CN210447288U - Super-short electric two-degree-of-freedom wrist joint of bionic artificial hand and other artificial hands - Google Patents
Super-short electric two-degree-of-freedom wrist joint of bionic artificial hand and other artificial hands Download PDFInfo
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- CN210447288U CN210447288U CN201920551073.8U CN201920551073U CN210447288U CN 210447288 U CN210447288 U CN 210447288U CN 201920551073 U CN201920551073 U CN 201920551073U CN 210447288 U CN210447288 U CN 210447288U
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Abstract
A very short electric two-freedom wrist joint of bionic and other artificial hands has two structures of worm and gear, screw rod and connecting rod, and a wrist bending motor installed in palm and not occupying wrist space. The wrist-turning joint is provided with a middle shaft tube, soft electric wires leading to the finger motor and the wrist-bending motor pass through the middle shaft tube, and the electric wires can be twisted in the middle shaft tube during wrist turning, so that the space and the weight occupied by an electric brush structure are saved. The wrist-turning joint has one structure that the wrist-turning motor is arranged on an immobile wrist seat, and the other structure that the wrist-turning motor is arranged at the rotating part of the wrist, and the wrist-bending axis and the wrist-turning axis are intersected at one point, so that the wrist action has a bionic effect.
Description
Technical Field
The invention relates to the technical field of artificial limbs, in particular to the technical field of electric artificial limbs, and specifically relates to a wrist bending and rotating combined joint of an upper artificial limb.
Background
At present, various electric artificial hand products at home and abroad, such as myoelectric control artificial hands or bionic hands with each finger capable of moving independently, the wrist is only provided with an electric wrist-turning joint or an electric wrist-bending joint, most of the electric artificial hand products are only provided with a passive wrist joint pulled by a healthy side hand, and the myoelectric control artificial hand and the bionic artificial hand which are provided with the electric wrist-turning joint and the electric wrist-bending joint at the same time are not available, because the length is too long and the weight is too heavy.
In daily life, amputees need a prosthetic hand with both functions, and the amputees with both hands are more urgent. In order to overcome the defects in the prior art and meet the urgent requirements of the disabled, technical breakthroughs are needed, and an innovative structure is developed to solve the problems.
Disclosure of Invention
A component structure which can be used for an electric artificial hand, comprises a myoelectric control artificial hand and a bionic artificial hand, is short and light, has the functions of electric wrist bending and electric wrist transferring, and comprises two modules: wrist bending joint and wrist turning joint. The main parts of the wrist bending joint comprise a wrist bending motor, a wrist bending reducer and a bracket, and the main parts of the wrist rotating joint comprise a rotating plate, a wrist rotating motor, a wrist rotating reducer, a central shaft tube, a wrist shell and a wrist seat.
The wrist bending motor is arranged in the palm and does not occupy the wrist space, and can be selectively arranged on the back of the hand, the tiger's mouth, the ventral surface of the palm or other positions according to the difference of the structures in the palm.
The motors in the palm are connected, the soft wires including the finger motors and the wrist bending motors are bent near the wrist bending shaft, and the space and the weight occupied by the electric brush structure are saved.
One type of wrist flexion joint is a worm gear and worm structure, see fig. 1. The worm wheel shaft is arranged at the wrist joint position, the worm wheel is fixed on the support and cannot rotate, the worm rotates around the worm wheel under the driving of the wrist bending motor, the worm and the palm of the wrist bending motor are installed and rotate around the worm wheel together with the worm to perform wrist bending and extending actions, and the axis of the worm wheel is the rotation axis of the wrist joint.
Another wrist-bending joint is a structure of lead screw and connecting rod, as shown in fig. 2. The wrist bending motor and the lead screw are arranged in the palm, the upper end shaft of the connecting rod is arranged on the nut of the lead screw, the lower end shaft of the connecting rod is arranged on the bracket for supporting the wrist bending shaft, the nut cannot rotate under the limitation of the guide rail according to the conventional lead screw reducer structure, and when the wrist bending motor drives the lead screw to rotate, the nut is driven to move up and down along the guide rail, the connecting rod is pushed and pulled, so that the palm rotates around the wrist bending shaft to do wrist joint stretching and bending actions.
The wrist-turning joint is provided with a central shaft tube, flexible electric wires leading to the finger motor and the wrist-bending motor pass through the central shaft tube and are connected to a control circuit, and the electric wires can be twisted in the central shaft tube during wrist turning, so that the space and the weight occupied by an electric brush structure are saved.
The wrist rotating motor is arranged outside the wrist central axis tube in parallel to the central axis tube, and an output gear of the wrist rotating motor and a wrist rotating gear form a wrist rotating speed reducer in a cylindrical annular space between the central axis tube and the wrist shell.
In fig. 1 and 2, the wrist-turning joints are all of the same structure, the central axis tube, the wrist-turning motor, the wrist housing and the control circuit are all mounted on a stationary wrist seat, and the wrist seat is fixed at the end of the prosthetic forearm cylinder. The rotating plate and the wrist rotating gear are fixed together, an output gear of the wrist rotating motor is meshed with the wrist rotating gear on the central axis, and the wrist rotating gear rotates under the driving of the wrist rotating motor, so that the wrist bending joint arranged on the rotating plate rotates together with the palm.
Another electric wrist-turning joint is shown in fig. 3, a wrist-turning motor is also arranged outside a wrist central shaft tube and is arranged in parallel to the central shaft tube in a cylindrical annular space between the central shaft tube and a wrist shell, but the wrist-turning motor and a turning plate are fixed together and rotate together, so that the tail part of the wrist-turning motor can extend to available space above the turning plate, and the length of the wrist-turning joint is shortened. The wrist rotating gear and the middle shaft tube are coaxially arranged on the middle shaft tube, and the wrist rotating gear is meshed with an output gear of the wrist rotating motor to form a wrist rotating speed reducer. The central axis tube, the wrist rotating gear, the wrist shell and the control circuit are all arranged on a stationary wrist seat, and the wrist seat is fixed at the end part of the artificial limb forearm tube. When the output gear of the wrist rotating motor rotates, the wrist rotating motor can only roll around the wrist rotating gear, so that the wrist rotating motor, the rotating plate, the wrist bending joint and the palm rotate together.
The wrist-rotating joint in fig. 3 can be combined with the electric wrist-bending joint in fig. 1 or fig. 2 to form two other combined electric wrist joints besides fig. 1 and fig. 2, that is, the two wrist-bending joints and the two wrist-rotating joints can be combined arbitrarily.
If a larger reduction ratio is needed, the two wrist-turning joints can increase and decrease the speed in the cylindrical annular space.
In the various combined electric wrist joints, the axis of the wrist rotating gear is the wrist rotating axis and is also the axis of the central axis tube, and the axes of the wrist bending and the wrist rotating are vertically intersected at one point, so that the wrist action has a bionic effect. The rotation range and the wrist bending range of the wrist joint are limited according to the motion range of the human wrist joint.
The electric wrist bending and converting joint of the artificial hand can be used for various artificial hands, such as an electric myoelectric control or electric artificial hand with one degree of freedom, can realize a short and light myoelectric control or electric artificial hand with three degrees of freedom and the functions of grasping, wrist bending and wrist converting, and can be used for a bionic hand with 6 degrees of freedom at the palm part to form an 8-degree-of-freedom bionic hand with two degrees of freedom at the wrist part.
According to the requirement, only the electric wrist bending joint or the electric wrist turning joint can be installed. The existing various wrist joints with electric brush structures can use a method of passing electric wires through a middle shaft, so that the electric brush structures are omitted, and the length and the weight can be reduced. If only the wrist-turning joint is installed, the wrist-turning motor can be placed on the palm part to reduce the length of the artificial hand, and the central shaft tube can be shortened into a central shaft hole.
Drawings
FIG. 1 is a schematic diagram of a first combined electric wrist joint
FIG. 2 is a schematic diagram of a second combined electric wrist joint
FIG. 3 is another schematic diagram of an electric wrist joint
For clarity of the transmission principle, the support and bearing structure is omitted from fig. 1, 2 and 3.
The numbers in the figures illustrate the following:
1. wrist bending joint
2. Wrist joint
3. Wrist bending motor
4. Worm screw
5. Worm wheel
6. Support frame
7. Rotating plate
8. Wrist-rotating gear
9. Wrist-turning motor output gear
10. Wrist-turning motor
11. Central shaft tube
12. Wrist shell
13. Wrist seat
14. Electric wire connected with wrist bending motor
15. Finger motor
16. Electric wire connected with finger motor
17. Palm of hand
18. Electric wire connected with wrist-switching motor
19. Control circuit
20. Screw mandrel
21. Nut
22. Connecting rod
23. Connecting rod upper end shaft
24. Lower end shaft of connecting rod
25. Wrist bending shaft
26. Wrist bending motor output gear
27. Screw rod gear
Detailed Description
An electric wrist-bending joint is shown in figure 1, and is of a worm gear structure. The wrist bending joint (1) consists of a wrist bending motor (3), a worm (4), a worm wheel (5) and a support (6), the wrist bending motor (3) and the worm (4) are installed in a palm (17) and do not occupy wrist space, the worm wheel (5) is installed on the support (6), the support (6) is installed on a rotating plate (7), and the worm wheel (5), the support (6) and the rotating plate (7) are fixed together, so that the worm wheel (5) cannot rotate, the worm wheel (5) is located at the position of the wrist joint, and when the wrist bending motor (3) drives the worm (4) to rotate, the worm (4) and the whole palm (17) roll around the worm wheel (5) together to perform wrist bending and wrist stretching actions.
Another electric wrist-bending joint is shown in fig. 2, which is a structure of a screw rod and a connecting rod. The wrist bending motor (3) and the lead screw (20) are arranged in the palm (17), the upper end shaft (23) of the connecting rod is arranged on the nut (21) of the lead screw (20), the lower end shaft (24) of the connecting rod is arranged on the bracket (6) supporting the wrist bending shaft (25), according to the conventional lead screw structure, the nut (21) can not rotate, when the output gear (26) of the wrist bending motor drives the lead screw gear (27), the lead screw (20) rotates to drive the nut (21) to move up and down, the connecting rod (22) is pushed and pulled, so that the palm (17) rotates around the wrist bending shaft (25) to perform wrist joint stretching and bending actions.
An electric wrist-turning joint is shown in figure 1 or figure 2 and comprises a turning plate (7), a wrist-turning gear (8), an output gear (9), a wrist-turning motor (10), a central shaft tube (11), a wrist shell (12) and a wrist seat (13). The electric wire (14) connected with the wrist bending motor and the electric wire (16) connected with the finger motor pass through the central shaft tube (11) and are connected to the control circuit (19), and the electric wires can be twisted in the central shaft tube (11) when the wrist is turned, so that the space length and the weight occupied by an electric brush structure are saved. The wrist rotating motor (10) is arranged outside the central axis tube (11) in a circular space between the shell (12) and the central axis tube (11) and is parallel to the central axis tube (11), the wrist shell (12), the wrist rotating motor (10) and the control circuit (19) are fixed together with the wrist base (13), and the wrist base (13) is fixed at the end part of the front arm of the artificial limb. The wrist rotating gear (8) is fixed with the rotating plate (7), the output gear (9) of the wrist rotating motor is meshed with the wrist rotating gear (8) on the central axis to drive the wrist rotating gear (8) and the rotating plate (7) fixed on the wrist rotating gear (8) to rotate together, so that the wrist bending joint (1) arranged on the rotating plate (7) and the palm (17) on the wrist bending joint rotate.
Another electric wrist-turning joint is shown in figure 3, a wrist-turning motor (10) is also arranged outside a wrist central axis tube (11) and is arranged in parallel to the central axis tube (11) in a cylindrical annular space between the central axis tube (11) and a wrist shell (12), but a turning plate (7) of the wrist-turning motor (10) is fixed together and rotates together, so that the tail part of the wrist-turning motor (10) can extend to an available space above the turning plate (7), the length of the wrist-turning joint (1) is shortened, a wrist-turning gear (8) and the central axis tube (11) are coaxially arranged on the central axis tube (11) and are meshed with an output gear (9) of the wrist-turning motor to form a wrist-turning speed reducer, the central axis tube (11), the wrist shell (12) and a control circuit (19) are all arranged on a wrist seat (13), and the wrist seat (13) is fixed at the end part of a prosthesis front arm. The wrist rotating motor output gear (9) rolls around the wrist rotating gear (8) to enable the wrist rotating motor (10), the rotating plate (7), the wrist bending joint (1) and the palm (17) to rotate together.
In this specification, the invention has been described with reference to specific embodiments thereof. It will, however, be evident that various modifications and changes may be made thereto without departing from the broader spirit and scope of the invention. The specification and drawings are, accordingly, to be regarded in an illustrative rather than a restrictive sense.
Claims (9)
1. An ultra-short electric two-degree-of-freedom wrist joint for bionic artificial hands and other artificial hands is characterized in that: the main parts of the wrist bending joint comprise a wrist bending motor, a wrist bending reducer and a bracket, the main parts of the wrist bending joint comprise a wrist rotating motor, a rotating plate, a wrist rotating reducer, a central shaft tube, a wrist shell and a wrist seat, the wrist bending joint comprises a worm gear, a screw rod and a connecting rod, the wrist bending motor is arranged in a palm and does not occupy wrist space, the wrist rotating joint comprises a central shaft tube, soft electric wires leading to a finger motor and the wrist bending motor pass through the central shaft tube, the electric wires can be twisted in the central shaft tube during wrist bending, the space and the weight occupied by an electric brush structure are saved, the wrist rotating motor is arranged outside the wrist central shaft tube and is parallel to the central shaft tube, the rotation range and the wrist bending range of the wrist joint are limited according to the movement range of the human joint, the wrist rotating motor of one wrist rotating joint is fixed on the immobile wrist seat, the wrist rotating motor of the other rotating joint is fixed on the rotating plate and rotates together with the, the wrist bending axis and the wrist rotation axis intersect at a point, so that the wrist movement has a bionic effect.
2. The very short electric two-degree-of-freedom wrist joint of the bionic artificial hand and other artificial hands as claimed in claim 1, which is characterized in that: a wrist bending speed reducer is of a worm gear and worm structure, a worm gear shaft is arranged at a wrist joint position, the worm gear is fixed on a support and cannot rotate, the worm rotates around the worm gear together with a palm under the driving of a wrist bending motor to perform wrist bending and stretching actions, and the axis of the worm gear is the rotation axis of the wrist joint.
3. The very short electric two-degree-of-freedom wrist joint of the bionic artificial hand and other artificial hands as claimed in claim 1, which is characterized in that: the other wrist bending speed reducer is a screw rod structure, a wrist bending motor and a screw rod are arranged in a palm, and a nut arranged on the screw rod pushes and pulls a connecting rod to drive a wrist joint to stretch and bend.
4. The very short electric two-degree-of-freedom wrist joint of the bionic artificial hand and other artificial hands as claimed in claim 1, which is characterized in that: a wrist-rotating joint is characterized in that a wrist-rotating motor is mounted on an immovable wrist seat, an output gear of the wrist-rotating motor is meshed with a wrist-rotating gear on a central axis to drive the wrist-rotating gear to rotate, and the wrist-rotating gear and a rotating plate are connected into a whole, so that a wrist-bending joint mounted on the rotating plate and a palm and a wrist-rotating gear rotate together.
5. The very short electric two-degree-of-freedom wrist joint of the bionic artificial hand and other artificial hands as claimed in claim 1, which is characterized in that: the wrist rotating gear of the other wrist rotating joint is also on the central axis and fixed together with the wrist seat, the wrist rotating motor is fixed on the rotating plate, the output gear of the wrist rotating motor is meshed with the wrist rotating gear, and the wrist rotating motor drives the output gear to roll around the wrist rotating gear, so that the wrist rotating motor, the rotating plate, the wrist bending joint and the palm rotate together.
6. The very short electric two-degree-of-freedom wrist joint of the bionic artificial hand and other artificial hands as claimed in claim 1, which is characterized in that: the wrist-turning speed reducer needs a larger speed reduction ratio, and the speed reduction stage number can be increased and decreased in a cylindrical annular space between the central shaft tube and the wrist shell.
7. The very short electric two-degree-of-freedom wrist joint of the bionic artificial hand and other artificial hands as claimed in claim 1, which is characterized in that: the soft electric wire connecting the finger motor and the wrist bending motor is bent at a position close to the wrist bending shaft when the wrist is bent, so that the space and the weight occupied by the electric brush structure are saved.
8. The very short electric two-degree-of-freedom wrist joint of the bionic artificial hand and other artificial hands as claimed in claim 1, which is characterized in that: the two wrist bending joints and the two wrist rotating joints can be combined at will.
9. The very short electric two-degree-of-freedom wrist joint of the bionic artificial hand and other artificial hands as claimed in claim 1, which is characterized in that: the wrist bending joint and the wrist transferring joint can be used for electric artificial hands, including myoelectric control artificial hands and bionic artificial hands, and only the wrist bending joint or the wrist transferring joint can be installed according to requirements.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920551073.8U CN210447288U (en) | 2019-04-22 | 2019-04-22 | Super-short electric two-degree-of-freedom wrist joint of bionic artificial hand and other artificial hands |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920551073.8U CN210447288U (en) | 2019-04-22 | 2019-04-22 | Super-short electric two-degree-of-freedom wrist joint of bionic artificial hand and other artificial hands |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210447288U true CN210447288U (en) | 2020-05-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920551073.8U Active CN210447288U (en) | 2019-04-22 | 2019-04-22 | Super-short electric two-degree-of-freedom wrist joint of bionic artificial hand and other artificial hands |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210447288U (en) |
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2019
- 2019-04-22 CN CN201920551073.8U patent/CN210447288U/en active Active
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