CN106038009B

CN106038009B - Prosthetic hand

Info

Publication number: CN106038009B
Application number: CN201510799655.4A
Authority: CN
Inventors: 白劲实
Original assignee: Hangzhou If Robot Technology Co Ltd
Current assignee: ZORPIA ROBOT Co.,Ltd.
Priority date: 2015-11-18
Filing date: 2015-11-18
Publication date: 2018-02-06
Anticipated expiration: 2035-11-18
Also published as: CN106038009A

Abstract

The invention provides a kind of prosthetic hand.It includes artificial limb chiral substrate (15), finger substrate joint bolt (151), finger connector (16), pulling force nut (161), finger joint bolt (162), wrist connector (18), artificial limb thumb and four general artificial limb fingers, when general artificial limb finger is in straight configuration, sensing of the axis of finger joint bolt perpendicular to general artificial limb finger, artificial limb thumb includes thumb installation frame (1 '), thumb wheel frame (10), thumb fore-stock (11), thumb after-poppet (12), thumb front support axle (13) and thumb rear trunnion (14), thumb wheel frame openings groove (101) is provided with thumb wheel frame, it is located in the wire that the motor in artificial limb thumb is connected through thumb wheel frame openings groove in wire perforation (131).The general artificial limb finger connection of prosthetic hand of the present invention is reliable, and the wire of artificial limb thumb is not easily broken.

Description

Prosthetic hand

Technical field

The present invention relates to bionic hand, more particularly to prosthetic hand, its finger and its part-structure available for disabled person.

Background technology

Human hand typically has five fingers, is followed successively by thumb, forefinger, middle finger, the third finger and little finger of toe, except thumb have it is special The characteristics of motion beyond, the characteristics of motion of other four fingers is essentially identical.Every finger is divided into three section finger joints, is followed successively by base and refers to Section, nearly finger joint and remote finger joint, they are connected by the joint of relevant position, and nail is grown in remote finger joint.For some disabled persons For, it is necessary to realize the basic function of human hand using prosthetic hand.

Before 2007, it is false for the single-degree-of-freedom of German OTTOBOCK companies production that in the market sells most prosthetic hands Limb hand, the type prosthetic hand only have basic folding function, and its basic functional principle is：Electromyographic signal sensor senses disabled person Motion requirement and corresponding signal is sent to microcontroller, microcontroller, which sends control instruction, operates micro machine, micro machine Artificial limb finger motion is driven by mechanical drive train, so as to realize the folding of prosthetic hand.

With the development of the multi-finger clever hand technology of robot field, the research to multi-freedom artificial limb hand serves huge Impetus.After 2007, more money multi-freedom artificial limb hands are studied, wherein most multi-freedom artificial limbs Hand employs underactuatuated drive, i.e., a general finger only needs a micro-driving motor, and the base articulations digitorum manus of finger (corresponds to Connecting joint between base finger joint and palm) and nearly articulations digitorum manus (connecting joint corresponded between nearly finger joint and base finger joint) fortune Dynamic is coupling, by the rotation of base finger joint simultaneously of a micro-driving motor and the rotation of nearly finger joint.The wherein machine of base articulations digitorum manus Tool is driven frequently with rope (rope) transmission, bevel gear pair transmission, worm gear auxiliary driving or slip screw auxiliary driving etc., and nearly articulations digitorum manus Machine driving is frequently with rope (rope) transmission, link transmission or gear auxiliary driving etc..Base articulations digitorum manus driving-chain and the transmission of nearly articulations digitorum manus The various combination of chain, different products can be formed.Selling more prosthetic hand in the market has two kinds, a kind of hand of prosthetic hand Refer to base articulations digitorum manus and use worm gear auxiliary driving, nearly articulations digitorum manus is driven using rope (rope), and the finger base articulations digitorum manus of another prosthetic hand is adopted With slip screw auxiliary driving, nearly articulations digitorum manus uses link transmission.

The parts of prosthetic hand are more, and its design is related to many problems, for example how to make these parts mutual Cooperation is similar to the basic function of human hand to realize, how to ensure the reliability of work, how to mitigate the complexity and dress of structure The difficulty matched somebody with somebody, how to reduce cost, how to make structure attractive in appearance etc., these problems can be decomposed into the problem of many specific.To the greatest extent Managing current prosthetic hand realizes commercialization, but it still has many defects in design, such as：Existing a iLim artificial limbs Hand, the wire of its finger direct current generator are connected on the wire follower of base articulations digitorum manus installation frame, and wire output utensil is fixed Sleeve, slide guide pin, compression spring.It is complicated, it is difficult to minimize, and occupy design space, its finger joiner structure And complex contour, including the conductive pole being in contact with finger slip guide pin, the complicated base joint outer cover of moulding.

Inventor has found that at least there are the following problems in the prior art during prosthetic hand is researched and developed：

1st, the base articulations digitorum manus parts of artificial limb finger are more, and assembly relation is complicated, it is difficult to parts are carried out effectively accurate True positioning, assembly difficulty is high, particularly the base articulations digitorum manus structure of some existing artificial limb fingers, and its assembling structure is simple and crude, causes The functional reliability of base articulations digitorum manus is poor, easily breaks down.

2nd, some existing artificial limb fingers, the base finger joint of its artificial limb finger is complicated with the attachment structure in base joint, its finger Base finger joint is difficult to be assembled on base articulation structure, it is impossible to simply and effectively assembles.

3rd, some nearly articulations digitorum manus use Suo Chuandong existing artificial limb finger, and the near-end of its fly rope is connected on worm gear, But its specific attachment structure used is not easy to be assembled, the near-end of fly rope also easily falls off phenomenon, unfavorable In the reliable use of prosthetic hand.

4th, some existing artificial limb fingers, its nearly articulations digitorum manus use Suo Chuandong, frequently count on one's fingers and exhibition refers to operation and easily makes biography Running rope rope is rubbed and scratched in finger base finger joint, for a long time using fly rope abrasion or even fracture is easily made, is influenceed The service life of rope transmission mechanism.

5th, some existing artificial limb fingers, extension spring connection is used between the nearly finger joint of its finger and finger base finger joint with reality Existing exhibition when referring to the nearly finger joint of finger automatically reset, and the end of extension spring is using the mode being fixedly connected, therefore stretches The spring continually compound action of under tension and moment of flexure, long-term use can make extension spring bend residual deformation.So Prosthetic hand can be made to point out now to count on one's fingers, open up and refer to situation not in place, reduce the performance of artificial limb finger and prosthetic hand.

6th, some existing artificial limb fingers, it does not distinguish the remote finger joint of finger and the nearly finger joint of finger in structure, inconvenience It is bonded in the assembling of the nearly finger joint of finger and other parts, or the nearly finger joint of its finger with the remote finger joint of finger using end face, then The connected mode connected with other connectors, the poor reliability of connection, structure are also not attractive in appearance enough.

7th, existing artificial limb finger, because its part-structure has the problem of foregoing, the work of whole artificial limb finger is caused Reliability is poor, and is also not easy to assemble.

8th, due to people thumb nearly finger joint amount of exercise very little, thus the design of artificial limb thumb can not consider the motion. But some existing artificial limb thumbs, structure and general artificial limb finger (non-thumb) between the nearly finger joint of its thumb and thumb base finger joint The nearly finger joint of finger and the attachment structure of the remote finger joint of finger have very big difference, this just needs special distinctively to design and manufacture thumb The structure of finger, or specially design and the structure of the nearly finger joint of manufacture thumb and thumb base finger joint are needed, artificial limb thumb and general vacation The difference of limb finger can cause extra work amount and processing cost, and the versatility of parts is also poor, be unfavorable for reducing cost.

9th, thumb has slaps two kinds of postures to the palm and side, thus, artificial limb thumb needs the gyration that gestures, but existing Artificial limb thumb use mounting structure, its connect motor wire be to be drawn from side, such artificial limb thumb is making the side palm And during to palm posture conversion, wire is pulled, and long-term use can cause wire to fracture, in fact the wire of this kind of artificial limb thumb It is permanent fault to fracture.

10th, existing artificial limb thumb, because the problem of foregoing be present in its part-structure, cause whole artificial limb finger cost compared with It is high, easily break down, functional reliability it is poor；

11st, some existing prosthetic hands, its general prosthetic hand refer to the installation of (other four artificial limb fingers in addition to thumb) Structure is：Typically coupled between artificial limb finger and the finger connector of prosthetic hand using finger axial direction single screw, general finger is stretched When straight, finger axial direction single screw is identical with the sensing of finger, and connection is unreliable, and short-period used will result in connection and loosen.

12nd, existing prosthetic hand, because the problem of said before be present in its part-structure, cause the reliability of prosthetic hand compared with Difference, cost are higher.

The content of the invention

A kind of it is an object of the present invention to deficiency for existing prosthetic hand, there is provided the higher prosthetic hand of reliability.

To achieve these goals, the invention provides a kind of prosthetic hand, it include artificial limb chiral substrate, finger connector, The general artificial limb finger of wrist connector, artificial limb thumb and four；

The general artificial limb finger includes finger mounted frame, and stepped bore, ladder are provided with the finger connector The pulling force nut of shape is located in the stepped bore, and the artificial limb chiral substrate is located at where the larger diameter end of the pulling force nut Side, the finger mounted frame is located at the side where the smaller diameter end of the pulling force nut, on the artificial limb chiral substrate The internal thread of the corresponding pulling force nut is provided with finger substrate joint bolt mounting hole, and finger substrate joint bolt is located in described It is connected in finger substrate joint bolt mounting hole and with the internal thread of the pulling force nut, it is corresponding in the finger mounted frame The internal thread of the pulling force nut is provided with finger joint bolt mounting hole, and finger joint bolt is located in the finger joint bolt It is connected in mounting hole and with the internal thread of the pulling force nut, when the general artificial limb finger is in straight configuration, the hand Refer to sensing of the axis perpendicular to the general artificial limb finger of joint bolt；

The artificial limb thumb includes thumb installation frame, thumb wheel frame, thumb fore-stock and thumb after-poppet, in institute State thumb wheel frame and be provided with thumb wheel frame openings groove, the thumb installation frame is located at the thumb wheel frame and opened In mouth groove and it is fixed in the thumb wheel frame, thumb is coaxially connected with respectively at the both ends of the thumb wheel frame Front support axle and thumb rear trunnion, the rear end of the thumb front support axle are located in the thumb wheel frame openings groove, institute Thumb front support axle to be stated to be plugged on the thumb fore-stock, the thumb rear trunnion is plugged on the thumb after-poppet, In the thumb front support axle interior edge, it is axially arranged with the wire perforation of insertion, the wire warp being connected with the motor in artificial limb thumb The thumb wheel frame openings groove is located in the wire perforation；

The thumb fore-stock is fixed on the artificial limb chiral substrate, and the wrist connector is fixed on the prosthetic hand base On plate, the thumb after-poppet is fixed on the wrist connector.

The main beneficial effect of above-mentioned technical proposal provided by the invention is, it uses finger connector, step-like Pulling force nut, finger joint bolt and finger substrate joint bolt link up general artificial limb finger and artificial limb chiral substrate, and For the axis of finger joint bolt perpendicular to the sensing of general artificial limb finger, connection is reliable, is not easy to loosen；On the other hand, it is used Special thumb wheel frame coordinates installation artificial limb thumb, thumb wheel frame by the thumb front support axle that is coaxially disposed and Thumb rear trunnion is connected between thumb fore-stock and thumb after-poppet, and the wire being connected with the motor in artificial limb thumb is through thumb Refer to rotate during frame open slot is perforated from wire and pass through, and no longer as laterally penetrating in the prior art, so work as thumb Rotate frame because artificial limb thumb to the palm and side palm operation and when rotating, wire will not because of thumb wheel frame rotation and Pullled and bent, wire can be protected.Therefore the prosthetic hand of the present invention can improve reliability.

Brief description of the drawings

Fig. 1 is the structural representation of the artificial limb finger of the embodiment of the present invention；

Fig. 2 is the cross section structure diagram of the remote finger joint of finger of the embodiment of the present invention；

Fig. 3 is the cross section structure diagram of the nearly finger joint of finger of the embodiment of the present invention；

Fig. 4 is the cross section structure diagram of the finger base finger joint of the embodiment of the present invention；

Fig. 5 is the nearly finger joint of finger in Fig. 1 and its partial enlarged drawing near zone；

Fig. 6 is the partial enlarged drawing corresponding with Fig. 5 after the nearly finger joint of finger rotates relative to finger base finger joint；

Fig. 7 is base joint frame in Fig. 1 and its partial enlarged drawing near zone；

Fig. 8 is the cross section structure diagram of the base joint frame of the embodiment of the present invention；

Fig. 9 is the structural representation of the decelerating through motor device assembly of the embodiment of the present invention；

Figure 10 is the structural representation of the worm screw of the embodiment of the present invention；

Figure 11 is the structural representation of the worm gear of the embodiment of the present invention；

Figure 12 is the structural representation of the artificial limb thumb of the embodiment of the present invention；

Figure 13 is the structural representation of the prosthetic hand of the embodiment of the present invention.

Drawing reference numeral explanation：

1- finger mounted frames；2- worm gears；21- rotating shaft connecting portions；211- rotating shafts are perforated；22- ropes portion；23- is nibbled Conjunction portion；24- worm gear fixed parts；241- worm gear steady pin holes；242- worm gear fixing pins；25- band gap circular holes；251- ropes Ring；3- hollow shafts；4- bases joint frame；41- decelerating through motor device assembly installation portions；411- decelerating through motor device assembly mounting holes； 412- sector flanges；413- defining flanges；42- worm screw installation portions；421- worm screw main body accommodating chambers；4211- circlips are installed Groove；422- sliding bearing mounting holes；423- worm screw axle journal receiving holes；Socket part is worn in 43- rotating shafts；431- rotating shafts, which are worn, connects concentric holes；44- Open slot；401- decelerating through motor device assemblies；4011- motors；4012- decelerators；4013- mounting necks；4014- output shaft necks； 402- first bevel gears；403- second bevel gears；404- worm screws；4041- worm screw main parts；4042- bearings install axle journal； 4043- inputs shaft neck；The sliding bearings of 405- first；The sliding bearings of 406- second；407- circlip for holes；408- finger tails Cover；5- finger base finger joints；51- base finger joint main bodys；511- slotted eyes；512- base finger joint screw mounting holes；513- roller pins；514- Roller；52- interplane connecting portions；521- bases finger joint connects the wing, 5211- extension spring near-end cylindrical pins mounting holes；5212- arcs Shield；The nearly finger joint of 6- fingers；61- noses；611- noses screwed holes；612- noses annular grooves；613- fly ropes connect Connect post；The nearly finger joint main bodys of 62-；The nearly finger joint connection wings of 621-；The nearly finger joint connection wing concentric holes of 6211-；63- extension springs accommodate Groove；631- extension springs distal end cylindrical pins mounting hole；The remote finger joint of 7- fingers；71- suits portion；711- sets are behave affectedly；712- far refers to Save screw mounting hole；The remote finger joint mounting screws of 72-；8- extension springs；81- extension springs distal end cylindrical pins；82- extension springs Distal end cylindrical pins；9- fly ropes；1 '-thumb installation frame；5 '-thumb base finger joint；51 '-thumb base finger joint main body；52′- Thumb interplane connecting portion；521 '-thumb base finger joint connects the wing；The nearly finger joint of 6 '-thumb；The nearly finger joint noses of 61 '-thumb；62′- The nearly finger joint main body of thumb；The nearly finger joint connection wing of 621 '-thumb；The nearly articulations digitorum manus locking pin of 56 '-thumb；The remote finger joint of 7 '-thumb； The remote finger joint suit portion of 71 '-thumb；The remote finger joint mounting screw of 72 '-thumb；10- thumb wheel frames；101- thumb wheel frames Open slot；102- thumb installation frame fixing screws；11- thumb fore-stocks；111- nut placement holes；112- thumb front support axles Nut；12- thumb after-poppets；13- thumb front support axles；131- wires are perforated；14- thumb rear trunnions；15- prosthetic hand bases Plate；151- finger substrate joint bolts；16- finger connectors；161- pulling force nuts；162- finger joint bolts；17- prosthetic hands Shell on the back；The general artificial limb finger base articulations digitorum manus guard sections of 171-；18- wrist connectors.

Embodiment

The structure of the prosthetic hand to the embodiment of the present invention, artificial limb finger and its each several part is retouched in detail below in conjunction with the accompanying drawings State.

For ease of the description of accurate understanding the present embodiment, before illustrating, the first orientation to being referred in the present embodiment Word explains：On artificial limb finger and specific component part, " distal end " refers to close to one end of finger fingertip, " near-end " With " distal end " relatively, " near-end " refers to close to one end of finger root (or finger base articulations digitorum manus or palm)；Represent orientation " on ", when referring to finger and stretching, orientation corresponding with the orientation where the back of the hand on finger；Represent orientation " under ", refer on finger with Orientation corresponding to orientation where palm；" side " in orientation is represented, refers to two other orientation neither " on " nor " under ", i.e. phase Orientation where adjacent finger；" neighbour refers to side " refers to " side ", i.e., the side towards adjacent finger on finger, non-" on " nor " under ".First each part of the artificial limb finger of the present embodiment is illustrated below, then the entirety of artificial limb finger entered Row explanation.

1st, the base articulations digitorum manus structure of artificial limb finger

The base articulations digitorum manus of artificial limb finger mainly completes the function similar to human hand base articulations digitorum manus, and the base articulations digitorum manus of human hand is used for Finger base finger joint and palm are connected, finger base finger joint is can be rotationally connected with palm.The artificial limb of the embodiment of the present invention The base articulations digitorum manus structure of finger specifically may refer to Fig. 7 to Figure 11 in Figure of description.Artificial limb provided in an embodiment of the present invention The base articulations digitorum manus structure of finger, it includes base joint frame 4, rotating shaft (being in the present embodiment hollow shaft 3) and worm gear 2, in base Decelerating through motor device assembly 401 is fixed with joint frame 4, it is fixed on the output shaft neck 4014 of decelerating through motor device assembly 401 There is first bevel gear 402, worm screw is provided with by circlip for hole 407 and two sliding bearings in frame 4 in base joint 404, second bevel gear 403, second bevel gear 403 and first bevel gear are fixed with the input shaft neck 4043 of worm screw 404 402 engagements, base joint frame 4 have open slot 44, and worm gear 2 is located in open slot 44, and worm gear 2 is engaged with worm screw 404, and rotating shaft is worn It is located on base joint frame 4 and worm gear 2.

The base articulations digitorum manus structure for the artificial limb finger that the present embodiment provides, it can realize the work(similar to finger base articulations digitorum manus Can, it installs worm gear 2 by open slot 44, and rotating shaft is located on base joint frame 4 and worm gear 2 simultaneously, and open slot 44 can be to snail Wheel 2, which enters row constraint, makes its stability of rotation, is provided with worm screw 404 by circlip for hole 407 and two sliding bearings, makes worm screw 404 flexible rotatings and reliable location, alleviate the difficulty of assembling, it is possible to increase the functional reliability of base articulations digitorum manus structure.

Specifically, base joint frame 4 is worn including decelerating through motor device assembly installation portion 41, worm screw installation portion 42 and two rotating shafts Socket part 43, decelerating through motor device assembly installation portion 41 and worm screw installation portion 42 are worn socket part 43 by two rotating shafts and connected as one, and two Individual rotating shaft forms open slot 44 between wearing socket part 43, and decelerating through motor device assembly 401 is fixed on decelerating through motor device assembly installation portion 41 On, worm screw 404 is arranged in worm screw installation portion 42, and rotating shaft perforation 211 is provided with worm gear 2, is worn in two rotating shafts in socket part 43 Corresponding rotating shaft perforation 211 is worn provided with rotating shaft connects concentric holes 431, and rotating shaft is located in rotating shaft perforation 211 and two rotating shafts are worn and connect with one heart In hole 431.

Further, in order to which decelerating through motor device assembly 401 is fixed on decelerating through motor device assembly installation portion 41, described Decelerating through motor device assembly mounting hole (411), the decelerating through motor device assembly are provided with decelerating through motor device assembly installation portion (41) (401) include motor (4011), decelerator (4012) is connected with the motor (4011), on the decelerator (4012) Provided with mounting neck (4013), the diameter of the mounting neck (4013) is less than the diameter of the decelerator (4012), the output shaft Axle journal (4014) stretches out from the mounting neck (4013), and the mounting neck (4013) is fixed on the decelerating through motor device assembly peace Fill in hole (411).It is fixed here with the position of mounting neck 4013 of decelerating through motor device assembly 401, motor reducer group The structure of part mounting hole (411) is simple.

Further, for ease of installing worm screw 404, it is sequentially provided with worm screw main body interconnectedly in worm screw installation portion 42 Accommodating chamber 421, sliding bearing mounting hole 422 and worm screw axle journal receiving hole 423, the diameter of sliding bearing mounting hole 422 are less than snail The diameter of bar main body accommodating chamber 421, the diameter of worm screw axle journal receiving hole 423 are less than the diameter of sliding bearing mounting hole 422, worm screw Main body accommodating chamber 421 it is open-ended, circlip mounting groove is circumferentially provided with the cavity wall of worm screw main body accommodating chamber 421 4211, worm screw 404 includes worm screw main part 4041, and worm gear 2 engages with worm screw main part 4041, at the both ends of worm screw main part 4041 Bearing installation axle journal 4042 has been integrally connected respectively, has been integrally connected input on a bearing installation axle journal 4042 wherein Shaft neck 4043, two sliding bearings are respectively the first sliding bearing 405 and the second sliding bearing 406, worm screw main part 4041 In worm screw main body accommodating chamber 421, the first sliding bearing 405 is located in sliding bearing mounting hole 422, the second sliding bearing 406 in worm screw main body accommodating chamber 421, and worm screw main part 4041 is located at the first sliding bearing 405 and the second sliding bearing 406 Between, two bearing installation axle journals 4042 are located in the first sliding bearing 405 and the second sliding bearing 406 respectively, in elasticity Circlip for hole 407 is provided with back-up ring mounting groove 4211, the second sliding bearing 406 is located at worm screw main part 4041 and hole bullet Between property back-up ring 407.Here by the structure of worm gear and each parts of worm gear installation portion carry out minute design (such as by means of The installation and constraint positioning of parts are realized with the various holes in structure, groove), it is simple in construction, it is easily assembled, reliable operation.Tool Body, when assembling worm screw 404, first the first sliding bearing 405 can be loaded from the openend of worm screw main body accommodating chamber 421 and slided In bearing mounting hole 422, worm screw 404 is inserted, then the second sliding bearing 406 is installed, circlip for hole 407 is finally installed Complete the positioning assembling of worm screw 404.

Preferably, the rotating shaft of the present embodiment is hollow shaft 3, and finger hood 408, finger are connected with base joint frame 4 The shade of hood 408 first bevel gear 402 and second bevel gear 403, and there are finger hood 408 two inserting columns (not show in figure Go out), two inserting columns are plugged on the both ends of hollow shaft 3 respectively.Here finger hood 408 can be to the connection position of two bevel gears Put and carry out shade protection, rotating shaft can play the work for mitigating weight while structural strength is ensured using the one side of hollow shaft 3 With another aspect also facilitates the assembling of finger hood 408, dexterously realizes finger using the inserting column on finger hood 408 The assembling of hood 408.

Further, in the present embodiment, output shaft neck 4014 and input shaft neck 4043 are D-section axle journal, the One bevel gear 402 and second bevel gear 403 are respectively provided with D-shaped centre bore, and the D-shaped centre bore of first bevel gear 402 is enclosed on output shaft On the D-section axle journal of axle journal 4014, the D-shaped centre bore of second bevel gear 403 is enclosed on input shaft neck 4043.Here use D-shaped centre bore coordinates D-section axle journal, and the assembling of bevel gear is realized using the constraint of D-section hole axle, further simplify assembling Difficulty.

Preferably, the central axis of the output shaft neck 4014 of the present embodiment is with inputting the central axis of shaft neck 4043 just Hand over.Specifically, the central axis of decelerating through motor device assembly mounting hole 411 is orthogonal with the central axis of sliding bearing mounting hole 422.

Specifically, in order to connect other parts, finger base finger joint 5 is fixed with base joint frame 4, worm gear 2 is fixed on In finger mounted frame 1.

2nd, the base finger joint of artificial limb finger and the attachment structure in base joint

The finger base finger joint 5 of artificial limb finger will fix relative to base joint frame 4.The artificial limb finger of the embodiment of the present invention Base finger joint and the attachment structure in base joint specifically may refer to Fig. 4, Fig. 7 and Fig. 8 in Figure of description.The embodiment of the present invention carries The base finger joint of the artificial limb finger of confession and the attachment structure in base joint, it includes base joint frame 4 and finger base finger joint 5, base joint Frame 4 includes decelerating through motor device assembly installation portion 41, and decelerating through motor device assembly is provided with decelerating through motor device assembly installation portion 41 Mounting hole 411, a part for decelerating through motor device assembly 401 are fixed in decelerating through motor device assembly mounting hole 411, finger base finger joint 5 include base finger joint main body 51, and base finger joint main body 51 has the cavity for being used for accommodating decelerating through motor device assembly 401, in decelerating through motor The external wall of upper portion of device assembly installation portion 41 is provided with fan-shaped flange 412, and fan-shaped flange 412 is corresponded in base finger joint main body 51 and is provided with Slotted eye 511, a part for base finger joint main body 51 cover a part for decelerating through motor device assembly installation portion 41, fan-shaped flange 412 In slotted eye 511.

The base finger joint for the artificial limb finger that the present embodiment provides and the attachment structure in base joint, it is using in base finger joint main body 51 Slotted eye 511 and base joint frame 4 decelerating through motor device assembly installation portion 41 on fan-shaped flange 412, entered in a manner of suit Row coordinates assembling, it is easy to accomplish both is mutually located, and assembling structure is simple.

Further, base finger joint screw thread hole (not shown) is provided with decelerating through motor device assembly installation portion 41, Perpendicular to the axis of decelerating through motor device assembly 401, in base finger joint main body 51 correspond to base refers to the axis in base finger joint screw thread hole Section screw thread hole is provided with base finger joint screw mounting hole 512, and base finger joint is equipped with base finger joint screw mounting hole 512 and fixes spiral shell (not shown) is followed closely, base finger joint fixing screws are connected in base finger joint screw thread hole.Here in conjunction with base finger joint fixing screws It is further fixed, enter row constraint from multiple different directions, base finger joint main body 51 is not easy from decelerating through motor device assembly installation portion 41 On come off, fixation it is relatively reliable.

Further, the head of base finger joint fixing screws is located at the neighbour of base finger joint main body 51 and referred on side.Here base is allowed to refer to The head of section fixing screws is located at the neighbour of finger and refers to side, and due to the effect of blocking of adjacent finger, (such as four fingers are stretched side by side When straight), base finger joint fixing screws can be made to become hidden to a certain extent, enhance aesthetic property.Preferably, in the present embodiment The number of base finger joint fixing screws is two.

Further, defining flange 413, the near-end of base finger joint main body 51 are provided with decelerating through motor device assembly installation portion 41 Offseted with defining flange 413.Here defining flange 413 can play a part of auxiliary positioning, prevent base finger joint main body 51 from occurring Axial float.

3rd, the attachment structure of the worm gear of artificial limb finger and fly rope

For the motion of base articulations digitorum manus using worm and gear, the motion of nearly articulations digitorum manus using Suo Chuandong artificial limb finger, it is driven The near-end of rope needs to be connected on worm gear.The worm gear of the artificial limb finger of the embodiment of the present invention and the attachment structure of fly rope have Body may refer to Fig. 7 and Figure 11 in Figure of description.The worm gear of artificial limb finger and the company of fly rope that the present embodiment provides Binding structure, it includes fly rope 9 and worm gear 2, and worm gear 2 includes rotating shaft connecting portion 21, integratedly connected on rotating shaft connecting portion 21 Be connected to for pull fly rope 9 ropes portion 22, for the engaging piece 23 that is engaged with worm screw 404 and for consolidating with finger Determine the worm gear fixed part 24 that frame 1 is fixedly connected, band gap circular hole 25 is provided between engaging piece 23 and ropes portion 22, Grommet 251 is installed, the near-end of fly rope 9 is the double structure that single line doubling forms, fly rope 9 in band gap circular hole 25 Near-end be enclosed at the undergauge of grommet 251, the bore edges with gap circular hole 25 are stuck at the undergauge of grommet 251.

The worm gear of artificial limb finger and the attachment structure of fly rope, the near-end of its fly rope 9 that the present embodiment provides are borrowed Band gap circular hole 25 and grommet 251 is helped to be attached, the near-end of fly rope 9 is the double structure that single line doubling forms, assembling Get up relatively simple, fly rope 9 is difficult for drop-off, and connection reliability is more preferable.

Further, the opening position with gap circular hole 25 is round-corner transition.Here round-corner transition is used, is avoided to passing Running rope rope 9 is stabbed or hurt, and can extend the service life of fly rope 9.

Further, on rotating shaft connecting portion 21 be provided with rotating shaft perforation 211, ropes portion 22 be used for and fly rope The edge of 9 contacts is substantially curved, and the camber line of the arc is using the center of rotating shaft perforation 211 as the center of circle.Here ropes portion 22 Edge use arcuate structure, and the camber line of the arc is using the center of rotating shaft perforation 211 as the center of circle, therefore in ropes portion 22 When pulling fly rope 9, fly rope 9 can be attached on the curved edge and be pulled, and can so ensure fly rope 9 and rope There is larger contact surface in pulling portion 22, and the stress that can make the near-end of fly rope 9 evenly, can also play protection fly rope 9, the effect to increase the service life.

The worm gear 2 of the present embodiment is fixed in finger mounted frame 1, specifically, worm gear is provided with worm gear fixed part 24 Steady pin hole 241, is equipped with worm gear fixing pin 242 in worm gear steady pin hole 241, and worm gear fixing pin 242 is fixed In finger mounted frame 1.Specifically, the present embodiment employs two worm gear fixing pins 242.

4th, the rope drive mechanism of artificial limb finger

When count on one's fingers operation, the fly rope in the rope drive mechanism of artificial limb finger pulls the nearly finger joint of finger, makes it Rotated around nearly articulations digitorum manus.Fly rope count on one's fingers and exhibition refer to during need to be protected.The rope of the artificial limb finger of the present embodiment Drive mechanism specifically may refer to Fig. 1 to Fig. 4 in Figure of description, and Fig. 7.The rope for the artificial limb finger that the present embodiment provides Drive mechanism, it includes fly rope 9 and finger base finger joint 5, and fly rope 9 runs through the inner space of finger base finger joint 5, finger Base finger joint 5 includes base finger joint main body 51, and fly rope 9 is located at the bottom in base finger joint main body 51, in the bottom of base finger joint main body 51 Wall is fixed with roller pin 513 with 9 corresponding position of fly rope, and the axis of roller pin 513 is perpendicular to base finger joint master The axis of body 51, is set with roller 514 on roller pin 513, and a part for roller 514 stretches into the wall of base finger joint main body 51 Within space.

The rope drive mechanism for the artificial limb finger that the present embodiment provides, it is right in the base finger joint main body 51 of finger base finger joint 5 Answer fly rope 9 that roller pin 513 and roller 514 be installed, the part of roller 514 stretch into the wall of base finger joint main body 51 with It is interior, when nearly articulations digitorum manus is counted on one's fingers and exhibition refers to operation, if fly rope 9 presses to the wall of base finger joint main body 51, transmission rope Rope 9 can be pressed on roller 514, can so be mitigated finger base finger joint 5 to rubbing and scratching caused by fly rope 9, be played guarantor Shield fly rope 9, the effect for extending its service life.Preferably, the fly rope 9 of the present embodiment is using nylon rope.Its High-strength nylon rope can be selected.

Specifically, because the base articulations digitorum manus motion of the present embodiment employs worm and gear, thus the distal end of fly rope 9 with The nearly finger joint 6 of finger is connected, and the near-end of fly rope 9 is connected with worm gear 2.

In order to which the distal end of fly rope 9 finger joint 6 near with finger is connected, transmission rope is provided with the distal end of the nearly finger joint 6 of finger Rope connecting pole 613, the distal end of fly rope 9 are connected on fly rope connecting pole 613.Here with the nearly distal end of finger joint 6 of finger Fly rope connecting pole 613, be easy to the distal end by fly rope 9 to connect.Further, the nearly finger joint 6 of finger includes convex Head 61 and the nearly finger joint main body 62 for being coarser than noses 61, fly rope connecting pole 613 is arranged on the distal end of noses 61, convex The remote finger joint 7 of finger is cased with head 61, suit portion 71 is provided with the remote finger joint 7 of finger, suit portion 71 is enclosed on noses 61 simultaneously Offseted with nearly finger joint main body 62, a part for fly rope 9 is clipped between suit portion 71 and noses 61.Here suit portion 71 It can play a part of compressing fly rope 9, and the distal end for further ensuring fly rope 9 is difficult for drop-off.

In order to which the near-end of fly rope 9 is connected with worm gear 2, worm gear 2 includes rotating shaft connecting portion 21, in rotating shaft connecting portion 21 On be integrally connected for pull fly rope 9 ropes portion 22, for the engaging piece 23 that is engaged with worm screw 404 and use In the worm gear fixed part 24 being fixedly connected with finger fixed frame 1, it is open-minded that band is provided between engaging piece 23 and ropes portion 22 Mouth circular hole 25, is provided with grommet 251 in band gap circular hole 25, and the near-end of fly rope 9 is the two-wire knot that single line doubling forms Structure, the near-end of fly rope 9 are enclosed at the undergauge of grommet 251, and the bore edges with gap circular hole 25 are stuck in the undergauge of grommet 251 Place.Here the near-end of fly rope 9 is attached by band gap circular hole 25 and grommet 251, assembles up relatively simple, transmission Rope 9 is difficult for drop-off.

5th, the attachment structure of the nearly finger joint of artificial limb finger and base finger joint

In order to be automatically reset when exhibition refers to, need to use between the nearly finger joint of finger and finger base finger joint of artificial limb finger Elastomeric element connects, and the part-structure is also required to ensure performance.The nearly finger joint of the artificial limb finger of the present embodiment and base finger joint Attachment structure specifically may refer to Fig. 2 to Fig. 6 in Figure of description.The present embodiment provide artificial limb finger nearly finger joint with The attachment structure of base finger joint, it includes the nearly finger joint 6 of finger base finger joint 5, finger and extension spring 8, and the nearly finger joint 6 of finger is rotationally It is connected in finger base finger joint 5, extension spring distal end cylindrical pins 81 is fixed with the nearly finger joint 6 of finger, in finger base finger joint 5 On be fixed with extension spring near-end cylindrical pins 82, extension spring distal end cylindrical pins 81 and extension spring near-end cylindrical pins 82 Axis finger joint 5 near with finger pivot center it is parallel, the both ends of extension spring 8 are respectively fitted over extension spring distal end straight pin On nail 81 and extension spring near-end cylindrical pins 82.

The nearly finger joint for the artificial limb finger that the present embodiment provides and the attachment structure of base finger joint, the both ends of its extension spring 8 are not Use and be fixedly connected again, but extension spring distal end cylindrical pins 81 are fixed in the nearly finger joint 6 of finger, in finger base finger joint 5 Fixed extension spring near-end cylindrical pins 82, the both ends of extension spring 8 are respectively fitted in the two cylindrical pins, so in finger Nearly finger joint 6 is around during finger base finger joint 5 rotates, and due to the presence of the pulling force of extension spring 8, the distal end of extension spring 8 can be around Extension spring distal end cylindrical pins 81 rotate, and the near-end of extension spring 8 can rotate around extension spring near-end cylindrical pins 82, so Can significantly reduce in addition eliminate extension spring 8 suffered by Moment, for a long time using will not also make extension spring 8 produce bending Residual deformation, so as to lift the performance of artificial limb finger and prosthetic hand.

In order to which the nearly finger joint 6 of finger is rotatably connected in finger base finger joint 5, it is provided with the near-end of the nearly finger joint 6 of finger Two nearly finger joint connection wings 621, nearly finger joint connection wing concentric holes 6211 are accordingly provided with two nearly finger joint connection wings 621, Finger base finger joint 5 includes base finger joint main body 51, and interplane connecting portion 52, interplane have been integrally connected in the distal end of base finger joint main body 51 The width of connecting portion 52 is less than the width of base finger joint main body 51, and interplane connecting portion 52 is located between two nearly finger joints connection wings 621, Raised articulated cylinder (not shown) is provided with two sides of interplane connecting portion 52, two nearly finger joint connection wings are concentric Hole 6211 is respectively fitted on two articulated cylinders.The nearly finger joint of use connects the wing 621 here, nearly finger joint connects wing concentric holes 6211, Interplane connecting portion 52, articulated cylinder these structures realize and are rotatably coupled, and reduce the quantity of part, and these structures can be with In other directions, the motion to the nearly finger joint of finger 6 and finger base finger joint 5 forms constraint, makes connection more reliable, rotation process is more It is stable.

In order to fix extension spring near-end cylindrical pins 82, it is provided with two base finger joints in the distal end of interplane connecting portion 52 and connects The wing 521, being proximally located between two base finger joint connection wings 521 for extension spring 8, stretching is provided with the base finger joint connection wing 521 Spring near-end cylindrical pins mounting hole 5211, extension spring near-end cylindrical pins 82 wear and are fixed on extension spring near-end cylinder In pin mounting hole 5211.

In order to arrange extension spring 8 and fixed extension spring distal end cylindrical pins 81, stretching is provided with the nearly finger joint 6 of finger Spring-housing groove 63, extension spring distal end cylindrical pins mounting hole 631 is provided with the cell wall of extension spring holding tank 63, stretched Spring distal end cylindrical pins 81 wear and are fixed in extension spring distal end cylindrical pins mounting hole 631.

In the present embodiment, the remote edge of the base finger joint connection wing 521 is curved edge, is had and this in the nearly finger joint 6 of finger The curved wall that curved edge matches, arc shield 5212, arc are connected with jointly between two base finger joints connect the wing 521 Shield 5212 is arranged along the curved edge and is located at the top of the near-end of extension spring 8.Here the nearly finger joint 6 of finger and finger base refer to Section 5 is coordinated using arc, with reference to the design of arc shield 5212, can reduce the gap above nearly articulations digitorum manus, to a certain degree On play and prevent that object from entering and effect attractive in appearance.

6th, the attachment structure of the remote finger joint of artificial limb finger and nearly finger joint

The remote finger joint of the artificial limb finger of the present embodiment specifically may refer in Figure of description with the attachment structure of nearly finger joint Fig. 2 to Fig. 6.The remote finger joint for the artificial limb finger that the present embodiment provides and the attachment structure of nearly finger joint, it includes the nearly finger joint 6 of finger Finger joint 7 remote with finger, the nearly finger joint 6 of finger include noses 61 and are coarser than the nearly finger joint main body 62 of noses 61, far refer in finger Section 7 is provided with suit portion 71, and there is the set to match with noses 61 to behave affectedly 711 in suit portion 71, and noses 61 are positioned at covering It behave affectedly in 711, suit portion 71 is enclosed on noses 61 and offseted with nearly finger joint main body 62.

The remote finger joint for the artificial limb finger that the present embodiment provides and the attachment structure of nearly finger joint, it is referred to using noses 61, closely Section main body 62, suit portion 71,711 these design features of behaveing affectedly are covered, be connected with each other by way of suit, can be other zero Part leaves assembly space, is easy to the assembled in advance of the nearly finger joint 6 of finger and other parts；The nearly finger joint 6 of finger and finger can be made There are more contact point and contact surface between remote finger joint 7, the radial direction and axle of the remote finger joint 6 of finger can be realized simultaneously to a certain extent To positioning, the assembling being easy between the nearly finger joint 6 of finger and the remote finger joint 7 of finger, the reliability of connection is improved；Other suit portion 71 Suit mode can also make the outer surface of the remote finger joint 6 of finger have longer continuous surface, and this, which can also be played, makes finger shape more Effect attractive in appearance.Preferably, noses 61 are tapered.

Further, noses screwed hole 611, the axis and plush copper of noses screwed hole 611 are provided with noses 61 The axis in portion 61 is vertical, and noses screwed hole 611 is corresponded in suit portion 71 and is provided with remote finger joint screw mounting hole 712, remote finger joint Mounting screw 72 is located in remote finger joint screw mounting hole 712 and is connected with noses screwed hole 611.Here in the laggard of suit One step is fixed using remote finger joint mounting screw 72, and the direction of remote finger joint mounting screw 72 and the axis direction of noses 61 hang down Directly, the rotation in suit portion 71 can not only be limited, axial movement of the suit portion 71 relative to noses 61 can be also limited, in multiple sides Upwards to the constraint in suit portion 71, the fixation between the nearly finger joint 6 of finger and the remote finger joint 7 of finger can be made relatively reliable.Preferably, The number of remote finger joint mounting screw 72 is two.

Further, the head of remote finger joint mounting screw 72 is located at the neighbour in suit portion 71 and referred on side.Here remote finger joint is allowed The head of mounting screw 72 is located at the side of finger, and due to the effect of blocking of adjacent finger, (such as four fingers stretch side by side When), remote finger joint mounting screw 72 can be made to become hidden to a certain extent, enhance aesthetic property.On the other hand remote finger joint peace When cartridge screw 72 is located at such orientation, other mechanisms on artificial limb finger (such as rope transmission mechanism and spring can also be avoided Resetting-mechanism).In the present embodiment, the arrangement of remote finger joint mounting screw 72 avoids fly rope 9 and extension spring 8.

The present embodiment is circumferentially provided with multi-turn noses annular groove 612 on the outer peripheral face of noses 61, here due to more The barrier of noses annular groove 612 is enclosed, can to a certain extent play and prevent the deeply vacation of the harmful substances such as grease, water, dust The effect of limb finger interior.

The motion of the nearly articulations digitorum manus of the present embodiment is using rope type of belt drive, for such case, in order to by transmission rope The finger joint 6 near with finger of rope 9 is connected, in the distal end of noses 61 integrally provided with fly rope connecting pole 613, fly rope 9 One end is connected on fly rope connecting pole 613, and a part for fly rope 9 is clipped between suit portion 71 and noses 61.This Sample not only facilitates the connection of the distal end of fly rope 9, and suit portion 71 also its can play the work for compressing fly rope 9 With ensure that the distal end of fly rope 9 is difficult for drop-off.

The nearly articulations digitorum manus of the present embodiment exhibition refer to when rely on be spring pulling force realize automatically reset, for this feelings Condition, in order to which the finger joint 6 near with finger of extension spring 8 is connected, extension spring appearance is provided with noses 61 and nearly finger joint main body 62 Receive groove 63, extension spring distal end cylindrical pins mounting hole 631 is provided with the cell wall of extension spring holding tank 63, in extension spring Worn in distal end cylindrical pins mounting hole 631 and be fixed with extension spring distal end cylindrical pins 81, the distal end of extension spring 8 is enclosed on In extension spring distal end cylindrical pins 81.The assembling of the distal end of extension spring 8 is so not only facilitated, and in the nearly finger joint 6 of finger During rotation, the distal end of extension spring 8 can also rotate around extension spring distal end cylindrical pins 81, can reduce extension spring 8 Distal end because be fixedly connected and frequently Moment and caused by bend residual deformation.

7th, artificial limb finger

The artificial limb finger of the present embodiment combines the structure of some above, and it specifically may refer to Figure of description In Fig. 1 to Figure 11.Artificial limb finger provided in an embodiment of the present invention, it includes finger mounted frame 1, worm gear 2, rotating shaft, Ji Guan Save frame 4, finger base finger joint 5, the nearly finger joint 6 of finger, the remote finger joint 7 of finger, extension spring 8 and fly rope 9；Worm gear 2 is fixed on In finger mounted frame 1, band gap circular hole 25 is provided with worm gear 2, grommet 251 is installed in band gap circular hole 25, band slits The bore edges of mouth circular hole 25 are stuck at the undergauge of grommet 251；Decelerating through motor device assembly 401 is fixed with base joint frame 4, First bevel gear 402 is fixed with the output shaft neck 4014 of decelerating through motor device assembly 401, passes through hole in base joint frame 4 Worm screw 404 is installed with circlip 407 and two sliding bearings, is fixed with the input shaft neck 4043 of worm screw 404 Two bevel gears 403, second bevel gear 403 engage with first bevel gear 402, and base joint frame 4 has open slot 44,2, worm gear In open slot 44, worm gear 2 is engaged with worm screw 404, and rotating shaft is located on base joint frame 4 and worm gear 2；Finger base finger joint 5 has There is the cavity for accommodating decelerating through motor device assembly 401, finger base finger joint 5 is fixed in base joint frame 4, and fly rope 9 passes through The inner space of finger base finger joint 5 is worn, the near-end of fly rope 9 is connected on grommet 251；The nearly finger joint 6 of finger rotationally connects The distal end of finger base finger joint 5 is connected on, the both ends of extension spring 8 are rotatably connected to finger base finger joint 5 respectively and finger closely refers to On section 6；The nearly finger joint 6 of finger includes noses 61, in the distal end of noses 61 integrally provided with fly rope connecting pole 613, passes The distal end of running rope rope 9 is connected on fly rope connecting pole 613, and suit portion 71,71 sets of suit portion are provided with the remote finger joint 7 of finger On noses 61, a part for fly rope 9 is clipped between suit portion 71 and noses 61.

The artificial limb finger that the present embodiment provides, the open slot in the design of the grommet 251 in its worm gear 2, base joint frame 4 44 design, rotating shaft is through rotating shaft perforation 211 simultaneously and the design connect in concentric holes 431, the two of extension spring 8 are worn in two rotating shafts End is respectively fitted over the suit design between the design in cylindrical pins and the remote finger joint 7 of finger and the nearly finger joint 6 of finger, integrates To make each several part to connect the reliable, stability of rotation of worm gear 2, extension spring 8 is protected, fly rope 9 is difficult for drop-off, therefore The functional reliability of whole artificial limb finger can be lifted on the whole, reduce the possibility to break down.

For ease of the connection of the near-end of fly rope 9, the near-end of fly rope 9 is the double structure that single line doubling forms, and is passed The near-end of running rope rope 9 is enclosed at the undergauge of grommet 251.

In order to carry out shade protection to first bevel gear 402, second bevel gear 403 and its neighbouring space, rotating shaft is sky Mandrel 3, is connected with finger hood 408 in base joint frame 4, and the shade of finger hood 408 cone of first bevel gear 402 and second Gear 403, finger hood 408 have two inserting columns, and two inserting columns are plugged on the both ends of hollow shaft 3 respectively.

In order to protect the part that fly rope 9 is located in finger base finger joint 5, finger base finger joint 5 includes base finger joint main body 51, Fly rope 9 is located at the bottom in base finger joint main body 51, in the bottom wall of base finger joint main body 51 and 9 corresponding position of fly rope Put and be fixed with roller pin 513, the axis of roller pin 513 perpendicular to base finger joint main body 51 axis, on roller pin 513 It is set with roller 514, the space that the part of roller 514 is stretched within the wall of base finger joint main body 51.

In order that the both ends of extension spring 8 are rotatably connected in finger base finger joint 5 and the nearly finger joint 6 of finger respectively, Extension spring distal end cylindrical pins 81 are fixed with the nearly finger joint 6 of finger, extension spring near-end circle is fixed with finger base finger joint 5 Pin nail 82, the axis finger joint 5 near with finger of extension spring distal end cylindrical pins 81 and extension spring near-end cylindrical pins 82 Pivot center it is parallel, the both ends of extension spring 8 are respectively fitted over extension spring distal end cylindrical pins 81 and extension spring near-end circle On pin nail 82.

In order to which the nearly finger joint 6 of finger is securely attached in finger base finger joint 5, two are provided with the near-end of the nearly finger joint 6 of finger The individual nearly finger joint connection wing 621, nearly finger joint connection wing concentric holes 6211, hand are accordingly provided with two nearly finger joint connection wings 621 Referring to base finger joint 5 includes base finger joint main body 51, and interplane connecting portion 52 has been integrally connected in the distal end of base finger joint main body 51, and interplane connects The width of socket part 52 is less than the width of base finger joint main body 51, and interplane connecting portion 52 is located between two nearly finger joints connection wings 621, Two sides of interplane connecting portion 52 are provided with raised articulated cylinder, and two nearly finger joint connection wing concentric holes 6211 are respectively fitted over On two articulated cylinders.

For ease of the assembling positioning between finger base finger joint 5 and base joint frame 4, finger base finger joint 5 includes base finger joint master Body 51, base finger joint main body 51 has the cavity for being used for accommodating decelerating through motor device assembly 401, in decelerating through motor device assembly installation portion 41 External wall of upper portion be provided with fan-shaped flange 412, fan-shaped flange 412 is corresponded in base finger joint main body 51 and is provided with slotted eye 511, base finger joint A part for main body 51 covers a part for decelerating through motor device assembly installation portion 41, and fan-shaped flange 412 is located in slotted eye 511.

For the ease of the assembling of two bevel gears, output shaft neck 4014 and input shaft neck 4043 are D-section axle Neck, first bevel gear 402 and second bevel gear 403 are respectively provided with D-shaped centre bore, and the D-shaped centre bore of first bevel gear 402 is enclosed on defeated Go out on the D-section axle journal of shaft neck 4014, the D-shaped centre bore of second bevel gear 403 is enclosed on input shaft neck 4043.

For ease of the assembling of parts in base joint frame 4, base joint frame 4 includes decelerating through motor device assembly installation portion 41st, socket part 43 is worn in worm screw installation portion 42 and two rotating shafts, and decelerating through motor device assembly installation portion 41 and worm screw installation portion 42 pass through two Individual rotating shaft is worn socket part 43 and connected as one, and two rotating shafts form open slot 44 between wearing socket part 43, and decelerating through motor device assembly 401 is solid It is scheduled on decelerating through motor device assembly installation portion 41, worm screw 404 is arranged in worm screw installation portion 42, is worn on worm gear 2 provided with rotating shaft Hole 211, worn in two rotating shafts and rotating shaft perforation 211 is corresponded in socket part 43 worn provided with rotating shaft and connect concentric holes 431, rotating shaft is located in rotating shaft Perforation 211 and two rotating shafts are worn and connect in concentric holes 431.

For ease of the assembling of the decelerating through motor device assembly 401 in base joint frame 4, in decelerating through motor device assembly installation portion 41 Interior to be provided with decelerating through motor device assembly mounting hole 411, decelerating through motor device assembly 401 includes motor 4011, connected on motor 4011 There is decelerator 4012, mounting neck 4013 is provided with decelerator 4012, the diameter of mounting neck 4013 is less than the straight of decelerator 4012 Footpath, output shaft neck 4014 stretch out from mounting neck 4013, and mounting neck 4013 is fixed on decelerating through motor device assembly mounting hole 411 In.

For ease of the assembling of worm screw 404, worm screw main body accommodating chamber is sequentially provided with interconnectedly in worm screw installation portion 42 421st, sliding bearing mounting hole 422 and worm screw axle journal receiving hole 423, the diameter of sliding bearing mounting hole 422 are less than worm screw main body The diameter of accommodating chamber 421, the diameter of worm screw axle journal receiving hole 423 are less than the diameter of sliding bearing mounting hole 422, and worm screw main body is held Receive the open-ended of chamber 421, circlip mounting groove 4211 is circumferentially provided with the cavity wall of worm screw main body accommodating chamber 421；Snail Bar 404 includes worm screw main part 4041, has been integrally connected bearing installation axle journal 4042 respectively at the both ends of worm screw main part 4041, Wherein input shaft neck 4043 has been integrally connected on a bearing installation axle journal 4042；Worm screw main part 4041 is located at worm screw In main body accommodating chamber 421, worm screw main part 4041 engages with the engaging piece 23 of worm gear 2, is provided with sliding bearing mounting hole 422 First sliding bearing 405, is provided with the second sliding bearing 406 in the worm screw main body accommodating chamber 421, and worm screw main part 4041 is located at the Between one sliding bearing 405 and the second sliding bearing 406, two bearings installation axle journal 4042 one of those with inputting shaft neck 4043 connected bearing installation axle journals 4042 are located in the first sliding bearing 405, and two bearing installation axle journals 4042 are therein Another bearing installation axle journal 4042 is located in the second sliding bearing 406, and hole is provided with circlip mounting groove 4211 and is used Circlip 407, the second sliding bearing 406 is between worm screw main part 4041 and circlip for hole 407.

In order to protect the near-end of fly rope 9, worm gear 2 it is substantially curved for the edge that is contacted with fly rope 9, should The camber line of arc is using the center of rotating shaft perforation 211 as the center of circle.

The artificial limb finger of the present embodiment compared with prior art possessed advantage referring also to before to various pieces Structure explanation.At work, when counting on one's fingers, decelerating through motor device assembly 401 drives the first cone tooth to the artificial limb finger of the present embodiment Wheel 402 rotates, and first bevel gear 402 drives second bevel gear 403 and worm screw 404 to rotate, worm screw 404 and the phase interaction of worm gear 2 With the axis of base joint frame 4 and finger base finger joint 5 around hollow shaft 3 is rotated, under the active force of fly rope 9, finger is near Finger joint 6 and the remote finger joint 7 of finger can be bent relative to finger base finger joint 5, and extension spring 8 is stretched, due to worm screw 404 and worm gear 2 With auto-lock function, so even if now powering off, the article that prosthetic hand is grasped will not also come off easily；When exhibition refers to, motor subtracts Fast device assembly 401 drives first bevel gear 402 to rotate backward, the interaction of worm screw 404 and worm gear 2 make base joint frame 4 and Finger base finger joint 5 is rotated backward around the axis of hollow shaft 3, and under the active force of extension spring 8, finger, which resets, to be stretched.

8th, the attachment structure of the nearly finger joint of artificial limb thumb and base finger joint

It can make it in structure by the design of the nearly finger joint to artificial limb thumb and the attachment structure of base finger joint and general The structure of artificial limb finger (non-thumb) has versatility.The nearly finger joint of the artificial limb thumb of the embodiment of the present invention and the connection of base finger joint Structure specifically may refer to Figure 12 of Figure of description.The nearly finger joint for the artificial limb thumb that the present embodiment provides and the connection of base finger joint Structure, it includes thumb base finger joint 5 ' and the nearly finger joint 6 ' of thumb, and two nearly finger joints of thumb are provided with the near-end of the nearly finger joint 6 ' of thumb The wing 621 ' is connected, being accordingly provided with the nearly finger joint of thumb on the nearly finger joint connection wing 621 ' of two thumbs connects wing concentric holes (in figure It is not shown), thumb base finger joint 5 ' includes thumb base finger joint main body 51 ', is integrally connected in the distal end of thumb base finger joint main body 51 ' There is thumb interplane connecting portion 52 ', the width of thumb interplane connecting portion 52 ' is less than the width of thumb base finger joint main body 51 ', the thumb wing Between connecting portion 52 ' be located between two thumbs nearly finger joint connection wing 621 ', set on two sides of thumb interplane connecting portion 52 ' There is the articulated cylinder (not shown) of projection, the nearly finger joint connection wing concentric holes of two thumbs are respectively fitted over two articulated cylinders On, it is provided with two thumb base finger joints in the distal end of thumb interplane connecting portion 52 ' and connects the wing 521 ', the wing is connected in thumb base finger joint 521 ' connect with the nearly finger joint of thumb and wear and be fixed with thumb nearly articulations digitorum manus locking pin 56 ' on the wing 621 ' jointly.

The nearly finger joint for the artificial limb thumb that the present embodiment provides and the attachment structure of base finger joint, its connection wing used, are hinged There is versatility between the structure that the nearly articulations digitorum manus of the structure of cylinder and general artificial limb finger (non-thumb) uses, the present embodiment leads to Cross to connect with the nearly finger joint of thumb in the thumb base finger joint connection wing 521 ' and wear and fix the nearly articulations digitorum manus lock of thumb on the wing 621 ' jointly Rationed marketing nail 56 ' locks the nearly articulations digitorum manus of thumb, is relatively fixed thumb base finger joint 5 ' and the nearly finger joint 6 ' of thumb, structure letter It is single, the structural complexity of prosthetic hand can be reduced and improve component universality, so as to have the function that to reduce cost.

Further, also used between the nearly finger joint 6 ' of the thumb of artificial limb thumb and the remote finger joint 7 ' of thumb in artificial limb finger Sleeve structure, the nearly finger joint 6 ' of thumb include the nearly finger joint noses 61 ' of thumb and be coarser than the nearly finger joint noses 61 ' of thumb thumb it is near Finger joint main body 62 ', the nearly finger joint connection wing 621 ' of thumb are integrally attached to the near-end of the nearly finger joint main body 62 ' of thumb, in addition to thumb Refer to remote finger joint 7 ', the remote finger joint suit portion 71 ' of thumb is provided with the remote finger joint 7 ' of thumb, the remote finger joint suit portion 71 ' of thumb is enclosed on thumb Refer to nearly finger joint noses 61 ' above and offseted with the nearly finger joint main body 62 ' of thumb.The mode of this suit is easy to fill solid and reliablely Match somebody with somebody.

Further, (do not marked in figure provided with the nearly finger joint noses screwed hole of thumb the nearly finger joint noses 61 ' of thumb are interior Go out), the axis of the nearly finger joint noses screwed hole of thumb is vertical with the axis of the nearly finger joint noses 61 ' of thumb, in the remote finger joint of thumb Suit portion 71 ' above corresponds to the nearly finger joint noses screwed hole of thumb and is provided with the remote finger joint screw mounting hole (not shown) of thumb, thumb Refer to remote finger joint mounting screw 72 ' be located in the remote finger joint screw mounting hole of thumb and with the nearly finger joint noses screwed hole phase of thumb Even.It is fixed here in conjunction with the remote finger joint mounting screw 72 ' of thumb, is not easy to take off between the nearly finger joint 6 ' of thumb and the remote finger joint 7 ' of thumb Fall.Preferably, the number of the remote finger joint mounting screw 72 ' of thumb is two.

It is locked out due to the nearly articulations digitorum manus motion of thumb, so fly rope and extension spring are not needed, the present embodiment, The extension spring holding tank of redundancy is provided with the nearly finger joint noses 61 ' of thumb and the nearly finger joint main body 62 ' of thumb, is referred in thumb base Section 5 ' and the nearly finger joint 6 ' of thumb are not connected with extension spring.

9th, the mounting structure of artificial limb thumb

The mounting structure of the artificial limb thumb of the embodiment of the present invention specifically may refer to Figure 12 of Figure of description.It is of the invention real The mounting structure of the artificial limb thumb of example offer is applied, it includes thumb installation frame 1 ', thumb wheel frame 10, thumb fore-stock 11 With thumb after-poppet 12, thumb wheel frame openings groove 101 is provided with thumb wheel frame 10, thumb installation frame 1 ' is located at In thumb wheel frame openings groove 101 and it is fixed in thumb wheel frame 10, it is same respectively at the both ends of thumb wheel frame 10 It is connected with thumb front support axle 13 and thumb rear trunnion 14, the rear end of thumb front support axle 13 is located at thumb wheel frame axle In open slot 101, thumb front support axle 13 is plugged on thumb fore-stock 11, and thumb rear trunnion 14 is plugged on thumb after-poppet On 12, in the interior edge of thumb front support axle 13, it is axially arranged with the wire perforation 131 of insertion, is connected with the motor in artificial limb thumb Wire (not shown) is located in wire perforation 131 through thumb wheel frame openings groove 101.

The mounting structure for the artificial limb thumb that the present embodiment provides, it uses special thumb wheel frame 10 to coordinate installation Artificial limb thumb, thumb wheel frame 10 are connected to thumb by the thumb front support axle 13 and thumb rear trunnion 14 being coaxially disposed Between fore-stock 11 and thumb after-poppet 12, with the wire that the motor in artificial limb thumb is connected through thumb wheel frame openings groove 101 pass through from wire perforation 131, and no longer as laterally penetrating in the prior art, so when thumb wheel frame 10 Because when being rotated to the palm and side palm operation of artificial limb thumb, wire will not be pullled because of the rotation of thumb wheel frame 10 And bending, wire can be protected, extend its service life.

Specifically, for the ease of thumb installation frame 1 ' is fixed in thumb wheel frame 10, in thumb installation frame 1 ' is provided with thumb installation frame fixing screwed hole (not marked in figure), and thumb installation frame is corresponded in thumb wheel frame 10 Fixing screwed hole is provided with thumb installation frame fixing screws mounting hole (not shown), thumb installation frame fixing screws 102 It is located in thumb installation frame fixing screws mounting hole and is connected with thumb installation frame fixing screwed hole.

For ease of the assembling of thumb front support axle 13, thumb front support axle 13 includes head and threaded shank (is not marked in figure Go out), wire perforation 131 runs through head and threaded shank, and nut placement hole 111 is provided with thumb fore-stock 11, is disposed in nut Be provided with thumb front support axle nut 112 in hole 111, threaded shank be located on thumb wheel frame 10 and thumb fore-stock 11 and with Thumb front support axle nut 112 is connected.

For ease of the assembling of thumb rear trunnion 14, thumb rear trunnion 14 includes thumb rear trunnion bolt (in figure not Mark) and thumb rear trunnion nut (not marked in figure), thumb rear trunnion nut be located at thumb wheel frame openings groove 101 In, thumb rear trunnion bolt be located in thumb after-poppet 12 and thumb wheel frame 10 and with thumb rear trunnion nut phase Even.

10th, artificial limb thumb

The parts of the parts thereof of the artificial limb thumb of the embodiment of the present invention and general artificial limb finger are general, are Nominally made a distinction with " thumb ", therefore some parts of artificial limb thumb do not mark reference below, when reading Accompanying drawing before may be referred to.The artificial limb thumb of the embodiment of the present invention specifically may refer to Fig. 7 to Figure 12 of Figure of description.This The artificial limb thumb that inventive embodiments provide, it includes thumb installation frame 1 ', thumb worm gear, thumb rotating shaft, thumb base joint machine After frame, thumb base finger joint 5 ', the nearly finger joint 6 ' of thumb, the remote finger joint 7 ' of thumb, thumb wheel frame 10, thumb fore-stock 11 and thumb Support 12；Thumb worm gear is fixed on thumb installation frame 1 ', and thumb base joint frame is rotatably coupled by thumb rotating shaft On thumb worm gear, thumb base finger joint 5 ' is fixed in the frame of thumb base joint, and the nearly fixation of finger joint 6 ' of thumb is thumb base finger joint On 5 ', the remote finger joint 7 ' of thumb is fixed in the nearly finger joint 6 ' of thumb, and thumb motor reducer is provided with the frame of thumb base joint Component, thumb first bevel gear, thumb second bevel gear and thumb worm screw, thumb decelerating through motor device assembly can drive thumb successively First bevel gear, thumb second bevel gear and thumb worm screw rotate, thumb worm gear and thumb worm engaging；In thumb wheel frame 10 are provided with thumb wheel frame openings groove 101, and thumb installation frame 1 ' is located in thumb wheel frame openings groove 101 and fixed In thumb wheel frame 10, thumb front support axle 13 and thumb are coaxially connected with respectively at the both ends of thumb wheel frame 10 Rear trunnion 14, the rear end of thumb front support axle 13 are located in thumb wheel frame openings groove 101, the grafting of thumb front support axle 13 On thumb fore-stock 11, thumb rear trunnion 14 is plugged on thumb after-poppet 12, in interior edge its axle of thumb front support axle 13 To the wire perforation 131 provided with insertion, worn with the wire that the motor in artificial limb thumb is connected through thumb wheel frame openings groove 101 It is located in wire perforation 131.

Artificial limb thumb provided in an embodiment of the present invention, it uses special thumb wheel frame 10 to coordinate installation artificial limb thumb Refer to, thumb wheel frame 10 is connected to thumb fore-stock by the thumb front support axle 13 and thumb rear trunnion 14 being coaxially disposed Between 11 and thumb after-poppet 12, with the wire that the motor in artificial limb thumb is connected through thumb wheel frame openings groove 101 from leading Passed through in line perforation 131, and no longer as laterally penetrating in the prior art, so when thumb wheel frame 10 because artificial limb When being rotated to the palm and side palm operation of thumb, wire will not be pullled and bent because of the rotation of thumb wheel frame 10, Wire can be protected, extend its service life.

Further, the nearly finger joint connection wing 621 ' of two thumbs is provided with the near-end of the nearly finger joint 6 ' of thumb, in two thumbs The nearly finger joint connection wing concentric holes of thumb are accordingly provided with the nearly finger joint connection wing 621 ', thumb base finger joint 5 ' includes thumb base finger joint Main body 51 ', thumb interplane connecting portion 52 ', thumb interplane connecting portion are integrally connected in the distal end of thumb base finger joint main body 51 ' 52 ' width is less than the width of thumb base finger joint main body 51 ', and thumb interplane connecting portion 52 ' is located at the nearly finger joint connection of two thumbs Between the wing 621 ', raised thumb articulated cylinder is provided with two sides of thumb interplane connecting portion 52 ', two thumbs closely refer to Section connection wing concentric holes are respectively fitted on two thumb articulated cylinders, and two thumbs are provided with the distal end of thumb interplane connecting portion 52 ' Refer to the base finger joint connection wing 521 ', connected in the thumb base finger joint connection wing 521 ' with the nearly finger joint of thumb and wear and consolidate jointly on the wing 621 ' Surely there is the nearly articulations digitorum manus locking pin 56 ' of thumb.Here the connection wing, the structure of articulated cylinder and the general artificial limb finger used is (non- Thumb) the structure that uses of nearly articulations digitorum manus between there is versatility, closely referred to by connecting the wing 521 ' and thumb in thumb base finger joint Worn jointly on the section connection wing 621 ' and the nearly articulations digitorum manus locking pin 56 ' of fixed thumb locks the nearly articulations digitorum manus of thumb, made Thumb base finger joint 5 ' and the nearly finger joint 6 ' of thumb are relatively fixed, simple in construction, can reduce structural complexity and the raising zero of prosthetic hand Part versatility, so as to have the function that to reduce cost.

It is similar to artificial limb finger before, also used between the nearly finger joint 6 ' of thumb and the remote finger joint 7 ' of thumb of the present embodiment The mode of suit, the nearly finger joint 6 ' of thumb include the nearly finger joint noses 61 ' of thumb and are coarser than the thumb of the nearly finger joint noses 61 ' of thumb Nearly finger joint main body 62 ', the nearly finger joint connection wing 621 ' of thumb is integrally attached to the near-end of the nearly finger joint main body 62 ' of thumb, in thumb Remote finger joint 7 ' is provided with the remote finger joint suit portion 71 ' of thumb, and the remote finger joint suit portion 71 ' of thumb is enclosed on the nearly finger joint noses 61 ' of thumb Above and with the nearly finger joint main body 62 ' of thumb offset.Further, it is interior convex provided with the nearly finger joint of thumb in the nearly finger joint noses 61 ' of thumb Head threads hole, the axis of the nearly finger joint noses screwed hole of thumb is vertical with the axis of the nearly finger joint noses 61 ' of thumb, in thumb Remote finger joint suit portion 71 ' above corresponds to the nearly finger joint noses screwed hole of thumb and is provided with the remote finger joint screw mounting hole of thumb, and thumb far refers to Section mounting screw 72 ' is located in the remote finger joint screw mounting hole of thumb and is connected with the nearly finger joint noses screwed hole of thumb.Here It is fixed with reference to the remote finger joint mounting screw 72 ' of thumb, it is difficult for drop-off between the nearly finger joint 6 ' of thumb and the remote finger joint 7 ' of thumb.Due to What the nearly articulations digitorum manus motion of thumb was locked out, so not needing fly rope and extension spring, the present embodiment is in the nearly finger joint of thumb Noses 61 ' and the nearly finger joint main body 62 ' of thumb are provided with the extension spring holding tank of redundancy, near in thumb base finger joint 5 ' and thumb Finger joint 6 ' is not connected with extension spring.

For ease of the assembling positioning between thumb base finger joint 5 ' and base joint frame 4, thumb base finger joint main body 51 ', which has, to be used In the cavity for accommodating thumb decelerating through motor device assembly, thumb is provided with the external wall of upper portion of thumb decelerating through motor device assembly installation portion Fan-shaped flange, thumb sector flange is corresponded in thumb base finger joint main body 51 ' and is provided with thumb slotted eye, thumb base finger joint main body 51 ' A part cover the part of thumb decelerating through motor device assembly installation portion, thumb sector flange is located in thumb slotted eye.

It is similar to artificial limb finger before, to strengthen the connection reliability between thumb worm gear and thumb base joint frame, Make rotation more steady, thumb worm gear includes thumb rotating shaft connecting portion, and thumb rotating shaft is provided with thumb rotating shaft connecting portion and is perforated, Thumb engaging piece and thumb worm gear fixed part are integrally connected on thumb rotating shaft connecting portion, thumb worm gear fixed part is fixed on thumb Refer on installation frame 1 '；Thumb base joint frame includes thumb decelerating through motor device assembly installation portion, thumb worm screw installation portion and two Socket part is worn in individual thumb rotating shaft, and thumb decelerating through motor device assembly installation portion and thumb worm screw installation portion are worn by two thumb rotating shafts to be connect Portion connects as one, and two thumb rotating shafts form thumb open slot between wearing socket part, and thumb worm gear is located in thumb open slot, Thumb decelerating through motor device assembly is installed in thumb decelerating through motor device assembly installation portion, in the thumb of thumb decelerating through motor device assembly Thumb first bevel gear is fixed with output shaft neck, thumb worm screw is installed in thumb worm screw installation portion, thumb worm screw with The thumb engaging piece engagement of thumb worm gear, thumb second bevel gear, thumb are fixed with the thumb input shaft neck of thumb worm screw Refer to second bevel gear engaged with thumb first bevel gear, two thumb rotating shafts wear corresponded in socket part thumb rotating shaft perforate be provided with thumb Finger rotating shaft, which is worn, connects concentric holes, and thumb rotating shaft is located in thumb rotating shaft perforation and two thumb rotating shafts are worn and connect in concentric holes.

It is locked out due to the nearly articulations digitorum manus motion of thumb, so not needing fly rope and extension spring, the present embodiment The ropes portion of redundancy is also integrally connected on thumb rotating shaft connecting portion, between thumb engaging piece and ropes portion Band gap circular hole provided with redundancy, artificial limb thumb do not have fly rope.The thumb worm gear that so artificial limb thumb uses is actually The worm gear 2 used with general artificial limb finger can further increase the versatility of parts for same worm gear.

For ease of the assembling of the decelerating through motor device assembly 401 in base joint frame 4, installed in thumb decelerating through motor device assembly Thumb decelerating through motor device assembly mounting hole is provided with portion, thumb decelerating through motor device assembly includes thumb motor, on thumb motor Thumb decelerator is connected with, thumb mounting neck is provided with thumb decelerator, the diameter of thumb mounting neck is less than thumb decelerator Diameter, thumb output shaft neck stretches out from thumb mounting neck, and thumb mounting neck is fixed on thumb decelerating through motor device assembly peace Fill in hole.

For ease of the assembling of worm screw 404, thumb worm screw main body is sequentially provided with interconnectedly in thumb worm screw installation portion Accommodating chamber, thumb sliding bearing mounting hole and thumb worm screw axle journal receiving hole, the diameter of thumb sliding bearing mounting hole are less than thumb Referring to the diameter of worm screw main body accommodating chamber, the diameter of thumb worm screw axle journal receiving hole is less than the diameter of thumb sliding bearing mounting hole, Thumb worm screw main body accommodating chamber it is open-ended, in the cavity wall of thumb worm screw main body accommodating chamber circumferentially be provided with thumb elasticity gear Enclose mounting groove；Thumb worm screw includes thumb worm screw main part, and thumb has been integrally connected respectively at thumb worm screw main part both ends Bearing installs axle journal, has been integrally connected thumb input shaft neck on a thumb bearing installation axle journal wherein；Thumb worm screw Main body section is in thumb worm screw main body accommodating chamber, and thumb worm screw main part engages with the thumb engaging piece of thumb worm gear, in thumb Refer in sliding bearing mounting hole and be provided with the sliding bearing of thumb first, slided in thumb worm screw main body accommodating chamber provided with thumb second Bearing, thumb worm screw main body section is between the sliding bearing of thumb first and the sliding bearing of thumb second, two thumb bearing peaces One of those thumb bearing installation axle journal being connected with thumb input shaft neck of dress axle journal is located in the sliding bearing of thumb first In, two thumb bearing installation axle journal another thumb bearing installation axle journals therein are located in the sliding bearing of thumb second, Thumb circlip for hole is provided with thumb circlip mounting groove, the sliding bearing of thumb second is located at thumb worm screw main part Between thumb circlip for hole.

For the ease of the assembling of two bevel gears, thumb output shaft neck and thumb input shaft neck are D-section axle Neck, thumb first bevel gear and thumb second bevel gear are respectively provided with D-shaped centre bore, the D-shaped center borehole jack of thumb first bevel gear On the D-section axle journal of thumb output shaft neck, the D-shaped centre bore of thumb second bevel gear is enclosed on thumb input shaft neck On.

For ease of the assembling of thumb front support axle 13, thumb front support axle 13 includes head and threaded shank, wire perforation 131 Through head and threaded shank, nut placement hole 111 is provided with thumb fore-stock 11, thumb is provided with nut placement hole 111 Front support axle nut 112, threaded shank be located on thumb wheel frame 10 and thumb fore-stock 11 and with thumb front support axle spiral shell Mother 112 is connected.

For ease of the assembling of thumb rear trunnion 14, after thumb rear trunnion 14 includes thumb rear trunnion bolt and thumb Support shaft nut, thumb rear trunnion nut are located in thumb wheel frame openings groove 101, and thumb rear trunnion bolt is located in It is connected on thumb after-poppet 12 and thumb wheel frame 10 and with thumb rear trunnion nut.

11st, the mounting structure of the general artificial limb finger of prosthetic hand

Prosthetic hand provided in an embodiment of the present invention employs artificial limb finger said before as general artificial limb finger, uses Artificial limb thumb said before is as artificial limb thumb, the mounting structure of the general artificial limb finger of the prosthetic hand of the embodiment of the present invention It may refer to Figure 13 of Figure of description.The mounting structure of the general artificial limb finger of prosthetic hand provided in an embodiment of the present invention, its Include the finger mounted frame 1 of artificial limb chiral substrate 15, finger connector 16 and general artificial limb finger；Set in finger connector 16 There is stepped bore (not marked in figure), step-like pulling force nut 161 is located in stepped bore, and artificial limb chiral substrate 15 is located at pulling force Side where the larger diameter end of nut 161, finger mounted frame 1 are located at the side where the smaller diameter end of pulling force nut 161； The internal thread that pulling force nut 161 is corresponded on artificial limb chiral substrate 15 (is not marked provided with finger substrate joint bolt mounting hole in figure Go out), finger substrate joint bolt 151 be located in finger substrate joint bolt mounting hole and with the internal thread of pulling force nut 161 It is connected；The internal thread that pulling force nut 161 is corresponded in finger mounted frame 1 (is not marked provided with finger joint bolt mounting hole in figure Go out), finger joint bolt 162 is located in finger joint bolt mounting hole and is connected with the internal thread of pulling force nut 161；When one As artificial limb finger when being in straight configuration, the sensing of the axis of finger joint bolt 162 perpendicular to general artificial limb finger.

The mounting structure of the general artificial limb finger of prosthetic hand provided in an embodiment of the present invention, its use finger connector 16, Step-like pulling force nut 161, finger joint bolt 162 and finger substrate joint bolt 151 are by general artificial limb finger and artificial limb Chiral substrate 15 links up, and the axis of finger joint bolt 162, perpendicular to the sensing of general artificial limb finger, connection is reliable, no Easily loosen.

Because the general artificial limb finger of prosthetic hand has four, therefore, stepped bore, pulling force nut 161, finger joint bolt 162 and the number of finger substrate joint bolt 151 be four, i.e., four general artificial limb fingers are coupled using a finger simultaneously Device 16 is connected with artificial limb chiral substrate 15.

It is fixed on the artificial limb chiral substrate 15 in order to carry out shade protection to the base articulations digitorum manus of four general artificial limb fingers There is prosthetic hand shell on the back 17, there is general artificial limb finger base articulations digitorum manus guard section 171, general artificial limb finger base on prosthetic hand shell on the back 17 Articulations digitorum manus guard section 171 can so be protected general to a certain extent positioned at the Ji Zhiguanjiechu of four general artificial limb fingers Artificial limb finger.

12nd, prosthetic hand

Prosthetic hand provided in an embodiment of the present invention employs artificial limb finger said before as general artificial limb finger, uses Artificial limb thumb said before is as artificial limb thumb, therefore the prosthetic hand of the embodiment of the present invention may refer to Figure of description Fig. 1 to Figure 13.Due to above the finger part of prosthetic hand being described in detail, general artificial limb finger is also described Installation, therefore herein not in repeat specification.Here only simply introduce how artificial limb thumb is arranged on artificial limb chiral substrate：Thumb Fore-stock 11 is fixed on artificial limb chiral substrate 15, and wrist connector 18 is fixed on artificial limb chiral substrate 15, and thumb after-poppet 12 is solid It is scheduled on wrist connector 18.The prosthetic hand that the present embodiment provides, it has gathered the improvement of many aspects said before, typically The connection of artificial limb finger is reliable, and the wire of artificial limb thumb is protected, and is not easily broken, and reliability is higher.Artificial limb thumb and prosthetic hand The part-structure of finger is general, can reduce cost, and the connection between each parts is reliable, is easily assembled.The prosthetic hand of the present embodiment Due to using worm couple, therefore possesses auto-lock function.The artificial limb thumb of the present embodiment can carry out posture revolution so as to have Have to the palm and side palm two states, it moves it using strong hand by disabled person and make gyration in reversion.

It is noted that the prosthetic hand set improvement of many aspects that the present embodiment provides, but do not represent them must Implementation must be combined, the improvement of various pieces can also be applied independently in existing prosthetic hand and its finger.Such as The nearly finger joint of artificial limb finger and the attachment structure of base finger joint, the remote finger joint of artificial limb finger and the attachment structure of nearly finger joint improvement with Whether the motion of the nearly articulations digitorum manus of artificial limb finger using Suo Chuandong has no positive connection, and the motion of its nearly articulations digitorum manus can also use Link transmission.In addition, the part-structure that the embodiment of artificial limb finger provides is more than to apply on general finger, can also Apply on thumb.

The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained Cover within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.

Claims

1. a kind of prosthetic hand, including artificial limb chiral substrate (15), finger connector (16), wrist connector (18), artificial limb thumb and Four general artificial limb fingers, it is characterised in that

The general artificial limb finger includes finger mounted frame (1), and stepped bore, rank are provided with the finger connector (16) Trapezoidal pulling force nut (161) is located in the stepped bore, and the artificial limb chiral substrate (15) is located at the pulling force nut (161) Larger diameter end where side, the finger mounted frame (1) is located at where the smaller diameter end of the pulling force nut (161) Side, the internal thread that the pulling force nut (161) is corresponded on the artificial limb chiral substrate (15) are provided with finger substrate joint bolt Mounting hole, finger substrate joint bolt (151) be located in the finger substrate joint bolt mounting hole and with the pulling force spiral shell The internal thread of female (161) is connected, and the internal thread that the pulling force nut (161) is corresponded on the finger mounted frame (1) is provided with Finger joint bolt mounting hole, finger joint bolt (162) be located in the finger joint bolt mounting hole and with the drawing The internal thread of power nut (161) is connected, when the general artificial limb finger is in straight configuration, the finger joint bolt (162) sensing of the axis perpendicular to the general artificial limb finger；

After the artificial limb thumb includes thumb installation frame (1 '), thumb wheel frame (10), thumb fore-stock (11) and thumb Support (12), thumb wheel frame openings groove (101), the thumb installation frame are provided with the thumb wheel frame (10) (1 ') it is located in the thumb wheel frame openings groove (101) and is fixed on the thumb wheel frame (10), in the thumb The both ends for referring to rotation frame (10) are coaxially connected with thumb front support axle (13) and thumb rear trunnion (14), the thumb respectively The rear end that ramus digitalis anterior holds axle (13) is located in the thumb wheel frame openings groove (101), and the thumb front support axle (13) is inserted It is connected on the thumb fore-stock (11), the thumb rear trunnion (14) is plugged on the thumb after-poppet (12), in institute Stating thumb front support axle (13) interior edge, it is axially arranged with the wire perforation (131) of insertion, is connected with the motor in artificial limb thumb Wire is located in the wire perforation (131) through the thumb wheel frame openings groove (101)；

The thumb fore-stock (11) is fixed on the artificial limb chiral substrate (15), and the wrist connector (18) is fixed on described On artificial limb chiral substrate (15), the thumb after-poppet (12) is fixed on the wrist connector (18).

2. prosthetic hand according to claim 1, it is characterised in that the thumb front support axle (13) includes head and screw rod Portion, the wire perforation (131) run through the head and the threaded shank, and nut is provided with the thumb fore-stock (11) and is pacified Hole (111) is put, thumb front support axle nut (112) is provided with the nut placement hole (111), the threaded shank is located in institute State on thumb wheel frame (10) and the thumb fore-stock (11) and be connected with the thumb front support axle nut (112)；

The thumb rear trunnion (14) includes thumb rear trunnion bolt and thumb rear trunnion nut, the thumb rear support Axle nut is located in the thumb wheel frame openings groove (101), after the thumb rear trunnion bolt is located in the thumb It is connected on support (12) and the thumb wheel frame (10) and with the thumb rear trunnion nut.

3. prosthetic hand according to claim 1, it is characterised in that be fixed with prosthetic hand on the artificial limb chiral substrate (15) Shell on the back (17), there is general artificial limb finger base articulations digitorum manus guard section (171), the general artificial limb on the prosthetic hand shell on the back (17) Ji Zhiguanjiechu of the finger base articulations digitorum manus guard section (171) positioned at four general artificial limb fingers.

4. prosthetic hand according to claim 1, it is characterised in that the general artificial limb finger also includes worm gear (2), turned Axle, base joint frame (4), finger base finger joint (5), the nearly finger joint of finger (6), the remote finger joint of finger (7), extension spring (8) and transmission Rope (9)；

The worm gear (2) includes rotating shaft connecting portion (21), and rotating shaft perforation (211) is provided with the rotating shaft connecting portion (21), Ropes portion (22), engaging piece (23) and worm gear fixed part (24), institute have been integrally connected on the rotating shaft connecting portion (21) State worm gear fixed part (24) to be fixed on the finger mounted frame (1), in the engaging piece (23) and the ropes portion (22) band gap circular hole (25) is provided between, grommet (251), the band gap circle are installed in the band gap circular hole (25) The bore edges in hole (25) are stuck at the undergauge of the grommet (251)；

Base joint frame (4) is worn including decelerating through motor device assembly installation portion (41), worm screw installation portion (42) and two rotating shafts Socket part (43), the decelerating through motor device assembly installation portion (41) and the worm screw installation portion (42) are worn by two rotating shafts and connect Portion (43) connects as one, and two rotating shafts form open slot (44) between wearing socket part (43), and the worm gear (2) is positioned at described In open slot (44), decelerating through motor device assembly (401) is installed in the decelerating through motor device assembly installation portion (41), described First bevel gear (402) is fixed with the output shaft neck (4014) of decelerating through motor device assembly (401), in the worm screw installation portion (42) worm screw (404) is installed in, the worm screw (404) is engaged with the engaging piece (23) of the worm gear (2), in the snail It is fixed with second bevel gear (403) on the input shaft neck (4043) of bar (404), the second bevel gear (403) and described the One bevel gear (402) engages, two rotating shafts wear correspond in socket part (43) rotating shaft perforate (211) wear and connect provided with rotating shaft Concentric holes (431), the rotating shaft is located in the rotating shaft perforation (211) and two rotating shafts are worn and connect in concentric holes (431)；

The finger base finger joint (5) has the cavity for being used for accommodating the decelerating through motor device assembly (401), the finger base finger joint (5) it is fixed in base joint frame (4), the fly rope (9) runs through the inner space of the finger base finger joint (5), The near-end of the fly rope (9) is connected on the grommet (251)；

The nearly finger joint of finger (6) is rotatably connected to the distal end of the finger base finger joint (5), in the nearly finger joint of the finger (6) extension spring distal end cylindrical pins (81) are fixed with, extension spring near-end circle is fixed with the finger base finger joint (5) Pin follows closely (82), and the axis of extension spring distal end cylindrical pins (81) and the extension spring near-end cylindrical pins (82) is equal Parallel with the pivot center of the nearly finger joint of the finger (5), it is remote that the both ends of the extension spring (8) are respectively fitted over the extension spring Hold on cylindrical pins (81) and the extension spring near-end cylindrical pins (82)；

The nearly finger joint of finger (6) includes noses (61), in the distal end of the noses (61) integrally provided with fly rope Connecting pole (613), the distal end of the fly rope (9) is connected on the fly rope connecting pole (613), remote in the finger Finger joint (7) is provided with suit portion (71), and the suit portion (71) is enclosed on the noses (61), the fly rope (9) A part is clipped between the suit portion (71) and the noses (61).

5. prosthetic hand according to claim 4, it is characterised in that the finger base finger joint (5) includes base finger joint main body (51), the fly rope (9) is located at the bottom in the base finger joint main body (51), in base finger joint main body (51) lower part wall The position corresponding with the fly rope (9) in face is fixed with roller pin (513), and the axis of the roller pin (513) hangs down Directly in the axis of the base finger joint main body (51), roller (514), the roller are set with the roller pin (513) (514) space that a part is stretched within the wall of the base finger joint main body (51).

6. prosthetic hand according to claim 4, it is characterised in that set in the decelerating through motor device assembly installation portion (41) There is decelerating through motor device assembly mounting hole (411), the decelerating through motor device assembly (401) includes motor (4011), in the motor (4011) decelerator (4012) is connected with, mounting neck (4013), the mounting neck are provided with the decelerator (4012) (4013) diameter is less than the diameter of the decelerator (4012), and the output shaft neck (4014) is from the mounting neck (4013) Middle stretching, the mounting neck (4013) are fixed in the decelerating through motor device assembly mounting hole (411).

7. prosthetic hand according to claim 4, it is characterised in that in the worm screw installation portion (42) be interconnected ground according to It is secondary to be provided with worm screw main body accommodating chamber (421), sliding bearing mounting hole (422) and worm screw axle journal receiving hole (423), the sliding axle The diameter for holding mounting hole (422) is less than the diameter of the worm screw main body accommodating chamber (421), the worm screw axle journal receiving hole (423) Diameter be less than the sliding bearing mounting hole (422) diameter, the worm screw main body accommodating chamber (421) it is open-ended, Circlip mounting groove (4211) is circumferentially provided with the cavity wall of the worm screw main body accommodating chamber (421)；

The worm screw (404) includes worm screw main part (4041), integratedly connects respectively at worm screw main part (4041) both ends Bearing installation axle journal (4042) is connected to, has been integrally connected the input on a bearing installation axle journal (4042) wherein Shaft neck (4043)；

The worm screw main part (4041) is located in the worm screw main body accommodating chamber (421), the worm screw main part (4041) with The engaging piece (23) engagement of the worm gear (2), is provided with the first sliding bearing in the sliding bearing mounting hole (422) (405) the second sliding bearing (406), worm screw main part (4041) position, are provided with the worm screw main body accommodating chamber (421) Between first sliding bearing (405) and second sliding bearing (406), two bearing installation axle journals (4042) One of those bearing installation axle journal (4042) being connected with the input shaft neck (4043) is located in first sliding axle Hold in (405), two bearing installation axle journal (4042) another bearing installation axle journals (4042) therein are located in described In second sliding bearing (406), circlip for hole (407) is provided with the circlip mounting groove (4211), described Two sliding bearings (406) are between the worm screw main part (4041) and the circlip for hole (407).

8. prosthetic hand according to claim 1, it is characterised in that the artificial limb thumb also includes thumb worm gear, thumb turns Axle, thumb base joint frame, thumb base finger joint (5 '), the nearly finger joint (6 ') of thumb and the remote finger joint (7 ') of thumb；

The thumb worm gear includes thumb rotating shaft connecting portion, and thumb rotating shaft is provided with the thumb rotating shaft connecting portion and is perforated, Thumb engaging piece and thumb worm gear fixed part, the thumb worm gear fixed part have been integrally connected on the thumb rotating shaft connecting portion It is fixed on the thumb installation frame (1 ')；

The thumb base joint frame includes thumb decelerating through motor device assembly installation portion, thumb worm screw installation portion and two thumbs and turned Axle wears socket part, the thumb decelerating through motor device assembly installation portion and the thumb worm screw installation portion and passes through two thumb rotating shafts Wear socket part to connect as one, two thumb rotating shafts form thumb open slot between wearing socket part, and the thumb worm gear is located at institute State in thumb open slot, thumb decelerating through motor device assembly is installed in the thumb decelerating through motor device assembly installation portion, in institute State and be fixed with thumb first bevel gear on the thumb output shaft neck of thumb decelerating through motor device assembly, installed in the thumb worm screw Thumb worm screw is installed, the thumb worm screw engages with the thumb engaging piece of the thumb worm gear, in the thumb in portion Thumb second bevel gear is fixed with the thumb input shaft neck of worm screw, the thumb second bevel gear is bored with the thumb first Gear engages, two thumb rotating shafts wear correspond in socket part thumb rotating shaft perforation wear provided with thumb rotating shaft connect it is concentric Hole, the thumb rotating shaft is located in the thumb rotating shaft perforation and two thumb rotating shafts are worn and connect in concentric holes；

The thumb base finger joint (5 ') has the cavity for being used for accommodating the thumb decelerating through motor device assembly, the thumb base finger joint (5 ') are fixed in the thumb base joint frame；

The nearly finger joint connection wing (621 ') of two thumbs is provided with the near-end of the nearly finger joint (6 ') of the thumb, it is near in two thumbs The nearly finger joint connection wing concentric holes of thumb are accordingly provided with the finger joint connection wing (621 '), the thumb base finger joint (5 ') includes thumb Base finger joint main body (51 '), thumb interplane connecting portion is integrally connected in the distal end of the thumb base finger joint main body (51 ') (52 '), the width of the thumb interplane connecting portion (52 ') are less than the width of the thumb base finger joint main body (51 '), the thumb Interplane connecting portion (52 ') is located between the nearly finger joint connection wing (621 ') of two thumbs, in the thumb interplane connecting portion (52 ') Two sides are provided with raised thumb articulated cylinder, and two nearly finger joint connection wing concentric holes of thumb are respectively fitted over two institutes State on thumb articulated cylinder, being provided with two thumb base finger joints in the distal end of the thumb interplane connecting portion (52 ') connects the wing (521 '), connected in the thumb base finger joint connection wing (521 ') with the nearly finger joint of the thumb and wear and consolidate jointly on the wing (621 ') Surely there is the nearly articulations digitorum manus locking pin (56 ') of thumb；

The nearly finger joint (6 ') of thumb includes the nearly finger joint noses (61 ') of thumb and is coarser than the nearly finger joint noses of the thumb The nearly finger joint main body (62 ') of thumb of (61 '), the nearly finger joint connection wing (621 ') of thumb are integrally attached to the thumb and closely referred to The near-end of main body (62 ') is saved, the remote finger joint suit portion (71 ') of thumb is provided with the remote finger joint (7 ') of the thumb, the thumb is remote Finger joint suit portion (71 ') be enclosed on the nearly finger joint noses (61 ') of the thumb and with nearly finger joint main body (62 ') phase of the thumb Support.

9. prosthetic hand according to claim 8, it is characterised in that set in the thumb decelerating through motor device assembly installation portion There is thumb decelerating through motor device assembly mounting hole, the thumb decelerating through motor device assembly includes thumb motor, in the thumb motor On be connected with thumb decelerator, thumb mounting neck is provided with the thumb decelerator, the diameter of the thumb mounting neck is less than The diameter of the thumb decelerator, the thumb output shaft neck stretch out from the thumb mounting neck, the thumb mounting neck It is fixed in the thumb decelerating through motor device assembly mounting hole.

10. prosthetic hand according to claim 8, it is characterised in that be interconnected ground in the thumb worm screw installation portion Thumb worm screw main body accommodating chamber, thumb sliding bearing mounting hole and thumb worm screw axle journal receiving hole are sequentially provided with, the thumb is slided The diameter of dynamic bearing mounting hole be less than the thumb worm screw main body accommodating chamber diameter, the thumb worm screw axle journal receiving hole it is straight Footpath be less than the thumb sliding bearing mounting hole diameter, the thumb worm screw main body accommodating chamber it is open-ended, in the thumb Refer to and be circumferentially provided with thumb circlip mounting groove in the cavity wall of worm screw main body accommodating chamber；

The thumb worm screw includes thumb worm screw main part, and thumb has been integrally connected respectively at the thumb worm screw main part both ends Spindle holds installation axle journal, has been integrally connected the thumb input shaft axle on a thumb bearing installation axle journal wherein Neck；

The thumb worm screw main body section is in the thumb worm screw main body accommodating chamber, the thumb worm screw main part and the thumb Refer to the thumb engaging piece engagement of worm gear, the sliding bearing of thumb first is provided with the thumb sliding bearing mounting hole, It is provided with the sliding bearing of thumb second in the thumb worm screw main body accommodating chamber, the thumb worm screw main body section is in the thumb the Between one sliding bearing and the sliding bearing of the thumb second, two thumb bearings installation axle journals one of those with it is described The connected thumb bearing installation axle journal of thumb input shaft neck is located in the sliding bearing of thumb first, two thumbs Bearing installation axle journal another thumb bearing installation axle journal therein is located in the sliding bearing of thumb second, in the thumb Refer in circlip mounting groove and be provided with thumb circlip for hole, the sliding bearing of thumb second is located at the thumb worm screw master Between body portion and the thumb circlip for hole.