CN206063263U - Bionical prosthetic hand - Google Patents

Abstract

This utility model provides a kind of bionical prosthetic hand, and which includes：Palm component；Finger part, which has forefinger component, middle finger assembly, unknown finger assembly, little finger assembly and thumb component, and the forefinger component, the middle finger assembly, the unknown finger assembly and the little finger assembly can be opened and closed to be connected to the upper end of the palm component respectively；Tiger's jaw part, which can vertically be rotationally connected with the inner side of the palm component, and the thumb component can be opened and closed to be connected to the tiger's jaw part.Bionical prosthetic hand of the present utility model, its thumb component being capable of inward turning or outward turning, and forefinger component, middle finger assembly, unknown finger assembly, little finger assembly and thumb component can be realized stretching or flexing action, the bionical prosthetic hand is lightweight, facilitates patient's long-time to wear and use.

Description

Bionical prosthetic hand

Technical field

This utility model is related to a kind of prosthetic hand, more particularly to the bionical artificial limb in a kind of rehabilitation medical instrument field Handss.

Background technology

Myoelectric limb handss can replace the limbs of incompleteness, can provide just for the daily life of upper deficiency of skeletal limb people with disability patient Profit, is one of the important research direction in current rehabilitation engineering field.

Safe ratio control myoelectric limb handss only this three fingers of thumb, forefinger and middle finger in existing product, it is only Can realize that handss open or close the action of this single-mode to complete crawl；In addition, safe ratio control myoelectric limb handss The integrated construction of finger, it is impossible to realize based on multiarticulate coupled motions.Therefore, this product practicality in daily life Property is not high.

Also there is in existing product the prosthetic hand of five fingers, in addition to nameless and little finger of toe carries out coupled motions, can be single Every finger motion is solely controlled, more hand motion is realized；And four fingers in addition to thumb possess in addition to remote finger joint joint Two articular couples the characteristics of move.But, the metacarpal bone carpal joint of the thumb of this kind of prosthetic hand does not possess independent degree, because The spinning movement of this thumb inward turning or outward turning needs to aid in by manual rotating；Although in addition, it realize outward appearance, in action Bionic Design, but larger burden is caused to patient because of heavier-weight (weigh more than 500g), be not suitable for long-time wear.

At present, although existing multi-freedom degree muscle-electric prosthetic hand give degree of freedom to each joint realize single finger and The self-movement in joint, actionable quantity are more, but as number of motors is numerous, cause control system complicated, and maintenance cost is high； Further, since heavier-weight, directly result in easily occur aching after patient's long-time is worn, fatigue the problems such as, so as to grow Time wears and uses.Therefore, this kind of prosthetic hand is not only had a greatly reduced quality in practicality, and in place of most critical be price not It is luxuriant and rich with fragrance, it is difficult to be received towards general patient by general family.

Secondly, myoelectric limb handss on the market make weight in configuration aspects as main part adopts metal material, not only Increase, and joint vice division chief is using the traditional transmission mode such as gear, and multistage engagement causes that transmission efficiency is poor, the moment of torsion of motor is obtained Do not play to the limit, finally causing needs using the larger high pulling torque output motor of expensive, volume to be made up. But such remedial measure improves cost on the contrary, weight is additionally increased.

In addition, the myoelectric limb handss both deposited are on Grasping skill and barely satisfactory, not only in grasping body due to other The interference of finger and cause user to have to by the assisted movement of upper limb to convert and adjust suitable crawl posture, and When object is grasped, crawl object is caused as finger pulp structure does not possess the viscous-elastic behaviour containing certain cladding power and frictional force Stability it is inadequate.Also, when finger is subject to lateral (parallel to palm plane) external force to act on, because being not provided with load protection Structure and cause finger-joint to be susceptible to damage, and the practicality of whole prosthetic hand is had a greatly reduced quality, and this is also direct User is caused to think that myoelectric limb manual dexterity is not enough, the not high big reason of practicality.

Furthermore, due to existing myoelectric limb handss profile it is not bionical enough, when patient is worn in public using prosthetic hand Easily cause the attention of surrounding population, produce wearer and contradict psychology, so as to reduce using wish, cause which use nothing The cosmetic limb handss of any holding function, also resist using not bionical enough the myoelectric limb handss of profile.

Utility model content

The purpose of this utility model is to provide a kind of bionical prosthetic hand, its thumb component can inward turning or outward turning, and forefinger Component, middle finger assembly, unknown finger assembly, little finger assembly and thumb component can be realized stretching or flexing action, the bionical artificial limb Handss are lightweight, profile is bionical, facilitate patient's long-time to wear and use.

Above-mentioned purpose of the present utility model can be realized using following technical proposal：

This utility model provides a kind of bionical prosthetic hand, and the bionical prosthetic hand includes：

Palm component；

Finger part, which has forefinger component, middle finger assembly, unknown finger assembly, little finger assembly and thumb component, the food Finger assembly, the middle finger assembly, the unknown finger assembly and the little finger assembly can be opened and closed to be connected to the palmar hand respectively The upper end of part；

Tiger's jaw part, which can vertically be rotationally connected with the inner side of the palm component, and the thumb component can be opened and closed It is connected to the tiger's jaw part.

In a preferred embodiment, finger actuation motor is provided with the palm component, on the finger actuation motor Rotary shaft is connected with, and in the rotary shaft, multiple annular grooves, the forefinger component, the middle finger group is provided with along its axial direction Part, the unknown finger assembly, the little finger assembly and the thumb component pass through tendon of index finger rope, tendon of middle finger rope, the third finger respectively Tendon rope, tendon of little finger rope and tendon of thumb rope are connected in multiple annular grooves of the rotary shaft.

In a preferred embodiment, the length of the nameless tendon rope, the length of the tendon of little finger rope are all higher than described The length of the length of tendon of index finger rope and the tendon of middle finger rope.

In a preferred embodiment, cavity, the finger actuation motor and the rotation are provided with the palm component Axle is respectively positioned in the cavity, and the cavity is externally provided with protective cover plate.

In a preferred embodiment, the palm component is provided with thumb drives motor, and the tiger's jaw part is connected to The rotating shaft of the thumb drives motor, one end of the thumb component are articulated in the tiger's jaw part.

In a preferred embodiment, tiger's jaw slide plate is connected with the thumb component, the tiger's jaw slide plate is slidably It is plugged in the tiger's jaw part, the tiger's jaw slide plate is provided with chute, the tiger's jaw part is provided with spacing plug, the limit Position plug is located in the chute.

In a preferred embodiment, the forefinger component, the middle finger assembly, the unknown finger assembly, the little finger of toe Elastic webbing is respectively arranged with the finger back of the body of component and the thumb component, the elastic webbing is connected to the palm component.

In a preferred embodiment, the forefinger component, the middle finger assembly, the unknown finger assembly and the little finger of toe The structure all same of component, which is respectively by the nearly finger joint joint piece, middle finger joint joint piece and remote finger joint joint piece group being sequentially connected Into the nearly finger joint joint piece passes through the tendon of index finger rope, the tendon of middle finger rope, the nameless tendon rope or the tendon of little finger rope The rotary shaft is connected to, the middle finger joint joint piece is rotatably connected at the upper end of the nearly finger joint joint piece, described remote Finger joint joint piece is connected to the upper end of the middle finger joint joint piece.

In a preferred embodiment, elastic component is provided with the nearly finger joint joint piece, one end of the elastic component passes through Upper tendon rope is connected to the middle finger joint joint piece, and the other end of the elastic component is connected to the palm component by lower tendon rope.

In a preferred embodiment, the remote finger joint joint piece is shaped in the middle finger joint joint piece；Or, institute State remote finger joint joint piece the middle finger joint joint piece is fixedly connected on by multiple plugs.

In a preferred embodiment, the thumb component includes being sequentially connected metacarpal bone wrist joints, nearly finger joint joint Part and remote finger joint joint piece, the metacarpal bone wrist joints are connected to the rotary shaft, the nearly finger by the tendon of thumb rope Section joint piece is connected to the metacarpal bone wrist joints by plug, and the remote finger joint joint piece is connected to the nearly finger by plug Section joint piece.

In a preferred embodiment, the remote finger joint joint piece includes joint piece skeleton body and is connected to the joint Finger pulp structure on part skeleton body.

In a preferred embodiment, the finger pulp structure and the joint piece skeleton body by 3D printer one into Type；Or, the finger pulp structure is connected to the joint piece skeleton body by bonding or mosaic mode.

The characteristics of bionical prosthetic hand of the present utility model and advantage are：

First, this utility model devises a kind of only using two micro-machines (that is, finger actuation motor and thumb drives electricity Machine) as driving, to drive thumb component, forefinger component, middle finger assembly, unknown finger assembly and little finger assembly this five handss respectively The stretching, extension or flexing action of finger, and inward turning or the outward turning action of the metacarpal bone wrist joints of thumb component.That is, this utility model Thumb component inward turning or outer is driven by the thumb drives motor for driving thumb inward turning or outward turning that is connected on tiger's jaw part Rotation, so that thumb component vertically can be rotated to forms parallel or opposition different spatial with other four finger components； And five finger component flexings or stretching, extension are driven simultaneously by the rotary shaft of finger actuation motor.So as to realize thumb component with Other four finger components coordinate the grip crawl, accurate crawl and the side that complete various forms to capture these three in the normal day for human beings The main grasp mode of shared ratio up to 85% in often living.

2nd, this utility model drives five finger components to stretch simultaneously or flexing by the rotary shaft of finger actuation motor, The path of the different tendon rope pipelines by being arranged in palm component, so that matching is located in difference in different tendon rope pipelines The tendon rope of length is realizing the isolated movement of finger component.I.e. this utility model derives unknown finger assembly and little finger assembly again Segregation lag is moved, and makes unknown finger assembly and little finger assembly be designed as producing relative to forefinger component and middle finger assembly from structure Postpone flexing, touched or interference problem with being prevented effectively from false touch.So just cause in accurate crawl, it is to avoid unknown finger assembly And the phenomenon that little finger assembly occurs misoperation or cannot capture prior to forefinger component and middle finger component touch object, improve and grab Take ability.

3rd, this utility model is calculated according to the different length of every finger component and have matched what stiffness factor was adapted to the most Five elastic webbings, each elastic webbing are separately positioned on the finger back portion of each finger component.That is, power source is replied as passive, if Put and refer to that the elastic webbing at the back of the body pulls on each finger component and realizes stretching in five finger components.It is embodied in, works as handss Refer to that motor drives rotary shaft reversion, while loosening traction each finger component tendon rope, each finger component will refer to the back of the body due to which Locate the resilience force of each elastic webbing and return to the state that the five fingers open, so as to realize the stretching of each finger component.

4th, the finger pulp structure of the flexibility of remote finger joint joint piece of the present utility model can pass through with rigid joint piece skeleton body 3D printer is integrally formed, and the operation caused with removing installation or bonding from increases and cost is improved；Or, flexible finger pulp knot Structure can also be connected to joint piece skeleton body by bonding or mosaic mode.The finger pulp structure is to be constituted using flexible rubber-like materials Flexible structure, contact area when finger component crawl object is improved with this and strengthen surface friction property, lifting grabs Cladding power and skin-friction force when taking article, to greatly improve the stability for grasping object.

5th, with regard to without friction structure part, for example：Quote " in addition, in the revolution of nearly finger joint joint piece and palm component The heart and middle finger joint joint piece and the centre of gyration of nearly finger joint joint piece, are single-revolution line, due to being edge at those joint pieces The respective centre of gyration is formed and linear contact lays construction produced without friction is constituted with other joints, prevented traditional articulation pair by Rubbing action is produced when mutual face contact causes in motion and weakens the situation of finger power output.It is of the present utility model this Planting friction free linear contact lay construction can be by the output force efficiency of finger actuation motor maximized output to each finger component On." or " compared to existing prosthetic hand by the way of joint is connected using axle with joint, will certainly be in its face that contacts with each other Between produce frictional force so as to reducing the delivery efficiency of power.Using non-between each joint piece of each finger component of the present utility model Axle connects, i.e. linear contact lay mode, therefore frictional force is zero, it is to avoid to the internal loss caused by the output of finger motor ".

Description of the drawings

For the technical scheme being illustrated more clearly that in this utility model embodiment, below will be to needed for embodiment description Accompanying drawing to be used is briefly described, it should be apparent that, drawings in the following description are only some realities of the present utility model Example is applied, for those of ordinary skill in the art, on the premise of not paying creative work, can be with according to these accompanying drawings Obtain other accompanying drawings.

Fig. 1 is the front view of bionical prosthetic hand of the present utility model.

Fig. 2 is the rearview of bionical prosthetic hand of the present utility model.

Fig. 3 is the structural representation of the palm component of bionical prosthetic hand of the present utility model.

Fig. 4 is the structural representation of the thumb component of bionical prosthetic hand of the present utility model.

Fig. 5 is the structural representation one of the forefinger component of bionical prosthetic hand of the present utility model.

Fig. 6 is the structural representation two of the forefinger component of bionical prosthetic hand of the present utility model.

Specific embodiment

Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is carried out Clearly and completely describe, it is clear that described embodiment is only this utility model a part of embodiment, rather than whole Embodiment.Based on the embodiment in this utility model, those of ordinary skill in the art are not under the premise of creative work is made The every other embodiment for being obtained, belongs to the scope of this utility model protection.

As depicted in figs. 1 and 2, this utility model provides a kind of bionical prosthetic hand, and which includes palm component 1, finger part 2 With tiger's jaw part 3, wherein：Finger part 2 has forefinger component 21, middle finger assembly 22, unknown finger assembly 23,24 and of little finger assembly Thumb component 25, the forefinger component 21, the middle finger assembly 22, the unknown finger assembly 23 and the little finger assembly 24 are distinguished Can be opened and closed to be connected to the upper end of the palm component 1；Tiger's jaw part 3 can vertically be rotationally connected with the palm component 1 Inner side, the thumb component 25 can be opened and closed to be connected to the tiger's jaw part 3.

Specifically, palm component 1 is the part of the similar human hand shape of a contour structures, in this utility model, the palm The global shape of part 1 has carried out Bionic Design according to the average-size and size of the adult female right hand；The palm component 1 is at which Both sides and the structure being close at wrist are both designed as fillet surface moulding, more realistically to simulate the outer shape of staff. In the present embodiment, the lower end of the palm component 1 (that is, the palm component 1 be connected with wrist end) is connected with and can be extended The connecting shaft 11 of wrist joint, facilitates later stage extension wrist function or uses directly as end is fixedly connected.

Finger part 2 is by forefinger component 21, middle finger assembly 22, unknown finger assembly 23, little finger assembly 24 and thumb component 25 Composition, wherein, forefinger component 21, middle finger assembly 22, unknown finger assembly 23 and little finger assembly 24 are connected to palm component 1 Upper end.In this utility model, the position angle that the forefinger component 21, middle finger assembly 22 are located on palm component 1 is fit to essence The position of spatial conjugate analytical Calculation during close crawl；And unknown finger assembly 23, little finger assembly 24 are located at the position on palm component 1 Angle setting degree then meets the irregular cambered surface distribution of staff.In the present embodiment, as shown in figure 3, finger drive is provided with palm component 1 Galvanic electricity machine 4, is connected with rotary shaft 41 on the finger actuation motor 4, and the rotary shaft 41 is by multiple plugs 42 and finger actuation electricity The rotating shaft of machine 4 is connected；Sliding bearing 43 is provided with the outside of palm component 1, in the sliding bearing 43, central shaft is equipped with 44, rotary shaft 41 will be positioned and be supported by sliding bearing 43 and central shaft 44.In the rotary shaft 41 along between its axial direction Every being provided with multiple annular grooves 411, the forefinger component 21, middle finger assembly 22, unknown finger assembly 23, little finger assembly 24 and thumb group Part 25 is connected by tendon of index finger rope 211, tendon of middle finger rope 221, nameless tendon rope 231, tendon of little finger rope 241 and tendon of thumb rope 251 respectively It is connected in multiple annular grooves 411 of rotary shaft 41, so as to the finger actuation motor 4 can be by above tendon rope (that is, tendon of index finger Rope 211, tendon of middle finger rope 221, nameless tendon rope 231, tendon of little finger rope 241 and tendon of thumb rope 251) drive each finger component ( That is, forefinger component 21, middle finger assembly 22, unknown finger assembly 23, little finger assembly 24 and thumb component are 25) completing jointly the five fingers Flexing action (that is, closed action).Thus, when finger actuation motor 4 drives rotary shaft 41 to rotate forward, five tendons just can be driven Rope drives five finger components to realize closed action；And during the driving reversion of rotary shaft 41 of finger actuation motor 4, equivalent to by five Tendon rope loosens, and is that the expansion action for realizing five finger components is prepared.

In the present embodiment, as shown in figure 3, being provided with five cabling pipelines in palm component 1, five cabling pipelines include Tendon of index finger rope pipeline 12, tendon of middle finger rope pipeline 13, nameless tendon rope pipeline 14, tendon of little finger rope pipeline 15 and tendon of thumb rope pipeline 16, wherein, tendon of index finger rope 211 is located in tendon of index finger rope pipeline 12, and tendon of middle finger rope 221 is located in tendon of middle finger rope pipeline 13, Nameless tendon rope 231 is located in nameless tendon rope pipeline 14, and tendon of little finger rope 241 is located in tendon of little finger rope pipeline 15, thumb Tendon rope 251 is located in tendon of thumb rope pipeline 16.Further, cavity 17, above-mentioned five cabling pipelines are provided with the palm component 1 It is connected with cavity 17 respectively, the cavity 17 is respectively positioned on located at the top of palm component 1, finger actuation motor 4 and rotary shaft 41 In the cavity 17.In the present embodiment, as shown in Fig. 2 the cavity 17 is externally provided with a protective cover plate 18.Due to tendon of index finger rope 211, Tendon of middle finger rope 221, nameless tendon rope 231, tendon of little finger rope 241 and tendon of thumb rope 251 are to drive forefinger component 21, middle finger assembly 22nd, the accurate core running part of unknown finger assembly 23, little finger assembly 24 and thumb component 25, and it is imitative to consider that profile needs Life is simulated the actual form of staff and no longer additionally increases unnecessary spatial volume, it is therefore desirable to by arranging built-in cavity 17 carry out to which dust-proof and avoid the protective treatment of abnormal contact placing above-mentioned running part and protective cover plate 18.

In view of in accurate crawl, if forefinger component 21, middle finger assembly 22, unknown finger assembly 23 and little finger assembly 24 Simultaneously with identical angular velocity flexing, then unknown finger assembly 23, little finger assembly 24 are susceptible to elder generation to this four finger components Lead in other three finger components (that is, forefinger component 21, middle finger assembly 22 and thumb component 25) contact crawl object The problems such as causing false touch to touch or interfere, such as, when crawl is positioned over the small size object in plane, generally require thumb component 25th, forefinger component 21 and middle finger assembly 22 cooperatively form the accurate kneading of three point contact, and now unknown finger assembly 23 and little finger of toe If component 24 is with identical speed while flexing and then contact plane, can cause the bionical prosthetic hand realize three finger groups 3 points of accurate kneading actions of part, so that accurate grasping movement can not be realized well or capture failure.

Therefore, in an embodiment of the present utility model, by the length of nameless tendon rope 231, tendon of little finger rope 241 Length is both designed as the length of length and tendon of middle finger rope 221 more than tendon of index finger rope 211.

Specifically, the length of above-mentioned nameless tendon rope 231 refers to that the nameless tendon rope 231 is connected with unknown finger assembly 23 certainly The one end for connecing refers to the tendon of little finger to the physical length being connected between one end of rotary shaft 41, the length of the tendon of little finger rope 241 241 are restricted from the one end being connected with little finger assembly 24 to the physical length being connected between one end of rotary shaft 41, the tendon of index finger The length of rope 211 refers to the tendon of index finger rope 211 from the one end being connected with forefinger component 21 to the one end for being connected to rotary shaft 41 Between physical length, the length of the tendon of middle finger rope 221 refers to the tendon of middle finger rope 221 from the one end being connected with middle finger assembly 22 To the physical length being connected between one end of rotary shaft 41.Because of tendon of index finger rope 211, tendon of middle finger rope 221, nameless tendon rope 231 The tendon of index finger rope pipeline 12 in palm component 1, tendon of middle finger rope pipeline 13, the third finger are located in respectively with tendon of little finger rope 241 In tendon rope pipeline 14, tendon of little finger rope pipeline 15, therefore this utility model is by the length of nameless tendon rope 231, tendon of little finger rope 241 Length is both designed as the length of length and tendon of middle finger rope 221 more than tendon of index finger rope 211, that is, by nameless tendon rope pipeline 14 Length and the length of tendon of little finger rope pipeline 15 be both designed as length and tendon of middle finger rope pipeline 13 more than tendon of index finger rope pipeline 12 Length.

The path of different tendon rope pipelines of this utility model by being arranged in palm component 1, so that matching wears Different tendon rope length degree in the different tendon rope pipelines make unknown finger assembly 23 and little finger of toe realizing the isolated movement of each finger component The slow curvature movement in forefinger component 21 and middle finger assembly 22 of curvature movement of component 24；By such mode, thumb group Part 25, forefinger component 21 and middle finger assembly 22 will be faster than unknown finger assembly 23 and little finger assembly 24 reaches shape before same flexion angle The accurate kneading actions of Cheng Sandian, so as to avoid above-mentioned carried false touch from touching or interference problem.

In an embodiment of the present utility model, as shown in figures 1 and 3, thumb drives electricity is additionally provided with the palm component 1 Machine 5, tiger's jaw part 3 are connected to the rotating shaft 51 of thumb drives motor 5, and one end of thumb component 25 is articulated in the tiger's jaw part 3.

In the present embodiment, please refer to shown in Fig. 4, the thumb component 25 includes the metacarpal bone wrist joints being sequentially connected 252nd, nearly finger joint joint piece 253 and remote finger joint joint piece 254, metacarpal bone wrist joints 252 is connected to handss by tendon of thumb rope 251 Refer to the rotary shaft 41 of motor 4, nearly finger joint joint piece 253 is connected to metacarpal bone wrist joints 252, remote finger joint by plug 255 Joint piece 254 is connected to nearly finger joint joint piece 253 by plug (not shown).

The metacarpal bone wrist joints 252 has pivot end 2521, pivot joint of the thumb component 25 by metacarpal bone wrist joints 252 The opposite sides that end 2521 is articulated in tiger's jaw part 3 so that the thumb component 25 can with respect to tiger's jaw part 3 realize flexing or Stretching.Further, tiger's jaw slide plate 256 is connected with the metacarpal bone wrist joints 252 of the thumb component 25, the tiger's jaw slide plate 256 are slidably plugged in tiger's jaw part 3, and tiger's jaw slide plate 256 is provided with chute 2561, and tiger's jaw part 3 is provided with spacing inserting Bolt 31, the spacing plug 31 are fixed on tiger's jaw part 3 through chute 2561.When tiger's jaw slide plate 256 is existed by tendon of thumb rope 251 When sliding in tiger's jaw part 3, namely thumb component 25, when realizing flexing or stretching, the chute 2561 is relative to spacing plug 31 reciprocatingly slide, so as to limit maximum limit position of the tiger's jaw slide plate 256 in tiger's jaw part 3, with the palm to thumb component 25 Bone wrist joints 252 occur flexing or stretch when angle carry out it is spacing, with prevent metacarpal bone wrist joints 252 slide process The middle situation for departing from tiger's jaw part 3 occurs, and can reach elimination angular error and thumb component 25 at extension limit position Increase the purpose of intensity.

One end floating location is fixed using one end between tiger's jaw part 3 of the present utility model and thumb drives motor 5 to connect Connect.Specifically, the thumb drives motor 5 is arranged on the inner side middle and lower part of palm component 1, the upper end of the tiger's jaw part 3 and thumb Refer to that the rotating shaft 51 of motor 5 is fixedly connected；The other end of tiger's jaw part 3 is provided with connecting hole 32, and connecting hole 32 is matched somebody with somebody by gap The mode of conjunction is connected to the short axle 10 of palm component lower end to form a rotation pair.When the rotating shaft 51 of thumb drives motor 5 is followed When which rotates, connected tiger's jaw part 3 will be driven so as to drive thumb component 25 to realize inward turning or outward turning action；And This one end is fixed the connected mode of one end floating and had not only ensured that the smooth of 25 inward turning of thumb component or outward turning action freely but also was Which provides rigid support.

This utility model drives thumb component 25 by the tiger's jaw part 3 being connected in the rotating shaft 51 of thumb drives motor 5 Inward turning or outward turning, so that thumb component 25 can rotate to parallel with remaining four finger or opposition different spatial；Also pass through The rotary shaft 41 of finger actuation motor 4 drives five finger components (that is, forefinger component 21, middle finger assembly 22, unknown finger assembly 23rd, 25) little finger assembly 24 and thumb component realize flexing or stretching, extension.The inward turning of thumb component 25 or outward turning and five finger components Flexing or stretch the grip crawl for completing various forms, accurate crawl and side will be coordinated to capture these three grasp modes, and This polymorphic grasping movement shared ratio in normal person's daily life is up to 85%.

According to an embodiment of the present utility model, the forefinger component 21, middle finger assembly 22, unknown finger assembly 23 and little The structure all same of finger assembly 24, which is respectively by the nearly finger joint joint piece 61, middle finger joint joint piece 62 being sequentially connected and remote finger joint Joint piece 63 is constituted, and the nearly finger joint joint piece 61 is by tendon of index finger rope 211, tendon of middle finger rope 221, nameless tendon rope 231 or little finger of toe Tendon rope 241 is connected to rotary shaft 41, and middle finger joint joint piece 62 is rotatably connected at the upper end of nearly finger joint joint piece 61, remote finger joint Joint piece 63 is connected to the upper end of middle finger joint joint piece 62.

Specifically, due to the forefinger component 21, middle finger assembly 22, unknown finger assembly 23 and little finger assembly 24 except finger is closed It is beyond section length difference, consistent in structure, therefore only carry out structure explanation here by taking forefinger component 21 as an example.Such as Fig. 5 With shown in Fig. 6, the forefinger component 21 is by nearly finger joint joint piece 61, middle finger joint joint piece 62 and remote 63 this three part of finger joint joint piece Composition.The drive mechanism of the forefinger component 21 is that the finger actuation motor 4 by being arranged in palm component 1 drives tendon of index finger rope 211 driving nearly 61 action of finger joint joint piece, and wherein one end of tendon of index finger rope 211 passes through tendon of index finger rope pipeline 12 and finger actuation The rotary shaft 41 of motor 4 is connected, and its other end is fixed on the inside of nearly finger joint joint piece 61 by cable hole 611；Drive in finger While the rotary shaft 41 of galvanic electricity machine 4 drives nearly finger joint joint piece 61 to rotate, the second tendon of index finger rope 212 can be driven to rotate, Wherein, the second tendon of index finger rope 212 is fixed for two ends, and its one end is fixed on inside middle finger joint joint piece 62 by cable hole 621, its The other end passes through nearly finger joint joint piece 61 by cable hole 612 and is fixed on palm component 1.

When finger actuation motor 4 drives tendon of index finger rope 211 to rotate, tendon of index finger rope 211 and the second tendon of index finger rope 212 Composition linkage can cause nearly finger joint joint piece 61, middle finger joint joint piece 62 while produce flexing, and as tendon rope drive can be with Realize to natural, the anthropomorphic grasping movement of object.And far finger joint joint piece 63 is then fixed on middle finger joint joint piece by plug 631 At 62, personalized customization can be both realized, while and quick detachable easy care.

In addition, in this utility model, cavity 613 being provided with inside nearly finger joint joint piece 61, being provided with cavity 613 Elastic component 614, in the present embodiment, is symmetrically provided with two elastic components 614 in cavity 613, and the elastic component 614 is for example Can be spring, here is only to illustrate as a example by the elastic component 614 on right side in cavity 613.As shown in figure 5, the elastic component Middle finger joint joint piece 62 is fixed on by cable hole 615 by upper tendon rope in 614 one end, and the other end of the elastic component 614 is by under Tendon rope is fixed on palm component 1 by cable hole 616, and on this, tendon rope and lower tendon rope are fixed length.So in forefinger component 21 When bearing lateral (parallel to the plane of palm component 1) larger external force, elastic component 614 will be deformed upon, and thus elastic component 614 is not Only flexible avoidance can be played a part of as damping, nearly finger joint joint piece 61 and middle finger joint joint piece can also be transmitted the force to 62 two fixing ends to weaken impulsive force, it is achieved thereby that it is non-damageable can the passive forefinger component 21 of lateral displacement it is negative Protection construction is carried, the safety of bionical prosthetic hand is greatly improved.

In addition, in this utility model, 617 He of outer inclined-plane is respectively formed with the two ends of nearly finger joint joint piece 61 Lower outer inclined-plane 618, the one end being connected with nearly finger joint joint piece 61 in middle finger joint joint piece 62 are formed with lower outer inclined-plane 622, should The setting of upper outer inclined-plane 617, lower outer inclined-plane 618 and lower outer inclined-plane 622, it is ensured that nearly 61 palm opposite part 1 of finger joint joint piece, And the angle of bend of 62 relative proximity finger joint joint piece 61 of middle finger joint joint piece；In addition, nearly finger joint joint piece 61 and palm component 1 The centre of gyration and middle finger joint joint piece 62 and the centre of gyration of nearly finger joint joint piece 61, be single-revolution line, those joints Due to being to be formed the linear contact lay construction produced without friction to be constituted with other joints along the respective centre of gyration at part, tradition has been prevented Articulation pair weakens the situation of finger power output as mutual face contact causes the generation rubbing action in motion.This The output force efficiency of finger actuation motor 4 maximized output can be arrived by this friction free linear contact lay construction of utility model On each finger component.

In addition, in an embodiment of the present utility model, the remote finger joint joint piece 63 can be integrally formed at middle finger joint joint Part 62；Or, in other examples, the remote finger joint joint piece 63 can be fixedly connected on middle finger joint by multiple plugs 631 Joint piece 62, so not only installing becomes very easy, and can replacing with direct convenience after in the event of situation about damaging The remote finger joint joint piece 63 is changed in order to later maintenance；In addition, being 3 parts (that is, nearly finger joint joint by 21 points of forefinger component The main advantage that 63) part 61, middle finger joint joint piece 62 and remote finger joint joint piece are constituted can be to be according to each patient's finger Different length and thickness to joint carries out personalized customization, will greatly expand the bionical prosthetic hand towards different user situation Under the scope of application.

In an embodiment of the present utility model, as shown in Figure 2 and Figure 4, the forefinger component 21, middle finger assembly 22, Elastic webbing 213, elastic webbing 222, elasticity are connected at the finger back of the body of unknown finger assembly 23, little finger assembly 24 and thumb component 25 Band 232, elastic webbing 242 and elastic webbing 257, and elastic webbing 213, elastic webbing 222, elastic webbing 232, elastic webbing 242 and elasticity Band 257 is connected to palm component 1 through each finger component.Wherein, shown in Fig. 2 elastic webbing 213, elastic webbing 222, Elastic webbing 232, elastic webbing 242 are mounted in the gap formed between the projection that each finger component refers in groove and groove at the back of the body In.

Specifically, as shown in Figure 3 and Figure 4, in the upper end of the back of the hand side of palm component 1, namely along setting forefinger component 21st, at the position of the palm component 1 of middle finger assembly 22, unknown finger assembly 23 and little finger assembly 24, four snap fits 19 are respectively equipped with, Elastic webbing 213, elastic webbing 222, elastic webbing 232 and elastic webbing 242 are extended through in forefinger component 21, middle finger assembly 22, unknown Finger assembly 23 and 24 respective middle finger joint joint piece 62 of little finger assembly and nearly finger joint joint piece 61, and it each is attached to palm component Four snap fits 19 on 1.And elastic webbing 257 is through the nearly finger joint joint piece 253 and metacarpal bone wrist joints 252 of thumb component 25 And it is connected to tiger's jaw part 3.

This utility model is calculated according to the different length of every finger component and have matched stiffness factor the most suitable five Root elastic webbing, elastic webbing 213, elastic webbing 222, elastic webbing 232, elastic webbing 242 and elastic webbing 257 are separately positioned on forefinger component 21st, the finger back portion of middle finger assembly 22, unknown finger assembly 23, little finger assembly 24 and thumb component 25, that is, as passive reply Power source, be arranged on five finger components refer to that the elastic webbing at back pulls on each finger component and realizes stretching.Specifically Show as, while finger actuation motor 4 drives rotary shaft 41 to invert, and loosens traction each finger component tendon rope, each finger group The resilience force for being referred to each elastic webbing at the back of the body due to which is returned to part the state that the five fingers open, so as to the stretching, extension for realizing finger component is moved Make.

According to an embodiment of the present utility model, forefinger component 21, middle finger assembly 22, unknown finger assembly 23 and little finger of toe The remote finger joint joint piece 63 of component 24, and thumb component remote finger joint joint piece 254 include joint piece skeleton body 632 and The finger pulp structure 633 being connected on the joint piece skeleton body 632.

Specifically, the finger pulp structure 633 can be integrally formed by 3D printer with joint piece skeleton body 632, to remove peace from The operation that dress and bonding are caused increases and cost is improved；Or, in other embodiments, the finger pulp structure 633 can be by viscous Connect or mosaic mode is connected to joint piece skeleton body 632, this is inlayed connected mode and refers in joint piece skeleton body 632 and finger pulp knot The fit structure of such as projection and groove is set between structure 633, so that joint piece skeleton body 632 is mutually blocked with finger pulp structure 633 Snap fit is closed.In this utility model, the finger pulp structure 633 is the flexible structure constituted using flexible rubber-like materials, with forefinger As a example by component 21, by calculating between analysis flexible material and skeleton body many of respective proportion at the remote finger joint joint piece 63 It is few come the viscoelasticity of normal person's finger pulp of approximately coincideing, the remote finger pulp structure 633 and joint piece skeleton body of finger joint joint piece 63 herein 632 volume ratio is 0.54～0.66.Cladding power to article when finger component crawl object is improved with this, at the same increase with When article surface is contacted, produced frictional force is greatly improving the stability for grasping object.

This utility model devises a kind of only using two micro-machines (that is, finger actuation motor 4 and thumb drives motors 5) as driving, to drive thumb component 25, forefinger component 21, middle finger assembly 22, unknown finger assembly 23 and little finger assembly simultaneously The stretching, extension or flexing action of 24 this five fingers；And the rotating shaft 51 around thumb drives motor 5 of thumb component 25 inward turning or Outward turning action.Grip crawl, accurate crawl and the side that various forms can be produced by above combination of actions captures these three Grasp mode, and these grasping movements occupy as many as 85% in daily life.Further, in this utility model, nearly finger joint Load protector is provided with joint piece 61, finger component is made (that is, forefinger component 21, middle finger assembly 22, unknown finger assembly 23 With little finger assembly 24) by larger side outward force when can produce flexible avoidance, and be difficult to be damaged.

In addition, bionical prosthetic hand of the present utility model is done in terms of for patient's some details in actual use Humanized design：Design the lag motion of unknown finger assembly 23 and little finger assembly 24 to improve grabbing during accurate crawl Ability is taken, and flexible structure is adopted come the viscous-elastic behaviour of approximate human simulation staff finger pulp to improve Grasping skill, and is applied to The quick detachable of personalized customization, the finger-joint part structure of easy care.

Finally, this utility model has also been taken into account structure simplification also in terms of manufacture and mounting process as far as possible, has been safeguarded easily Consider, and with reference to 3D printing technique come finally realize lightweight, low cost and profile Bionic Design, substantially increase bionical vacation The sexual valence of limb handss when practicality.

The characteristics of bionical prosthetic hand of the present utility model and advantage are：

First, compared to the existing prosthetic hand for using single motor control, only possessing the five fingers active flexion and stretching, this reality With new bionical prosthetic hand by allowing in palm component 1 in the range of increased thumb drives motor 5 to realize control 25 inward turning of thumb component or outward turning action, so just solving such prosthetic hand before different objects are grasped needed first to adjust manually Whole thumb position, or with instrument be fixed locking after could start grasp object these intermediate steps.

2nd, compared to the prosthetic hand of existing employing all-metal manufacture, not only high cost, weight are big so that patient is due to negative For the problem that load is overweight and cannot wear for a long time, it is each that this utility model combines 3D printing processing using high-strength resin material The joint piece of finger component, not only shortens manufacturing cycle, low cost, and without the need for secondary operations, it is most important that weight is big It is big to mitigate, and little burden, the good evaluation without sense of discomfort and feedback have been obtained after patient's long-time actual wear.

3rd, compared to it is existing can only the five fingers simultaneously flexing or stretching, extension, can only accomplish that grip captures a kind of this single crawl mould The prosthetic hand of formula, this utility model drive thumb component inward turning or outward turning action and the five fingers respectively only with two micro-machines The stretching, extension or flexing action of component, and the combination of these actions can couple complete to account in actual daily life make manually 85% it Many sides capture, precision is captured and grip grasping movement, not only increase grasping movement, and improve practicality.

4th, under the present situation for further not improving Grasping skill at finger pulp compared to existing prosthetic hand, this utility model The finger pulp structure 633 of flexible rubber-like materials is employed, that is, devising the knot of the viscous-elastic behaviour of energy human simulation staff finger pulp Structure, is increased cladding power and frictional force to object when capturing object, is improved by improving stability when grasping object with this Grasping skill.In addition, the finger pulp structure 633 is printed using 3D is integrated with joint piece skeleton body 632, eliminate installation and glue Connecing the operation for causing increases and cost raising.

5th, compared to existing prosthetic hand under later maintenance difficulty and the present situation for not considering finger load protection mechanism, this Utility model devises the not only personalized but also easy to disassemble, finger-joint of maintenance, also achieves finger by larger Laterally can produce flexible avoidance during (parallel to palm plane) external force, and be difficult it is impaired can passive lateral displacement nearly finger Section joint piece 61 is constructed.

6th, will certainly contact with each other at which by the way of joint is connected using axle with joint compared to existing prosthetic hand Frictional force is produced between face so as to reduce the delivery efficiency of power.Adopt between each joint piece of each finger component of the present utility model Non- axle connection, i.e. linear contact lay mode, therefore frictional force is zero, it is to avoid the internal exergy dissipation caused by exporting to finger motor 4 Consumption.

In addition, those skilled in the art will appreciate that, the above-mentioned bionical prosthetic hand of this utility model, in palm component 1 In allowed band, finger actuation motor 4 of the present utility model and thumb drives motor 5 can be with other motors or pneumatic-hydraulics etc. Type of drive is replaced；In the range of in palm component 1 and each finger component, space allows, each tendon rope can arbitrary placement；Each handss Tendon rope composition linkage in finger assembly can be replaced V belt translation or other types of composition linkage；Tendon due to adjusting composition linkage Rope length is short and position can arbitrarily change the flexing angular velocity of finger-joint and adjust the size of power output, therefore the drive system Can be also used at other any machine drivings of non-bionical prosthetic hand；All inserting bolt types between each joint piece are fixed and can be replaced spiral shell The fastening means of the other forms such as bolt is fixed, buckle is fixed；The flexible structure of finger pulp structure 633 except 3D integration print in addition to, May also be employed inlaying, other combining forms such as bonding；As each tendon rope drive is taken up space very little, therefore arbitrarily can change The size and profile outward appearance of palm component 1 and each finger component；The each elastic webbing of penetration type could alternatively be spring, torsion spring or The elastomeric element with intrinsic stiffness factor such as rubber band；The used material of whole bionical prosthetic hand manufacture and manufacture means are not Resin, rubber-like materials and 3D printing are limited only to, other materials or change manufacture can be chosen as needed. Each tendon rope is except can be substituted using in addition to PE lines, it is also possible to use the line of other materials, rope or belt.

Several embodiments of the present utility model are the foregoing is only, those skilled in the art is according to disclosed in application documents Content can carry out various changes or modification without deviating from spirit and scope of the present utility model to this utility model embodiment.

Claims (13)

1. a kind of bionical prosthetic hand, it is characterised in that the bionical prosthetic hand includes：

Palm component；

Finger part, which has forefinger component, middle finger assembly, unknown finger assembly, little finger assembly and thumb component, the forefinger group Part, the middle finger assembly, the unknown finger assembly and the little finger assembly can be opened and closed to be connected to the palm component respectively Upper end；

Tiger's jaw part, which can vertically be rotationally connected with the inner side of the palm component, and the thumb component can be opened and closed to connect In the tiger's jaw part.

2. bionical prosthetic hand as claimed in claim 1, it is characterised in that finger actuation motor is provided with the palm component, Rotary shaft is connected with the finger actuation motor, in the rotary shaft, multiple annular grooves is provided with along its axial direction, it is described Forefinger component, the middle finger assembly, the unknown finger assembly, the little finger assembly and the thumb component pass through tendon of index finger respectively Rope, tendon of middle finger rope, nameless tendon rope, tendon of little finger rope and tendon of thumb rope are connected in multiple annular grooves of the rotary shaft.

3. bionical prosthetic hand as claimed in claim 2, it is characterised in that the length of the nameless tendon rope, the tendon of little finger The length of rope is all higher than the length of the length of the tendon of index finger rope and the tendon of middle finger rope.

4. bionical prosthetic hand as claimed in claim 2, it is characterised in that cavity, the finger are provided with the palm component Motor and the rotary shaft are respectively positioned in the cavity, and the cavity is externally provided with protective cover plate.

5. bionical prosthetic hand as claimed in claim 1, it is characterised in that the palm component is provided with thumb drives motor, The tiger's jaw part is connected to the rotating shaft of the thumb drives motor, and one end of the thumb component is articulated in the tiger's jaw portion Part.

6. bionical prosthetic hand as claimed in claim 5, it is characterised in that tiger's jaw slide plate, institute are connected with the thumb component State tiger's jaw slide plate to be slidably plugged in the tiger's jaw part, the tiger's jaw slide plate is provided with chute, on the tiger's jaw part Spacing plug is provided with, the spacing plug is located in the chute.

7. bionical prosthetic hand as claimed in claim 1, it is characterised in that the forefinger component, the middle finger assembly, the nothing Elastic webbing is respectively arranged with the finger back of the body of name finger assembly, the little finger assembly and the thumb component, the elastic webbing is connected to The palm component.

8. bionical prosthetic hand as claimed in claim 2, it is characterised in that the forefinger component, the middle finger assembly, the nothing The structure all same of name finger assembly and the little finger assembly, which is respectively by the nearly finger joint joint piece, middle finger joint joint being sequentially connected Part and remote finger joint joint piece composition, the nearly finger joint joint piece pass through the tendon of index finger rope, the tendon of middle finger rope, the third finger Tendon rope or the tendon of little finger rope are connected to the rotary shaft, and the middle finger joint joint piece is rotatably connected at the nearly finger joint and closes The upper end of section part, the remote finger joint joint piece are connected to the upper end of the middle finger joint joint piece.

9. bionical prosthetic hand as claimed in claim 8, it is characterised in that be provided with elastic component in the nearly finger joint joint piece, institute The one end for stating elastic component is connected to the middle finger joint joint piece by upper tendon rope, and the other end of the elastic component is connected by lower tendon rope It is connected to the palm component.

10. bionical prosthetic hand as claimed in claim 8, it is characterised in that the remote finger joint joint piece is shaped in described Middle finger joint joint piece；Or, the remote finger joint joint piece is fixedly connected on the middle finger joint joint piece by multiple plugs.

11. bionical prosthetic hands as claimed in claim 2, it is characterised in that the thumb component includes the metacarpal bone being sequentially connected Wrist joints, nearly finger joint joint piece and remote finger joint joint piece, the metacarpal bone wrist joints are connected to by the tendon of thumb rope The rotary shaft, the nearly finger joint joint piece are connected to the metacarpal bone wrist joints by plug, and the remote finger joint joint piece leads to Cross plug and be connected to the nearly finger joint joint piece.

The 12. bionical prosthetic hands as described in claim 8 or 11, it is characterised in that the remote finger joint joint piece includes joint piece Skeleton body and the finger pulp structure being connected on the joint piece skeleton body.

13. bionical prosthetic hands as claimed in claim 12, it is characterised in that the finger pulp structure and the joint piece skeleton body It is integrally formed by 3D printer；Or, the finger pulp structure is connected to the joint piece skeleton by bonding or mosaic mode Body.