CN104434350B - Finger mechanism of anthropomorphic myoelectrical artificial hand - Google Patents

Finger mechanism of anthropomorphic myoelectrical artificial hand Download PDF

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Publication number
CN104434350B
CN104434350B CN201410682470.0A CN201410682470A CN104434350B CN 104434350 B CN104434350 B CN 104434350B CN 201410682470 A CN201410682470 A CN 201410682470A CN 104434350 B CN104434350 B CN 104434350B
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joint
finger joint
tendon
nearly
finger
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CN104434350A (en
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王念峰
劳锟沂
张宪民
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South China University of Technology SCUT
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South China University of Technology SCUT
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Abstract

The invention discloses a finger mechanism of an anthropomorphic myoelectrical artificial hand. The finger mechanism sequentially comprises a base, a near knuckle, a middle knuckle and a far knuckle from bottom to top and further comprises a metacarpal bone joint, a near phalanx joint, a far phalanx joint, a near driving tendon and a far driving tendon, wherein the base is in rotary connection with the near knuckle through the metacarpal bone joint, the near knuckle is in rotary connection with the middle knuckle through the near phalanx joint, and the middle knuckle is in rotary connection with the far knuckle through the far phalanx joint. The near driving tendon is connected between the near phalanx joint and the metacarpal bone joint, the far knuckle is connected between the far phalanx joint and the near phalanx joint, and the near phalanx joint and the far phalanx joint are of spring type flexible hinge structures. The finger mechanism can achieve finger bending and stretching only by needing a driving unit, adopts tendon drive to achieve coupling motions of the joints, enables a finger structure to be simple, safe and reliable by applying spring type flexible hinges, is flexible in motion and has an appropriate operating function.

Description

A kind of finger mechanism of apery myoelectricity artificial hand
Technical field
The present invention relates to hand prosthesis technique field, more particularly to it is based on flexible hinge and designs and former based on electromyographic signal The finger mechanism of doing evil through another person of reason design.
Background technology
EMG-controlling prosthetic hand is the Imitating human algorithm being controlled by human muscle's signal of telecommunication, its good looking appearance, perfect in shape and function.Flesh The signal of telecommunication derives from the signal of telecommunication producing during user muscle spontaneous contractions.This do evil through another person using being arranged on remaining arm muscles table The signal of telecommunication that the electrode in face is gathered carrys out controlled motor, thus driving the motion done evil through another person.
Compliant mechanism is to complete to move and the transmission of power and the novel mechanism of conversion using the elastic deformation of component itself. Compliant mechanism mainly leans on the deformation of compliant member in mechanism to realize the main movement of mechanism and function, and it equally can be real The now transmission between motion, power and energy and conversion.Compliant mechanism and the flexibility simply considering deformation of member impact(Elasticity)Machine Structure research is different, and it is not only to rest in the problem avoiding the deformation of member to produce impact, but component is positively utilized Deform and to improve the performance of mechanism.Exactly because and the minimizing of kinematic pair or even cancel, compliant mechanism in structure Number of components fewer than conventional rigid mechanism a lot.Thus bring the most intuitively advantage be exactly the weight of mechanism and processing, The time installed and expense greatly reduce, and meanwhile, the problem of the complexity such as gap in mechanism, friction, abrasion and lubrication is significantly Reduce or even do not exist, thus MECHANISM PRECISION just being improved, increase reliability, reduce maintenance etc. using compliant mechanism.Soft Property hinge has a variety of forms, wherein typically has reed, torsionspring and extension spring etc..When finger does curvature movement Wait, the helical spring of compact winding is curved within the specific limits, can produce larger displacement, and will not produce permanent Deformation and torsion phenomenon.
Preferably do evil through another person should function with profile as staff.Do evil through another person and will can substitute sensation and the motion of staff Function, completes certain staff operation task, and also needs to similar to staff in appearance.But existing at present various business Industry is done evil through another person and is not also much reached this and preferably require, and in life, major part can only act as the role that decoration type is done evil through another person.People The upper limb one of body has 27 degree of freedom, and the wherein part of finger just has 21 degree of freedom.Current research level is not also accomplished There is doing evil through another person of 21 degree of freedom.Doing evil through another person of current Clinical practice, only has single degree of freedom mostly.Realize do evil through another person single from By in the motion spent, each finger is rigid, does not have the finger joint that can move alone, except the opening and closing of finger palm opposite It is impossible to realize the relative motion between finger finger joint outside motion.The finger mechanism of rigidity is it is ensured that finger mechanism structure of doing evil through another person is simple Singly, using reliability, but do not enable the Grasping skill of various gestures, therefore limit the range of application done evil through another person.
Scientific research personnel has made a lot of researchs to doing evil through another person at present, but actually most doing evil through another person still is at experiment Stage, from commercialization and practical also have a very big segment difference away from.The fairly perfect commercialization of current performance is done evil through another person and is still Single-degree-of-freedom, the EMG-controlling prosthetic hand of open-loop control system.Compared with abroad, China also has larger difference in the research of aspect of doing evil through another person Relatively fewer away from, the university being researched and developed in this field and research institution, related industry is relatively backward.Domestic vacation The current product of the manufacturer of handss and rehabilitation center is done evil through another person and based on mechanical traction does evil through another person with decorating, so exploitation and develop flesh Electricity is done evil through another person and is had a wide range of applications and social benefit.
Content of the invention
For above-mentioned technical problem, it is an object of the invention to provide a kind of new imitating based on submissive hinge The finger mechanism of human-like EMG-controlling prosthetic hand, provides similar staff profile, small volume, lightweight and have suitable operation for people with disability The finger mechanism of the EMG-controlling prosthetic hand of function.
In order to solve above-mentioned technical problem, the present invention employs the following technical solutions:
A kind of finger mechanism of apery myoelectricity artificial hand, from bottom to top includes pedestal, nearly finger joint, middle finger joint successively and far refers to Section, also includes metacarpal joint, proximal phalange joint, distal phalange joint, nearly driving tendon and far drives tendon, described pedestal is led to nearly finger joint Cross metacarpal joint and rotate and connect, described nearly finger joint is connected by proximal phalange articulation with middle finger joint, described middle finger joint refers to far Section is connected by distal phalange articulation;Described near driving tendon be connected to proximal phalange joint with metacarpal joint between, realize closely finger Osteoarthrosis follow the coupled motions of metacarpal joint, described remote driving tendon be connected to distal phalange joint with proximal phalange joint between, real The coupled motions in proximal phalange joint are followed in existing distal phalange joint, and described proximal phalange joint and distal phalange joint are all soft using spring Property hinge arrangement.
Further, described pedestal include left half pedestal, right half pedestal and by screw by left half pedestal, right half pedestal The metacarpal joint side cover being fixedly connected, what described right half pedestal extended transversely through is provided with pedestal tendon through hole, a described left side simultaneously Half pedestal, right half pedestal opposite face are symmetrically provided with bearing and install groove, and described metacarpal joint side cover is used for limiting nearly driving The position of tendon.
Further, described metacarpal joint includes rotary shaft, gear, rolling bearing, and described rotary shaft is arranged at penetrating In nearly finger joint circular shaft hole and nearly finger joint square hole, including the collar positioned at two ends and be set in turn between described collar Circular shaft part and square shaft portion, described circular shaft part is matched with nearly finger joint circular shaft hole, and described square shaft portion is matched with nearly finger joint square hole, institute State the circular shaft part that gear is arranged at rotary shaft, described rolling bearing inner ring is installed at the axle journal of rotary shaft, and outer ring is arranged on institute State bearing to install in groove.
Further, the both sides of described nearly finger joint are provided with along its length for as the nearly nearly finger joint flesh driving tendon passage Tendon groove, what upper end extended transversely through is provided with nearly finger joint tendon through hole, and described proximal phalange joint includes being symmetrically disposed on closely finger Two nearly finger joint joint disks of section upper end both sides, two Mi Quan stretching bullets being connected in parallel between nearly finger joint and middle finger joint Spring, is fixed with proximal phalange joint side cover by screw outside two nearly finger joint joint disks, and described nearly finger joint upper end is located at two Position between the disk of nearly finger joint joint be also vertically provided with two side by side, the spring circular hole for installing close circle extension spring, Described nearly finger joint lower end is provided with articulated section, and described articulated section is coaxially provided with nearly finger joint circular shaft hole and nearly finger joint square hole.
Further, described distal phalange joint includes two middle finger joint joints being symmetrically disposed on middle finger joint upper end both sides Disk, two close circle extension springs being connected in parallel between middle finger joint and remote finger joint, outside two middle finger joint joint disks Distal phalange joint side cover is fixed with by screw, described middle finger joint both sides are provided with along its length for driving tendon passage as remote Middle finger joint tendon groove, its top and bottom be all vertically provided with two side by side, for install close circle extension spring spring Circular hole, the lower end of described middle finger joint is provided with middle finger joint tendon through hole with also extending transversely through.
Further, described remote finger joint upper end be tip portion, lower end be vertically provided with two side by side, be used for Mi Quan is installed The spring circular hole of extension spring, and, extend transversely through the remote finger joint tendon through hole of remote finger joint.
Further, described nearly driving tendon stage casing is embedded in nearly finger joint tendon groove, and its epimere is close to nearly finger joint and is closed pitch circle Fasten after disk in middle finger joint tendon through hole, hypomere fastens in pedestal tendon through hole after being close to right half pedestal, described remote driving Tendon stage casing is embedded in middle finger joint tendon groove, and its epimere fastens in remote finger joint tendon through hole after being close to middle finger joint joint disk, Hypomere fastens in nearly finger joint tendon through hole after being close to nearly finger joint joint disk.
Further, described nearly driving tendon and remote driving tendon are using the flexible rope being made material by polyethylene fibre.
Further, described pedestal, nearly finger joint, middle finger joint, remote finger joint, distal phalange joint side cover, metacarpal joint side cover, near Finger joint style side cover is made by aluminium alloy, and described rotary shaft is formed from steel.
Further, the middle part of described nearly finger joint, middle finger joint and remote finger joint is equipped with the cavern part for mitigating deadweight.
Compared with prior art, the present invention has the advantages that:The finger machine of the apery myoelectricity artificial hand of the present invention Structure only one of which degree of freedom, it is only necessary to driver element just can achieve the bending and stretching of finger, is driven using tendon and realizes closing Coupled motions between section, make this finger structure simple and safe and reliable by the application of the submissive hinge of spring, motion spirit Live, there is suitable operating function.
Brief description
Fig. 1 is the schematic front view of the finger mechanism of apery myoelectricity artificial hand involved in the present invention.
Fig. 2 is the left view schematic diagram of the finger mechanism of apery myoelectricity artificial hand involved in the present invention.
Fig. 3 is the exploded perspective view of the finger mechanism of apery myoelectricity artificial hand involved in the present invention.
Fig. 4 is the schematic front view of the right side half pedestal of the finger mechanism of apery myoelectricity artificial hand involved in the present invention.
Fig. 5 is the left view schematic diagram of the right side half pedestal of the finger mechanism of apery myoelectricity artificial hand involved in the present invention.
Fig. 6 is the schematic front view of a left side half pedestal of the finger mechanism of apery myoelectricity artificial hand involved in the present invention.
Fig. 7 is that the right side of a left side half pedestal of the finger mechanism of apery myoelectricity artificial hand involved in the present invention regards schematic diagram.
Fig. 8 is the schematic front view of the nearly finger joint of finger mechanism of apery myoelectricity artificial hand involved in the present invention.
Fig. 9 is the schematic top plan view of the nearly finger joint of finger mechanism of apery myoelectricity artificial hand involved in the present invention.
Figure 10 is the schematic perspective view of the nearly finger joint of finger mechanism of apery myoelectricity artificial hand involved in the present invention.
Figure 11 is the rotary shaft perspective view of the finger mechanism of apery myoelectricity artificial hand involved in the present invention.
Figure 12 is the schematic front view of the finger mechanism middle finger joint of apery myoelectricity artificial hand involved in the present invention.
Figure 13 is the schematic perspective view of the finger mechanism middle finger joint of apery myoelectricity artificial hand involved in the present invention.
Figure 14 is the schematic top plan view of the finger mechanism middle finger joint of apery myoelectricity artificial hand involved in the present invention.
Figure 15 is the elevational schematic view of the finger mechanism middle finger joint of apery myoelectricity artificial hand involved in the present invention.
Figure 16 is the schematic front view of the remote finger joint of finger mechanism of apery myoelectricity artificial hand involved in the present invention.
Figure 17 is the three-dimensional schematic views of the remote finger joint of finger mechanism of apery myoelectricity artificial hand involved in the present invention.
Figure 18 is the structural representation during finger mechanism grasping of apery myoelectricity artificial hand involved in the present invention.
In figure show:1- pedestal;2- metacarpal joint;The nearly finger joint of 3-;4- closely drives tendon;5- proximal phalange joint;6- middle finger Section;7- far drives tendon;8- distal phalange joint;The remote finger joint of 9-;10- distal phalange joint side cover;11- metacarpal joint side cover;12- is near Finger joint style side cover;13- close circle extension spring;14- screw;15- rotary shaft;16- rolling bearing;17- gear;The 18- right side half base Seat;19- pedestal tendon through hole;Groove installed by 20- bearing;A 21- left side half pedestal;22- nearly finger joint joint disk;23- nearly finger joint flesh Tendon through hole;24- nearly finger joint tendon groove;25- nearly finger joint circular shaft hole;26- spring circular hole;27- nearly finger joint square hole;28- square shaft portion; 29- middle finger joint joint disk;30- middle finger joint tendon groove;31- middle finger joint tendon through hole;32- tip portion;33- remote finger joint flesh Tendon through hole.
Specific embodiment
With specific embodiment, the goal of the invention of the present invention is described in further detail below in conjunction with the accompanying drawings, embodiment is not Here can repeat one by one, but embodiments of the present invention are not therefore defined in following examples.
As shown in Figures 1 to 3, a kind of finger mechanism of apery myoelectricity artificial hand, from bottom to top includes pedestal 1 successively, closely refers to Section 3, middle finger joint 6 and remote finger joint 9, also include metacarpal joint 2, proximal phalange joint 5, distal phalange joint 8, nearly driving tendon 4 and far drive Dynamic tendon 7, described pedestal 1 passes through metacarpal joint 2 rotation with nearly finger joint 3 and is connected, and described nearly finger joint 3 passes through proximal phalange with middle finger joint 6 Joint 5 rotates and connects, and described middle finger joint 6 passes through distal phalange joint 8 rotation with remote finger joint 9 and is connected;Described nearly driving tendon 4 is connected to Between proximal phalange joint 5 is with metacarpal joint 2, realize the coupled motions that metacarpal joint 2 is followed in proximal phalange joint 5, described remote driving Tendon 7 be connected to distal phalange joint 8 with proximal phalange joint 5 between, realize distal phalange joint 8 follow proximal phalange joint 5 coupling fortune Move, described proximal phalange joint 5 and distal phalange joint 8 are all using spring flexible hinge structure.
As shown in Fig. 4 is to 7, described pedestal 1 include left half pedestal 21, right half pedestal 18 and by screw by left half pedestal 21st, the metacarpal joint side cover 11 that right half pedestal 18 is fixedly connected, what described right half pedestal 18 extended transversely through is provided with pedestal flesh Tendon through hole 19, simultaneously described left half pedestal 21, right half pedestal 18 opposite face are symmetrically provided with bearing and install groove 20, the described palm Osteoarthrosis side cover 11 is used for limiting the nearly position driving tendon 4.
As shown in Fig. 1 to 3, Figure 11, described metacarpal joint 2 includes rotary shaft 15, gear 17, rolling bearing 16, described turn Moving axis 15 is arranged in nearly finger joint circular shaft hole 25 and nearly finger joint square hole 27 with penetrating, including the collar positioned at two ends and successively It is arranged at the circular shaft part between described collar and square shaft portion 28, described circular shaft part is matched with nearly finger joint circular shaft hole 25, described Square shaft portion 28 is matched with nearly finger joint square hole 27, and described gear 17 is arranged at the circular shaft part of rotary shaft 15, described rolling bearing 24 Inner ring is installed at the axle journal of rotary shaft 15, and outer ring is arranged on described bearing and installs in groove 20.
As shown in Figures 8 to 10, the both sides of described nearly finger joint 3 are provided with along its length for as nearly driving tendon 4 passage Nearly finger joint tendon groove 24, what upper end extended transversely through is provided with nearly finger joint tendon through hole 23, and described proximal phalange joint 5 includes symmetrically Be arranged at 22, two, two nearly finger joint joint disks of nearly finger joint 3 upper end both sides and be connected in parallel to nearly finger joint 3 and middle finger joint Close circle extension spring 13 between 6, two nearly finger joint joint disk 22 outsides are fixed with proximal phalange joint side cover 12 by screw, Described nearly finger joint 3 upper end be located at two nearly finger joint joint disks 22 between position be also vertically provided with two side by side, be used for pacifying Fill the spring circular hole 26 of close circle extension spring 13, described nearly finger joint 3 lower end is provided with articulated section, and described articulated section is coaxially provided with Nearly finger joint circular shaft hole 25 and nearly finger joint square hole 27.
As shown in Figure 12 is to 15, in two that described distal phalange joint 8 includes be symmetrically disposed on middle finger joint 6 upper end both sides 29, two, finger joint joint disk is connected in parallel to the close circle extension spring 13 between middle finger joint 6 and remote finger joint 9, two middle fingers Section joint disk 29 outside is fixed with distal phalange joint side cover 10 by screw 14, and described middle finger joint 6 both sides set along its length Have for as the remote middle finger joint tendon groove 30 driving tendon 7 passage, its top and bottom be all vertically provided with two side by side, use In the spring circular hole 26 installing close circle extension spring 13, the lower end of described middle finger joint 6 is provided with middle finger joint flesh with also extending transversely through Tendon through hole 31.
As shown in Figure 16, Figure 17, described remote finger joint 9 upper end be tip portion 32, lower end be vertically provided with two side by side, use In the spring circular hole 26 installing close circle extension spring 13, and, extend transversely through the remote finger joint tendon through hole 33 of remote finger joint 9.
Described nearly driving tendon 4 stage casing is embedded in nearly finger joint tendon groove 24, after its epimere is close to nearly finger joint joint disk 22 Fasten in middle finger joint tendon through hole 31, hypomere fastens in pedestal tendon through hole 19 after being close to right half pedestal 18, described remote drive Dynamic tendon 7 stage casing is embedded in middle finger joint tendon groove 30, and its epimere fastens in remote finger joint tendon after being close to middle finger joint joint disk 29 In through hole 33, hypomere fastens in nearly finger joint tendon through hole 23 after being close to nearly finger joint joint disk 22.
Described nearly driving tendon 4 and remote driving tendon 7 are using the flexible rope being made material by polyethylene fibre, cheap, tie Real durable.
Described pedestal 1, nearly finger joint 3, middle finger joint 6, remote finger joint 9, distal phalange joint side cover 10, metacarpal joint side cover 11, near Finger joint style side cover 12 is made by aluminium alloy, described rotary shaft 15 be made up of 45 steel so that finger mechanism lightweight, durable and With low cost.
The middle part of described nearly finger joint 3, middle finger joint 6 and remote finger joint 9 is equipped with the cavern part for mitigating deadweight, both saves Material, the deadweight of mitigation finger mechanism further.
When the finger mechanism of above-mentioned apery myoelectricity artificial hand uses, gear 17 is connected with driver element, driver element Band moving gear 17 rotates, and drives nearly finger joint 3 to rotate around metacarpal joint 2 by rotary shaft 15, nearly driving rope on pedestal 1 for the tendon 4 Rope coiling length increases, and on nearly finger joint joint disk 22, rope coiling length passively reduces, and nearly driving tendon 4 pulls middle finger joint 6 Rotate around proximal phalange joint 5, realize the coupled motions that metacarpal joint 2 rotation is followed in proximal phalange joint 5, meanwhile, remote driving tendon 7 exists On nearly finger joint joint disk 22, rope coiling length increases, and on middle finger joint joint disk 29, rope coiling length passively reduces, Remote drive tendon 7 to pull remote finger joint 9 finger joint style 8 of going the long way round to rotate, realize the coupling that proximal phalange joint 5 rotation is followed in distal phalange joint 8 Resultant motion, realizes digital flexion (see Figure 18);When driver element rotates backward, nearly finger joint 3 returns around metacarpal joint 2, nearly drive Dynamic tendon 4 and remote drive tendon 7 to relax, each close circle extension spring 13 that proximal phalange joint 5 and distal phalange joint 8 bend at each The position (see Fig. 1) when stretching is returned under active force.Each joint side cover of the present embodiment is used for limiting the position of tendon.
Proximal phalange joint 5 and distal phalange joint 8 adopt spring flexible hinge, all include two isometric parallel arranged Close circle extension spring 13;Close circle extension spring 13 two ends in proximal phalange joint 5 connect nearly finger joint 3 and middle finger joint 6, are embedded near respectively In the spring circular hole 26 that finger joint 3 and middle finger joint 6 end are arranged side by side;Close circle extension spring 13 two ends in distal phalange joint 8 connect Middle finger joint 6 and remote finger joint 9, are embedded in the spring circular hole 26 that middle finger joint 6 and remote finger joint 9 end are arranged side by side, spring is soft respectively The letter of art hinge arrangement, easy for installation, due to not having hinge gap, this structural reliability is high, there's almost no abrasion, can play one Fixed cushioning effect, improves the stationarity of mechanism.
The finger mechanism of this apery myoelectricity artificial hand drives, using tendon, the coupled motions realized between joint, by spring The application of submissive hinge makes this finger decrease degree of freedom on the basis of meeting basic function it is only necessary to a driver element Just can achieve the bending and stretching of finger, structure is simple and safe and reliable, and motion flexibly, has suitable operating function.
The above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not to the present invention Embodiment restriction.For those of ordinary skill in the field, can also make on the basis of the above description The change of other multi-forms or variation.There is no need to be exhaustive to all of embodiment.All the present invention's Any modification, equivalent and improvement made within spirit and principle etc., should be included in the protection of the claims in the present invention Within the scope of.

Claims (9)

1. a kind of finger mechanism of apery myoelectricity artificial hand is it is characterised in that from bottom to top include pedestal (1), nearly finger joint successively (3), middle finger joint (6) and remote finger joint (9), also includes metacarpal joint (2), proximal phalange joint (5), distal phalange joint (8), nearly driving Tendon (4) and remote driving tendon (7), described pedestal (1) is passed through metacarpal joint (2) rotation with nearly finger joint (3) and is connected, described nearly finger joint (3) pass through proximal phalange joint (5) rotation with middle finger joint (6) to be connected, described middle finger joint (6) and remote finger joint (9) are closed by distal phalange Section (8) rotates and connects;Described near driving tendon (4) be connected to proximal phalange joint (5) with metacarpal joint (2) between, realize proximal phalange The coupled motions of metacarpal joint (2) are followed in joint (5), and described remote driving tendon (7) is connected to distal phalange joint (8) and closes with proximal phalange Between section (5), realize the coupled motions that proximal phalange joint (5) are followed in distal phalange joint (8), described proximal phalange joint (5) and far Finger joint style (8) is all using spring flexible hinge structure;
Described pedestal (1) include left half pedestal (21), right half pedestal (18) and by screw by left half pedestal (21), right half base The metacarpal joint side cover (11) that seat (18) is fixedly connected, the pedestal tendon that is provided with that described right half pedestal (18) extends transversely through leads to Hole (19), simultaneously described left half pedestal (21), right half pedestal (18) opposite face are symmetrically provided with bearing and install groove (20), institute State metacarpal joint side cover (11) to be used for limiting the nearly position driving tendon (4).
2. the finger mechanism of apery myoelectricity artificial hand according to claim 1 is it is characterised in that described metacarpal joint (2) Including rotary shaft (15), gear (17), rolling bearing (16), described rotary shaft (15) is arranged at nearly finger joint circular shaft hole with penetrating (25) and in nearly finger joint square hole (27), including the collar positioned at two ends and be set in turn in the circular shaft between described collar Portion and square shaft portion (28), described circular shaft part is matched with nearly finger joint circular shaft hole (25), described square shaft portion (28) and nearly finger joint square hole (27) match, described gear (17) is arranged at the circular shaft part of rotary shaft (15), described rolling bearing (16) inner ring is installed on and turns At the axle journal of moving axis (15), outer ring is arranged on described bearing and installs in groove (20).
3. the finger mechanism of apery myoelectricity artificial hand according to claim 2 is it is characterised in that described nearly finger joint (3) Both sides are provided with along its length for as nearly nearly finger joint tendon groove (24) driving tendon (4) passage, upper end extends transversely through It is provided with nearly finger joint tendon through hole (23), described proximal phalange joint (5) includes being symmetrically disposed on nearly finger joint (3) upper end both sides Two nearly finger joint joints disk (22), two close circle extension springs being connected in parallel between nearly finger joint (3) and middle finger joint (6) (13), outside two nearly finger joint joints disk (22), proximal phalange joint side cover (12), described nearly finger joint (3) are fixed with by screw The position that upper end is located between two near finger joint joints disk (22) be also vertically provided with two side by side, be used for installing Mi Quan and stretch The spring circular hole (26) of spring (13), described nearly finger joint (3) lower end is provided with articulated section, and described articulated section is coaxially provided with and closely refers to Pitch circle axis hole (25) and nearly finger joint square hole (27).
4. the finger mechanism of apery myoelectricity artificial hand according to claim 3 is it is characterised in that described distal phalange joint (8) include be symmetrically disposed on two middle finger joint joints disk (29) of middle finger joint (6) upper end both sides, two be connected in parallel to Close circle extension spring (13) between middle finger joint (6) and remote finger joint (9), passes through screw outside two middle finger joint joints disk (29) (14) it is fixed with distal phalange joint side cover (10), described middle finger joint (6) both sides are provided with along its length for driving tendon as remote (7) middle finger joint tendon groove (30) of passage, its top and bottom be all vertically provided with two side by side, be used for installing Mi Quan stretching The spring circular hole (26) of spring (13), the lower end of described middle finger joint (6) is provided with middle finger joint tendon through hole with also extending transversely through (31).
5. the finger mechanism of apery myoelectricity artificial hand according to claim 4 is it is characterised in that in described remote finger joint (9) Hold as tip portion (32), lower end be vertically provided with two side by side, be used for the spring circular hole of close circle extension spring (13) is installed (26), and, extend transversely through remote finger joint tendon through hole (33) of remote finger joint (9).
6. apery myoelectricity artificial hand according to claim 5 finger mechanism it is characterised in that described near driving tendon (4) Stage casing is embedded in nearly finger joint tendon groove (24), and its epimere fastens after being close to nearly finger joint joint disk (22) and leads in middle finger joint tendon In hole (31), hypomere fastens in pedestal tendon through hole (19) after being close to right half pedestal (18), and described remote driving tendon (7) stage casing is embedding In middle finger joint tendon groove (30), its epimere fastens after being close to middle finger joint joint disk (29) in remote finger joint tendon through hole (33) Interior, hypomere fastens in nearly finger joint tendon through hole (23) after being close to nearly finger joint joint disk (22).
7. apery myoelectricity artificial hand according to claim 1 finger mechanism it is characterised in that described near driving tendon (4) Drive tendon (7) with remote using the flexible rope being made material by polyethylene fibre.
8. apery myoelectricity artificial hand according to claim 4 finger mechanism it is characterised in that described pedestal (1), closely refer to Section (3), middle finger joint (6), remote finger joint (9), distal phalange joint side cover (10), metacarpal joint side cover (11), proximal phalange joint side cover (12) made by aluminium alloy, described rotary shaft (15) is made up of 45 steel.
9. the finger mechanism of the apery myoelectricity artificial hand according to any one of claim 1 to 8 is it is characterised in that described near The middle part of finger joint (3), middle finger joint (6) and remote finger joint (9) is equipped with the cavern part for mitigating deadweight.
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CN110731842B (en) * 2019-09-20 2021-11-19 上海健康医学院 Pneumatic muscle driven thumb device for smart hand
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