CN102178574B

CN102178574B - Compact bionic bendable artificial wrist joint

Info

Publication number: CN102178574B
Application number: CN 201110120504
Authority: CN
Inventors: 喻洪流; 李继才; 傅丹琦; 林起彪
Original assignee: Danyang Artificial Limb Factory Co Ltd; University of Shanghai for Science and Technology
Current assignee: Danyang Artificial Limb Factory Co Ltd; University of Shanghai for Science and Technology
Priority date: 2011-05-11
Filing date: 2011-05-11
Publication date: 2013-04-17
Anticipated expiration: 2031-05-11
Also published as: CN102178574A

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

Compact bionic bendable artificial wrist joint

Technical field

But the present invention relates to a kind of electronic flexing carpal joint of doing evil through another person, especially a kind of EMG-controlling prosthetic hand engages the bent wrist device of realizing myoelectricity control.

Background technology

Human artificial hand has cosmetic hand and functional doing evil through another person, and cosmetic hand has cosmetic result, can not finish any functional action, and functional doing evil through another person can be finished specific action, is generally grasping, bends and stretches and rotates.Normal staff has 27 degree of freedom, now general EMG-controlling prosthetic hand can be finished finger and stretches in the wrong, wrist and stretch three groups of actions of external rotation in the wrong, the wrist, degree of freedom is few, does evil through another person and can only lean on the mobile of forearm to drive, do evil through another person can not be independent finish functional action by bending and stretching of wrist.

The product of doing evil through another person that has at present bent wrist function both at home and abroad adopts external sector gear driven Design mostly, and security reliability is not high, and center of rotation is at the carpal joint upper position, and can not simulate around the carpal joint center rotating.

It is more bionical to have doing evil through another person of bent wrist function, and it can finish the movement that grasps article by bending and stretching of wrist, can reduce like this energy loss that mobile whole arm brings.But if can invent the flexing carpal joint of doing evil through another person that a kind of volume weight is little, have imitation carpal joint center rotating, will have practical significance to changing existing wrist joint function.

Summary of the invention

The present invention will provide a kind of compact bionic bendable artificial wrist joint, this wrist joint structure compactness of doing evil through another person, lightweight, the flexor that can realize by myoelectricity control wrist, more bionical for disabled persons doing evil through another person.

For achieving the above object, technical scheme of the present invention is: a kind of compact bionic bendable artificial wrist joint, comprise top base, and bottom base, motor module, planetary gear speed reducing mechanism is characterized in:

Motor module is comprised of direct current generator, one-level epicyclic transmission mechanism, self-locking mechanism, output mechanism, the direct current generator output shaft is connected with the one-level epicyclic transmission mechanism, between the Gear Planet Transmission dish in the one-level epicyclic transmission mechanism and the output gear axle of output mechanism by after the relative applying of two self-lockings, half tooth bar sheet of self-locking mechanism and the output gear axle be connected with a joggle; The output gear axle is connected with the copper ring interference fit, and copper ring is connected with the outer ring for fixing interference fit of motor output shaft;

Planetary gear speed reducing mechanism is by the secondary planet travelling gear, the third-level planetary travelling gear, the planetary gear speed reducing mechanism drive plate, planetary gear speed reducing mechanism output panel, the planetary gear speed reducing mechanism ring gear, planetary gear speed reducing mechanism shell and planetary gear speed reducing mechanism closing cap consist of, the planetary gear speed reducing mechanism ring gear is connected with planetary gear speed reducing mechanism shell interference fit, planetary gear speed reducing mechanism output panel places in the planetary gear speed reducing mechanism shell, and respectively with three third-level planetary travelling gear matched in clearance, three third-level planetary travelling gears and the engagement of planetary gear speed reducing mechanism ring gear, three third-level planetary travelling gears and the engagement of planetary gear speed reducing mechanism drive plate, the planetary gear speed reducing mechanism drive plate respectively with three secondary planet travelling gear matched in clearance, be fixedly connected with the planetary gear speed reducing mechanism closing cap on the planetary gear speed reducing mechanism shell input; Planetary gear speed reducing mechanism makes the engagement of three secondary planet travelling gears and output gear axle by the output gear axle of planetary gear speed reducing mechanism closing cap one side insertion motor module; Top base is connected with planetary gear speed reducing mechanism output panel by three screw rods, and is connected with the ultra-thin zanjon bearing that inner ring is fixed on the motor housing by the outer ring for fixing of bearing.

After motor module and the engagement of planetary gear speed reducing mechanism planet, be fixed on the bottom base by three screw rods.

The present invention has the following advantages and beneficial effect:

The solution of this patent success the unaccommodated drawback of volume, quality and gear ratio, be more or less the same with volume and the quality of normal human's anatomical extremity.This patent is used third-level planetary wheel drive mechanism, and the rotation by motor realizes bending and stretching of artificial limb wrist, can improve greatly deformed limb person's quality of life, has also strengthened bionical effect, more hommization.

Characteristics of the present invention:

(1) compact conformation, volume is little

(2) material is suitable, and quality is light

(3) three grades of decelerations, gear ratio is large

(4) gradation assembling, easily assembling

(5) ultra-thin zanjon bearing is housed, rotates more level and smooth

(6) reduce kwh loss.

Description of drawings

Fig. 1 is structural upright general assembly drawing of the present invention;

Fig. 2 is the motor module front view;

Fig. 3 is along the cutaway view of A-A among Fig. 2;

Fig. 4 is the planetary gear speed reducing mechanism front view;

Fig. 5 is along the cutaway view of B-B among Fig. 4;

Fig. 6 is planetary gear speed reducing mechanism closing cap structural perspective;

Fig. 7 is upper and lower pedestal profile;

But Fig. 8 is do evil through another person electronic flexing carpal joint and the nature position axonometric chart of doing evil through another person, the arm cylinder is connected;

But Fig. 9 is do evil through another person electronic flexing carpal joint and the bent wrist position axonometric chart of doing evil through another person, the arm cylinder is connected.

The specific embodiment

Below in conjunction with accompanying drawing and embodiment the present invention is done step explanation:

As shown in Figure 1, compact bionic bendable artificial wrist joint of the present invention is by top base 19, bottom base 18, and motor module 21, planetary gear speed reducing mechanism 22 forms.

After motor module 21 and the engagement of planetary gear speed reducing mechanism 22 planets, be fixed on the bottom base 18 by three screw rods.

Top base 19 is connected with planetary gear speed reducing mechanism 22 output panels 15 by three screw rods, and is connected with the ultra-thin zanjon bearing 3 that inner ring is fixed on the motor housing 4 by the outer ring for fixing 20 of bearing.

The left plate of top base 19 is connected by three screws with planetary gear speed reducing mechanism 22 output panels 15, and the right side of top base 19 is connected by open stirrups with zanjon bearing 3 outer rings.But so just obtained the complete flexing carpal joint 24 of doing evil through another person as shown in Figure 1.

Such as Fig. 2, shown in 3, motor module 21 comprises direct current generator 1, one-level epicyclic transmission mechanism, self-locking mechanism, output mechanism.Direct current generator 1 output shaft is connected with the one-level epicyclic transmission mechanism.Motor output gear axle 9 and copper ring 10 interference fit in the motor module 21, copper ring 10 and outer ring for fixing 8 interference fit of motor output shaft.Two self-locking half tooth bar sheets 7 are fitted rear and 9 engagements of motor output gear axle relatively, and two feet that then drive plate 6 of three little bearings 5 of planetary reduction gear will be housed insert self-locking half tooth bar sheets 7.

The assembling of motor module 21 is two and half tooth bar sheets 7 to be contained in to form on the output gear axle 9 of output mechanism cooperate, again two and half tooth bar sheets 7 are cooperated with the Gear Planet Transmission dish 6 of one-level epicyclic transmission mechanism, then pack into together in the motor housing 4, inserting direct current generator 1 makes the output shaft of direct current generator 1 cooperate with 5 formation of three bearings, put into zanjon bearing 3, screw on motor pressing cover 2 and just formed complete motor module 21.

Such as Fig. 4, shown in 5, planetary gear speed reducing mechanism 22 is by secondary planet travelling gear 12, third-level planetary travelling gear 14, planetary gear speed reducing mechanism drive plate 13, planetary gear speed reducing mechanism output panel 15, planetary gear speed reducing mechanism ring gear 16, planetary gear speed reducing mechanism shell 17 and planetary gear speed reducing mechanism closing cap 11(Fig. 6) consist of.

Planetary gear speed reducing mechanism output panel 15 is cooperated with planetary gear speed reducing mechanism shell 17, the third level planetary gear 14 of packing into, third level planetary gear 14 be input as a middle planetary reducing gear drive plate 13, reinstall second level planetary gear 12 after changing planetary gear speed reducing mechanism drive plate 13 over to, screw on planetary gear speed reducing mechanism closing cap 11, so just finished the assembling of motor outer planet reducing gear.

The output gear axle 9 formative gears engagement that planetary gear speed reducing mechanism is inserted motor module 21 by planetary gear speed reducing mechanism closing cap 11 1 sides is again by via the fixing radial and axial degree of freedom of planetary gear speed reducing mechanism 22 of three standing screws of bottom base 18.

The assembly method of motor module 21 and bottom base 18: planetary gear speed reducing mechanism 22 is put into direct current generator shell 4 as a whole, and the direct current generator 1 of packing into makes its output shaft consist of to cooperate with three little bearings 5 of planetary reduction gear and realizes transmission.Again with the afterbody of this part by motor housing 4, the bottom base 18 of pressing among Fig. 7 inserts from right to left, the step of motor housing 4 heads is sunk in the counterbore of bottom base 18, at this moment the afterbody of zanjon bearing 3 by motor housing 4 inserted, its inner ring is withstood on the boss of bottom base 18.Screw on motor pressing cover 2.So just finished the assembling of motor module and bottom base 18.

But Fig. 8 is the nature position that flexing carpal joint 24 is connected with the module 23 of doing evil through another person, arm cylinder 25 of doing evil through another person.Be fixedly connected with do evil through another person module 23 by top base 19 but flexing is done evil through another person above the carpal joint 24, be fixedly connected with the arm cylinder below by bottom base 18.

In use, be fixed on the rotation of direct current generator 1 output shaft on the bottom base 18 by electromyographic signal control, the rotation of motor output shaft drives the rotation of the little bearing 5 of planetary reduction gear, the little bearing of planetary reduction gear drives Gear Planet Transmission dish 6 and rotates, Gear Planet Transmission dish 6 drives output gear axle 9 by self-locking mechanism and rotates, and has so just finished the one-level planetary reduction gear transmission of motor housing 4 inside.

Output gear axle 9 drives the second level planetary gear 12 of the planetary gear speed reducing mechanism that meshes with it, second level planetary gear 12 drives a middle planetary reducing gear drive plate 13, the tooth axle of planetary gear speed reducing mechanism drive plate 13 drives the third level planetary gear 14 with its engagement, third level planetary gear 14 drives planetary gear speed reducing mechanism output panel 15, thereby drive the rotation of connected top base 19, realize the function (Fig. 9) of bent wrist.

Claims

1. A compact bionic bendable prosthetic wrist joint, comprising an upper base (19), a lower base (18), a motor module (21), and a planetary reduction mechanism (22), characterized in that: the motor module ( 21) It consists of a DC motor (1), a primary planetary transmission mechanism, a self-locking mechanism, and an output mechanism. The output shaft of the DC motor (1) is connected to the primary planetary transmission mechanism. The planetary transmission disc (6 ) and the output gear shaft (9) of the output mechanism are engaged and connected with the output gear shaft (9) through the two self-locking half rack pieces (7) of the self-locking mechanism; the output gear shaft (9) and The copper ring (10) is connected with an interference fit, and the copper ring (10) is connected with the outer fixed ring (8) of the motor output shaft with an interference fit; the planetary reduction mechanism (22) is composed of a two-stage planetary transmission gear (12), a three-stage Planetary transmission gear (14), transmission plate of planetary reduction mechanism (13), output disk of planetary reduction mechanism (15), inner ring gear of planetary reduction mechanism (16), outer casing of planetary reduction mechanism (17) and closing cover of planetary reduction mechanism (11 ), the inner ring gear (16) of the planetary reduction mechanism is connected with the casing (17) of the planetary reduction mechanism with an interference fit, and the output disk (15) of the planetary reduction mechanism is placed in the The three-stage planetary transmission gears (14) are clearance fit, the three three-stage planetary transmission gears (14) mesh with the inner ring gear (16) of the planetary reduction mechanism, and the three three-stage planetary transmission gears (14) and the transmission disc (13) of the planetary reduction mechanism ) meshing, the transmission plate (13) of the planetary reduction mechanism is in clearance fit with the three secondary planetary transmission gears (12) respectively, and the input end of the planetary reduction mechanism casing (17) is fixedly connected with the closing cover (11) of the planetary reduction mechanism; the planetary reduction mechanism (22) Insert the output gear shaft (9) of the motor module (21) from one side of the planetary reduction mechanism closure cover (11), so that the three secondary planetary transmission gears (12) mesh with the output gear shaft (9); the upper base The seat (19) is connected with the output disk (15) of the planetary reduction mechanism through three screws, and is connected with the ultra-thin deep groove bearing (3) whose inner ring is fixed on the motor casing (4) through the bearing outer fixed ring (8); The motor module (21) is fixed on the lower base (18) by three screw rods after planetary meshing with the planetary reduction mechanism (22).