A self-driven modular semipalm prosthetic hand

Abstract

The present invention discloses a self-driven modular semi-palm artificial hand, including a finger module, a self-locking module, a finger joint unit, a finger sleeve, an orthosis, a guide unit, and a transmission rope. The self-locking module is placed inside the finger module, the self-locking module is connected to the finger module, the finger joint unit is connected to the finger module, the other end of the finger sleeve is nested on the finger joint unit, the guide unit includes a finger guide block and a palm fixing block respectively fixed on the finger sleeve and the orthosis, and the transmission rope includes an elastic rope and a tension line respectively wound on the upper and lower sides of the finger module. The present invention also provides another semi-palm artificial hand with a palm module. The present invention improves the practicality of the artificial hand, improves the comfort of the patient wearing it, and improves the utilization rate of the artificial finger.

Description

Technical Field

[0001] The present invention relates to the technical field of medical rehabilitation equipment, and in particular to a self-driven modularized half-palm artificial hand. Background Art

[0002] Among the limb-disabled people, patients with short proximal phalanges or hemipalm have inconveniences in their daily lives, and the lack of self-care ability brings great psychological pressure to the patients. Therefore, designing a passive artificial finger with self-locking function suitable for patients with any amputation shape above the wrist has important social and economic value.

[0003] Although the artificial hands and limbs on the market suitable for upper limb amputees can perform some simple movements, these artificial hands and limbs are large in size, difficult to make, cannot be adapted to various shapes of residual limb ends, and are usually very expensive. They are not suitable for patients' daily lives and have not yet been widely popularized.

[0004] In addition, most of the artificial fingers on the market do not have the self-locking function and cannot guarantee the grip. Considering the safety of exercise and the practicality of the equipment, it is promising to design an artificial finger suitable for the daily life of patients with amputations above the wrist and assist them in completing basic gestures.

[0005] Therefore, those skilled in the art are committed to providing a self-driven modular semi-palm prosthesis to achieve a grasping posture while having a lighter weight and being suitable for the daily life of amputees. Summary of the invention

[0006] In view of the defects in the prior art, the technical problem to be solved by the present invention is how to provide a self-driven modular half-palm prosthesis suitable for the daily life of hand amputees.

[0007] To achieve the above-mentioned objectives, the present invention provides a self-driven modular semi-palm artificial hand, comprising a finger module, a self-locking module, a finger joint unit, a finger sleeve, an orthosis, a guide unit, and a transmission rope, wherein the orthosis is sleeved on the palm, one end of the finger sleeve is sleeved on the residual finger, the self-locking module is placed inside the finger module, the self-locking module is connected to the finger module, the finger joint unit is connected to the finger module, the other end of the finger sleeve is nested in the finger joint unit, the guide unit comprises a finger guide block and a palm fixing block respectively fixed on the finger sleeve and the orthosis, the transmission rope comprises an elastic rope and a tension line respectively wound around the upper and lower sides of the finger module, the two ends of the elastic rope are respectively connected to the finger module and the finger joint unit, one end of the tension line is connected to the finger module, and the other end of the tension line passes through the finger guide block and is connected to the palm fixing block.

[0008] Further, the finger module includes a fingertip, a knuckle, and an over-extension limit platform connected in sequence, a return line fixing rod and a main line fixing rod are respectively provided on the upper and lower sides of the fingertip, a first return line groove is provided on the upper side of the knuckle, a first large pin hole and a first small pin hole are opened on the side of the knuckle, a special-shaped gear limit platform and a special-shaped gear skylight are provided on the inner side of the over-extension limit platform, a joint guide block is provided at the end of the over-extension limit platform, a first flat key pin hole is provided on the side of the over-extension limit platform, and a first main line groove is provided on the joint guide block; the centers of the first large pin hole, the first small pin hole, and the first flat key pin hole are on the same straight line; one end of the tension line is connected to the main line fixing rod, and the tension line passes through the first main line groove along the lower side of the finger module; one end of the elastic rope is connected to the return line fixing rod, and the elastic rope passes through the first return line groove along the upper side of the finger module.

[0009] Furthermore, the finger joint unit includes a joint limit platform, a second main line groove, a second return line groove, a finger sleeve fixing groove, and a second flat key pin hole. The finger sleeve is nested in the finger sleeve fixing groove, the other end of the elastic rope is fixed on the second return line groove, and the tension line passes through the second main line groove; the over-extension limit platform is nested in the joint limit platform.

[0010] Furthermore, the self-locking module includes a limiting claw, a special-shaped gear, a spring, a large pin, a small pin, and a flat key pin. The limiting claw is provided with a second small pin hole, and the small pin passes through the first small pin hole and the second small pin hole; the special-shaped gear is provided with a third flat key pin hole and a spring fixing hole; the special-shaped gear and the limiting claw are meshed; the flat key pin passes through the first flat key pin hole, the second flat key pin hole, and the third flat key pin hole, and the large pin passes through the first large pin hole, and the two ends of the spring are respectively connected to the spring fixing hole and the large pin.

[0011] Furthermore, the angle of the special-shaped gear teeth of the special-shaped gear is 70°, and the gear teeth of the special-shaped gear are inclined on one side.

[0012] Furthermore, a third positive line groove is provided on the side of the palm fixing block along the direction of the tension line, a first nut is provided in the third positive line groove, a first bolt is passed through the top of the palm fixing block, the first bolt is meshed with the first nut, and the first nut presses the tension line.

[0013] The present invention provides another self-driven modular half-palm prosthetic hand, comprising a finger module, a self-locking module, a finger joint unit, a quick-release module, a palm module, and a transmission rope, wherein the palm module is sleeved on the palm, the self-locking module is placed inside the finger module, the self-locking module is connected to the finger module, one end of the finger joint unit is connected to the finger module, the other end of the finger joint unit is connected to the quick-release module, the quick-release module is connected to the palm module, the transmission rope comprises an elastic rope and a tension line respectively wound around the upper and lower sides of the finger module, the two ends of the elastic rope are respectively connected to the finger module and the finger joint unit, the tension line also passes through the palm module and is connected to one end of the palm module away from the quick-release module.

[0014] Further, the finger module includes a fingertip, a knuckle, and an over-extension limit platform connected in sequence, a return line fixing rod and a main line fixing rod are respectively provided on the upper and lower sides of the fingertip, a first return line groove is provided on the upper side of the knuckle, a first large pin hole and a first small pin hole are opened on the side of the knuckle, a special-shaped gear limit platform and a special-shaped gear skylight are provided on the inner side of the over-extension limit platform, a joint guide block is provided at the end of the over-extension limit platform, a first flat key pin hole is provided on the side of the over-extension limit platform, and a first main line groove is provided on the joint guide block; the centers of the first large pin hole, the first small pin hole, and the first flat key pin hole are on the same straight line; one end of the tension line is connected to the main line fixing rod, and the tension line passes through the first main line groove along the lower side of the finger module; one end of the elastic rope is connected to the return line fixing rod, and the elastic rope passes through the first return line groove along the upper side of the finger module.

[0015] Furthermore, the self-locking module includes a limiting claw, a special-shaped gear, a spring, a large pin, a small pin, and a flat key pin. The limiting claw is provided with a second small pin hole, and the small pin passes through the first small pin hole and the second small pin hole; the special-shaped gear is provided with a third flat key pin hole and a spring fixing hole; the special-shaped gear and the limiting claw are meshed; the flat key pin passes through the first flat key pin hole, the third flat key pin hole and the second flat key pin hole at one end of the finger joint unit, the large pin passes through the first large pin hole, and the two ends of the spring are respectively connected to the spring fixing hole and the large pin.

[0016] Furthermore, the quick-release module is connected to the other end of the finger joint unit through a pin shaft; the quick-release mechanism includes a threaded quick-release mechanism, a spring lock quick-release mechanism, and a press-type quick-release mechanism, and the threaded quick-release mechanism includes a threaded base connecting block and a threaded palm connecting block; the spring lock quick-release mechanism includes a spring lock base connecting block, a slider, and a return spring, one side of the slider is provided with an inclined surface with a negative angle to the horizontal plane, and the other side of the slider is provided with a boss and two recesses as limit tables; the press-type quick-release mechanism includes a press-type base connecting block, a press-type quick-release upper cover, an unlocking block, a deformation piece, and a press-type palm connecting block, the press-type palm connecting block is provided with a supporting column, one side of the unlocking block is provided with a boss and cooperates with the groove of the deformation piece, the other side of the unlocking block is provided with a pressing block and is higher than the press-type quick-release upper cover, and the lower end of the press-type base connecting block is provided with a top column.

[0017] The present invention has at least the following beneficial technical effects:

[0018] The self-driven modularized semi-palm prosthetic hand provided by the present invention uses its own metacarpophalangeal joint as the power source, cooperates with the transmission rope and the guide unit to realize flexion control; cooperates with the self-locking module to realize self-locking of grasping to ensure the grasping force; cooperates with the other healthy fingers to realize daily common actions such as grasping and pinching, improves the practicality of the prosthetic finger, and at the same time improves the comfort of wearing for disabled patients and increases the utilization rate of the prosthetic finger. The prosthetic finger is controlled by its own power source, has a small overall size, is more lightweight, and is convenient for personalized customization.

[0019] The concept, specific structure and technical effects of the present invention will be further described below in conjunction with the accompanying drawings to fully understand the purpose, characteristics and effects of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic diagram of the structure of a half-palm prosthetic hand provided by an embodiment of the present invention;

[0021] Figure 2 is a schematic diagram of a finger module provided by an embodiment of the present invention;

[0022] Figure 3 is a schematic diagram of a self-locking module provided by an embodiment of the present invention;

[0023] Figure 4 is a schematic diagram of finger joints provided by an embodiment of the present invention;

[0024] Figure 5 is a schematic diagram of a special-shaped gear provided by an embodiment of the present invention;

[0025] Figure 6 is a schematic diagram of a limiting claw provided in an embodiment of the present invention;

[0026] Figure 7is a schematic diagram of a finger sleeve provided by an embodiment of the present invention;

[0027] Figure 8 is a schematic diagram of a palm fixing block provided by an embodiment of the present invention;

[0028] Fig. 9 is a schematic diagram of a half-palm prosthetic hand provided by another embodiment of the present invention;

[0029] Fig.10 yes Fig. 9 Schematic diagram of spring lock quick release mechanism;

[0030] Fig.11 yes Fig. 9 Schematic diagram of a threaded quick release mechanism;

[0031] Fig.12 yes Fig. 9 Schematic diagram of the push-type quick release mechanism.

[0032] In the figure,

[0033] 100-finger module, 101-finger tip, 102-first large pin hole, 103-return line fixing rod, 104-first return line groove, 105-overextension limit platform, 106-special gear limit platform, 107-special gear skylight, 108-joint guide block, 109-first flat key pin hole, 110-first small pin hole, 111-positive line fixing rod, 112-first positive line groove, 113-knuckle;

[0034] 200-finger joint unit, 201-second positive line groove, 202-second return line groove, 203-finger sleeve fixing groove, 204-second flat key pin hole, 205-joint limit platform;

[0035] 301-large pin, 302-spring, 303-limiting claw, 304-special-shaped gear, 305-flat key pin, 306-small pin, 307-third flat key pin hole, 308-special-shaped gear tooth, 309-second small pin hole, 310-limiting claw head, 311-spring fixing hole;

[0036] 401-finger sleeve, 402-orthosis;

[0037] 501-finger guide block, 502-palm fixing block, 503-reserved slot, 504-third positive line slot, 505-first nut, 506-first pressing line slot, 507-first bolt;

[0038] 601-tension line, 602-elastic rope;

[0039] 701-spring lock quick release mechanism, 702-pressing quick release mechanism, 703-threaded quick release mechanism, 704-spring lock base connection block, 705-slider, 706-return spring, 709-threaded base connection block, 710-threaded palm connection block, 711-pressing base connection block, 712-pressing quick release upper cover, 713-unlocking block, 714-deformation sheet, 715-pressing palm connection block;

[0040] 800-palm module, 801-finger base, 802-palm cover, 803-deformation pin, 804-forearm fixing cover, 805-stroke amplification module, 806-first bearing, 807-fixing box, 808-stroke amplification capstan, 809-second bearing. DETAILED DESCRIPTION

[0041] The following describes several preferred embodiments of the present invention with reference to the drawings in the specification, so that the technical content is clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned in the text.

[0042] In the drawings, components with the same structure are indicated by the same numerical reference numerals, and components with similar structures or functions are indicated by similar numerical reference numerals. The size and thickness of each component shown in the drawings are arbitrarily shown, and the present invention does not limit the size and thickness of each component. In order to make the illustration clearer, the thickness of the components is appropriately exaggerated in some places in the drawings.

[0043] Example 1

[0044] Figures 1 to 8 : is a structural schematic diagram of a specific embodiment of the self-driven modular semi-palm prosthesis of the present invention. In this embodiment, the passive semi-palm prosthesis with self-locking function includes a finger module 100, a finger joint unit 200, a self-locking module, a finger sleeve 401, an orthosis 402, a finger guide block 501, a palm fixing block 502, a tension line 601 and an elastic rope 602. Among them, the finger sleeve 401 is sleeved on the end of the user's residual finger, and the orthosis 402 is sleeved on the front of the user's palm; the finger sleeve 401 is made of soft rubber material and can be adjusted in size according to the different shapes of the user's residual limb.

[0045] like Figure 2As shown, the finger module 100 includes a fingertip 101, a finger joint 113, a first large pin hole 102, a return line fixing rod 103, a first return line groove 104, an over-extension limit platform 105, a special-shaped gear limit platform 106, a special-shaped gear skylight 107, a joint guide block 108, a first flat key pin hole 109, a first small pin hole 110, a main line fixing rod 111, and a first main line groove 112. The fingertip 101 is at a natural bending angle to improve the grip performance. One end of the elastic rope 602 is wrapped around the return line fixing rod 103 and extends along the first return line groove 104 to the joint guide block 108. One end of the tension line 601 is wrapped around the main line fixing rod 111 and goes around the joint guide block 108 half a circle along the first main line groove 112 to the top.

[0046] The centers of the first large pin hole 102, the first small pin hole 110 and the first flat key pin hole 109 are on the same line, which forms a negative angle with the straight line where the first return groove 104 is located. In this embodiment, the downward deflection, that is, below the horizontal line, is a negative angle.

[0047] In the present invention, for the convenience of description, the side located at the back of the hand is described as the upper side, and the side located at the palm is described as the lower side.

[0048] like Figure 4 As shown, the finger joint unit 200 includes a second positive line groove 201, a second return line groove 202, a finger sleeve fixing groove 203, a second flat key pin hole 204, and a joint stopper 205. The finger sleeve fixing groove 203 is nested and connected with the finger sleeve 401. The tension line 601 passes through the second positive line groove 201, and the second positive line groove 201 is opened upward to increase the tension of the tension line 601. The elastic rope 602 passes through the second return line groove 202, and the elastic rope 602 can be connected to the finger joint unit 200 by tying a knot.

[0049] like Figure 3 , Figure 5 and Figure 6 As shown, the self-locking module includes a large pin 301, a spring 302, a limiting claw 303, a special-shaped gear 304, a flat key pin 305, a small pin 306, a third flat key pin hole 307, and a second small pin hole 309. The large pin 301 is fixed in the first large pin hole 102, the small pin 306 is fixed in the first small pin hole 110 and the second small pin hole 309, and the flat key pin 305 is fixed in the first flat key pin hole 109, the second flat key pin hole 204, and the third flat key pin hole 307. The special-shaped gear limiting platform 106 limits the lateral movement of the special-shaped gear 304. One end of the spring 302 is fixed inside the finger module 100 by the large pin 301, and the other end is fixed on the spring fixing hole 311. The position of the spring fixing hole 311 is shown in FIG. Figure 6 The limiting claw 303 is fixed inside the finger module 100 through a small pin 306 .

[0050] like Figure 5 As shown, the special-shaped gear 304 also has a special-shaped gear tooth 308, and the inclination angle of the special-shaped gear tooth 308 is 50°. Since the rotation angle of the metacarpophalangeal joint of a human hand is 0° to 90°, considering the existence of the rotation angle, the total arc of the special-shaped gear tooth 308 is set to 70°.

[0051] like Figure 6 As shown, the limiting claw 303 is also provided with a limiting claw head 310 , and the thickness of one side of the limiting claw head 310 is smaller than the thickness of the other side, so as to provide a certain self-locking force during the self-locking process. The limiting claw head 310 is meshed with the special-shaped gear teeth 308 .

[0052] like Figure 7 As shown, the end of the finger sleeve 401 away from the residual finger has a protrusion and a groove to match with the finger sleeve fixing groove 203 of the finger joint unit 200, so that the finger sleeve 401 is nested on the finger joint unit 200. Among them, the protrusion and groove part of the finger sleeve 401 has a notch, so that the length of the nesting part accounts for about five-sixths of the circumference of the finger sleeve 401.

[0053] like Figure 8 As shown, the palm fixing block 502 is a boss-type structure as a whole, and is fixed to the orthosis 402 by screws. A third positive line groove 504 is provided on the side of the palm fixing block 502, and a first nut 505 is provided in the third positive line groove 504. A first pressing line groove 506 is opened downward on the top of the palm fixing block 502, and a first bolt 507 passes through the first pressing line groove 506 and is bolted to the first nut 505. The first bolt 507 presses the first nut 505, so that the tension line 601 is pressed and fixed to the orthosis 402. A reserved groove 503 is also provided on the palm fixing block 502 as a backup for the lead wire.

[0054] The finger guide block 501 is a U-shaped card structure, which is fixed on the finger sleeve 401 by screws. The tension line 601 passes through the U-shaped groove and is guided by the finger guide block 501 .

[0055] like Figures 1 to 4As shown, the tension line 601 connects the finger module 100, the finger joint unit 200, the finger guide block 501, and the palm fixing block 502. The elastic rope 602 connects the finger module 100 and the finger joint unit 200. The specific wiring path is as follows: one end of the tension line 601 is fixed on the main line fixing rod 111, passes through the first main line groove 112, goes around the joint guide block 108 half a circle to the top, and then passes through the second main line groove 201 and the third main line groove 504 in sequence; the tension line 601 is compressed with the first nut 505, and the first nut 505 is fixed with the first bolt 507. One end of the elastic rope 602 is fixed on the return line fixing rod 103, along the first return line groove 104 to the joint guide block 108, and then passes through the second return line groove 202 and is fixed in the notch. The elastic rope 602 in this embodiment has the function of storing energy.

[0056] This embodiment is suitable for patients with finger amputations. The self-locking module, finger module 100, and finger joint unit 200 can select single-joint fingers according to the different amputation positions and shapes of the patients. One or more single-joint fingers can be connected to the palm, and the single-joint artificial fingers are driven by the metacarpophalangeal joints.

[0057] Example 2

[0058] Figures 9 to 12 : is a structural schematic diagram of another specific embodiment of the self-driven modular semi-palm prosthesis of the present invention. In this embodiment, the passive semi-palm prosthesis structure includes a finger module, a finger joint unit, a self-locking module, a tension line, an elastic rope, a quick release module, and a palm module 800. The palm module 800 is mounted on the amputated palm, and multiple finger modules are installed on the palm module 800 to realize the function of the prosthesis. The finger module and the self-locking module of this embodiment are the same as those in Example 1, and the connection method of the tension line and the elastic rope on the finger module is also the same as that in Example 1, which will not be described in detail here.

[0059] Both ends of the finger joint unit of this embodiment are provided with flat key pin holes, which are respectively connected to the finger module and the quick release mechanism. After one end of the elastic rope reaches the finger joint unit along the first return line groove of the finger module, it is connected to the finger joint unit. The palm module 800 includes a finger base 801, a palm sleeve 802, a forearm fixed sleeve 804, and a stroke amplification module 805. The finger base 801 is fixedly connected to the palm sleeve 802, and the palm sleeve 802 is connected to the forearm fixed sleeve 804 through a deformation pin 803. The stroke amplification module 805 is fixed on the forearm fixed sleeve 804, and the quick release module is connected to the finger base 801. The stroke amplification module 805 includes a first bearing 806, a fixed box 807, a stroke amplification capstan 808, and a second bearing 809. The first bearing 806 and the second bearing 809 are sleeved on both ends of the stroke amplification capstan 808, and are placed in the fixed box 807 as a whole. The fixed box 807 is fixed on the forearm fixed sleeve 804. The stroke amplification capstan 808 is divided into a large wheel and a small wheel, and the angular velocities of the two are equal. After the tension line passes around the first positive line groove on the finger module, it goes along the finger joint unit, the quick release module, the finger base 801, the palm cover 802, the forearm fixing cover 804 to the stroke amplification capstan 808, and is fixed to the hole of the stroke amplification capstan 808 after being wound around the stroke amplification capstan 808 for several turns.

[0060] In this embodiment, the palm sleeve 802 and the forearm fixing sleeve 804 can be adjusted in size according to the different shapes of the residual palm of the user.

[0061] The quick release mechanism includes three types, namely a spring lock quick release mechanism 701, a press-type quick release mechanism 702, and a threaded quick release mechanism 703. The three quick release mechanisms can be arbitrarily matched with fingers in different positions.

[0062] like Fig.10 As shown, the spring lock quick release mechanism 701 includes a spring lock base connection block 704, a slider 705, a return spring 706, and three return springs 706 are arranged side by side. The slider 705 slides in the groove, and one side is provided with an inclined surface with a negative angle to the horizontal plane, so that the connection block presses down and pushes the slider 705 forward. The other side of the slider 705 is provided with a convex platform and two concave platforms as a limit platform for the return spring 706.

[0063] like Fig.11 As shown, the threaded quick release mechanism 703 includes a threaded base connection block 709 and a threaded palm connection block 710. The threaded base connection block 709 is threadedly connected to the threaded palm connection block 710.

[0064] like Fig.12As shown, the push-type quick release mechanism 702 includes a push-type base connection block 711, a push-type quick release upper cover 712, an unlocking block 713, a deformation piece 714, and a push-type palm connection block 715. The push-type palm connection block 715 is provided with a support column for the unlocking block 713 and the deformation piece 714. A boss is provided on one side of the unlocking block 713 and matches with a groove of the deformation piece 714, and a pressing block is provided on the other side and is higher than the push-type quick release upper cover 712. A top column is provided at the lower end of the push-type base connection block 711, which passes through the push-type quick release upper cover 712, the unlocking block 713, and the deformation piece 714. The deformation piece 714 is made of a relatively soft material.

[0065] In this embodiment, the multi-joint artificial finger is driven by the wrist. The forearm fixing sleeve 804 directly in contact with the wrist is made of soft materials, such as plastic, so as to realize the driving of the palm module 800 by the wrist.

[0066] The present invention can achieve grasping and stretching actions through its own power source. The specific process is as follows: First, compared with traditional prosthetic fingers, the prosthetic finger of the present invention adopts a single-joint model design in the finger structure. The tension line is used as an active rope with one end fixed at the end of the finger and the other end fixed to the palm fixed block. The rope stroke is enlarged by flexing the metacarpophalangeal joint. The metacarpophalangeal joint flexion can achieve a 10 mm stroke change. The stroke change of the prosthetic finger to the maximum angle line is 8 mm. Therefore, the bending angle can be achieved while continuing to increase the gripping force and improve the gripping effect. When the tension line is released, the elastic rope provides an opposite rebound force to stretch the finger to a horizontal state.

[0067] The present invention can realize the functions of unilateral self-locking and unlocking, and the specific process is as follows: first, the fixing holes of the limit claw, the special-shaped gear and the spring are located on the same line, and the line is at a negative angle to the first return line groove. The flat key pin ensures that the finger joint unit and the special-shaped gear are locked and rotated. When the finger is horizontal, the special-shaped gear teeth and the limit claw do not collide. As the human palm joint (or wrist joint) is flexed, the rope stroke increases, driving the finger module to flex, and the limit claw collides with the special-shaped gear teeth. Then, under the action of the spring force, the limit claw is embedded in the special-shaped gear teeth to achieve self-locking. After a period of travel, the limit claw is separated from the special-shaped gear, and the spring resets the limit claw. During the return stroke, the special-shaped gear teeth lift the limit claw and it is in an unlocked state.

[0068] The finger module of the present invention can be quickly installed and disassembled. The present invention provides three quick-release mechanisms, including a threaded quick-release mechanism, a press-type quick-release mechanism, and a spring lock quick-release mechanism. The two connecting blocks of the threaded quick-release mechanism are connected by threads, which rotate forward during installation and reverse during disassembly; the top column head at the lower end of the joint connecting block of the press-type quick-release mechanism is a small cylindrical surface and a large cylindrical surface in sequence, the diameter of the large cylindrical surface is slightly larger than the gap of the deformation sheet, and the diameter of the small cylindrical surface is slightly smaller than the gap of the deformation sheet. During installation, the top column pushes up the deformation sheet under the action of the inclined surface to expand the gap of the deformation sheet, until the small cylindrical surface contacts the gap plane, the deformation sheet recovers the deformation and makes the gap smaller, so that the large cylindrical surface cannot pass through the gap; during disassembly, the pressing block of the unlocking block is pressed, and the boss of the unlocking block pushes up the deformation sheet to expand the gap to be larger than the diameter of the large cylindrical surface, thereby realizing disassembly; the lower end of the joint connecting block of the spring lock quick-release mechanism has two protruding plugs. During installation, the plug is pressed down and contacts the inclined surface of the slider, and reasonably squeezes the slider horizontally to make the spring group contract and store energy. After being fully inserted, the spring group provides a certain thrust to the slider so that the plug and the slider are fixed by friction. During disassembly, the plug is pulled out upward to overcome a certain friction, and the slider returns to its initial position under the action of the spring group.

[0069] In other embodiments of the present invention, the finger module 100, the finger joint unit 200 self-locking module and the finger sleeve 401 of Example 1 can also be combined with the embodiment, and the finger base 801 of Example 2 can be used to replace the orthosis 402 of Example 1 to realize a combined self-driven modular half-palm prosthesis.

[0070] The self-driven modularized half-palm prosthetic hand provided by the present invention has prosthetic fingers controlled by its own force source, a small overall volume, and is more portable. Meanwhile, the prosthetic hand body is processed by 3D printing technology, which is low in cost and convenient for personalized customization.

[0071] The preferred specific embodiments of the present invention are described in detail above. It should be understood that ordinary technicians in the field can make many modifications and changes based on the concept of the present invention without creative work. Therefore, all technical solutions that can be obtained by technicians in the technical field based on the concept of the present invention through logical analysis, reasoning or limited experiments on the basis of the prior art should be within the scope of protection determined by the claims.

Claims

1. A self-driven modular half-palm prosthetic hand, characterized in that: It includes a finger module, a self-locking module, a finger joint unit, a finger sleeve, an orthosis, a guide unit, and a transmission rope, wherein the orthosis is sleeved on the palm, one end of the finger sleeve is sleeved on the residual finger, the self-locking module is placed inside the finger module, the self-locking module is connected to the finger module, the finger joint unit is connected to the finger module, the other end of the finger sleeve is nested on the finger joint unit, the guide unit includes a finger guide block and a palm fixing block respectively fixed on the finger sleeve and the orthosis, the transmission rope includes an elastic rope and a tension line respectively wound on the upper and lower sides of the finger module, the two ends of the elastic rope are respectively connected to the finger module and the finger joint unit, one end of the tension line is connected to the finger module, and the other end of the tension line passes through the finger guide block and is connected to the palm fixing block; The finger module comprises a fingertip, a knuckle and an over-extension limit platform connected in sequence, a return line fixing rod and a main line fixing rod are respectively provided on the upper and lower sides of the fingertip, a first return line groove is provided on the upper side of the knuckle, a first large pin hole and a first small pin hole are provided on the side of the knuckle, a special-shaped gear limit platform and a special-shaped gear skylight are provided on the inner side of the over-extension limit platform, a joint guide block is provided at the end of the over-extension limit platform, a first flat key pin hole is provided on the side of the over-extension limit platform, and a first main line groove is provided on the joint guide block; the centers of the first large pin hole, the first small pin hole and the first flat key pin hole are on the same straight line; one end of the tension line is connected to the main line fixing rod, and the tension line passes through the first main line groove along the lower side of the finger module; one end of the elastic rope is connected to the return line fixing rod, and the elastic rope passes through the first return line groove along the upper side of the finger module; The finger joint unit comprises a joint limit platform, a second positive line groove, a second return line groove, a finger sleeve fixing groove, and a second flat key pin hole. The finger sleeve is nested in the finger sleeve fixing groove, the other end of the elastic rope is fixed on the second return line groove, and the tension line passes through the second positive line groove; the over-extension limit platform is nested in the joint limit platform; The self-locking module includes a limiting claw, a special-shaped gear, a spring, a large pin, a small pin, and a flat key pin. The limiting claw is provided with a second small pin hole, and the small pin passes through the first small pin hole and the second small pin hole; the special-shaped gear is provided with a third flat key pin hole, and the limiting claw is provided with a spring fixing hole; the special-shaped gear and the limiting claw are meshed; the flat key pin passes through the first flat key pin hole, the second flat key pin hole, and the third flat key pin hole, and the large pin passes through the first large pin hole, and the two ends of the spring are respectively connected to the spring fixing hole and the large pin.

2. The self-driven modular semi-palm prosthetic hand according to claim 1, characterized in that: The angle of the gear teeth of the special-shaped gear is 70°, and the gear teeth of the special-shaped gear are inclined on one side.

3. The self-driven modular semi-palm prosthetic hand according to claim 1, characterized in that: A third positive line groove is provided on the side of the palm fixing block along the direction of the tension line, a first nut is provided in the third positive line groove, a first bolt is passed through the top of the palm fixing block, the first bolt is meshed with the first nut, and the first nut presses the tension line.

4. A self-driven modular half-palm prosthetic hand, characterized in that: It includes a finger module, a self-locking module, a finger joint unit, a quick-release module, a palm module, and a transmission rope, wherein the palm module is sleeved on the palm, the self-locking module is placed inside the finger module, the self-locking module is connected to the finger module, one end of the finger joint unit is connected to the finger module, the other end of the finger joint unit is connected to the quick-release module, the quick-release module is connected to the palm module, the transmission rope includes an elastic rope and a tension line respectively wound around the upper and lower sides of the finger module, the two ends of the elastic rope are respectively connected to the finger module and the finger joint unit, the tension line also passes through the palm module and is connected to one end of the palm module away from the quick-release module; The finger module comprises a fingertip, a knuckle and an over-extension limit platform connected in sequence, a return line fixing rod and a main line fixing rod are respectively provided on the upper and lower sides of the fingertip, a first return line groove is provided on the upper side of the knuckle, a first large pin hole and a first small pin hole are provided on the side of the knuckle, a special-shaped gear limit platform and a special-shaped gear skylight are provided on the inner side of the over-extension limit platform, a joint guide block is provided at the end of the over-extension limit platform, a first flat key pin hole is provided on the side of the over-extension limit platform, and a first main line groove is provided on the joint guide block; the centers of the first large pin hole, the first small pin hole and the first flat key pin hole are on the same straight line; one end of the tension line is connected to the main line fixing rod, and the tension line passes through the first main line groove along the lower side of the finger module; one end of the elastic rope is connected to the return line fixing rod, and the elastic rope passes through the first return line groove along the upper side of the finger module; The finger joint unit comprises a joint limit platform, a second positive line groove, a second return line groove, a finger sleeve fixing groove, and a second flat key pin hole. The finger sleeve is nested in the finger sleeve fixing groove, the other end of the elastic rope is fixed on the second return line groove, and the tension line passes through the second positive line groove; the over-extension limit platform is nested in the joint limit platform; The self-locking module includes a limiting claw, a special-shaped gear, a spring, a large pin, a small pin, and a flat key pin. The limiting claw is provided with a second small pin hole, and the small pin passes through the first small pin hole and the second small pin hole; the special-shaped gear is provided with a third flat key pin hole, and the limiting claw is provided with a spring fixing hole; the special-shaped gear and the limiting claw are meshed; the flat key pin passes through the first flat key pin hole, the third flat key pin hole and the second flat key pin hole at one end of the finger joint unit, the large pin passes through the first large pin hole, and the two ends of the spring are respectively connected to the spring fixing hole and the large pin.

5. The self-propelled modular semi-palm prosthetic hand according to claim 4, characterized in that: The quick-release module is connected to the other end of the finger joint unit through a pin shaft; the quick-release mechanism of the quick-release module includes a threaded quick-release mechanism, a spring lock quick-release mechanism, and a press-type quick-release mechanism, and the threaded quick-release mechanism includes a threaded base connecting block and a threaded palm connecting block; the spring lock quick-release mechanism includes a spring lock base connecting block, a slider, and a return spring, one side of the slider is provided with an inclined surface with a negative angle to the horizontal plane, and the other side of the slider is provided with a boss and two concave tables as limit tables; the press-type quick-release mechanism includes a press-type base connecting block, a press-type quick-release upper cover, an unlocking block, a deformation piece, and a press-type palm connecting block, and the press-type palm connecting block is provided with a supporting column, one side of the unlocking block is provided with a boss and cooperates with the groove of the deformation piece, the other side of the unlocking block is provided with a pressing block and is higher than the press-type quick-release upper cover, and the lower end of the press-type base connecting block is provided with a top column.

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