Bionic upper limb with motion function

Abstract

The invention discloses a bionic upper limb with a motion function. The bionic upper limb comprises an artificial limb head, a wrist joint and a forearm, wherein the two ends of the wrist joint are correspondingly connected with the artificial limb head and the forearm, the artificial limb head comprises an index finger, a middle finger, a ring finger, a little finger, a thumb and a palm, whereinthe index finger, the middle finger, the ring finger, the little finger and the thumb are mounted on the palm, the palm comprises a hand supporting plate, a thumb rotating motor reducer is fixedly arranged on the hand supporting plate, an output shaft of the thumb rotating motor reducer is used for fixing a lead screw, the lead screw is in threaded connection with a nut, the nut is connected witha guide rail on the hand supporting plate in a sliding mode along up-down direction, a fixing pin arranged on the nut slides in a sliding groove, a thumb rotary table extends downward and frontward tobe provided with a driving beam, the sliding groove is formed in the driving beam, the sliding groove is horizontally arranged in the left-right direction, a rotating support of the thumb rotary table is arranged on the hand supporting plate, and the thumb is installed on the thumb rotary table. According to the bionic upper limb, position adjustment of the thumb is realized, and the thumb has the motion function similar to that of the thumb of a healthy person.

Description

technical field [0001] The invention relates to a bionic upper limb, in particular to a bionic upper limb with motor function. Background technique [0002] my country is a country with a large population, and there are tens of millions of patients with missing upper limbs or hands. This group of people urgently needs to install artificial limbs to improve their quality of life. In addition, in some environments, the damage to the human body is great or unbearable, such as nuclear reactions, external In space, high-temperature and high-heat production, it is necessary to use bionic hands or arms for operations. [0003] The thumb of the current bionic hand cannot rotate, or has only one degree of freedom, which is far from the function of a human hand, and cannot meet the requirements for the function of a prosthetic hand or a bionic hand in production engineering. A normal thumb not only has metacarpophalangeal joints, The connection between the thumb and the palm of the di...

AI Technical Summary

Problems solved by technology

[0003] The thumb of the current bionic hand cannot rotate, or has only one degree of freedom, which is far from the function of a human hand, and cannot meet the requirements for the use of a prosthetic hand or a bionic hand in production engineering. A normal thumb not only has metacarpophalangeal joints, The connection between the thumb and the palm of the distal knuckle also has a degree of freedom, that is, the adjustment of the position and posture of the thumb

[0004] Most of the bionic upper limbs are expensive and mainly rely on imports, and the fingers of the bionic upper limbs usually use two kinematic joints, which cannot grasp objects like healthy fingers. The existing bionic upper limbs usually use motor-driven pull wires, and the pull wires pull to realize the movement of finger joints , because a return spring needs to be set between the finger joints, the pull wire has to overcome the resistance of the spring for traction movement, wasting the power of the drive motor, and because the pull wire is repeatedly subjected to alternating stress during the traction process, it is easy to relax and fatigue fracture, and the reliability is poor

[0005] Some bionic finger joints are driven by connecting rods. Due to the relationship between the efficiency of the connecting rods and the angle between the connecting rods, it will affect the running stability of the motor and affect the life of the motor, and the change of the angle between the connecting rods will make the connecting rod The rotation speed between the rods is also changing non-linearly, the movement speed of the connecting rod is not smooth, and the effect of grasping objects is poor

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