CN108186170A - A kind of printing prosthetic hand and its manufacturing method - Google Patents
A kind of printing prosthetic hand and its manufacturing method Download PDFInfo
- Publication number
- CN108186170A CN108186170A CN201810020563.5A CN201810020563A CN108186170A CN 108186170 A CN108186170 A CN 108186170A CN 201810020563 A CN201810020563 A CN 201810020563A CN 108186170 A CN108186170 A CN 108186170A
- Authority
- CN
- China
- Prior art keywords
- finger
- arm cylinder
- joint
- prosthetic hand
- palm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000007639 printing Methods 0.000 title claims abstract description 23
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 7
- 210000003811 finger Anatomy 0.000 claims abstract description 137
- 239000002184 metal Substances 0.000 claims abstract description 66
- 229910052751 metal Inorganic materials 0.000 claims abstract description 66
- 210000003813 thumb Anatomy 0.000 claims abstract description 30
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 29
- 210000004932 little finger Anatomy 0.000 claims abstract description 27
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 27
- 238000007493 shaping process Methods 0.000 claims abstract description 13
- 210000001503 joint Anatomy 0.000 claims abstract description 9
- 239000000463 material Substances 0.000 claims description 19
- 238000000465 moulding Methods 0.000 claims description 18
- 210000003414 extremity Anatomy 0.000 claims description 16
- 238000000034 method Methods 0.000 claims description 9
- 239000002131 composite material Substances 0.000 claims description 8
- 210000001145 finger joint Anatomy 0.000 claims description 7
- 210000000245 forearm Anatomy 0.000 claims description 7
- 239000011248 coating agent Substances 0.000 claims description 6
- 238000000576 coating method Methods 0.000 claims description 6
- 210000005224 forefinger Anatomy 0.000 claims description 6
- 239000004033 plastic Substances 0.000 claims description 6
- 229920003023 plastic Polymers 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 4
- 239000010985 leather Substances 0.000 claims description 4
- 238000010276 construction Methods 0.000 claims description 3
- 230000002708 enhancing effect Effects 0.000 claims description 3
- 230000036541 health Effects 0.000 claims description 3
- 238000002513 implantation Methods 0.000 claims description 3
- 238000013507 mapping Methods 0.000 claims description 3
- 239000012779 reinforcing material Substances 0.000 claims description 3
- 229910052710 silicon Inorganic materials 0.000 claims description 3
- 239000010703 silicon Substances 0.000 claims description 3
- 239000007779 soft material Substances 0.000 claims description 3
- 210000000707 wrist Anatomy 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- 238000005452 bending Methods 0.000 abstract description 6
- 210000004247 hand Anatomy 0.000 abstract description 3
- 230000009471 action Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 210000001364 upper extremity Anatomy 0.000 description 5
- 206010016256 fatigue Diseases 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 239000013013 elastic material Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 229910045601 alloy Inorganic materials 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 210000002435 tendon Anatomy 0.000 description 1
- -1 timber Substances 0.000 description 1
- 230000001755 vocal effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/5044—Designing or manufacturing processes
- A61F2/5046—Designing or manufacturing processes for designing or making customized prostheses, e.g. using templates, finite-element analysis or CAD-CAM techniques
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
- A61F2/586—Fingers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y80/00—Products made by additive manufacturing
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2002/543—Lower arms or forearms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2002/546—Upper arms
Landscapes
- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Engineering & Computer Science (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Vascular Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Cardiology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Materials Engineering (AREA)
- Prostheses (AREA)
Abstract
The present invention relates to a kind of printing prosthetic hand and its manufacturing methods, belong to prosthetic hand and design and produce technical field, its technical solution is by sequentially connected big arm cylinder, elbow joint, small arm cylinder, wrist joint, palm, thumb, three D printing shaping prosthetic hands of index finger, middle finger, ring finger and little finger one piece, and is embedded in prosthetic hand and form grasping tensioning system by sequentially connected main sheet metal, palm built-in module, finger drawing sheet sheet metal, the finger tip Prefabricated block of stretching.Elbow joint, wrist joint and the thumb, whole finger and palm joints of five fingers of index finger, middle finger, ring finger and little finger and interphalangeal joint are multiple folding directly bent telescopic joint structure, and wherein elbow joint, wrist joint is high-strength structure.Prosthetic hand making initially sets up left or right prosthetic hand stereoscopic three-dimensional digital model file, successively three-dimensional continuous printing.Prosthetic hand connection accuracy of the present invention is high, light-weight, bending resistance is small not easy to fatigue, without assembling with can reduce whole prosthetic hand weight, reduce cost.
Description
Technical field
The invention belongs to medical instruments field, more particularly to three D printing prosthetic hand technical products fields.
Background technology
Prosthetic hand is the accurate Medical treatment device for for upper limb the disabled being engaged in various work or taking care of oneself function and wearing
Tool, it maintains the balance of limbs and makes up upper limb appearance.The material for making artificial limb is mainly aluminium and alloy, timber, leather, plastics
And metallic machine part.One good prosthetic hand must have perfect function, put on well with comfort and convenient, Portable durable and
The conditions such as the approximate healthy upper limb of appearance.All many artificial limbs used in life, the purpose used according to it, position and
The control system of artificial limb, there are many different classification.But comfort and convenient is worn, the similar health of Portable durable, appearance and function
Upper limb, while cheap prosthetic hand is common requirement.One accurate reliable prosthetic hand of grip of action is complicated,
Spare and accessory parts requirement on machining accuracy is high and spare and accessory parts quantity is more, and this prosthetic hand acts the big fatiguability of resistance, it is also necessary to be equipped with external
Power.The result is that prosthetic hand weight is big, price is high.
Prosthetic hand is mainly made of two large divisions, and a part is the arm cylinder being sleeved on deformed limb, and arm cylinder is fixed on deformed limb
On, there is adapter in the end of arm cylinder；Another part is motor-driven does evil through another person or self power mechanical prosthetic hand passes through adapter and arm cylinder
End connects.It is the coordination for leaning on user itself deformed limb and healthy upper limb that this self power, which is done evil through another person, and rigidity is driven to draw
Rope coordinates with elastic traction rope, manipulates opening and hold that simultaneously control machinery is done evil through another person, realizes the action for grasping extraction object.It is this
Mechanical prosthetic hand simple structure, convenient for grasping, price is relatively low, is used at home relatively generally, the drawback is that the big fatiguability of resistance, action
Not precisely, the service life time limit it is short.
Invention content
The object of the present invention is to provide the prosthetic hands of a three D printing shapings, and power is provided without outside, only dynamic by itself
Power can precisely grasp article, resistance it is small it is not easy to fatigue, put on well with it is comfortable, long using Q-percentile life and price is low, primary
Moulding integrated structure.
The technical scheme is that from top to bottom sequentially connected big arm cylinder, elbow joint, small arm cylinder, wrist joint, palm,
Thumb, three D printing shaping prosthetic hands of index finger, middle finger, ring finger and little finger one piece, and be embedded in grasping in prosthetic hand and draw
Stretch system.The gripping article of prosthetic hand is realized by elbow joint, carpal bending power.
Prosthetic hand includes from top to bottom sequentially connected big arm cylinder, elbow joint, small arm cylinder, wrist joint, palm, thumb, food
The grasping tensioning system that finger, middle finger, the third finger, little finger of toe and prosthetic hand are embedded in is formed；
Elbow joint, wrist joint and the thumb, whole finger and palm joints of five fingers of index finger, middle finger, ring finger and little finger
It is multiple folding directly bent telescopic joint structure with interphalangeal joint, wherein elbow joint, wrist joint is high-strength structure.
The multiple folding directly bent telescopic joint, cross sectional shape are five or six straight or curved section is combined into left and right pair
Claim arched door bottom open architecture, outer surface is multiple folding wave structure, wave crest, trough difference in height by arched door top
Two side bottoms taper into and level off to zero to the left and right in portion, and the left and right sides facade harden structure for the arched door that bottom opens is thickness
Increase reinforcing material, shape is the short trapezoidal plate of triangle or upper bottom edge；Its bottom open arched door left and right sides, be by
The inversion triangle harden structure of the symmetrical doubling of two pieces in trough between four to 12 adjacent facade plates is combined integrated, answers
The footing side of the folding directly left and right sides facade plate of the arched door of bent telescopic joint can not roll over flexible again for thickness increase enhancing
Material footing side；
The grasping stretches transmission system and includes：It is sequentially connected from top to bottom to stretch main sheet metal, palm built-in mould
Block, finger drawing sheet sheet metal, finger tip Prefabricated block；
The big arm cylinder and the non-type cylinder-like structure that forearm barrel shape is apery body large arm and forearm, and
Big arm cylinder lower end is provided with mounting hole, the limiting slideway for stretching main sheet metal is provided in the outside cylinder wall of small arm cylinder, wherein limiting
Position slideway length is by elbow joint to wrist joint upper position；The mounting hole of big arm cylinder is straight in one with the limiting slideway of small arm cylinder
Line, position is the same as on the lateral wall of big arm cylinder and small arm cylinder；
On the inboard wall upper inner surface close to carpal small arm cylinder, it is provided with the guide and limit cunning for stretching main sheet metal
The limiting slideway direction of road, the wherein direction of guide and limit slideway and small arm cylinder can parallel, also can be not parallel, it is not flat at one
It is opposite slightly to the right or left position relationship on face, respectively in non-type small arm cylinder outside cylinder wall and inboard barrel, is arranged in 180 degree point
On the cylinder of small arm cylinder；
The palm and thumb, each finger joint shape of index finger, middle finger, ring finger and little finger are imitative human hand shape
Similar construction, wherein being provided with the reciprocal slideway of palm built-in module in palm, and palm built-in module can be embedded in
In reciprocal slideway, reciprocal slideway is respectively arranged with thumb, index finger, middle finger, ring finger and little finger towards finger orientation in palm
Finger stretches the limiting slideway of sheet metal；Its finger stretches the limiting slideway of sheet metal close to palm of the hand side, in thumb, eats
Finger, middle finger, the third finger, little finger of toe finger tip in be provided with the Prefabricated block of embedded finger tip.
The outside cylinder wall of the small arm cylinder is provided with the limiting slideway for stretching main sheet metal, wherein limiting slideway can be convex
It for the outer surface of small arm cylinder, may also be arranged in the range of forearm barrel layer thickness, limit slideway and guide and limit the cross section of slideway
Shape is in the closed configuration of similar dovetail groove hatch frame or long flat rectangle.
There is metal coating on the main sheet metal of stretching of the grasping tensioning system, finger drawing sheet sheet metal surface；It stretches
It may be that fibre-reinforced composite bent bends elastic material that main sheet metal stretches sheet metal with finger.
The big arm cylinder, elbow joint, small arm cylinder, wrist joint, palm, thumb, index finger, middle finger, ring finger and little finger appearance
Face imitation leather skin soft material；Big arm cylinder, small arm cylinder inner surface be skin affinitive material.
The palm built-in module, nail Prefabricated block (for plastics or metal, organic and inorganic laminar composite,
Middle palm built-in module, nail Prefabricated block inside can also be embedded in metalwork.
Described prints prosthetic hand production method based on three D of one-pass molding, initially sets up left or right prosthetic hand stereoscopic three-dimensional
Digital model file, it is successively three-dimensional by topmost continuously to print big arm cylinder, elbow joint, small arm cylinder, wrist joint, palm and thumb
Finger, whole finger joints of index finger, middle finger, ring finger and little finger and joint, wherein the five fingers finger are simultaneously by horizontal high with each joint
Degree successively continuous printing, the fixed cured molding part of positioning at any time, and continuous primary as needed in print procedure
Printing shaping, the internal metal structure skeleton that can be embedded in is made part or is beaten simultaneously using multiple material mixing in print procedure
Print；
The thumb, index finger, middle finger, ring finger and little finger, five fingers also can three D printing shapings one by one respectively；
The prosthetic hand printed material mainly uses TPU materials；
It is the big arm cylinder of the prosthetic hand, elbow joint, small arm cylinder, wrist joint, palm, thumb, forefinger, middle finger, the third finger, small
After finger and whole joints printing shaping, in its inner and outer surfaces flush coater silicon or organic-silicon-modified coating；
The grasping tensioning system that the prosthetic hand is embedded in is after the prosthetic hand once printed makes molding, in inside points
Not Qian Ru discrete component stretch main sheet metal, palm built-in module, finger drawing sheet sheet metal, finger tip Prefabricated block and fix and connect
It is connected in integrated, stretches main sheet metal upper end and be provided with hole and be fixedly connected with the mounting hole in big arm cylinder；
The each discrete component of grasping tensioning system that the prosthetic hand is embedded in be respectively in neighbouring each joint,
The directly bent telescopic joint opening implantation of multiple folding；
Directly width is symmetrical strong according to mapping between two bent telescopic joint arched door height, arched door footing for the multiple folding
Health limb three-dimensional data and the size of prosthetic hand curable grip determine, answers the longitudinal length of folding directly bent telescopic joint, according to
Wave crest may be selected in healthy limb size, trough joint number is four to 12 joint number ranges.
Advantageous effect is：Three D of one-pass molding of the present invention prints prosthetic hand, and connection accuracy is high, light-weight, bending resistance is small not
Fatiguability, without assembling with that can reduce whole prosthetic hand weight, reduce cost, the present invention stretches transmission system elasticity using grasping
Memory stretches metal sheet rigidity and is driven well precisely, and various pieces and slideway friction power are small, overcome the flexible tendon of the prior art
Rope easily skids, it is difficult to the position of finger during accurate control grasps, the innovation structure used answer the straight song of folding stretch joint for
It reduces installation, manufacture the cost of discrete component, while reduce the resistance of motion, it is directly bent that the innovation structure that the present invention uses answers folding
Joint is stretched for corrugated ectoskeleton joint structure, it may also be used for each joint of military exoskeleton robot, and have significant
Advantage.
Description of the drawings
Fig. 1 is artificial limb arm grasp motion schematic diagram.
Fig. 2-1, Fig. 2-2 artificial limb arm overall structure diagram.
Fig. 3-1, Fig. 3-2, which are grasped, stretches architecture schematic diagram.
Fig. 4-1, Fig. 4-2, Fig. 4-3, Fig. 4-4 artificial limbs arm answer folding directly bent telescopic joint overall structure diagram.
Fig. 5-1, Fig. 5-2 finger peaked area internal structure schematic diagram.
It is marked in figure：The big arm cylinders of 1-；2- elbow joints；The small arm cylinders of 3-；4- wrist joints；5- palms；It is directly bent that 6- answers folding
Telescopic joint；7- stretches main sheet metal；8- palm built-in modules；9- finger drawing sheet sheet metals；10- finger tips are pre-
Molding block；11- screws；12- mounting holes；13- limits slideway；14- guide and limit slideways；15- wave crests；16- troughs；17- arches
Header；Two side elevation plates of 18-.
Specific embodiment
The embodiment of the present invention is one of many preferred embodiments, below in conjunction with the accompanying drawings to the technical solution in the embodiment of the present invention
Carry out clear, complete description, it is clear that described embodiment is the implementation of the part of the embodiment rather than whole of the present invention
Example, the prosthetic hand other methods in part or structure for being not intended to limit three D printing shapings are realized
Specific embodiments of the present invention are that from top to bottom sequentially connected big arm cylinder 1, elbow joint 2, small arm cylinder 3, wrist close
The grasping tensioning system that section 4, palm 5, thumb, index finger, middle finger, ring finger and little finger and prosthetic hand are embedded in is formed；
Elbow joint 2, wrist joint 4 and the thumb, five fingers of index finger, middle finger, ring finger and little finger whole fingers and palms close
Section is multiple folding directly 6 structure of bent telescopic joint with interphalangeal joint, and wherein elbow joint, wrist joint is thicken high-strength material knot
Structure；
The multiple folding directly bent telescopic joint 6, cross sectional shape are five or six straight or curved section is combined into left and right
Symmetrical arched door bottom open architecture, outer surface are multiple folding wave structure, wave crest 15, trough 16 difference in height by encircleing
Two side bottoms taper into and level off to zero shape header 17 to the left and right, the left and right sides facade plate 18 for the arched door that bottom opens
Structure increases reinforcing material for thickness, and shape is the short trapezoidal plate of triangle or upper bottom edge；The left and right for the arched door that its bottom opens
Two sides are hardened by the inversion triangle of two pieces of symmetrical doublings in the trough 16 between four to 12 adjacent facade plates 18
Structure is combined integrated, and the footing side for answering the folding directly left and right sides facade plate 18 of the arched door of bent telescopic joint 6 is thickness increase
Enhancing can not roll over bendable material footing side again；
The grasping stretches transmission system and includes：It is sequentially connected from top to bottom to stretch main sheet metal 7, palm built-in mould
Block 8, finger drawing sheet sheet metal 9, finger tip Prefabricated block 10；
The big arm cylinder 1 and the non-type cylinder-like structure that small 3 shape of arm cylinder is apery body large arm and forearm, and
Big 1 lower end of arm cylinder is provided with mounting hole 12, the limiting slideway for stretching main sheet metal is provided in the outside cylinder wall of small arm cylinder 3
13, wherein limiting slideway length is by elbow joint to wrist joint upper position；The mounting hole 12 of big arm cylinder 1 is slided with the limiting of small arm cylinder
Road 13 is in straight line, and position is the same as on the lateral wall of big arm cylinder 1 and small arm cylinder 2；
On the inboard wall upper inner surface close to the small arm cylinder 3 of wrist joint 4, it is provided with the guide and limit for stretching main sheet metal
14 direction of limiting slideway of slideway 14, the wherein direction of guide and limit slideway 14 and small arm cylinder 3 can parallel, also can be not parallel,
Not in one plane, for opposite slightly to the right or left position relationship, respectively in non-type small 3 outside cylinder wall of arm cylinder and inboard barrel, in 180
Degree point is arranged on the cylinder of small arm cylinder 3；
The palm 5 and thumb, each finger joint shape of index finger, middle finger, ring finger and little finger are imitative human hand shape
Similar construction, wherein being provided with the reciprocal slideway of palm built-in module 8 in palm 5, and palm built-in module 8 can be embedded in
In reciprocal slideway, in palm 5 reciprocal slideway towards finger orientation be respectively arranged with thumb, forefinger, it is middle refer to, it is nameless, small
The finger of finger stretches the limiting slideway of sheet metal；Its finger stretches the limiting slideway of sheet metal close to palm of the hand side, thumb,
The Prefabricated block 10 of embedded finger tip is provided in the finger tip of index finger, middle finger, ring finger and little finger.
The outside cylinder wall of the small arm cylinder 3 is provided with the limiting slideway for stretching main sheet metal 7, wherein limiting slideway can be with
It protrudes from the outer surface of small arm cylinder 3, may also be arranged in the range of small 3 wall layer thickness of arm cylinder, limit slideway 13 and guide and limit is slided
14 cross sectional shape of road is in the closed configuration of similar dovetail groove hatch frame or long flat rectangle.
There is metal coating on the main sheet metal 7 of stretching of the grasping tensioning system, 9 surface of finger drawing sheet sheet metal；It draws
It may be that fibre-reinforced composite bent bends elastic material to stretch main sheet metal 7 to stretch sheet metal 9 with finger.
It is the big arm cylinder 1, elbow joint 2, small arm cylinder 3, wrist joint 4, palm 5, thumb, forefinger, middle finger, the third finger, small
Refer to outer surface imitation leather skin soft material；Big arm cylinder 1, small arm cylinder 3 inner surface be skin affinitive material.
The palm built-in module 8, nail Prefabricated block 10 are plastics or metal, organic and inorganic laminar composite,
Wherein palm built-in module 8, nail Prefabricated block 10 inside can also be embedded in metalwork.
Three D of the one-pass molding printing prosthetic hand production methods, initially set up left or right prosthetic hand stereoscopic three-dimensional number
Model file, by topmost it is successively three-dimensional continuously print big arm cylinder 1, elbow joint 2, small arm cylinder 3, wrist joint 4, palm 5 and
Thumb, whole finger joints of index finger, middle finger, ring finger and little finger and joint 6, wherein the five fingers finger and each joint are simultaneously by water
Flat height successively continuously prints, the fixed cured molding part of positioning at any time, and continuous as needed in print procedure
Printing shaping, inside can be embedded in metal structure skeleton and part is made or is mixed simultaneously using multiple material in print procedure
Printing；
The thumb, index finger, middle finger, ring finger and little finger, five fingers also can three D printing shapings one by one respectively；
The prosthetic hand printed material mainly uses TPU materials；
It is the big arm cylinder 1 of the prosthetic hand, elbow joint 2, small arm cylinder 3, wrist joint 4, palm 5, thumb, forefinger, middle finger, unknown
Refer to, after little finger of toe and whole joints printing shaping, in its inner and outer surfaces flush coater silicon or organic-silicon-modified coating；
The grasping tensioning system that the prosthetic hand is embedded in is after the prosthetic hand once printed makes molding, in inside points
Not Qian Ru discrete component stretch main sheet metal 7, palm built-in module 8, finger drawing sheet sheet metal 9, finger tip Prefabricated block 10
It is connected to one, stretches main 7 upper end of sheet metal and be provided with hole and be fixedly connected with the mounting hole 12 in big arm cylinder 1；
The each discrete component of grasping tensioning system that the prosthetic hand is embedded in be respectively in neighbouring each joint,
Directly 6 opening of the bent telescopic joint implantation of multiple folding；
The all parts of grasping tensioning system that the prosthetic hand is embedded in are to be screwed connection after being implanted at place
's；
Directly width is symmetrical according to mapping between two 6 arched door height of bent telescopic joint, arched door footing for the multiple folding
Healthy limb three-dimensional data and the size of prosthetic hand curable grip determine, answers the longitudinal length of folding directly bent telescopic joint 6, root
Wave crest 15 may be selected according to healthy limb size, 16 joint number of trough is four to 12 joint number ranges；
The multiple folding directly bent telescopic joint 6, cross sectional shape is alternatively that five or ten straight or curved section is combined into
Symmetrical arched door footing portion open architecture；
Directly bent telescopic joint 6 is fan-shaped bellows stretching structure to the multiple folding, it is elbow joint 2, wrist joint 4 and divides
Big arm cylinder 1 and small arm cylinder 3 or small arm cylinder 3 and palm 5 are not connected；Each finger joint of finger is by multiple folding directly bent telescopic joint
6 three D integrations print connecting structure；
The main sheet metal 7 of described stretching, finger drawing sheet sheet metal 9 are the metal material of elasticity or high elastic modulus plastics
Material or fibrous composite or sheet metal and plastic tab composite material
The sheet metal for stretching main sheet metal 7 is non-warping, is flat state, the limiting slideway with everywhere, guiding limit
Frictional force is small when position slideway has opposite slide
It grasps process to the three D printings prosthetic hand, and big arm cylinder 1, small arm cylinder 3 fix one through 2 external connection of elbow joint
Sheet metal parallel across 3 top of forearm, is penetrated by the limiting slideway 13 of position limiting structure across wrist portion, level access slideway
On palm 5 in palm built-in module 8, finger of the prefabricated module of connection sheet metal respectively with five control fingers respectively draw
Piece sheet metal 9 is stretched to connect；Big arm cylinder 1, the bending of small arm cylinder 3 are driven when the upper arm and preceding brachiocylloosis for wearing prosthetic hand in certain angle
Degree, is bent the main sheet metal 7 of stretching, palm built-in module 8 is pulled to be moved in its slideway through limiting slideway 13, makes five fingers
Gripping action is realized in bending.Multiple folding in attached drawing 4-1 to 4-4 during above-mentioned gripping action directly bent telescopic joint 6 by scheming
The straight contracting states of 4-1 and Fig. 4-2, which are converted to the song of Fig. 4-3 and Fig. 4-4, stretches gripping flexuosity.Sheet metal has toughness and memory,
Drawing bending can be with clear-cutting forestland reset condition.Prosthetic hand, which grasps process and is also designed to sensor, electrode, battery, to be helped
Power prosthetic hand or vocal controlled prosthesis power-assisted.
Claims (6)
1. prosthetic hand is printed based on three D of one-pass molding, it is characterised in that including：From top to bottom sequentially connected big arm cylinder (1), elbow
Joint (2), small arm cylinder (3), wrist joint (4), palm (5), thumb, index finger, middle finger, ring finger and little finger and prosthetic hand are embedded in
Grasping tensioning system form；
Elbow joint (2), wrist joint (4) and the thumb, five fingers of index finger, middle finger, ring finger and little finger whole fingers and palms close
Section is multiple folding directly bent telescopic joint (6) structure with interphalangeal joint, and wherein elbow joint, wrist joint is thicken high-strength material knot
Structure；
The multiple folding directly bent telescopic joint (6), cross sectional shape are five or six straight or curved section is combined into left and right pair
Claim arched door bottom open architecture, outer surface is multiple folding wave structure, wave crest (15), trough (16) difference in height by
(17) two side bottoms taper into and level off to zero to the left and right at the top of arched door, the left and right sides facade for the arched door that bottom opens
Plate (18) structure increases reinforcing material for thickness, and shape is the short trapezoidal plate of triangle or upper bottom edge；The arched door that its bottom opens
Left and right sides, be by two pieces of symmetrical doublings in the trough (16) between four to 12 adjacent facade plates (18) fall
It puts that triangle harden structure is combined integrated, answers the bottom of the folding directly left and right sides facade plate (18) of the arched door of bent telescopic joint (6)
Foot when that can not roll over footing again for thickness increase enhancing；
The grasping stretches transmission system and includes：It is sequentially connected from top to bottom to stretch main sheet metal (7), palm built-in module
(8), finger drawing sheet sheet metal (9), finger tip Prefabricated block (10)；
The big arm cylinder (1) and the non-type cylinder-like structure that small arm cylinder (3) shape is apery body large arm and forearm, and
Big arm cylinder (1) lower end is provided with mounting hole (12), the limiting for stretching main sheet metal is provided in the outside cylinder wall of small arm cylinder (3)
Slideway (13), wherein limiting slideway length is by elbow joint to wrist joint upper position；The mounting hole (12) and forearm of big arm cylinder (1)
The limiting slideway (13) of cylinder is in straight line, and position is the same as on the lateral wall of big arm cylinder (1) and small arm cylinder (2)；
On the inboard wall upper inner surface close to the small arm cylinder (3) of wrist joint (4), it is provided with the guide and limit for stretching main sheet metal
Limiting slideway (14) direction of slideway (14), the wherein direction of guide and limit slideway (14) and small arm cylinder (3) can it is parallel, also may be used
It is not parallel, it is opposite slightly to the right or left position relationship, respectively in non-type small arm cylinder (3) outside cylinder wall and inboard not in one plane
Barrel is arranged in 180 degree point on the cylinder of small arm cylinder (3)；
The palm (5) and thumb, each finger joint shape of index finger, middle finger, ring finger and little finger are imitative human hand shape phase
As construction, wherein being provided with the reciprocal slideway of palm built-in module (8) in the palm (5), and palm built-in module (8) can
It is embedded in reciprocal slideway, reciprocal slideway is respectively arranged with thumb, forefinger, middle finger, unknown towards finger orientation in palm (5)
Refer to, the limiting slideway of the finger of little finger of toe stretching sheet metal；Its finger stretches the limiting slideway of sheet metal close to palm of the hand side,
Thumb, index finger, middle finger, ring finger and little finger finger tip in be provided with the Prefabricated block (10) of embedded finger tip.
2. being based on three D of one-pass molding according to claim 1 prints prosthetic hand, it is characterised in that the outside of the small arm cylinder (3)
Barrel is provided with the limiting slideway for stretching main sheet metal (7), wherein limiting slideway can protrude from small arm cylinder (3) outer surface,
It may also be arranged in the range of small arm cylinder (3) wall layer thickness, limiting slideway (13) and guide and limit slideway (14) cross sectional shape is in class
Like dovetail groove hatch frame or the closed configuration of long flat rectangle.
3. being based on three D of one-pass molding according to claim 1 prints prosthetic hand, it is characterised in that the drawing of the grasping tensioning system
Stretch main sheet metal (7), there is metal coating on finger drawing sheet sheet metal (9) surface；It stretches main sheet metal (7) and stretches metal with finger
Piece (9) or fibre-reinforced composite bent bend elastic modulus material.
4. being based on three D of one-pass molding according to claim 1 prints prosthetic hand, it is characterised in that the big arm cylinder (1), elbow joint
(2), small arm cylinder (3), wrist joint (4), palm (5), thumb, index finger, middle finger, ring finger and little finger outer surface imitation leather skin soft material；
Big arm cylinder (1), small arm cylinder (3) inner surface be skin affinitive material.
5. being based on three D of one-pass molding according to claim 1 prints prosthetic hand, it is characterised in that the palm built-in module (8),
Nail Prefabricated block (10) is plastics or metal, organic and inorganic laminar composite, and wherein palm built-in module (8), nail is pre-
The inside of molding block (10) can also be embedded in metalwork.
6. prosthetic hand production method is printed based on three D of one-pass molding, it is characterised in that initially set up left or right prosthetic hand solid three
Dimension word model file, successively three-dimensional big arm cylinder (1), elbow joint (2), small arm cylinder (3), the wrist of continuously printing closes by topmost
Save (4), palm (5) and thumb, whole finger joints of index finger, middle finger, ring finger and little finger and joint (6), wherein the five fingers finger with respectively
A joint is successively continuously to be printed by level height simultaneously, the fixed cured molding of positioning at any time as needed in print procedure
Part, an and continuous printing shaping, part or simultaneously is made in the internal metal structure skeleton that can be embedded in print procedure
It is mixed and printed using multiple material；
The thumb, index finger, middle finger, ring finger and little finger, five fingers also can three D printing shapings one by one respectively；
The prosthetic hand printed material mainly uses TPU materials；
The big arm cylinder of the prosthetic hand (1), elbow joint (2), small arm cylinder (3), wrist joint (4), palm (5), thumb, forefinger, in
Refer to, after nameless, little finger of toe and whole joints printing shaping, in its inner and outer surfaces flush coater silicon or organic-silicon-modified coating；
The grasping tensioning system that the prosthetic hand is embedded in is after the prosthetic hand that once prints makes molding, not embedding in inside points
The discrete component entered stretches main sheet metal (7), palm built-in module (8), finger drawing sheet sheet metal (9), finger tip Prefabricated block
(10) be connected to one, stretch main sheet metal (7) upper end be provided with hole and with the mounting hole (12) in big arm cylinder (1)
It is fixedly connected；
The each discrete component of grasping tensioning system that the prosthetic hand is embedded in is respectively in neighbouring each joint, multiple folding
Formula directly bent telescopic joint (6) opening implantation；
Directly width is symmetrical strong according to mapping between two bent telescopic joint (6) arched door height, arched door footing for the multiple folding
Health limb three-dimensional data and the size of prosthetic hand curable grip determine, answers the longitudinal length of folding directly bent telescopic joint (6), root
Wave crest (15) may be selected according to healthy limb size, trough (16) joint number is four to 12 joint number ranges.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810020563.5A CN108186170A (en) | 2018-01-11 | 2018-01-11 | A kind of printing prosthetic hand and its manufacturing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810020563.5A CN108186170A (en) | 2018-01-11 | 2018-01-11 | A kind of printing prosthetic hand and its manufacturing method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108186170A true CN108186170A (en) | 2018-06-22 |
Family
ID=62588955
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810020563.5A Pending CN108186170A (en) | 2018-01-11 | 2018-01-11 | A kind of printing prosthetic hand and its manufacturing method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108186170A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109172063A (en) * | 2018-09-11 | 2019-01-11 | 西安交通大学 | A kind of Coupled Rigid-flexible artifucial limb hand with complaisant grasping characteristic |
| CN110169849A (en) * | 2019-05-28 | 2019-08-27 | 南京航空航天大学 | A kind of bionical artificial hand finger that rigidity is controllable |
| KR20200035719A (en) * | 2018-09-27 | 2020-04-06 | 서울과학기술대학교 산학협력단 | Artificial hand joint shell with waterproof and dustproof function |
| CN111015691A (en) * | 2019-12-31 | 2020-04-17 | 上海纽盾科技股份有限公司 | Auxiliary machine in data security |
| CN111098428A (en) * | 2019-12-22 | 2020-05-05 | 同济大学 | Intelligent wire for fused deposition molding and preparation method thereof |
| CN111251600A (en) * | 2020-03-09 | 2020-06-09 | 西安交通大学 | Shape memory alloy driven soft rehabilitation glove and 3D printing preparation method thereof |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19755465A1 (en) * | 1997-12-03 | 1999-06-17 | Alexander Dechert | Cable operated artificial hand |
| US20070213842A1 (en) * | 2006-03-07 | 2007-09-13 | Simmons Randy S | Prosthetic arm |
| CN100374257C (en) * | 2005-05-19 | 2008-03-12 | 江南大学 | Fluid driven, single-freedom and flexible bending joint |
| JP2012192496A (en) * | 2011-03-17 | 2012-10-11 | Double Research & Development Co Ltd | Humanoid hand |
| CN104382675A (en) * | 2014-12-17 | 2015-03-04 | 徐贵升 | Rapid forming based self-power driven artificial limb and manufacturing method thereof |
| US20160374833A1 (en) * | 2015-06-26 | 2016-12-29 | Nikolai DECHEV | Custom fitted body powered prosthetic upper limb manufactured by 3d printing |
| CN106963524A (en) * | 2017-03-22 | 2017-07-21 | 张烨 | Three D print myoelectrical bionic artificial limb arm |
| WO2017149033A1 (en) * | 2016-03-02 | 2017-09-08 | Stefanie Gmach | Prosthesis cosmetic element |
-
2018
- 2018-01-11 CN CN201810020563.5A patent/CN108186170A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19755465A1 (en) * | 1997-12-03 | 1999-06-17 | Alexander Dechert | Cable operated artificial hand |
| CN100374257C (en) * | 2005-05-19 | 2008-03-12 | 江南大学 | Fluid driven, single-freedom and flexible bending joint |
| US20070213842A1 (en) * | 2006-03-07 | 2007-09-13 | Simmons Randy S | Prosthetic arm |
| JP2012192496A (en) * | 2011-03-17 | 2012-10-11 | Double Research & Development Co Ltd | Humanoid hand |
| CN104382675A (en) * | 2014-12-17 | 2015-03-04 | 徐贵升 | Rapid forming based self-power driven artificial limb and manufacturing method thereof |
| US20160374833A1 (en) * | 2015-06-26 | 2016-12-29 | Nikolai DECHEV | Custom fitted body powered prosthetic upper limb manufactured by 3d printing |
| WO2017149033A1 (en) * | 2016-03-02 | 2017-09-08 | Stefanie Gmach | Prosthesis cosmetic element |
| CN106963524A (en) * | 2017-03-22 | 2017-07-21 | 张烨 | Three D print myoelectrical bionic artificial limb arm |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109172063A (en) * | 2018-09-11 | 2019-01-11 | 西安交通大学 | A kind of Coupled Rigid-flexible artifucial limb hand with complaisant grasping characteristic |
| KR20200035719A (en) * | 2018-09-27 | 2020-04-06 | 서울과학기술대학교 산학협력단 | Artificial hand joint shell with waterproof and dustproof function |
| KR102525118B1 (en) | 2018-09-27 | 2023-04-24 | 서울과학기술대학교 산학협력단 | Artificial hand joint shell with waterproof and dustproof function |
| CN110169849A (en) * | 2019-05-28 | 2019-08-27 | 南京航空航天大学 | A kind of bionical artificial hand finger that rigidity is controllable |
| CN110169849B (en) * | 2019-05-28 | 2024-04-12 | 南京航空航天大学 | Bionic artificial hand finger with controllable rigidity |
| CN111098428A (en) * | 2019-12-22 | 2020-05-05 | 同济大学 | Intelligent wire for fused deposition molding and preparation method thereof |
| CN111098428B (en) * | 2019-12-22 | 2021-12-31 | 同济大学 | Intelligent wire for fused deposition molding and preparation method thereof |
| CN111015691A (en) * | 2019-12-31 | 2020-04-17 | 上海纽盾科技股份有限公司 | Auxiliary machine in data security |
| CN111015691B (en) * | 2019-12-31 | 2024-03-01 | 上海纽盾科技股份有限公司 | Auxiliary machine in data security |
| CN111251600A (en) * | 2020-03-09 | 2020-06-09 | 西安交通大学 | Shape memory alloy driven soft rehabilitation glove and 3D printing preparation method thereof |
| CN111251600B (en) * | 2020-03-09 | 2021-11-19 | 西安交通大学 | Shape memory alloy driven soft rehabilitation glove and 3D printing preparation method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108186170A (en) | A kind of printing prosthetic hand and its manufacturing method | |
| EP3632396B1 (en) | Knuckle rehabilitation device | |
| CN106038007B (en) | Bionical prosthetic hand | |
| CN105919772B (en) | A kind of wearable hand device for healing and training | |
| CN101045300B (en) | Human imitating clever hands driven by artificial pneumatic muscle | |
| Pylatiuk et al. | Progress in the development of a multifunctional hand prosthesis | |
| Liu et al. | A compact soft robotic wrist brace with origami actuators | |
| CN107184365B (en) | A kind of finger joint recovery movement auxiliary member | |
| Chen et al. | Soft exoskeleton with fully actuated thumb movements for grasping assistance | |
| Hu et al. | A novel soft robotic glove with positive-negative pneumatic actuator for hand rehabilitation | |
| CN113771067B (en) | Jitter-free bionic manipulator | |
| Wei et al. | A novel upper limb rehabilitation system with hand exoskeleton mechanism | |
| CN110695971A (en) | Exoskeleton mechanical auxiliary hand | |
| Liu et al. | HIT prosthetic hand based on tendon-driven mechanism | |
| CN109938968A (en) | Bionic pneumatic Opposing muscle design based on stratiform gas chamber | |
| van der Riet et al. | The low cost design of a 3D printed multi-fingered myoelectric prosthetic hand | |
| Zhang et al. | A wearable soft knee exoskeleton using vacuum-actuated rotary actuator | |
| Jiralerspong et al. | A novel soft robotic glove for daily life assistance | |
| Xu et al. | Design, control, and experimental evaluation of a novel robotic glove system for patients with brachial plexus injuries | |
| Jeong et al. | Self-adaptive detachable pneumatic soft actuators using uniformly distributed temporary-bonding-fasteners for wearable applications | |
| CN206063263U (en) | Bionical prosthetic hand | |
| Hussein et al. | 3D printed myoelectric prosthetic arm | |
| Ong et al. | A bio-inspired design of a hand robotic exoskeleton for rehabilitation | |
| Wang et al. | Design and control of a coupling mechanism-based prosthetic hand | |
| Xu et al. | Development of a novel low-profile robotic exoskeleton glove for patients with brachial plexus injuries |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180622 |
|
| WD01 | Invention patent application deemed withdrawn after publication |