CN101879101B - Bionic mechanical prosthetic hand driven by wrist joint - Google Patents

Abstract

The invention relates to a wrist joint-driven bionic mechanical prosthetic hand, which includes a wrist module, a palm joint module, and several finger mechanisms. The finger mechanism includes a first finger joint, a second finger joint, a third finger joint, a small joint connecting rod, a large Joint linkage, wherein, one end of the first knuckle is connected with the small joint linkage and the second knuckle respectively; one end of the second knuckle is respectively connected with the large joint linkage and the third knuckle; one end of the third knuckle is connected with the through Axis connection; one end of the large joint connecting rod is connected to the wrist joint driving rod, and the other end is connected to the small joint connecting rod; the wrist module includes the wrist joint driving rod, the wrist connecting block and the wrist fixing ring, and the wrist fixing ring fixed on the wrist Rotately connect with the wrist connecting block through the connecting shaft. The prosthetic hand not only has the functions of flexion and extension of human fingers, but also has the functions of grasping and pinching.

Description

Wrist-driven bionic mechanical prosthetic hand

technical field

The invention relates to an upper limb prosthesis of a medical device, in particular to a bionic mechanical prosthetic hand driven by a wrist joint that can realize the bionic grasping function of fingers by using the movement of the wrist joint.

Background technique

The research on the humanoid prosthetic hand of the disabled is to improve the quality of life of the disabled and promote the development of social rehabilitation. This research has become a hot spot in rehabilitation engineering and robotics. Since the 1990s, intelligent dexterous hands with precise grasping and manipulation have appeared one after another, such as NASA's humanoid dexterous hand and DLR's humanoid dexterous hand. This type of hand is based on space operations, has multiple sensory functions, and has a high degree of intelligence. , the system is complex. On this basis, humanoid hands with light weight, simple structure and multiple fingers, such as Southampton hand, TBM hand, OTTOBOCK hand, etc., have come out one after another. This type of prosthetic hand has good anthropomorphic features in terms of shape and weight, but it is expensive compared to the actual situation of most disabled people.

Contents of the invention

The present invention is to provide a bionic mechanical prosthetic hand driven by a wrist joint. The mechanical prosthetic hand is simple in structure, light in weight, and can realize finger grasping action through its own force source (wrist joint flexion and extension).

In order to achieve the above object, the technical solution adopted in the present invention is: a wrist joint-driven bionic mechanical prosthetic hand, comprising a wrist module, a palm joint module, several finger mechanisms, and its characteristics are:

The finger mechanism includes a first knuckle, a second knuckle, a third knuckle, a small joint connecting rod, and a large joint connecting rod, wherein, one end of the first knuckle is respectively connected with the small joint connecting rod and the second knuckle; One end of the finger joint is respectively connected with the large joint connecting rod and the third finger joint; one end of the third finger joint is connected with the through shaft; one end of the large joint connecting rod is connected with the wrist joint driving rod, and the other end is connected with the small joint connecting rod;

The wrist module includes a wrist joint driving rod, a wrist connecting block and a wrist fixing ring, and the wrist fixing ring fixed on the wrist is rotationally connected with the wrist connecting block through a connecting shaft.

The wrist connection block is connected with the wrist joint drive rod, the palm joint module and the large joint connecting rod and the through shaft to form the first linkage mechanism. The rod mechanism makes the connecting rod of the large joint rotate around the through axis;

The large joint connecting rod, the third finger joint, the through shaft, the palm joint module, the wrist joint driving rod and the small joint connecting rod form the second connecting rod mechanism. Driven by the large joint connecting rod, the small joint connecting rod is The connecting axis of the three finger joints rotates.

Compared with the existing prosthetic hand products, the present invention has the following advantages and beneficial effects:

The prosthetic hand utilizes the function of the wrist joint retained in the residual part of the hand, and combines it with a mechanical humanoid prosthetic finger. When the wrist joint flexes and extends, it will drive the metacarpophalangeal drive mechanism on the mechanical anthropomorphic artificial finger to rotate, so as to achieve passive flexion and extension of the mechanical anthropomorphic artificial finger. The design of the mechanism also takes into account the characteristics of simulating the slight flexion of fingers in the natural state of a normal human hand. The mechanical prosthetic hand only adopts force drive rod and parallel drive rod for transmission, and has the characteristics of simple structure, light weight, and convenient maintenance, so that the joint structure function of the mechanical humanoid prosthetic finger is similar to that of the human finger, and it also has the advantages of existing Cosmetic fingers or general myoelectric prosthetic fingers cannot realize the function of flexion and extension of human finger joints.

The prosthetic hand has a humanoid practical design in terms of appearance and movement form. It not only has the functions of flexion and extension of human fingers, but also has the functions of grasping and pinching. in the mutilated hand.

Description of drawings

Fig. 1 is an assembly drawing of the present invention;

Fig. 2 is a side view when the fingers are not bent;

Fig. 3 is a side view when bending a finger;

Fig. 4 is the unbent side view of fingers when the simulated amputee hand is worn;

Fig. 5 is a side view of fingers bent when the simulated amputee hand is worn.

Detailed ways

Below in conjunction with accompanying drawing and example the present invention will be further described

As shown in Figures 1 to 5, the prosthetic hand of the present invention is mainly composed of a wrist module, a finger mechanism, and a palm joint module. Among them, the finger mechanism can be divided into a finger drive module and various knuckle parts. The finger mechanism is mainly composed of the first finger joint 1, the second finger joint 3, the third finger joint 5, the small joint connecting rod 2, and the large joint connecting rod 4. The wrist module is composed of a wrist joint driving rod 7 , a wrist connecting block 9 and a wrist fixing ring 8 .

第一指关节1一端分别与小关节连杆2和第二指关节3连接；第二指关节3的一端分别与大关节连杆4以及第三指关节5连接；第三指关节5一端与掌关节模块10连接；大关节连杆4一端与腕关节驱动杆7连接，另一端与小关节连杆2连接。固定在腕部的腕固定环8，与其连接的是腕部连接块9，腕关节可以绕连接轴作摆动，增加了腕部的活动范围。

One end of the first knuckle 1 is respectively connected with the small joint connecting rod 2 and the second knuckle 3; one end of the second knuckle 3 is respectively connected with the large joint connecting rod 4 and the third knuckle 5; one end of the third knuckle 5 is connected with the The palm joint module 10 is connected; one end of the large joint connecting rod 4 is connected with the wrist joint driving rod 7 , and the other end is connected with the small joint connecting rod 2 . The wrist fixing ring 8 fixed on the wrist is connected with the wrist connection block 9, and the wrist joint can swing around the connecting shaft, which increases the range of motion of the wrist.

②The first link mechanism is formed by wrist connecting block No. 9, wrist joint driving rod 7, palm joint module 10, large joint connecting rod 4 and through shaft 6. Driven by the broken palm, the palm joint module 10 makes it wrap around the wrist The rotation of the connecting shaft of the connecting block 9 drives the movement of the first link mechanism to realize the first transmission. This transmission will make the large joint connecting rod 4 rotate around its connecting shaft with the through shaft 6 passing through the upper hole.

③The second link mechanism is composed of the large joint link 4, the third finger joint 5, the through shaft 6, the palm joint module 10, the wrist joint drive link 7 and the small joint link 2, driven by the large joint link 4 Realize the second transmission. This transmission will cause the small joint link 2 to rotate around its connection axis with the third knuckle 5 .

④The first finger joint 1, small joint link 2, second finger joint 3, large joint link 4 and third finger joint 5 form the third link mechanism, and the third link mechanism is realized under the drive of the small joint link 2. transmission. This transmission will cause the first knuckle 1 to rotate around the connecting axis of its small joint link 2 .

Claims (2)

1. bionic mechanical prosthetic hand driven by wrist joint; Comprise wrist module, metacarpal joint module; Several finger mechanisms, it is characterized in that: said finger mechanism comprises first articulations digitorum manus (1), second articulations digitorum manus (3), the 3rd articulations digitorum manus (5), little joint connecting rod (2), big joint connecting rod (4); Wherein, first articulations digitorum manus (1) one end is connected with second articulations digitorum manus (3) with little joint connecting rod (2) respectively; One end of second articulations digitorum manus (3) is connected with big joint connecting rod (4) and the 3rd articulations digitorum manus (5) respectively; The 3rd articulations digitorum manus (5) one ends are connected with metacarpal joint module (10), and big joint connecting rod (4) one ends are connected with wrist joint drive rod (7), and the other end is connected with little joint connecting rod (2); Wrist module comprises wrist joint drive rod (7), wrist contiguous block (9), wrist retainer ring (8), and the wrist retainer ring (8) that is fixed on wrist is rotationally connected through connecting axle and wrist contiguous block (9); By said wrist contiguous block (9), wrist joint drive rod (7); Metacarpal joint module (10) and big joint connecting rod (4) with run through axle (6) and be connected to form first connecting rod mechanism, the disconnected palm drives metacarpal joint module (10) and it is rotated around the connecting axle with wrist contiguous block (9) drive first connecting rod mechanism and make big joint connecting rod (4) around running through axle (6) rotation.

2. bionic mechanical prosthetic hand driven by wrist joint according to claim 1; It is characterized in that: said big joint connecting rod (4), the 3rd articulations digitorum manus (5), run through axle (6), a metacarpal joint module (10), wrist joint drive rod (7) and form second connecting rod mechanism, under the driving of big joint connecting rod (4), make the connecting axle commentaries on classics of little joint connecting rod (2) around itself and the 3rd articulations digitorum manus (5) with little joint connecting rod (2).

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