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CN104799982B - Single motor underactuated prosthetic hand based on continuum differential mechanism - Google Patents

Single motor underactuated prosthetic hand based on continuum differential mechanism Download PDF

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Publication number
CN104799982B
CN104799982B CN201510246103.0A CN201510246103A CN104799982B CN 104799982 B CN104799982 B CN 104799982B CN 201510246103 A CN201510246103 A CN 201510246103A CN 104799982 B CN104799982 B CN 104799982B
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fixed
connecting rod
prosthetic hand
knuckle
motor
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CN104799982A (en
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徐凯
朱向阳
刘欢
杜宇恒
刘增辉
盛鑫军
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Shanghai Jiao Tong University
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Abstract

The invention discloses a kind of prosthetic hand, this prosthetic hand includes palm, electric-motor drive unit and continuum differential attachment, and wherein electric-motor drive unit and continuum differential attachment are fixed on palm.One tunnel output can be converted to multiple-channel output by continuum differential attachment, thus controls the motion of each finger respectively, and should be when prosthetic hand grasping object, and continuum differential attachment can flexural deformation.In the prosthetic hand of the present invention, owing to have employed continuum differential attachment, therefore structure is relatively easy, and when wherein certain root or a few fingers touch object, not in contact with bear on the B alloy wire corresponding to the finger of object load less thus can continue motion, the Continuum Structure within continuum differential attachment can be made to continue deformation, the finger making correspondence still can continue bending, until these fingers also completely attach to object, make four fingers all contact the outer surface profile of crawled object, thus realize well capturing or the function of operation object.

Description

基于连续体差动机构的单电机欠驱动假肢手Single motor underactuated prosthetic hand based on continuum differential mechanism

技术领域technical field

本发明涉及一种仿人形的欠驱动假肢手,具体地说是一种基于连续体差动机构的仅使用一个电机驱动的欠驱动假肢手,应用于康复医疗器械领域,特别适用于手部截肢患者。The invention relates to a humanoid underactuated prosthetic hand, specifically an underactuated prosthetic hand driven by only one motor based on a continuum differential mechanism, which is applied in the field of rehabilitation medical equipment, and is especially suitable for hand amputation patient.

背景技术Background technique

由于意外事故、工伤、疾病等原因,世界上产生了大量截肢患者,其中多半是手部截肢患者,他们无法独立完成日常的生活需求,因而生活质量显著降低。为了提高手部截肢残疾人的生活质量,相关公司和科研机构开发出了各种各样的假肢,包括取得广泛应用的单自由度假肢手以及具有仿人形的多自由度假肢手。Due to accidents, industrial injuries, diseases and other reasons, there are a large number of amputee patients in the world, most of whom are hand amputee patients. They cannot independently complete daily life needs, so the quality of life is significantly reduced. In order to improve the quality of life of people with hand amputations, related companies and scientific research institutions have developed a variety of prosthetics, including widely used single-free prosthetic hands and multi-free prosthetic hands with humanoid shapes.

单自由度假肢手可以通过简单的手指开合来完成有限的抓握动作,功能单一,实用性较差,且不具有仿人外形,穿戴以后与人体不和谐,易受到患者排斥。多自由度假肢手具有人手外观,易被患者接受,且设有与人手相近的关节数从而具有更好的灵活性,可以实现多种多样的动作,但是这种多自由度假肢手由于使用较多铰链、连杆或其他的传统传动方式,结构复杂、成本高,目前还没有得到广泛的应用。The single-free prosthetic hand can complete limited grasping actions by simply opening and closing fingers. It has a single function, poor practicability, and does not have a humanoid shape. After wearing it, it is not harmonious with the human body and is easily rejected by patients. The multi-freedom prosthetic hand has the appearance of a human hand, is easily accepted by patients, and has a similar number of joints to the human hand, so it has better flexibility and can achieve a variety of actions, but this multi-freedom prosthetic hand is relatively difficult to use Multiple hinges, connecting rods or other traditional transmission methods have complex structures and high costs, and have not been widely used yet.

发明内容Contents of the invention

本发明的目的是提供一种能适应不同的物体形状,从而可以完成更协调、与人手更为相近的运动的假肢手。The object of the present invention is to provide a prosthetic hand that can adapt to different shapes of objects, so that it can perform more coordinated movements that are closer to human hands.

为实现上述目的,本发明提出了一种新型的欠驱动假肢手,仅采用一个电机作为驱动输入,将电机的驱动输入分配到五个驱动输出,继而传递到五个手指的各个关节上,以完成假肢手的顺应抓取动作;特别设计了一种连续体差动机构,其驱动输入与驱动输出各部分完整相连并可连续变形。在电机的驱动下,连续体差动机构不仅可以整体地移动,同时,在抓取不同的物体时,连续体差动机构还可以产生对应的变形,使得各路运动输出具有不同的输出量,从而使假肢手对不同的抓取物体具有适应性。In order to achieve the above object, the present invention proposes a new type of underactuated prosthetic hand, which uses only one motor as the drive input, distributes the drive input of the motor to five drive outputs, and then transmits it to each joint of the five fingers, so as to Completing the compliant grasping action of the prosthetic hand; a continuum differential mechanism is specially designed, and its drive input and drive output parts are completely connected and can be deformed continuously. Driven by the motor, the continuum differential mechanism can not only move as a whole, but at the same time, when grabbing different objects, the continuum differential mechanism can also produce corresponding deformations, so that the output of each channel has different output. This makes the prosthetic hand adaptable to different grasping objects.

由于连续体差动机构中不使用铰链、连杆等传统运动副,从而消除了传动系统的回差。大量使用弹性合金丝作为驱动与传递元件,使假肢手具有很强的自适应能力,同时明显减轻了假肢手的重量。Since the traditional kinematic pairs such as hinges and connecting rods are not used in the continuum differential mechanism, the hysteresis of the transmission system is eliminated. A large number of elastic alloy wires are used as the driving and transmission elements, so that the prosthetic hand has a strong adaptive ability, and at the same time, the weight of the prosthetic hand is significantly reduced.

系统仅采用一个电机作为驱动输入,实现较多的运动输出,结构简单,成本明显降低。同时各个手指之间的运动通过连续体差动机构相互关联,使手指各个关节具有协调的运动关系,并且能适应不同的物体形状,假肢手从而可以完成更协调、与人手更为相近的运动。The system only uses one motor as the drive input to achieve more motion output, the structure is simple, and the cost is significantly reduced. At the same time, the movement of each finger is related to each other through the continuum differential mechanism, so that each joint of the finger has a coordinated movement relationship, and can adapt to different object shapes, so that the prosthetic hand can complete a more coordinated movement that is closer to the human hand.

本发明的假肢手主要由手掌和手指,电机驱动单元,连续体差动机构以及电池组成。本发明的假肢手仿照人手尺寸构建,具有与人手相近的外观与尺寸。The prosthetic hand of the present invention is mainly composed of palm and fingers, a motor drive unit, a continuum differential mechanism and a battery. The prosthetic hand of the present invention is constructed according to the size of the human hand, and has a similar appearance and size to the human hand.

假肢手主要由手掌和五根手指组成,五根手指分别固定在手掌上对应位置。其中拇指由一根传动轴直接驱动,实现手指的弯曲和展开,其余四个手指由连续体差动机构将一路运动输入转化为4路运动输出,从而驱动除拇指外的四根手指。拇指的翻转指节为被动,外力可调整拇指的翻转状态,拇指翻转关节在关节内摩擦力作用下可保持在任意翻转状态,从而使得假肢手适合于不同物体的抓取。The prosthetic hand is mainly composed of the palm and five fingers, and the five fingers are respectively fixed at corresponding positions on the palm. Among them, the thumb is directly driven by a transmission shaft to realize the bending and unfolding of the fingers, and the other four fingers are converted from one motion input to four motion outputs by the continuum differential mechanism, thereby driving the four fingers except the thumb. The turning knuckle of the thumb is passive, and the turning state of the thumb can be adjusted by external force. The turning joint of the thumb can be kept in any turning state under the action of internal friction of the joint, so that the prosthetic hand is suitable for grasping different objects.

电机驱动单元:电机驱动单元固定在手掌内部。电机通过一个支架固定在基座上,基座上同时固定中空轴,中空轴内布置有线性轴承,线性轴承内有一根传动轴在其中滑动,传动轴上固定有一个齿条,与电机上的齿轮啮合,电机的转动通过齿轮齿条带动传动轴在线性轴承内前后运动。传动轴的末端连接到拇指的驱动连杆上,带动拇指弯曲和伸展。同时,齿条上还固定有一个用于夹持合金丝的夹持结构,从而驱动连续体差动机构的输入合金丝也同时前后运动。Motor drive unit: The motor drive unit is fixed inside the palm. The motor is fixed on the base through a bracket, and the hollow shaft is fixed on the base at the same time. A linear bearing is arranged inside the hollow shaft, and a transmission shaft slides in the linear bearing. The gears mesh, and the rotation of the motor drives the drive shaft to move back and forth in the linear bearing through the rack and pinion. The end of the drive shaft connects to the thumb's drive link, which flexes and extends the thumb. At the same time, a clamping structure for clamping the alloy wire is also fixed on the rack, so that the input alloy wire driving the continuum differential mechanism also moves forward and backward at the same time.

连续体差动机构:连续体差动机构是指驱动输入与驱动输出通过弹性元件连接,组成各部分完整相连的可连续变形的传动机构。连续体差动机构的输入合金丝的一端与传动轴固定在一起,通过电机驱动可前后移动;输入合金丝穿过固定盘,另一端固定在一个末端盘的中部,末端盘的两端分别固定有一根第一输出合金丝,这样就形成了一个连续体差动机构的基本单元,将一路运动输入分成了两路运动输出。一个运动输入不仅可以带动两个运动输出同时运动,在两路运动输出的负载力不均衡的情况下,三根合金丝会朝向同一个方向弯曲,使得两根第一输出合金丝具有不同的输出量。进一步地,两根第一输出合金丝分别穿过固定盘,固定在另外两个末端盘的中部,每个末端盘同样地固定有两根第二输出合金丝,这样就将一路运动输入分配给了四路运动输出。四路运动输出的合金丝分别固定在四根手指的连杆上,就可以带动四根手指实现弯曲、伸展运动。Continuum differential mechanism: The continuum differential mechanism refers to a continuously deformable transmission mechanism in which the drive input and drive output are connected through elastic elements to form a complete connection of each part. One end of the input alloy wire of the continuum differential mechanism is fixed with the transmission shaft, and can be moved forward and backward by the motor drive; the input alloy wire passes through the fixed plate, and the other end is fixed in the middle of an end plate, and the two ends of the end plate are respectively fixed There is a first output alloy wire, which forms a basic unit of a continuum differential mechanism, which divides one motion input into two motion outputs. One motion input can not only drive two motion outputs to move at the same time, when the load force of the two motion outputs is unbalanced, the three alloy wires will bend in the same direction, so that the two first output alloy wires have different outputs . Further, the two first output alloy wires respectively pass through the fixed disks and are fixed in the middle of the other two end disks, and each end disk is also fixed with two second output alloy wires, thus distributing one movement input to There are four motion outputs. The alloy wires output by the four-way movement are respectively fixed on the connecting rods of the four fingers, which can drive the four fingers to realize bending and stretching movements.

手掌内同时嵌入有电池以及控制电路,构成一个完成的假肢手系统。该假肢手系统可以通过接收腔装在患者的残肢上,就能够通过肌电信号等方式控制假肢手实现各种抓取动作。A battery and a control circuit are embedded in the palm to form a complete prosthetic hand system. The prosthetic hand system can be installed on the patient's residual limb through the receiving cavity, and can control the prosthetic hand to realize various grasping actions by means of myoelectric signals and the like.

根据本发明的一方面,提供了一种假肢手,其特征在于,所述假肢手包括:According to one aspect of the present invention, a kind of prosthetic hand is provided, it is characterized in that, described prosthetic hand comprises:

电机驱动单元,所述电机驱动单元设有基座和电机,其中所述电机固定于所述基座上且电机的输出轴上设有齿轮,所述基座上同时固定有中空轴,该中空轴内设有一根传动轴在其中滑动,该传动轴上固定有一个齿条,该齿条与电机上的齿轮啮合,从而电机的转动通过齿轮齿条啮合而带动所述传动轴在中空轴内直线运动;该传动轴的末端连接到拇指的驱动连杆上,用于带动拇指弯曲和伸展;以及齿条上还固定有一个用于夹持合金丝的夹持结构;A motor drive unit, the motor drive unit is provided with a base and a motor, wherein the motor is fixed on the base and the output shaft of the motor is provided with a gear, and a hollow shaft is fixed on the base at the same time. There is a transmission shaft sliding in the shaft, and a rack is fixed on the transmission shaft, and the rack meshes with the gear on the motor, so that the rotation of the motor drives the transmission shaft in the hollow shaft through the meshing of the rack and pinion. linear motion; the end of the drive shaft is connected to the thumb drive link to drive the thumb to bend and extend; and a clamping structure for clamping the alloy wire is also fixed on the rack;

连续体差动机构,所述连续体差动机构设有固定盘、多个末端盘、输入合金丝、第一输出合金丝和第二输出合金丝,所述固定盘上设有供所述输入合金丝和输出合金丝穿过的多个孔,所述输入合金丝的一端与所述夹持结构固定连接,从而通过电机的驱动实现直线移动,而另一端固定于一个末端盘的中部;该末端盘的两端分别固定有一根第一输出合金丝的一端,该两根第一输出合金丝的另一端分别穿过所述固定盘并固定在另外两个末端盘的中部,所述另外两个末端盘中的每个的两端分别固定有一根第二输出合金丝,从而四根所述第二输出合金丝穿过所述固定盘并分别与所述假肢手的对应手指连接,从而带动除了拇指之外的四根手指运动;以及A continuum differential mechanism, the continuum differential mechanism is provided with a fixed disc, a plurality of end discs, an input alloy wire, a first output alloy wire and a second output alloy wire, and the fixed disc is provided with a A plurality of holes through which the alloy wire and the output alloy wire pass, one end of the input alloy wire is fixedly connected to the clamping structure, so as to realize linear movement through the drive of the motor, and the other end is fixed in the middle of an end disc; the One end of a first output alloy wire is respectively fixed at both ends of the end plate, and the other ends of the two first output alloy wires respectively pass through the fixed plate and are fixed in the middle of the other two end plates, and the other two A second output alloy wire is respectively fixed at both ends of each of the two terminal plates, so that the four second output alloy wires pass through the fixed plate and are respectively connected with the corresponding fingers of the prosthetic hand, thereby driving four-finger movements other than the thumb; and

手掌,用于固定所述电机驱动单元和所述连续体差动机构以及手指。The palm is used to fix the motor drive unit, the continuum differential mechanism and fingers.

较佳地,所述假肢手还包括电池和控制器,所述电池为所述电机和所述控制器供电,所述控制器用于接收肌电信号或外部信号来驱动电机转动。Preferably, the prosthetic hand further includes a battery and a controller, the battery supplies power to the motor and the controller, and the controller is used to receive myoelectric signals or external signals to drive the motor to rotate.

较佳地,所述电机驱动单元的所述基座上同时固定有两个环形支架,所述中空轴的两端分别连接于所述两个环形支架,且拇指固定于所述中空轴上,其中所述两个环形支架中一个为开口环并设有螺钉,用来调整该环形支架和中空轴之间的摩擦力,使得拇指的翻转能够被调整,同时保持调整后的姿态。Preferably, two ring-shaped brackets are fixed on the base of the motor drive unit at the same time, the two ends of the hollow shaft are respectively connected to the two ring-shaped brackets, and the thumb is fixed on the hollow shaft, One of the two ring brackets is a split ring and is provided with screws for adjusting the friction between the ring bracket and the hollow shaft, so that the turning of the thumb can be adjusted while maintaining the adjusted posture.

一优选实施例中,所述拇指从根部到末端依次设有翻转指节、第二指节和第三指节,它们之间分别通过销钉连接,构成三个旋转关节,其中翻转指节固定于所述中空轴上,所述第二指节经由连杆与所述传动轴的一端连接。In a preferred embodiment, the thumb is sequentially provided with a turning knuckle, a second knuckle and a third knuckle from the root to the end, and they are respectively connected by pins to form three rotating joints, wherein the turning knuckle is fixed on On the hollow shaft, the second knuckle is connected to one end of the transmission shaft via a connecting rod.

上述实施例中,优选地,所述传动轴上固定有第一连杆,第一连杆与第二连杆的一端通过第一销钉连接,第二连杆的另一端与第三连杆通过第二销钉连接,第二连杆同时通过第二销钉连接在第二指节上,第二连杆还通过第三销钉连接有第三连杆,第三连杆穿过第二指节连接到第四销钉上,第四销钉连接在拇指的第三指节上。In the above embodiment, preferably, the first connecting rod is fixed on the transmission shaft, one end of the first connecting rod is connected with the second connecting rod through the first pin, and the other end of the second connecting rod is connected with the third connecting rod through The second pin is connected, the second connecting rod is connected to the second knuckle through the second pin at the same time, the second connecting rod is also connected to the third connecting rod through the third pin, the third connecting rod passes through the second knuckle and is connected to the On the fourth pin, the fourth pin attaches to the third knuckle of the thumb.

一优选实施例中,除了拇指之外的每个手指包括底座、第一指节和第二指节,底座固定于手掌上,第一指节与底座通过第一销钉和第一连杆连接,第一指节和第二指节之间通过第二销钉连接,从而形成了两个旋转关节,所述第二输出合金丝之一与所述第一连杆的一端连接,从而带动该手指运动。In a preferred embodiment, each finger except the thumb includes a base, a first knuckle and a second knuckle, the base is fixed on the palm, the first knuckle and the base are connected by a first pin and a first connecting rod, The first knuckle and the second knuckle are connected by a second pin to form two rotary joints, and one of the second output alloy wires is connected to one end of the first connecting rod to drive the finger to move .

上述实施例中,优选地,在第二销钉上还设有一个扭簧,使关节保持展开状态,且第一连杆的另一端与第二连杆的一端铰接,第二连杆的另一端通过第二销钉与第二指节铰接。In the above embodiment, preferably, a torsion spring is also provided on the second pin to keep the joint in an unfolded state, and the other end of the first connecting rod is hinged to one end of the second connecting rod, and the other end of the second connecting rod Hinged with the second knuckle by the second pin.

一优选实施例中,所述连续体差动机构包括一个固定盘、3个末端盘、一根输入合金丝、两根第一输出合金丝和四根第二输出合金丝,所述固定盘固定于所述基座上。In a preferred embodiment, the continuum differential mechanism includes a fixed disc, three end discs, an input alloy wire, two first output alloy wires and four second output alloy wires, and the fixed disc fixes on the base.

本发明的整体工作原理如下:根据所要抓取的物体的形状的不同,可以预先调整大拇指的翻转指节的位置,使大拇指保持在合适抓取该物体的位置。然后,通过开关或肌电信号控制电机转动,带动齿条和传动轴移动,通过连杆带动拇指实现弯曲。与此同时,通过固定在齿条上的夹持结构带动连续体差动机构的输入合金丝前后移动。连续体差动机构将一根输入合金丝的运动分成为四根输出合金丝的运动,分别连接到食指、中指、无名指和小指,这四根手指同时弯曲,向内抓紧物体。当其中某根或某几根手指接触到物体时,由于连续体差动机构内部的连续体会产生弯曲变形,承受负载小的合金丝仍可以运动,使对应的手指仍可以弯曲,直到这些手指也完全接触到物体,使得四根手指都接触被抓取物体的外表面轮廓,对物体实现良好的抓取。The overall working principle of the present invention is as follows: according to the shape of the object to be grasped, the position of the overturned knuckle of the thumb can be adjusted in advance, so that the thumb remains at a suitable position for grasping the object. Then, the rotation of the motor is controlled by a switch or an electromyographic signal, which drives the rack and the drive shaft to move, and drives the thumb to bend through the connecting rod. At the same time, the input alloy wire of the continuum differential mechanism is driven to move back and forth through the clamping structure fixed on the rack. The continuum differential mechanism divides the motion of one input alloy wire into the motion of four output alloy wires, which are respectively connected to the index finger, middle finger, ring finger and little finger, and these four fingers bend simultaneously to grasp the object inwardly. When one or several of the fingers touch the object, the alloy wire with a small load can still move due to the bending deformation of the continuum inside the continuum differential mechanism, so that the corresponding fingers can still bend until these fingers also Fully touching the object, so that all four fingers touch the outer surface contour of the grasped object, and achieve a good grasp of the object.

附图说明Description of drawings

图1为本发明的基于连续体差动机构的单电机欠驱动假肢手的立体结构示意图;Fig. 1 is the schematic diagram of the three-dimensional structure of the single-motor underactuated prosthetic hand based on the continuum differential mechanism of the present invention;

图2为假肢手的电机驱动单元的立体结构示意图;2 is a schematic diagram of a three-dimensional structure of a motor drive unit of a prosthetic hand;

图3为假肢手的连续体差动机构的立体结构示意图;3 is a schematic diagram of a three-dimensional structure of a continuum differential mechanism of a prosthetic hand;

图4为连续体差动机构在输出端负载不均衡时连续体弯曲变形的示意图;Fig. 4 is a schematic diagram of the bending deformation of the continuum differential mechanism when the load at the output end is unbalanced;

图5为假肢手的拇指结构的立体示意图;以及5 is a three-dimensional schematic diagram of the structure of the thumb of the prosthetic hand; and

图6为假肢手的食指结构的立体示意图。Fig. 6 is a three-dimensional schematic diagram of the structure of the index finger of the prosthetic hand.

具体实施方式detailed description

以下将结合附图对本发明的较佳实施例进行详细说明,以便更清楚理解本发明的目的、特点和优点。应理解的是,附图所示的实施例并不是对本发明范围的限制,而只是为了说明本发明技术方案的实质精神。Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, so as to better understand the purpose, features and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but only to illustrate the essence of the technical solutions of the present invention.

如图1所示,本实施例的假肢手1000主要包括电机驱动单元100、连续体差动机构200、拇指300、食指400、中指500、无名指600、小指700和电池800以及手掌900,各部件都固定在手掌900上。以下分别对各个部分的构造和功能进行详细说明。As shown in Figure 1, the prosthetic hand 1000 of this embodiment mainly includes a motor drive unit 100, a continuum differential mechanism 200, a thumb 300, an index finger 400, a middle finger 500, a ring finger 600, a little finger 700, a battery 800, and a palm 900. All are fixed on the palm 900. The structure and function of each part will be described in detail below.

图2示出了假肢手的电机驱动单元100的立体结构示意图。如图2所示,电机1通过电机支架2固定在基座3上。电机的输出轴(图未示)上固定有一个齿轮4,与齿条5啮合。在基座3上同时固定有两个环形支架6和7,两个支架上固定有一个中空轴8,拇指固定于该中空轴8上。其中,环形支架7为开口环,在开口环上设有螺钉9,用来调整环形支架7和中空轴8之间的摩擦力(通过调整它们之间的间隙来完成),使固定在中空轴8上的拇指300的翻转指节(如图5所示)可以被调整,同时保持调整后的姿态。FIG. 2 shows a schematic perspective view of the motor drive unit 100 of the prosthetic hand. As shown in FIG. 2 , the motor 1 is fixed on the base 3 through the motor bracket 2 . A gear 4 is fixed on the output shaft (not shown) of the motor, which meshes with the rack 5 . Two annular brackets 6 and 7 are fixed on the base 3 at the same time, a hollow shaft 8 is fixed on the two brackets, and the thumb is fixed on the hollow shaft 8 . Wherein, the annular support 7 is a split ring, and a screw 9 is arranged on the split ring to adjust the friction force between the annular support 7 and the hollow shaft 8 (by adjusting the gap between them to complete), so that it is fixed on the hollow shaft. The flipped knuckles of the thumb 300 on 8 (as shown in FIG. 5 ) can be adjusted while maintaining the adjusted posture.

中空轴8内固定有线性轴承10,线性轴承10内有一根传动轴11穿过。传动轴11的一端与齿条5固定,齿条5与固定于电机1的输出轴上的齿轮4啮合,从而传动轴11在电机1的带动下可以前后移动。传动轴11的另一端固定有一个连杆12,连杆12连接到拇指300上的连杆33(如图5所示),从而驱动拇指300实现弯曲或展开运动。同时,齿条5上还固定有一个夹持结构13,其上有一个孔可供合金丝14穿过,通过拧紧螺钉15可将合金丝14锁紧。A linear bearing 10 is fixed inside the hollow shaft 8, and a transmission shaft 11 passes through the linear bearing 10. One end of transmission shaft 11 is fixed with rack 5, and rack 5 meshes with gear 4 fixed on the output shaft of motor 1, so that transmission shaft 11 can move forward and backward under the drive of motor 1. The other end of the transmission shaft 11 is fixed with a connecting rod 12, which is connected to the connecting rod 33 on the thumb 300 (as shown in FIG. 5 ), so as to drive the thumb 300 to achieve bending or unfolding motion. At the same time, a clamping structure 13 is fixed on the rack 5, and there is a hole on which the alloy wire 14 can pass, and the alloy wire 14 can be locked by tightening the screw 15.

图3示出了假肢手的连续体差动机构200的立体结构示意图。如图3所示,固定盘16固定在基座3上,其上设有供各弹性合金丝穿过的多个孔。具体地,弹性合金丝(输入合金丝)14穿过其中一个孔,弹性合金丝14的一端固定在末端盘17内,通过螺钉18锁紧。末端盘17的两端分别固定有合金丝(第一输出合金丝)19和20的始端。同样地,合金丝19和20也分别通过螺钉21和22锁紧在末端盘17上,这样就形成了一个连续体差动机构的基本单元。该连续体差动机构可以将弹性合金丝14上的一路运动输入分成了弹性合金丝19和20上的两路运动输出。FIG. 3 shows a schematic perspective view of the continuum differential mechanism 200 of the prosthetic hand. As shown in FIG. 3 , the fixed disc 16 is fixed on the base 3 and is provided with a plurality of holes through which the elastic alloy wires pass. Specifically, an elastic alloy wire (input alloy wire) 14 passes through one of the holes, and one end of the elastic alloy wire 14 is fixed in the end plate 17 and locked by a screw 18 . The two ends of the end disk 17 are respectively fixed with the starting ends of alloy wires (first output alloy wires) 19 and 20 . Similarly, the alloy wires 19 and 20 are also locked on the end disk 17 by screws 21 and 22 respectively, thus forming a basic unit of a continuum differential mechanism. The continuum differential mechanism can divide one motion input on the elastic alloy wire 14 into two motion outputs on the elastic alloy wires 19 and 20 .

合金丝19穿过固定盘16上的孔,末端固定在末端盘23上。同样的,末端盘23上固定有合金丝24和25。这样,将弹性合金丝19上的一路运动输入分成了弹性合金丝24和25上的两路运动输出。The alloy wire 19 passes through the hole on the fixed disk 16 , and the end is fixed on the end disk 23 . Similarly, alloy wires 24 and 25 are fixed on the end plate 23 . In this way, one motion input on the elastic alloy wire 19 is divided into two motion outputs on the elastic alloy wires 24 and 25 .

合金丝20穿过固定盘16上的另一个孔,末端固定在末端盘50上。同样的,末端盘50上固定有合金丝26和27。将弹性合金丝20上的一路运动输入分成了弹性合金丝26和27上的两路运动输出。The alloy wire 20 passes through another hole on the fixed disc 16 , and the end is fixed on the end disc 50 . Likewise, alloy wires 26 and 27 are fixed on the end plate 50 . One motion input on the elastic alloy wire 20 is divided into two motion outputs on the elastic alloy wires 26 and 27 .

通过这样一个连续体差动机构,将弹性合金丝14的运动转变成弹性合金丝24~27的运动。Through such a continuum differential mechanism, the movement of the elastic alloy wire 14 is transformed into the movement of the elastic alloy wires 24-27.

图4示出了假肢手的连续体差动机构200的在合金丝24~27承受不同载荷的情况下,连续体弯曲变形的示意图。当驱动弹性合金丝14前后运动时,连续体差动机构不仅可以整体地前后移动,根据施加在弹性合金丝24~27上的负载的不同,连续体会产生相应的变形,以适应外界的负载,如图4所示。FIG. 4 shows a schematic diagram of the bending deformation of the continuum of the continuum differential mechanism 200 of the prosthetic hand when the alloy wires 24-27 bear different loads. When the elastic alloy wire 14 is driven to move back and forth, the continuum differential mechanism can not only move forward and backward as a whole, but also the continuum will produce corresponding deformation according to the load applied on the elastic alloy wires 24-27 to adapt to the external load. As shown in Figure 4.

图5示出了假肢手的拇指300的立体结构示意图。如图5所示,拇指的第一指节(翻转指节)28固定在中空轴8上,从而拇指300及中空轴8整体可绕中空轴的轴线转动。同时,通过调整螺钉9来调整中空轴8和环形支架7之间的摩擦力,使拇指翻转指节可以方便地调整,同时在假肢手的使用过程中可以保持预先调整的姿态。FIG. 5 shows a schematic perspective view of the three-dimensional structure of the thumb 300 of the prosthetic hand. As shown in FIG. 5 , the first knuckle (reversed knuckle) 28 of the thumb is fixed on the hollow shaft 8 , so that the thumb 300 and the hollow shaft 8 can rotate around the axis of the hollow shaft as a whole. At the same time, the friction force between the hollow shaft 8 and the ring bracket 7 is adjusted by adjusting the screw 9, so that the turning of the thumb knuckle can be adjusted conveniently, and at the same time, the pre-adjusted posture can be maintained during the use of the prosthetic hand.

第一指节28、第二指节29和第三指节30之间分别通过销钉31和销钉32连接,构成三个旋转关节。套在传动轴11上的连杆12与连杆33通过销钉34连接。连杆33的另一端与连杆35同样通过销钉36连接。连杆35同时通过销钉31连接在第二指节29上。连杆35的另一侧通过销钉37连接有连杆38。拇指第二指节29内部有一个可供连杆38通过的孔,连杆38的另一端穿过这个孔连接到销钉39上,销钉39连接在拇指第三指节30上。当电机1通过齿轮4带动齿条5及传动轴11前后移动,通过连杆12、33带动连杆35及第二指节29转动,同时通过连杆38也带动第三指节30同时转动,从而实现拇指的弯曲和展开。The first phalanx 28 , the second phalanx 29 and the third phalanx 30 are respectively connected by pins 31 and 32 to form three rotary joints. The connecting rod 12 sleeved on the transmission shaft 11 is connected with the connecting rod 33 through a pin 34 . The other end of the connecting rod 33 is also connected with the connecting rod 35 through a pin 36 . The connecting rod 35 is connected to the second knuckle 29 through the pin 31 at the same time. The other side of the connecting rod 35 is connected with a connecting rod 38 through a pin 37 . There is a hole inside the second knuckle 29 of the thumb for the passage of the connecting rod 38 , the other end of the connecting rod 38 passes through the hole and is connected to the pin 39 , and the pin 39 is connected to the third knuckle 30 of the thumb. When the motor 1 drives the rack 5 and the drive shaft 11 to move back and forth through the gear 4, the connecting rod 35 and the second knuckle 29 are driven to rotate through the connecting rod 12, 33, and the third knuckle 30 is also driven to rotate simultaneously through the connecting rod 38, This allows for flexion and extension of the thumb.

图6示出了假肢手的食指400的立体结构示意图。如图6所示,食指400通过食指底座39(例如经由螺丝)固定在手掌900上。食指的第一指节40与食指底座39通过销钉41连接且它们之间连接有连杆46,食指第一指节40和食指第二指节42同样通过另一销钉43连接,这样食指就形成了两个旋转关节。同时销钉43上还穿有一个扭簧44,使关节保持展开状态。连续体差动机构200的四路运动输出的其中的一根弹性合金丝24通过销钉45连接到连杆46上。连杆46的另一端通过销钉47连接有另一根连杆48。连杆48通过销钉49连接食指第二指节42。FIG. 6 shows a schematic perspective view of the three-dimensional structure of the index finger 400 of the prosthetic hand. As shown in FIG. 6 , the index finger 400 is secured to the palm 900 by the index finger mount 39 (eg, via screws). The first knuckle 40 of the index finger is connected with the base 39 of the index finger by a pin 41 and a connecting rod 46 is connected therebetween. two revolving joints. Simultaneously, a torsion spring 44 is also worn on the pin 43 to keep the joint in the unfolded state. One of the elastic alloy wires 24 of the four-way motion output of the continuum differential mechanism 200 is connected to the connecting rod 46 through a pin 45 . The other end of the connecting rod 46 is connected with another connecting rod 48 through a pin 47 . The connecting rod 48 is connected to the second knuckle 42 of the index finger through a pin 49 .

当电机1通过齿轮4带动齿条5以及夹持结构13向后移动时,带动连续体差动机构200的弹性合金丝14同时向后移动。连续体差动机构200将一根弹性合金丝14的运动转化为四根弹性合金丝24~27的运动,其中食指所对应的弹性合金丝24拉动连杆46及第一指节40转动,此时第二指节42与第一指节40之间相对保持不动;当第一指节40接触到物体时,第二指节42开始转动直到它也接触到物体。When the motor 1 drives the rack 5 and the clamping structure 13 to move backward through the gear 4, it drives the elastic alloy wire 14 of the continuum differential mechanism 200 to move backward at the same time. The continuum differential mechanism 200 converts the motion of one elastic alloy wire 14 into the motion of four elastic alloy wires 24-27, wherein the elastic alloy wire 24 corresponding to the index finger pulls the connecting rod 46 and the first phalanx 40 to rotate, thus When the second phalanx 42 and the first phalanx 40 remain relatively still; when the first phalanx 40 touches the object, the second phalanx 42 starts to rotate until it also touches the object.

中指500、无名指600和小指700与食指400具有相似的结构和工作原理,并分别有弹性合金丝25、26和27驱动,在此不再详述。此外,手掌内同时还嵌入有电池以及控制电路,构成一个完成的假肢手系统。The middle finger 500 , ring finger 600 and little finger 700 have a similar structure and working principle to the index finger 400 and are respectively driven by elastic alloy wires 25 , 26 and 27 , which will not be described in detail here. In addition, batteries and control circuits are also embedded in the palm to form a complete prosthetic hand system.

本实施例的假肢手整体工作原理如下:根据所要抓取的物体的形状的不同,可以预先调整大拇指的翻转指节的位置,使大拇指保持在合适抓取该物体的位置。然后,通过开关或肌电信号控制电机1转动,固定在电机1上的齿轮3带动齿条4和传动轴11向后移动,通过连杆12、31带动拇指实现弯曲。另一方面,通过固定在齿条4上的夹持结构13带动连续体差动机构200的弹性合金丝14移动。连续体差动机构200将一根弹性合金丝14的运动转化为四根弹性合金丝24~27的运动,分别连接到食指、中指、无名指和小指,这四根手指同时弯曲,向内抓紧物体。当其中某根或某几根手指接触到物体时,由于连续体差动机构200内部的连续体弯曲变形,承受负载小的合金丝仍可以运动,使对应的手指仍可以弯曲,直到这些手指也完全接触到物体,使得四根手指都接触被抓取物体的外表面轮廓,从而很好地实现抓取或操作物体的功能。The overall working principle of the prosthetic hand in this embodiment is as follows: according to the shape of the object to be grasped, the position of the flipped knuckle of the thumb can be adjusted in advance, so that the thumb can be kept at a suitable position for grasping the object. Then, the rotation of the motor 1 is controlled by a switch or an electromyographic signal, and the gear 3 fixed on the motor 1 drives the rack 4 and the drive shaft 11 to move backward, and the thumb is driven by the connecting rod 12, 31 to realize bending. On the other hand, the elastic alloy wire 14 of the continuum differential mechanism 200 is driven to move by the clamping structure 13 fixed on the rack 4 . The continuum differential mechanism 200 converts the motion of one elastic alloy wire 14 into the motion of four elastic alloy wires 24-27, which are respectively connected to the index finger, middle finger, ring finger and little finger, and these four fingers bend simultaneously to grasp the object inwardly . When one or several of the fingers touch the object, due to the bending and deformation of the continuum inside the continuum differential mechanism 200, the alloy wire bearing a small load can still move, so that the corresponding fingers can still bend until these fingers also Complete contact with the object, so that all four fingers touch the outer surface contour of the object to be grasped, so as to realize the function of grasping or manipulating the object well.

以上已详细描述了本发明的较佳实施例,但应理解到,在阅读了本发明的上述讲授内容之后,本领域技术人员可以对本发明作各种改动或修改。这些等价形式同样落于本申请所附权利要求书所限定的范围。The preferred embodiments of the present invention have been described in detail above, but it should be understood that those skilled in the art can make various changes or modifications to the present invention after reading the above teaching content of the present invention. These equivalent forms also fall within the scope defined by the appended claims of this application.

Claims (8)

1.一种假肢手,其特征在于,所述假肢手包括:1. A prosthetic hand, characterized in that the prosthetic hand comprises: 电机驱动单元,所述电机驱动单元设有基座和电机,其中所述电机固定于所述基座上且电机的输出轴上设有齿轮,所述基座上同时固定有中空轴,该中空轴内设有一根传动轴在其中滑动,该传动轴上固定有一个齿条,该齿条与电机上的齿轮啮合,从而电机的转动通过齿轮齿条啮合而带动所述传动轴在中空轴内直线运动;该传动轴的末端连接到拇指的驱动连杆上,用于带动拇指弯曲和伸展;以及齿条上还固定有一个用于夹持合金丝的夹持结构;A motor drive unit, the motor drive unit is provided with a base and a motor, wherein the motor is fixed on the base and the output shaft of the motor is provided with a gear, and a hollow shaft is fixed on the base at the same time. There is a transmission shaft sliding in the shaft, and a rack is fixed on the transmission shaft, and the rack meshes with the gear on the motor, so that the rotation of the motor drives the transmission shaft in the hollow shaft through the meshing of the rack and pinion. linear motion; the end of the drive shaft is connected to the thumb drive link to drive the thumb to bend and extend; and a clamping structure for clamping the alloy wire is also fixed on the rack; 连续体差动机构,所述连续体差动机构设有固定盘、多个末端盘、输入合金丝、第一输出合金丝和第二输出合金丝,所述固定盘上设有供所述输入合金丝和输出合金丝穿过的多个孔,所述输入合金丝的一端与所述夹持结构固定连接,从而通过电机的驱动实现直线移动,而另一端固定于一个末端盘的中部;该末端盘的两端分别固定有一根第一输出合金丝的一端,该两根第一输出合金丝的另一端分别穿过所述固定盘并固定在另外两个末端盘的中部,所述另外两个末端盘中的每个的两端分别固定有一根第二输出合金丝,从而四根所述第二输出合金丝穿过所述固定盘并分别与所述假肢手的对应手指连接,从而带动除了拇指之外的四根手指运动;以及A continuum differential mechanism, the continuum differential mechanism is provided with a fixed disc, a plurality of end discs, an input alloy wire, a first output alloy wire and a second output alloy wire, and the fixed disc is provided with a A plurality of holes through which the alloy wire and the output alloy wire pass, one end of the input alloy wire is fixedly connected to the clamping structure, so as to realize linear movement through the drive of the motor, and the other end is fixed in the middle of an end disc; the One end of a first output alloy wire is respectively fixed at both ends of the end plate, and the other ends of the two first output alloy wires respectively pass through the fixed plate and are fixed in the middle of the other two end plates, and the other two A second output alloy wire is respectively fixed at both ends of each of the two terminal plates, so that the four second output alloy wires pass through the fixed plate and are respectively connected with the corresponding fingers of the prosthetic hand, thereby driving four-finger movements other than the thumb; and 手掌,用于固定所述电机驱动单元和所述连续体差动机构以及手指。The palm is used to fix the motor drive unit, the continuum differential mechanism and fingers. 2.根据权利要求1所述的假肢手,其特征在于,所述假肢手还包括电池和控制器,所述电池为所述电机和所述控制器供电,所述控制器用于接收肌电信号或外部信号来驱动电机转动。2. The prosthetic hand according to claim 1, wherein the prosthetic hand also includes a battery and a controller, the battery supplies power to the motor and the controller, and the controller is used to receive myoelectric signals Or an external signal to drive the motor to rotate. 3.根据权利要求1所述的假肢手,其特征在于,所述电机驱动单元的所述基座上同时固定有两个环形支架,所述中空轴的两端分别连接于所述两个环形支架,且拇指固定于所述中空轴上,其中所述两个环形支架中一个为开口环并设有螺钉,用来调整该环形支架和中空轴之间的摩擦力,使得拇指的翻转能够被调整,同时保持调整后的姿态。3. The prosthetic hand according to claim 1, wherein two annular supports are fixed on the base of the motor drive unit at the same time, and the two ends of the hollow shaft are respectively connected to the two annular supports. bracket, and the thumb is fixed on the hollow shaft, wherein one of the two ring brackets is a split ring and is provided with a screw, which is used to adjust the friction between the ring bracket and the hollow shaft, so that the turning of the thumb can be controlled Adjust while maintaining the adjusted posture. 4.根据权利要求1所述的假肢手,其特征在于,所述拇指从根部到末端依次设有翻转指节、第二指节和第三指节,它们之间分别通过销钉连接,构成三个旋转关节,其中翻转指节固定于所述中空轴上,所述第二指节经由连杆与所述传动轴的一端连接。4. The prosthetic hand according to claim 1, characterized in that, the thumb is sequentially provided with turning knuckles, second knuckles and third knuckles from the root to the end, and they are respectively connected by pins to form three knuckles. A rotary joint, wherein the turning knuckle is fixed on the hollow shaft, and the second knuckle is connected to one end of the transmission shaft through a connecting rod. 5.根据权利要求4所述的假肢手,其特征在于,所述传动轴上固定有第一连杆,第一连杆与第二连杆的一端通过第一销钉连接,第二连杆的另一端与第三连杆通过第二销钉连接,第二连杆同时通过第二销钉连接在第二指节上,第二连杆还通过第三销钉连接有第三连杆,第三连杆穿过第二指节连接到第四销钉上,第四销钉连接在拇指的第三指节上。5. The prosthetic hand according to claim 4, wherein a first connecting rod is fixed on the transmission shaft, and one end of the first connecting rod and the second connecting rod is connected by a first pin, and the end of the second connecting rod The other end is connected with the third connecting rod through the second pin, and the second connecting rod is connected with the second knuckle through the second pin at the same time, and the second connecting rod is also connected with the third connecting rod through the third pin, and the third connecting rod Pass through the second knuckle to attach to the fourth pin, which attaches to the third knuckle of the thumb. 6.根据权利要求1所述的假肢手,其特征在于,除了拇指之外的每个手指包括底座、第一指节和第二指节,底座固定于手掌上,第一指节与底座通过第一销钉和第一连杆连接,第一指节和第二指节之间通过第二销钉连接,从而形成了两个旋转关节,所述第二输出合金丝之一与所述第一连杆的一端连接,从而带动该手指运动。6. The prosthetic hand according to claim 1, wherein each finger except the thumb comprises a base, a first knuckle and a second knuckle, the base is fixed on the palm, and the first knuckle and the base pass through The first pin is connected with the first connecting rod, and the first knuckle and the second knuckle are connected by the second pin, thus forming two rotating joints, one of the second output alloy wires is connected with the first connecting rod One end of the rod is attached to move the finger. 7.根据权利要求6所述的假肢手,其特征在于,在第二销钉上还设有一个扭簧,使关节保持展开状态,且第一连杆的另一端与第二连杆的一端铰接,第二连杆的另一端通过第二销钉与第二指节铰接。7. The prosthetic hand according to claim 6, wherein a torsion spring is also provided on the second pin to keep the joint in an unfolded state, and the other end of the first connecting rod is hinged to one end of the second connecting rod , the other end of the second connecting rod is hinged with the second knuckle through the second pin. 8.根据权利要求1所述的假肢手,其特征在于,所述连续体差动机构包括一个固定盘、3个末端盘、一根输入合金丝、两根第一输出合金丝和四根第二输出合金丝,所述固定盘固定于所述基座上。8. The prosthetic hand according to claim 1, wherein the continuum differential mechanism comprises a fixed disc, three end discs, an input alloy wire, two first output alloy wires and four first output alloy wires Two output alloy wires, the fixed plate is fixed on the base.
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