Compact bionic bendable artificial wrist joint

Abstract

The invention relates to a compact bionic bendable artificial wrist joint, which comprises an upper base, a lower base, a motor module and a planetary reduction mechanism, wherein the direct current motor output shaft of the motor module is connected with a primary planetary transmission mechanism, and a planetary transmission disc in the primary planetary transmission mechanism and the output gear shaft of an output mechanism are combined face to face by two self-locking half rack sheets of a self-locking mechanism and in meshed connection; and the planetary reduction mechanism inner gear ring and planetary reduction mechanism shell of the planetary reduction mechanism are connected by clearance fit, and the planetary reduction mechanism is inserted into the output gear shaft of the motor module from one side of a sealing cover of the planetary reduction mechanism, so that three secondary planetary transmission gears are meshed with the output gear shaft. In the invention, a three-stage planetary transmission mechanism is adopted, a hand and a wrist are connected by using a deep groove ball bearing of a small radial size as a supporting structure, and the novel structure can allow the hand to rotate around the central shaft of a motor to realize the bending and extending of the artificial wrist and can improve the bionic performance and reliability of the wrist joint and reduce volume.

Description

technical field [0001] The invention relates to an electrically bendable wrist joint of a prosthetic hand, in particular to a wrist flexing device for realizing myoelectric control through myoelectric prosthetic hand joint. Background technique [0002] Human prosthetic hands include decorative prosthetic hands and functional prosthetic hands. Decorative prosthetic hands have a cosmetic effect and cannot perform any functional actions. Functional prosthetic hands can perform specific actions, generally grasping, flexing and extending, and rotating. A normal human hand has 27 degrees of freedom. Now the general myoelectric prosthetic hand can complete three groups of movements: finger extension and flexion, wrist extension and flexion, and wrist internal and external rotation. There are few degrees of freedom. The prosthetic hand can only be driven by the movement of the forearm. Functional movements are accomplished by flexing and extending the wrist. [0003] At present, m...

AI Technical Summary

Problems solved by technology

A normal human hand has 27 degrees of freedom. Now the general myoelectric prosthetic hand can complete three groups of movements: finger extension and flexion, wrist extension and flexion, and wrist internal and external rotation. There are few degrees of freedom. The prosthetic hand can only be driven by the movement of the forearm. Functional movement is accomplished by flexion and extension of the wrist

[0003] At present, most of the prosthetic hand products with curved wrist function at home and abroad adopt the external sector gear transmission design, which is not safe and reliable, and the rotation center is at the upper part of the wrist joint, and cannot simulate the rotation around the center of the wrist joint.

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