a kind of full mechanical exoskeleton artificial limb that can select each finger to make various different gestures.Comprise: ectoskeleton palm device, connecting device, finger selecting arrangement.Ectoskeleton palm device comprises: thumb artificial limb, forefinger artificial limb, middle finger artificial limb, nameless artificial limb, little finger of toe artificial limb, palm housing.Thumb artificial limb is hinged with the arm housing in finger selecting arrangement by cable wire, and it is crooked by the crooked supply of thumb carpometacarpal joints power, to realize finger; Forefinger artificial limb, middle finger artificial limb, nameless artificial limb, little finger of toe artificial limb are corresponding hinged respectively with four cable wire link control modules in finger selecting arrangement by cable wire, and by wrist flex, supply with power and realize and point bending.The ratchet sour jujube bar step-by-step movement of finger in selecting arrangement selects the sour jujube bar in module to be connected by cable wire with the palm housing in ectoskeleton palm device, and by wrist lateral thrust, supplies with power and realize and drive ratchet sour jujube bar step-by-step movement to select transverse module in module to realize step motion and control four cable wire link control modules wherein change gesture with the disconnection of corresponding cable wire with the state being connected.Reset lid in finger selecting arrangement is hinged by release link and the palm housing in ectoskeleton palm device in connecting device, and by wrist, is bent upwards the power that reset is provided.By cooperatively interacting of each mechanism module, be just free to control the attitude of artificial limb finger with the action of wrist, this utility model also can combine freely dismounting and artificial limb finger, person's easy to use use are installed according to the concrete condition of user simultaneously.
Finally it should be noted that the only restriction for the technical solution of the utility model is described but not to this utility model protection domain of above embodiment.Although this utility model is explained in detail with reference to preferred embodiment, those of ordinary skill in the art should be appreciated that and can modify or be equal to replacement the technical solution of the utility model, and do not depart from essence and the scope of technical solutions of the utility model.
Claims (10)
1. a Novel bionic ectoskeleton wire-control type artificial limb, comprise: ectoskeleton palm device (1), connecting device (2), finger selecting arrangement (3), wherein said ectoskeleton palm device comprises 1 thumb artificial limb (101), 1 forefinger artificial limb (102), 1 middle finger artificial limb (103), 1 third finger (104), 1 little finger of toe artificial limb (105), 1 palm housing (106), wherein said power connector comprises 1 release link (2), wherein said finger selecting arrangement comprises 1 arm housing (301), 1 case lid (302), 1 lid (305) that resets, 4 cable wire link control modules (304), 1 ratchet sour jujube bar step-by-step movement is selected module (303), it is characterized in that: forefinger artificial limb (102), middle finger artificial limb (103), nameless artificial limb (104), little finger of toe artificial limb (105), respectively with the point articulated installation of palm housing (106) corresponding matching, thumb artificial limb (101) passes through (10105) the hinged installation of thumb artificial limb cable wire part with arm housing (301), release link front end universal joint (201) passes through the hinged installation of spherical hinge with palm housing (106), the hinged installation of spherical hinge is crossed with the lid logical (305) that resets in release link rear end (204), 4 cable wire link control module longitudinal sliding blocks part (30407) is the forefinger cable wire (10613) included with palm housing respectively, middle finger cable wire (10612), nameless cable wire (10611), the hinged installation of little finger of toe cable wire (10610) part, ratchet sour jujube bar step-by-step movement selects corresponding cable wire (30301) one end in module (303) to overlap and the hinged installation of palm housing (106) by cable guard arm and cable wire, ratchet sour jujube bar step-by-step movement is selected module (303), 4 cable wire link control modules (304) coordinate installation with arm housing (301) inner chamber side by side, the lid (305) that resets coordinates installation in 4 cable wire link control modules (304) top with arm housing (301), case lid (302) coordinates installation in lid (305) top that resets with arm housing (301).
2. a kind of Novel bionic ectoskeleton wire-control type artificial limb as claimed in claim 1, it is characterized in that: described rubber artificial limb finger (10101) and thumb finger tip ectoskeleton housing (10112), thumb refers to that middle ectoskeleton housing (10111) is sticked together, pvc sucker fingerstall (10102) refers to that with thumb middle ectoskeleton housing (10111) is sticked together, ball palm set (10103) is sticked together with ball ectoskeleton housing (10104), horizontal the first bar of thumb (10110) is hinged with thumb finger tip ectoskeleton housing (10112), horizontal the second bar of longitudinal the first bar of the other end and thumb (10109) and thumb (10107) is hinged, longitudinal the first bar of thumb (10109) refers to that with thumb middle ectoskeleton housing (10111) is hinged, horizontal the second bar (10107) other end of thumb and thumb power rail (10106) are hinged, thumb power rail (10106) is hinged with ball ectoskeleton housing (10104), leading block (10108) is hinged with ball ectoskeleton housing (10104), cable wire (10105) is by leading block (10108) and thumb power rail (10106) is hinged coordinates installation.
3. a kind of Novel bionic ectoskeleton wire-control type artificial limb as claimed in claim 1, it is characterized in that: described rubber artificial limb finger (10201) and forefinger finger tip ectoskeleton housing (10202), forefinger refers to middle ectoskeleton housing (10211), forefinger refers to that root ectoskeleton housing (10209) is sticked together, pvc sucker (10210) refers to that with forefinger root ectoskeleton housing (10209) is sticked together, horizontal the first bar of forefinger (10203) is hinged with forefinger finger tip ectoskeleton housing (10202), longitudinal the first bar of the other end and forefinger (10204) is hinged with horizontal the second bar of forefinger (10206), longitudinal the first bar of forefinger (10204) refers to that with forefinger middle ectoskeleton housing (10211) is hinged, horizontal the 3rd bar (10207) of horizontal the second bar (10205) other end of forefinger and longitudinal the second bar of forefinger (10206) and forefinger is hinged, longitudinal the second bar of forefinger (10206) refers to that with forefinger root ectoskeleton housing (10209) is hinged, horizontal the 3rd bar (10207) of forefinger and forefinger power rail (10208) be hinged coordinates installation.
4. a kind of Novel bionic ectoskeleton wire-control type artificial limb as claimed in claim 1, it is characterized in that: described rubber artificial limb finger (10301) and middle finger tip ectoskeleton housing (10302), ectoskeleton housing (10311) in middle finger, middle finger refers to that root ectoskeleton housing (10309) is sticked together, pvc sucker (10310) refers to that with middle finger root ectoskeleton housing (10309) is sticked together, horizontal the first bar of middle finger (10302) is hinged with middle finger finger tip ectoskeleton housing (10302), longitudinal the first bar of the other end and middle finger (10304) is hinged with horizontal the second bar of middle finger (10305), longitudinal the first bar of middle finger (10304) refers to that with middle finger middle ectoskeleton housing (10311) is hinged, horizontal the 3rd bar (10307) of horizontal the second bar (10305) other end of middle finger and longitudinal the second bar of middle finger (10306) and middle finger is hinged, longitudinal the second bar of middle finger (10306) refers to that with middle finger root ectoskeleton housing (10309) is hinged, horizontal the 3rd bar (10307) of middle finger and middle finger power rail (10308) be hinged coordinates installation.
5. a kind of Novel bionic ectoskeleton wire-control type artificial limb as claimed in claim 1, it is characterized in that: described rubber artificial limb finger (10401) and nameless finger tip ectoskeleton housing (10402), the third finger refers to middle ectoskeleton housing (10411), the third finger refers to that root ectoskeleton housing (10402) is sticked together, pvc sucker (10410) refers to that with the third finger root ectoskeleton housing (10409) is sticked together, nameless horizontal the first bar (10403) is hinged with nameless finger tip ectoskeleton housing (10402), the other end is hinged with nameless longitudinal the first bar (10404) and nameless horizontal the second bar (10405), nameless longitudinal the first bar (10404) refers to that with the third finger middle ectoskeleton housing (10411) is hinged, nameless horizontal the second bar (10405) other end is hinged with nameless longitudinal the second bar (10406) and nameless horizontal the 3rd bar (10407), nameless longitudinal the second bar (10406) refers to that with the third finger root ectoskeleton housing (10409) is hinged, nameless horizontal the 3rd bar (10407) and nameless power rail (10408) be hinged coordinates installation.
6. a kind of Novel bionic ectoskeleton wire-control type artificial limb as claimed in claim 1, it is characterized in that: described rubber artificial limb finger (10501) and little finger of toe finger tip ectoskeleton housing (10502), little finger of toe refers to middle ectoskeleton housing (10511), little finger of toe refers to that root ectoskeleton housing (10509) is sticked together, pvc sucker (10510) refers to that with little finger of toe root ectoskeleton housing (10509) is sticked together, horizontal the first bar of little finger of toe (10503) is hinged with little finger of toe finger tip ectoskeleton housing (10502), longitudinal the first bar of the other end and little finger of toe (10504) is hinged with horizontal the second bar of little finger of toe (10505), longitudinal the first bar of little finger of toe (10504) refers to that with little finger of toe middle ectoskeleton housing (10511) is hinged, horizontal the 3rd bar (10507) of horizontal the second bar (10505) other end of little finger of toe and longitudinal the second bar of little finger of toe (10506) and little finger of toe is hinged, longitudinal the second bar of little finger of toe (10506) refers to that with little finger of toe root ectoskeleton housing (10509) is hinged, horizontal the 3rd bar (10507) of little finger of toe and little finger of toe power rail (10508) be hinged coordinates installation.
7. a kind of Novel bionic ectoskeleton wire-control type artificial limb as claimed in claim 1, is characterized in that: described palm palm set (10605) is sticked together with palm ectoskeleton housing (10614), forefinger leading block (10601), middle finger leading block (10602), nameless leading block (10603), little finger of toe leading block (10604) is hinged with the upper corresponding hinged place of palm ectoskeleton housing (10614) respectively, forefinger cable wire (10613), middle finger cable wire (10612), nameless cable wire (10603), little finger of toe cable wire (10610) is walked around respectively forefinger leading block (10601), middle finger leading block (10612), nameless leading block (10611), little finger of toe leading block (10604) is respectively through forefinger cable guard arm (10609), middle finger cable guard arm (10608), nameless cable guard arm (10607), little finger of toe cable guard arm (10606), forefinger torsionspring (10615), middle finger torsionspring (10616), nameless torsionspring (10617), little finger of toe torsionspring (10618) is separately fixed at forefinger leading block (10601), middle finger leading block (10612), nameless leading block (10611), little finger of toe leading block (10604) rear coordinates installs.
8. a kind of Novel bionic ectoskeleton wire-control type artificial limb as claimed in claim 1, it is characterized in that: described release link front bar (202) and the concentric installation of universal joint (201), release link front bar (202) is coaxially connected with release link rear bar (204), and Compress Spring (203) coordinates installation with release link front bar (202), release link rear bar (204).
9. a kind of Novel bionic ectoskeleton wire-control type artificial limb as claimed in claim 1, it is characterized in that: each described cable wire link control module (304) includes longitudinal sliding block (30407), rear hook (30403), roundlet pin (30405), Compress Spring (30402), front driving lever (30404), front hook base plate (30406), (30401), longitudinal sliding block (30407) and front hook base plate (30406), (30401) coordinate and install, rear hook (30403) is hinged by roundlet pin (30405) with longitudinal sliding block (30407), Compress Spring (30402) is clipped between longitudinal sliding block (30407) inner chamber and rear hook (30403), front driving lever (30404) and front hook base plate (30406), (30401) hinged cooperation is installed.
10. a kind of Novel bionic ectoskeleton wire-control type artificial limb as claimed in claim 1, it is characterized in that: part (30306) on described transverse slider, under transverse slider, part (30305) coordinates installation with little ratchet (30307) is hinged respectively, large ratchet (30308) and little ratchet (30307) center of rotation coaxial cooperation also coordinate installation with partly (30306) are hinged on transverse slider, transverse slider Compress Spring (30303) packs in transverse slider housing (30304) and coordinates installation with part (30305) under transverse slider, part (30306) on sour jujube bar (30302) and transverse slider, under transverse slider, part (30305) coordinates installation, sour jujube bar extension spring (30309) one end and sour jujube bar (30302) are hinged, wrist cable wire (30301) coordinates installation with sour jujube bar hinged (30302).
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| CN201420329563.0U CN203935304U (en) | 2014-06-20 | 2014-06-20 | A kind of Novel bionic ectoskeleton wire-control type artificial limb |
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| CN201420329563.0U CN203935304U (en) | 2014-06-20 | 2014-06-20 | A kind of Novel bionic ectoskeleton wire-control type artificial limb |
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| CN106078699A (en) * | 2016-08-15 | 2016-11-09 | 黄河科技学院 | Hand decompression machinery ESD |
| CN106112986A (en) * | 2016-08-15 | 2016-11-16 | 黄河科技学院 | Porter is with mechanical exoskeleton hand decompressor |
| CN106112987A (en) * | 2016-08-15 | 2016-11-16 | 黄河科技学院 | The thumb in fingers out skeleton bending of hand decompression machinery ESD captures actuating unit |
| CN106239485A (en) * | 2016-09-23 | 2016-12-21 | 合肥工业大学 | Wearable thumb rehabilitation training machinery hands |
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| CN107920906A (en) * | 2015-09-09 | 2018-04-17 | 埃克苏仿生公司 | For forming the system and method for the ectoskeleton made to measure |
| RU183424U1 (en) * | 2017-11-29 | 2018-09-21 | Федеральное государственное автономное образовательное учреждение высшего образования "Сибирский федеральный университет" (СФУ) | ACTIVE TRACTION BRUSH PROSTHESIS |
| CN109806114A (en) * | 2019-03-21 | 2019-05-28 | 京东方科技集团股份有限公司 | A kind of hand convalescence device |
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| CN107920906A (en) * | 2015-09-09 | 2018-04-17 | 埃克苏仿生公司 | For forming the system and method for the ectoskeleton made to measure |
| CN106078699B (en) * | 2016-08-15 | 2018-06-22 | 黄河科技学院 | The mechanical exoskeleton device of hand decompression |
| CN106112986A (en) * | 2016-08-15 | 2016-11-16 | 黄河科技学院 | Porter is with mechanical exoskeleton hand decompressor |
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| CN106078699A (en) * | 2016-08-15 | 2016-11-09 | 黄河科技学院 | Hand decompression machinery ESD |
| CN106112986B (en) * | 2016-08-15 | 2018-05-22 | 黄河科技学院 | Porter is with mechanical exoskeleton hand decompressor |
| CN106112987B (en) * | 2016-08-15 | 2018-05-22 | 黄河科技学院 | The thumb in fingers out bone bending crawl actuating unit of the mechanical exoskeleton device of hand decompression |
| CN106239485A (en) * | 2016-09-23 | 2016-12-21 | 合肥工业大学 | Wearable thumb rehabilitation training machinery hands |
| CN106239485B (en) * | 2016-09-23 | 2018-05-04 | 合肥工业大学 | Wearable thumb rehabilitation training machinery hand |
| CN106426241A (en) * | 2016-10-21 | 2017-02-22 | 合肥工业大学 | Human hand simulating mechanical paw |
| CN106426241B (en) * | 2016-10-21 | 2019-04-30 | 合肥工业大学 | Apery hand mechanical paw |
| RU183424U1 (en) * | 2017-11-29 | 2018-09-21 | Федеральное государственное автономное образовательное учреждение высшего образования "Сибирский федеральный университет" (СФУ) | ACTIVE TRACTION BRUSH PROSTHESIS |
| CN109806114A (en) * | 2019-03-21 | 2019-05-28 | 京东方科技集团股份有限公司 | A kind of hand convalescence device |
| CN109864838A (en) * | 2019-04-09 | 2019-06-11 | 唐山康义合纵科技有限公司 | The wearable compound rod piece prosthetic hand of resilient stiff refers to |
| CN109864838B (en) * | 2019-04-09 | 2024-02-23 | 温岭市大翰弘知智能科技有限公司 | Wearable elastic rigid composite rod artificial finger |
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