Damping device for prosthetic hand

Abstract

The application discloses a damping device for a prosthetic hand, which comprises a base, a top cover, an inner cylinder, an elastic mechanism, a connecting seat and four damping rods. The top cover is fixedly installed at the open end of the base, so that the inner cylinder is limited in the base. The elastic mechanism is installed between the bottom of the inner cylinder and the bottom of the base. The bottom end surface of the connecting seat is in contact with the inner bottom surface of the inner cylinder, and the top end penetrates through the center hole of the top cover. The four damping rods are uniformly 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 in sliding fit with the connecting seat, the middle part penetrates through the cylinder wall of the inner cylinder, and the outer end is movably installed in the base along the axial direction of the base. A reset spring is sleeved on each damping rod, and the two ends of the reset spring are in abutment with the inner cylinder and the connecting seat. The damping device has the advantages of simple structure, easy installation and maintenance, and can effectively reduce the influence and harm of hand vibration on the user of the prosthetic hand, and further improve the accuracy of gesture recognition based on the electromyographic signal in the vibration environment.

Description

Technical Field

[0001] This invention belongs to the field of robotics engineering technology, and specifically relates to a vibration damping device for a prosthetic hand. Background Technology

[0002] With advancements in science and technology, prosthetic hands, through more complex mechanical structures, drive mechanisms, and control algorithms, have achieved the simulation of most human hand gestures, making it possible to reconstruct hand function in amputees. In practical applications, amputees can control their prosthetic hands using their own electromyographic signals, enabling them to perform basic actions such as grasping, retrieving, and pressing in daily life, thereby significantly improving their quality of life.

[0003] However, the use of prosthetic hands often involves many environmental variables that can affect control effectiveness and user experience, such as vibration and strong electromagnetic interference. Vibration is particularly common in daily life. When a prosthetic hand comes into contact with a vibrating object, the object's vibration is transmitted through the prosthetic hand and arm receiver to the stump, causing varying degrees of change in the body's electromyographic signals. This can affect the accuracy of intention recognition. At the same time, strong vibrations can also cause significant impact on the user's limbs, affecting safety.

[0004] Therefore, how to reduce the impact of vibration environment on prosthetic hand users has become an urgent technical problem to be solved. Summary of the Invention

[0005] To address the aforementioned problems, this invention provides a vibration damping device for prosthetic hands. This device has a simple structure, is easy to install and maintain, and effectively reduces the impact and harm caused to prosthetic hand users by hand-transmitted vibrations from all directions, thereby improving the accuracy of gesture recognition based on electromyographic signals in vibration environments.

[0006] To achieve the above objectives, the present invention adopts the following specific technical solution:

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

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

[0009] The top cover has a central hole and is fixedly installed at the open end of the base to confine the inner cylinder within the base;

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

[0011] The bottom surface of the connecting seat contacts the inner bottom surface of the inner cylinder, and the top end passes through the central hole of the top cover for connecting the wrist of the prosthetic hand;

[0012] The four damping rods are evenly distributed around the circumference of the connecting seat and extend radially along the connecting seat; the inner end of the damping rod is slidably engaged with the connecting seat, the middle part passes through the cylinder wall of the inner cylinder, and the outer end is movably mounted on the base along the axial direction of the base.

[0013] A return spring is fitted on each of the damping rods; the two ends of the return spring abut against the inner cylinder and the connecting seat, so that the connecting seat always tends to be located at the center of the base.

[0014] Furthermore, the inner cylinder is provided with square grooves corresponding to the return springs and regular polygonal holes for the damping rods to pass through; the center of the regular polygonal holes coincides with the center of the square grooves; 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 threadedly fixed to its middle part; the inner end of the nut is fitted into the regular polygonal hole in a matching shape.

[0015] Furthermore, the outer circumferential surface of the base is evenly distributed with lower retaining seats corresponding to each damping rod; a mounting groove is formed in each lower retaining 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 that are evenly distributed along the circumferential direction.

[0017] The outer circumferential surface of the inner cylinder is provided with positioning blocks that correspond one-to-one with the guide grooves; the positioning blocks are in clearance fit 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 that correspond one-to-one with the damping rods;

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

[0021] Furthermore, the top cover is provided with an upper card holder that corresponds one-to-one with the lower card holder; the upper card holder is provided with two opposing card windows and a mating groove that is opposite to the lower card holder;

[0022] The lower card holder is provided with card protrusions that correspond one-to-one with the card window;

[0023] The upper snap-fit ​​seat is fastened to the lower snap-fit ​​seat via the mating groove, and is fixedly connected to the lower snap-fit ​​seat by snapping into the corresponding snap-fit ​​window via the snap-fit ​​protrusion.

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

[0025] The two ends of the compression spring abut against the bottom surface of the inner cylinder and the top surface of the bottom of the base, respectively.

[0026] Furthermore, both the bottom surface of the inner cylinder and the top surface of the base are provided with circular limiting grooves that match the shape of the end of the compression spring; the end of the compression spring is installed in the circular limiting groove.

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

[0028] Furthermore, along the axial direction of the base, the compression spring corresponds one-to-one with the damping rod.

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

[0030] The vibration damping device described in this invention is used for prosthetic hands. This device reduces axial vibration transmitted from the connecting seat and inner cylinder to the base through an elastic mechanism between the base and the inner cylinder. It also reduces radial vibration transmitted from the connecting seat to the base through a damping rod installed between the base, inner cylinder, and connecting seat, and a return spring installed between the inner cylinder and connecting seat. This vibration damping device has a simple structure, is easy to install and maintain, and can target vibration reduction in the main vibration directions through the elastic mechanism, return spring, and damping rod, thereby reducing the impact and harm caused by hand-transmitted vibrations to prosthetic hand users, and ultimately improving the accuracy of gesture recognition based on electromyographic signals in vibration environments. Attached Figure Description

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

[0032] Figure 2 This is a cross-sectional view of the vibration damping device provided by the present invention;

[0033] Figure 3This is a three-dimensional structural diagram of the vibration damping device provided by the present invention after removing the top cover and 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 snap-fit ​​seat, 12-mounting groove, 13-positioning groove, 14-snap-fitting protrusion, 21-upper snap-fit ​​seat, 22-snap-fitting window, 31-positioning block, 32-wiring hole, 41-guide groove, 61-nut. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] like Figure 1 , Figure 2 and Figure 3 As shown in the diagram, this embodiment of the invention provides a vibration damping device for a prosthetic hand. The vibration damping device 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 return springs 7. 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 prosthetic wrist, thereby realizing vibration damping between the prosthetic hand user's arm and the prosthetic wrist.

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

[0038] The top cover 2 has a central hole and is fixedly installed at the open end of the base 1 to confine the inner cylinder 3 within the base 1; the top cover 2 and the base 1 are connected by a snap-fit, and the top cover 2 has a ring structure.

[0039] like Figure 2As shown, the elastic mechanism is installed between the bottom of the inner cylinder 3 and the bottom of the base 1 to reduce the axial vibration transmitted from the connecting seat 4 and the inner cylinder 3 to the base 1, thereby achieving axial vibration reduction. The elastic mechanism includes multiple compression springs 5 ​​evenly distributed along the circumference of the base 1. In this embodiment, four compression springs 5 ​​are used as an example. Along the axial direction of the base 1, the compression springs 5 ​​correspond one-to-one with the damping rods 6, and the compression springs 5 ​​are located at the bottom ends of the damping rods 6. The two ends of the compression springs 5 ​​respectively abut against the bottom surface of the inner cylinder 3 and the top surface of the bottom of the base 1. To facilitate the limiting of the compression springs 5 ​​and ensure the vibration reduction effect, such as... Figure 2 As shown, a downward-opening circular limiting groove is provided on the bottom surface of the inner cylinder 3, and an upward-opening circular limiting groove is provided on the top surface of the bottom of the base 1. The two circular limiting grooves are arranged opposite each other and both fit with the end shape of the compression spring 5, thereby limiting 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 surface of the connecting seat 4 contacts the inner bottom surface of the inner cylinder 3; the top 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 the wrist of the prosthetic hand; in order to facilitate connection, four mounting holes are evenly distributed circumferentially on the top of the connecting seat 4.

[0041] like Figure 2 and Figure 3 As shown, four damping rods 6 are evenly distributed circumferentially along the connecting seat 4 and extend radially along 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 lateral vibration in the horizontal direction, and the other group of damping rods 6 is used to reduce longitudinal vibration in the horizontal direction. Thus, the four damping rods 6 achieve vibration reduction in all directions within the horizontal plane. Figure 2 As shown, the inner end of the damping rod 6 is slidably engaged with the connecting seat 4, the middle part passes through the cylinder wall of the inner cylinder 3, and the outer end is movably mounted on the base 1 along the axial direction of the base 1; the connecting seat 4 is provided with guide grooves 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 post; the inner end of the damping rod 6 can extend and retract relative to the middle part.

[0042] A return spring 7 is fitted on each damping rod 6; the two ends of the return spring 7 abut against the inner cylinder 3 and the connecting seat 4, so that the connecting seat 4 always tends to be located in the center of the base 1; the four return springs 7 can further reduce the vibration in all directions in the horizontal plane.

[0043] In the aforementioned vibration damping devices, such as Figure 3 As shown, the inner cylinder 3 is provided with square grooves corresponding to the return springs 7 and regular polygonal holes for the damping rods 6 to pass through; the center of the regular polygonal holes coincides with the center of the square grooves, and the square grooves and regular polygonal holes are connected; one end of the return spring 7 is fixedly installed in the square groove, and the square groove limits the radial movement of the return spring 7; the damping rod 6 passes through the square groove and the regular polygonal hole in sequence, and a nut 61 is fixedly connected to the middle of the damping rod 6 by a thread; the inner end of the nut 61 is fitted into the regular polygonal hole in a shape matching the shape of the nut 61 and the regular polygonal hole, so that the damping rod 6 can only move along its axial direction and cannot rotate, thereby achieving 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 circumference of the base 1 is evenly distributed with lower retaining seats 11 corresponding to each damping rod 6. One function of the lower retaining seats 11 is to install and position the outer end of the damping rod 6, and another function is to connect and position the base 1 to the top cover 2. To facilitate the installation of the outer end of the damping rod 6, an installation groove 12 is formed in each lower retaining seat 11. The outer end of the damping rod 6 is inserted into the corresponding installation groove 12 and can slide back and forth along the axial direction of the base 1, thus not affecting the elastic mechanism's response to damping rods. Figure 2 The vibration reduction effect in the vertical direction is achieved by providing guide grooves evenly distributed along the circumference on the inner circumferential surface of the base 1; positioning blocks 31 corresponding to the guide grooves are provided on the outer circumferential surface of the inner cylinder 3. The positioning blocks 31 can be rectangular blocks with the same width as the corresponding guide grooves; the positioning blocks 31 are in clearance fit with the corresponding guide grooves and can slide up and down along the guide grooves 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 the 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 upper snap-fit ​​seats 21 corresponding to the lower snap-fit ​​seats 11. When the base 1 is provided with 4 lower snap-fit ​​seats 11, the top cover 2 is also provided with 4 corresponding upper snap-fit ​​seats 21. Each upper snap-fit ​​seat 21 is provided with two opposite snap-fit ​​windows 22 and a docking groove opposite to the lower snap-fit ​​seat 11. The lower snap-fit ​​seat 11 is provided with two snap-fit ​​protrusions 14 on both sides corresponding to the snap-fit ​​windows 22. The width of the docking groove is the same as the width of the lower snap-fit ​​seat 11. The top of the lower snap-fit ​​seat 11 extends into the docking groove so that the upper snap-fit ​​seat 21 is fastened to the lower snap-fit ​​seat 11 through the docking groove, thereby realizing the positioning and limiting of the upper snap-fit ​​seat 21 and the lower snap-fit ​​seat 11. The upper snap-fit ​​seat 21 and the lower snap-fit ​​seat 11 are fixedly connected by the snap-fit ​​protrusions 14 of the lower snap-fit ​​seat 11 extending into the snap-fit ​​windows 22 of the upper snap-fit ​​seat 21, thereby realizing the connection between the top cover 2 and the base 1.

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

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

Claims

1. A vibration damping device for a prosthetic hand, characterized in that, It includes a base, inner cylinder, top cover, elastic mechanism, 4 damping rods, 4 return springs, and connecting seat; Both the base and the inner cylinder are cylindrical structures with one open end, and have a bottom and a wall; the opening of the inner cylinder and the opening of the base face the same side. The top cover has a central hole and is fixedly installed at the open end of the base to confine the inner cylinder within the base; The elastic mechanism is installed between the bottom of the inner cylinder and the bottom of the base cylinder to reduce the axial vibration transmitted from the connecting seat and the inner cylinder to the base. The bottom surface of the connecting seat contacts the inner bottom surface of the inner cylinder, and the top end passes through the central hole of the top cover for connecting the wrist of the prosthetic hand; The four damping rods are evenly distributed around the circumference of the connecting seat and extend radially along the connecting seat. The inner end of each damping rod is slidably engaged with the connecting seat, the middle part passes through the wall of the inner cylinder, and the outer end is movably mounted on the base along the axial direction of the base. The damping rods are arranged in pairs, and the two sets of damping rods are arranged vertically. One set of damping rods is used to reduce lateral vibration in the horizontal direction, and the other set of damping rods is used to reduce longitudinal vibration in the horizontal direction. Thus, the four damping rods can reduce vibration in all directions in the horizontal plane. A return spring is fitted on each of the damping rods; the two ends of the return spring abut against the inner cylinder and the connecting seat, so that the connecting seat always tends to be located at the center of the base.

2. The vibration damping device as described in claim 1, characterized in that, The inner cylinder is provided with square grooves corresponding to the return springs and regular polygonal holes for the damping rods to pass through; the center of the regular polygonal holes coincides with the center of the square grooves; 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 threadedly fixed to the middle of the damping rod; the inner end of the nut is fitted into the regular polygonal hole in a matching shape.

3. The vibration damping device as described in claim 2, characterized in that, The outer circumferential surface of the base is evenly distributed with lower retaining seats corresponding to each damping rod; each lower retaining seat has a mounting groove; 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. The inner circumferential surface of the base is provided with guide grooves that are evenly distributed along the circumferential direction. The outer circumferential surface of the inner cylinder is provided with positioning blocks that correspond one-to-one with the guide grooves; the positioning blocks are in clearance fit 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 damping device as described in 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 with the damping rod.

5. The vibration damping device as described in claim 4, characterized in that, The connecting seat is provided with guide grooves that correspond one-to-one with the damping rods; The inner end of the damping rod is installed in the guide groove.

6. The vibration damping device according to any one of claims 1-5, characterized in that, The top cover is provided with an upper card holder that corresponds one-to-one with the lower card holder; the upper card holder is provided with two opposite card windows and a docking groove that is opposite to the lower card holder; The lower card holder is provided with card protrusions that correspond one-to-one with the card window; The upper snap-fit ​​seat is fastened to the lower snap-fit ​​seat via the mating groove, and is fixedly connected to the lower snap-fit ​​seat by snapping into the corresponding snap-fit ​​window via the snap-fit ​​protrusion.

7. The vibration damping device according to any one of claims 1-5, characterized in that, The elastic mechanism includes a plurality of compression springs evenly distributed circumferentially along the base. The two ends of the compression spring abut against the bottom surface of the inner cylinder and the top surface of the bottom of the base, respectively.

8. The vibration damping device as described in claim 7, characterized in that, Both the bottom surface of the inner cylinder and the top surface of the base cylinder are provided with circular limiting grooves that match the shape of the end of the compression spring; the end of the compression spring is installed in the circular limiting groove.

9. The vibration damping device as described in claim 7, characterized in that, The elastic mechanism includes four compression springs.

10. The vibration damping device as described in claim 9, characterized in that, Along the axial direction of the base, the compression spring corresponds one-to-one with the damping rod.

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