CN110538015B - Mechanical artificial limb arm - Google Patents

Abstract

Translated fromChinese

本发明涉及一种机械假肢手臂，由手部、手腕、前臂、肘关节、上臂和肩关节组成，手部由手掌部分和手指部分组成，手腕前端通过手腕盘连接手部的手掌，手腕末端通过前臂驱动机构连接前臂，肘关节的一端与前臂连接，另一端与上臂连接，上臂通过肩关节安装在身体上，机械假肢手臂设置有手指驱动机构、手腕驱动机构、前臂驱动机构、肘关节驱动机构和上臂驱动机构，实手臂多自由度运动，纯机械结构，结构可靠；手指采用连杆机构结构可靠，抓握力度大，整个手臂为多自由度设计，可以整体实现灵活、快捷的响应效果。

The invention relates to a mechanical prosthetic arm, which is composed of a hand, a wrist, a forearm, an elbow joint, an upper arm and a shoulder joint. The hand is composed of a palm part and a finger part. The forearm drive mechanism is connected to the forearm, one end of the elbow joint is connected to the forearm, and the other end is connected to the upper arm. The upper arm is installed on the body through the shoulder joint. The mechanical prosthetic arm is provided with a finger drive mechanism, a wrist drive mechanism, a forearm drive mechanism, and an elbow joint drive mechanism. And the upper arm drive mechanism, the real arm moves with multiple degrees of freedom, pure mechanical structure, and reliable structure; the fingers use a link mechanism for reliable structure, strong grasping force, and the entire arm is designed with multiple degrees of freedom, which can achieve a flexible and fast response effect as a whole.

Description

Mechanical artificial limb arm

Technical Field

The invention relates to a mechanical artificial limb arm, in particular to a medical mechanical artificial limb arm.

Background

In recent years, patients with limb disabilities due to natural disasters, war, diseases, human violence, and the like have grown year by year. Among them, patients with disabled upper limbs have the most difficult life, and they are difficult to take self-care after losing the upper limbs. Therefore, the self-care problem of the part of people is particularly urgent to solve.

The single human arm is analyzed in a mechanical fashion and can be represented by a linkage of approximately 27 degrees of freedom. But with approximately 20 degrees of freedom centered on the hand. The design of the hand of the prosthesis is particularly important. The mechanical design of the manipulator is also called mechanical synthesis and mainly comprises type synthesis and size synthesis. In the field of robot research, the mechanical design of a manipulator is an important task, and the mechanical type and the structural size of the manipulator determine the operability of the manipulator and the pose of an end effector.

The mechanical artificial limb on the current market has the defects of low degree of freedom, poor reliability, insufficient gripping force and the like, aiming at the current situation, the invention provides a medical mechanical artificial limb arm, which is more designed by adopting mechanical structures and is designed in detail aiming at some important parts. The requirement of the patients with the disabled upper limbs on the living activities of the patients can be met by imitating the arm movement of the people. The whole arm is designed with multiple degrees of freedom, and the flexible and quick response effect can be integrally realized. In addition, a mechanical structure design is adopted, so that high reliability and stability can be guaranteed.

Disclosure of Invention

Aiming at the defects of low degree of freedom, reliability and insufficient gripping force of the conventional mechanical artificial limb arm, the invention provides the mechanical artificial limb arm which can generate motion with multiple degrees of freedom, and has the advantages of high gripping force, reliable structure and flexible whole.

The utility model provides a mechanical artificial limb arm, comprises hand, wrist, forearm, elbow joint, upper arm and shoulder joint, and the hand comprises palm part and finger part, and the wrist front end passes through the wrist dish to be connected with palm part, and the wrist is terminal to be connected with the forearm through the internal gear, and the one end and the forearm of elbow joint are connected, and the other end is connected with the upper arm, and the upper arm passes through the shoulder joint to be installed on the health, mechanical artificial limb arm is provided with the finger actuating mechanism who is used for driving the crooked extension of finger, is used for driving wrist actuating mechanism about the wrist and luffing, is used for driving the forearm actuating mechanism of hand rotation, is used for driving the forearm around the elbow crooked and the elbow joint actuating mechanism who extends and is used for driving arm front and back and the upper arm of luffing, finger part comprises five fingers, and four fingers except that the thumb all adopt link mechanism to set, the finger link mechanism comprises seven movable joints, five connecting rods and two springs, one end of the first connecting rod is hinged with the palm through the first movable joint, the other end of the first connecting rod is hinged with the middle of the second connecting rod through the sixth movable joint, one end of the fourth connecting rod is connected with an output shaft of the motor and is hinged with the motor through the seventh movable joint, the other end of the fourth connecting rod is hinged with one ends of the fifth connecting rod and the second connecting rod through the second movable joint and the third movable joint respectively, the other end of the fifth connecting rod is hinged with one end of the third connecting rod through the fourth movable joint, and the other end of the second connecting rod is hinged with the middle of the third connecting rod through the fifth movable joint.

The palm part comprises finger actuating mechanism, two bevel gear sets, two palm axles, thumb straight-teeth gear and three finger connecting axles, finger actuating mechanism comprises three motors, first motor and second motor set up respectively in two motor notches at the palm back, the third motor sets up in the positive motor groove of palm, thumb and forefinger are by first motor and second motor drive respectively, the middle finger, ring finger and little finger are connected by third motor drive through three finger connecting axles, first motor and second motor drive palm axle through bevel gear set respectively and rotate, provide power for finger link mechanism, the third motor drives the rotation of thumb axle through thumb straight-teeth gear, realize the thumb motion.

Further, the three motors are Maxon motors.

The fifth connecting rod and the sixth connecting rod are of two-section structures, and a spring is arranged in the middle of each connecting rod.

The wrist comprises a wrist disc, a wrist driving mechanism, a universal joint, a ball joint and a support rod, wherein the wrist driving mechanism comprises two linear motors, one ends of the linear motors are connected with the wrist plate through the universal joint, the other ends of the linear motors are connected with the internal gear, and two ends of the support rod are respectively connected with the wrist plate and the internal gear through the ball joint.

The two linear motors can realize synchronous and asynchronous work.

The forearm comprises forearm ring, forearm board and forearm actuating mechanism, forearm actuating mechanism comprises forearm motor, internal gear, needle roller bearing, is provided with the forearm motor on the forearm board, the forearm board with through the bolt fastening on the forearm ring, forearm motor output shaft spur gear, spur gear and the meshing of internal gear provide a rotary motion for the wrist, is provided with needle roller bearing between internal gear and the forearm ring.

The elbow joint, the upper arm and the shoulder joint are composed of an elbow shaft, an elbow joint driving mechanism, an upper arm plate, an upper arm driving mechanism, two groups of synchronous belt mechanisms and a shoulder plate, the elbow joint driving mechanism is composed of a first bevel gear, a second bevel gear and an elbow motor, the first bevel gear is connected with the elbow shaft through a key, two ends of the elbow shaft are fixed on the upper arm plates on two sides through bearings, the elbow motor drives the second bevel gear to rotate, and power is provided for the rotation of the elbow shaft through the engagement of the first bevel gear and the second bevel gear; the upper arm driving mechanism is composed of a first upper arm motor, a second upper arm motor, a third bevel gear and a fourth bevel gear, the first upper arm motor drives a first synchronous belt mechanism to rotate, a large gear of the first synchronous belt mechanism is fixedly connected to a shoulder plate and is rigidly connected with the shoulder, left and right swinging of an arm is achieved under the action of the first synchronous belt mechanism, the second upper arm motor drives a second synchronous belt mechanism to rotate, the second synchronous belt mechanism drives the third bevel gear to rotate, the third bevel gear is meshed with the fourth bevel gear, the fourth bevel gear is rigidly connected with a body through a shaft and does not move, and the arm is connected with the body through the shoulder plate.

The invention has the advantages that the invention imitates the arm movement of people, meets the requirements of the upper limb disabled patients on the living activities of the upper limb disabled patients when the upper limb disabled patients are worn, and compared with other artificial limbs, the multi-freedom-degree movement mechanical artificial limb arm can generate multi-freedom-degree movement and can roughly simulate the movement of the arm of a normal person. The structure is reliable due to the pure mechanical structure. At some places that use more like the finger, adopted the connecting rod design, compare in adopting more stay cord design or spring rebound design on the market, link mechanism is more reliable to can realize bigger gripping dynamics. The arm body is made of hard aluminum alloy, so that the arm body is light in weight, high in strength and corrosion resistant; the Maxon motor is controlled, the whole size is small, the occupied space is small, and the wearing is convenient. Low cost and high performance-price ratio. Common parts are adopted, so that the cost is low, and the cost performance is high.

Drawings

FIG. 1 is a schematic overall view of a mechanical prosthetic arm;

FIG. 2 is a schematic hand view;

FIG. 3 is a bottom hand view;

FIG. 4 is a schematic view of a finger link mechanism;

FIG. 5 is a schematic view of the wrist and forearm;

figure 6 schematic representation of elbow, upper arm and shoulder joints.

In the figure, 1 hand, 2 wrist, 3 forearm, 4 elbow joint, 5 upper arm, 6 shoulder joint, 11 first Maxon motor, 12 first bevel gear set, 13 second bevel gear set, 14 first palm shaft, 15 second Maxon motor, 16 thumb spur gear, 17 third Maxon motor, 18 second palm shaft, 19 third finger connecting shaft, 21 wrist disc, 22 first linear motor, 23 second linear motor ii, 24 first universal joint, 25 second universal joint ii, 26 internal gear, 27 needle bearing, 28 ball joint, 29 spur gear,strut 210, 31 forearm ring, 32 forearm plate, 33 forearm motor, 41 elbow shaft, 42 first bevel gear, 43 gear, 44 elbow motor, 51 upper arm plate, 52 first upper arm motor, 53 second upper arm motor, 54 first synchronous belt mechanism, 55 second synchronous belt mechanism, 56 third synchronous belt mechanism, 61 fourth bevel gear, 62 shoulder plate, the first joint is G1, the second joint is G2, the third joint is G3, the fourth joint is G4, the fifth joint is G5, the sixth joint is G6, the seventh joint is G7, the first link is L1, the second link is L2, the third link is L3, the fourth link is L4, the fifth link is L5, the first spring is S1, the second spring is S2, the M1 motor and the palm of H1.

Detailed Description

The invention provides a mechanical artificial limb arm, and in order to make the purpose, technical scheme and effect of the invention clearer and clearer, the invention is further described in detail below with reference to the accompanying drawings.

A mechanical artificial arm is composed of six parts, namely a hand 1, a wrist 2, a forearm 3, an elbow joint 4, an upper arm 5 and a shoulder joint 6, wherein the position of each part is shown in figure 1.

As shown in fig. 2, the hand is divided into a palm and fingers, the back of the palm is provided with two motor notches for placing a first Maxon motor 11 and a second Maxonmotor 15 respectively, the front of the palm is provided with a motor notch for placing a third Maxonmotor 17, the first Maxon motor 11 is a driving motor for a middle finger, a ring finger and a little finger, the middle finger, the ring finger and the little finger are connected through a three-finger connecting shaft 19, thebevel gear set 12 is driven to rotate through the rotation of the first Maxon motor 11, thefirst palm shaft 14 is in key connection with the firstbevel gear set 12, thefirst palm shaft 14 can rotate to provide power for the finger link mechanism, and the fingers can move in a bending and stretching mode. Similarly, the second Maxonmotor 15 drives thesecond palm shaft 18 to rotate through the secondbevel gear set 13, and drives the finger link mechanism in the index finger to realize the bending and stretching movement of the index finger.

As shown in figure 3, the thumb adopts a motor gear to carry out transmission, and considering that the thumb has 2 finger joints in the actual use process, the rotation of one finger joint can meet the daily requirement. The thumbstraight gear 16 is connected with the thumb shaft through a key, and the third Maxonmotor 17 drives the thumbstraight gear 16 to realize the motion of the thumb.

As shown in fig. 4, in the finger link mechanism, one end of a first link L1 is connected to the palm of the hand through a first joint G1, the motor is connected to a fourth link L4 through a seventh joint G7, when the first motor M1 rotates clockwise by a certain angle, the fourth link L4 also rotates clockwise by a certain angle around the motor shaft, the fourth link L4 applies a force perpendicular to the right and lower direction of the fourth link L4 to the second link L2 and the fifth link L5 at the second joint G2 and the third joint G3, the force applied to the second link L2 through the third joint G3 causes the second link L2 to rotate counterclockwise by a certain angle around the sixth joint G8, so that the second link L2 applies an upward force to the third link L3 through the fifth joint G5, and the third link L3 can realize the upward movement of the whole lever; the force exerted on the fifth link L5 by the second joint G2 is opposite to the force exerted on the fourth joint G4 and further on the fifth link L5 by the third link L3 rotating counterclockwise around the fifth joint G5, so that the fifth link L5 is exerted, but since the links are rigid, the fifth link L5 is made into two parts, and the second spring S2 is added in the middle for buffering, so that when the pair of opposite forces exerted on the fifth link L5 is exerted, the second spring S2 on the fifth link L5 is compressed and shortened, and the whole length of the fifth link L5 is shortened; likewise, the first spring S1 of the fourth link L4 also plays the same role. After the fourth connecting rod L4 rotates clockwise for a certain angle, the third joint G3 applies a component force to the fourth connecting rod L4, which is directed to the axis of the motor along the fourth connecting rod L4, because the length and the connection of the first connecting rod L1 and the second connecting rod L2 are fixed, the connecting rod vi L4 needs to be made into two parts, the middle is buffered by the first spring S1, and the length of the fourth connecting rod L4 can be changed like the length of the fifth connecting rod L5. The entire finger can perform an extending action. When the motor rotates anticlockwise for a certain angle, the fingers can realize bending action. The whole finger has 3 degrees of freedom, and 3 phalanges rotate around respective finger joints, and the finger motion is the same as that of a normal person.

As shown in fig. 5, the wrist mechanism is designed to have a structure with 2 degrees of freedom, i.e. horizontal swing and vertical swing, following the wrist structure of a normal person, the wrist portion is provided with two linear motors and two universal joints, one end of each linear motor is connected to thewrist disc 21 through the universal joint, two ends of the supportingrod 210 are respectively connected to thewrist disc 21 and theinternal gear 26 through ball joints, and the motions of the linear motors are asynchronous in order to realize the horizontal swing of the wrist. When the wrist swings to the left, the secondlinear motor 23 does not work, the firstlinear motor 22 works, the push rod of the firstlinear motor 22 extends, and the wrist swings to the left by a certain angle under the pushing force of the push rod of the firstlinear motor 22. As the ram continues to extend, the firstlinear motor 22 stops when the angle reaches the design maximum. When the firstlinear motor 22 is operated again, the length of the push rod is shortened, and the wrist is pulled by the push rod, so that the wrist swings to the right. Until the push rod is shortened to the initial state, the firstlinear motor 22 stops working, the wrist returns to the initial state, and therefore the wrist finishes left-hand swing movement. When the wrist swings to the right, the firstlinear motor 22 does not work, the secondlinear motor 23 works, and the wrist mechanism realizes the movement of left swing and right swing as the wrist swings to the left. The up-and-down swing of the wrist mechanism is also determined based on the motion of 2 linear motors. Unlike the side-to-side swing of the wrist mechanism, the up-and-down swing of the wrist mechanism is the result of the synchronous motion of 2 linear motors. When the two linear motors are operated together, the pushrods of the 2 linear motors together exert a force on the wrist in the forward direction, at which point the wrist will produce an angular rotational movement about theball joint 28, since the length of thestrut 210 is not variable. When the rotation angle reaches the designed maximum value, the two linear motors stop working, when the two linear motors work together, the push rods retract to a short length, the wrist rotates reversely under the pulling force of the 2 push rods until the wrist returns to the initial position, and therefore the wrist mechanism finishes upward swinging movement. The downswing motion of the wrist is again the opposite of the upswing motion. The wrist mechanism can realize the movement of the upper pendulum and the lower pendulum.

The forearm has only 1 degree of freedom, which is the rotational movement of the forearm around the direction of the forearm, in order to change the state of the palm. As shown in fig. 5, the forearm mechanism 3 mainly includes aforearm ring 31, aforearm plate 32, aforearm motor 33, aninternal gear 26, aspur gear 29, and a needle bearing 27. Aforearm motor 33 is placed on theforearm plate 32, theforearm plate 32 is fixed on aforearm ring 31 through bolts, the tail end of theforearm motor 33 is connected with aspur gear 29, a needle bearing 27 is arranged between aninternal gear 26 and theforearm ring 31, the front end of theinternal gear 26 is connected with two linear motors and asupport rod 210, and one rotation motion is provided for the wrist through the meshing of thespur gear 29 and theinternal gear 26.

The elbow joint has only 1 degree of freedom, namely the bending and stretching of the forearm around the elbow, the purpose of the degree of freedom of the elbow joint is to enable the palm to approach or be far away from the human body, and the design of the elbow joint is still realized by adopting motor gear transmission. As shown in fig. 6, the shaft joint 4 includes anelbow shaft 41, afirst bevel gear 42, asecond bevel gear 43, and anelbow motor 44. Theelbow motor 44 drives thesecond bevel gear 43 to rotate, thefirst bevel gear 42 is connected to theelbow shaft 41 through a key, two ends of theelbow shaft 41 are fixed to theupper arm plate 51 through bearings, thefront arm plate 32 is connected to theelbow shaft 41 through the key, and when theelbow motor 44 works, a rotating power is provided for theelbow shaft 41 through the meshing of thefirst bevel gear 42 and thesecond bevel gear 43, so that the whole elbow joint is driven to rotate below the elbow joint, and the bending action of the elbow joint is achieved.

The upper arm 5 includes anupper arm plate 51, a firstupper arm motor 52, a secondupper arm motor 53, a first timing belt mechanism 54, a secondtiming belt mechanism 55, and athird bevel gear 56. When the secondupper arm motor 53 works, the secondsynchronous belt mechanism 55 is driven to move, the secondsynchronous belt mechanism 55 drives thethird bevel gear 56 to rotate, thethird bevel gear 56 is meshed with thefourth bevel gear 61, thefourth bevel gear 61 is rigidly connected with the body through a shaft and does not move in a phase manner, and when thethird bevel gear 56 rotates, the whole upper arm structure rotates through the bearing on the shoulder due to the fact that thefourth bevel gear 61 is not moved, namely, the arm swings back and forth. When the firstupper arm motor 52 works, the motor rotates the first synchronous belt pulley mechanism 54, the large belt pulley of the first synchronous belt pulley mechanism 54 is fixedly connected to theshoulder plate 62 and rigidly connected with the shoulder into a whole, and under the action of the first synchronous belt pulley mechanism 54, the firstupper arm motor 52 and the whole arm generate movement, namely the left-right swinging of the arm. The entire robotic prosthetic arm is attached to the body by ashoulder plate 62.

It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.

Claims (7)

Translated fromChinese

1.一种机械假肢手臂，所述手臂由手部、手腕、前臂、肘关节、上臂和肩关节组成，手部由手掌部分和手指部分组成，手腕前端通过手腕盘与手掌部分连接，手腕末端通过内齿轮与前臂连接，肘关节的一端与前臂连接，另一端与上臂连接，上臂通过肩关节安装在身体上，其特征在于：所述机械假肢手臂设置有用于驱动手指弯曲伸展的手指驱动机构、用于驱动手腕左右和上下摆动的手腕驱动机构、用于驱动手部旋转的前臂驱动机构、用于驱动前臂绕肘弯曲和伸展的肘关节驱动机构和用于驱动手臂前后和左右摆动的上臂驱动机构，所述手指部分由五根手指组成，除拇指之外的四根手指均采用连杆机构设置且每根手指有三个自由度，所述连杆机构由七个活节、五个连杆和两个弹簧组成，第一连杆的一端通过第一活节与手掌铰接，另一端通过第六活节与第二连杆中部铰接，第四连杆一端与电机输出轴连接且通过第七活节与电机铰接，另一端通过第二活节和第三活节分别与第五连杆和第二连杆的一端铰接，第五连杆的另一端通过第四活节与第三连杆的一端铰接，第二连杆的另一端通过第五活节与第三连杆的中部铰接；所述肘关节、上臂和肩关节包括肘轴、肘关节驱动机构、上臂板、上臂驱动机构、两组同步带机构和肩板，所述肘关节具有一个自由度，所述肘关节驱动机构由第一锥齿轮、第二锥齿轮和肘部电机组成，第一锥齿轮通过键与肘轴连接，肘轴的两端通过轴承固定在两侧上臂板上，肘部电机带动第二锥齿轮旋转，通过第一锥齿轮与第二锥齿轮的啮合为肘轴转动提供动力；所述上臂驱动机构由第一上臂电机、第二上臂电机、第三锥齿轮和第四锥齿轮组成，第一上臂电机带动第一同步带机构转动，第一同步带结构的大齿轮与固定连接在肩板上，与肩刚性连接为一体，第一同步带轮机构的作用下，实现手臂的左右摆动，第二上臂电机带动第二同步带机构转动，第二同步带机构带动第三锥齿轮转动，第三锥齿轮与第四锥齿轮啮合，第四锥齿轮通过轴与身体刚性连接，无相运动，手臂通过肩板与身体连接。1. A mechanical prosthetic arm, the arm is composed of a hand, a wrist, a forearm, an elbow joint, an upper arm and a shoulder joint, the hand is composed of a palm part and a finger part, the front end of the wrist is connected with the palm part through a wrist plate, and the end of the wrist is connected. It is connected with the forearm through the internal gear, one end of the elbow joint is connected with the forearm, the other end is connected with the upper arm, and the upper arm is installed on the body through the shoulder joint. , Wrist drive mechanism for driving the wrist to swing left and right and up and down, forearm drive mechanism for driving hand rotation, elbow joint drive mechanism for driving the forearm to bend and extend around the elbow, and upper arm for driving the arm to swing back and forth and side to side Drive mechanism, the finger part is composed of five fingers, the four fingers except the thumb are all set with a link mechanism and each finger has three degrees of freedom, the link mechanism is composed of seven joints, five connecting rods. The rod is composed of two springs. One end of the first connecting rod is hinged with the palm through the first joint, the other end is hinged with the middle of the second connecting rod through the sixth joint, and one end of the fourth connecting rod is connected with the motor output shaft and passed through the sixth joint. The seven joints are hinged with the motor, the other end is hinged with one end of the fifth link and the second link respectively through the second joint and the third joint, and the other end of the fifth link is connected with the third link through the fourth joint. One end of the rod is hinged, and the other end of the second link is hinged with the middle of the third link through the fifth joint; the elbow joint, the upper arm and the shoulder joint include an elbow shaft, an elbow joint drive mechanism, an upper arm plate, and an upper arm drive mechanism , Two sets of synchronous belt mechanisms and shoulder plates, the elbow joint has one degree of freedom, the elbow joint driving mechanism is composed of a first bevel gear, a second bevel gear and an elbow motor, and the first bevel gear is connected to the elbow shaft through a key The two ends of the elbow shaft are fixed on the upper arm plates on both sides through bearings, the elbow motor drives the second bevel gear to rotate, and the meshing of the first bevel gear and the second bevel gear provides power for the rotation of the elbow shaft; the upper arm drives The mechanism consists of a first upper arm motor, a second upper arm motor, a third bevel gear and a fourth bevel gear. The first upper arm motor drives the first synchronous belt mechanism to rotate, and the large gear of the first synchronous belt structure is fixedly connected to the shoulder plate. It is rigidly connected with the shoulder as a whole. Under the action of the first synchronous pulley mechanism, the arm can swing left and right, the second upper arm motor drives the second synchronous belt mechanism to rotate, the second synchronous belt mechanism drives the third bevel gear to rotate, and the third The bevel gear meshes with the fourth bevel gear, the fourth bevel gear is rigidly connected with the body through the shaft, and there is no phase movement, and the arm is connected with the body through the shoulder plate.2.根据权利要求1所述的机械假肢手臂，其特征在于：所述手掌部分包括手指驱动机构、两个斜齿轮组、两个手掌轴、拇指直齿轮和三指连接轴，所述手指驱动机构为三台电机，第一电机和第二电机分别设置在手掌背面的两个电机槽口中，第三电机设置于手掌正面的电机槽中，拇指和食指分别由第三电机和第二电机驱动，中指、无名指和小指通过三指连接轴连接由第一电机驱动，第一电机和第二电机分别通过斜齿轮组带动手掌轴转动，为手指连杆机构提供动力，第三电机通过拇指直齿轮带动拇指轴转动，实现拇指运动。2. The mechanical prosthetic arm according to claim 1, wherein the palm part comprises a finger drive mechanism, two helical gear sets, two palm shafts, a thumb spur gear and a three-finger connecting shaft, and the finger drives The mechanism consists of three motors, the first motor and the second motor are respectively arranged in the two motor slots on the back of the palm, the third motor is arranged in the motor slot on the front of the palm, the thumb and index finger are respectively driven by the third motor and the second motor The middle finger, ring finger and little finger are driven by the first motor through the connection of the three-finger connecting shaft. The first motor and the second motor respectively drive the palm shaft to rotate through the helical gear set to provide power for the finger linkage mechanism. The third motor is driven by the thumb spur gear Drive the thumb shaft to rotate to realize the thumb movement.3.根据权利要求2所述的机械假肢手臂，其特征在于，所述的三台电机均为Maxon电机。3. The mechanical prosthetic arm according to claim 2, wherein the three motors are Maxon motors.4.根据权利要求1所述的机械假肢手臂，其特征在于，第五连杆和第四连杆为两段结构，连杆中间设置弹簧。4 . The mechanical prosthetic arm according to claim 1 , wherein the fifth connecting rod and the fourth connecting rod are two-section structures, and a spring is arranged in the middle of the connecting rods. 5 .5.如权利要求1所述的机械假肢手臂，其特征在于，所述手腕有两个自由度，包括手腕盘、手腕驱动机构、万向节、球接头和支杆，所述手腕驱动机构为两个直线电机，所述直线电机一端通过万向节与手腕盘连接，另一端与内齿轮相连接，支杆两端分别通过球接头与手腕盘和内齿轮连接。5. The mechanical prosthetic arm according to claim 1, wherein the wrist has two degrees of freedom, including a wrist disc, a wrist drive mechanism, a universal joint, a ball joint and a strut, and the wrist drive mechanism is Two linear motors, one end of the linear motor is connected with the wrist disk through a universal joint, the other end is connected with the internal gear, and the two ends of the support rod are respectively connected with the wrist disk and the internal gear through a ball joint.6.如权利要求5所述的机械假肢手臂，其特征在于，所述两个直线电机可以实现同步和异步工作。6. The mechanical prosthetic arm according to claim 5, wherein the two linear motors can work synchronously and asynchronously.7.如权利要求1所述的机械假肢手臂，其特征在于，所述前臂有一个自由度，包括前臂环、前臂板和前臂驱动机构，所述前臂驱动机构由前臂电机、内齿轮和滚针轴承组成，前臂板上设置有前臂电机，前臂板通过螺栓固定在前臂环上，前臂电机输出轴连接正齿轮，正齿轮与内齿轮的啮合提供给腕部一个旋转运动，内齿轮与前臂环之间设置有滚针轴承。7. The mechanical prosthetic arm of claim 1, wherein the forearm has one degree of freedom, comprising a forearm ring, a forearm plate and a forearm driving mechanism, wherein the forearm driving mechanism is composed of a forearm motor, an internal gear and a needle roller The forearm motor is set on the forearm plate. The forearm plate is fixed on the forearm ring by bolts. The output shaft of the forearm motor is connected to the spur gear. Needle roller bearings are arranged between them.

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