CN209645147U - Finger and artificial limb - Google Patents

Abstract

The utility model discloses a kind of finger and artificial limb, which is used for artificial limb, which includes pedestal, finger ontology and return springs, actuator is connected on pedestal, pedestal has installation cavity, and at least partly actuator is contained in installation cavity；Finger ontology and pedestal are rotatablely connected, and finger ontology has bending position and extended position；Actuator drives finger ontology to rotate by the cooperation of driver slot and driving portion, one in driver slot and driving portion is set on actuator, another is correspondingly arranged on finger ontology, driving portion is inserted into driver slot, and driver slot has for driving portion with respect to driver slot along the movable space of finger ontology rotation direction；Return springs are set in installation cavity, and one end is connect with pedestal, and the other end is connect with finger ontology, and return springs are used to that finger ontology opposite base to be made to rotate along the direction of bending position to extended position.The utility model improves the structure of finger, prevents finger from damaging under the effect of external force.

Description

Finger and artificial limb

Technical field

The utility model relates to prosthesis technique field more particularly to a kind of fingers and artificial limb.

Background technique

In existing artificial limb, drive the transmission mechanism of finger movement that usually there is the characteristic of non-return driving.With worm and gear For transmission mechanism, worm screw is connected to motor, and worm gear is connect with finger, and worm screw drives finger by driving worm gear rotation Activity, due to the latching characteristics of worm and gear, when external force is when on finger, worm and gear can not be driven in the reverse direction so that Finger is avoided, and finger is made to be easy to appear damage under the effect of external force.

Utility model content

The main purpose of the utility model is to provide a kind of fingers, it is intended to make finger by can be into after the effect of external force The problem of row avoids, and damages finger to avoid external force, improves the service life of finger.

To achieve the above object, the utility model proposes a kind of fingers, are used for artificial limb, and the finger includes:

Pedestal, actuator is connected on the pedestal, and the pedestal has installation cavity, at least partly described actuator It is contained in the installation cavity；

Finger ontology is rotatablely connected with the pedestal, and the finger ontology has bending position and extended position；It is described Actuator drives the finger ontology to rotate by the cooperation of driver slot and driving portion, in the driver slot and the driving portion One be set on the actuator, another is correspondingly arranged on the finger ontology, and the driving portion is inserted into the driver slot, The driver slot has for the driving portion with respect to driver slot along the movable space of finger ontology rotation direction；

Return springs are set in the installation cavity, and one end of the return springs is connect with the pedestal, the other end It is connect with the finger ontology, the return springs are for making the relatively described pedestal of the finger ontology along the bending position It is rotated to the direction of the extended position.

Preferably, the return springs include torsional spring, and the torsional spring is mounted on the pedestal and/or the finger ontology On, and one end of the torsional spring is connect with the pedestal, the other end is connect with the finger ontology.

Preferably, the first connecting hole is offered on the pedestal, one end of the torsional spring is inserted into first connecting hole； And/or the second connecting hole is offered on the finger ontology, the other end of the torsional spring is inserted into second connecting hole.

Preferably, first connecting hole is opened on the inner wall of the installation cavity；And/or the actuator passes through branch It supports axis and the pedestal is rotatablely connected, there is the abutting part of the circumferentially extending along the support shaft on the finger ontology, it is described Second connecting hole is opened in side of the abutting part towards the support shaft.

Preferably, the actuator is rotatablely connected by support shaft and the pedestal, and the torsional spring is socketed in the support On axis.

Preferably, the finger ontology includes the connecting rod being mutually rotatablely connected and phalanges component, the connecting rod and the base Seat rotation connection, one end of the return springs are connect with the pedestal, and the other end is connect with the connecting rod.

Preferably, the driver slot and/or the driving portion are set to the axial sides of the actuator.

Preferably, the quantity of the driver slot is multiple, and multiple driver slots are along the circumferentially distributed of the actuator； And/or

The quantity of the driving portion is multiple, and multiple driving portions are along the circumferentially distributed of the actuator.

Preferably, the actuator includes worm gear, is provided with worm screw on the pedestal, which engages with the worm gear；

Motor is provided on the pedestal, the output shaft of the motor is connect with the worm screw.

The utility model also proposes a kind of artificial limb, which includes:

Palm；

And finger as described above, the finger include:

Pedestal is connect with the palm, and actuator is connected on the pedestal, and the pedestal has installation cavity, until Actuator described in small part is contained in the installation cavity；

Finger ontology is rotatablely connected with the pedestal, and the finger ontology has bending position and extended position；It is described Actuator drives the finger ontology to rotate by the cooperation of driver slot and driving portion, in the driver slot and the driving portion One be set on the actuator, another is correspondingly arranged on the finger ontology, and the driving portion is inserted into the driver slot, The driver slot has for the driving portion with respect to driver slot along the movable space of finger ontology rotation direction；

Return springs are set in the installation cavity, and one end of the return springs is connect with the pedestal, the other end It is connect with the finger ontology, the return springs are for making the relatively described pedestal of the finger ontology along the bending position It is rotated to the direction of the extended position.

The utility model is by cooperating actuator and finger ontology by driver slot and driving portion, to drive finger ontology Rotation, wherein one in driver slot and driving portion is set on actuator, another is correspondingly arranged on finger ontology, makes to drive Slot has for driving portion with respect to driver slot along the movable space of finger ontology rotation direction, then, by one end of return springs It is connect with pedestal, the other end is connect with finger ontology, so that finger ontology opposite base is along the side of bending position to extended position To rotation.As a result, when effect when finger by external force, finger ontology can opposite base rotation, to carry out buffering evacuation, In After external force disappears, finger ontology returns back to original position under the action of return springs, to prevent finger under the effect of external force It damages, to improve the service life of finger.Moreover, by opening up holding tank on the base, and make return springs and At least partly actuator is contained in holding tank, so that the structure of finger is more compact, reduces the volume of finger.

Detailed description of the invention

In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor Under, the structure that can also be shown according to these attached drawings obtains other attached drawings.

Fig. 1 is the structural schematic diagram of one embodiment of the utility model finger；

Fig. 2 is the enlarged drawing in Fig. 1 at A；

Fig. 3 is the decomposition texture schematic diagram of finger in Fig. 1；

Fig. 4 is the partial structural diagram of another angle of finger in Fig. 3；

Fig. 5 is the partial structural diagram of another angle of finger in Fig. 1；

Fig. 6 is the structural schematic diagram of one embodiment of the utility model actuator.

Drawing reference numeral explanation:

The embodiments will be further described with reference to the accompanying drawings for the realization, functional characteristics and advantage of the utility model aim.

Specific embodiment

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Clearly and completely describing, it is clear that described embodiment is only a part of the embodiment of the utility model, rather than all Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are not making the creative labor premise Under every other embodiment obtained, fall within the protection scope of the utility model.

It is to be appreciated that the directional instruction (such as up, down, left, right, before and after ...) of institute in the utility model embodiment It is only used for explaining in relative positional relationship, the motion conditions etc. under a certain particular pose (as shown in the picture) between each component, such as When the fruit particular pose changes, then directionality instruction also correspondingly changes correspondingly.

In addition, the description for being related to " first ", " second " etc. in the present invention is used for description purposes only, and cannot understand For its relative importance of indication or suggestion or implicitly indicate the quantity of indicated technical characteristic.Define as a result, " first ", The feature of " second " can explicitly or implicitly include at least one of the features.In addition, the "and/or" occurred in full text contains Justice is, including three schemes arranged side by side, by taking " A and/or B " as an example, including the side that A scheme or B scheme or A and B meet simultaneously Case.It in addition, the technical solution between each embodiment can be combined with each other, but must be with those of ordinary skill in the art's energy It is enough realize based on, will be understood that the knot of this technical solution when conflicting or cannot achieve when occurs in the combination of technical solution Conjunction is not present, also not within the protection scope of the requires of the utility model.

The utility model proposes a kind of finger, finger is mainly used for artificial limb.

Referring to Fig.1 and Fig. 5, the finger 10 include pedestal 11 and finger ontology 18, and pedestal 11 is for the palm with artificial limb (not shown) connection, is connected with actuator 13 on the base 11, which is used to receive the power dress from artificial limb The driving force set, and the driving force is transferred to finger ontology 18, to drive 18 opposite base 11 of finger ontology to rotate.Wherein, Actuator 13 can be rotatablely connected with pedestal 11, can also be slidably connected with pedestal 11, specifically can be according to the structure of actuator 13 Depending on.It should be noted that power device can be made by screw rod, cylinder etc. when actuator 13 and pedestal 11 are slidably connected The sliding of 13 opposite base 11 of actuator, and then proximal phalanx 18 is driven to rotate.It, can when actuator 13 and pedestal 11 are rotatablely connected Rotate 13 opposite base 11 of actuator by gear, worm screw etc..Connect it is alternatively possible to rotate actuator 13 and pedestal 11 It connects, to reduce 13 opposite base of actuator, 11 occupied 10 space of finger of activity, is conducive to the overall volume for reducing finger 10. In addition, the artificial limb in the utility model can be used for human body, industrial robot, class humanoid robot can be used for, seabed is visited In any robot with crawl object function such as rope robot.

For make finger ontology 18 by the effect of external force after, can opposite base 11 rotate, to be avoided, prevent finger 10 damage under the effect of external force.As shown in Fig. 3, Fig. 4 and Fig. 6, actuator 13 can be made to pass through driver slot 131 and driving The cooperation in portion 151 is to drive finger ontology 18 to rotate, and one in driver slot 131 and driving portion 151 is set on actuator 13, separately One is correspondingly arranged on finger ontology 18, and after actuator 13 and finger ontology 18 are installed on pedestal 11, driving portion 151 is inserted Enter in driver slot 131, when 11 activity of opposite base under the driving of driving mechanism of actuator 13, the inner wall meeting of driver slot 131 It is abutted with driving portion 151, so that the driving force of actuator 13 is passed to finger ontology 18, rotates finger ontology 18.

Wherein it is possible to be configured to the size of driver slot 131 and driving portion 151, there is driver slot 131 for driving portion 151 opposite driver slots 131 are along the movable space of rotation direction of finger ontology 18.As a result, when finger ontology 18 is by external force When effect, driving portion 151 can be movable in driver slot 131, to enable 18 opposite base 11 of finger ontology and actuator 13 rotations, the limitation without being driven part 13 avoid finger ontology 18, prevent finger ontology 18 in the work of external force It is damaged under.

It should be noted that driver slot 131 can be opened up on actuator 13, driving portion 151 is correspondingly arranged at finger sheet On body 18；Driving portion 151 can also be set on actuator 13, and open up driver slot 131 in the corresponding position of finger ontology 18； Alternatively, driving portion 151 and driver slot 131 can also be arranged simultaneously on actuator 13, and it is arranged on finger ontology 18 and corresponds to Driver slot 131 and driving portion 151, specifically can be depending on the structure of actuator 13 and finger ontology 18.It is understood that When opening up driver slot 131 on actuator 13, when driving portion 151 is correspondingly arranged at finger ontology 18, if finger ontology 18 is by outer The effect of power and avoided, then the driving portion 151 on finger ontology 18 is in the driver slot 131 of actuator 13 along finger ontology 18 rotation direction activities；It is set on actuator 13 when by driving portion 151, and opens up driver slot in the corresponding position of finger ontology 18 When 131, if finger ontology 18 by external force effect and avoided, the driver slot 131 on finger ontology 18 is along finger ontology 18 rotation direction activities, that is, driving portion 151 in actuator 13 the opposite driver slot in the driver slot 131 on finger ontology 18 131 along 18 rotation direction of finger ontology reverse activity.

In the present embodiment, finger ontology 18 has bending position and extended position, by control finger ontology 18 along stretching, extension The direction of position to bending position is rotated to setting position, to grab article, by control finger ontology 18 along bending position extremely The direction of extended position is rotated to setting position, with releasing.

As shown in Fig. 2, Fig. 4 and Fig. 5, can make finger 10 further includes return springs 22, and makes return springs 22 One end is connect with pedestal 11, and the other end is connect with finger ontology 18, so that return springs 22 can apply to finger ontology 18 Elastic force, for rotating 18 opposite base 11 of finger ontology along the direction of bending position to extended position.It is understood that The transmission mechanisms such as worm and gear, gear set generally have backhaul gap, by taking worm and gear as an example, for the worm gear snail in finger 10 The small backhaul gap of linkage will will lead to movement clearance of the finger tip with several millimeters, and this movement clearance can make hand steady Fixed crawl article.By above-mentioned return springs, finger ontology 18 can be made to tighten towards direction of extension, to eliminate finger tip The movement clearance of direction of extension is able to maintain accurate position when hand catches object between referring to, will not shake.In addition, working as finger sheet Body 18 by external force effect and avoided, when external force disappear after, finger ontology 18 can reset under the action of the elastic member, Keep the movement of finger ontology 18 more stable.

It is alternatively possible to make pedestal 11 that there is installation cavity 111, it is contained at least partly actuator 13 in installation cavity 111, And it is set to return springs 22 in installation cavity 111, so that the structure of finger 10 is more compact, to reduce the entirety of finger 10 Volume.

In one embodiment, as shown in figure 4, return springs 22 can be made to include torsional spring, which may be mounted at base On seat 11 and/or finger ontology 18, and one end of torsional spring is connect with pedestal 11, and the other end is connect with finger ontology 18, with to hand Refer to that ontology 18 applies elastic force, tightens finger ontology 18 towards direction of extension.It is understood that the structure of torsional spring is simple, It installs very convenient, can be improved the assembly efficiency of finger 10.

Specifically, as shown in Fig. 2, Fig. 4 and Fig. 5, torsional spring has opposite first end 221 and second end 222, the first end 221 connect with pedestal 11, and second end 222 is connect with finger ontology 18, to apply elastic force to finger ontology 18, make finger ontology 18 tighten towards direction of extension.

In the present embodiment, torsional spring be may be mounted on one in pedestal 11 and finger ontology 18, can also be installed simultaneously It, specifically can be depending on the structure of pedestal 11 and finger ontology 18 on pedestal 11 and finger ontology 18.

Optionally, as shown in figure 4, actuator 13 is rotatablely connected by support shaft 19 and pedestal 11, torsion spring set can be made to connect In support shaft 19, so that the connection between torsional spring and pedestal 11 is more stable, and support shaft 19 and installation cavity 111 are made full use of Between space, keep the structure of finger 10 more compact.

Specifically, it can make actuator 13 that there is perforative mounting hole (not shown), in the installation cavity 111 of pedestal 11 Supported hole 112 is opened up on wall, and support shaft 19 is made to pass through mounting hole so that actuator 13 is supported in support shaft 19, and makes support shaft 19 are inserted into supported hole 112, so that support shaft 19 and pedestal 11 are rotatablely connected.

Wherein it is possible to bearing be arranged between support shaft 19 and the inner wall of supported hole 112, to reduce support shaft 19 and support Frictional force between 112 inner wall of hole.At this point, support shaft 19 can also be fixedly connected or be wholely set, this implementation with actuator 13 Example is with no restriction.

It is of course also possible in addition the mounting portion for torsional spring installation is set on pedestal 11 or finger ontology 18, it specifically can root According to depending on the structure of pedestal 11 and finger ontology 18.

In one embodiment, as shown in Figures 4 and 5, the first connecting hole 113 can be opened up on the base 11, make torsional spring One end is inserted into the first connecting hole 113, so that the connection between one end of torsional spring and pedestal 11 is more stable, avoids finger sheet During opposite base 11 rotates, one end of torsional spring and pedestal 11 are detached from body 18.

It should be noted that the first connecting hole 113 can be through-hole, or blind hole, herein with no restriction.

Optionally, as shown in figure 4, the first connecting hole 113 can be made to be opened on the inner wall of installation cavity 111, so that torsional spring One end can be more convenient be inserted into the first connecting hole 113.

Certainly, one end of torsional spring can also be connect by modes such as abutting, hook joints with pedestal 11, specifically can be according to pedestal 11 Structure depending on.

Similarly, as shown in figure 4, the second connecting hole 153 can be opened up on finger ontology 18, insert the other end of torsional spring Enter into second connecting hole 153, so that the connection between the other end of torsional spring and finger ontology 18 is more stable, avoids finger During opposite base 11 rotates, the other end and finger ontology 18 of torsional spring are detached from ontology 18.

It should be noted that the second connecting hole 153 can be through-hole, or blind hole, herein with no restriction.

It is alternatively possible to make the abutting part 152 for the circumferentially extending for having along support shaft 19 on finger ontology 18, and make second Connecting hole 153 is opened in side of the abutting part 152 towards support shaft 19.Thereby, it is possible to make full use of abutting part 152 to be located at support Space between 111 inner wall of axis 19 and installation cavity avoids abutting part 152 with the rotation of finger ontology 11 and is concerned with pedestal 11 It relates to.Moreover, abutting part 152 is made to can be improved the intensity of abutting part 152 along the circumferentially extending of support shaft 19, make the another of torsional spring It holds more stable with the connection of finger ontology 18.

Certainly, the other end of torsional spring can also be connect by modes such as abutting, hook joints with finger ontology 18, specifically can basis Depending on the structure of finger ontology 18.

It should be noted that one end of torsional spring can be made to connect by the first connecting hole 113 with pedestal 11, the other end passes through Second connecting hole 153 is connect with finger ontology 18, and one end of torsional spring can also individually be made to pass through the first connecting hole 113 and pedestal 11 Connection, the other end connect by the modes such as abutting, link up with finger ontology 18 alternatively, individually make one end of torsional spring pass through abutting, The modes such as hook connect the other end with pedestal 11 and are connect by the second connecting hole 153 with finger ontology 18, and certainly, the former can make The connection of torsional spring and finger ontology 18 and pedestal 11 is more stable.

In the present embodiment, return springs 22 or spring, elastic rubber etc., details are not described herein again.

In the present embodiment, as shown in Fig. 1, Fig. 3 and Fig. 5, can make finger ontology 18 includes the connecting rod being mutually rotatablely connected 15 and phalanges component 12, the connecting rod 15 and pedestal 11 are rotatablely connected, so that finger ontology 18 and pedestal 11 are rotatablely connected, can be made One end of return springs 22 is connect with pedestal 11, and the other end is connect with connecting rod 15, so that finger ontology 18 is more nearly really Finger, make finger 10 activity it is more flexible.

Wherein it is possible to be set to abutting part 152 on connecting rod 15, so that the distance between the second connecting hole 153 and torsional spring are more Closely.Certainly, the other end of torsional spring can also directly be connect with phalanges component 12, specifically can according to the structure of finger ontology 18 and It is fixed.

It is alternatively possible to make that there is motor (not shown) in phalanges component 12, and, connect the shaft and connecting rod 15 of motor Transmission mechanism.It is rotated as a result, by the i.e. controllable phalanges component 12 of control motor rotation relative to connecting rod 15, makes the control of finger 10 It is more accurate to make.Wherein, transmission mechanism can be worm gear structure, or other structures, herein with no restriction.

Wherein it is possible to make rotation direction of the phalanges component 12 with respect to connecting rod 15, the rotation side with 15 opposite base 11 of connecting rod To inconsistent, thus make finger 10 motion mode and thumb motion mode it is close.

In the present embodiment, as shown in fig. 6, the quantity of driver slot 131 can be multiple for one, certainly, when driver slot 131 When quantity is multiple, the quantity of driving portion 151 is also correspondingly arranged to be multiple, to reduce each 131 inner wall of driver slot and driving portion Active force between 151, avoid the active force between 131 inner wall of driver slot and driving portion 151 excessive and damage driving portion 151 or 131 inner wall of driver slot.Further, when the quantity of driver slot 131 is multiple, multiple driver slots 131 can be made along actuator 13 it is circumferentially distributed, to make full use of the structure of actuator 13.

It is alternatively possible to be uniformly distributed multiple driver slots 131 along the circumferential direction of actuator 13, so that multiple driving portions 151 The active force of multiple driver slots 131 is uniformly distributed in the circumferential direction of actuator 13, is more uniformly stressed actuator 13, is rotated It is more steady.Such as: quantity two of driver slot 131 can be made, and be symmetrical arranged about the rotation axis of actuator 13, with Keep driving portion 151 symmetrical in the two sides of the rotation axis of actuator 13 to the reaction force of actuator 13, makes actuator 13 Stable rotation.It should be noted that above-mentioned multiple driver slots 131 can be all opened on actuator 13, it can also be whole It is opened on finger ontology 18, a part of driver slot 131 can also be opened on actuator 13, by another part driver slot 131 are opened on finger ontology 18.

It, can when being rotatablely connected as shown in fig. 6, working as actuator 13 with pedestal 11, and offering driver slot 131 on actuator 13 Driver slot 131 to be set to axial direction (rotation axis direction) side of actuator 13, then finger ontology 18 and actuator 13 cooperate Part it is also opposite with the axial sides of actuator 13.The processing of driver slot 131 can not only be made more convenient as a result, improved The intensity of driver slot 131, but also the activity space of finger ontology 18 can be reduced, make the knot of actuator 13 and finger ontology 18 Structure is more compact, is conducive to the volume for reducing finger 10.It is of course also possible to which driver slot 131 to be opened in the periphery of actuator 13 It, specifically can be depending on the structure of actuator 13 on wall.

Wherein it is possible to make driver slot 131 along the circumferentially extending of actuator 13 in fan ring structure, so that driver slot 131 It processes more convenient.Certainly, driver slot 131 can also the shapes setting such as arc-shaped, rectangle, specifically can be according to the knot of actuator 13 Depending on structure.

Accordingly, driving portion 151 on finger ontology 18 radially extending in strip structure along actuator 13 can be made, with Increase the contact area of driving portion 151 and 131 inner wall of driver slot, reduces what damaging occurred in driving portion 151 and 131 inner wall of driver slot Probability.Alternatively, as shown in figure 4, axially extending column structure of the driving portion 151 along actuator 13 can also be made, herein not It is restricted.

It is greater than or equal to it is alternatively possible to which driver slot 131 is made to be formed by angle along the circumferential two sidewalls of actuator 13 60 °, then for finger ontology 18 after by external force, the angle for capableing of the rotation of opposite base 11 is greater than or equal to 60 °, effective to carry out Evacuation.Wherein, driver slot 131 along the circumferential two sidewalls specific degree angle formed of actuator 13 can according to the actual situation and It is fixed.Such as: 70 °, 90 °, 120 ° of the formed angle in two sidewalls etc. that driver slot 131 is circumferential along actuator 13 can be made.

It is alternatively possible to which the peripheral side in actuator 13 opens up the driver slot 131 of two fan annulars, and make two driver slots 131 about actuator 13 rotation axis it is symmetrical so that finger ontology 18 is to the reaction force of actuator 13 on actuator 13 While being uniformly distributed, increase the contact area of driving portion 151 and 131 inner wall of driver slot.

In the present embodiment, driving portion 151 can also be set to the axial sides of actuator 13, then driver slot 131 then corresponds to On finger ontology 18, and it is opposite with the axial sides of actuator 13, so that the structure of actuator 13 and finger ontology 18 is more Step up to gather, details are not described herein again.Wherein, the quantity of driving portion 151 can also be made multiple, and makes multiple driving portions 151 along drive Moving part 13 it is circumferentially distributed, details are not described herein again.

Similarly, when driver slot 131 is opened on finger ontology 18, driving portion 151 is set to the axial sides of actuator 13 When, driver slot 131 on finger ontology 18 can also be made along the circumferentially extending of actuator 13 in fan ring structure, and make actuator The radially extending in strip structure along actuator 13 of driving portion 151 on 13, details are not described herein again.

In the present embodiment, as shown in figure 5, actuator 13 can be made to include worm gear, and setting and worm gear on the base 11 The worm screw 14 of engagement, the worm screw 14 to receive the driving force from power device, and drive for connecting with the power device of artificial limb Dynamic worm gear rotation, and then drive 18 activity of finger ontology.It is understood that since worm and gear has latching characteristics, when dynamic After power device drives 10 activity to setting position of finger, the position for not needing to provide driving force maintenance finger 10 again therefore can The energy consumption for reducing power device, improves the cruise duration of artificial limb.Certainly, actuator 13 can be the structures such as gear, cam, specifically It can be depending on the structure of pedestal 11.

Wherein it is possible to which power device is connect with pedestal 11；Power device can also be made to connect with palm, and make pedestal 11 After connecting with palm, then it connect power device with worm screw 14；Certainly, power device is connect with pedestal 11 can be by finger 10 Modularization is carried out, when the finger 10 to be installed on palm, the power electric connection of power device and artificial limb need to only be made The transmission easier for installation, and keeping the transmission mechanism on finger 10 more stable of finger 10.

It should be noted that above-mentioned power device includes any device that actuator 13 can be made to rotate such as motor 16, this Embodiment is with no restriction.

In implementing one, as shown in Fig. 2, power device can be made to include motor 16 and retarder 17, motor 16 and slow down Device 17 connects, and installs on the base 11, and the output shaft of retarder 17 is connect with actuator 13, is made with providing biggish driving force Actuator 13 rotates.

The utility model also proposes a kind of artificial limb, which includes finger, and the specific structure of the finger is referring to above-mentioned implementation Example, due to the utility model proposes artificial limb include above-mentioned finger all embodiments all schemes, at least have with The identical technical effect of the finger, does not illustrate one by one herein.

The above is only the preferred embodiment of the present invention, and therefore it does not limit the scope of the patent of the utility model, It is all under the inventive concept of the utility model, equivalent structure made based on the specification and figures of the utility model becomes It changes, or directly/be used in other related technical areas indirectly and be included in the scope of patent protection of the utility model.

Claims (10)

1. a kind of finger, it to be used for artificial limb, which is characterized in that the finger includes:

Pedestal, actuator is connected on the pedestal, and the pedestal has installation cavity, at least partly described actuator receiving In in the installation cavity；

Finger ontology is rotatablely connected with the pedestal, and the finger ontology has bending position and extended position；The driving Part drives the finger ontology to rotate by the cooperation of driver slot and driving portion, one in the driver slot and the driving portion A to be set on the actuator, another is correspondingly arranged on the finger ontology, and the driving portion is inserted into the driver slot, described Driver slot has for the driving portion with respect to driver slot along the movable space of finger ontology rotation direction；

Return springs are set in the installation cavity, and one end of the return springs is connect with the pedestal, the other end and institute The connection of finger ontology is stated, the return springs are for making the relatively described pedestal of the finger ontology along the bending position to institute State the direction rotation of extended position.

2. finger as described in claim 1, which is characterized in that the return springs include torsional spring, and the torsional spring is mounted on On the pedestal and/or the finger ontology, and one end of the torsional spring is connect with the pedestal, the other end and the finger sheet Body connection.

3. finger as claimed in claim 2, which is characterized in that the first connecting hole is offered on the pedestal, the torsional spring One end is inserted into first connecting hole；And/or the second connecting hole is offered on the finger ontology, the torsional spring it is another End is inserted into second connecting hole.

4. finger as claimed in claim 3, which is characterized in that first connecting hole is opened in the inner wall of the installation cavity On；And/or the actuator is rotatablely connected by support shaft and the pedestal, is had on the finger ontology along the support The abutting part of the circumferentially extending of axis, second connecting hole are opened in side of the abutting part towards the support shaft.

5. finger as claimed in claim 2, which is characterized in that the actuator is connected by support shaft and pedestal rotation It connects, the torsional spring is socketed in the support shaft.

6. the finger as described in any one of claim 1 to 5, which is characterized in that the finger ontology includes mutually rotation The connecting rod and phalanges component of connection, the connecting rod and the pedestal are rotatablely connected, one end of the return springs and the base Seat connection, the other end are connect with the connecting rod.

7. the finger as described in any one of claim 1 to 5, which is characterized in that the driver slot and/or the driving portion Set on the axial sides of the actuator.

8. the finger as described in any one of claim 1 to 5, which is characterized in that the quantity of the driver slot is multiple, and Multiple driver slots are along the circumferentially distributed of the actuator；And/or

The quantity of the driving portion is multiple, and multiple driving portions are along the circumferentially distributed of the actuator.

9. the finger as described in any one of claim 1 to 5, which is characterized in that the actuator includes worm gear, the base It is provided with worm screw on seat, which engages with the worm gear；

Motor is provided on the pedestal, the output shaft of the motor is connect with the worm screw.

10. a kind of artificial limb, which is characterized in that the artificial limb includes:

Palm；

And finger as in one of claimed in any of claims 1 to 9, the pedestal of the finger are connected with the palm.