Pressure sensing artificial hand

Abstract

The invention relates to the technical field of prostheses, and discloses a pressure sensing prosthetic hand which comprises a connecting arm and a prosthetic hand body arranged at one end of the connecting arm and further comprises a plurality of first knuckles arranged at the top of the prosthetic hand body, the connecting arm is provided with an adjusting mechanism, and the adjusting mechanism is used for adjusting the direction of the prosthetic hand body. The adjusting mechanism comprises a micro motor fixedly connected to the interior of the connecting arm. Through the arrangement of the first electromagnet, the sliding frame, a micro motor and a stop block, the effect that a worker can conveniently change the grabbing position of the artificial hand body in multiple directions is achieved, the applicability of the device is improved, and the problems that in the actual use process of an existing artificial hand, limitation is large, multi-direction adjustment is often inconvenient, and the grabbing position is inconvenient are solved. The adjustable artificial hand is not high in stability during use, and normal use of the artificial hand is not facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of prosthetic limbs, and in particular to a pressure-sensing prosthetic hand. Background Art

[0002] A pressure-sensing prosthetic hand is a prosthetic hand that can sense tactile feedback. Through pressure sensors and corresponding technologies, amputees can feel the touch and pressure changes of objects when using the prosthetic hand. The myoelectric sensor can sense the signal of the user's residual limb, decode the muscle signal through an algorithm, identify the user's intention, and apply the corresponding pressure through a pump to complete the grasping action. However, existing prosthetic hands still have some problems in actual use;

[0003] For example, application number CN201410039964.7 relates to a practical and sensory artificial hand, including a prosthetic finger part and a prosthetic finger root. The prosthetic finger root is provided with a flexible joint, and the flexible joint is used for buffering and generating artificial sensation of the prosthetic hand. The prosthetic hand is also provided with a sensor and an artificial sensory stimulator. The flexible joint is provided with a buffer device, and the buffer device includes a first-level buffer device and a second-level buffer device. The sensor is used to detect the force change of the flexible joint. The artificial sensory stimulator inputs corresponding prosthetic hand tactile and grip force signals to the human body according to the detection value of the sensor, so that the user can perceive the grip force and control the grip force more accurately. In the actual use process, the existing prosthetic hands have great limitations and are often not convenient for multi-directional adjustment. The adjustable prosthetic hands are not stable when in use, which is not conducive to the normal use of the prosthetic hands.

[0004] In view of the above problems, a pressure sensing prosthetic hand is proposed. Summary of the invention

[0005] The purpose of the present invention is to provide a pressure-sensing prosthetic hand, which uses the device to work, thereby solving the problem that the existing prosthetic hands have great limitations in actual use, are often not convenient for multi-directional adjustment, and the adjustable prosthetic hands are not stable when in use, which is not conducive to the normal use of the prosthetic hands.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a pressure-sensing prosthetic hand, comprising a connecting arm and a prosthetic hand body arranged at one end of the connecting arm, and also comprising a finger joint 1 arranged at the top of the prosthetic hand body, and the finger joint 1 is provided with multiple groups, the connecting arm is provided with an adjustment mechanism, the adjustment mechanism is used to adjust the orientation of the prosthetic hand body, the adjustment mechanism comprises a micro motor fixedly connected to the inside of the connecting arm, and the output end of the micro motor is fixedly connected to a gear 1, one side of the prosthetic hand body is fixedly connected to a connecting piece, the back of the prosthetic hand body is provided with a display control screen, the front of the connecting arm is rotatably connected to a closing plate, and one side of the prosthetic hand body is rotatably connected to a transmission knob.

[0007] Preferably, one side of the gear one is meshedly connected with the gear two, and the gear two is rotatably connected to the inside of the connecting arm, the gear two is fixedly connected to the connecting piece, the inside of the connecting arm is fixedly connected with the electromagnet one, and the electromagnet one is electrically connected to the micro motor.

[0008] Preferably, a spring rod is fixedly connected to the inside of the connecting arm, and one end of the spring rod is fixedly connected to a sliding frame, the sliding frame is composed of a magnetic material, and the upper and lower ends of the sliding frame are slidably connected to trapezoidal blocks, and two groups of the trapezoidal blocks are slidably connected to the inside of the connecting arm.

[0009] By adopting the above structural design and setting the trapezoidal blocks, the transmission direction of the sliding frame is changed, thereby promoting the work process.

[0010] Preferably, a blocking block is fixedly connected to one side of the trapezoidal block, and the blocking block matches gear one and gear two. An electrode sheet is fixedly connected to the closing plate, and a cross groove is provided on one side of the closing plate near the bottom end. A battery placement groove is also fixedly connected to the inside of the connecting arm.

[0011] Preferably, the outer side of the transmission knob is rotatably connected to a rotating ring, one side of the transmission knob is fixedly connected to a screw rod, the outer side of the screw rod is threadedly connected to a cross block, and the cross block is slidably connected to the inside of the artificial hand body.

[0012] With the above structural design, the sliding connection of the cross block prevents the movement track of the cross block from deviating during the movement.

[0013] Preferably, the outer side of the transmission knob is rotatably connected to a rotating ring, one side of the transmission knob is fixedly connected to a screw rod, the outer side of the screw rod is threadedly connected to a cross block, and the cross block is slidably connected to the inside of the artificial hand body.

[0014] Preferably, the limit block group is slidably matched with the limit hole group, one end of the finger joint one is provided with the finger joint two, one end of the finger joint two is provided with the finger joint three, one end of the finger joint one and the finger joint two are fixedly connected with a connecting block, and the other end of the finger joint two and the finger joint three are fixedly connected with a rotating block.

[0015] By adopting the above structural design and arranging the connecting block and the rotating block, it is possible to facilitate the staff to change the grasping position of the artificial hand body in multiple directions.

[0016] Preferably, the rotating block is rotatably connected to the inside of the second finger joint, and a mounting groove is provided on one side of the third finger joint. A sensor, a fixing frame and a screw are detachably provided inside the mounting groove. The fixing frame slides with the sensor, and a threaded groove matching the screw is provided inside the mounting groove.

[0017] Preferably, a three-quarter circular block is fixedly connected to one side of the rotating block, a magnetic block is fixedly connected to the inner side of the three-quarter circular block, and an electromagnet 2 is also fixedly connected to the inside of the connecting block, and the electromagnet 2 is electrically connected to the battery placement slot and the display control screen, and one end of the knuckle 1, knuckle 2 and knuckle 3 are all provided with a toggle ring.

[0018] With the above structural design and the setting of the toggle ring, the user can more conveniently add lubricating oil to the connecting block and the rotating block, thereby improving work efficiency.

[0019] Preferably, a protective cloth is fixedly connected to the top of the toggle ring, and one end of multiple groups of the protective cloth is fixedly connected to the inside of the corresponding knuckle one, knuckle two and knuckle three, the left and right ends of the toggle ring are fixedly connected with protrusions, and the top of the prosthetic hand body, one end of knuckle one and one end of knuckle two are all provided with slots, and the slots are slidably matched with the toggle ring.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. The present application realizes the function of facilitating the staff to change the grasping position of the prosthetic hand body in multiple directions through the setting of an electromagnet, a sliding frame, a micro motor and a blocking block, thereby improving the applicability of the device and solving the problem that the existing prosthetic hands have great limitations in actual use and are often not convenient for multi-directional adjustment, and the adjustable prosthetic hands are not stable during use, which is not conducive to the normal use of the prosthetic hands.

[0022] 2. The present application realizes the function of replacing the wearing parts of the device by setting a cross block, a cross slot, a rotating block and a closing plate, thereby improving the use effect of the device and solving the problem that the existing prosthetic hands are often set up in an integrated manner, and when the sensor components of the fingertips are damaged, it is inconvenient to replace them, which greatly affects the use effect of the prosthetic hands. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 It is a structural diagram of the connector and the display control screen of the present invention;

[0025] Figure 3 It is a structural diagram of the micro motor and spring rod of the present invention;

[0026] Figure 4 It is a structural diagram of the transmission knob and the closing plate of the present invention;

[0027] Figure 5 It is a structural diagram of the transmission knob and the limit block assembly of the present invention;

[0028] Figure 6 It is a schematic diagram of the structure of the knuckle three and the rotating block of the present invention;

[0029] Figure 7 It is the structural diagram of the mounting slot and screw of the present invention;

[0030] Figure 8 It is a structural diagram of the rotating block of the present invention;

[0031] Fig. 9 For the present invention Figure 8 The enlarged structural diagram at A in the middle;

[0032] Fig.10 It is a structural diagram of the toggle ring and the protective cloth of the present invention.

[0033] In the figure: 1, connecting arm; 11, micro motor; 111, gear 1; 112, gear 2; 12, electromagnet 1; 121, spring rod; 122, sliding frame; 123, trapezoidal block; 124, blocking block; 2, prosthetic hand body; 21, connecting piece; 22, display control screen; 23, closing plate; 231, electrode sheet; 232, cross slot; 233, battery placement slot; 24, transmission knob; 241, rotating ring; 242, screw rod; 24 3. Cross block; 244. Limit hole group; 25. Active knob; 251. Limit block group; 3. Knuckle one; 31. Knuckle two; 32. Knuckle three; 321. Mounting slot; 322. Sensor; 323. Fixing frame; 324. Screw; 33. Connecting block; 331. Rotating block; 332. Three-quarter circle block; 333. Magnetic block; 334. Electromagnet two; 34. Toggle ring; 341. Protective cloth; 342. Bump; 343. Card slot. DETAILED DESCRIPTION

[0034] 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.

[0035] In order to further understand the content of the present invention, the present invention is described in detail in conjunction with the accompanying drawings.

[0036] Combination Figure 1-Figure 5 A pressure-sensing artificial hand comprises a connecting arm 1 and an artificial hand body 2 arranged at one end of the connecting arm 1, and also comprises a finger joint 3 arranged at the top of the artificial hand body 2, and the finger joint 3 is provided with a plurality of groups, the connecting arm 1 is provided with an adjustment mechanism, the adjustment mechanism is used to adjust the orientation of the artificial hand body 2, the adjustment mechanism comprises a micro motor 11 fixedly connected to the inside of the connecting arm 1, and the output end of the micro motor 11 is fixedly connected to a gear 111, one side of the artificial hand body 2 is fixedly connected to a connecting piece 21, the back of the artificial hand body 2 is provided with a display control screen 22, the front of the connecting arm 1 is rotatably connected to a closing plate 23, and one side of the artificial hand body 2 is rotatably connected to a transmission knob 24.

[0037] The present invention will be further described below in conjunction with the embodiments.

[0038] Embodiment 1:

[0039] In order to solve the problem that the existing prosthetic hands have great limitations in actual use, are often not convenient for multi-directional adjustment, and the adjustable prosthetic hands are not stable when in use, which is not conducive to the normal use of the prosthetic hands, this embodiment discloses the following technical solutions, specifically as follows: Figure 1-Figure 9As shown, one side of the gear 111 is meshedly connected with the gear 2 112, and the gear 2 112 is rotatably connected to the inside of the connecting arm 1, the gear 2 112 is fixedly connected to the connecting member 21, the inside of the connecting arm 1 is fixedly connected with the electromagnet 12, the electromagnet 12 is electrically connected to the micro motor 11, the inside of the connecting arm 1 is also fixedly connected with a spring rod 121, and one end of the spring rod 121 is fixedly connected with a sliding frame 122, the sliding frame 122 is composed of a magnetic material, the upper and lower ends of the sliding frame 122 are slidably connected with a trapezoidal block 123, the two sets of trapezoidal blocks 123 are slidably connected to the inside of the connecting arm 1, and the trapezoidal blocks 123 A blocking block 124 is fixedly connected to one side of the prosthesis 2, and the blocking block 124 matches the gear 1 111 and the gear 2 112. When in use, the entire device can be installed at a specified position, and the display control screen 22 can be used to respond to the operation of the prosthesis body 2 and the finger joint 1 3. When the rotation direction of the prosthesis body 2 needs to be adjusted, the power supply of the micro motor 11 can be turned on. The micro motor 11 is energized, and the electromagnet 12 is energized. The electromagnet 12 generates a magnetic force that can produce a repulsive effect on the sliding frame 122, thereby moving the sliding frame 122, and the sliding frame 122 drives the two groups of trapezoidal blocks 123 to move. The blocking block 124 moves, and the blocking block 124 can be disengaged from the inside of the gear 1 111 and the gear 2 112, so that the micro motor 11 can be started, and the micro motor 11 drives the gear 1 111 to rotate, thereby rotating the gear 2 112, and the gear 2 112 drives the artificial hand body 2 to rotate, thereby changing the direction of the artificial hand body 2. When it is necessary to fix the direction of the artificial hand body 2, the micro motor 11 can be de-energized, thereby de-energizing the electromagnet 12, and under the action of the spring rod 121, the sliding frame 122 is reset, thereby moving the blocking block 124 to the connection between the gear 1 111 and the gear 2 112. The contact part can fix the gear 1 111 and the gear 2 112 to prevent the artificial hand body 2 from rotating. When it is necessary to control the bending of the knuckle 2 31 and the knuckle 32, the electromagnet 2 334 inside the corresponding knuckle 2 31 and the knuckle 32 can be started. The electromagnet 2 334 generates a magnetic force to adsorb the magnetic block 333. The three-quarter circle block 332 can rotate, thereby making the knuckle 1 3, the knuckle 2 31 and the knuckle 3 32 rotate, which can play a role in grabbing objects, thereby making it convenient for the staff to change the grabbing position of the artificial hand body 2 in multiple directions, thereby improving the applicability of the device.

[0040] Embodiment 2:

[0041] In order to solve the problem that the existing artificial hands are often integrated, when the sensor components of the fingertips are damaged, it is inconvenient to replace them, which greatly affects the use effect of the artificial hands, this embodiment discloses the following technical solutions, specifically as follows: Figure 4 , Figure 5 and Figure 7As shown, an electrode sheet 231 is fixedly connected to the closing plate 23, a cross groove 232 is provided on one side of the closing plate 23 near the bottom end, a battery placement groove 233 is also fixedly connected to the inside of the connecting arm 1, a rotating ring 241 is rotatably connected to the outer side of the transmission knob 24, a screw rod 242 is fixedly connected to one side of the transmission knob 24, a cross block 243 is threadedly connected to the outer side of the screw rod 242, and the cross block 243 is slidably connected to the inside of the artificial hand body 2, a rotating ring 241 is rotatably connected to the outer side of the transmission knob 24, a screw rod 242 is fixedly connected to one side of the transmission knob 24, a cross block 243 is threadedly connected to the outer side of the screw rod 242, and the cross block 243 is slidably connected to the inside of the artificial hand body 2, the limit block group 251 slidably cooperates with the limit hole group 244, indicating that the finger One end of the first joint 3 is provided with a second joint 31, and one end of the second joint 31 is provided with a third joint 32. One end of the first joint 3 and the second joint 31 is fixedly connected with a connecting block 33, and the other ends of the second joint 31 and the third joint 32 are fixedly connected with a rotating block 331. The rotating block 331 is rotatably connected to the inside of the second joint 31. A mounting groove 321 is provided on one side of the third joint 32. A sensor 322, a fixing frame 323 and a screw 324 are detachably provided inside the mounting groove 321. The fixing frame 323 and the sensor 322 are slidably matched. A threaded groove matching the screw 324 is provided inside the mounting groove 321. A three-quarter round block 332 is fixedly connected to one side of the rotating block 331, and a magnetic suction Block 333, the interior of the connecting block 33 is also fixedly connected with an electromagnet 2 334, the electromagnet 2 334 is electrically connected to the battery placement slot 233 and the display control screen 22, one end of the knuckle 1 3, the knuckle 2 31 and the knuckle 3 32 is provided with a toggle ring 34, the top of the toggle ring 34 is fixedly connected with a protective cloth 341, and one end of the multiple sets of protective cloth 341 is fixedly connected to the interior of the corresponding knuckle 1 3, the knuckle 2 31 and the knuckle 3 32, the left and right ends of the toggle ring 34 are fixedly connected with a protrusion 342, the top of the artificial hand body 2, one end of the knuckle 1 3 and one end of the knuckle 2 31 are all provided with a card slot 343, and the card slot 343 is slidably matched with the toggle ring 34, when the relevant electrical parts are started, the display control screen 22, the micro motor 11 and Components such as the finger joint 3 can be powered by the battery in the battery placement slot 233. When the battery in the battery placement slot 233 needs to be replaced, the active knob 25 can be mounted on the outer side of the transmission knob 24, so that the limit block group 251 in the active knob 25 contacts the limit hole group 244. When the active knob 25 is rotated, the transmission knob 24 is rotated, and the transmission knob 24 drives the screw rod 242 to rotate, thereby causing the cross block 243 to slide inside the artificial hand body 2. After the cross block 243 slides out of the cross slot 232, the closing plate 23 can be opened, and the battery in the battery placement slot 233 can be replaced. When the sensor 322 on the finger joint 32 needs to be replaced, the screw 324 can be tightened with a screwdriver.The screw 324 falls off from the knuckle 32, and the fixing frame 323 can be removed from the mounting groove 321. At this time, the sensor 322 can be replaced. When it is necessary to lubricate the connection between the connecting block 33 and the rotating block 331, the protrusion 342 can be moved. The protrusion 342 drives the toggle ring 34 to move, so that the toggle ring 34 rises, and the connecting block 33 and the rotating block 331 are exposed, and they can be lubricated. When the protective cloth 341 needs to be reset, the protrusion 342 can be pulled to move the toggle ring 34 to the inside of the slot 343, thereby forming a protective effect on the rotating block 331 and the connecting block 33, so that the vulnerable parts of the device can be replaced, and the use effect of the device is improved.

[0042] It should be noted that the above-mentioned electrical components are equipped with power supplies and their control methods are prior art. In order to avoid redundant description, they are uniformly described here; and this application is mainly used to protect mechanical equipment, so the control method and circuit connection are no longer explained in detail. In this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0043] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A pressure sensing artificial hand, comprising a connecting arm (1) and an artificial hand body (2) arranged at one end of the connecting arm (1), and also comprising a finger joint (3) arranged at the top of the artificial hand body (2), wherein the finger joint (3) is arranged in a plurality of groups, characterized in that: The connecting arm (1) is provided with an adjustment mechanism, and the adjustment mechanism is used to adjust the orientation of the artificial hand body (2). The adjustment mechanism comprises a micro motor (11) fixedly connected to the inside of the connecting arm (1), and the output end of the micro motor (11) is fixedly connected to a gear 1 (111). One side of the artificial hand body (2) is fixedly connected to a connecting piece (21), and the back of the artificial hand body (2) is provided with a display control screen (22). The front side of the connecting arm (1) is rotatably connected to a closing plate (23), and one side of the artificial hand body (2) is rotatably connected to a transmission knob (24).

2. A pressure sensing prosthetic hand according to claim 1, characterized in that: One side of the gear one (111) is meshedly connected with a gear two (112), and the gear two (112) is rotatably connected to the inside of the connecting arm (1), the gear two (112) is fixedly connected to the connecting member (21), the inside of the connecting arm (1) is fixedly connected with an electromagnet one (12), and the electromagnet one (12) is electrically connected to the micro motor (11).

3. A pressure sensing prosthetic hand according to claim 2, characterized in that: The connecting arm (1) is also fixedly connected to a spring rod (121) at one end, and a sliding frame (122) is fixedly connected to one end of the spring rod (121). The sliding frame (122) is made of a magnetic material. The upper and lower ends of the sliding frame (122) are both slidably connected to trapezoidal blocks (123). Two groups of the trapezoidal blocks (123) are slidably connected to the inside of the connecting arm (1).

4. A pressure sensing prosthetic hand according to claim 3, characterized in that: A blocking block (124) is fixedly connected to one side of the trapezoidal block (123), and the blocking block (124) matches the gear 1 (111) and the gear 2 (112). An electrode sheet (231) is fixedly connected to the closing plate (23), and a cross groove (232) is provided on one side of the closing plate (23) close to the bottom end. A battery placement groove (233) is also fixedly connected to the interior of the connecting arm (1).

5. The pressure sensing prosthetic hand according to claim 4, characterized in that: The outer side of the transmission knob (24) is rotatably connected to a rotating ring (241), one side of the transmission knob (24) is fixedly connected to a screw rod (242), the outer side of the screw rod (242) is threadedly connected to a cross block (243), and the cross block (243) is slidably connected to the inside of the artificial hand body (2).

6. The pressure sensing prosthetic hand according to claim 5, characterized in that: The cross block (243) is slidably matched with the cross slot (232); a limit hole group (244) is provided on one side of the transmission knob (24); an active knob (25) is detachably provided on the outer side of the transmission knob (24); and the inner side of the active knob (25) is fixedly connected to a limit block group (251).

7. The pressure sensing prosthetic hand according to claim 6, characterized in that: The limit block group (251) is slidably matched with the limit hole group (244); one end of the finger joint 1 (3) is provided with a finger joint 2 (31); one end of the finger joint 2 (31) is provided with a finger joint 3 (32); one end of the finger joint 1 (3) and the finger joint 2 (31) are both fixedly connected with a connecting block (33); the other ends of the finger joint 2 (31) and the finger joint 3 (32) are both fixedly connected with a rotating block (331).

8. The pressure sensing prosthetic hand according to claim 7, characterized in that: The rotating block (331) is rotatably connected to the inside of the second finger joint (31); a mounting groove (321) is provided on one side of the third finger joint (32); a sensor (322), a fixing frame (323) and a screw (324) are detachably provided inside the mounting groove (321); the fixing frame (323) and the sensor (322) are slidably matched; a threaded groove matching the screw (324) is provided inside the mounting groove (321).

9. The pressure sensing prosthetic hand according to claim 8, characterized in that: A three-quarter round block (332) is fixedly connected to one side of the rotating block (331), a magnetic block (333) is fixedly connected to the inner side of the three-quarter round block (332), and a second electromagnet (334) is fixedly connected to the interior of the connecting block (33), and the second electromagnet (334) is electrically connected to the battery placement slot (233) and the display control screen (22), and one end of the first finger joint (3), the second finger joint (31) and the third finger joint (32) are all provided with a toggle ring (34).

10. The pressure sensing prosthetic hand according to claim 9, characterized in that: The top of the toggle ring (34) is fixedly connected with a protective cloth (341), and one end of a plurality of groups of the protective cloth (341) is fixedly connected to the inside of the corresponding knuckle 1 (3), knuckle 2 (31) and knuckle 3 (32). The left and right ends of the toggle ring (34) are fixedly connected with protrusions (342). The top of the artificial hand body (2), one end of the knuckle 1 (3) and one end of the knuckle 2 (31) are all provided with a slot (343), and the slot (343) is slidably matched with the toggle ring (34).

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