A fully coupled prosthetic arm
A fully-coupled, prosthetic technology, applied in the field of prosthetic arms, can solve the problems of poor fast response ability, complex prosthetic arm structure, and high rotational inertia, and achieve the effects of reducing rotational inertia, improving fast response capability, and simple overall structure
Active Publication Date: 2021-12-21
SUZHOU UNIV
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Problems solved by technology
[0006] For this reason, the technical problem to be solved by the present invention is to overcome the defects of complex structure, heavy weight, high moment of inertia and poor ability of quick response in the prior art.
Method used
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[0035]The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it, but the examples given are not intended to limit the present invention.
[0036] refer to Figure 1-Figure 3 As shown, the present invention discloses a fully coupled prosthetic arm, comprising a shoulder joint 14, an elbow joint 16, a wrist joint 18 and a hand joint 19 connected in sequence, and the connection between the elbow joint 16 and the shoulder joint 14 There is a big arm 15, and a forearm 17 is connected between the elbow joint 16 and the wrist joint 18;
[0037] It also includes three main driving motors and three driving ropes, the main driving motors and the driving ropes correspond one by one, the shoulder joint 14 is driven by the shoulder driving mechanism, the elbow joint 16 is driven by the elbow driving mechanism, and the wrist joint ...
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The invention relates to a fully coupled prosthetic arm, which includes three main driving motors and three driving ropes, the main driving motors and the driving ropes correspond one by one, the shoulder joint is driven by three shoulder driving mechanisms, and the elbow joint is driven by the elbow Mechanism drive, the wrist drive mechanism is driven by three wrist drive mechanisms; the shoulder drive mechanism, elbow drive mechanism and wrist drive mechanism are all differential gear trains, and the differential gear train includes two power inputs and a power input Output member; one power input member in the differential gear train is driven to rotate by the corresponding drive rope, the drive rope is connected to the corresponding main drive motor, and the other power input member is driven to rotate by the auxiliary motor. The invention uses three main driving motors to lead out three driving ropes to realize the fully coupled movement of the shoulder, elbow and wrist joints, which effectively reduces the number of motors, the weight of the entire arm and the moment of inertia, and improves the rapid response capability of the prosthetic arm , and the overall structure is simple, with many degrees of freedom and high flexibility.
Description
technical field [0001] The invention relates to the technical field of prosthetic arms, in particular to a fully coupled prosthetic arm. Background technique [0002] In recent years, the number of physically disabled patients caused by industrial accidents, traffic accidents, diseases and natural disasters has gradually increased. Among them, the life of patients with upper limb disabilities is the most difficult. After losing their upper limbs, it is difficult for them to take care of themselves. In order to enable patients with upper limb disabilities to carry out normal life and work, mechanical prosthetic arms have been continuously developed and applied. [0003] Patent application publication number is the Chinese patent of CN110538015A, discloses a kind of mechanical prosthetic arm, and this mechanical prosthetic arm is made up of hand, wrist, forearm, elbow joint, upper arm and shoulder joint, and its elbow joint drive mechanism is made up of first bevel gear, Comp...
Claims
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IPC IPC(8): A61F2/54A61F2/58
CPCA61F2/54A61F2/581A61F2/582A61F2/585A61F2/586A61F2/583A61F2002/546A61F2002/543
Inventor 张庭宁传新李阳冯凯祥巩振华唐庆康
Owner SUZHOU UNIV