CN208339636U - Connecting rod drive-type emulation artificial limb hand - Google Patents
Connecting rod drive-type emulation artificial limb hand Download PDFInfo
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- CN208339636U CN208339636U CN201721119637.8U CN201721119637U CN208339636U CN 208339636 U CN208339636 U CN 208339636U CN 201721119637 U CN201721119637 U CN 201721119637U CN 208339636 U CN208339636 U CN 208339636U
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- sliding block
- palm
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Abstract
The utility model proposes a kind of connecting rod drive-type emulation artificial limb hands, are related to technical field of medical rehabilitation machinery.The connecting rod drive-type emulation artificial limb hand includes palm, multiple fingers, multiple sliding blocks, first driving device, the second driving device and third driving device.Multiple fingers are rotationally connected with palm, and multiple fingers include thumb, index finger, middle finger, the third finger and little finger of toe.Multiple sliding blocks are slidably connected on palm, and each sliding block passes through pull rod and connects with corresponding finger.First driving device is connected by first connecting rod component with the sliding block of corresponding index finger.Second driving device is set to palm and is connected by second connecting rod component with the sliding block of corresponding thumb.Third driving device is set to palm and is connected simultaneously with the sliding block of corresponding middle finger, the third finger and little finger of toe by third connecting rod component, can drive the sliding block linear movement of corresponding middle finger, the third finger and little finger of toe.
Description
Technical field
The utility model relates to technical field of medical rehabilitation machinery more particularly to a kind of connecting rod drive-type emulation artificial limb hands.
Background technique
With the development of limbs bionics techniques, more and more physically disabled's selections make up limbs using bionical artificial limb
Incomplete bring is inconvenient.Wherein, prosthetic hand is relatively conventional one kind, is used for the personage of hand impairment.Existing prosthetic hand
Shape it is usually similar with manpower, including palm, five fingers and driving device, palm are mountable on incomplete arm, hand
Finger can be connect by transmission mechanism with palm, finger palm opposite can be driven to be bent by driving device, to realize simple
The functions such as grasping.
But existing prosthetic hand can only carry out the curved movement simultaneously of multiple fingers mostly, thus can only realize whole
Hand grasps a kind of this gesture, and function is more single, has larger gap with the function of manpower.Meanwhile the finger of existing prosthetic hand
Bending amplitude it is relatively fixed, the amplitude of digital flexion cannot be adjusted according to the size for being grasped object, therefore be same every time
Bending gesture, be easy to cause the article being grasped to fall.In addition, in the prior art, although there also have prosthetic hand can be realized to be whole
Hand grasp other than movement, but its transmission mechanism generallys use the modes such as threading and is driven, and structure is complex, and cost
It is higher.
Above- mentioned information are only used for reinforcing the understanding to the background of the utility model disclosed in the background technology part, because
This it may include the information not constituted to the prior art known to persons of ordinary skill in the art.
Utility model content
The purpose of the utility model is to overcome above-mentioned the deficiencies in the prior art, provide one kind and are able to achieve various gestures and drop
The connecting rod drive-type emulation artificial limb hand of low cost.
The additional aspect and advantage of the utility model will be set forth in part in the description, and partly will be from retouching
It is apparent from stating, or the practice acquistion of the utility model can be passed through.
One aspect according to the present utility model, a kind of connecting rod drive-type emulation artificial limb hand, including palm, multiple fingers,
Multiple sliding blocks, first driving device, the second driving device and third driving device.Multiple fingers are rotationally connected with described
Palm, multiple fingers include thumb, index finger, middle finger, the third finger and little finger of toe.Multiple sliding blocks are slidably connected to the hand
Palm is simultaneously corresponded in each finger, and each sliding block passes through pull rod and connects with the corresponding finger.Described
One driving device is set to the palm and is connected by first connecting rod component with the sliding block of the corresponding index finger, can drive corresponding institute
The sliding block linear movement of index finger is stated, to drive the index finger rotation by corresponding pull rod.Second driving device is set to institute
It states palm and is connected by second connecting rod component with the sliding block of the corresponding thumb, the sliding block straight line of the corresponding thumb can be driven
It is mobile, to drive the thumb wheel by corresponding pull rod.The third driving device is set to the palm and passes through third
Link assembly is connected with the sliding block of the corresponding middle finger, the nameless and described little finger of toe simultaneously, can be driven described in corresponding to
The sliding block linear movement of middle finger, described nameless and described little finger of toe, to drive the middle finger, described by corresponding pull rod
The nameless and described little finger of toe rotates synchronously.
An embodiment according to the present utility model, the first connecting rod component include the first crank and first connecting rod.Institute
It states the first crank to connect with the first driving device, and being rotated by the first driving device.Described first
Connecting rod one end is connect with first crank, and the other end is connected with the sliding block of the corresponding index finger, can be turned in first crank
When dynamic, the sliding block linear movement of the corresponding index finger is driven.
An embodiment according to the present utility model, the second connecting rod component include the second crank and second connecting rod.Institute
It states the second crank to connect with second driving device, and being rotated by second driving device.Described second
Connecting rod one end is connect with second crank, and the other end is connected with the sliding block of the corresponding thumb, can be turned in second crank
When dynamic, the sliding block linear movement of the corresponding thumb is driven.
An embodiment according to the present utility model, the third connecting rod component include third crank, synchronizing bar and third
Connecting rod.The third crank is connect with the third driving device, and being rotated by the third driving device.Institute
State middle finger, the nameless and described little finger of toe is all connected to the synchronizing bar.Described third connecting rod one end and the third crank
Connection, the other end are connect with the synchronizing bar, can be driven by the synchronizing bar when the third crank is rotated and be corresponded to institute
It is mobile to state middle finger, the sliding block synchronous linear of the nameless and described little finger of toe.
An embodiment according to the present utility model, each finger include first knuckle, second knuckle and interlocking bar.
The first knuckle and the palm are rotatablely connected, and each pull rod is connected to each first knuckle correspondingly.It is described
Second knuckle and the first knuckle are rotatablely connected.The interlocking bar is set in the finger, and one end and the palm rotate
Connection, the other end and the second knuckle are rotatablely connected, and the second knuckle can be driven opposite when the first knuckle rotates
The first knuckle rotation.
An embodiment according to the present utility model, the position that each finger is corresponded on the palm are equipped with cunning
Slot is equipped with guide rod in each sliding slot, and each sliding block is sheathed on each guide rod correspondingly, and can be along correspondence
The guide rod linear movement.
An embodiment according to the present utility model, the connecting rod drive-type emulation artificial limb hand further include the 4th driving dress
It sets, the fourth drive device is fixed on the palm, and can connect with a mounting surface, can drive the relatively described peace of the palm
The rotation of dress face.
An embodiment according to the present utility model, the first knuckle and/or the second knuckle of each finger
Inside be equipped with elastic cushion.
An embodiment according to the present utility model, the first driving device, second driving device and described
Three driving devices are steering engine.
An embodiment according to the present utility model, the connecting rod drive-type emulation artificial limb hand further includes control assembly, institute
Control assembly is stated for controlling the first driving device, second driving device, the third driving device and described the
Fourth drive device opens/stops.
As shown from the above technical solution, the utility model has at least one of following advantages and good effect:
It can be moved linearly by first driving device by the sliding block that first connecting rod Component driver corresponds to index finger, thus using should
Sliding block drives the bending of index finger palm opposite by corresponding pull rod, so that index finger can self-movement；And by controlling the sliding block
Moving distance can control the bending degree of index finger, be easy to implement various gestures.
It can be moved linearly by the second driving device by the sliding block that second connecting rod Component driver corresponds to thumb, thus using should
Sliding block drives the bending of thumb palm opposite by corresponding pull rod, so that thumb can self-movement；And by controlling the sliding block
Moving distance can control the bending degree of thumb, be easy to implement various gestures.
The sliding block of corresponding middle finger, the third finger and little finger of toe can be driven straight simultaneously by third connecting rod component by third driving device
Line is mobile, so as to drive middle finger, the third finger and small by corresponding pull rod using the sliding block of corresponding middle finger, the third finger and little finger of toe
Refer to the synchronous bending of palm opposite；And the controllable middle finger of moving distance of the sliding block by controlling corresponding middle finger, the third finger and little finger of toe,
Nameless and little finger of toe bending degree, is easy to implement various gestures.
It is driven by connecting rod, sliding block and pull rod, makes digital flexion, compared to existing mode, structure is simpler,
Advantageously reduce cost.
Detailed description of the invention
Its example embodiment is described in detail by referring to accompanying drawing, above and other feature and advantage of the utility model will
It becomes readily apparent from.
Fig. 1 is schematic diagram of the utility model example embodiment connecting rod drive-type emulation artificial limb hand under a visual angle；
Fig. 2 is the enlarged drawing in the portion A in Fig. 1；
Fig. 3 is the enlarged drawing in the portion B in Fig. 1；
Fig. 4 is the enlarged drawing in the portion C in Fig. 1；
Fig. 5 is the enlarged drawing in the portion D in Fig. 1；
Fig. 6 is schematic diagram of the utility model example embodiment connecting rod drive-type emulation artificial limb hand under another visual angle；
Fig. 7 is the enlarged drawing in the portion E in Fig. 6；
Fig. 8 is the enlarged drawing in the portion F in Fig. 6；
Fig. 9 is that G must not enlarged drawing in Fig. 6；
Figure 10 is the left view of the index finger of connecting rod drive-type emulation artificial limb hand in Fig. 1；
Figure 11 is the rearview of index finger in Figure 10；
Figure 12 is the H-H cross-sectional view of Figure 11；
Figure 13 is that the front of the control circuit board of the utility model example embodiment connecting rod drive-type emulation artificial limb hand shows
It is intended to；
Figure 14 is the schematic rear view of control circuit board in Figure 13；
Figure 15 is the schematic diagram under the visual angle in Fig. 1 after connecting rod drive-type emulation artificial limb hand installation shell；
Figure 16 is the schematic diagram under another visual angle in Fig. 1 after connecting rod drive-type emulation artificial limb hand installation shell.
In figure: 1, palm；101, protrusion；102, first connecting portion；103, second connecting portion；104, third interconnecting piece；
105, the 4th interconnecting piece；106, the 5th interconnecting piece；2, first driving device；3, first connecting rod component；301, the first crank；302,
First connecting rod；4, the second driving dress；5, second connecting rod component；501, the second crank；502, second connecting rod；6, third driving dress
It sets；7, third connecting rod component；701, third crank；702, synchronizing bar；703, third connecting rod；
801, thumb guide rod；802, index finger guide rod；803, middle finger guide rod；804, nameless guide rod；805, small
Refer to guide rod 901, thumb slide；902, index finger sliding block；903, middle finger sliding block；904, nameless sliding block；905, little finger of toe sliding block；
1001, thumb pull rod；1002, index finger pull rod；1003, middle finger pull rod；1004, nameless pull rod；1005, little finger of toe pull rod；
1101, thumb；11011, thumb first knuckle；11012, thumb second knuckle；11013, thumb interlocking bar；
11014, thumb elastic cushion；
1102, index finger；11021, index finger first knuckle；11022, index finger second knuckle；11023, index finger interlocking bar；
11024, the first elastic cushion of index finger；11025, the second elastic cushion of index finger；
1103, middle finger；11031, middle finger first knuckle；11032, middle finger second knuckle；11033, middle finger interlocking bar；
11034, the first elastic cushion of middle finger；11035, the second elastic cushion of middle finger；
1104, nameless；11041, nameless first knuckle；11042, nameless second knuckle；11043, nameless connection
Lever；11044, nameless first elastic cushion；11045, nameless second elastic cushion；
1105, little finger of toe；11051, little finger of toe first knuckle；11052, little finger of toe second knuckle；11053, little finger of toe interlocking bar；
11054, the first elastic cushion of little finger of toe；11055, the second elastic cushion of little finger of toe；
12, fourth drive device；13, control circuit board；131, electromyographic signal collection circuit；132, electromyography signal interface；
133, program download circuit；1331, download interface；134, radio communication circuit；135, pressure signal Acquisition Circuit；136, it drives
Circuit；137, driving interface；138, circuit system；139, power interface；14, palm shell；15, shell is connected；16, pedestal.
Specific embodiment
Example embodiment is described more fully with reference to the drawings.However, example embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to embodiment set forth herein.Although using the term of relativity, example in this specification
Relativeness of the component for another component of icon is described such as "upper", "lower", but these terms are used for this explanation
Merely for convenient in book, for example, with reference to the accompanying drawings described in exemplary direction.It is appreciated that, if the device of icon overturn
It is set to turn upside down, then the component described in "upper" will be as the component in "lower".The term of other relativities, such as
"top", "bottom" etc. also make have similar meaning.When certain structure is at other structures "upper", it is possible to refer to that certain structural integrity is formed
In in other structures, or refers to that certain structure is " direct " and be arranged in other structures, or refer to that certain structure is set by another structure " indirect "
It sets in other structures.
Term "one", " one ", "the" and " described " to indicate there are one or more elements/component part/etc.；With
Language " comprising " and " having " is to indicate the open meaning being included and refer to element/composition portion in addition to listing
Also may be present except divide/waiting other element/component part/etc.；Term " first ", " second ", " third ", " the 4th " and "
Five " etc. only use as label, are not the quantity limitations to its object.
A kind of connecting rod drive-type emulation artificial limb hand is provided in the utility model example embodiment, as shown in Fig. 1~Figure 16,
Fig. 1 shows the connecting rod drive-type emulation artificial limb hand under a visual angle, and Fig. 6 shows the driving of the connecting rod under another visual angle
Formula emulation artificial limb hand.Meanwhile the connecting rod drive-type emulation artificial limb hand can be the right hand and be also possible to left hand, not do special limit herein
It is fixed.
The connecting rod drive-type emulation artificial limb hand of present embodiment may include palm 1, sliding block, pull rod, finger, the first driving
Device 2, the driving of first connecting rod component 3, second fill 4, second connecting rod component 5, third driving device 6 and third connecting rod component 7.
In the present embodiment, palm 1 can be plate structure, can have the centre of the palm and palm back, and 1 shape and size of palm can imitate
The shape of the right hand or left hand according to actual human hand, can user's demand of basis and the size of arm determine palm 1 shape and
Size, to be suitable for different users.Certainly, the shape of palm 1 is also possible to rectangle or other geometries.
Multiple sliding slots can be offered on palm 1, each sliding slot corresponds to the finger position of manpower.For example, sliding slot
Quantity can be five, including thumb sliding slot, index finger sliding slot, middle finger sliding slot, nameless sliding slot and little finger of toe sliding slot, be opened in respectively
Position corresponding with the five fingers of manpower on palm 1, each sliding slot extend along the extending direction of finger.Wherein, palm 1 corresponds to
The position of thumb has protrusion 101, and the thumb sliding slot of corresponding thumb can be opened on the protrusion 101.In addition, such as Fig. 8 institute
Show, the palm back of palm 1 is equipped with the multiple interconnecting pieces extended to finger corresponded in each finger, and multiple interconnecting pieces can have
Five, five fingers are corresponded respectively to, including first connecting portion 102, second connecting portion 103, third interconnecting piece the 104, the 4th connect
Socket part 105 and the 5th interconnecting piece 106.
In the present embodiment, the quantity of guide rod can be multiple, and its quantity can be equal to the quantity of sliding slot, and can
It is set in each sliding slot with corresponding.The cross section of each guide rod can be circle, rectangle etc., be also possible to ellipse etc..Respectively
The extending direction of a guide rod along the chute extends, and can connect by the way that the modes such as welding, clamping or threaded connection and palm 1 are fixed
It connects, naturally it is also possible to be an integral structure with palm 1.For example, as shown in Figure 2 and Figure 6, the quantity of guide rod can be five
It is a, including thumb guide rod 801, index finger guide rod 802, middle finger guide rod 803, nameless guide rod 804 and little finger of toe guide rod
805, it is set in above-mentioned thumb sliding slot, index finger sliding slot, middle finger sliding slot, nameless sliding slot and little finger of toe sliding slot correspondingly, and
It penetrates palm 1 and is threadedly coupled.
In the present embodiment, the quantity of sliding block can be multiple, and multiple sliding blocks are set to correspondingly in multiple sliding slots,
And it is sheathed on multiple guide rods correspondingly, and can be along guide rod straight reciprocating.For example, such as Fig. 2 and
Shown in Fig. 6, the quantity of sliding block is five, including thumb slide 901, index finger sliding block 902, middle finger sliding block 903, nameless sliding block
904 and little finger of toe sliding block 905, it is sliding that it is set to thumb sliding slot, index finger sliding slot, middle finger sliding slot, nameless sliding slot and little finger of toe correspondingly
Slot, and it is sheathed on thumb guide rod 801, index finger guide rod 802, middle finger guide rod 803, nameless guide rod correspondingly
804 and little finger of toe guide rod 805 on.
In the present embodiment, the quantity of pull rod can be multiple, and be equal to the quantity of sliding block.One pull rod corresponds to one
One end of a sliding block, any pull rod can be rotatablely connected with corresponding sliding block by the modes such as hinged.For example, such as Fig. 2 and Fig. 9
Shown, the quantity of pull rod can be five, including thumb pull rod 1001, index finger pull rod 1002, middle finger pull rod 1003, nameless drawing
Bar 1004 and little finger of toe pull rod 1005 are sliding with thumb slide 901, index finger sliding block 902, middle finger sliding block 903, the third finger correspondingly
Block 904 and little finger of toe sliding block 905 are hinged.
In the present embodiment, the quantity of finger can be multiple, and the quantity of finger is identical as the quantity of sliding slot.It is multiple
Finger is rotationally connected with palm 1.Any finger may each comprise first knuckle, second knuckle and interlocking bar, in which:
First knuckle may include the connecting plate of both side plate and connection both side plate, and both side plate can pass through modes and the hand such as hinged
1 rotation connection of the palm.Meanwhile first knuckle can be also rotatablely connected by the modes such as hinged with corresponding pull rod, be drawn so as to pass through
Bar connects first knuckle with corresponding sliding block, that is to say, that for any pull rod, one end is rotationally connected with
Sliding block, the other end are rotationally connected with a first knuckle.Certainly, first knuckle is also possible to the other structures such as column structure,
This is not being enumerated.When sliding block linear slide, first knuckle palm opposite 1 can be driven to rotate by pull rod, so as to reality
The bending of existing finger.
The shape of second knuckle can copy the structure of fingertip, can be turned with above-mentioned first knuckle by the modes such as hinged
Dynamic connection, so that second knuckle can be rotated relative to first knuckle.
Interlocking bar can be set in finger, and one end can be carried on the back with the palm of palm 1 and is rotatablely connected by the modes such as hinged, another
End can be rotatablely connected with second knuckle by the modes such as hinged.When first knuckle is driven and rotated by pull rod, interlocking bar can band
Dynamic second knuckle is rotated relative to first knuckle, thus the more accurately movement of simulation actual human hand.The shape of interlocking bar is herein
Particular determination is not done, as long as second knuckle can be driven to rotate relative to first knuckle.
For example, as shown in figures 1 to 6, the quantity of finger can be five, including thumb 1101, index finger 1102, in
Refer to the 1103, third finger 1104 and little finger of toe 1105.Wherein:
Thumb 1101 includes thumb first knuckle 11011, thumb second knuckle 11012 and thumb interlocking bar 11013.Thumb
Hingedly and corresponding to thumb sliding slot, thumb second knuckle 11012 is articulated with thumb first for 11011 one end of first knuckle and palm 1
The other end of finger joint 11011；11013 one end of thumb interlocking bar and first connecting portion 102 are hinged, and the other end refers to across thumb first
It is hinged with thumb second knuckle 11012 after section 11011.
As shown in Fig. 1, Fig. 3 and Figure 10~Figure 13, index finger 1102 includes index finger first knuckle 11021, the finger of index finger second
Section 11022 and index finger interlocking bar 11023.11021 one end of index finger first knuckle and palm 1 are hingedly and corresponding to index finger sliding slot, food
Refer to that second knuckle 11022 is articulated with the other end of index finger first knuckle 11021；11023 one end of index finger interlocking bar is connect with second
Portion 103 is hinged, and the other end is hinged with index finger second knuckle 11022 after index finger first knuckle 11021.
As shown in figures 1 and 3, middle finger 1103 includes middle finger first knuckle 11031, middle finger second knuckle 11032 and middle finger
Interlocking bar 11033.11031 one end of middle finger first knuckle and palm 1 are hingedly and corresponding to middle finger sliding slot, middle finger second knuckle
11032 are articulated with the other end of middle finger first knuckle 11031；11033 one end of middle finger interlocking bar and third interconnecting piece 104 are hinged,
The other end is hinged with middle finger second knuckle 11032 after middle finger first knuckle 11031.
As shown in Figure 1 and Figure 4, the third finger 1104 includes nameless first knuckle 11041, nameless second knuckle 11042
With nameless interlocking bar 11043.Nameless 11041 one end of first knuckle and palm 1 are unknown hingedly and corresponding to nameless sliding slot
Refer to that second knuckle 11042 is articulated with the other end of nameless first knuckle 11041；Nameless 11043 one end of interlocking bar and the 4th
Interconnecting piece 105 is hinged, and the other end is hinged with nameless second knuckle 11042 after nameless first knuckle 11041.
As shown in Figure 1 and Figure 4, little finger of toe 1105 includes little finger of toe first knuckle 11051, little finger of toe second knuckle 11052 and little finger of toe
Interlocking bar 11053.11051 one end of little finger of toe first knuckle and palm 1 are hingedly and corresponding to little finger of toe sliding slot, little finger of toe second knuckle
11052 are articulated with the other end of little finger of toe first knuckle 11051；11053 one end of little finger of toe interlocking bar and the 5th interconnecting piece 106 are hinged,
The other end is hinged with little finger of toe second knuckle 11052 after little finger of toe first knuckle 11051.
It should be noted that thumb 1101, middle finger 1103, the third finger 1104 and the detailed construction of little finger of toe 1105 can refer to
The structure of index finger 1102 shown in Figure 10~Figure 13, this will not be detailed here.
In the present embodiment, first driving device 2 can be fixed on the palm back of palm 1, and first driving device 2 can be with
It is rotated for exporting.For example, first driving device 2 can be steering engine, which may include motor and retarder, motor
Output shaft and the input terminal of retarder connect, the output end of retarder is for exporting rotation, and the output end of retarder is vertical
It is carried on the back in the palm of palm 1.Certainly, first driving device 2 can also be matched using hydraulic cylinder and rack-and-pinion, output rotation, or
Person can also use other devices that can export rotation, will not enumerate herein.
In the present embodiment, 3 one end of first connecting rod component can be connect with first driving device 2, the other end can with it is corresponding
Index finger sliding block 902 connects, so as to make first driving device 2 drive 902 straight line of index finger sliding block to move by first connecting rod component 3
Dynamic, control index finger 1102 is bent.For example, as shown in Figure 6 and Figure 7, first connecting rod component 3 may include the first crank 301
With first connecting rod 302, in which:
First crank 301 is rotatably arranged in the palm back of palm 1, and has a first end and a second end.First crank 301
First end can be connect with first driving device 2, and being rotated by first driving device 2.
One end of first connecting rod 302 can be rotatablely connected with the second end of the first crank 301, and the other end can be with index finger sliding block
902 rotation connections.So as to constitute slider-crank mechanism with index finger sliding block 902, so that can lead in the rotation of the first crank 301
It crosses first connecting rod 302 and drives 902 straight reciprocating of index finger sliding block, to drive index finger first knuckle by index finger pull rod 1002
11021 rotations, are bent index finger 1102 independently.In the process, index finger interlocking bar 11023 can drive index finger second knuckle
11022 rotate relative to index finger first knuckle 11021.
Certainly, it is not limited to the above example the structure that property illustrates of first connecting rod component 3, can also use other structures, only
It wants that index finger sliding block 902 can be made to move linearly, this will not be detailed here.
In the present embodiment, the second driving device 4 can be fixed on the protrusion 101 of palm 1, and can be used to export and turn
It is dynamic.The concrete type and structure of second driving device 4 can refer to first driving device 2, that is to say, that the second driving device 4
It can be steering engine or other devices that can export rotation, this will not be detailed here.
In present embodiment, 5 one end of second connecting rod component can be connect with the second driving device 4, and the other end can be sliding with thumb
Block 901 connects, so as to make the second driving device 4 drive thumb slide 901 to move linearly by second connecting rod component 5, control
Thumb 1101 is bent.For example, as shown in Figure 1 and Figure 5, second connecting rod component 5 may include that the second crank 501 and second connects
Bar 502, in which:
Second crank 501 is rotatably arranged in the protrusion 101 of palm 1, and has a first end and a second end.Second crank
501 first end can be connect with the second driving device 4, and being rotated by the second driving device 4.
One end of second connecting rod 502 can be rotatablely connected with the second end of the second crank 501, and the other end can be with thumb slide
901 rotation connections, so as to constitute slider-crank mechanism with thumb slide 901, so that can lead in the rotation of the second crank 501
It crosses second connecting rod 502 and drives 901 straight reciprocating of thumb slide, to drive thumb first knuckle by thumb pull rod 1001
11011 rotations, are bent thumb 1101 independently.In the process, thumb interlocking bar 11013 can drive thumb second knuckle
11012 rotate relative to thumb first knuckle 11011.
Certainly, it is not limited to the above example the structure that property illustrates of second connecting rod component 5, can also use other structures, only
It wants that thumb slide 901 can be made to move linearly, this will not be detailed here.
In the present embodiment, third driving device 6 can be fixed on palm 1, and can export rotation.Third driving dress
The concrete type and structure for setting 6 can also refer to first driving device 2, that is to say, that third driving device 6 is also possible to steering engine
Or other devices that can export rotation, this will not be detailed here.
In the present embodiment, one end of third connecting rod component 7 can be connect with third driving device 6, the other end can with it is same
When remaining middle finger sliding block 903, nameless sliding block 904 and little finger of toe sliding block 905 connect, so as to pass through third driving device 6
Third connecting rod component 7 drives middle finger sliding block 903, nameless sliding block 904 and little finger of toe sliding block 905 to move linearly, control middle finger 1103,
The bending synchronous with little finger of toe 1105 of the third finger 1104.For example, as shown in Figure 6 and Figure 7, third connecting rod component 7 may include
Three cranks 701, synchronizing bar 702 and third connecting rod 703, in which:
Third crank 701 is rotatably arranged in the palm back of palm 1, and has a first end and a second end.Third crank 701
First end can be connect with third driving device 6, and being rotated by third driving device 6.
Synchronizing bar 702 by welding or can be utilized with middle finger sliding block 903, nameless sliding block 904 and little finger of toe sliding block 905 simultaneously
The modes such as be bolted to connect so that middle finger sliding block 903, nameless sliding block 904 and little finger of toe sliding block 905 can synchronous linear it is mobile,
So that middle finger 1103, the third finger 1104 can synchronous bendings with little finger of toe 1105.
One end of third connecting rod 703 can be rotatablely connected with the second end of third crank 701, and the other end can be with synchronizing bar 702
Rotation connection.The middle finger sliding block 903, nameless sliding block 904 and little finger of toe sliding block 905 for being connected to synchronizing bar 702 simultaneously can be considered one
A sliding block is whole, to may make up slider-crank mechanism.It is available when third driving device 6 drives third crank 701 to rotate
Third connecting rod 703 drives middle finger sliding block 903, nameless sliding block 904 and 905 synchronous linear of little finger of toe sliding block to move by synchronizing bar 702
It is dynamic, to pass through middle finger pull rod 1003, nameless pull rod 1004 and the corresponding drive middle finger first knuckle of little finger of toe pull rod 1005
11031, nameless first knuckle 11041 and little finger of toe first knuckle 11051 rotate synchronously, and realize middle finger 1103, the third finger 1104
Bending synchronous with little finger of toe 1105.In the process, middle finger interlocking bar 11033, nameless interlocking bar 11043 and little finger of toe interlocking bar
11053 can correspond to drive middle finger second knuckle 11032, synchronous with little finger of toe second knuckle 11052 turn of nameless second knuckle 11042
It is dynamic.
In the present embodiment, connecting rod drive-type emulation artificial limb hand can also include fourth drive device 12, the 4th driving
Device 12 can pass through welding, clamping or the root for being fixed in the way of being bolted etc. palm 1, i.e. one far from finger
End.Fourth drive device 12 can be connect with a mounting surface, which can be a bottom of the end installation of human body incompleteness arm
The surface of seat or other connecting rod drive-type emulation artificial limb hands for being used to install present embodiment, fourth drive device 12 can drive
Palm 1 is rotated relative to the mounting surface, simulates the rotating function of wrist.For example, fourth drive device 12 is also possible to steering engine,
The steering engine may include motor and retarder, and the output shaft of motor and the input terminal of retarder connect, and the output end of retarder can
It is connect with above-mentioned mounting surface.Certainly, fourth drive device 12 can also use hydraulic cylinder and rack-and-pinion to match to export and turn
It is dynamic, or other devices that can export rotation can also be used, it will not enumerate herein.
In the present embodiment, elastic cushion can be set in the first knuckle of each finger and the inside of one of second knuckle,
Elastic cushion can also be respectively provided on the inside of the first knuckle and second knuckle of each finger.The material of elastic cushion can be silica gel,
But not limited to this, can also be neoprene etc..Elastic cushion can be fixed on first knuckle and by the modes such as being clamped, being bonded
Two finger joints, alternatively, elastic cushion can also be ring structure, so as to be sheathed on first knuckle and second knuckle.Thus, it is possible to simulate
Skin on manpower, and increase the friction with object, improve the stability of grasping.For example, as shown in Figure 1 to 4, thumb
Second knuckle 11012 is equipped with thumb elastic cushion 11014.
Index finger first knuckle 11021 is equipped with the first elastic cushion of index finger 11024, and index finger second knuckle 11022 is equipped with food
Refer to the second elastic cushion 11025.
Middle finger first knuckle 11031 is equipped with the first elastic cushion of middle finger 11034, during middle finger second knuckle 11032 is equipped with
Refer to the second elastic cushion 11035.
Nameless first knuckle 11041 is equipped with nameless first elastic cushion 11044, on nameless second knuckle 11042
Equipped with nameless second elastic cushion 11045.
Little finger of toe first knuckle 11051 is equipped with the first elastic cushion of little finger of toe 11054, and little finger of toe second knuckle 11052 is equipped with small
Refer to the second elastic cushion 11055.
In the present embodiment, connecting rod drive-type emulation artificial limb hand can also include control assembly, and control assembly can be used
Opening/stopping in control first driving device 2, the second driving device 4, third driving device 6 and fourth drive device 12.It is specific and
Speech, control assembly can control first driving device 2, the second driving device 4, third driving device 6 and fourth drive device 12 its
In one, two or three starting, remaining stopping, can also all starting or stoping.
For example, as shown in Figure 13 and Figure 14, above-mentioned control assembly may include control circuit board 13, the control circuit
Plate 13 can have front and back, and Figure 13 shows the front of control circuit board 13, and Figure 14 shows the back of control circuit board 13
Face.The control circuit board 13 may include setting electromyographic signal collection circuit 131, electromyography signal interface 132, program download circuit
133, radio communication circuit 134, pressure signal Acquisition Circuit 135, circuit system 136, driving circuit 137,138 and of driving interface
Power interface 139, in which:
Electromyographic signal collection circuit 131 and electromyography signal interface 132 are set to the front of control circuit board 13, and electromyography signal connects
The quantity of mouth 132 can be four, it is of course also possible to less or more.Each electromyography signal interface 132 can pass through myoelectricity
Conducting wire and the muscle of user connect, and electromyographic signal collection circuit 131 can be led by each electromyography signal interface 132 and myoelectricity
The electromyography signal of on line acquisition user.
Program download circuit 133 is set to the back side of control circuit board 13, and program download circuit 133 can be used for downloading work
Make program, can have download interface 1331, which can be USB interface etc., to connect with external equipment
It connects.
Radio communication circuit 134 is set to the back side of control circuit board 13, and radio communication circuit 134 can be real with other equipment
Existing wireless telecommunications, can be Bluetooth circuit, WIFI circuit etc., are conducive to remotely be controlled.
Pressure signal Acquisition Circuit 135 can be set to the back side of control circuit board 13, and can be adopted by multiple pressure sensors
The pressure that collection finger is born, each pressure sensor can be respectively arranged on each finger on palm 1.
Driving circuit 136 is set to the back side of control circuit board 13, and can control respectively first by multiple driving interfaces 137
Driving device 2, the second driving device 4, third driving device 6 and fourth drive device 12 open/stop.
Circuit system 138 is set to the back side of control circuit board 13, can handle the myoelectricity of the acquisition of electromyographic signal collection circuit 131
Signal, and determine according to electromyography signal the intention of user, first driving device 2, second is controlled will pass through driving circuit 136
Driving device 4, third driving device 6 and fourth drive device 12 open/stop.The specific works of control are realized by electromyography signal
Principle can refer to existing myoelectric control technology, and this will not be detailed here.Circuit system 138 can be Arduino minimum control system
System dispatch control system.
Power interface 139 is set to the back side of control circuit board 13, and can connect with a power supply, provides for control circuit board 13
Electric energy.The power supply can be battery.
In the present embodiment, as shown in Figure 15 and Figure 16, connecting rod drive-type emulation artificial limb hand can also include shell, should
Shell may include palm shell 14, connection shell 15 and pedestal 16, which can be hollow structure, and correspond to the position of finger
It is set to open architecture.14 shape of palm shell can match with palm 1, and can be sheathed on outside palm 1.Connecting shell 15 can be with palm shell
The connection of 14 one end, and be set to outside fourth drive device 12；Pedestal 16 can be connected with the other end for connecting shell 15, be made for being sheathed on
On the arm of user.
The connecting rod drive-type emulation artificial limb hand of the utility model example embodiment can pass through the by first driving device 2
One link assembly 3 drives index finger sliding block 902 to move linearly, and is bent 1102 palm opposite 1 of index finger, so that index finger 1102 can be independent
Movement.Thumb slide 901 can be driven to move linearly by second connecting rod component 5 by the second driving device 4, keep thumb 1101 opposite
Palm 1 is bent, so that thumb 1101 can self-movement.In being driven simultaneously by third driving device 6 by third connecting rod component 7
Refer to that sliding block 903, nameless sliding block 904 and little finger of toe sliding block 905 move linearly, makes middle finger 1103, the third finger 1104 and little finger of toe 1105
The synchronous bending of palm opposite 1.Thus, it can be achieved that various gestures, including other gestures such as grasp and be directed toward, meanwhile, connection rod set
Part, sliding block and pull rod transmission mode compared to the prior art in threading transmission by way of, structure is more simple, can carry
Bigger active force, faster, and cost is lower for speed.
It should be appreciated that the utility model be not limited in its application to this specification proposition component detailed construction and
Arrangement.The utility model can have other embodiments, and can realize and execute in many ways.Aforementioned change
Shape form and modification are fallen in the scope of the utility model.It should be appreciated that this reality of this disclosure and restriction
It is mentioned or all alternative groups of two or more apparent independent features with the novel text and/or drawings that extend to
It closes.All these different combinations constitute multiple alternative aspects of the utility model.Embodiment described in this specification is said
The best mode for becoming known for realizing the utility model is illustrated, and those skilled in the art will be enable practical new using this
Type.
Claims (10)
1. a kind of connecting rod drive-type emulation artificial limb hand characterized by comprising
Palm；
Multiple fingers are rotationally connected with the palm, including thumb, index finger, middle finger, the third finger and little finger of toe；
Multiple sliding blocks are slidably connected on the palm and correspond in each finger, and each sliding block passes through drawing
Bar is connected with the corresponding finger；
First driving device is connected with the sliding block of the corresponding index finger set on the palm and by first connecting rod component, can be driven
The sliding block linear movement of the dynamic corresponding index finger, to drive the index finger rotation by corresponding pull rod；
Second driving device is connected with the sliding block of the corresponding thumb set on the palm and by second connecting rod component, can be driven
The sliding block linear movement of the dynamic corresponding thumb, to drive the thumb wheel by corresponding pull rod；
Third driving device, be set to the palm and by third connecting rod component simultaneously with the corresponding middle finger, the third finger
It is connected with the sliding block of the little finger of toe, the corresponding middle finger, the sliding block of the nameless and described little finger of toe can be driven straight
Line is mobile, to drive the middle finger, the nameless and described little finger of toe to rotate synchronously by corresponding pull rod.
2. connecting rod drive-type emulation artificial limb hand according to claim 1, which is characterized in that the first connecting rod component packet
It includes:
First crank is connect with the first driving device, and being rotated by the first driving device；
First connecting rod, one end are connect with first crank, and the sliding block of the other end and the corresponding index finger connects, can be described the
When one crank rotates, the sliding block linear movement of the corresponding index finger is driven.
3. connecting rod drive-type emulation artificial limb hand according to claim 1, which is characterized in that the second connecting rod component packet
It includes:
Second crank is connect with second driving device, and being rotated by second driving device；
Second connecting rod, one end are connect with second crank, and the sliding block of the other end and the corresponding thumb connects, can be described the
When two cranks rotate, the sliding block linear movement of the corresponding thumb is driven.
4. connecting rod drive-type emulation artificial limb hand according to claim 1, which is characterized in that the third connecting rod component packet
It includes:
Third crank is connect with the third driving device, and being rotated by the third driving device；
Synchronizing bar, the middle finger, the nameless and described little finger of toe are all connected to the synchronizing bar；
Third connecting rod, one end are connect with the third crank, and the other end is connect with the synchronizing bar, can be turned in the third crank
When dynamic, the sliding block synchronous linear movement for corresponding to the middle finger, the nameless and described little finger of toe is driven by the synchronizing bar.
5. connecting rod drive-type emulation artificial limb hand according to any one of claims 1 to 4, which is characterized in that each finger
Include:
First knuckle, is rotatablely connected with the palm, and each pull rod is connected to each first knuckle correspondingly；
Second knuckle is rotatablely connected with the first knuckle；
Interlocking bar is set in the finger, and one end and the palm are rotatablely connected, and the other end and second knuckle rotation connect
It connects, the second knuckle can be driven to rotate relative to the first knuckle when the first knuckle rotates.
6. connecting rod drive-type emulation artificial limb hand according to any one of claims 1 to 4, which is characterized in that on the palm
Position corresponding to each finger is equipped with sliding slot, and guide rod is equipped in each sliding slot, and each sliding block corresponds
Be sheathed on each guide rod, and can move linearly along the corresponding guide rod.
7. connecting rod drive-type emulation artificial limb hand according to any one of claims 1 to 4, which is characterized in that the connecting rod drives
Dynamic formula emulation artificial limb hand further include:
Fourth drive device is fixed on the palm, and can connect with a mounting surface, can drive the relatively described installation of the palm
Face rotation.
8. connecting rod drive-type emulation artificial limb hand according to claim 5, which is characterized in that described the first of each finger
Elastic cushion is equipped on the inside of finger joint and/or the second knuckle.
9. connecting rod drive-type emulation artificial limb hand according to any one of claims 1 to 4, which is characterized in that described first drives
Dynamic device, second driving device and the third driving device are steering engine.
10. connecting rod drive-type emulation artificial limb hand according to claim 7, which is characterized in that the connecting rod drive-type emulation
Prosthetic hand further include:
Control assembly, for controlling the first driving device, second driving device, the third driving device and described
Fourth drive device opens/stops.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721119637.8U CN208339636U (en) | 2017-09-01 | 2017-09-01 | Connecting rod drive-type emulation artificial limb hand |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721119637.8U CN208339636U (en) | 2017-09-01 | 2017-09-01 | Connecting rod drive-type emulation artificial limb hand |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110731842A (en) * | 2019-09-20 | 2020-01-31 | 上海健康医学院 | thumb device for pneumatic muscle actuation of a smart hand |
| CN111557770A (en) * | 2020-05-27 | 2020-08-21 | 苏州通和景润康复科技有限公司 | Under-actuated artificial limb hand device |
| CN112571446A (en) * | 2020-11-30 | 2021-03-30 | 广州今甲智能科技有限公司 | Humanoid robot arm structure and robot arm control method |
| WO2021129378A1 (en) * | 2019-12-23 | 2021-07-01 | 京东数科海益信息科技有限公司 | Bionic hand, and bionic robot |
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2017
- 2017-09-01 CN CN201721119637.8U patent/CN208339636U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110731842A (en) * | 2019-09-20 | 2020-01-31 | 上海健康医学院 | thumb device for pneumatic muscle actuation of a smart hand |
| CN110731842B (en) * | 2019-09-20 | 2021-11-19 | 上海健康医学院 | Pneumatic muscle driven thumb device for smart hand |
| WO2021129378A1 (en) * | 2019-12-23 | 2021-07-01 | 京东数科海益信息科技有限公司 | Bionic hand, and bionic robot |
| CN111557770A (en) * | 2020-05-27 | 2020-08-21 | 苏州通和景润康复科技有限公司 | Under-actuated artificial limb hand device |
| CN112571446A (en) * | 2020-11-30 | 2021-03-30 | 广州今甲智能科技有限公司 | Humanoid robot arm structure and robot arm control method |
| CN112571446B (en) * | 2020-11-30 | 2022-10-14 | 广州今甲智能科技有限公司 | Humanoid robot arm structure and robot arm control method |
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