CN113317914A - Four-degree-of-freedom intelligent prosthetic hand - Google Patents

As shown in fig. 1 and 2, the invention provides a four-degree-of-freedom intelligent prosthetic hand, which comprises a thumb 1, an

index finger

2, a

middle finger

3, a ring finger 4, a

little finger

5, a

palm base

7, a linear motor 9, a

circuit board

11 and a shell. The thumb 1, the

index finger

2, the

middle finger

3, the ring finger 4, and the

little finger

5 are sequentially connected to the

palm base

7, and the thumb 1, the

index finger

2, the

middle finger

3, the ring finger 4, and the

little finger

5 form a shape substantially identical to the shape of a human hand after being connected to the

palm base

7. The linear motors 9 are arranged on the

palm base

7, the number of the linear motors is three, an output shaft of the first linear motor 9 is connected with the thumb 1, an output shaft of the second linear motor 9 is connected with the

index finger

2, and an output shaft of the third linear motor 9 is connected to the

middle finger

3, the ring finger 4 and the

little finger

5 through the

triple driving mechanism

6. The thumb 1, the

index finger

2, the

middle finger

3, the ring finger 4 and the

little finger

5 can realize bending or stretching movement under the driving of the corresponding linear motors 9. Wherein, the

middle finger

3, the ring finger 4 and the

little finger

5 can realize the simultaneous bending or stretching movement under the action of the

triple driving mechanism

6. The

circuit board

11 is arranged on the

palm base

7 and connected with the linear motor 9 through a lead for controlling the start and stop of the linear motor. The shell is covered outside the

palm base

7 to play a role in protection.

As shown in fig. 3 and 4, the

index finger

2, the

middle finger

3, the ring finger 4 and the

little finger

5 have the same structure except for the end driving part and the length. The

index finger

2, the

middle finger

3, the ring finger 4 and the

little finger

5 each include a

finger base

16, a

proximal finger joint

17, a

distal finger joint

18, a first

finger pin shaft

19, a

finger drive lever

20, a second

finger pin shaft

21, a

finger link

22, a third

finger pin shaft

23, a fourth

finger pin shaft

24, a fifth

finger pin shaft

25 and a sixth

finger pin shaft

26. The

finger base

16 is provided with a

finger fixing hole

161 and a

base sliding groove

162. The sixth

finger pin shaft

26 and the fifth

finger pin shaft

25 are fixedly sleeved on the

finger base

16, the

proximal finger joint

17 is sleeved on the sixth

finger pin shaft

26, and the fifth

finger pin shaft

25 is positioned in the arc-shaped groove of the

proximal finger joint

17. A second

finger pin shaft

21 and a fourth

finger pin shaft

24 are fixedly sleeved on the

proximal finger joint

17, a

distal finger joint

18 is fixedly sleeved on the fourth

finger pin shaft

24, and a third

finger pin shaft

23 is fixedly sleeved on the

distal finger joint

18; one end of the

finger driving rod

20 is sleeved on the first

finger pin shaft

19, and the other end is sleeved on the second

finger pin shaft

21. One end of the

finger link

22 is sleeved on the fifth

finger pin shaft

25, and the other end is sleeved on the third

finger pin shaft

23.

As shown in fig. 3, 4 and 5, the tip drives of the

index finger

2, the

middle finger

3, the ring finger 4 and the

little finger

5 are different, specifically, the

index finger

2 includes an index

finger driving block

15, and the index

finger driving block

15 is disposed in the

base sliding groove

162 of the

finger base

16 of the

index finger

2; the end driving piece of the

middle finger

3 is a middle

finger sliding block

27, the end driving piece of the ring finger 4 is a ring

finger driving block

28, and the end driving piece of the

little finger

5 is a little

finger sliding block

29, wherein the middle

finger sliding block

27, the ring

finger driving block

28 and the little

finger sliding block

29 are respectively three output ends of the

triple driving mechanism

6, the middle

finger sliding block

27 is arranged in a

base sliding groove

162 of the

middle finger

3, the ring

finger driving block

28 is arranged in the

base sliding groove

162 of the ring finger 4, and the little

finger sliding block

29 is arranged in the

base sliding groove

162 of the

little finger

5. Four

first finger pinshafts

19 of the

index finger

2, the

middle finger

3, the ring finger 4 and the

little finger

5 are respectively sleeved and fixed on the end driving pieces (an index

finger driving block

15, a middle

finger sliding block

27, a ring

finger driving block

28 and a little finger sliding block 29). As shown in fig. 5, the guide

convex column

271 of the middle

finger sliding block

27 is sleeved in the arc-shaped groove of the ring

finger driving block

28, the small

finger sliding block

29 and the middle

finger sliding block

27 have the same structure, the guide convex column thereon is sleeved in the other arc-shaped groove of the ring

finger driving block

28, and the three components together form the

triple driving mechanism

6.

As shown in fig. 6 and 7, the thumb 1 includes a thumb joint 30, a

thumb base

31, a

first thumb pin

37, a

second thumb pin

40, a

third thumb pin

42, a

thumb link

39, and a

thumb drive block

41. As shown in fig. 8 and 9, the

thumb base

31 is provided with a thumb

joint fixing hole

312, and the thumb joint 30 is connected to the

thumb base

31 through the thumb

joint fixing hole

312. The

thumb driving block

41 is connected with the output shaft of the corresponding linear motor 9, and the first

thumb pin shaft

37 is fixedly connected with the

thumb connecting rod

39 and can slide in the arc-shaped groove of the

thumb base

31. The

third thumb pin

42 is fixedly sleeved on the

thumb driving block

41 and penetrates through the sliding groove of the

thumb connecting rod

39. The second

thumb pin shaft

40 is sleeved on the

thumb connecting rod

39. When the output shaft of the linear motor 9 corresponding to the

thumb driving block

41 moves axially, the

third thumb pin

42 slides along the sliding slot on the

thumb connecting rod

39, and the

thumb connecting rod

39 drives the thumb 1 to rotate, so that the thumb 1 bends or extends.

Besides the thumb 1 realizing bending and stretching movement under the drive of the linear motor, the thumb 1 can be configured to realize side turning or side pinching. Specifically, referring to fig. 7, the thumb 1 further includes a

dc motor

32, a

first bevel gear

33, a

bearing

34, a

worm

35, a

second bevel gear

36, a

worm gear

38, and a

snap spring

43. Referring to fig. 8 and 9, the

thumb base

31 is provided with a dc

motor mounting hole

311, a bevel

gear mounting hole

313, a

bearing mounting hole

315, and a snap

spring mounting hole

316. The

dc motor

32 is fixed to the

thumb base

31 through the dc

motor mounting hole

311. The

first bevel gear

33 is fixedly sleeved on the output shaft of the direct

current motor

32, and the

second bevel gear

36 is embedded in the bevel

gear mounting hole

313 of the

thumb base

31 and meshed with the

first bevel gear

33. One end of the

worm

35 is fixedly connected with the

second bevel gear

36, and the other end is sleeved on the

bearing

34. The outer ring of the

bearing

34 is fixedly sleeved in the

bearing mounting hole

313 of the

thumb base

31, and the

clamp spring

43 is embedded in the clamp

spring mounting hole

316 of the

thumb base

31 to limit the axial displacement of the

bearing

34. The

worm wheel

38 and the

thumb connecting rod

39 are fixedly connected and are jointly sleeved on a screw inserted into a

thumb connecting hole

314 of the

thumb base

31, and the

worm wheel

38 is meshed with the

worm

35. The

dc motor

32 is connected to the circuit board by wires, and is controlled by the circuit board.

As shown in fig. 10 and 11, the

palm base

7 is a main supporting component, and includes a

trapezoidal sliding groove

71, a triple

driving sliding groove

73, a second

motor mounting hole

74, a first

motor mounting hole

77, a

finger mounting hole

78, a circuit

board mounting hole

79, and a

motor outlet hole

712. The two linear motors 9 are fixed on the

palm base

7 through a first

motor mounting hole

77 and a second

motor mounting hole

74 on the

palm base

7 and respectively drive the

index finger

2, the

middle finger

3, the ring finger 4 and the

little finger

5 to be linked. The

triple drive mechanism

6 is disposed in the triple

drive slide groove

73, and the

guide trapezoidal piece

281 of the ring

finger drive piece

28 is disposed in the

trapezoidal slide groove

71. The first motor

shaft connecting hole

151 on the

forefinger driving block

15 and the second motor

shaft connecting hole

282 on the ring

finger driving block

28 are respectively connected with the output shafts of the two linear motors 9, and the

forefinger

2, the

middle finger

3, the ring finger 4 and the

little finger

5 are fixed on the

palm base

7 through the

finger fixing holes

161 on the

finger base

16 and the

finger mounting holes

78 on the

palm base

7. The thumb 1 is connected with the output shaft of the linear motor 9 through a third motor

shaft connecting hole

411 on the

thumb driving block

41; the

circuit board

11 is fixed on the

palm base

7 through a circuit

board mounting hole

79 on the

palm base

7, and the motor lines of the three linear motors 9 are connected to the

circuit board

11 on the back of the

palm base

7 through three motor outlet holes 712 on the

palm base

7.

The shell is covered outside the

palm base

7 to play a role in protection. As shown in fig. 13 and 14, the shell may include a

palmar shell

12 and a palmar-

dorsal shell palm

14. The

palm shell

12 and the palm back

shell

14 are oppositely arranged to form a containing space so as to wrap the

palm base

7. The

palm shell

12 is fixed to the

palm base

7 through palm shell fixing holes 72 (see fig. 10) on the

palm base

7, and the

palmback shell

14 is fixed to the

palm base

7 through palmback

shell mounting holes

710 and palmback shell positioning holes 713 on the

palm base

7.

The whole four-degree-of-freedom intelligent prosthetic hand can be matched with a prosthetic wrist through the

flange

10 and is installed on an accepting cavity to be used as a prosthetic limb. The

flange

10 is arranged on one side of the prosthetic hand facing the prosthesis, and the

flange

10 is fixedly connected to the

palm base

7 through a

flange mounting hole

75 on the

palm base

7.

The linear motor 9 connected with the thumb 1 can be fixed on the palm base through the

motor splint

8. Specifically, the

motor clamp

8 is fixed on the

palm base

7 through the

clamp fixing hole

81 of the palm base and the motor

clamp mounting hole

76 on the

palm base

7. The linear motor 9 is fixed on the

motor splint

8 through a third

motor mounting hole

82 on the

palm base

7. The

second thumb pin

40 of the thumb 1 is fixedly sleeved in the thumb connecting hole 83 (see fig. 12) of the

motor splint

8.

A thumb soft rubber can be arranged between the thumb and the palm base and sleeved outside the joint of the thumb and the palm base, so that the protective effect is achieved. The thumb

soft glue

13 is fixedly connected on the

palm base

7 through the thumb soft

glue mounting hole

711 on the

palm base

7.

when the

circuit board

11 controls the motor shaft of the linear motor 9 to extend or contract, the output shaft of the linear motor 9 drives the index

finger driving block

15, the ring

finger driving block

28 and the

thumb driving block

41 fixed thereto, respectively. Under the action of the linear motor, the index

finger driving block

15 drives the

index finger

2 to move, the middle

finger sliding block

27, the ring

finger driving block

28 and the little

finger sliding block

29 form a

triple driving mechanism

6 to drive the

middle finger

3, the ring finger 4 and the

little finger

5 to synchronously move, and the

thumb driving block

41 drives the thumb 1 to move.

The

forefinger driving block

15, the

finger base

16, the proximal finger joint 17 and the

finger driving rod

20 form a four-bar slider mechanism, when the

forefinger driving block

15 moves axially along the output shaft of the linear motor 9 for driving the forefinger, the proximal finger joint 17 rotates around the sixth finger pin shaft 26 (the finger base 16), and the fifth

finger pin shaft

25 performs limit motion in the arc-shaped groove of the

proximal finger joint

17. The

finger base

16, the proximal finger joint 17, the distal finger joint 18 and the

finger link

22 form a crossed four-bar mechanism, and when the proximal finger joint 17 rotates around the sixth finger pin 26 (the finger base 16), the distal finger joint 18 simultaneously rotates around the fourth finger pin 24 (the proximal finger joint 17), so that the bending or stretching movement of the index finger is realized.

When the ring

finger driving block

28 moves axially along the output shaft of the linear motor 9 driving the three-finger linkage in the triple

driving sliding slot

73 on the

palm base

7, the guiding

trapezoidal block

281 on the ring

finger driving block

28 slides along the

trapezoidal sliding slot

71 on the

palm base

7, and simultaneously drives the middle

finger sliding block

27 and the little

finger sliding block

29 to move axially along the output shaft of the linear motor 9 driving the three-finger linkage by driving the guiding

convex column

271 on the middle

finger sliding block

27, thereby realizing the bending or stretching movement of the

middle finger

3, the ring finger 4 and the

little finger

5.

The

thumb driving block

41, the

motor clamping plate

8, the

thumb connecting rod

39 and the third

thumb pin shaft

42 form a double-slider link mechanism, when the

thumb driving block

41 moves axially along the output shaft of the linear motor 9 which is arranged on the

motor clamping plate

8 and drives the thumb 1, the third

thumb pin shaft

42 can slide along the sliding groove on the

thumb connecting rod

39, and meanwhile, the

thumb connecting rod

39 drives the thumb 1 to rotate around the

thumb connecting hole

83 on the

motor clamping plate

8, so that the bending or stretching of the thumb is realized.

When the

circuit board

11 controls the direct

current motor

32 to rotate forward or backward, the direct

current motor

32 drives the

first bevel gear

33 to rotate, and the

second bevel gear

36 engaged therewith drives the

worm

35 to rotate, so that the

thumb knuckle

30, the direct

current motor

32, the

first bevel gear

33, the

second bevel gear

36, the

worm

35, the

bearing

34, and the

thumb base

31 rotate together around the worm wheel 38 (thumb connecting rod 39), and the

first thumb pin

37 fixed to the

thumb connecting rod

39 moves in the arc-shaped groove of the

thumb base

31 in a limiting manner, thereby realizing the side turning or side pinching of the thumb.

When the artificial hand receives a side pinching instruction, the direct

current motor

32 rotates, the two linear motors 9 arranged on the

palm base

7 drive the index finger, the middle finger, the ring finger and the little finger to realize bending motion, namely the four fingers can synchronously bend, and then the linear motor 9 arranged on the

motor splint

8 drives the thumb 1 to move to contact with the side surface of the far finger joint 18 of the

index finger

2, so that side pinching motion is realized; when the second finger pin shaft receives a gripping instruction, the direct

current motor

32 does not rotate, and the three linear motors 9 drive the five fingers to do bending motion until the objects are gripped, so that the gripping action is realized; similarly, when only the linear motors 9 of the thumb 1 and the

forefinger

2 are driven until the thumb 1 contacts the

forefinger

2, the pinching action of the two fingers can be finished; on the contrary, when the prosthetic hand receives the command of recovering the natural state, the corresponding motor moves reversely until the prosthetic hand reaches the state shown in fig. 9.

1. A four-degree-of-freedom intelligent prosthetic hand is characterized by comprising:

a palm base;

a thumb, an index finger, a middle finger, a ring finger, and a little finger connected to the palm base, the thumb, the index finger, the middle finger, the ring finger, and the little finger being arranged in sequence on the palm base;

the three linear motors are arranged on the palm base, wherein the first linear motor is connected with the thumb, the second linear motor is connected with the index finger, and the third linear motor is connected with the middle finger, the ring finger and the little finger through a triple driving mechanism;

the circuit board is arranged on the palm base and is electrically connected with the three linear motors;

wherein the thumb and the index finger are configured to effect a bending or stretching motion under the corresponding linear motor drive; the middle finger, the ring finger and the little finger are configured to realize simultaneous bending or stretching movement through the triple driving mechanism under the driving of the linear motor.

2. The four degree-of-freedom intelligent prosthetic hand of claim 1, wherein the index finger, the middle finger, the ring finger, and the little finger each comprise: the finger joint comprises a finger base, a near finger joint, a far finger joint, a first finger pin shaft, a finger driving rod, a second finger pin shaft, a finger connecting rod, a third finger pin shaft, a fourth finger pin shaft, a fifth finger pin shaft and a sixth finger pin shaft; the finger base is provided with a finger fixing hole and a base sliding groove; the sixth finger pin shaft and the fifth finger pin shaft are fixedly sleeved on the finger base, the near finger joint is sleeved on the sixth finger pin shaft, and the fifth finger pin shaft is positioned in an arc-shaped groove of the near finger joint; the second finger pin shaft and the fourth finger pin shaft are fixedly sleeved on the proximal finger joint, the distal finger joint is fixedly sleeved on the fourth finger pin shaft, and the third finger pin shaft is fixedly sleeved on the distal finger joint; one end of the finger driving rod is sleeved on the first finger pin shaft, and the other end of the finger driving rod is sleeved on the second finger pin shaft; one end of the finger connecting rod is sleeved on the fifth finger pin shaft, and the other end of the finger connecting rod is sleeved on the third finger pin shaft.

3. The four degree-of-freedom intelligent prosthetic hand of claim 2, wherein the index finger further comprises an index finger drive block disposed within the base slide slot of the finger base of the index finger, the index finger drive block being connected with the output shaft of the corresponding linear motor.

4. The four degree-of-freedom intelligent prosthetic hand of claim 2, wherein the middle finger further comprises a middle finger slide block located in the base slide slot of the middle finger, the ring finger further comprises a ring finger drive block located in the base slide slot of the ring finger, and the little finger further comprises a little finger slide block located in the base slide slot of the little finger; the middle finger sliding block, the ring finger driving block and the little finger sliding block are respectively arranged on three output ends of the triple driving mechanism, the guide convex column of the middle finger sliding block is sleeved in the arc-shaped groove of the ring finger driving block, and the guide convex column of the little finger sliding block is sleeved in the other arc-shaped groove of the ring finger driving block.

5. The four degree-of-freedom intelligent prosthetic hand of claim 1, wherein the thumb comprises a thumb joint, a thumb base, a first thumb pin, a second thumb pin, a third thumb pin, a thumb link, and a thumb drive; a thumb joint fixing hole is formed in the thumb base, and the thumb joint is connected to the thumb base through the thumb joint fixing hole; the thumb driving block is connected with the output shaft of the corresponding linear motor, and the first thumb pin shaft is fixedly connected with the thumb connecting rod and is configured to slide in the arc-shaped groove of the thumb base; the third thumb pin shaft is fixedly sleeved on the thumb driving block and penetrates through the sliding groove of the thumb connecting rod; the second thumb pin shaft is sleeved on the thumb connecting rod.

6. The four degree-of-freedom intelligent prosthetic hand of claim 5, further comprising a motor splint disposed on the palm base, the linear motor connected with the thumb being fixed on the motor splint, the motor splint including a thumb connecting hole, the second thumb pin of the thumb being fixedly sleeved on the thumb connecting hole.

7. The four degree-of-freedom intelligent prosthetic hand of claim 5, wherein the thumb further comprises a dc motor, a first bevel gear, a bearing, a worm, a second bevel gear, a worm gear and a snap spring; the thumb base is also provided with a direct current motor mounting hole, a bevel gear mounting hole, a bearing mounting hole and a clamp spring mounting hole; the direct current motor is fixed on the thumb base through the direct current motor mounting hole; the first bevel gear is fixedly sleeved on an output shaft of the direct current motor, and the second bevel gear is embedded in the bevel gear mounting hole of the thumb base and meshed with the first bevel gear; one end of the worm is fixedly connected with the second bevel gear, and the other end of the worm is sleeved on the bearing; the outer ring of the bearing is fixedly sleeved in the bearing mounting hole of the thumb base, and the clamp spring is embedded in the clamp spring mounting hole of the thumb base; the worm wheel and the thumb connecting rod are fixedly connected and are jointly sleeved on a screw inserted into the thumb connecting hole of the thumb base, and the worm wheel is meshed with the worm.

8. The four degree-of-freedom intelligent prosthetic hand of claim 1, wherein the palm base comprises a triple drive runner, a second motor mounting hole, a first motor mounting hole, a finger mounting hole, a circuit board mounting hole, a motor outlet hole; two of the three linear motors are fixed on the palm base through the first motor mounting hole and the second motor mounting hole; the triple driving mechanism is arranged in the triple driving sliding chute; the index finger, the middle finger, the ring finger and the little finger are arranged at the corresponding finger mounting holes; the circuit board is fixed on the palm base through the circuit board mounting hole, and the electric wires of the three linear motors are connected to the circuit board through the motor wire outlet holes in the palm base.

9. A four degree-of-freedom intelligent prosthetic hand according to claim 1, further comprising a shell comprising a palmar shell and a palmar back shell, the palmar shell and the palmar back shell being disposed opposite to each other to form a receiving space for receiving the palmar base.

10. The four degree-of-freedom intelligent prosthetic hand of claim 1, further comprising a thumb soft glue sleeved at a joint of the thumb and the palm base, wherein one end of the thumb soft glue is connected to the thumb and the other end is connected to the palm base.