CN215349770U - Four-degree-of-freedom intelligent prosthetic hand - Google Patents

Abstract

The utility model discloses a four-freedom intelligent artificial hand, which comprises: a palm base; a thumb, an index finger, a middle finger, a ring finger and a little finger which are connected to the palm base are arranged on the palm base in sequence; the three linear motors are arranged on the palm base, wherein the first linear motor is connected with the thumb, the second linear motor is connected with the index finger, and the third linear motor is connected with the middle finger, the ring finger and the little finger through a triple driving mechanism; the circuit board is arranged on the palm base and is electrically connected with the three linear motors; wherein, the thumb and the forefinger realize bending or stretching movement under the drive of the corresponding linear motors; the middle finger, the ring finger and the small finger are driven by the linear motor to realize simultaneous bending or stretching motion through a triple driving mechanism. The utility model has simple and reliable structure and easy control, can finish various action modes such as pinching, two-finger pinching, side pinching and the like, has the main motion function of the hand, greatly reduces the cost and lightens the weight of the whole hand.

Description

Four-degree-of-freedom intelligent prosthetic hand

Technical Field

The utility model relates to the field of artificial limbs, in particular to a four-degree-of-freedom intelligent artificial hand.

Background

Patients with limb disabilities are a vulnerable group with special difficulties in society. Due to various factors such as industrial accidents, traffic accidents, natural disasters, disease lesions and congenital defects, a large number of upper limb deletants are inevitably generated. The loss of hands greatly reduces the working and living abilities of the users, and the users have urgent desire and need to rebuild the functions of hands and have basic self-care. It is the responsibility of the whole society to improve the quality of life and the quality of work of these patients with limb disabilities. However, human cannot realize reconstruction of missing limbs by a biological method, and the current artificial hand imitating human is the only tool for realizing the hand function of amputees.

In recent decades, many research institutes and companies both at home and abroad have made much effort and contribution in the research of prosthetic hands in order to simulate the functions of human hands. At present, some novel five-finger artificial limbs have been developed, the artificial limbs have the five-finger artificial appearance, each finger is provided with an independent driving unit, and the artificial limbs can simulate the hand to carry out daily grabbing work, but 5-6 independent drives increase the weight and cost of the artificial limbs, the selling price is as high as dozens of ten thousand yuan, and a patient is difficult to bear high cost, so that the commercial artificial limbs on the domestic market mainly use three-finger artificial hands, the function is single, and the life quality of amputated patients is greatly influenced. Therefore, the development of the artificial limb hand with less drive, high cost performance and rich functions has great practical significance and social requirements.

Therefore, the technical personnel in the field strive to develop a four-degree-of-freedom intelligent artificial hand which is simple and reliable in structure and easy to control, can complete various action modes such as pinching, two-finger pinching, side pinching and the like, has the main motion function of the hand, greatly reduces the cost and lightens the weight of the whole hand.

SUMMERY OF THE UTILITY MODEL

In order to achieve the above object, the present invention provides a four-degree-of-freedom intelligent prosthetic hand, comprising:

a palm base;

a thumb, an index finger, a middle finger, a ring finger, and a little finger connected to the palm base, the thumb, the index finger, the middle finger, the ring finger, and the little finger being arranged in sequence on the palm base;

the three linear motors are arranged on the palm base, wherein the first linear motor is connected with the thumb, the second linear motor is connected with the index finger, and the third linear motor is connected with the middle finger, the ring finger and the little finger through a triple driving mechanism;

the circuit board is arranged on the palm base and is electrically connected with the three linear motors;

wherein the thumb and the index finger are configured to effect a bending or stretching motion under the corresponding linear motor drive; the middle finger, the ring finger and the little finger are configured to realize simultaneous bending or stretching movement through the triple driving mechanism under the driving of the linear motor.

Further, the index finger, the middle finger, the ring finger and the little finger each include: the finger joint comprises a finger base, a near finger joint, a far finger joint, a first finger pin shaft, a finger driving rod, a second finger pin shaft, a finger connecting rod, a third finger pin shaft, a fourth finger pin shaft, a fifth finger pin shaft and a sixth finger pin shaft; the finger base is provided with a finger fixing hole and a base sliding groove; the sixth finger pin shaft and the fifth finger pin shaft are fixedly sleeved on the finger base, the near finger joint is sleeved on the sixth finger pin shaft, and the fifth finger pin shaft is positioned in an arc-shaped groove of the near finger joint; the second finger pin shaft and the fourth finger pin shaft are fixedly sleeved on the proximal finger joint, the distal finger joint is fixedly sleeved on the fourth finger pin shaft, and the third finger pin shaft is fixedly sleeved on the distal finger joint; one end of the finger driving rod is sleeved on the first finger pin shaft, and the other end of the finger driving rod is sleeved on the second finger pin shaft; one end of the finger connecting rod is sleeved on the fifth finger pin shaft, and the other end of the finger connecting rod is sleeved on the third finger pin shaft.

Further, the index finger further comprises an index finger driving block, the index finger driving block is arranged in the base sliding groove of the finger base of the index finger, and the index finger driving block is connected with the output shaft of the corresponding linear motor.

Furthermore, the middle finger also comprises a middle finger sliding block positioned in the base sliding groove of the middle finger, the ring finger also comprises a ring finger driving block positioned in the base sliding groove of the ring finger, and the little finger also comprises a little finger sliding block positioned in the base sliding groove of the little finger; the middle finger sliding block, the ring finger driving block and the little finger sliding block are respectively arranged on three output ends of the triple driving mechanism, the guide convex column of the middle finger sliding block is sleeved in the arc-shaped groove of the ring finger driving block, and the guide convex column of the little finger sliding block is sleeved in the other arc-shaped groove of the ring finger driving block.

Furthermore, the thumb comprises a thumb joint, a thumb base, a first thumb pin shaft, a second thumb pin shaft, a third thumb pin shaft, a thumb connecting rod and a thumb driving block; a thumb joint fixing hole is formed in the thumb base, and the thumb joint is connected to the thumb base through the thumb joint fixing hole; the thumb driving block is connected with the output shaft of the corresponding linear motor, and the first thumb pin shaft is fixedly connected with the thumb connecting rod and is configured to slide in the arc-shaped groove of the thumb base; the third thumb pin shaft is fixedly sleeved on the thumb driving block and penetrates through the sliding groove of the thumb connecting rod; the second thumb pin shaft is sleeved on the thumb connecting rod.

Further, still include motor splint, motor splint set up on the palm base, with the thumb is connected linear electric motor fixes on the motor splint, motor splint include first thumb connecting hole, the thumb the second thumb round pin axle sleeve is fixed first thumb connecting hole.

Further, the thumb further comprises a direct current motor, a first bevel gear, a bearing, a worm, a second bevel gear, a worm wheel and a clamp spring; the thumb base is also provided with a direct current motor mounting hole, a bevel gear mounting hole, a bearing mounting hole and a clamp spring mounting hole; the direct current motor is fixed on the thumb base through the direct current motor mounting hole; the first bevel gear is fixedly sleeved on an output shaft of the direct current motor, and the second bevel gear is embedded in the bevel gear mounting hole of the thumb base and meshed with the first bevel gear; one end of the worm is fixedly connected with the second bevel gear, and the other end of the worm is sleeved on the bearing; the outer ring of the bearing is fixedly sleeved in the bearing mounting hole of the thumb base, and the clamp spring is embedded in the clamp spring mounting hole of the thumb base; the worm wheel and the thumb connecting rod are fixedly connected and are jointly sleeved with a screw inserted into a second thumb connecting hole of the thumb base, and the worm wheel is meshed with the worm.

Furthermore, the palm base comprises a triple driving sliding chute, a second motor mounting hole, a first motor mounting hole, a finger mounting hole, a circuit board mounting hole and a motor wire outlet hole; two of the three linear motors are fixed on the palm base through the first motor mounting hole and the second motor mounting hole; the triple driving mechanism is arranged in the triple driving sliding chute; the index finger, the middle finger, the ring finger and the little finger are arranged at the corresponding finger mounting holes; the circuit board is fixed on the palm base through the circuit board mounting hole, and the electric wires of the three linear motors are connected to the circuit board through the motor wire outlet holes in the palm base.

Further, still include the shell, the shell includes palm shell and palm back of the body shell, palm shell with palm back of the body shell sets up relatively and forms and holds the accommodation space of palm base.

Furthermore, the palm base further comprises a thumb soft rubber, the thumb soft rubber is sleeved at the joint of the thumb and the palm base, one end of the thumb soft rubber is connected to the thumb, and the other end of the thumb soft rubber is connected to the palm base.

The four-degree-of-freedom intelligent prosthetic hand provided by the utility model has the following beneficial technical effects: only three linear motors are adopted for driving, so that the structure is simple and reliable, and the control is easy; through a direct current motor, combine three linear electric motor, only used four motors can realize multiple action modes such as natural state, two fingers are held between fingers, gripping, side and holding for this artificial hand has the main motion function of staff, and to a great extent has reduced the cost simultaneously, has alleviateed the weight of whole hand.

The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.

Drawings

FIG. 1 is a schematic diagram of the internal structure of a four-DOF intelligent prosthetic hand according to a preferred embodiment of the present invention;

FIG. 2 is a schematic rear view of FIG. 1;

FIG. 3 is a schematic view of the structure of the index finger;

FIG. 4 is a schematic view showing the inner structure of the index finger;

FIG. 5 is a schematic structural view of a triple drive mechanism;

FIG. 6 is a schematic view of the thumb configuration;

FIG. 7 is an exploded schematic view of the thumb;

FIG. 8 is a schematic structural view of a thumb drive block;

FIG. 9 is a schematic view of FIG. 8 from another perspective;

FIG. 10 is a schematic view of the construction of the palm base;

FIG. 11 is a schematic view of FIG. 10 from another perspective;

FIG. 12 is a schematic view of the structure of the motor clamp plate;

FIG. 13 is a schematic diagram of the overall structure of a four degree-of-freedom intelligent prosthetic hand;

fig. 14 is a rear view of fig. 13.

Wherein, 1-thumb, 2-forefinger, 3-middle finger, 4-ring finger, 5-little finger, 6-triple driving mechanism, 7-palm base, 71-trapezoid sliding groove, 72-palm center shell fixing hole, 73-triple driving sliding groove, 74-second motor mounting hole, 75-flange mounting hole, 76-motor splint mounting hole, 77-first motor mounting hole, 78-finger mounting hole, 79-circuit board mounting hole, 710-palm back shell mounting hole, 711-thumb soft glue mounting hole, 712-motor wire outlet hole, 713-palm back shell fixing hole, 8-motor splint, 81-splint fixing hole, 82-third motor mounting hole, 83-first thumb connecting hole, 9-linear motor, 10-flange, 11-circuit board, 12-palm shell, 13-thumb soft glue, 14-palm back shell, 15-forefinger driving block, 151-first motor shaft connecting hole, 16-finger base, 161-finger fixing hole, 162-base sliding groove, 17-proximal finger joint, 18-distal finger joint, 19-first finger pin shaft, 20-finger driving rod, 21-second finger pin shaft, 22-finger connecting rod, 23-third finger pin shaft, 24-fourth finger pin shaft, 25-fifth finger pin shaft, 26-sixth finger pin shaft, 27-middle finger sliding block, 271-guiding convex column, 28-ring finger driving block, 281-guiding trapezoidal block, 282-second motor shaft connecting hole, 29-little finger sliding block, 30-thumb joint, 31-thumb base, 311-direct current motor mounting hole, 312-thumb joint fixing hole, 313-bevel gear mounting hole, 314-second thumb connecting hole, 315-bearing mounting hole, 316-clamp spring mounting hole, 32-direct current motor, 33-first bevel gear, 34-bearing, 35-worm, 36-second bevel gear, 37-first thumb pin, 38-worm gear, 39-thumb connecting rod, 40-second thumb pin, 41-thumb driving block, 411-third motor shaft connecting hole, 42-third thumb pin and 43-clamp spring.

Detailed Description

The technical contents of the preferred embodiments of the present invention will be more clearly and easily understood by referring to the drawings attached to the specification. The present invention may be embodied in many different forms of embodiments and the scope of the utility model is not limited to the embodiments set forth herein.

In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.

As shown in fig. 1 and 2, the utility model provides a four-degree-of-freedom intelligent prosthetic hand, which comprises a thumb 1, an index finger 2, a middle finger 3, a ring finger 4, a little finger 5, a palm base 7, a linear motor 9, a circuit board 11 and a shell. The thumb 1, the index finger 2, the middle finger 3, the ring finger 4, and the little finger 5 are sequentially connected to the palm base 7, and the thumb 1, the index finger 2, the middle finger 3, the ring finger 4, and the little finger 5 form a shape substantially identical to the shape of a human hand after being connected to the palm base 7. The linear motors 9 are arranged on the palm base 7, the number of the linear motors is three, an output shaft of the first linear motor 9 is connected with the thumb 1, an output shaft of the second linear motor 9 is connected with the index finger 2, and an output shaft of the third linear motor 9 is connected to the middle finger 3, the ring finger 4 and the little finger 5 through the triple driving mechanism 6. The thumb 1, the index finger 2, the middle finger 3, the ring finger 4 and the little finger 5 can realize bending or stretching movement under the driving of the corresponding linear motors 9. Wherein, the middle finger 3, the ring finger 4 and the little finger 5 can realize the simultaneous bending or stretching movement under the action of the triple driving mechanism 6. The circuit board 11 is arranged on the palm base 7 and connected with the linear motor 9 through a lead for controlling the start and stop of the linear motor. The shell is covered outside the palm base 7 to play a role in protection.

As shown in fig. 3 and 4, the index finger 2, the middle finger 3, the ring finger 4 and the little finger 5 have the same structure except for the end driving part and the length. The index finger 2, the middle finger 3, the ring finger 4 and the little finger 5 each include a finger base 16, a proximal finger joint 17, a distal finger joint 18, a first finger pin shaft 19, a finger drive lever 20, a second finger pin shaft 21, a finger link 22, a third finger pin shaft 23, a fourth finger pin shaft 24, a fifth finger pin shaft 25 and a sixth finger pin shaft 26. The finger base 16 is provided with a finger fixing hole 161 and a base sliding groove 162. The sixth finger pin shaft 26 and the fifth finger pin shaft 25 are fixedly sleeved on the finger base 16, the proximal finger joint 17 is sleeved on the sixth finger pin shaft 26, and the fifth finger pin shaft 25 is positioned in the arc-shaped groove of the proximal finger joint 17. A second finger pin shaft 21 and a fourth finger pin shaft 24 are fixedly sleeved on the proximal finger joint 17, a distal finger joint 18 is fixedly sleeved on the fourth finger pin shaft 24, and a third finger pin shaft 23 is fixedly sleeved on the distal finger joint 18; one end of the finger driving rod 20 is sleeved on the first finger pin shaft 19, and the other end is sleeved on the second finger pin shaft 21. One end of the finger link 22 is sleeved on the fifth finger pin shaft 25, and the other end is sleeved on the third finger pin shaft 23.

As shown in fig. 3, 4 and 5, the tip drives of the index finger 2, the middle finger 3, the ring finger 4 and the little finger 5 are different, specifically, the index finger 2 includes an index finger driving block 15, and the index finger driving block 15 is disposed in the base sliding groove 162 of the finger base 16 of the index finger 2; the end driving piece of the middle finger 3 is a middle finger sliding block 27, the end driving piece of the ring finger 4 is a ring finger driving block 28, and the end driving piece of the little finger 5 is a little finger sliding block 29, wherein the middle finger sliding block 27, the ring finger driving block 28 and the little finger sliding block 29 are respectively three output ends of the triple driving mechanism 6, the middle finger sliding block 27 is arranged in a base sliding groove 162 of the middle finger 3, the ring finger driving block 28 is arranged in the base sliding groove 162 of the ring finger 4, and the little finger sliding block 29 is arranged in the base sliding groove 162 of the little finger 5. Four first finger pinshafts 19 of the index finger 2, the middle finger 3, the ring finger 4 and the little finger 5 are respectively sleeved and fixed on the end driving pieces (an index finger driving block 15, a middle finger sliding block 27, a ring finger driving block 28 and a little finger sliding block 29). As shown in fig. 5, the guide convex column 271 of the middle finger sliding block 27 is sleeved in the arc-shaped groove of the ring finger driving block 28, the small finger sliding block 29 and the middle finger sliding block 27 have the same structure, the guide convex column thereon is sleeved in the other arc-shaped groove of the ring finger driving block 28, and the three components together form the triple driving mechanism 6.

As shown in fig. 6 and 7, the thumb 1 includes a thumb joint 30, a thumb base 31, a first thumb pin 37, a second thumb pin 40, a third thumb pin 42, a thumb link 39, and a thumb drive block 41. As shown in fig. 8 and 9, the thumb base 31 is provided with a thumb joint fixing hole 312, and the thumb joint 30 is connected to the thumb base 31 through the thumb joint fixing hole 312. The thumb driving block 41 is connected with the output shaft of the corresponding linear motor 9, and the first thumb pin shaft 37 is fixedly connected with the thumb connecting rod 39 and can slide in the arc-shaped groove of the thumb base 31. The third thumb pin 42 is fixedly sleeved on the thumb driving block 41 and penetrates through the sliding groove of the thumb connecting rod 39. The second thumb pin shaft 40 is sleeved on the thumb connecting rod 39. When the output shaft of the linear motor 9 corresponding to the thumb driving block 41 moves axially, the third thumb pin 42 slides along the sliding slot on the thumb connecting rod 39, and the thumb connecting rod 39 drives the thumb 1 to rotate, so that the thumb 1 bends or extends.

Besides the thumb 1 realizing bending and stretching movement under the drive of the linear motor, the thumb 1 can be configured to realize side turning or side pinching. Specifically, referring to fig. 7, the thumb 1 further includes a dc motor 32, a first bevel gear 33, a bearing 34, a worm 35, a second bevel gear 36, a worm gear 38, and a snap spring 43. Referring to fig. 8 and 9, the thumb base 31 is provided with a dc motor mounting hole 311, a bevel gear mounting hole 313, a bearing mounting hole 315, and a snap spring mounting hole 316. The dc motor 32 is fixed to the thumb base 31 through the dc motor mounting hole 311. The first bevel gear 33 is fixedly sleeved on the output shaft of the direct current motor 32, and the second bevel gear 36 is embedded in the bevel gear mounting hole 313 of the thumb base 31 and meshed with the first bevel gear 33. One end of the worm 35 is fixedly connected with the second bevel gear 36, and the other end is sleeved on the bearing 34. The outer ring of the bearing 34 is fixedly sleeved in the bearing mounting hole 313 of the thumb base 31, and the clamp spring 43 is embedded in the clamp spring mounting hole 316 of the thumb base 31 to limit the axial displacement of the bearing 34. The worm wheel 38 and the thumb connecting rod 39 are fixedly connected and are jointly sleeved on a screw inserted into the second thumb connecting hole 314 of the thumb base 31, and the worm wheel 38 is meshed with the worm 35. The dc motor 32 is connected to the circuit board by wires, and is controlled by the circuit board.

As shown in fig. 10 and 11, the palm base 7 is a main supporting component, and includes a trapezoidal sliding groove 71, a triple driving sliding groove 73, a second motor mounting hole 74, a first motor mounting hole 77, a finger mounting hole 78, a circuit board mounting hole 79, and a motor outlet hole 712. The two linear motors 9 are fixed on the palm base 7 through a first motor mounting hole 77 and a second motor mounting hole 74 on the palm base 7 and respectively drive the index finger 2, the middle finger 3, the ring finger 4 and the little finger 5 to be linked. The triple drive mechanism 6 is disposed in the triple drive slide groove 73, and the guide trapezoidal piece 281 of the ring finger drive piece 28 is disposed in the trapezoidal slide groove 71. The first motor shaft connecting hole 151 on the forefinger driving block 15 and the second motor shaft connecting hole 282 on the ring finger driving block 28 are respectively connected with the output shafts of the two linear motors 9, and the forefinger 2, the middle finger 3, the ring finger 4 and the little finger 5 are fixed on the palm base 7 through the finger fixing holes 161 on the finger base 16 and the finger mounting holes 78 on the palm base 7. The thumb 1 is connected with the output shaft of the linear motor 9 through a third motor shaft connecting hole 411 on the thumb driving block 41; the circuit board 11 is fixed on the palm base 7 through a circuit board mounting hole 79 on the palm base 7, and the motor lines of the three linear motors 9 are connected to the circuit board 11 on the back of the palm base 7 through three motor outlet holes 712 on the palm base 7.

The shell is covered outside the palm base 7 to play a role in protection. As shown in fig. 13 and 14, the shell may include a palmar shell 12 and a palmar-dorsal shell palm 14. The palm shell 12 and the palm back shell 14 are oppositely arranged to form a containing space so as to wrap the palm base 7. The palm shell 12 is fixed to the palm base 7 through palm shell fixing holes 72 (see fig. 10) on the palm base 7, and the palmback shell 14 is fixed to the palm base 7 through palmback shell mounting holes 710 and palmback shell positioning holes 713 on the palm base 7.

The whole four-degree-of-freedom intelligent prosthetic hand can be matched with a prosthetic wrist through the flange 10 and is installed on an accepting cavity to be used as a prosthetic limb. The flange 10 is arranged on one side of the prosthetic hand facing the prosthesis, and the flange 10 is fixedly connected to the palm base 7 through a flange mounting hole 75 on the palm base 7.

The linear motor 9 connected with the thumb 1 can be fixed on the palm base through the motor splint 8. Specifically, the motor clamp 8 is fixed on the palm base 7 through the clamp fixing hole 81 of the palm base and the motor clamp mounting hole 76 on the palm base 7. The linear motor 9 is fixed on the motor splint 8 through a third motor mounting hole 82 on the palm base 7. The second thumb pin 40 of the thumb 1 is fixedly sleeved in the first thumb connecting hole 83 (see fig. 12) on the motor splint 8.

A thumb soft rubber can be arranged between the thumb and the palm base and sleeved outside the joint of the thumb and the palm base, so that the protective effect is achieved. The thumb soft glue 13 is fixedly connected on the palm base 7 through the thumb soft glue mounting hole 711 on the palm base 7.

The working principle of the four-degree-of-freedom intelligent prosthetic hand provided by the utility model is as follows:

when the circuit board 11 controls the motor shaft of the linear motor 9 to extend or contract, the output shaft of the linear motor 9 drives the index finger driving block 15, the ring finger driving block 28 and the thumb driving block 41 fixed thereto, respectively. Under the action of the linear motor, the index finger driving block 15 drives the index finger 2 to move, the middle finger sliding block 27, the ring finger driving block 28 and the little finger sliding block 29 form a triple driving mechanism 6 to drive the middle finger 3, the ring finger 4 and the little finger 5 to synchronously move, and the thumb driving block 41 drives the thumb 1 to move.

The forefinger driving block 15, the finger base 16, the proximal finger joint 17 and the finger driving rod 20 form a four-bar slider mechanism, when the forefinger driving block 15 moves axially along the output shaft of the linear motor 9 for driving the forefinger, the proximal finger joint 17 rotates around the sixth finger pin shaft 26 (the finger base 16), and the fifth finger pin shaft 25 performs limit motion in the arc-shaped groove of the proximal finger joint 17. The finger base 16, the proximal finger joint 17, the distal finger joint 18 and the finger link 22 form a crossed four-bar mechanism, and when the proximal finger joint 17 rotates around the sixth finger pin 26 (the finger base 16), the distal finger joint 18 simultaneously rotates around the fourth finger pin 24 (the proximal finger joint 17), so that the bending or stretching movement of the index finger is realized.

When the ring finger driving block 28 moves axially along the output shaft of the linear motor 9 driving the three-finger linkage in the triple driving sliding slot 73 on the palm base 7, the guiding trapezoidal block 281 on the ring finger driving block 28 slides along the trapezoidal sliding slot 71 on the palm base 7, and simultaneously drives the middle finger sliding block 27 and the little finger sliding block 29 to move axially along the output shaft of the linear motor 9 driving the three-finger linkage by driving the guiding convex column 271 on the middle finger sliding block 27, thereby realizing the bending or stretching movement of the middle finger 3, the ring finger 4 and the little finger 5.

The thumb driving block 41, the motor clamping plate 8, the thumb connecting rod 39 and the third thumb pin shaft 42 form a double-slider link mechanism, when the thumb driving block 41 moves axially along the output shaft of the linear motor 9 which is arranged on the motor clamping plate 8 and drives the thumb 1, the third thumb pin shaft 42 can slide along the sliding groove on the thumb connecting rod 39, and meanwhile, the thumb connecting rod 39 drives the thumb 1 to rotate around the first thumb connecting hole 83 on the motor clamping plate 8, so that the bending or stretching of the thumb is realized.

When the circuit board 11 controls the direct current motor 32 to rotate forward or backward, the direct current motor 32 drives the first bevel gear 33 to rotate, and the second bevel gear 36 engaged therewith drives the worm 35 to rotate, so that the thumb knuckle 30, the direct current motor 32, the first bevel gear 33, the second bevel gear 36, the worm 35, the bearing 34 and the thumb base 31 rotate together around the worm wheel 38 (thumb connecting rod 39), and the first thumb pin 37 fixedly connected with the thumb connecting rod 39 moves in the arc-shaped groove of the thumb base 31 in a limiting manner, thereby realizing the side turning or side pinching of the thumb.

When the artificial hand receives a side pinching instruction, the direct current motor 32 rotates, the two linear motors 9 arranged on the palm base 7 drive the index finger, the middle finger, the ring finger and the little finger to realize bending motion, namely the four fingers can synchronously bend, and then the linear motor 9 arranged on the motor splint 8 drives the thumb 1 to move to contact with the side surface of the far finger joint 18 of the index finger 2, so that side pinching motion is realized; when the second finger pin shaft receives a gripping instruction, the direct current motor 32 does not rotate, and the three linear motors 9 drive the five fingers to do bending motion until the objects are gripped, so that the gripping action is realized; similarly, when only the linear motors 9 of the thumb 1 and the forefinger 2 are driven until the thumb 1 contacts the forefinger 2, the pinching action of the two fingers can be finished; on the contrary, when the prosthetic hand receives the command of recovering the natural state, the corresponding motor moves reversely until the prosthetic hand reaches the state shown in fig. 9.

The foregoing detailed description of the preferred embodiments of the utility model has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.

Claims (10)

1. A four-degree-of-freedom intelligent prosthetic hand is characterized by comprising:

a palm base;

a thumb, an index finger, a middle finger, a ring finger, and a little finger connected to the palm base, the thumb, the index finger, the middle finger, the ring finger, and the little finger being arranged in sequence on the palm base;

the three linear motors are arranged on the palm base, wherein the first linear motor is connected with the thumb, the second linear motor is connected with the index finger, and the third linear motor is connected with the middle finger, the ring finger and the little finger through a triple driving mechanism;

the circuit board is arranged on the palm base and is electrically connected with the three linear motors;

wherein the thumb and the index finger are configured to effect a bending or stretching motion under the corresponding linear motor drive; the middle finger, the ring finger and the little finger are configured to realize simultaneous bending or stretching movement through the triple driving mechanism under the driving of the linear motor.

2. The four degree-of-freedom intelligent prosthetic hand of claim 1, wherein the index finger, the middle finger, the ring finger, and the little finger each comprise: the finger joint comprises a finger base, a near finger joint, a far finger joint, a first finger pin shaft, a finger driving rod, a second finger pin shaft, a finger connecting rod, a third finger pin shaft, a fourth finger pin shaft, a fifth finger pin shaft and a sixth finger pin shaft; the finger base is provided with a finger fixing hole and a base sliding groove; the sixth finger pin shaft and the fifth finger pin shaft are fixedly sleeved on the finger base, the near finger joint is sleeved on the sixth finger pin shaft, and the fifth finger pin shaft is positioned in an arc-shaped groove of the near finger joint; the second finger pin shaft and the fourth finger pin shaft are fixedly sleeved on the proximal finger joint, the distal finger joint is fixedly sleeved on the fourth finger pin shaft, and the third finger pin shaft is fixedly sleeved on the distal finger joint; one end of the finger driving rod is sleeved on the first finger pin shaft, and the other end of the finger driving rod is sleeved on the second finger pin shaft; one end of the finger connecting rod is sleeved on the fifth finger pin shaft, and the other end of the finger connecting rod is sleeved on the third finger pin shaft.

3. The four degree-of-freedom intelligent prosthetic hand of claim 2, wherein the index finger further comprises an index finger drive block disposed within the base slide slot of the finger base of the index finger, the index finger drive block being connected with the output shaft of the corresponding linear motor.

4. The four degree-of-freedom intelligent prosthetic hand of claim 2, wherein the middle finger further comprises a middle finger slide block located in the base slide slot of the middle finger, the ring finger further comprises a ring finger drive block located in the base slide slot of the ring finger, and the little finger further comprises a little finger slide block located in the base slide slot of the little finger; the middle finger sliding block, the ring finger driving block and the little finger sliding block are respectively arranged on three output ends of the triple driving mechanism, the guide convex column of the middle finger sliding block is sleeved in the arc-shaped groove of the ring finger driving block, and the guide convex column of the little finger sliding block is sleeved in the other arc-shaped groove of the ring finger driving block.

5. The four degree-of-freedom intelligent prosthetic hand of claim 1, wherein the thumb comprises a thumb joint, a thumb base, a first thumb pin, a second thumb pin, a third thumb pin, a thumb link, and a thumb drive block; a thumb joint fixing hole is formed in the thumb base, and the thumb joint is connected to the thumb base through the thumb joint fixing hole; the thumb driving block is connected with the output shaft of the corresponding linear motor, and the first thumb pin shaft is fixedly connected with the thumb connecting rod and is configured to slide in the arc-shaped groove of the thumb base; the third thumb pin shaft is fixedly sleeved on the thumb driving block and penetrates through the sliding groove of the thumb connecting rod; the second thumb pin shaft is sleeved on the thumb connecting rod.

6. The four degree-of-freedom intelligent prosthetic hand of claim 5, further comprising a motor splint disposed on the palm base, the linear motor connected with the thumb being fixed on the motor splint, the motor splint including a first thumb attachment hole, the second thumb pin of the thumb being fixedly fitted in the first thumb attachment hole.

7. The four degree-of-freedom intelligent prosthetic hand of claim 5, wherein the thumb further comprises a dc motor, a first bevel gear, a bearing, a worm, a second bevel gear, a worm gear and a snap spring; the thumb base is also provided with a direct current motor mounting hole, a bevel gear mounting hole, a bearing mounting hole and a clamp spring mounting hole; the direct current motor is fixed on the thumb base through the direct current motor mounting hole; the first bevel gear is fixedly sleeved on an output shaft of the direct current motor, and the second bevel gear is embedded in the bevel gear mounting hole of the thumb base and meshed with the first bevel gear; one end of the worm is fixedly connected with the second bevel gear, and the other end of the worm is sleeved on the bearing; the outer ring of the bearing is fixedly sleeved in the bearing mounting hole of the thumb base, and the clamp spring is embedded in the clamp spring mounting hole of the thumb base; the worm wheel and the thumb connecting rod are fixedly connected and are jointly sleeved with a screw inserted into a second thumb connecting hole of the thumb base, and the worm wheel is meshed with the worm.

8. The four degree-of-freedom intelligent prosthetic hand of claim 1, wherein the palm base comprises a triple drive runner, a second motor mounting hole, a first motor mounting hole, a finger mounting hole, a circuit board mounting hole, a motor outlet hole; two of the three linear motors are fixed on the palm base through the first motor mounting hole and the second motor mounting hole; the triple driving mechanism is arranged in the triple driving sliding chute; the index finger, the middle finger, the ring finger and the little finger are arranged at the corresponding finger mounting holes; the circuit board is fixed on the palm base through the circuit board mounting hole, and the electric wires of the three linear motors are connected to the circuit board through the motor wire outlet holes in the palm base.

9. A four degree-of-freedom intelligent prosthetic hand according to claim 1, further comprising a shell comprising a palmar shell and a palmar back shell, the palmar shell and the palmar back shell being disposed opposite to each other to form a receiving space for receiving the palmar base.

10. The four degree-of-freedom intelligent prosthetic hand of claim 1, further comprising a thumb soft glue sleeved at a joint of the thumb and the palm base, wherein one end of the thumb soft glue is connected to the thumb and the other end is connected to the palm base.

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