CN212650954U - Improve artificial hand of gripping action stability - Google Patents

Abstract

The utility model provides a pair of improve artificial hand of gripping action stability, including actuating mechanism, connecting rod and pull wire, actuating mechanism one end is equipped with the pulley, and the pull wire is walked around connecting rod and pulley and fixed point connection. The utility model provides an improve artificial limb hand type that artificial limb hand that gripping action stability is suitable for includes the artificial limb finger, the artificial limb palm, artificial limb arm etc. contain the artificial limb hand of finger structure, this kind adopts connecting rod and line to pull the mechanical structure of combination, it is nimble to have combined the flexible structure overall arrangement, drive power is little and rigid structure rigidity is strong, the stable advantage of motion result, adopt fingertip "movable pulley" formula winding method to realize the motion reinforcement, cooperation connecting rod structure realizes stable motion effect, the flexibility has been taken into account in one set of mechanical structure, gripping strength, gripping stability, can adjust the pull line elasticity fast, make the clue structure in the artificial limb be convenient for change, the adjustment, the maintenance, and avoided the artificial limb gesture deformation that clue structure artificial limb caused for a long time when using.

Description

Improve artificial hand of gripping action stability

Technical Field

The utility model relates to an artificial hand field, in particular to improve artificial hand of gripping action stability.

Background

The prosthetic hand provides convenience for daily life of the disabled with the upper limb missing, and is an important research direction in the field of rehabilitation engineering. Currently, commercially available prosthetic hands include an ottobock safe proportional control myoelectric hand, a great-precision myoelectric control prosthetic limb iLimb manufactured by Touch bionics, UK, and the like. The myoelectric hand with the safe proportional control function has three key functional fingers, can complete the opening and closing actions of the hand to realize the grabbing function, but the fingers are integral and cannot realize multi-knuckle coupling movement; the iLimb is an artificial hand with five fingers, can independently control the movement of each finger except the coupling movement of the ring finger and the little finger, can complete various hand movements, has the characteristic of the coupling movement of two knuckles for the four fingers except the thumb, and realizes the movement imitation of people to a certain extent.

These upper prostheses typically include components such as motion sources, actuation structures, and transmission structures. For the two kinds of electric artificial limbs introduced above, the motion source is an external motor, a steering engine, a battery, a single chip microcomputer and other electronic components, and for the mechanical driving artificial limb, the motion source is the residual limb of the disabled. The executing structure generally refers to the palm and finger parts of the prosthetic hand, and the parts of the executing structure are driven by the motion source to realize the final gripping motion function. The transmission structure connects the motion source, the receiving cavity and the execution structure to realize the motion relation transmission among the structures, and for the electric artificial limb, the transmission structure is generally an electric wire, and for the mechanical drive artificial limb, the transmission structure is a mechanical structure.

In the execution structure and the transmission structure, no matter the artificial limb is an electric artificial limb or a mechanical drive artificial limb, some mechanical structures are needed to realize the effect of hand movement and the transmission of movement. Therefore, the mechanical structural stability, strength, force transmission effects, etc. of the upper prosthesis are critical to the ultimate use of the prosthesis.

The prosthesis structures of existing prostheses generally include 2 types, one flexible mechanical structure represented by a cable control structure, and the other rigid mechanical structure represented by a link structure. Generally speaking, the flexible structure mainly controlled by a cable is more flexible in structural layout, can be flexibly arranged in an artificial limb through a cable channel to realize various motion results, and has the advantages of small required driving force, low structural transmission efficiency, poor rigidity and instability, and is easy to cause incorrect motion results or motion failure due to plastic deformation or damage of the cable; the rigid structure mainly comprising the connecting rod has more stable motion effect, high transmission efficiency, stronger rigidity and more stability, but larger driving force is needed.

In order to achieve a stable, reliable and strong gripping effect of the prosthetic hand, researchers have made a lot of research and made certain progress, for example, a cable transmission 3D printing prosthetic arm disclosed in patent CN205831966U discloses a cable controlled prosthetic arm. The artificial limb arm realizes transmission through a cable penetrating through the tail end of the upper arm, the forearm, the palm and the tail end of the finger, and when the elbow joint is bent, the cable is pulled, namely the palm executing structure is bent to realize the bending of the five fingers. However, such pure cable structures have low mechanical efficiency and unstable exercise results, so that the finally achieved gripping force is small and the exercise posture is not fixed. In addition, after the cable structure is used for a long time, the cable structure can cause plastic deformation of the cable, so that the tightness of the cable is changed, the gripping force is further reduced, the five-finger gripping posture is incorrect, and the service life is also short.

Patent CN209827112U discloses a combined under-actuated bionic prosthetic finger of a driving rope and a four-bar linkage mechanism, and also discloses a finger prosthetic structure composed of a four-bar linkage structure and driven by a metacarpophalangeal joint using a thread. The four-bar linkage structure can realize linkage bending of the middle and far finger joints when the finger joints move, and can realize integral bending of fingers by pulling the near finger joints to rotate through the lines. However, when the proximal knuckle is pulled directly by the wire, the force arm is small because the wire is pulled near the proximal knuckle joint, and the required wire pulling force is extremely large, so that the wire pulling device is only suitable for an electric hand with large driving force, and is not suitable for a mechanical driving hand with large driving force. In addition, the method does not provide a solution for adjusting the cable tension at any time.

The 201910692803.0 multiposition lockable cable controlled prosthetic hand also discloses a multiposition lockable cable hole prosthetic hand for achieving a stable gripping posture. However, the structure is realized through mechanisms such as gears, lock pins and the like, the structure is complex, the occupied space is large, and the artificial limb hand-holding device is only suitable for artificial limbs of all palms. In addition, the method does not provide a solution for adjusting the cable tension at any time.

SUMMERY OF THE UTILITY MODEL

The technical problem of gripping power unstability among the prior art, the structure is complicated, the drive power that needs is big etc, the utility model provides an improve gripping action stability's artificial hand through the mode that connecting rod and line pull, elasticity line combination, rigid support and flexonics make the structure nimble, drive power is little, the rigidity is strong, the motion result is stable. Wherein, more than two sections of fingers can realize linkage bending; the 'movable pulley type' winding structure realizes motion reinforcement. The gripping strength who realizes is big and stable, uses the fixed mode of terminal polygon bolt, realizes the quick adjustment of the elasticity of acting as go-between to can adjust the artificial limb gesture conveniently, promote the performance of artificial limb, and increase the life-span of clue structure.

The utility model provides an artificial hand for improving the stability of gripping action, which comprises an actuating mechanism and a transmission mechanism, wherein the transmission mechanism comprises a connecting rod and a traction wire, one end of the actuating mechanism is provided with a fixed point, the other end of the actuating mechanism is provided with a pulley, and the traction wire is connected with the fixed point by bypassing the connecting rod and the pulley; the actuating mechanism comprises a palm, a near knuckle and a middle and far knuckle, a finger connecting rod is arranged between the near knuckle and the middle and far knuckle, a pulley is arranged on the middle and far knuckle, one end of a traction line is fixed at a second fixed point in the palm, and the traction line is fixed by winding back to the palm through the finger connecting rod and the pulley.

The utility model discloses in, be equipped with the third axle between palm and the nearly knuckle, be equipped with the secondary shaft between palm and the finger connecting rod, be equipped with the primary shaft between finger connecting rod and the middle and far knuckle, be equipped with the fourth axle between nearly knuckle and the middle and far knuckle.

In the utility model, the palm and the proximal knuckle are provided with a polygonal thread tightness adjusting mechanism which is provided with a polygonal bolt on which a traction wire is wound; when the adjustable tightness structure is used, the minimum tightness adjusting amount of each rotation of one angle is adjusted by adjusting the number and the side length of the polygon.

In the utility model, a plurality of groups of polygonal bolt holes are arranged on the polygonal thread tightness adjusting mechanism, and the lower part of the polygonal bolt is provided with a buckle; the polygonal cable tightness adjusting structure can quickly adjust the tightness of the stay wire by rotating and adjusting the angle of the inserting fixer.

In the utility model, elastic lines are arranged in the palm, the near knuckle and the middle and far knuckle.

Preferably, the utility model discloses be equipped with one section elastic line between well palm and the nearly knuckle, be equipped with one section elastic line between nearly knuckle and the well distal finger festival.

The utility model discloses in, polygon bolt material is plastics or metal, and the used material of actuating mechanism is plastics or metal, and the used material of pull wire is one of plastics, cloth or metal.

The utility model has the advantages that:

the artificial limb hand for improving the gripping action stability adopts a mechanical structure combining the connecting rod and the line traction, and combines the advantages of flexible structure layout, small driving force, strong rigidity of a rigid structure and stable motion result; the stable movement effect is realized by matching with a connecting rod structure, and the flexibility, the gripping force and the gripping stability are considered in one set of mechanical structure; by adopting the polygonal cable tightness adjusting mechanism, the tightness of the traction cable can be quickly adjusted by only rotationally adjusting the fixed angle of the polygonal bolt on the fixer, so that the cable structure in the artificial limb is convenient to replace, adjust and maintain, and the artificial limb posture deformation caused by long-time use of the cable structure artificial limb is avoided.

The artificial hand type suitable for the artificial hand with the improved gripping action stability of the utility model comprises artificial fingers, artificial palm, artificial arm and the like which contain finger structures.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic cross-sectional view along line AA of fig. 1 according to the present invention.

Fig. 3 is a schematic view of the principle structure of the present invention.

Fig. 4 is a schematic structural view of the polygonal thread tightness adjusting mechanism of the present invention.

Fig. 5 is a schematic view of the sectional structure of the polygonal thread tightness adjusting mechanism of the present invention.

Fig. 6 is a schematic view of the structure of the utility model in use.

In FIGS. 1-5: 1-palm, 2-proximal knuckle, 3-finger connecting rod, 4-middle distal knuckle, 5-traction line, 6-polygonal cable tightness adjusting mechanism, 7-polygonal bolt, 8-pulley, 9-first shaft, 10-second shaft, 11-third shaft, 12-first fixed point, 13-fourth shaft, 14-second fixed point, 15-third fixed point and 16-elastic line.

Detailed Description

The following description of the present invention will be made in further detail with reference to the accompanying fig. 1 to 6 and examples, but the method of the present invention is not limited to the following examples.

In the present invention, for convenience of description, the description of the relative position relationship of the components in the present invention is described according to the layout pattern of fig. 1, for example: the positional relationship of up, down, left, right, etc. is determined in accordance with the layout direction of fig. 1.

The utility model discloses used palm 1 in, nearly knuckle 2, finger connecting rod 3, well far and middle knuckle 4, pull wire 5, polygon clue elasticity adjustment mechanism 6, polygon bolt 7, elastic line 16 etc. all purchase or customize through the market route, the utility model discloses in, polygon bolt 7 material is plastics or metal, and the used material of actuating mechanism is plastics or metal, and the used material of pull wire 5 is one of plastics, cloth or metal.

The utility model provides a pair of improve artificial hand of gripping action stability, including actuating mechanism and drive mechanism, drive mechanism includes connecting rod and pull wire 5, and actuating mechanism one end is equipped with the fixed point, and the other one end of actuating mechanism is equipped with pulley 8, and pull wire 5 bypasses connecting rod and pulley 8 and is connected with the fixed point.

The utility model discloses in, actuating mechanism includes palm 1, nearly knuckle 2 and well far knuckle 4, is equipped with finger connecting rod 3 between nearly knuckle 2 and the well far knuckle 4, is equipped with pulley 8 on the well far knuckle 4, and 5 one ends of pull wire are fixed at the second fixed point 14 that is located the palm, and it is fixed that the pull wire winds back palm 1 after passing through finger connecting rod 3 and pulley 8.

The utility model discloses in, be equipped with third axle 11 between palm 1 and the nearly knuckle 2, be equipped with secondary shaft 10 between palm 1 and the finger connecting rod 3, be equipped with primary shaft 9 between finger connecting rod 3 and the middle and far knuckle 4, be equipped with fourth axle 13 between the nearly knuckle 2 and the middle and far knuckle 4, primary shaft 9, secondary shaft 10, third axle 11 and fourth axle 13 are walked around respectively to pull wire 5.

The utility model discloses in, be equipped with polygon clue tightness degree adjustment mechanism 6 on palm 1 and the nearly knuckle 2, be equipped with polygon bolt 7 on the polygon clue tightness degree adjustment mechanism 6, twine the pull wire on the polygon bolt 7.

In the utility model, the palm 1 is provided with a first fixing point 12 and a second fixing point 14, and the middle and far knuckle 4 is provided with a third fixing point 15. The first fixing point 12, the second fixing point 14 and the third fixing point 15 are respectively provided with a polygonal cable tightness adjusting mechanism 6.

The utility model discloses in, be equipped with a plurality of groups polygon bolt hole on polygon clue tight regulation mechanism 6, polygon bolt 7 lower part is equipped with the buckle, and the buckle has elasticity and conveniently inserts polygon bolt hole.

The utility model discloses in, be equipped with elastic line 16 between palm 1 and the nearly knuckle, be equipped with elastic line 16 between nearly knuckle 2 and the middle and far knuckle 4.

When being suitable for the utility model relates to an improve artificial hand of gripping action stability, as shown in fig. 1, the utility model discloses an artificial hand belongs to the artificial hand based on pulley wire winding and connecting rod, and pull wire 5 is fixed from first fixed point 12 in the palm 1 inner chamber, winds fingertip third fixed point 15 department through the passageway that link up in the knuckle, after third fixed point 15 department winds the round, wears out from another export of palm along the passageway. The elastic thread 16 passes along the passage inside the palm 1, the proximal knuckle 2 and the middle distal knuckle 4 and is fixed at the second fixing point 14 in the palm 1 and the pulley 8 in the middle distal knuckle 4, respectively.

The application principle of the mechanical structure prosthetic hand for realizing stable gripping action in the utility model is shown in figure 2. The palm 1, the near knuckle 2, the finger link 3 and the middle and far knuckle 4 jointly form a four-bar link, when the traction line 5 is pulled outwards, the middle and far knuckle 4 is similar to a movable pulley and rotates inwards under the constraint action of the fourth shaft 13 and the first shaft 9, and the near knuckle 2 and the middle and far knuckle 4 rotate around the second shaft 10 in a linkage mode under the action of the four-bar link mechanism. Under the effect of the movable pulley drive, when the traction wire 5 is subjected to the wire-pulling driving force F, the proximal knuckle 2 acts as the "movable pulley" of the "pulley" structure, and the maximum obtainable gripping force of 2F is theoretically achieved. When the traction line is pulled to cause the joint to bend inwards, the elastic line 16 is stretched at the back of the joint to generate force storage, and when the tension force of the traction line disappears, the elastic line 16 releases the stored force to generate a rebounding effect, so that the posture of the prosthetic hand is restored.

The utility model discloses a pulley wire winding mode is different from the mode of directly fixing the line on fingertip or finger drive arrangement in traditional clue structure, can realize the motion reinforcement with the help of "movable pulley" principle. Furthermore, the utility model provides a pulley wire winding structure not only as the driving source of finger motion, also together as the partly structure that realizes the crooked action of finger with link structure for overall structure has more stability.

As shown in fig. 4, in the cross-sectional view of the polygonal cord tightness adjusting mechanism 6, the pulling wire 5 is inserted into the polygonal cord tightness adjusting mechanism 6 from the top end of the polygonal plug 7 and fixed. The bottom of the polygonal bolt 7 is provided with a buckle structure and can be fixed in a groove in the polygonal thread tightness adjusting mechanism 6 through elastic deformation. The polygonal bolt 7 can be inserted into the polygonal thread tightness adjusting mechanism 6 through rotation adjustment for fixing the angle. When the polygonal plug 7 is rotated, the traction wire 5 will be wound around the outside thereof. In the polygonal cable tightness adjusting mechanism 6, the polygonal bolt 7 can quickly adjust the tightness of the traction cable 5 by a method of rotating and adjusting the insertion angle.

In the design of the polygonal bolt 7, the minimum tightness regulating quantity when each polygon is rotated by an angle can be regulated by regulating the number of sides and the side length of the polygon, namely, for the number of sides of a and the side length of b millimeters, the regulating effect is that the tightness of a stay wire of b millimeters can be regulated when each polygon is rotated by 360/a degrees.

Fig. 6 is the utility model discloses use at robotic arm's example, the finger is by the embodiment four-bar linkage and pulley wire winding structure constitute, the pull wire is sent out from the centre of the palm and is walked around the fingertip, passes palm, arm dorsal part, on being connected to the terminal polygon bolt 7 of upper arm always, the finger dorsal part has the through-hole can penetrate the elastic line, realizes that the five fingers gesture is fixed (kick-backs after the motion), through will the utility model discloses the structure is used on the arm artificial limb, realizes five fingers bending motion behind the elbow joint drive, and gripping power and motion result are stable, when the pull wire elasticity changes, can rotate polygon bolt 7, through polygon bolt 7 and the quick artificial limb gesture of adjusting of polygon clue elasticity adjustment mechanism 6.

As described above, the present invention can be better realized, the above-mentioned embodiments are only right the preferred embodiments of the present invention are described, not right the scope of the present invention is limited, without departing from the design spirit of the present invention, the ordinary skilled in the art will be right the various modifications and improvements made by the technical solution of the present invention all fall into the determined protection scope of the present invention.

Claims (6)

1. A prosthetic hand for improving the gripping action stability comprises an actuating mechanism and a transmission mechanism, and is characterized in that the transmission mechanism comprises a connecting rod and a traction wire, wherein one end of the actuating mechanism is provided with a fixed point, the other end of the actuating mechanism is provided with a pulley, and the traction wire is connected with the fixed point by bypassing the connecting rod and the pulley; the actuating mechanism comprises a palm, a near knuckle and a middle and far knuckle, a finger connecting rod is arranged between the near knuckle and the middle and far knuckle, a pulley is arranged on the middle and far knuckle, one end of a traction line is fixed at a second fixed point in the palm, and the traction line is fixed by winding back to the palm through the finger connecting rod and the pulley.

2. A prosthetic hand for improving stability of gripping action according to claim 1, wherein the palm and proximal phalanx are provided with polygonal cord tightness adjusting means, the polygonal cord tightness adjusting means is provided with a polygonal plug, and the polygonal plug is wrapped with a traction wire.

3. A prosthetic hand for improving gripping motion stability as claimed in claim 2, wherein said polygonal cord slack adjuster mechanism has a plurality of polygonal pin holes and a snap fastener on the lower portion of the polygonal pin.

4. A prosthetic hand for improving stability of gripping action according to claim 1, wherein elastic threads are provided in the palm, proximal and middle distal knuckles.

5. A prosthetic hand for improving the stability of the gripping action according to claim 4, wherein an elastic line is provided between the palm and the proximal knuckle and an elastic line is provided between the proximal knuckle and the middle distal knuckle.

6. A prosthetic hand for improving stability of the gripping action according to claim 1, wherein a third axis is provided between the palm and the proximal knuckle, a second axis is provided between the palm and the finger link, a first axis is provided between the finger link and the middle distal knuckle, and a fourth axis is provided between the proximal knuckle and the middle distal knuckle, said axes being arranged such that the palm, the proximal knuckle, the finger link and the middle distal knuckle form a "four bar" configuration.

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