WO2020147724A1

WO2020147724A1 - Finger and prosthesis

Info

Publication number: WO2020147724A1
Application number: PCT/CN2020/072050
Authority: WO
Inventors: 韩璧丞; 吴默雷; 王俊霖
Original assignee: 浙江强脑科技有限公司
Priority date: 2019-01-15
Filing date: 2020-01-14
Publication date: 2020-07-23
Also published as: CN209645148U

Abstract

The present application discloses a finger and a prosthesis. The finger is used for the prosthesis, and comprises a mounting base, a micro motor, a limiting member and a transmission member; the micro motor is connected to the mounting base, a limiting hole is provided on an outer peripheral wall of a rotating shaft of the micro motor, the limiting member is inserted into the limiting hole and extends out of the outer peripheral wall of the rotating shaft; the transmission member is rotatably connected to the mounting base, the transmission member is provided with a drive hole for insertion of the rotating shaft, an inner peripheral wall of the drive hole is provided with a limiting groove, the limiting member is inserted into the limiting groove so as to limit the rotation of the transmission member with respect to the rotating shaft, and the limiting groove has a space allowing the limiting member to move in an axial direction of the rotating shaft with respect to the transmission member.

Description

Fingers and prostheses

This application claims the priority of the Chinese patent application filed on January 15, 2019 with the application number 201920065466.8 and titled "Fingers and Prostheses", which is hereby incorporated by reference in its entirety.

Technical field

This application relates to the technical field of prostheses, in particular to a finger and a prosthesis.

Background technique

Existing prostheses usually control the movement of the fingers by controlling the rotation of the micromotor inside. In the process of driving the finger movement by the micromotor through the transmission mechanism, the transmission mechanism may impose a shaft consistent with the axis of the micromotor on the rotation axis of the micromotor. The force is transferred to the main body of the micro motor through the rotating shaft of the micro motor to damage the micro motor.

technical problem

The main purpose of this application is to provide a finger, which aims to prevent the transmission mechanism in the finger from exerting axial force on the micro motor to damage the motor, thereby increasing the service life of the finger and making the connection of the micro motor and the transmission mechanism more convenient. Will reduce the cost of fingers.

Technical solution

In order to achieve the above objective, this application proposes a finger for a prosthesis, the finger includes:

Mounting seat

A micro motor, the micro motor is connected to the mounting base, and a limit hole is provided on the outer peripheral wall of the rotating shaft of the micro motor;

A limiting member, which is inserted into the limiting hole and protrudes from the outer peripheral wall of the rotating shaft; and

The transmission member is rotatably connected with the mounting seat, the transmission member is provided with a driving hole, the rotating shaft is inserted into the driving hole, and the inner peripheral wall of the driving hole is provided with a limit slot, the The limiting member is inserted into the limiting groove to limit the rotation of the transmission member relative to the rotating shaft, and the limiting groove has a space for the limiting member to move relative to the transmission member in the axial direction of the rotating shaft .

In an embodiment, the limiting hole penetrates the rotating shaft, and the limiting member passes through the limiting hole,

The two ends of the limiting member protrude from the outer peripheral wall of the rotating shaft; the number of the limiting groove is two, and the two ends of the limiting member are inserted into the corresponding limiting groove.

In an embodiment, the limiting member is tightly fitted with the limiting hole, and/or the limiting member is pasted and fixed to the limiting hole by a fixing glue.

In an embodiment, the axis of the limiting hole intersects the axial direction of the rotating shaft, and the distance between the two ends of the limiting member and the axis of the rotating shaft is equal.

In an embodiment, the limiting member is provided in a rod shape.

In an embodiment, the cross section of the limiting member is a circular cross section.

In an embodiment, the transmission member is rotatably connected with the mounting base through a thrust bearing.

In an embodiment, the mounting seat has an installation cavity for installing the transmission member, an inner wall of the installation cavity is provided with a through installation opening, and the thrust bearing is installed in the installation opening;

The finger includes an abutment member located on a side of the inner wall away from the installation cavity, the abutment member is connected to the mounting seat, and is away from the thrust bearing through the mounting opening One side of the transmission member abuts.

In an embodiment, the abutting member is located between the micromotor and the mounting base, the finger further includes a first fastener, and the first fastener passes through the mounting base and the mounting base. The abutting member and the micro motor are used to fix the mounting seat, the abutting member and the micro motor.

In an embodiment, the number of the first fasteners is two, and the two first fasteners are distributed on both sides of the micro motor.

In an embodiment, the abutting member is located on a side of the mounting seat away from the micromotor, the finger includes a second fastener, and the second fastener passes through the abutting member and The mounting seat is used to fixedly connect the abutting member and the mounting seat.

In an embodiment, the number of the second fasteners is two, and the two second fasteners are distributed on both sides of the installation opening.

In an embodiment, both ends of the transmission member are rotatably connected to the mounting base through the thrust bearing.

In an embodiment, the finger includes a worm wheel and a finger body, the finger body and the worm wheel are respectively rotatably connected with the mounting seat, the worm wheel is connected with the finger body; the transmission member includes a worm, so The worm is meshed with the worm gear, so that the micro motor drives the finger body to rotate.

This application also proposes a prosthesis, which includes:

palm;

And the finger as described above, the finger is connected to the palm, and the finger includes:

Mounting seat

A limiting member, the limiting member is inserted into the limiting hole and protrudes from the outer peripheral wall of the rotating shaft;

Beneficial effect

In this application, a limit hole is provided on the outer peripheral wall of the rotating shaft of the micro motor, the limit member is inserted into the limit hole, and the limit member is extended from the outer peripheral wall of the rotating shaft; and then the transmission member is provided with the rotating shaft for insertion The drive hole of the drive hole is provided with a limiting slot on the inner peripheral wall of the drive hole, and the limiting member is inserted into the limiting slot to restrict the rotation of the transmission member relative to the shaft, so that the micro motor drives the transmission member to rotate. Therefore, the structure of the rotating shaft of the micro motor is simpler and the processing is more convenient, which can reduce the processing cost of the rotating shaft of the micro motor, thereby reducing the cost of fingers. In addition, by making the limit slot have a space for the limit member to move relative to the transmission member in the axial direction of the rotating shaft, it is possible to prevent the axial force on the transmission member from being transmitted to the micro motor through the rotating shaft of the micro motor and damaging the micro motor, thereby improving The life span of the finger.

BRIEF DESCRIPTION

In order to more clearly describe the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those of ordinary skill in the art, without creative work, other drawings can be obtained according to the structure shown in these drawings.

Figure 1 is a schematic structural diagram of an embodiment of the prosthesis according to the application;

Figure 2 is a schematic structural diagram of an implementation of a finger according to this application, wherein the finger body is not shown;

Fig. 3 is a schematic diagram of an exploded structure of the finger body in Fig. 2;

4 is a cross-sectional view of the finger body in FIG. 2, which is a cross-sectional view along the axial direction of the micro motor;

Fig. 5 is a schematic structural diagram of an embodiment of a transmission member of the application;

6 is a cross-sectional view of the transmission member in FIG. 5, which is a cross-sectional view along the axial direction of the transmission member;

FIG. 7 is a schematic diagram of an exploded structure of another implementation of the finger of this application;

Fig. 8 is a cross-sectional view of the finger in Fig. 7 after assembling, which is taken along the axial direction of the micro motor.

Description of Drawing Symbols:

标号 Label	名称 name	标号 Label	名称 name
10 10	安装座 Mounting seat	70 70	抵接件 Abutment
10′ 10′	安装座 Mounting seat	70′ 70′	抵接件 Abutment
11 11	手掌 palm	80 80	第一紧固件 First fastener
12 12	推力轴承 Thrust bearings	90 90	第二紧固件 Second fastener
13 13	支撑轴 Support shaft	101 101	安装腔 Installation cavity
14 14	支撑件 supporting item	211 211	限位孔 Limit hole
20 20	微型电机 Micro motor	401 401	驱动孔 Drive hole
21 twenty one	转轴 Shaft	402 402	限位槽 Limit slot
30 30	限位件 Limit parts	403 403	支撑部 Support
40 40	传动件 Transmission Parts	405 405	安装口 Installation port
50 50	涡轮 turbine	405′ 405′	安装口 Installation port
60 60	手指本体 Finger body	To	To

The implementation, functional characteristics and advantages of the present application will be further described in conjunction with the embodiments and with reference to the drawings.

Embodiments of the invention

The technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in this application, all other embodiments obtained by a person of ordinary skill in the art without creative work shall fall within the protection scope of this application.

It should be noted that all directional indicators (such as up, down, left, right, front, back...) in the embodiments of the present application are only used to explain the inter-components in a certain posture (as shown in the drawings) With respect to the relative positional relationship, movement conditions, etc., if the specific posture changes, the directional indication also changes accordingly.

In addition, the descriptions related to "first", "second", etc. in this application are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as "first" and "second" may include at least one of the features either explicitly or implicitly. In addition, the meaning of "and/or" in the full text means that it includes three parallel schemes. Taking "A and/or B" as an example, it includes scheme A, scheme B, or schemes that meet both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of those skilled in the art to achieve. When the combination of technical solutions conflicts with each other or cannot be realized, it should be considered that the combination of such technical solutions does not exist , Nor within the scope of protection required by this application.

This application proposes a finger, which is used for a prosthesis.

2 to 6, the finger includes a mounting base 10, a micro motor 20, a limiting member 30, and a transmission member 40. The micro motor 20 is connected to the mounting base 10, and a limited opening is provided on the outer peripheral wall of the rotating shaft 21 of the micro motor 20. Position hole 211; the position-limiting member 30 is inserted into the position-limiting hole 211, and the position-limiting member 30 extends from the outer peripheral wall of the shaft 21 to form a position-limiting protrusion structure on the outer peripheral wall of the shaft 21; the transmission member 40 and the mounting seat 10 Rotation connection, a drive hole 401 is opened on the transmission member 40 at a position corresponding to the shaft 21, and a limit slot 402 is opened on the inner peripheral wall of the drive hole 401. During the process of assembling the fingers, the shaft 21 of the micro motor 20 is inserted into In the driving hole 401 of the transmission member 40, the limiting protrusion formed by the limiting member 30 protruding from the outer peripheral wall of the rotating shaft 21 is inserted into the limiting groove 402 to limit the rotation of the transmitting member 40 relative to the rotating shaft 21 of the micro motor 20 . Therefore, by controlling the rotation of the rotating shaft 21 of the micro motor 20, the transmission member 40 can be driven to rotate, and thus other parts of the finger can be moved. Wherein, the limiting groove 402 can be provided with a space for the limiting member 30 to move relative to the transmission member 40 along the axial direction of the rotating shaft 21 of the micro motor 20, thereby preventing the transmission member 40 from moving other parts of the driving finger. The axial force received by the micromotor is transmitted to the rotating shaft 21 of the micromotor 20, thereby damaging the micromotor 20. Moreover, it is convenient to process by opening the limit hole 211 on the outer peripheral wall of the rotating shaft 21 of the micromotor 20, and therefore, the processing cost of the micromotor 20 can be reduced.

Optionally, as shown in FIG. 6, the limit slot 402 can be extended along the axial direction of the rotating shaft 21 of the micro motor 20, and a socket for the limit member 30 to be inserted is formed at the opening of the driving hole 401, so that the micro motor When the rotating shaft 21 of 20 is inserted into the driving hole 401, the limiting member 30 can be easily inserted into the limiting slot 402.

Optionally, as shown in FIG. 4, the limiting hole 211 may penetrate the rotating shaft 21 of the micromotor 20, and the limiting member 30 may pass through the limiting hole 211, so that both ends of the limiting member 30 protrude from the rotating shaft 21. Correspondingly, the number of limit slots 402 opened on the inner wall of the drive hole 401 is two, so that both ends of the limit member 30 can be inserted into the corresponding limit slots 402, so that the micro motor 20 Both sides of the rotating shaft 21 transmit driving force, so that the rotating shaft 21 drives the transmission member 40 to rotate more stably.

In one embodiment, the limiting member 30 can be tightly fitted with the limiting hole 211 to prevent the limiting member 30 from falling out of the limiting hole 211. Specifically, the size of the limiting member 30 can be slightly larger than the size of the limiting hole 211. When the limiting member 30 is inserted into the limiting hole 211, the limiting member 30 and the driving hole 401 are interference fit. Alternatively, the limiting member 30 may be fixedly connected to the driving hole 401 through a fixing glue to prevent the limiting member 30 from falling out of the driving hole 401. The fixing glue may be a strong fixing glue to make the connection between the limiting member 30 and the driving hole 401 more stable.

Of course, it is also possible to make the limiting member 30 and the driving hole 401 tightly fit, and the limiting member 30 is fixedly connected to the driving hole 401 by fixing glue to further ensure the connection strength between the limiting member 30 and the driving hole 401.

Optionally, as shown in FIGS. 3 and 4, the limiting member 30 can be arranged in a rod shape, so that the structure of the limiting member 30 is simpler. Wherein, the cross section of the limiting member 30 arranged in a rod shape can be a circular cross section, a square cross section, a triangular cross section, etc. Of course, when the cross section of the limiting member 30 is a circular cross section, the limiting member 30 The processing of the limiting hole 211 on the rotating shaft 21 of the piece 30 and the micromotor 20 is more convenient.

The size of the limiting member 30 and the limiting hole 211 can be determined according to the diameter of the rotating shaft 21 and the size of the driving hole 401. For example: when the diameter of the rotating shaft 21 of the micro motor 20 is 3 mm, the diameter of the limiting hole 211 and the limiting member 30 can be 1 mm, and the length of the limiting member 30 can be 4.2 mm to ensure the rotating shaft of the micro motor 20 21 can be rotated by the electric transmission member 40 stably through the limiting member 30. Wherein, the axis of the limiting hole 211 can be intersected with the axial direction of the rotating shaft 21, and the distance between the two ends of the limiting member 30 and the axis of the rotating shaft 21 can be equal, so that the two ends of the limiting member 30 are more stressed. Evenly, the stability of driving the micro motor 20 is improved.

As shown in FIGS. 3 and 5, the transmission member 40 may include a worm, and the fingers may include a worm gear 50 meshing with the worm, and the worm gear 50 is rotatably connected with the mounting base 10. It is understandable that because the worm gear transmission mechanism has an anti-locking characteristic, when the micromotor 20 does not drive the worm, the anti-locking characteristic of the worm gear can prevent the fingers from moving under the action of external force and control the fingers more stably.

Specifically, as shown in FIG. 1, the finger includes a finger body 60 that is rotatably connected to the mounting base 10, and the worm gear 50 is connected to the finger body 60 to drive the finger body 60 to rotate. Thus, when the rotating shaft 21 of the micromotor 20 drives the transmission member 40 to rotate, the finger body 60 moves relative to the mounting base 10 under the drive of the worm gear 50; when the micromotor 20 does not drive the transmission member 40 to rotate, the finger body 60 cannot pass The worm wheel 50 reversely drives the worm to rotate. Therefore, the position of the finger body 60 remains unchanged, so that the prosthesis can hold the article stably.

Wherein, as shown in FIG. 7, the finger may include a support shaft 13, the support shaft 13 is connected to the mounting base 10, and the worm gear 50 is sleeved on the support shaft 13. Wherein, the worm wheel 50 can be rotationally connected with the supporting shaft 13 to rotationally connect the worm wheel 50 and the mounting base 10, or the supporting shaft 13 can be rotationally connected with the mounting base 10, so that the worm wheel 50 and the mounting base 10 are rotationally connected.

Optionally, the end of the support shaft 13 can be supported on the mounting base 10 through the support 14. When the support shaft 13 rotates relative to the mounting base, the support 14 can be a bearing to reduce the support and installation The friction between the seats.

Based on any of the above embodiments, as shown in FIGS. 3 and 4, the transmission member 40 can be rotatably connected to the mounting base 10 through the thrust bearing 12. Thereby, the friction force between the transmission member 40 and the mounting base 10 can be reduced, and the thrust bearing 12 can bear the axial force of the transmission member 40, thereby preventing the axial force of the transmission member 40 from being transmitted to the rotating shaft 21 of the micro motor 20 The micro motor 20 is damaged.

Specifically, the mounting base 10 can be provided with a mounting cavity 101 for installing the transmission member 40, a through mounting opening 405 is opened on the inner wall of the mounting cavity 101, and the thrust bearing 12 is installed in the mounting opening 405; at the same time, the fingers The abutment member 70 is included, and the abutment member 70 is connected to the mounting base 10 and abuts on the side of the thrust bearing 12 away from the transmission member 40 to prevent the thrust bearing 12 from falling off the mounting opening 405. Moreover, the abutment member 70 abuts on the side of the thrust bearing 12 away from the transmission member 40. Therefore, the abutment member 70 exerts a force on the thrust bearing 12 toward the transmission member 40, so that the thrust bearing 12 and the transmission member 40 are more stable. Of cooperation.

Wherein, the thrust bearing 12 can be located at the end of the transmission member 40, or the drive bearing can be located at other positions of the transmission member 40, and only the thrust bearing can bear the axial force of the transmission member 40. Of course, when the thrust bearing 12 is located at the end of the transmission member 40, the structure of the transmission member 40 is simpler, and the overall assembly of the fingers is more convenient.

In addition, one end of the transmission member 40 may be connected to the mounting base 10 through the thrust bearing 12, or both ends of the transmission member 40 may be connected to the mounting base 10 through the thrust bearing 12. Of course, the latter can further reduce the transmission member 40. The friction between the mounting seat 10.

Optionally, two opposite installation openings 405 can be opened on the inner wall of the installation cavity 101, and one of the installation openings 405 penetrates the inner wall of the installation cavity 101 and is restricted by the abutment member 70, so that the transmission member 40 It can be installed into the installation cavity 101 through the installation opening 405 that penetrates the inner wall of the installation cavity 101, and then the thrust bearing 12 in the installation opening 405 that penetrates the inner wall of the installation cavity 101 is limited by the abutment member 70, so that the thrust bearing 70 and the transmission The installation of piece 40 is more convenient.

Of course, it is also possible to make the two installation openings 405 both penetrate the inner wall of the installation cavity 101, and the thrust bearings 12 in the two installation openings 405 can be restricted by the two abutting members 70.

In the following, the transmission member 40 is a worm as an example for description.

As shown in Figures 3 to 6, a drive hole 401 can be provided at the first end of the worm, and a support portion 403 can be provided at the second end of the worm. The end surface of the first end of the worm abuts against the side surface of the corresponding thrust bearing 12. The end surface of the second end abuts against the corresponding side surface of the thrust bearing 12, and the support portion 403 at the second end of the worm is inserted into the bearing hole of the thrust shaft 12.

In this embodiment, as shown in FIG. 3, the abutment member 70 can be located between the micromotor 20 and the mounting base 10, and the abutment member 70 abuts against the thrust bearing 70 at the end of the transmission member 40 close to the micromotor 20. Wherein, the finger can be made to include a first fastener 80, which passes through the mounting base 10, the abutment member 70, and the micro motor 20 to connect the mounting base 10, the abutment member 70 and the micro motor 20 together. The fixed connection makes it easier to fix the abutment member 70 of the mounting seat 10 and the micro motor 20.

Specifically, a first fixing hole, a second fixing hole, and a third fixing hole may be sequentially opened on the housing 10, the abutment member 70, and the housing of the micromotor 20, wherein the first fastener 80 is self-installing cavity 101 The inner part passes through the first fixing hole and the second fixing hole in turn, and is inserted into the third fixing hole to fix the mounting base 10, the abutting member 70 and the micro motor 20 together.

Wherein, the number of the first fastener 80 may be one or more, which may be specifically determined according to the structure of the finger. For example, the number of the first fasteners 80 can be two, and the two first fasteners 80 can be distributed on both sides of the micromotor 20, so that the micromotor 20 is connected to the abutment member 70 and the mounting seat 10. The connection is more stable.

Or, for example, as shown in FIGS. 7 and 8, the abutting member 70 may be located on the side of the mounting base 10 ′ away from the micro motor 20, and the abutting member 70 ′ is located at the end of the transmission member 40 away from the micro motor 20. The fingers may include a second fastener 90 that penetrates the abutment member 70' and the mounting seat 10' to fix the abutment member 70' and the mounting seat 10'. It can be understood that, because the abutment member 70' is located on the side of the mounting base 10' that faces away from the micromotor 20, the second fastener 90 can avoid the process of connecting the abutment member 70' and the mounting base 10'. The second fastener 90 is interfered by the micromotor 20, which makes the installation of the second fastener 90 more convenient.

Specifically, a fourth fixing hole and a fifth fixing hole can be opened on the abutment member 70' and the mounting seat 10' at one time, and the second fastener 90 passes through the first fixing hole from the side of the abutment member 70' away from the mounting seat 10 The four fixing holes are inserted into the fifth fixing hole to fix the abutting member 70' and the mounting seat 10' together.

Wherein, the number of the second fastener 90 may be one or more, which may be specifically determined according to the structure of the abutting member 70' and the mounting seat 10'. For example, the number of the second fasteners 90 can be two, and the two second fasteners 90 can be distributed on both sides of the mounting opening 405', so that the abutment 70' and the mounting seat 10' are connected more stable.

In this embodiment, the thrust bearing 12 may be any bearing capable of bearing axial force, such as a thrust ball bearing, a thrust roller bearing, etc., which is not limited here. In addition, the first fastener 80 and/or the second fastener 90 may be screws, pins, etc., which are not limited here.

In this embodiment, the prosthesis may include multiple fingers. Specifically, as shown in FIG. 1, the prosthesis includes a palm 11 and multiple fingers, and the mounting seat 10 of the multiple fingers is connected to the palm to connect the fingers and the palm 11 together. It should be noted that, among the multiple fingers of the prosthesis, all the fingers may have the same structure as the above-mentioned finger, or some of the fingers may have the same structure as the above-mentioned finger, which is not limited here.

This application also proposes a prosthesis, which includes a finger. The specific structure of the finger refers to the above-mentioned embodiments. Since the prosthesis proposed in this application includes all the solutions of the above-mentioned fingers, it has at least the same as the finger The technical effects will not be explained here.

The above are only the preferred embodiments of the application, and do not limit the scope of the patent for this application. Under the inventive concept of the application, the equivalent structure transformation made by the content of the specification and drawings of the application, or direct/indirect use Other related technical fields are included in the scope of patent protection of this application.

Claims

A finger for a prosthesis, wherein the finger includes:

Mounting seat

A micro motor, the micro motor is connected to the mounting base, and a limit hole is provided on the outer peripheral wall of the rotating shaft of the micro motor;

A limiting member, which is inserted into the limiting hole and protrudes from the outer peripheral wall of the rotating shaft; and

The transmission member is rotatably connected with the mounting seat, the transmission member is provided with a driving hole, the rotating shaft is inserted into the driving hole, and the inner peripheral wall of the driving hole is provided with a limit slot, the The limiting member is inserted into the limiting groove to limit the rotation of the transmission member relative to the rotating shaft, and the limiting groove has a space for the limiting member to move relative to the transmission member in the axial direction of the rotating shaft .
The finger according to claim 1, wherein the limiting hole penetrates the rotating shaft, the limiting member passes through the limiting hole, and both ends of the limiting member protrude from the rotating shaft Outer peripheral wall; the number of the limiting groove is two, and both ends of the limiting member are inserted into the corresponding limiting groove.
5. The finger according to claim 1, wherein the limiting member is tightly fitted with the limiting hole, and/or the limiting member is pasted and fixed to the limiting hole by a fixing glue.
5. The finger of claim 3, wherein the axis of the limiting hole intersects the axial direction of the rotating shaft, and the distance between the two ends of the limiting member and the axis of the rotating shaft is equal.
The finger according to claim 3, wherein the limiting member is provided in a rod shape.
8. The finger of claim 5, wherein the cross section of the limiting member is a circular cross section.
The finger according to claim 1, wherein the transmission member is rotatably connected with the mounting base through a thrust bearing.
The finger according to claim 7, wherein the mounting seat has a mounting cavity for mounting the transmission member, an inner wall of the mounting cavity is provided with a through mounting hole, and the thrust bearing is mounted on the mounting In the mouth

The finger includes an abutment member located on a side of the inner wall away from the installation cavity, the abutment member is connected to the mounting seat, and is away from the thrust bearing through the mounting opening One side of the transmission member abuts.
The finger according to claim 8, wherein the abutment member is located between the micro motor and the mounting base, the finger further comprises a first fastener, and the first fastener passes through the The mounting seat, the abutting member and the micro motor are used to fix the mounting seat, the abutting member and the micro motor.
9. The finger of claim 9, wherein the number of the first fastener is two, and the two first fasteners are distributed on both sides of the micro motor.
The finger according to claim 8, wherein the abutment member is located on a side of the mounting seat away from the micro motor, the finger includes a second fastener, and the second fastener passes through the The abutment member and the mounting seat are used to fix the abutment member and the mounting seat.
The finger according to claim 11, wherein the number of the second fasteners is two, and the two second fasteners are distributed on both sides of the installation opening.
8. The finger according to claim 7, wherein the two ends of the transmission member are rotatably connected to the mounting seat through the thrust bearing.
The finger according to claim 1, wherein the finger comprises a worm wheel and a finger body, the finger body and the worm wheel are respectively rotatably connected with the mounting seat, and the worm wheel is connected with the finger body; the transmission The member includes a worm, and the worm is meshed with the worm gear so that the micro motor drives the finger body to rotate.
The finger according to claim 2, wherein the finger comprises a worm wheel and a finger body, the finger body and the worm wheel are respectively rotatably connected with the mounting seat, the worm wheel is connected with the finger body; the transmission The member includes a worm, and the worm is meshed with the worm gear so that the micro motor drives the finger body to rotate.
The finger according to claim 3, wherein the finger comprises a worm wheel and a finger body, the finger body and the worm wheel are respectively connected to the mounting seat in rotation, and the worm wheel is connected to the finger body; the transmission The member includes a worm, and the worm is meshed with the worm gear so that the micro motor drives the finger body to rotate.
A prosthesis, wherein the prosthesis includes:

palm;

And fingers, the fingers are connected with the palm, and the fingers include:.

Mounting seat

A micro motor, the micro motor is connected to the mounting base, and a limit hole is provided on the outer peripheral wall of the rotating shaft of the micro motor;

A limiting member, which is inserted into the limiting hole and protrudes from the outer peripheral wall of the rotating shaft; and,

The transmission member is rotatably connected with the mounting seat, the transmission member is provided with a driving hole, the rotation shaft is inserted into the driving hole, the rotation shaft is inserted into the driving hole, and the driving hole A limit slot is provided on the inner peripheral wall, and the limit member is inserted into the limit slot to limit the rotation of the transmission member relative to the rotating shaft. The limit slot has a position for the limit member to be relative to the transmission member. A space that moves along the axis of the rotating shaft.