Damping device for prosthetic hand

Abstract

The invention discloses a damping device for a prosthetic hand. According to the damping device, a top cover is fixedly mounted at the opening end of a base, so that an inner cylinder is limited in the base; the elastic mechanism is mounted between the cylinder bottom of the inner cylinder and the cylinder bottom of the base; the bottom end surface of the connecting seat is contacted with the inner bottom surface of the inner cylinder, and the top end penetrates through a center hole of the top cover; the four damping rods are evenly distributed in the circumferential direction of the connecting base and extend in the radial direction of the connecting base. The inner end of the damping rod is in sliding fit with the connecting base, the middle of the damping rod penetrates through the cylinder wall of the inner cylinder, and the outer end of the damping rod can be movably installed on the base in the axial direction of the base. Each damping rod is sleeved with a reset spring. The two ends of the reset spring abut against the inner cylinder and the connecting base. The vibration damping device is simple in structure and easy to mount and maintain, and can effectively reduce the influence and injury of hand-transmitted vibration to a prosthetic hand user, thereby improving the accuracy of gesture recognition based on electromyographic signals in a vibration environment.

Description

Technical Field

[0001] The invention belongs to the technical field of robot engineering, and in particular relates to a vibration reduction device for a prosthetic hand. Background Art

[0002] With the advancement of science and technology, prosthetic hands have been able to simulate most human hand gestures through more complex mechanical structures, drive methods and control algorithms, which provides the possibility of reconstructing the hand functions of amputees. In actual application scenarios, amputees can control their prosthetic hands through their own electromyographic signals, thereby completing basic movements such as grasping, extracting and pressing required in daily life, thereby greatly improving their quality of life.

[0003] However, there are often many environmental variables that affect the control effect and user experience during the use of prosthetic hands, such as vibration, strong electromagnetic interference, etc. Among them, the vibration environment is more common in daily life. When the prosthetic hand contacts a vibrating object, the vibration of the object will be transmitted to the end of the human residual limb through the prosthetic hand and arm receiving cavity, causing the human body's electromyographic signals to change to varying degrees, thereby affecting the accuracy of intention recognition. At the same time, strong vibrations may also cause a greater impact on the user's limbs, affecting the safety of use.

[0004] Therefore, how to reduce the impact of the vibration environment on prosthetic hand users has become a technical problem that needs to be solved urgently. Summary of the invention

[0005] In view of the above problems, the present invention provides a vibration reduction device for a prosthetic hand. The vibration reduction device has a simple structure, is easy to install and maintain, and can effectively reduce the impact and damage caused by hand-transmitted vibrations from all directions on the prosthetic hand user, thereby improving the accuracy of gesture recognition based on electromyographic signals in a vibration environment.

[0006] In order to achieve the above object, the present invention adopts the following specific technical solutions:

[0007] A vibration reduction device for a prosthetic hand, the vibration reduction device comprising a base, a top cover, an inner cylinder, a connecting seat, an elastic mechanism, four damping rods and four return springs;

[0008] The base and the inner tube are both cylindrical structures with one end open, and have a bottom and a wall; the opening of the inner tube and the opening of the base face the same side;

[0009] The top cover is provided with a central hole and is fixedly mounted on the open end of the base, so as to limit the inner cylinder in the base;

[0010] The elastic mechanism is installed between the bottom of the inner cylinder and the bottom of the base, and is used to reduce the axial vibration transmitted from the connecting seat and the inner cylinder to the base;

[0011] The bottom end surface of the connecting seat contacts the inner bottom surface of the inner tube, and the top end passes through the central hole of the top cover, and is used to connect to the wrist of the prosthetic hand;

[0012] The four damping rods are evenly distributed along the circumference of the connecting seat and extend along the radial direction of the connecting seat; the inner end of the damping rod is slidably matched with the connecting seat, the middle part passes through the cylinder wall of the inner cylinder, and the outer end is installed on the base so as to be movable along the axial direction of the base;

[0013] A return spring is sleeved on each damping rod; two ends of the return spring abut against the inner tube and the connecting seat, so as to make the connecting seat always have a tendency to be located at the center of the base.

[0014] Furthermore, the inner cylinder is provided with square grooves corresponding one-to-one to the return springs and a regular polygonal hole for passing the damping rod; the center of the regular polygonal hole coincides with the center of the square groove; one end of the return spring is fixedly installed in the square groove; the damping rod passes through the square groove and the regular polygonal hole in turn, and a nut is fixedly connected with a threaded nut in the middle; the inner end of the nut is embedded in the regular polygonal hole in a shape-matching manner.

[0015] Furthermore, the outer peripheral surface of the base is evenly distributed with lower clamping seats corresponding to each damping rod; a mounting groove is formed in each lower clamping seat; the outer end of the damping rod is inserted into the corresponding mounting groove and can slide back and forth along the axial direction of the base;

[0016] The inner circumferential surface of the base is provided with guide grooves evenly distributed along the circumferential direction;

[0017] The outer circumferential surface of the inner cylinder is provided with positioning blocks corresponding to the guide grooves one by one; the positioning blocks are loosely matched with the corresponding guide grooves and can slide up and down along the guide grooves to prevent the inner cylinder from rotating relative to the base.

[0018] Furthermore, the base is also provided with a positioning groove corresponding to the position of the nut; the outer end of the nut is embedded in the positioning groove, so that the nut can slide back and forth along the axial direction of the base with the damping rod.

[0019] Furthermore, the connecting seat is provided with guide grooves corresponding one to one with the damping rods;

[0020] The inner end portion of the damping rod is installed in the guide groove.

[0021] Furthermore, the top cover is provided with an upper card seat corresponding to the lower card seat one by one; the upper card seat is provided with two opposite card windows and a docking groove arranged opposite to the lower card seat;

[0022] The lower clamping seat is provided with clamping protrusions corresponding one to one with the clamping windows;

[0023] The upper clamping seat is buckled on the lower clamping seat through the docking groove, and is fixedly connected with the lower clamping seat by clamping the clamping protrusion in the corresponding clamping window.

[0024] Furthermore, the elastic mechanism includes a plurality of compression springs evenly distributed along the circumference of the base;

[0025] The two ends of the compression spring are respectively in contact with the bottom surface of the inner tube and the top surface of the base.

[0026] Furthermore, a circular limiting groove matching the shape of the end of the compression spring is provided on the bottom surface of the inner cylinder and the top surface of the bottom of the base; the end of the compression spring is installed in the circular limiting groove.

[0027] Furthermore, the elastic mechanism includes 4 compression springs.

[0028] Furthermore, along the axial direction of the base, the compression springs correspond to the damping rods one by one.

[0029] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0030] The vibration reduction device of the present invention is used for a prosthetic hand. The vibration reduction device reduces the axial vibration transmitted from the connecting seat and the inner cylinder to the base through the elastic mechanism between the base and the inner cylinder, and reduces the radial vibration transmitted from the connecting seat to the base through the damping rod installed between the base, the inner cylinder and the connecting seat and the reset spring installed between the inner cylinder and the connecting seat. The vibration reduction device has a simple structure and is easy to install and maintain. It can perform targeted vibration reduction on the main vibration direction through the elastic mechanism, the reset spring and the damping rod, thereby reducing the impact and damage caused by the hand-transmitted vibration on the user of the prosthetic hand, thereby improving the accuracy of gesture recognition based on electromyographic signals in a vibration environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic diagram of the three-dimensional structure of a vibration reduction device for a prosthetic hand provided by the present invention;

[0032] Figure 2 A cross-sectional view of the vibration reduction device provided by the present invention;

[0033] Figure 3A schematic diagram of the three-dimensional structure of the vibration reduction device provided by the present invention after removing the top cover and the connecting seat.

[0034] Among them, 1-base, 2-top cover, 3-inner cylinder, 4-connecting seat, 5-compression spring, 6-damping rod, 7-reset spring, 11-lower clamping seat, 12-installing groove, 13-positioning groove, 14-clamping protrusion, 21-upper clamping seat, 22-clamping window, 31-positioning block, 32-wiring hole, 41-guide groove, 61-nut. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] like Figure 1 , Figure 2 and Figure 3 As shown in the structure, an embodiment of the present invention provides a vibration reduction device for a prosthetic hand, which includes a base 1, a top cover 2, an inner cylinder 3, a connecting seat 4, an elastic mechanism, four damping rods 6 and four reset springs 7, wherein: the base 1 is used to be fixedly connected to the arm receiving cavity, and the connecting seat 4 is used to connect to the wrist of the prosthetic hand, so as to achieve vibration reduction between the arm of the prosthetic hand user and the wrist of the prosthetic hand.

[0037] like Figure 2 As shown, the base 1 and the inner tube 3 are both cylindrical structures with one end open, and have a tube bottom and a tube wall; the inner tube 3 is installed in the base 1 through the opening of the base 1; the opening of the inner tube 3 and the opening of the base 1 face the same side, Figure 2 The openings of the inner tube 3 and the base 1 are both located at the top. Figure 3 As shown, a wiring hole 32 is provided at the bottom of the inner cylinder 3 , and correspondingly, a wiring hole is also provided at the bottom of the base 1 .

[0038] The top cover 2 is provided with a center hole and is fixedly mounted on the open end of the base 1 to limit the inner tube 3 in the base 1; the top cover 2 and the base 1 are connected by snapping, and the top cover 2 is an annular structure.

[0039] like Figure 2As shown, the elastic mechanism is installed between the bottom of the inner tube 3 and the bottom of the base 1, and is used to reduce the axial vibration transmitted from the connecting seat 4 and the inner tube 3 to the base 1, thereby achieving axial vibration reduction; the elastic mechanism includes a plurality of compression springs 5 ​​evenly distributed along the circumference of the base 1. In this embodiment, four compression springs 5 ​​are provided as an example for explanation, and along the axial direction of the base 1, the compression springs 5 ​​correspond to the damping rods 6 one by one, and the compression springs 5 ​​are located at the bottom of the damping rods 6; the two ends of the compression springs 5 ​​are respectively in contact with the bottom surface of the inner tube 3 and the top surface of the bottom of the base 1. In order to facilitate the limiting of the compression springs 5 ​​and ensure the vibration reduction effect, as shown in FIG. Figure 2 As shown, a circular limiting groove with an opening downward is provided on the bottom surface of the inner cylinder 3, and a circular limiting groove with an opening upward is provided on the top surface of the bottom of the base 1; the upper and lower circular limiting grooves are arranged opposite to each other, and both match the shape of the end of the compression spring 5, so as to limit the radial direction of the compression spring 5; the top end of the compression spring 5 is installed in the circular limiting groove of the inner cylinder 3, and the bottom end is installed in the circular limiting groove of the base 1. The compression spring 5 is a cylindrical helical spring, and the axis of the compression spring 5 is perpendicular to the inner bottom surface of the base 1;

[0040] like Figure 2 As shown, the bottom end surface of the connecting seat 4 contacts the inner bottom surface of the inner tube 3; the top end of the connecting seat 4 passes through the central hole of the top cover 2 and extends to the outside of the top cover 2 for connecting to the wrist of the prosthetic hand; in order to facilitate the connection, four mounting holes are evenly distributed along the circumferential direction at the top end of the connecting seat 4.

[0041] like Figure 2 and Figure 3 As shown, four damping rods 6 are evenly distributed along the circumference of the connecting seat 4 and extend along the radial direction of the connecting seat 4. Two damping rods 6 form a group, and the two groups of damping rods 6 are vertically arranged, one group of damping rods 6 is used to reduce the horizontal lateral vibration, and the other group of damping rods 6 is used to reduce the horizontal longitudinal vibration, so that the vibration in each direction in the horizontal plane is reduced by the four damping rods 6; Figure 2 As shown, the inner end of the damping rod 6 is slidably matched with the connecting seat 4, the middle part passes through the wall of the inner tube 3, and the outer end can be installed on the base 1 along the axial direction of the base 1; the connecting seat 4 is provided with a guide groove 41 corresponding to the damping rod 6, and four guide grooves 41 are provided around the connecting seat 4; the inner end of the damping rod 6 is installed in the guide groove 41, and the inner end of the damping rod 6 is a guide column; the inner end of the damping rod 6 can be telescopic relative to the middle part.

[0042] A return spring 7 is sleeved on each damping rod 6; the two ends of the return spring 7 abut against the inner tube 3 and the connecting seat 4, so as to ensure that the connecting seat 4 always has a tendency to be located at the center of the base 1; the four return springs 7 can further achieve vibration reduction of vibrations in all directions in the horizontal plane.

[0043] In the above-mentioned vibration reduction device, if Figure 3 As shown, the inner cylinder 3 is provided with a square groove corresponding to the return spring 7 and a regular polygonal hole for passing the damping rod 6; the center of the regular polygonal hole coincides with the center of the square groove, and the square groove is connected to the regular polygonal hole; one end of the return spring 7 is fixedly installed in the square groove, and the radial direction of the return spring 7 is limited by the square groove; the damping rod 6 passes through the square groove and the regular polygonal hole in turn, and the middle part of the damping rod 6 is fixedly connected with a nut 61 by a thread; the inner end portion of the nut 61 is shape-matched and embedded in the regular polygonal hole, and the shape matching of the nut 61 and the regular polygonal hole makes the damping rod 6 only move along its axial direction and cannot rotate, thereby realizing vibration reduction between the connecting seat 4 and the base 1 through the damping rod 6.

[0044] like Figure 1 , Figure 2 and Figure 3 As shown, the outer peripheral surface of the base 1 is evenly distributed with lower clamping seats 11 corresponding to each damping rod 6. One function of the lower clamping seats 11 is to realize the installation and positioning of the outer end of the damping rod 6, and the other function is to realize the connection and positioning of the base 1 and the top cover 2; in order to realize the installation of the outer end of the damping rod 6, a mounting groove 12 is formed in each lower clamping seat 11; the outer end of the damping rod 6 is inserted into the corresponding mounting groove 12, and can reciprocate along the axial direction of the base 1, so as not to affect the elastic mechanism Figure 2 The inner circumference of the base 1 is provided with guide grooves evenly distributed along the circumference; the outer circumference of the inner cylinder 3 is provided with positioning blocks 31 corresponding to the guide grooves one by one, and the positioning blocks 31 can be rectangular blocks with the same width as the corresponding guide grooves; the positioning blocks 31 are in clearance with the corresponding guide grooves and can slide up and down along the guide grooves, which are used to prevent the inner cylinder 3 from rotating relative to the base 1, so that the inner cylinder 3 and the base 1 are relatively fixed in the circumferential direction.

[0045] like Figure 3 As shown, the base 1 is also provided with a positioning groove 13 corresponding to the position of the nut 61; the outer end of the nut 61 is embedded in the positioning groove 13, so that the nut 61 can slide back and forth along the axial direction of the base 1 with the damping rod 6, and at the same time, the positioning groove 13 limits the nut 61 in the radial direction to achieve relative fixation of the outer end of the damping rod 6 in the radial direction of the base 1.

[0046] like Figure 1 and Figure 2As shown, the top cover 2 is provided with an upper snap-in seat 21 corresponding to the lower snap-in seat 11 one by one. When the base 1 is provided with four lower snap-in seats 11, the top cover 2 is also provided with four corresponding upper snap-in seats 21; each upper snap-in seat 21 is provided with two opposite snap-in windows 22 and a docking groove arranged opposite to the lower snap-in seat 11; two snap-in protrusions 14 corresponding to the snap-in windows 22 are arranged on both sides of the lower snap-in seat 11; the width of the docking groove is the same as that of the lower snap-in seat 11, and the top of the lower snap-in seat 11 extends into the docking groove so that the upper snap-in seat 21 is buckled on the lower snap-in seat 11 through the docking groove, thereby realizing the positioning and limiting of the upper snap-in seat 21 and the lower snap-in seat 11, and the snap-in protrusion 14 of the lower snap-in seat 11 extends into the snap-in window 22 of the upper snap-in seat 21 to realize the fixed connection between the upper snap-in seat 21 and the lower snap-in seat 11, thereby realizing the connection between the top cover 2 and the base 1.

[0047] The above-mentioned vibration reduction device is used for a prosthetic hand. The vibration reduction device reduces the axial vibration transmitted from the connecting seat 4 and the inner cylinder 3 to the base 1 through the elastic mechanism between the base 1 and the inner cylinder 3, and reduces the radial vibration transmitted from the connecting seat 4 to the base 1 through the damping rod 6 installed between the base 1, the inner cylinder 3 and the connecting seat 4 and the return spring 7 installed between the inner cylinder 3 and the connecting seat 4. The vibration reduction device has a simple structure and is easy to install and maintain. It can perform targeted vibration reduction on the main vibration direction through the elastic mechanism, the return spring 7 and the damping rod 6, thereby reducing the impact and harm caused by the hand-transmitted vibration on the user of the prosthetic hand, thereby improving the accuracy of gesture recognition based on electromyographic signals in a vibration environment.

[0048] Obviously, those skilled in the art can make various changes and modifications to the embodiments of the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A vibration reduction device for a prosthetic hand, characterized in that: It includes a base, an inner tube, a top cover, an elastic mechanism, four damping rods, four return springs and a connecting seat; The base and the inner tube are both cylindrical structures with one end open, and have a bottom and a wall; the opening of the inner tube and the opening of the base face the same side; The top cover is provided with a central hole and is fixedly mounted on the open end of the base, so as to limit the inner cylinder in the base; The elastic mechanism is installed between the bottom of the inner cylinder and the bottom of the base, and is used to reduce the axial vibration transmitted from the connecting seat and the inner cylinder to the base; The bottom end surface of the connecting seat contacts the inner bottom surface of the inner tube, and the top end passes through the central hole of the top cover, and is used to connect to the wrist of the prosthetic hand; The four damping rods are evenly distributed along the circumference of the connecting seat and extend along the radial direction of the connecting seat; the inner end of the damping rod is slidably matched with the connecting seat, the middle part passes through the cylinder wall of the inner cylinder, and the outer end is installed on the base so as to be movable along the axial direction of the base; A return spring is sleeved on each damping rod; two ends of the return spring abut against the inner tube and the connecting seat, so as to make the connecting seat always have a tendency to be located at the center of the base.

2. The vibration reduction device according to claim 1, characterized in that: The inner cylinder is provided with square grooves corresponding to the return springs one by one and a regular polygonal hole for passing the damping rod; the center of the regular polygonal hole coincides with the center of the square groove; one end of the return spring is fixedly installed in the square groove; the damping rod passes through the square groove and the regular polygonal hole in sequence, and a nut is fixedly connected to the middle part of the damping rod through a thread; the inner end of the nut is embedded in the regular polygonal hole in a shape-matching manner.

3. The vibration reduction device according to claim 2, characterized in that: The outer circumferential surface of the base is evenly distributed with lower clamping seats corresponding to each damping rod; a mounting groove is formed in each lower clamping seat; the outer end of the damping rod is inserted into the corresponding mounting groove and can reciprocate along the axial direction of the base; The inner circumferential surface of the base is provided with guide grooves evenly distributed along the circumferential direction; The outer circumferential surface of the inner cylinder is provided with positioning blocks corresponding to the guide grooves one by one; the positioning blocks are loosely matched with the corresponding guide grooves and can slide up and down along the guide grooves to prevent the inner cylinder from rotating relative to the base.

4. The vibration reduction device according to claim 3, characterized in that: The base is also provided with a positioning groove corresponding to the position of the nut; the outer end of the nut is embedded in the positioning groove, so that the nut can slide back and forth along the axial direction of the base along with the damping rod.

5. The vibration reduction device according to claim 4, characterized in that: The connecting seat is provided with guide grooves corresponding one to one with the damping rods; The inner end portion of the damping rod is installed in the guide groove.

6. The vibration reduction device according to any one of claims 1 to 5, characterized in that: The top cover is provided with an upper clamping seat corresponding to the lower clamping seat one by one; the upper clamping seat is provided with two opposite clamping windows and a docking groove arranged opposite to the lower clamping seat; The lower clamping seat is provided with clamping protrusions corresponding one to one with the clamping windows; The upper clamping seat is buckled on the lower clamping seat through the docking groove, and is fixedly connected with the lower clamping seat by clamping the clamping protrusion in the corresponding clamping window.

7. The vibration reduction device according to any one of claims 1 to 5, characterized in that: The elastic mechanism comprises a plurality of compression springs uniformly distributed along the circumference of the base; The two ends of the compression spring are respectively in contact with the bottom surface of the inner tube and the top surface of the base.

8. The vibration reduction device according to claim 7, characterized in that: A circular limiting groove matching the shape of the end of the compression spring is arranged on the bottom surface of the inner cylinder and the top surface of the bottom of the base; the end of the compression spring is installed in the circular limiting groove.

9. The vibration reduction device according to claim 7, characterized in that: The elastic mechanism comprises four compression springs.

10. The vibration reduction device according to claim 9, characterized in that: Along the axial direction of the base, the compression springs correspond to the damping rods one by one.

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