WO2020199240A1 - 基于3d打印的带气囊的棘轮止动机械假肢及使用方法 - Google Patents

基于3d打印的带气囊的棘轮止动机械假肢及使用方法 Download PDF

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WO2020199240A1
WO2020199240A1 PCT/CN2019/082269 CN2019082269W WO2020199240A1 WO 2020199240 A1 WO2020199240 A1 WO 2020199240A1 CN 2019082269 W CN2019082269 W CN 2019082269W WO 2020199240 A1 WO2020199240 A1 WO 2020199240A1
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Prior art keywords
gear
splint
ratchet
prosthesis
prosthetic
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PCT/CN2019/082269
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English (en)
French (fr)
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艾吉昆
柴宇宸
孙社稷
杨斯乔
刘冲
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Northeastern University China
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Northeastern University China
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B33—ADDITIVE MANUFACTURING TECHNOLOGY
    • B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
    • B33Y80/00—Products made by additive manufacturing

Definitions

  • the present invention relates to the technical field of prostheses, in particular to a ratchet stop mechanical prosthesis with an airbag based on 3D printing and a method of use.
  • Hands and forearms are important parts of the human body. If the hands and forearms are lost due to sudden situations, prostheses are needed to replace the appearance and partial functions of the hands and forearms to achieve object gripping.
  • the existing prostheses have high cost and complex structure, and only a few can realize the function of clamping.
  • the control algorithm of the gripping force of the manipulator is complicated, and it is difficult to achieve a soft gripping feel, so that the purpose of normal gripping objects cannot be achieved. If too many sensors are added, the algorithm will be too complicated, but it will reduce its stability and increase its cost.
  • the present invention provides a ratchet stop mechanical prosthesis with airbag based on 3D printing and a method of use, with a simple structure , Light weight, low cost, through the mechanical structure to achieve a soft grasping feel.
  • a ratchet stop mechanical prosthesis with an airbag based on 3D printing including connecting prosthetic fingers, prosthetic palms, prosthetic wrists, prosthetic forearms, and connecting residual limbs in sequence;
  • the finger part of the prosthesis includes a splint 1 and a splint 2 which are arranged oppositely.
  • the inner sides of the splint 1 and the splint 2 are both provided with airbags.
  • the splint 1 is fixedly connected to the gear 1 and the splint 1 and the gear 1 are both sleeved On the first connecting shaft, the second splint and the second gear are fixedly connected, the second splint and the second gear are both sleeved on the second connecting shaft, and the first and second gears mesh to drive the first and second splints to open and close;
  • the palm of the prosthesis includes a connecting plate one, a connecting plate two, a clamping mechanism that controls the clamping of the splint one and the splint two, and a link mechanism that controls the loosening of the splint one and the splint two, the connecting plate one and the connecting plate two are arranged in parallel , And are respectively fixedly connected to the first connecting shaft and the second connecting shaft;
  • the clamping mechanism includes a steering gear, gear three, gear four, gear five and a ratchet stop mechanism, the ratchet stop mechanism includes a ratchet and The pawl, the output end of the steering gear 1 is fixedly connected with gear three, the gear three meshes with gear one, the gear four is fixedly connected with the side of the splint two away from the gear two, and the gear four meshes with the gear five ,
  • the gear five is fixedly connected to the ratchet wheel, the ratchet wheel and the gear wheel five are both sleeved on the connecting
  • the link mechanism includes a motion link one and a motion link two, one end of the motion link one is connected to the end of the pawl away from the ratchet, and the other end of the motion link one is provided with a chute one;
  • One end of the second moving link is fixedly connected with the output end of the second steering gear, and the other end of the second moving link is connected with a rotating shaft, and the rotating shaft is arranged in the first chute and slides along the first chute.
  • the 3D-printed ratchet stop mechanical prosthesis with airbag further includes a fixed block, the fixed block is fixedly connected to the second splint, the fixed block is provided with two sliding grooves, and the first moving link is arranged on the sliding
  • the inner wall of the fixed block near the ratchet wheel is provided with an inclined wall, and the inclined wall is located above the pawl.
  • the connecting plate one is located between the gear two and the splint two, the connecting plate two is located between the splint two and the gear four; a gear six is arranged between the splint one and the connecting plate two, and the gear six and the splint one In a fixed connection, the gear six meshes with the gear seven, and the gear seven is located between the connecting plate two and the clamping plate two, and is fixedly connected to the clamping plate two.
  • the gear six is sleeved on the first connecting shaft, and the gear four and the gear seven are both sleeved on the second connecting shaft.
  • the structure of the first splint and the second splint are the same, and both have an arc structure.
  • the airbag is connected with the gas storage tank through a trachea, the gas storage tank is arranged on the forearm of the prosthesis, and the trachea is provided with a two-position three-way solenoid valve.
  • the prosthetic wrist is provided with a motor, and the motor is connected to the side of the connecting plate 1 and the connecting plate 2 close to the prosthetic wrist through a coupling.
  • the prosthetic wrist, the prosthetic forearm, and the connecting residual limb are all manufactured by 3D printing; the linkage mechanism, gear one, gear two, gear three, gear four, gear five, gear six, gear seven, Both the ratchet wheel and pawl are manufactured by 3D printing.
  • the above-mentioned method for using a 3D-printed ratchet stop mechanical prosthesis with airbag includes the following steps:
  • Step 1 Start the motor of the prosthetic wrist to rotate and adjust the grasping angle of the prosthetic palm
  • Step 2 Start the servo 1 to clamp the splint 1 and the splint 2.
  • the splint 1 and the splint 2 are 2-6mm away from the target object, turn off the servo 1, and the ratchet stop mechanism locks the positions of the splint 1 and the splint 2;
  • Step 3 Open the two-position three-way solenoid valve to inflate the airbag, fill the gap between the splint 1 and splint 2 and the target object, and clamp the object;
  • Step 4 When you need to loosen the fingers of the prosthesis, the air in the airbag is discharged through the two-position three-way solenoid valve, and at the same time, the steering gear is activated, and the pawl is ejected through the linkage mechanism, separated from the ratchet, and the steering gear is rotated in reverse Realize the relaxation of false splint one and splint two.
  • the ratchet stop mechanical prosthesis with airbag based on 3D printing of the present invention adopts ingenious mechanical structure and grasping method to obtain soft grasping feel, thereby simplifying control algorithm, reducing cost, simple structure and good stability .
  • the pressure generated by the clamping of the prosthetic fingers and the inflation of the airbag acts on the grasping object at the same time; the pressure generated by the inflation of the airbag can provide a soft gripping feel, and the airbag can fill the gap between the finger and the object, providing a larger contact area , To obtain a good grasping effect; the stop mechanism of the ratchet mechanism fixes the clamping position of the prosthetic finger and releases the pressure of the steering gear 1.
  • Figure 1 is a schematic structural view of a ratchet stop mechanical prosthesis with an airbag based on 3D printing provided by the present invention
  • Figure 2 is a schematic front view of the palm of the prosthesis provided by the present invention.
  • Figure 3 is a schematic rear view of the palm of the prosthesis provided by the present invention.
  • Figure 4 is a schematic structural diagram of the linkage mechanism provided by the present invention.
  • Fig. 5 is a schematic structural diagram of a fixing block provided by the present invention.
  • connection can be a fixed connection, a detachable connection, or an integral connection ; It can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication between two components.
  • connected can be a fixed connection, a detachable connection, or an integral connection ; It can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication between two components.
  • the present invention provides a ratchet stop mechanical prosthesis with an airbag based on 3D printing, which includes sequentially connecting the prosthetic finger part 5, the prosthetic palm part 1, The prosthetic wrist 2, the prosthetic forearm 3, and the connecting residual limb 4; the prosthetic finger 5 includes a splint 14 and a splint 15 opposite to each other.
  • prosthetic palm 1 includes connecting plate one 16, connecting plate two 17, control splint one 14 and splint two 15 clamping mechanism and Control the loose linkage mechanism of splint one 14 and splint two 15, connecting plate one 16 and connecting plate two 17 are arranged in parallel, and they are both fixedly connected with connecting shaft one and connecting shaft two respectively;
  • the clamping mechanism includes steering gear one 7, gear Three 10, gear four 11, gear five and a ratchet stop mechanism, the ratchet stop mechanism includes a ratchet 12 and
  • Gear four 11 and splint two 15 are fixedly connected to the side away from gear two 9, gear four 11 meshes with gear five, gear five is fixedly connected to ratchet 12, ratchet 12 and gear five are both sleeved on connecting shaft three, connecting shaft three
  • the pawl 13 is connected to the second steering gear 18 through the linkage mechanism.
  • the steering gear 18 pushes the pawl 13 away from the ratchet wheel 12 through the linkage mechanism.
  • the linkage mechanism includes a motion linkage 20 and a motion linkage.
  • Rod two 19 one end of the motion link 20 is connected with the end of the pawl 13 away from the ratchet wheel 12, the other end of the motion link 20 is provided with a chute 23; one end of the motion link two 19 is connected to the output of the steering gear two 18.
  • the other end of the second moving link 19 is connected to the rotating shaft 22, and the rotating shaft 22 is arranged in the first chute 23 and slides along the first chute 23.
  • the structure of the splint one 14 and the splint two 15 are the same, and both have an arc structure.
  • the splint one 14 and the splint two 15 are used to clamp objects, and are also the carrier of the airbag 6.
  • the clamping mechanism realizes the splint 14 and Opening and closing of splint two 15, splint one 14 and splint two 15 are equipped with an airbag 6 inside the arc structure.
  • the airbag 6 is connected with a gas tank through a trachea.
  • the gas tank is set on the prosthetic arm 3, and the trachea is provided Two-position three-way solenoid valve.
  • the gas tank When the target object needs to be clamped, the gas tank is inflated into the airbag 6 through the two-position three-way solenoid valve.
  • the airbag 6 discharges the gas through the two-position three-way solenoid valve;
  • Splint one 14 and splint two 15 are each composed of two arc-shaped plates, so that splint one 14 and splint two 15 have a certain thickness to clamp the object.
  • the airbag 6 is arranged in the inner middle part of splint one 14 and splint two 15. Used to provide gentle pressure to the object to be clamped.
  • the steering gear 7 drives the gear transmission to control the clamping of splint 14 and splint two 15.
  • the ratchet stop mechanism meshes with gear four 11 through gear five to control the gear set
  • the one-way rotation realizes the reverse locking of the fingers.
  • the second servo 18 ejects the pawl 13 out of the ratchet wheel 12 through the linkage mechanism to realize the reverse rotation of the gear, that is, the loosening of the prosthetic fingers.
  • gear one 8 is located on the side of splint 14 and is fixedly connected to splint 14.
  • gear one 8 rotates, it will drive splint 14 to rotate, gear one 8 and gear two 9 meshes, the rotation of gear one 8 also drives gear two 9 to rotate, which in turn drives the rotation of splint two 15 to realize the opening and closing movement of splint one 14 and splint two 15.
  • the connecting plate 16 is located between the gear two 9 and the splint two 15, the connecting plate two 17 is located between the splint two 15 and the gear four 11; between the splint one 14 and the connecting plate two 17, there is a gear six, gear Six is fixedly connected with splint 14, gear six meshes with gear seven, gear seven is located between connecting plate two 17 and splint two 15, and is fixedly connected to splint two 15, gear six is set on connecting shaft one, gear four 11 Both gear and gear seven are sleeved on the second connecting shaft. Gear six and gear seven can make the 3D printed ratchet stop mechanical prosthesis with airbag work more smoothly.
  • one end of the moving link 20 is connected to the end of the pawl 13 away from the ratchet 12, the other end of the moving link 20 is connected to the cube structure, and the chute 23 is provided in On the cubic structure; the directions of the moving connecting rod 20, the sliding groove two, the connecting shaft one, the connecting shaft two and the connecting shaft three are all parallel, and they are all arranged perpendicular to the connecting plate one 16 and the connecting plate two 17.
  • the first chute 23 is oblong, and the second chute is cylindrical and fits with the movement connecting rod 20.
  • the fixed block 21 can ensure that the moving link 20 moves stably along the chute 2.
  • the fixed block 21 is provided with an inclined wall 24 on the inner wall of the side close to the ratchet 12.
  • the inclined wall 24 is located above the pawl 13, and is used to move the pawl 13 away from the ratchet 12 when the pawl 13 is ejected. Rotate on one side.
  • the ratchet stop mechanical prosthesis with airbag based on 3D printing further includes a fixed block 21, which is fixedly connected to the second splint 15, the fixed block 21 is provided with two chute, and the movement link 20 is arranged in the chute.
  • the inner wall of the fixed block 21 near the ratchet wheel 12 is provided with an inclined wall 24, and the inclined wall 24 is located above the pawl 13.
  • the prosthetic wrist 2 is provided with a motor, and the motor is connected to the side of the connecting plate 16 and the connecting plate 17 close to the prosthetic wrist 2 through a coupling, and is used to drive the palm to rotate.
  • the connecting plate 16 and the connecting plate two 17 are provided with a flat plate at the middle of one side close to the prosthetic wrist 2, and the coupling is connected with the flat plate.
  • the prosthetic wrist 2, the prosthetic forearm 3, and the connecting residual limb 4 are all manufactured by 3D printing; linkage mechanism, gear one 8, gear two 9, gear three 10, gear four 11, gear five, gear six, Gear seven, ratchet wheel 12 and pawl 13 are all manufactured by 3D printing.
  • the prosthetic wrist 2, the prosthetic forearm 3, and the connecting residual limb 4 are in the prior art and are manufactured by 3D printing.
  • the 3D printed splicing pieces are spliced and bolted to the aluminum profile, which is light in weight and low in cost.
  • the inner part of the connecting residual limb part 4 is provided with a sponge, and the outer part is provided with a band, which can adjust the tightness and can perform good human-computer interaction.
  • the above-mentioned method for using a 3D-printed ratchet stop mechanical prosthesis with airbag includes the following steps:
  • Step 1 Start the motor of the prosthetic wrist 2 to rotate to adjust the grasping angle of the prosthetic palm 1;
  • Step 2 Start the steering gear 1 7 to clamp the splint 1 14 and the splint 2 15.
  • the splint 1 14 and the splint 2 15 are respectively 2 ⁇ 6mm away from the target object, turn off the servo 7 and the ratchet stop mechanism makes the splint 14 and The position of splint two 15 is locked;
  • Step 3 Turn on the two-position three-way solenoid valve to inflate the airbag 6 to fill the gap between the splint 14 and the splint 15 and the target object, and clamp the object;
  • Step 4 When you need to loosen the finger 5 of the prosthesis, the air in the airbag 6 is discharged through the two-position three-way solenoid valve. At the same time, the second 18 of the steering gear is activated to eject the pawl 13 through the linkage mechanism and separate from the ratchet 12, the rudder Machine one 7 reversely rotates to realize the relaxation of false splint one 14 and splint two 15.
  • the motor of the prosthetic wrist 2 is started to rotate to adjust the grasping angle of the prosthetic palm 1 so that the angle of the prosthetic palm 1 and the prosthetic finger 5 and the angle of the target object are suitable for grasping, and the two-position three-way solenoid valve is turned on.
  • the air storage tank inflates the airbag 6 to fill the gap between the splint 14 and the splint 15 and the target object, and provide sufficient gripping force for grasping the target object;

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  • Health & Medical Sciences (AREA)
  • Transplantation (AREA)
  • Engineering & Computer Science (AREA)
  • Vascular Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • Cardiology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Oral & Maxillofacial Surgery (AREA)
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  • Prostheses (AREA)

Abstract

一种基于3D打印的带气囊的棘轮止动机械假肢及使用方法，该机械假肢包括依次连接假肢手指部（5）、假肢手掌部（1）、假肢腕部（2）、假肢小臂部（3）和连接残肢部（4），假肢手指部（5）包括相对设置的夹板一（14）和夹板二（15），夹板一（14）和夹板二（15）的内侧均设有气囊（6），夹板一（14）与齿轮一（8）固连，夹板二（15）与齿轮二（9）固连，齿轮一（8）和齿轮二（9）啮合以带动夹板一（14）和夹板二（15）开合，假肢手掌部（1）包括连接板一（16）、连接板二（17）、控制夹板一（14）和夹板二（15）夹合的夹取机构和控制夹板一（14）和夹板二（15）放松的连杆机构。上述基于3D打印的带气囊的棘轮止动机械假肢，结构简单、质量轻、成本低，通过机械结构实现柔和的抓取手感。

Description

基于3D打印的带气囊的棘轮止动机械假肢及使用方法 技术领域
本发明涉及假肢技术领域，特别涉及一种基于3D打印的带气囊的棘轮止动机械假肢及使用方法。
背景技术
手和小臂是人体重要组成部分，若因突发状况失去手和小臂，就需要假肢来代替手和小臂的外观及部分功能，实现物体的夹取。现有的假肢成本较高、结构复杂，只有少数能实现夹取的功能。机械手夹取力度的控制算法复杂，难以实现柔和的夹取手感从而不能达到正常夹取物体的目的。如果增加过多传感器会使算法过为复杂，反而会降低其稳定性，增加其成本。
发明概述
技术问题
问题的解决方案
技术解决方案
为了解决现有技术存在的机械手的控制算法复杂、难以实现柔和手感的夹取、成本高等技术问题，本发明提供了一种基于3D打印的带气囊的棘轮止动机械假肢及使用方法，结构简单、质量轻、成本低，通过机械结构实现柔和的抓取手感。
为了实现上述目的，本发明的技术方案是：
一种基于3D打印的带气囊的棘轮止动机械假肢，包括依次连接假肢手指部、假肢手掌部、假肢腕部、假肢小臂部和连接残肢部；
所述假肢手指部包括相对设置的夹板一和夹板二，所述夹板一和夹板二的内侧均设有气囊，所述夹板一与齿轮一固连，所述夹板一与齿轮一均套设在连接轴一上，所述夹板二与齿轮二固连，所述夹板二与齿轮二均套设在连接轴二上，所述齿轮一和齿轮二啮合以带动夹板一和夹板二开合；
所述假肢手掌部包括连接板一、连接板二、控制夹板一和夹板二夹合的夹取机 构和控制夹板一和夹板二放松的连杆机构，所述连接板一和连接板二平行设置，且均分别与所述连接轴一和连接轴二固定连接；所述夹取机构包括舵机一、齿轮三、齿轮四、齿轮五和棘轮止动机构，所述棘轮止动机构包括棘轮和棘爪，所述舵机一的输出端与齿轮三固连，所述齿轮三与齿轮一啮合，所述齿轮四与夹板二远离齿轮二的一侧固连，所述齿轮四与齿轮五啮合，所述齿轮五与棘轮固连，所述棘轮与齿轮五均套设在连接轴三上，所述连接轴三与连接板二固连，所述棘爪通过连杆机构与舵机二连接，所述舵机二通过连杆机构推动棘爪远离棘轮。
所述连杆机构包括运动连杆一和运动连杆二，所述运动连杆一的一端与所述棘爪远离棘轮的一端连接，所述运动连杆一的另一端设有滑槽一；所述运动连杆二一端与舵机二的输出端固连，所述运动连杆二的另一端与转轴连接，所述转轴设置在所述滑槽一内，且沿滑槽一滑动。
所述基于3D打印的带气囊的棘轮止动机械假肢还包括固定块，所述固定块与夹板二固连，所述固定块设有滑槽二，所述运动连杆一设置在所述滑槽二内，且沿滑槽二运动；所述固定块靠近棘轮一侧的内壁设有倾斜壁，所述倾斜壁位于棘爪的上方。
所述连接板一位于齿轮二与夹板二之间，所述连接板二位于夹板二与齿轮四之间；所述夹板一和连接板二之间设有齿轮六，所述齿轮六与夹板一固连，所述齿轮六与齿轮七啮合，所述齿轮七位于连接板二与夹板二之间，且与夹板二固连。
所述齿轮六套设在连接轴一上，所述齿轮四和齿轮七均套设在所述连接轴二上。
所述夹板一和夹板二的结构相同，均为弧形结构。
所述气囊与储气罐通过气管连接，所述储气罐设置在假肢小臂部，所述气管上设有二位三通电磁阀。
所述假肢腕部内设有电机，所述电机通过联轴器与连接板一和连接板二靠近假肢腕部的一侧连接。
所述假肢腕部、假肢小臂部和和连接残肢部均采用3D打印制造完成；所述连杆 机构、齿轮一、齿轮二、齿轮三、齿轮四、齿轮五、齿轮六、齿轮七、棘轮和棘爪均采用3D打印制造完成。
上述一种基于3D打印的带气囊的棘轮止动机械假肢的使用方法，包括如下步骤：
步骤一、启动假肢腕部的电机转动调整假肢手掌部的抓取角度；
步骤二、启动舵机一使夹板一和夹板二夹合，夹板一和夹板二分别距目标物体2～6mm时，关闭舵机一，棘轮止动机构使夹板一和夹板二的位置锁定；
步骤三、开启二位三通电磁阀给气囊充气，充满夹板一和夹板二与目标物体间的缝隙，夹取物体；
步骤四、需要松开假肢手指部时，通过二位三通电磁阀将气囊中的气体排出，同时，启动舵机二通过连杆机构将棘爪弹出，与棘轮分开，舵机一反向转动实现假夹板一和夹板二的放松。
发明的有益效果
有益效果
本发明的有益效果：
本发明的一种基于3D打印的带气囊的棘轮止动机械假肢，采用巧妙的机械结构和抓取方式获得柔和的抓取手感，从而简化控制算法、降低成本，结构简单、具有良好的稳定性。通过假肢手指部夹合和气囊充气产生压力同时作用于夹取物体；气囊充气产生的压力能够提供柔和的抓取手感，并且气囊能够填满手指与物体之间的缝隙，提供更大的接触面积，获得良好的抓取效果；棘轮机构止动机构限位使假肢手指部夹合位置固定，释放舵机一的压力。
对附图的简要说明
附图说明
图1是本发明提供的一种基于3D打印的带气囊的棘轮止动机械假肢的结构示意图；
图2是本发明提供的假肢手掌部的正视示意图；
图3是本发明提供的假肢手掌部的后视示意图；
图4是本发明提供的连杆机构的结构示意图；
图5是本发明提供的固定块的结构示意图。
其中，1-假肢手掌部，2-假肢腕部，3-假肢小臂部，4-连接残肢部，5-假肢手指部，6-气囊，7-舵机一，8-齿轮一，9-齿轮二，10-齿轮三，11-齿轮四，12-棘轮，13-棘爪，14-夹板一，15-夹板二，16-连接板一，17-连接板二，18-舵机二，19-运动连杆二，20-运动连杆一，21-固定块，22-转轴，23-滑槽一，24-倾斜壁。
发明实施例
本发明的实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明的一部分实施例，而不是全部的实施例。在本发明的描述中，需要说明的是，术语“上”、“下”、“内”、“外”、“一侧”、“另一侧”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“一”、“二”、“三”、“四”、“五”、“六”、“七”仅用于描述目的，而不能理解为指示或暗示相对重要性。除非另有明确的规定和限定，术语“安装”、“设置有”、“连接”等，应做广义理解，例如“连接”，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明中的具体含义。
为了解决现有技术存在的问题，如图1至图5所示，本发明提供了一种基于3D打印的带气囊的棘轮止动机械假肢，包括依次连接假肢手指部5、假肢手掌部1、假肢腕部2、假肢小臂部3和连接残肢部4；假肢手指部5包括相对设置的夹板一14和夹板二15，夹板一14和夹板二15的内侧均设有气囊6，夹板一14与齿轮一8固连，夹板一14与齿轮一8均套设在连接轴一上，夹板二15与齿轮二9固连，夹板二15与齿轮二9均套设在连接轴二上，齿轮一8和齿轮二9啮合以带动夹板一14和夹板二15开合；假肢手掌部1包括连接板一16、连接板二17、控制夹板一14和夹 板二15夹合的夹取机构和控制夹板一14和夹板二15放松的连杆机构，连接板一16和连接板二17平行设置，且均分别与连接轴一和连接轴二固定连接；夹取机构包括舵机一7、齿轮三10、齿轮四11、齿轮五和棘轮止动机构，棘轮止动机构包括棘轮12和棘爪13，舵机一7的输出端与齿轮三10固连，齿轮三10与齿轮一8啮合，齿轮四11与夹板二15远离齿轮二9的一侧固连，齿轮四11与齿轮五啮合，齿轮五与棘轮12固连，棘轮12与齿轮五均套设在连接轴三上，连接轴三与连接板二17固连，棘爪13通过连杆机构与舵机二18连接，舵机二18通过连杆机构推动棘爪13远离棘轮12，连杆机构包括运动连杆一20和运动连杆二19，运动连杆一20的一端与棘爪13远离棘轮12的一端连接，运动连杆一20的另一端设有滑槽一23；运动连杆二19一端与舵机二18的输出端固连，运动连杆二19的另一端与转轴22连接，转轴22设置在滑槽一23内，且沿滑槽一23滑动。
本发明中，夹板一14和夹板二15的结构相同，均为弧形结构，夹板一14和夹板二15用于夹取物体，同时也是气囊6的载体，通过夹取机构实现夹板一14和夹板二15的开合，夹板一14和夹板二15弧形结构的内侧均设有气囊6，气囊6与储气罐通过气管连接，储气罐设置在假肢小臂部3，气管上设有二位三通电磁阀，需要夹紧目标物体时，储气罐通过二位三通电磁阀向气囊6内充气，当需要放开目标物体时气囊6通过二位三通电磁阀将气体排出；夹板一14和夹板二15均分别由两块弧形的板构成，使夹板一14和夹板二15具有一定的厚度来夹取物体，气囊6设置在夹板一14和夹板二15的内侧中部，用于给待夹取物体提供柔和压力。需要夹板一14和夹板二15需要夹紧时，由舵机一7驱动齿轮传动控制夹板一14和夹板二15的夹紧，同时，棘轮止动机构通过齿轮五与齿轮四11啮合控制齿轮组的单向转动，实现手指的反向锁定。需要夹板一14和夹板二15需要松开时，舵机二18通过连杆机构将棘爪13弹出棘轮12，实现齿轮的反向转动，即实现假肢手指的松开。
本发明中，如图1和3所示，齿轮一8位于夹板一14的侧面，且与夹板一14固连，齿轮一8转动的时候就会带动夹板一14转动，齿轮一8与齿轮二9啮合，齿轮一8的转动的同时也带动齿轮二9转动，进而带动夹板二15转动，实现夹板一14和夹板二15的开合运动。
本发明中，连接板一16位于齿轮二9与夹板二15之间，连接板二17位于夹板二15与齿轮四11之间；夹板一14和连接板二17之间设有齿轮六，齿轮六与夹板一14固连，齿轮六与齿轮七啮合，齿轮七位于连接板二17与夹板二15之间，且与夹板二15固连，齿轮六套设在连接轴一上，齿轮四11和齿轮七均套设在连接轴二上，齿轮六和齿轮七能够使基于3D打印的带气囊的棘轮止动机械假肢工作的更加平稳。
本实施例中，如图2和4所示，运动连杆一20的一端与棘爪13远离棘轮12的一端连接，运动连杆一20的另一端与立方体结构连接，滑槽一23设在该立方体结构上；运动连杆一20、滑槽二、连接轴一、连接轴二和连接轴三的方向均平行，且均与连接板一16和连接板二17垂直设置。滑槽一23为长圆形，滑槽二为圆柱形与运动连杆一20配合。固定块21能够保证运动连杆一20稳定的沿滑槽二运动，棘轮12棘爪13配合工作时，能够支撑运动连杆一20，保证棘轮12棘爪13工作的稳定；还能够控制棘爪13弹出时的转向，固定块21靠近棘轮12一侧的内壁设有倾斜壁24，倾斜壁24位于棘爪13的上方，用于在棘爪13弹出的过程中使棘爪13向远离棘轮12的一侧旋转。
本发明中，基于3D打印的带气囊的棘轮止动机械假肢还包括固定块21，固定块21与夹板二15固连，固定块21设有滑槽二，运动连杆一20设置在滑槽二内，且沿滑槽二运动；固定块21靠近棘轮12一侧的内壁设有倾斜壁24，倾斜壁24位于棘爪13的上方。假肢腕部2内设有电机，电机通过联轴器与连接板一16和连接板二17靠近假肢腕部2的一侧连接，用于驱动手掌部转动。电机通过联轴器与连接板一16和连接板二17连接时，连接板一16和连接板二17靠近假肢腕部2的一侧中部的位置设有平板，联轴器与平板连接。假肢腕部2、假肢小臂部3和和连接残肢部4均采用3D打印制造完成；连杆机构、齿轮一8、齿轮二9、齿轮三10、齿轮四11、齿轮五、齿轮六、齿轮七、棘轮12和棘爪13均采用3D打印制造完成。假肢腕部2、假肢小臂部3和和连接残肢部4为现有技术，且通过3D打印制造完成，依靠3D打印拼接件拼接起来通过螺栓连接在铝型材上，质量轻且成本低。连接残肢部4的内部设有海绵，外部设有绑带，可调节松紧，能够进行良好的人机交互。
上述一种基于3D打印的带气囊的棘轮止动机械假肢的使用方法，包括如下步骤：
步骤一、启动假肢腕部2的电机转动调整假肢手掌部1的抓取角度；
步骤二、启动舵机一7使夹板一14和夹板二15夹合，夹板一14和夹板二15分别距目标物体2～6mm时，关闭舵机一7，棘轮止动机构使夹板一14和夹板二15的位置锁定；
步骤三、开启二位三通电磁阀给气囊6充气，充满夹板一14和夹板二15与目标物体间的缝隙，夹取物体；
步骤四、需要松开假肢手指部5时，通过二位三通电磁阀将气囊6中的气体排出，同时，启动舵机二18通过连杆机构将棘爪13弹出，与棘轮12分开，舵机一7反向转动实现假夹板一14和夹板二15的放松。
本发明中，启动假肢腕部2的电机转动调整假肢手掌部1的抓取角度，使假肢手掌部1和假肢手指部5角度与目标物体的角度适合抓取，开启二位三通电磁阀使储气罐给气囊6充气，充满夹板一14和夹板二15与目标物体间的缝隙，并为抓取目标物体提供足够的夹取力；
以上所述仅为本发明的较佳实施例，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种基于3D打印的带气囊的棘轮止动机械假肢，其特征在于，包括依次连接假肢手指部、假肢手掌部、假肢腕部、假肢小臂部和连接残肢部；
    所述假肢手指部包括相对设置的夹板一和夹板二，所述夹板一和夹板二的内侧均设有气囊，所述夹板一与齿轮一固连，所述夹板一与齿轮一均套设在连接轴一上，所述夹板二与齿轮二固连，所述夹板二与齿轮二均套设在连接轴二上，所述齿轮一和齿轮二啮合以带动夹板一和夹板二开合；
    所述假肢手掌部包括连接板一、连接板二、控制夹板一和夹板二夹合的夹取机构和控制夹板一和夹板二放松的连杆机构，所述连接板一和连接板二平行设置，且均分别与所述连接轴一和连接轴二固定连接；所述夹取机构包括舵机一、齿轮三、齿轮四、齿轮五和棘轮止动机构，所述棘轮止动机构包括棘轮和棘爪，所述舵机一的输出端与齿轮三固连，所述齿轮三与齿轮一啮合，所述齿轮四与夹板二远离齿轮二的一侧固连，所述齿轮四与齿轮五啮合，所述齿轮五与棘轮固连，所述棘轮与齿轮五均套设在连接轴三上，所述连接轴三与连接板二固连，所述棘爪通过连杆机构与舵机二连接，所述舵机二通过连杆机构推动棘爪远离棘轮。
  2. 根据权利要求1所述的基于3D打印的带气囊的棘轮止动机械假肢，其特征在于，所述连杆机构包括运动连杆一和运动连杆二，所述运动连杆一的一端与所述棘爪远离棘轮的一端连接，所述运动连杆一的另一端设有滑槽一；所述运动连杆二一端与舵机二的输出端固连，所述运动连杆二的另一端与转轴连接，所述转轴设置在所述滑槽一内，且沿滑槽一滑动。
  3. 根据权利要求1所述的基于3D打印的带气囊的棘轮止动机械假肢，其特征在于，所述基于3D打印的带气囊的棘轮止动机械假肢还包括固定块，所述固定块与夹板二固连，所述固定块设有滑槽二， 所述运动连杆一设置在所述滑槽二内，且沿滑槽二运动；所述固定块靠近棘轮一侧的内壁设有倾斜壁，所述倾斜壁位于棘爪的上方。
  4. 根据权利要求1所述的基于3D打印的带气囊的棘轮止动机械假肢，其特征在于，所述连接板一位于齿轮二与夹板二之间，所述连接板二位于夹板二与齿轮四之间；所述夹板一和连接板二之间设有齿轮六，所述齿轮六与夹板一固连，所述齿轮六与齿轮七啮合，所述齿轮七位于连接板二与夹板二之间，且与夹板二固连。
  5. 根据权利要求4所述的基于3D打印的带气囊的棘轮止动机械假肢，其特征在于，所述齿轮六套设在连接轴一上，所述齿轮四和齿轮七均套设在所述连接轴二上。
  6. 根据权利要求1所述的基于3D打印的带气囊的棘轮止动机械假肢，其特征在于，所述夹板一和夹板二的结构相同，均为弧形结构。
  7. 根据权利要求1所述的基于3D打印的带气囊的棘轮止动机械假肢，其特征在于，所述所述气囊与储气罐通过气管连接，所述储气罐设置在假肢小臂部，所述气管上设有二位三通电磁阀。
  8. 根据权利要求1所述的基于3D打印的带气囊的棘轮止动机械假肢，其特征在于，所述假肢腕部内设有电机，所述电机通过联轴器与连接板一和连接板二靠近假肢腕部的一侧连接。
  9. 根据权利要求4所述的基于3D打印的带气囊的棘轮止动机械假肢，其特征在于，所述假肢腕部、假肢小臂部和和连接残肢部均采用3D打印制造完成；所述连杆机构、齿轮一、齿轮二、齿轮三、齿轮四、齿轮五、齿轮六、齿轮七、棘轮和棘爪均采用3D打印制造完成。
  10. 一种基于3D打印的带气囊的棘轮止动机械假肢的使用方法，采用权利要求1所述的基于3D打印的带气囊的棘轮止动机械假肢，其特征在于，包括如下步骤：
    步骤一、启动假肢腕部的电机转动调整假肢手掌部的抓取角度；
    步骤二、启动舵机一使夹板一和夹板二夹合，夹板一和夹板二分别距目标物体2～6mm时，关闭舵机一，棘轮止动机构使夹板一和夹板二的位置锁定；
    步骤三、开启二位三通电磁阀给气囊充气，充满夹板一和夹板二与目标物体间的缝隙，夹取物体；
    步骤四、需要松开假肢手指部时，通过二位三通电磁阀将气囊中的气体排出，同时，启动舵机二通过连杆机构将棘爪弹出，与棘轮分开，舵机一反向转动实现假夹板一和夹板二的放松。
PCT/CN2019/082269 2019-03-29 2019-04-11 基于3d打印的带气囊的棘轮止动机械假肢及使用方法 Ceased WO2020199240A1 (zh)

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