CN108972515B - Bionic movement function upper limb - Google Patents
Bionic movement function upper limb Download PDFInfo
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- CN108972515B CN108972515B CN201811048806.2A CN201811048806A CN108972515B CN 108972515 B CN108972515 B CN 108972515B CN 201811048806 A CN201811048806 A CN 201811048806A CN 108972515 B CN108972515 B CN 108972515B
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- thumb
- bevel gear
- finger
- fixed
- wrist
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- 230000033001 locomotion Effects 0.000 title claims abstract description 37
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 26
- 239000011664 nicotinic acid Substances 0.000 title claims description 27
- 210000003813 thumb Anatomy 0.000 claims abstract description 235
- 210000003811 finger Anatomy 0.000 claims abstract description 177
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 52
- 210000004932 little finger Anatomy 0.000 claims abstract description 26
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 22
- 210000000245 forearm Anatomy 0.000 claims abstract description 19
- 230000005540 biological transmission Effects 0.000 claims description 71
- 210000000707 wrist Anatomy 0.000 claims description 69
- 235000014676 Phragmites communis Nutrition 0.000 claims description 20
- 230000007246 mechanism Effects 0.000 claims description 19
- 230000001360 synchronised effect Effects 0.000 claims description 14
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 210000005224 forefinger Anatomy 0.000 abstract 2
- 238000010586 diagram Methods 0.000 description 12
- 210000001503 joint Anatomy 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 210000001145 finger joint Anatomy 0.000 description 3
- 210000000811 metacarpophalangeal joint Anatomy 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 241000282414 Homo sapiens Species 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 230000005057 finger movement Effects 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 210000002310 elbow joint Anatomy 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- 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
-
- 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
- A61F2/70—Operating or control means electrical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Transplantation (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Biomedical Technology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Cardiology (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)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
The application discloses bionical motion function upper limbs, including prosthetic hand, wrist joint, forearm, the wrist joint both ends are connected with prosthetic hand, forearm respectively, prosthetic hand include forefinger, middle finger, ring finger, little finger, thumb, palm, forefinger, middle finger, ring finger, little finger, install on the palm, the palm include the hand backup pad, the thumb rotates motor reducer and fixes in the hand backup pad, the thumb rotates motor reducer's output shaft fixed lead screw, the lead screw spin nut, the guide rail on nut and the hand backup pad is along upper and lower direction sliding connection, the fixed pin that sets up on the nut slides in the sliding tray, the thumb revolving stage below, the place ahead stretches out there is the actuating beam, is provided with the sliding tray on the actuating beam, the sliding tray sets up along left and right directions level, be provided with the rotation support of thumb revolving stage on the hand backup pad, the thumb revolving stage on install the thumb, realize the position adjustment of thumb, it is close with healthy people's thumb motion function.
Description
Technical Field
The invention relates to a bionic upper limb, in particular to a bionic sports functional upper limb.
Background
In China, people are large in population, a part of patients have upper limbs or hands missing due to trauma or diseases, artificial limbs are urgently needed to be installed for improving life quality, and in addition, in certain environments, the artificial limbs are extremely harmful or cannot bear human bodies, for example, in nuclear reaction, outer space and high-temperature and high-heat production, bionic hands or arms are needed to be used for operation.
The current thumb of the bionic hand can not rotate or has only one degree of freedom, which is far from the hand function of human beings, and can not meet the use requirement of the bionic hand function in the artificial hand or production engineering, and the normal thumb not only has metacarpophalangeal joints and distal phalangeal joints, but also has one degree of freedom at the connecting part of the thumb and the palm, namely the adjustment of the position and the posture of the thumb.
Most bionic upper limbs are high in price and mainly depend on import, fingers of the bionic upper limbs usually adopt two motion joints and cannot grasp objects like healthy fingers, the existing bionic upper limbs usually adopt motor-driven stay wires, the stay wires are pulled to achieve movement of the finger joints, return springs are required to be arranged between the finger joints, the stay wires are required to overcome the resistance of the springs to conduct traction movement, power of a driving motor is wasted, and the stay wires are easy to relax and fatigue fracture and poor in reliability due to the fact that alternating stress is repeatedly applied to the stay wires in the traction process.
Some bionic finger joints are driven by connecting rods, because the efficiency of the connecting rods and the included angle between the connecting rods are in a relation, the running stability of the motor is influenced, the service life of the motor is influenced, the rotating speed between the connecting rods is also in nonlinear change due to the angle change between the connecting rods, the moving speed of the connecting rods is unstable, and the effect of grasping an object is poor.
In the technical scheme of the application, the thumb has a position adjusting and rotating function, and is very close to the finger movement function of a healthy person; the position adjusting and rotating function of the thumb adopts a motor to drive the screw rod to rotate, the screw rod is screwed with the nut, and the fixing pin on the nut pushes the thumb to rotate; the single motor is adopted to drive the bevel gear mechanism and the belt pulley belt transmission mechanism fixed on the palm frame, so as to realize the same-direction movement of the metacarpophalangeal joints and the proximal phalangeal joints; the bevel gear is in sliding connection with three rear sliding rods, the rear sliding rods are hinged with the front sliding rods through sliding rod pins, the front sliding rods are in sliding connection with sliding rod sleeves, the sliding rod sleeves are in rotating connection with the rotating disc, and the transmission rods are arranged on the sliding rod sleeves and connected with the transmission disc, so that the rear sliding rods are always in translation; the transmission rod is connected with the eccentric transmission disc and the rotating disc, so that the sliding rod sleeve can only move in a translational mode, and the efficiency of the front sliding rod and the rear sliding rod in the bending process in the transmission process is ensured; the thumb adopts a bevel gear transmission mechanism and a belt transmission mechanism to realize bionic movement of the thumb palm knuckle and the proximal knuckle. The gear transmission mechanism is adopted to realize the stability and coordination of the four-finger and thumb joint movement. In the structure of the four fingers and the thumb, other parts except the motor can be made of nonmetallic materials, so that the weight of the upper limb with the bionic movement function is reduced. The sliding rod mechanism adopts translational hinge connection instead of universal coupling connection, so that the transmission efficiency and the transmission stability are improved.
Disclosure of Invention
The invention aims at: the bionic motion upper limb with the thumb position capable of being rotationally adjusted, the four fingers realizing three-degree-of-freedom motion by adopting a motor and gear driving mechanism, the thumb realizing two-degree-of-freedom motion by adopting a motor and gear mechanism and the wrist joint motor driving swing is provided.
The purpose of the invention is realized in the following way: the bionic motion function upper limb comprises a prosthetic hand head, a wrist joint 22 and a forearm 33, wherein two ends of the wrist joint 22 are respectively connected with the prosthetic hand head and the forearm, and swing between the prosthetic hand head and the forearm is realized, the prosthetic hand head comprises an index finger 1, a middle finger 2, a ring finger 3, a little finger 4, a thumb 5 and a palm 11, and the index finger 1, the middle finger 2, the ring finger 3 and the little finger 4 are arranged on the palm 11;
the palm 11 includes: the hand support plate 1105, the thumb turntable 1108, the thumb rotating motor speed reducer 1109, the nut 1110, the thumb rotating motor frame 1111, the lead screw 1112, the guide rail 1113, the bearing seat 1115, the fixing pin 1116 and the thumb rotating shaft 1118, wherein the thumb rotating motor speed reducer 1109 is fixed on the thumb rotating motor frame 1111, the thumb rotating motor frame 1111 is fixed on the hand support plate 1105, the lower end of the lead screw 1112 is fixed on the output shaft of the thumb rotating motor speed reducer 1109, the upper part of the lead screw 1112 is screwed with the nut 1110, the front side and the rear side of the nut 1110 are respectively provided with an elongated slot penetrating in the vertical direction, the elongated slots on the front side and the rear side of the nut 1110 are respectively connected with one guide rail 1113 in a sliding manner, the guide rail 1113 is fixed on the hand support plate 1105, the nut 1110 is realized to slide up and down along the guide rail 1113, the nut 1110 is provided with a nut beam 1117 extending backwards, the nut beam 1117 is fixed on the left end of the fixing pin 1116, the right end of the fixing pin 1116 slides in the sliding slot 1114, the thumb turntable 1108 extends downwards and forwards to the driving beam 1114, the sliding slot 1114 is provided with a sliding slot 1114, the sliding end of the bearing seat 1111108 is horizontally arranged along the left end of the fixing pin, the bearing seat 11120 is fixed on the bearing seat 1115, the lower end of the thumb support plate, the thumb is fixed on the bearing seat 11120, and the bearing seat 11120 is fixed on the bearing support plate;
The thumb turntable 1108 is provided with a thumb 5.
The wrist joint 22 comprises a wrist shaft 2201, a first wrist bevel gear 2202, a second wrist bevel gear 2203, a gear rotating shaft 2204, a wrist motor reducer 2205, a wrist motor rack 2206 and a wrist rotating shaft support 2207, two wrist joint connecting plates 1106 extending backwards are arranged at the rear end of the wrist supporting plate 1105, two wrist joint connecting plates 1106 are respectively fixed at the upper end and the lower end of the wrist shaft 2201, the second wrist bevel gear 2203 is fixed on the wrist shaft 2201, the second wrist bevel gear 2203 is meshed with the first wrist bevel gear 2202, the upper end and the lower end of the wrist shaft 2201 are respectively fixedly connected with the front end of a forearm, the first wrist bevel gear 2202 is fixed at the front end of the gear rotating shaft 2204, the middle part of the gear rotating shaft 2204 is rotatably arranged on the wrist rotating shaft support 2207, the upper end and the lower end of the wrist rotating shaft are respectively fixed on the forearm, the shaft hole arranged at the rear end of the gear rotating shaft 2204 is fixedly connected with an output shaft of the motor reducer 2205, the wrist motor reducer 2205 is fixed on the wrist motor rack 2206, and the motor rack 2206 is fixed on the forearm.
The small arm 33 includes: the upper small arm support 3301, the small arm connecting plate 3302 and the lower small arm support 3303, the upper end and the lower end of the wrist shaft 2201 are respectively fixed at the front ends of the upper small arm support 3301 and the lower small arm support 3303, the upper end and the lower end of the wrist shaft support 2207 are respectively fixed on the upper small arm support 3301 and the lower small arm support 3303, the upper end and the lower end of the wrist motor frame 2206 are respectively fixed on the upper small arm support 3301 and the lower small arm support 3303, and the left side and the right side of the upper small arm support 3301 and the left side and the right side of the lower small arm support 3303 are respectively fixedly connected through the small arm connecting plate 3302.
The front end of the hand supporting plate 1105 is provided with an index finger mounting table 1101, a middle finger mounting table 1104, a ring finger mounting table 1103 and a little finger mounting table 1102 in sequence from top to bottom, and is respectively provided with an index finger, a middle finger, a ring finger and a little finger.
The thumb 5 comprises: the thumb connecting shaft 501, the first thumb pulley 510, the thumb double-wheel 511, the first thumb bevel gear 513, the thumb motor speed reducer 514, the thumb motor rack 515 and the second thumb bevel gear 516, wherein the rear end and the front end of the thumb connecting shaft 501 are respectively and rotatably connected with the lower ends of the thumb upper palm plate 502 and the thumb lower palm plate 507, the thumb connecting shaft 501 is fixedly provided with the first thumb pulley 510, the thumb motor speed reducer 514 is fixedly arranged on the thumb upper palm plate 502 through the thumb motor rack 515, the output shaft of the thumb motor speed reducer 514 is fixedly provided with the first thumb bevel gear 513, the first thumb bevel gear 513 is simultaneously meshed with the second thumb bevel gear 516 and the bevel gear three arranged at the rear end of the thumb double-wheel 511, the small end of the second bevel gear 516 is oppositely arranged with the small end of the bevel gear three thumb, the second thumb 516 is fixedly arranged on the thumb upper proximal pin 503, the upper proximal pin 503 is fixedly arranged on the lower end of the thumb upper distal end plate 504, the upper proximal pin 503 is rotatably connected with the upper end of the upper thumb plate 502, the thumb pulley 509 arranged at the front end of the thumb double-wheel 511 is fixedly connected with the first thumb pulley 510 through the synchronous belt pulley 509, the lower end of the thumb pin 512 is rotatably connected with the lower end of the thumb pin 512, and the lower end of the thumb pin 512 is rotatably connected with the lower end of the proximal pin 507;
The thumb mounting hole provided on the thumb turntable 1108 fixes the thumb connecting shaft 501, the front and rear sides of the thumb upper metacarpal plate 502 and the thumb lower metacarpal plate 507 are respectively and fixedly connected through a thumb metacarpal connecting plate 508, and the front and rear sides of the thumb upper distal plate 504 and the thumb lower distal plate 506 are respectively and fixedly connected through a thumb distal connecting plate 505.
The structure of the index finger 1 is the same as that of the middle finger 2, the ring finger 3 and the little finger 4, the index finger 1 comprises an index finger connecting shaft 101, a belt pulley I110, a finger motor speed reducer 111, a bevel gear I113, a bevel gear II 115, a duplex wheel 116, a bevel gear IV 120 and a bevel gear V121, the upper end and the lower end of the index finger connecting shaft 101 are respectively and rotatably connected with the rear ends of the upper metacarpal plate 102 and the lower metacarpal plate 109, the belt pulley I110 is fixed on the index finger connecting shaft 101, the finger motor speed reducer 111 is directly or indirectly fixed on the upper metacarpal plate 102, the bevel gear I113 is fixed on an output shaft of the finger motor speed reducer 111, and the bevel gear I113 is simultaneously meshed with a bevel gear II 115 and a bevel gear III arranged at the upper end of the duplex wheel 116;
the bevel gear II 115 is fixed on the upper proximal pin 114, the upper part of the upper proximal pin 114 is rotationally connected with the front end of the upper palm finger plate 102, the middle part of the upper proximal pin 114 is fixedly connected with the rear end of the upper proximal finger plate 103, the double-linked wheel 116 is movably sleeved on the upper end of the lower proximal pin 108, the lower proximal finger plate 107 is hinged with the lower palm finger plate 109 through the lower part of the lower proximal pin 108, the lower proximal pin 108 is rotationally connected with the lower palm finger plate 109 of the lower proximal finger plate 107, and the synchronous pulley II arranged at the lower end of the double-linked wheel 116 is in belt transmission connection with the pulley I110 through a synchronous belt 117;
The first bevel gear 113 is connected with the rotating disc 118 through a slide bar transmission mechanism, the rotating disc 118 is synchronously connected with the transmission disc through a transmission rod 125 in a transmission manner, and the synchronous rotation of the first bevel gear 113 and the rotating disc 118 after the position change is realized;
the transmission disc 126 is fixed at the rear end of the rotating shaft 127, the middle part of the rotating shaft 127 is rotationally connected with the rotating shaft support 134, the rotating shaft support 134 is fixed on the upper proximal fingerboard 103, the transmission disc 126 is rotationally arranged on the rotating disc support 128, the middle part of the rotating shaft 127 is rotationally connected with the rotating shaft support 134, the rotating disc support 128 and the rotating shaft support 134 are fixed on the upper proximal fingerboard 103, the front end of the rotating shaft 135 is fixed with the bevel gear five 121, the bevel gear five 121 is meshed with the bevel gear four 120, the bevel gear four 120 is fixed on the upper distal pin 119, the upper distal pin 119 is fixed at the rear end of the upper distal fingerboard 104, the upper distal pin 119 is rotationally connected with the front end of the upper proximal fingerboard 103, the rotating shaft 127 is coaxial with the transmission disc 126, the rotating disc 118 is coaxially arranged with the bevel gear one 113, and the front end of the lower proximal fingerboard 107 is hinged with the rear end of the lower distal fingerboard 105 through the lower distal pin 106; the upper proximal pin 114 is coaxial with the lower proximal pin 108 and the lower distal pin 106 is coaxial with the upper distal pin 119.
Index finger mounting holes arranged on index finger mounting table 1101 fix index finger connecting shaft 101, middle finger mounting holes arranged on middle finger mounting table 1104 fix middle finger connecting shaft, ring finger mounting holes arranged on ring finger mounting table 1103 fix ring finger connecting shaft, and little finger mounting holes arranged on little finger mounting table 1102 fix little finger connecting shaft.
The slide bar transmission mechanism comprises a rear slide bar 122, a slide bar pin 123, a front slide bar 124, a transmission rod 125 and slide sleeves 129, wherein three rear slide bars 122 are uniformly distributed along the circumferential direction of the first bevel gear 113, the three rear slide bars 122 are horizontally arranged along the front-rear direction, the three rear slide bars 122 slide forwards and backwards along slide bar holes arranged on the first bevel gear 113, the rear slide bars are rotationally connected along the slide bar holes, the front part of each rear slide bar 122 is respectively hinged with one front slide bar 124 through one slide bar pin 123, the slide bar pin 123 is arranged along the vertical direction, each front slide bar 124 in the three front slide bars 124 is respectively in sliding connection with one slide sleeve 129, the three slide sleeves 129 are uniformly distributed along the circumferential direction of the first bevel gear 118, and the three slide sleeves 129 are rotationally connected with slide sleeve holes axially arranged on the first rotary disk 118;
each sliding sleeve 129 passes through the rotating disc 118 forwards and then fixes the upper rear extending end of one transmission rod 125, the front extending end is rotationally connected with a transmission rod mounting hole arranged on the transmission disc 126, the transmission disc 126 and the rotating disc 118 have the same structure, and the center distance between the transmission disc 126 and the rotating disc 118 along the up-down direction is equal to the distance between the rear extending end and the front extending end of the transmission rod 125.
The upper finger plate 102 and the lower finger plate 103 are prevented from sliding independently when being collinear, the front sliding rod 124 is prevented from sliding independently, the first spring plate 131 is fixed at the position of the rear end of the bevel gear 113, the first spring plate 130 is respectively arranged at the upper side and the lower side of the first spring plate 131, the first spring plate 130 has elasticity, the first spring plate 130 is contacted with the rear sliding rod 122, and the rear sliding rod 122 is prevented from sliding independently when the upper finger plate 102 and the upper proximal finger plate 103 are collinear.
The front and rear sides of the hand support plate 1105 are respectively fixed to the front palm cover 1119 and the rear palm cover 1107.
Compared with the prior art, the invention has the following advantages:
1. the thumb has a position adjusting and rotating function, and is very close to the finger movement function of a healthy person;
2. the position adjusting and rotating function of the thumb adopts a motor to drive the screw rod to rotate, the screw rod is screwed with the nut, and the fixing pin on the nut pushes the thumb to rotate;
3. the single motor is adopted to drive the bevel gear mechanism and the belt pulley belt transmission mechanism fixed on the palm frame, so that the same-direction movement of the metacarpophalangeal joints and the proximal phalangeal joints is realized;
4. the bevel gear is in sliding connection with three rear sliding rods, the rear sliding rods are hinged with the front sliding rods through sliding rod pins, the front sliding rods are in sliding connection with sliding rod sleeves, the sliding rod sleeves are in rotating connection with the rotating disc, and the transmission rods are arranged on the sliding rod sleeves and connected with the transmission disc, so that the rear sliding rods are always in translation;
5. the transmission rod is connected with the eccentric transmission disc and the rotating disc, so that the sliding rod sleeve can only move in a translational mode, and the efficiency of the front sliding rod and the rear sliding rod in the bending process in the transmission process is ensured;
6. the thumb adopts a bevel gear transmission mechanism and a belt transmission mechanism to realize bionic movement of the thumb palm knuckle and the proximal knuckle;
7. The gear transmission mechanism is adopted to realize the stability and coordination of the four-finger and thumb joint movement;
8. in the structure of the four fingers and the thumb, other parts except the motor can be made of nonmetallic materials, so that the weight of the upper limb with the bionic movement function is reduced.
Drawings
Fig. 1 is a general structural diagram of an upper limb of a bionic movement function.
Fig. 2 is a general structural diagram of the hand of the upper limb with bionic movement function.
Fig. 3 is a second general structure diagram of the hand of the upper limb with bionic movement function.
Fig. 4 is a schematic view of the thumb turning mechanism.
Fig. 5 is a schematic diagram of a thumb turning mechanism.
Fig. 6 is a schematic view of the overall structure of the index finger.
Fig. 7 is a schematic diagram of the metacarpal plate connection driving device of the index finger.
Fig. 8 is a schematic view of the connection structure of the proximal finger plate and the metacarpophalangeal plate of the index finger.
FIG. 9 is a schematic diagram of a proximal finger plate and a distal palm plate drive connection.
Fig. 10 is a schematic diagram of a driving connection structure of the proximal finger board and the metacarpophalangeal board.
FIG. 11 is a schematic view of a proximal finger plate and distal finger plate drive connection.
Fig. 12 is a schematic diagram of a second drive connection structure for the proximal finger plate and the distal finger plate.
Fig. 13 is a schematic view of the structure of the driving lever.
Fig. 14 is a schematic view showing a structure of a protective connection plate provided on a plate.
Fig. 15 is a general construction diagram of the thumb.
Fig. 16 is a general structural diagram of the thumb.
Fig. 17 is a third general structure diagram of the hand of the upper limb with bionic movement function.
Fig. 18 is a schematic diagram of a palm and forearm connection.
Fig. 19 is a schematic view of the wrist joint structure.
Reference numerals: 11-palm, 22-wrist joint, 33-forearm, 1-index finger, 2-middle finger, 3-ring finger, 4-little finger, 5-thumb, 101-index finger connecting shaft, 102-upper palm plate, 103-upper proximal finger plate, 104-upper distal finger plate, 105-lower distal finger plate, 106-lower distal pin, 107-lower proximal finger plate, 108-lower proximal pin, 109-lower palm plate, 110-pulley one, 111-index finger motor, 112-index finger motor rack, 113-bevel gear one, 114-upper proximal pin, 115-bevel gear two, 116-duplex wheel, 117-timing belt, 118-rotating disk, 119-upper distal pin, 120-bevel gear four, 121-bevel gear five, 122-rear slide bar, 123-slide bar pin 124-front slide bar, 125-drive rod, 126-drive disk, 127-spindle, 128-drive disk support, 129-slide sleeve, 130-reed one, 131-reed seat one, 132-reed two, 133-reed seat two, 134-spindle support, 137-metacarpophalangeal connection plate, 138-proximal connection plate, 139-distal connection plate, 1101-index finger mounting table, 1102-little finger mounting table, 1103-ring finger mounting table, 1104-middle finger mounting table, 1105-hand support plate, 1106-wrist connection plate, 1107-palm center back cover, 1108-thumb turntable, 1109-thumb rotating motor reducer, 1110-nut, 1111-thumb rotating motor frame, 1112-lead screw, 1113-guide rail, and, 1114-slide groove, 1115-bearing seat, 1116-fixed pin, 1117-nut beam, 1118-thumb shaft, 1119-palm front cover, 2201-wrist shaft, 2202-wrist bevel gear one, 2203-wrist bevel gear two, 2204-gear shaft, 2205-wrist motor reducer, 2206-wrist motor frame, 2207-wrist shaft support, 3301-upper small arm frame, 3302-small arm connecting plate, 3303-lower small arm frame, 501-thumb connecting shaft, 502-thumb upper metacarpal plate, 503-thumb upper proximal pin, 504-thumb upper distal plate, 505-thumb distal connecting plate, 506-thumb lower distal plate, 507-thumb lower metacarpal plate, 508-thumb metacarpal connecting plate, 509-thumb synchronous belt, 510-thumb pulley one, 511-thumb duplex, 512-thumb lower proximal pin, 513-bevel gear one, 514-thumb motor reducer, 515-thumb motor frame, 516-bevel gear two.
Description of the embodiments
With reference to fig. 1 to 19, the bionic motion functional upper limb of the present invention comprises a prosthetic hand, a wrist joint 22 and a forearm 33, wherein two ends of the wrist joint 22 are respectively connected with the prosthetic hand and the forearm, and swing between the prosthetic hand and the forearm is realized, the prosthetic hand comprises an index finger 1, a middle finger 2, a ring finger 3, a little finger 4, a thumb 5 and a palm 11, the index finger 1, the middle finger 2, the ring finger 3, the little finger 4 and the thumb 5 are arranged on the palm 11, and joints of the index finger 1, the middle finger 2, the ring finger 3, the little finger 4 and the thumb 5 and the palm 11 can swing along the palm 11, the directions of the index finger 1 away from the palm and the forearm away from the wrist joint are respectively defined as front and rear directions, the directions of the index finger 1 and the little finger 4 are respectively defined as upper and lower directions, the directions of the index finger 1 can be bent toward the left side, and the direction of the index finger 1 can be unfolded toward the right side is defined as the right side, so as to describe the present invention.
The thumb 5 comprises: a thumb coupling shaft 501, a thumb upper metacarpal plate 502, a thumb upper proximal pin 503, a thumb upper distal plate 504, a thumb distal connection plate 505, a thumb lower distal plate 506, a thumb lower metacarpal plate 507, a thumb metacarpal connection plate 508, a thumb timing belt 509, a thumb pulley one 510, a thumb duplex 511, a thumb lower proximal pin 512, a thumb bevel gear one 513, a thumb motor reducer 514, a thumb motor housing 515, a thumb bevel gear two 516, the rear end and the front end of the thumb connecting shaft 501 are respectively and rotatably connected with the lower ends of the thumb upper palm plate 502 and the thumb lower palm plate 507, the front part of the thumb connecting shaft 501 is fixed with a first thumb belt pulley 510, a thumb motor speed reducer 514 is fixed on a thumb motor frame 515, the thumb motor frame 515 is fixed on the thumb upper palm plate 502, the output shaft of the thumb motor speed reducer 514 is fixed with a first thumb bevel gear 513, the first thumb bevel gear 513 is simultaneously meshed with a second thumb bevel gear 516 and a third thumb bevel gear arranged at the rear end of the thumb duplex wheel 511, the small end of the second bevel gear 516 is opposite to the small end of the third bevel gear 516, the second bevel gear 516 is fixed at the front end of the upper proximal pin 503, the middle part of the upper proximal pin 503 is fixed at the lower end of the upper distal plate 504, the rear end of the upper proximal pin 503 is rotatably connected with the upper end of the upper metacarpal plate 502, the thumb pulley II arranged at the front end of the thumb duplex 511 is in belt transmission connection with the thumb pulley I510 through the thumb synchronous belt 509, the thumb duplex wheel 511 is movably sleeved at the rear end of the thumb lower proximal pin 512, the lower end of the thumb lower distal plate 506 is hinged with the upper end of the thumb lower metacarpophalangeal plate 507 through the thumb lower proximal pin 512, and the thumb lower proximal pin 512 is rotatably connected with the lower end of the thumb lower distal plate 506 and the upper end of the thumb lower metacarpophalangeal plate 507.
The front and rear sides of the upper thumb plate 502 and the lower thumb plate 507 are respectively and fixedly connected through a thumb metacarpophalangeal connecting plate 508, and the front and rear sides of the upper thumb distal plate 504 and the lower thumb distal plate 506 are respectively and fixedly connected through a thumb distal connecting plate 505.
The palm 11 includes: the front end of the hand support plate 1105, the palm center back cover 1107, the thumb turntable 1108, the thumb rotating motor speed reducer 1109, the nut 1110, the thumb rotating motor frame 1111, the lead screw 1112, the guide rail 1113, the bearing seat 1115, the fixing pin 1116, the thumb rotating shaft 1118 and the palm center front cover 1119 are sequentially arranged from top to bottom, the front end of the hand support plate 1105 is provided with the index finger mounting table 1101, the middle finger mounting table 1104, the ring finger mounting table 1103, the index finger mounting hole arranged on the index finger mounting table 1101 is fixedly provided with the index finger connecting shaft 101, the middle finger mounting table 1104 is fixedly provided with the middle finger connecting shaft, the ring finger mounting hole arranged on the ring finger mounting table 1103 is fixedly provided with the ring finger connecting shaft, the small finger mounting hole arranged on the small finger mounting table 1102 is fixedly provided with the small finger connecting shaft, the middle upper end of the hand support plate 1105 is provided with the thumb turntable 1108, the thumb rotating motor speed reducer 1109 is fixedly arranged on the thumb rotating motor frame 1111, the thumb rotating frame 1110 is fixedly arranged on the thumb support plate 1110, the lower end of the thumb rotating shaft 1110 is fixedly arranged on the left side of the guide rail 1113, the left side of the guide rail 1114 is fixedly extends along the left side of the guide rail 1113, the guide rail 1113 is fixedly arranged on the left side of the guide rail 1113, the front end of the guide rail 1113 is fixedly extends along the left side of the guide nut 1113, the front end of the guide rail 1113 is fixedly extends to the front end of the guide rail 1113, and the front end is fixedly arranged on the front end of the front nut 1113 extends along the front end of the front nut 1113, and is slidably arranged on the front end of the guide rail 1113, and extends. The lower end of the thumb turn table 1108 is fixed with the left end of the thumb rotating shaft 1118, the right part of the thumb rotating shaft 1118 is arranged in the inner hole of the bearing seat 1115, and the bearing seat 1115 is fixed on the hand supporting plate 1105.
The front and rear sides of the hand support plate 1105 are respectively fixed to the front palm cover 1119 and the rear palm cover 1107.
The rear end of the hand support plate 1105 is provided with two rearwardly extending wrist attachment plates 1106.
The wrist joint 22 includes a first wrist shaft 2201, a first wrist bevel gear 2202, a second wrist bevel gear 2203, a gear shaft 2204, a wrist motor reducer 2205, a wrist motor rack 2206, and a wrist shaft support 2207, wherein the upper and lower parts of the wrist shaft 2201 are respectively rotatably connected with a wrist joint connection plate 1106, the first wrist bevel gear 2201 is fixed with the second wrist bevel gear 2203, the second wrist bevel gear 2203 is meshed with the first wrist bevel gear 2202, and the upper and lower ends of the wrist shaft 2201 are respectively fixed with the front ends of the upper and lower small arm frames 3301 and 3303.
The first wrist bevel gear 2202 is fixed at the front end of the gear rotating shaft 2204, the middle part of the gear rotating shaft 2204 is rotatably arranged on the wrist rotating shaft support 2207, the upper end and the lower end of the wrist rotating shaft support 2207 are respectively fixed on the upper small arm support 3301 and the lower small arm support 3303, the shaft hole arranged at the rear end of the gear rotating shaft 2204 is fixedly connected with the output shaft of the wrist motor reducer 2205, the wrist motor reducer 2205 is fixed on the wrist motor rack 2206, and the upper end and the lower end of the wrist motor rack 2206 are respectively fixed on the upper small arm support 3301 and the lower small arm support 3303.
The small arm 33 includes: the upper small arm support 3301, the small arm connecting plate 3302 and the lower small arm support 3303, wherein the left side and the right side of the upper small arm support 3301 and the left side and the right side of the lower small arm support 3303 are fixedly connected through the small arm connecting plate 3302 respectively.
The rear ends of the upper small arm support 3301 and the lower small arm support 3303 are respectively provided with a small arm mounting hole 3304 for realizing the connection of the small arm 33 and the elbow joint or fixing the small arm 33 on the small arm of a patient lacking the wrist joint and the hand.
Index finger 1, middle finger 2, ring finger 3, little finger 4 have the same structure, this application replaces and indicates the structure of middle finger 2, ring finger 3, little finger 4 with the structural description of index finger 1, index finger 1 include: the three-bevel-gear motor speed reducer comprises an index finger connecting shaft 101, an upper palm fingerboard 102, an upper near-end fingerboard 103, an upper far-end fingerboard 104, a lower far-end fingerboard 105, a lower far-end pin 106, a lower near-end fingerboard 107, a lower near-end pin 108, a lower palm fingerboard 109, a belt pulley I110, an index finger motor speed reducer 111, an index finger motor rack 112, a bevel gear I113, an upper near-end pin 114, a bevel gear II 115, a duplex wheel 116, a synchronous belt 117, a rotating disc 118, an upper far-end pin 119, a bevel gear IV 120, a bevel gear V121, a rear slide bar 122, a slide bar pin 123, a front slide bar 124, a transmission rod 125, a transmission disc 126, a rotating shaft 127, a rotating disc support 128, a sliding sleeve 129, a reed I130, a reed seat I131, a reed II 132, a reed seat II 133, a rotating shaft support 134, a rotating shaft 127, a connecting plate 136, a palm finger connecting plate 137, a near-end connecting plate 138 and a far-end connecting plate 139, wherein the rear ends of the upper palm fingerboard 102 and the lower palm fingerboard 109 are respectively rotatably connected with the upper and lower end of the index finger connecting shaft 101, the belt pulley I110 is fixed at the lower end of the index finger connecting shaft 101, the index finger motor speed reducer 111 is fixed on the upper motor speed reducer 112, the index finger motor speed reducer 111 is fixed on the upper motor rack and the lower end of the three-end bevel gear motor speed reducer 112, and the bevel gear II bevel gear 112 is fixed at the three-end bevel gear speed reducer 112, and the bevel gear 115 is fixed at the opposite to the bevel gear speed reducer 112, and the three-reducer 115 is fixed at the three-bevel gear end bevel gear speed reducer 112.
The bevel gear II 115 is fixed at the lower end of the upper proximal pin 114, the upper part of the upper proximal pin 114 is rotationally connected with the front end of the upper palm finger board 102, the middle part of the upper proximal pin 114 is fixedly connected with the rear end of the upper proximal finger board 103, the double-linked wheel 116 is movably sleeved at the upper end of the lower proximal pin 108, the lower proximal finger board 107 is hinged with the lower palm finger board 109 through the lower part of the lower proximal pin 108, the lower proximal pin 108 is rotationally connected with the lower palm finger board 109 of the lower proximal finger board 107, and the synchronous pulley II arranged at the lower end of the double-linked wheel 116 is in belt transmission connection with the pulley I110 through a synchronous belt 117.
Three rear slide bars 122 are uniformly distributed along the circumferential direction of the first bevel gear 113, the three rear slide bars 122 are horizontally arranged along the front-rear direction, the three rear slide bars 122 slide back and forth with slide bar holes arranged on the first bevel gear 113 and are rotationally connected along the slide bar holes, the front part of each rear slide bar 122 is hinged with one front slide bar 124 through one slide bar pin 123, the slide bar pins 123 are vertically arranged, each front slide bar 124 in the three front slide bars 124 is respectively and slidingly connected with one slide bush 129, the three slide bushes 129 are uniformly distributed along the circumferential direction of the rotating disc 118, the three slide bushes 129 are rotationally connected with slide bar holes axially arranged on the rotating disc 118, after each slide bush 129 passes through the rotating disc 118 backwards, a second reed seat 133 is fixed, the upper side and the lower side of the second reed seat 133 are fixedly provided with a second reed 132, the second spring 132 has elasticity, and the second spring 132 contacts with the front sliding rod 124 to provide friction force when realizing front sliding rod front and back sliding, prevent that the palm fingerboard 102 from independently sliding when being collinear with the upper near end fingerboard 103, influence the transmission effect of bevel gear one 113 to the rolling disc 118, the hole behind every sliding sleeve 129 forward passing rolling disc 118 all fixes the upside back end of a transfer line 125, transfer line 125 upper end be provided with the back end that stretches out backward, transfer line 125 lower extreme is provided with the front end that stretches out forward, the front end rotates with the transfer line mounting hole that sets up on the transfer line 126 to be connected, transfer line 126 is the same with rolling disc 118 structure, the center distance of transfer line 126 along upper and lower direction with rolling disc 118 equals the distance between transfer line 125 back end and the front end. The sliding sleeve 129 is used for realizing that the sliding sleeve 129 only moves in a translational mode relative to the upper proximal fingerboard 103 and does not rotate, so that the front sliding rod 124 only moves in a translational mode relative to the upper proximal fingerboard 103 and does not rotate, the sliding rod pin 123 always keeps vertical direction, the front sliding rod 124 and the rear sliding rod 122 can rotate relatively along the horizontal direction and simultaneously transmit power, and accordingly the bevel gear 113 rotates to drive the rotating disc 118 to rotate synchronously through transmission between the rear sliding rod 122 and the front sliding rod 124. The outer cylindrical surface of the rotating disc 118 is installed in the inner hole of the rotating disc support 128, the rotating disc support 128 is fixed on the upper proximal fingerboard 103, the middle part of the rotating shaft 127 is rotatably installed in the inner hole at the lower end of the rotating shaft support 134, and the upper end of the rotating shaft support 134 is fixed on the upper proximal fingerboard 103.
The structure of the sliding connection between the front sliding rod 124 and the sliding sleeve 129 is as follows: the inner hole of the sliding sleeve 129 is rectangular, the outer surface of the front sliding rod 124 is rectangular, and the outer rectangular surface of the sliding rod 124 is in sliding connection with the rectangular inner hole of the sliding sleeve 129.
The position of the rear end of the bevel gear 113, which is adapted to the rear sliding rod 122, is fixed with a first spring seat 131, the upper and lower sides of the first spring seat 131 are respectively provided with a first spring 130, the first spring 130 has elasticity, the first spring 130 contacts with the rear sliding rod 122, and when the upper palm fingerboard 102 and the upper near end fingerboard 103 are collinear, i.e. when the index finger straightens, the rear sliding rod 122 is prevented from sliding independently, the transmission effect from the bevel gear 113 to the rotating disc 118 is affected, and the friction force of the rear sliding rod 122 in the transmission process is small, for example, 1 n, due to the elasticity of the first spring 130, and the front and rear movement of the rear sliding rod 122 in the transmission process is not affected.
The rotating disc 118 is coaxially arranged with the bevel gear 113.
The transmission disc 126 is fixed at the rear end of the rotating shaft 127, the middle part of the rotating shaft 127 is rotationally connected with the rotating shaft support 134, the rotating shaft support 134 is fixed on the upper proximal finger plate 103, the front end of the rotating shaft 127 is fixedly provided with the bevel gear five 121, the bevel gear five 121 is meshed with the bevel gear four 120, the bevel gear four 120 is fixed at the lower end of the upper distal end pin 119, the middle part of the upper distal end pin 119 is fixedly provided with the rear end of the upper distal end finger plate 104, and the upper end of the upper distal end pin 119 is rotationally connected with the front end of the upper proximal finger plate 103.
The rotating shaft 127 is coaxially arranged with the driving disc 126, and the rotating disc 118 is coaxially arranged with the bevel gear 113.
The front end of the lower proximal finger plate 107 is hinged to the rear end of the lower distal finger plate 105 by a lower distal pin 106.
The left and right sides of the upper metacarpophalangeal plate 102 and the lower metacarpophalangeal plate 109 are fixedly connected by a metacarpophalangeal connecting plate 137 respectively, the left and right sides of the upper proximal end fingerplate 103 and the lower proximal end fingerplate 107 are fixedly connected by a proximal connecting plate 138 respectively, and the left and right sides of the upper distal end fingerplate 104 and the lower distal end fingerplate 105 are fixedly connected by a distal connecting plate 139 respectively.
The upper proximal pin 114 is coaxial with the lower proximal pin 108 and the lower distal pin 106 is coaxial with the upper distal pin 119.
The motor is connected with the control system, and a person skilled in the art can control and drive the motors, and can control the flexion and extension of four fingers (index finger, middle finger, ring finger and little finger) and the flexion and extension of the thumb and the swing of the wrist joint.
When the control system controls the index finger to bend, the motor in the index finger motor reducer 111 is controlled to be electrified, the motor drives the bevel gear I113 to rotate, the bevel gear II 115 rotates to drive the upper near-end fingerboard 103 to rotate, the bevel gear I113 simultaneously drives the duplex wheel 116 to rotate, belt transmission connection is formed between the synchronous belt 117 and the belt wheel I110, belt transmission can be replaced by chain transmission, the index finger connecting shaft 101 is fixed on the palm frame 1105, the lower metacarpal fingerboard 109 swings relative to the index finger connecting shaft 101, the bevel gear II 115 and the duplex wheel 116 rotate in opposite directions, the upper near-end fingerboard 103 swings in the same direction as the lower metacarpal fingerboard 109, the rear sliding bar 122 drives the front sliding bar 124 to move through the sliding bar pin 123 due to the rotation of the bevel gear I113, the upper near-end fingerboard 103 swings and bends relative to the upper near-end fingerboard 103, the rear sliding bar 122 and the front sliding bar 124 bend along the sliding bar pin 123 during the rotation of the driving rotating disc 118, the transmission disc 126 and the rotating disc 118 are driven by the transmission rod 125, the sliding sleeve 129 is fixed at the rear extension end of the transmission rod 125, the sliding sleeve 129 rotates relative to the rotating disc 118, only translates relative to the upper near-end fingerboard 103, the sliding rod pin 123 is always arranged along the vertical direction, the rear sliding rod 122 and the front sliding rod 124 can always bend along the sliding rod pin 123, when the upper palm fingerboard 102 swings relative to the upper near-end fingerboard 103, the rear sliding rod 122 and the front sliding rod 124 move towards the swing bending position direction of the upper palm fingerboard 102 and the upper near-end fingerboard 103, the rear sliding rod 122 and the front sliding rod 124 slide backwards and forwards respectively, adapt to the position change that the distance between the bevel gear one 113 and the rotating disc 118 is reduced, the rotating disc drives the transmission disc 126 to rotate through the transmission rod 125, the transmission disc 126 drives the rotating shaft 127 to rotate, and the rotating shaft 127 drives the bevel gear five 121 to rotate, the bevel gear IV 120 rotates, the bevel gear IV 120 drives the upper far-end fingerboard 104 to rotate through the upper far-end pin 119, so that the upper palm fingerboard 102, the upper near-end fingerboard 103 and the upper far-end fingerboard 104 synchronously swing in the same direction, and four-finger (index finger, middle finger, ring finger and little finger) motions of bionic motions are realized.
When the control system controls the thumb to bend, a motor in the thumb motor reducer 514 is controlled to be electrified, the first thumb bevel gear 513 rotates, the second thumb bevel gear 516 and the thumb duplex wheel 511 rotate, the rotation directions are opposite, the second thumb bevel gear 516 drives the upper thumb far-end plate 504 to swing, the first thumb belt wheel 510 is fixed on the thumb connecting shaft 501, the thumb duplex wheel 511 rotates, the lower thumb plate 507 swings along the thumb connecting shaft 501 through belt transmission of the thumb synchronous belt 509, and the swing directions of the lower thumb plate 507 and the upper thumb far-end plate 504 are the same, so that bionic movement of the thumb 5 is realized.
When the control system controls the wrist joint to bend, a motor in the wrist motor reducer 2205 is controlled to be electrified, the first wrist bevel gear 2202 is driven to rotate through the gear rotating shaft 2204, the second wrist bevel gear 2203 rotates, and the upper small arm support 3301 and the lower small arm support 3303 rotate along the wrist shaft 2201, so that the wrist bionic motion is realized.
When the thumb rotation adjustment position is controlled, the thumb rotation motor reducer 1109 is controlled to be electrified, the thumb rotation motor reducer 1109 drives the lead screw 1112 to rotate, the nut 1110 moves up and down, and the fixing pin 1116 drives the thumb turntable 1108 to rotate.
Claims (7)
1. The bionic motion function upper limb comprises a prosthetic hand, a wrist joint (22) and a forearm (33), wherein two ends of the wrist joint (22) are respectively connected with the prosthetic hand and the forearm, swinging between the prosthetic hand and the forearm is realized, the prosthetic hand comprises an index finger (1), a middle finger (2), a ring finger (3), a little finger (4), a thumb (5) and a palm (11), and the index finger (1), the middle finger (2), the ring finger (3) and the little finger (4) are arranged on the palm (11);
The palm (11) comprises: the hand support plate (1105), the thumb rotary table (1108), the thumb rotary motor speed reducer (1109), the nut (1110), the thumb rotary motor frame (1111), the lead screw (1112), the guide rail (1113), the bearing seat (1115), the fixing pin (1116) and the thumb rotary shaft (1118), the thumb rotary motor speed reducer (1109) is fixed on the thumb rotary motor frame (1111), the thumb rotary motor frame (1111) is fixed on the hand support plate (1105), the output shaft of the thumb rotary motor speed reducer (1109) is fixed at the lower end of the lead screw (1112), the upper part of the lead screw (1112) is screwed with the nut (1110), the front side and the rear side of the nut (1110) are provided with long grooves penetrating in the vertical direction, the long grooves on the front side and the rear side of the nut (1110) are respectively connected with a guide rail (1113) in a sliding way, the guide rails (1113) are fixed on the hand support plate (1105) to realize the up-down sliding of the nut (1110) along the guide rails (1113), the nut (1110) is provided with a nut beam (1117) which stretches out backwards, the nut beam (1117) is used for fixing the left end of a fixed pin (1116), the right end of the fixed pin (1116) slides in a sliding groove (1114), the thumb turntable (1108) stretches out downwards and forwards to form a driving beam, the driving beam is provided with a sliding groove (1114), the sliding groove (1114) is horizontally arranged along the left-right direction, the lower end of the thumb rotary table (1108) is fixed with the left end of the thumb rotary shaft (1118), the right part of the thumb rotary shaft (1118) is arranged in an inner hole of a bearing seat (1115), and the bearing seat (1115) is fixed on a hand supporting plate (1105);
The thumb turntable (1108) is provided with a thumb (5);
the structure of the index finger (1) is the same as that of the middle finger (2), the ring finger (3) and the little finger (4), the index finger (1) comprises an index finger connecting shaft (101), a belt pulley I (110), a finger motor speed reducer (111), a bevel gear I (113), a bevel gear II (115), a duplex wheel (116), a bevel gear IV (120) and a bevel gear V (121), the upper end and the lower end of the index finger connecting shaft (101) are respectively rotationally connected with the rear ends of an upper palm finger board (102) and a lower palm finger board (109), the belt pulley I (110) is fixed by the index finger connecting shaft (101), the finger motor speed reducer (111) is directly or indirectly fixed on the upper palm finger board (102), the bevel gear I (113) is fixed by an output shaft of the finger motor speed reducer (111), and the bevel gear I (113) is simultaneously meshed with the bevel gears II (115) and the bevel gear III arranged at the upper end of the duplex wheel (116);
the bevel gear II (115) is fixed on the upper proximal pin (114), the upper part of the upper proximal pin (114) is rotationally connected with the front end of the upper palm fingerboard (102), the middle part of the upper proximal pin (114) is fixedly connected with the rear end of the upper proximal fingerboard (103), the duplex wheel (116) is movably sleeved at the upper end of the lower proximal pin (108), the lower proximal fingerboard (107) is hinged with the lower palm fingerboard (109) through the lower part of the lower proximal pin (108), the lower proximal pin (108) is rotationally connected with the lower palm fingerboard (109) of the lower proximal fingerboard (107), and the synchronous belt pulley II arranged at the lower end of the duplex wheel (116) is in belt transmission connection with the belt pulley I (110) through a synchronous belt (117);
The first bevel gear (113) is connected with the rotating disc (118) through a slide bar transmission mechanism, the rotating disc (118) is synchronously connected with the transmission disc through a transmission rod (125), and synchronous rotation can be realized after the positions of the first bevel gear (113) and the rotating disc (118) are changed;
the transmission disc (126) is fixed at the rear end of the rotating shaft (127), the middle part of the rotating shaft (127) is rotationally connected with the rotating shaft support (134), the rotating shaft support (134) is fixed on the upper near-end fingerboard (103), the transmission disc (126) is rotationally installed on the rotating disc support (128), the middle part of the rotating shaft (127) is rotationally connected with the rotating shaft support (134), the rotating disc support (128) and the rotating shaft support (134) are fixed on the upper near-end fingerboard (103), the front end of the rotating shaft (135) is fixed with the bevel gear five (121), the bevel gear five (121) is meshed with the bevel gear four (120), the bevel gear four (120) is fixed on the upper far-end pin (119), the upper far-end pin (119) is fixed at the rear end of the upper far-end fingerboard (104), the upper far-end pin (119) is rotationally connected with the front end of the upper near-end fingerboard (103), the rotating shaft (127) is coaxial with the transmission disc (126), the rotating disc (118) is coaxially arranged with the bevel gear one (113), and the front end of the lower near-end fingerboard (107) is hinged with the rear end of the far-end fingerboard (105) through the lower far-end pin (106); the upper proximal pin (114) is coaxial with the lower proximal pin (108), and the lower distal pin (106) is coaxial with the upper distal pin (119);
The slide bar transmission mechanism comprises a rear slide bar (122), slide bar pins (123), front slide bars (124), transmission bars (125) and sliding sleeves (129), three rear slide bars (122) are uniformly distributed along the circumferential direction of the bevel gear I (113), the three rear slide bars (122) are horizontally arranged along the front and rear directions, the three rear slide bars (122) slide back and forth along slide bar holes arranged on the bevel gear I (113), the rear slide bars are rotationally connected along the slide bar holes, the front part of each rear slide bar (122) is hinged with one front slide bar (124) through one slide bar pin (123), the slide bar pins (123) are arranged along the vertical direction, each front slide bar (124) in the three front slide bars (124) is respectively and slidably connected with one sliding sleeve (129), the three sliding sleeves (129) are uniformly distributed along the circumferential direction of the rotating disc (118), and the three sliding sleeves (129) are rotationally connected with the axially arranged sliding sleeve holes of the rotating disc (118);
each sliding sleeve (129) passes through the rotating disc (118) forwards and then fixes the upper rear extension end of one transmission rod (125), the front extension end is rotationally connected with a transmission rod mounting hole arranged on the transmission disc (126), the transmission disc (126) and the rotating disc (118) have the same structure, and the center distance between the transmission disc (126) and the rotating disc (118) along the up-down direction is equal to the distance between the rear extension end and the front extension end of the transmission rod (125);
The bionic motion function upper limb also comprises a first reed (130), a first reed seat (131), a second reed (132) and a second reed seat (133), wherein after each sliding sleeve (129) passes through the rotating disc (118) backwards, the second reed seat (133) is fixed on the upper side and the lower side of the second reed seat (133), the second reed seat (132) is fixed with elasticity, the second reed (132) is contacted with the front sliding rod (124) so as to prevent the front sliding rod (124) from sliding independently when the upper palm fingerboard (102) is collinear with the upper near end fingerboard (103), the position of the rear end of the first bevel gear (113) corresponding to the rear sliding rod (122) is fixed with the first reed seat (131), the upper side and the lower side of the first reed seat (131) are respectively provided with the first reed seat (130), the first reed seat (130) is elastic, and the first reed seat (130) is contacted with the rear sliding rod (122) so as to prevent the rear sliding independently.
2. The simulated motion functional upper limb of claim 1, wherein: the wrist joint (22) include wrist axle (2201), wrist bevel gear one (2202), wrist bevel gear two (2203), gear shaft (2204), wrist motor reducer (2205), wrist motor frame (2206), wrist pivot support (2207), wrist support board (1105) rear end set up two wrist joint connecting plates (1106) that stretch out backward, upper and lower part of wrist axle (2201) respectively rotate and install wrist joint connecting plate (1106), wrist bevel gear two (2203) are fixed to wrist axle (2201), wrist bevel gear two (2203) and wrist bevel gear one (2202) mesh, the upper and lower end of wrist axle (2201) fixed connection forearm front end respectively, wrist bevel gear one (2202) fix the front end in gear shaft (2204), the middle part of gear shaft (2204) rotates and installs in wrist shaft support (2207), wrist shaft support (2207) upper and lower extreme are fixed respectively on the forearm, shaft hole fixed connection motor reducer (2205) that gear shaft (2204) rear end set up is fixed on wrist motor reducer (2206), wrist motor reducer (2206) are fixed on wrist motor frame (2206).
3. The simulated motion functional upper limb of claim 2, wherein: the forearm (33) comprises: the wrist motor comprises an upper small arm support (3301), a small arm connecting plate (3302) and a lower small arm support (3303), wherein the upper end and the lower end of a wrist shaft (2201) are respectively fixed with the front ends of the upper small arm support (3301) and the lower small arm support (3303), the upper end and the lower end of a wrist rotating shaft support (2207) are respectively fixed on the upper small arm support (3301) and the lower small arm support (3303), the upper end and the lower end of a wrist motor frame (2206) are respectively fixed on the upper small arm support (3301) and the lower small arm support (3303), and the left side and the right side of the upper small arm support (3301) and the left side and the right side of the lower small arm support (3303) are respectively fixedly connected through a small arm connecting plate (3302).
4. The simulated motion functional upper limb of claim 1, wherein: the front end of the hand supporting plate (1105) is provided with an index finger mounting table (1101), a middle finger mounting table (1104), a ring finger mounting table (1103) and a little finger mounting table (1102) from top to bottom in sequence, and index fingers, middle fingers, ring fingers and little fingers are respectively mounted.
5. The simulated motion functional upper limb of claim 1, wherein: the thumb (5) comprises: the thumb connecting shaft (501), the first thumb pulley (510), the double-connected thumb wheel (511), the first thumb bevel gear (513), the thumb motor speed reducer (514), the thumb motor rack (515) and the second thumb bevel gear (516), wherein the rear end and the front end of the thumb connecting shaft (501) are respectively and rotatably connected with the lower end of the upper thumb plate (502) and the lower thumb plate (507), the first thumb pulley (510) is fixed on the upper thumb plate (502) through the thumb motor rack (515), the first thumb bevel gear (513) is fixed on the output shaft of the thumb motor speed reducer (514) through the first thumb motor rack (513), the first thumb bevel gear (513) is meshed with the second thumb bevel gear (516) and the third thumb bevel gear (511) arranged at the rear end of the double-connected thumb pulley (511), the small end of the second thumb bevel gear (516) is opposite to the small end of the third thumb bevel gear (516), the second thumb (516) is fixed on the upper proximal pin (503), the lower end of the upper thumb plate (504) is fixed on the upper proximal pin (503), the upper end of the upper thumb pin (503) is connected with the upper thumb pulley (509) through the second thumb belt (509) and the upper thumb belt pulley (509) is connected with the front thumb belt pulley (510) through the double-connected with the thumb belt pulley (511), the thumb duplex wheel (511) is movably sleeved on a thumb lower proximal pin (512), and the thumb lower proximal pin (512) is rotationally connected with the lower end of the thumb lower distal plate (506) and the upper end of the thumb lower metacarpophalangeal plate (507);
The thumb rotary table (1108) is provided with a thumb mounting hole for fixing the thumb connecting shaft (501), the front side and the rear side of the thumb upper metacarpal finger plate (502) and the thumb lower metacarpal finger plate (507) are respectively and fixedly connected through a thumb metacarpal finger connecting plate (508), and the front side and the rear side of the thumb upper distal end plate (504) and the thumb lower distal end plate (506) are respectively and fixedly connected through a thumb distal end connecting plate (505).
6. The simulated motion functional upper limb of claim 5, wherein: index finger mounting holes arranged on an index finger mounting table (1101) are used for fixing an index finger connecting shaft (101), middle finger mounting holes arranged on a middle finger mounting table (1104) are used for fixing a middle finger connecting shaft, ring finger mounting holes arranged on a ring finger mounting table (1103) are used for fixing a ring finger connecting shaft, and little finger mounting holes arranged on a little finger mounting table (1102) are used for fixing a little finger connecting shaft.
7. The simulated motion functional upper limb of any of claims 1-6, wherein: the front side and the rear side of the hand supporting plate (1105) are respectively fixed with a palm front cover (1119) and a palm rear cover (1107).
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| CN201811048806.2A CN108972515B (en) | 2018-09-10 | 2018-09-10 | Bionic movement function upper limb |
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| CN201811048806.2A CN108972515B (en) | 2018-09-10 | 2018-09-10 | Bionic movement function upper limb |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109938963A (en) * | 2019-03-15 | 2019-06-28 | 杭州电子科技大学 | Worn type hand mechanical exoskeleton with auxiliary grasping and rehabilitation training function |
| DE102020115096A1 (en) | 2020-06-05 | 2021-12-09 | Stefan Schulz | Metacarpal for a hand prosthesis |
| CN112773661B (en) * | 2020-12-28 | 2022-04-01 | 燕山大学 | Exoskeleton forefinger function rehabilitation robot |
| CN112716751B (en) * | 2020-12-28 | 2022-02-18 | 燕山大学 | Exoskeleton finger rehabilitation robot |
| CN112659165B (en) * | 2021-01-26 | 2024-02-13 | 韩靖 | Simulation manipulator |
| CN112809716B (en) * | 2021-01-26 | 2022-03-08 | 韩靖 | Master finger assembly of simulation manipulator |
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