CN107280825B - 3D printing multiple freedom degrees hand-prosthesis thumb movable device - Google Patents

3D printing multiple freedom degrees hand-prosthesis thumb movable device Download PDF

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Publication number
CN107280825B
CN107280825B CN201710500459.1A CN201710500459A CN107280825B CN 107280825 B CN107280825 B CN 107280825B CN 201710500459 A CN201710500459 A CN 201710500459A CN 107280825 B CN107280825 B CN 107280825B
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CN
China
Prior art keywords
coupling part
palm
thumb
compressed spring
prosthesis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201710500459.1A
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Chinese (zh)
Other versions
CN107280825A (en
Inventor
王多琎
伊尔夏提·艾热提
喻洪流
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University of Shanghai for Science and Technology
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University of Shanghai for Science and Technology
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Publication date
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Priority to CN201710500459.1A priority Critical patent/CN107280825B/en
Publication of CN107280825A publication Critical patent/CN107280825A/en
Application granted granted Critical
Publication of CN107280825B publication Critical patent/CN107280825B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • A61F2/586—Fingers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • A61F2/586—Fingers
    • A61F2002/587—Thumbs

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

Abstract

The present invention relates to a kind of 3D printing multiple freedom degrees hand-prosthesis thumb movable devices, thumb coupling part is rotatablely connected palm coupling part by flat head screw, flat head screw is fixedly connected after passing through washer and big compressed spring built in palm coupling part with the nut built in thumb coupling part, makes to realize elastic connection by big compressed spring between thumb coupling part and palm coupling part；Thumb coupling part and palm coupling part are equipped with end-tooth, are connected between thumb coupling part and palm coupling part by end face tooth engagement；Palm coupling part side is buckled by circumference and is matchedly connected with the circumferential bayonet slot on palm medial surface, and the other side is rotatablely connected by small compressed spring and stud and palm, makes to realize elastic hinge joint by small compressed spring and stud between palm coupling part and palm.The present invention is by manually adjusting any position that can fix thumb when turning over each time, final to realize the more holding functions of multiple freedom degrees hand-prosthesis so as to expand the scope of activities of thumb.

Description

3D printing multiple freedom degrees hand-prosthesis thumb movable device
Technical field
The present invention relates to a kind of 3D printing artificial hands, more particularly, to a kind of 3D printing multiple freedom degrees hand-prosthesis thumb moving machine Structure belongs to 3D printing artificial hand technical field.
Background technique
3D printing multiple freedom degrees hand-prosthesis is the vacation of the purely mechanic driving occurred with the development of 3D printing technique in recent years Hand.Although existing 3D printing artificial hand is that disabled person's life brings convenience, since current artificial hand freedom degree is less, also not It is able to satisfy disabled person's daily life.Existing 3D printing mechanical prosthetic hand can only hold spherical article, can't realize, normal manpower Many holding functions.Therefore, it is necessary to design a multiple freedom degrees hand-prosthesis that can hold more different shape articles, however this There are the problems that the holding function more done evil through another person is realized in limited control range for money multiple freedom degrees hand-prosthesis.
Summary of the invention
The technical issues of present invention more for the increase for solving 3D printing mechanical prosthetic hand holding function, and a kind of 3D is provided Multiple freedom degrees hand-prosthesis thumb movable device is printed, this artificial hand can be achieved to hold card, cup, spherical article, can also realize Finger to the palm function.
To achieve the above object, the technical scheme is that: a kind of 3D printing multiple freedom degrees hand-prosthesis thumb movable device, packet Thumb coupling part, palm coupling part, palm are included, the thumb coupling part is rotatablely connected palm by flat head screw and connects Part, and flat head screw passes through spiral shell built in thumb coupling part after washer and big compressed spring built in palm coupling part Mother is fixedly connected, and makes to realize elastic connection by big compressed spring between thumb coupling part and palm coupling part；The thumb Refer to that coupling part and palm coupling part are equipped with end-tooth, passes through end-tooth between thumb coupling part and palm coupling part Engagement connection；Palm coupling part side is buckled by circumference and is matchedly connected with the circumferential bayonet slot on palm medial surface, separately Side is rotatablely connected by small compressed spring and stud and palm, is made between palm coupling part and palm through small compressed spring Elastic hinge joint is realized with stud.
Between the thumb coupling part and palm coupling part by adjusting end-tooth position of engagement adjustable thumb around The angle of the connection central axis rotation of thumb coupling part and palm coupling part.
Circumference between the palm coupling part and palm by adjusting palm coupling part buckles the circumference with palm Angle of the position of engagement adjustable thumb of card slot around palm coupling part and the connection central axis rotation of palm.
The beneficial effects of the present invention are:
Thumb bindiny mechanism of the invention is in active procedure, respectively by manually adjusting the end face on palm coupling part The link position of tooth and circumference buckle and thumb coupling part and the circumferential bayonet slot on palm, the adjustment of angle needed for realizing, and It can guarantee that often turning over an angle is just capable of fixing a position, realizes that thumb smoothly holds article.And thumb can be fixed Refer to that multiple freedom degrees hand-prosthesis is finally realized so as to expand the scope of activities of thumb in any position when turning over each time More holding functions.
Detailed description of the invention
Fig. 1 is 3D printing multiple freedom degrees hand-prosthesis thumb movable device explosive view of the invention；
Fig. 2 is palm coupling part structural schematic diagram.
Specific embodiment
One step explanation is made to the present invention with embodiment with reference to the accompanying drawing:
As shown in figures 1 and 2,3D printing multiple freedom degrees hand-prosthesis thumb movable device of the invention, including thumb coupling part 1, Palm coupling part 2, palm 3, small compressed spring 4, big compressed spring 5, washer 6, flat head screw 7, stud 8, nut 9.
Thumb coupling part 1 is rotatablely connected palm coupling part 2 by flat head screw 7, and flat head screw 7 connects across palm It is fixedly connected after washer 6 and big compressed spring 5 built in socket part point 2 with the nut 9 built in thumb coupling part 1, connects thumb Socket part point realizes elastic connection by big compressed spring 5 between 1 and palm coupling part 2.Thumb coupling part 1 is connected with palm Part 2 is equipped with end-tooth, is connected between thumb coupling part 1 and palm coupling part 2 by end face tooth engagement, by adjusting End-tooth position of engagement adjustable thumb is rotated around the connection central axis (X-axis) of thumb coupling part 1 and palm coupling part 2 Angle.
2 side of palm coupling part is buckled by circumference and is matchedly connected with the circumferential bayonet slot on 3 medial surface of palm, the other side It is rotatablely connected, is made between palm coupling part 2 and palm 3 through small compression bullet by small compressed spring 4 and stud 8 and palm 3 Spring 4 and stud 8 realize elastic hinge joint.By adjusting the circumference buckle of palm coupling part 2 and engaging for the circumferential bayonet slot of palm 3 The angle that position adjustable thumb is rotated around the connection central axis (Y-axis) of palm coupling part 2 and palm 3.
As shown in Fig. 2, palm coupling part 2 is the structure for connecting thumb and palm.In thumb active procedure, small compression Spring 4 and big compressed spring 5 are all built in palm coupling part 2, end-tooth and circumference buckle on palm coupling part 2, energy It is enough to guarantee that often turning over an angle is just capable of fixing a position, realizes that thumb smoothly holds article.
When the angle that need to be adjusted thumb and rotated around the connection central axis (X-axis) of thumb coupling part 1 and palm coupling part 2 When, thumb coupling part 1 is pulled outward, makes the end-tooth on thumb coupling part 1 and the end face on palm coupling part 2 Tooth is disengaged, and compresses big compressed spring 5, after being rotated further by thumb coupling part 1 to required angle, makes thumb interconnecting piece Divide the end-tooth on 1 under the drive of the restoring force of big compressed spring 5, with the end face tooth engagement on palm coupling part 2, completes The adjustment of required angle.
When the angle that thumb is rotated around the connection central axis (Y-axis) of palm coupling part 2 and palm 3 need to be adjusted, by hand It is mobile to slap 8 side of stud into palm 3 of coupling part 2, buckles the circumference on palm coupling part 2 and the circumference on palm 3 Card slot disengages, and compresses small compressed spring 4, after being rotated further by palm coupling part 2 to required angle, makes palm coupling part Circumference on 2 is buckled under the drive of the restoring force of small compressed spring 4, is engaged with the circumferential bayonet slot on palm 3, angle needed for completing The adjustment of degree.

Claims (3)

1. a kind of 3D printing multiple freedom degrees hand-prosthesis thumb movable device, including thumb coupling part (1), palm coupling part (2), Palm (3), it is characterised in that: the thumb coupling part (1) is rotatablely connected palm coupling part (2) by flat head screw (7), And flat head screw (7) pass through palm coupling part (2) built in washer (6) and big compressed spring (5) afterwards with thumb coupling part (1) nut (9) built in is fixedly connected, and is made between thumb coupling part (1) and palm coupling part (2) through big compressed spring (5) elastic connection is realized；The thumb coupling part (1) and palm coupling part (2) are equipped with end-tooth, thumb coupling part (1) it is connect between palm coupling part (2) by end face tooth engagement；Palm coupling part (2) side passes through circumference card Button is matchedly connected with the circumferential bayonet slot on palm (3) medial surface, and the other side passes through small compressed spring (4) and stud (8) and palm (3) it is rotatablely connected, makes to realize elasticity by small compressed spring (4) and stud (8) between palm coupling part (2) and palm (3) Hingedly.
2. 3D printing multiple freedom degrees hand-prosthesis thumb movable device according to claim 1, it is characterised in that: the thumb connects Socket part point is between (1) and palm coupling part (2) by adjusting end-tooth position of engagement adjustable thumb around thumb coupling part (1) and the angle of the connection central axis rotation of palm coupling part (2).
3. 3D printing multiple freedom degrees hand-prosthesis thumb movable device according to claim 1, it is characterised in that: the palm connects Socket part point is between (2) and palm (3) by adjusting the circumference buckle and the circumferential bayonet slot of palm (3) of palm coupling part (2) Angle of the position of engagement adjustable thumb around palm coupling part (2) and the connection central axis rotation of palm (3).
CN201710500459.1A 2017-06-27 2017-06-27 3D printing multiple freedom degrees hand-prosthesis thumb movable device Expired - Fee Related CN107280825B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
CN201710500459.1A CN107280825B (en) 2017-06-27 2017-06-27 3D printing multiple freedom degrees hand-prosthesis thumb movable device

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CN107280825B true CN107280825B (en) 2019-01-15

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11771571B2 (en) * 2021-06-28 2023-10-03 Alt-Bionics, Inc. Modular prosthetic hand system

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3659294A (en) * 1969-05-03 1972-05-02 Bock Orthopaed Ind Adjustable link for prosthetic limb
US4332038A (en) * 1980-12-19 1982-06-01 Freeland John L Artificial hand
GB2274398A (en) * 1993-01-08 1994-07-27 Rehabilitation Services Ltd Artificial leg
CN101069658A (en) * 2006-05-03 2007-11-14 奥托·博克保健Ip两合公司 Prosthetic joint
CN101340867A (en) * 2005-12-20 2009-01-07 奥托·博克保健Ip两合公司 Hand prosthesis with two drive devices
CN201275158Y (en) * 2008-07-18 2009-07-22 江苏省伤残人康复中心 Electric elbow joint of electric artificial limb
CN201486963U (en) * 2009-08-25 2010-05-26 宁波酷奇文具有限公司 Clutch locking structure with angle capable of being adjusted quickly
CN204274728U (en) * 2014-11-26 2015-04-22 丹阳假肢厂有限公司 Bionic hand forefinger
WO2015163569A1 (en) * 2014-04-21 2015-10-29 한국기술교육대학교 산학협력단 Exoskeleton-type glove
CN204893977U (en) * 2015-08-10 2015-12-23 苏州驱指自动化科技有限公司 Nodal pattern mechanical finger closes
CN204913941U (en) * 2015-08-10 2015-12-30 苏州驱指自动化科技有限公司 Conversion assembly of finger connecting piece
CN106344223A (en) * 2016-11-08 2017-01-25 哈尔滨工业大学 Thumb passive joint for artificial hand of disabled people

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3659294A (en) * 1969-05-03 1972-05-02 Bock Orthopaed Ind Adjustable link for prosthetic limb
US4332038A (en) * 1980-12-19 1982-06-01 Freeland John L Artificial hand
GB2274398A (en) * 1993-01-08 1994-07-27 Rehabilitation Services Ltd Artificial leg
CN101340867A (en) * 2005-12-20 2009-01-07 奥托·博克保健Ip两合公司 Hand prosthesis with two drive devices
CN101069658A (en) * 2006-05-03 2007-11-14 奥托·博克保健Ip两合公司 Prosthetic joint
CN201275158Y (en) * 2008-07-18 2009-07-22 江苏省伤残人康复中心 Electric elbow joint of electric artificial limb
CN201486963U (en) * 2009-08-25 2010-05-26 宁波酷奇文具有限公司 Clutch locking structure with angle capable of being adjusted quickly
WO2015163569A1 (en) * 2014-04-21 2015-10-29 한국기술교육대학교 산학협력단 Exoskeleton-type glove
CN204274728U (en) * 2014-11-26 2015-04-22 丹阳假肢厂有限公司 Bionic hand forefinger
CN204893977U (en) * 2015-08-10 2015-12-23 苏州驱指自动化科技有限公司 Nodal pattern mechanical finger closes
CN204913941U (en) * 2015-08-10 2015-12-30 苏州驱指自动化科技有限公司 Conversion assembly of finger connecting piece
CN106344223A (en) * 2016-11-08 2017-01-25 哈尔滨工业大学 Thumb passive joint for artificial hand of disabled people

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Granted publication date: 20190115