An underactuated prosthetic finger device with multiple grasping modes

Abstract

The present invention relates to the technical field of rehabilitation medical devices, and in particular to an under-actuated prosthetic finger device with multiple gripping methods, comprising a first knuckle, a second knuckle, a third knuckle and a connecting rod structure, wherein the first knuckle, the second knuckle and the third knuckle are interconnected by a connecting rod structure, a silicone block is installed at the bottom end of the second knuckle, and further comprising a snap-fit ​​mechanism and a water-taking mechanism, wherein the snap-fit ​​mechanism is arranged on the first knuckle, and the first knuckle is detachably mounted with a rubber mounting block via the snap-fit ​​mechanism. The present invention not only enables the prosthetic finger to conveniently and stably grasp sheet-like objects and small pellet-like objects on a plane, but also effectively improves the grasping stability of objects with water marks on the surface. In addition, when grasping easily deformable or fragile objects, it can significantly reduce the risk of the object slipping due to less force applied during grasping, thereby effectively improving the grasping stability of easily deformable or fragile objects.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation medical equipment, and in particular to an under-actuated prosthetic finger device with multiple grasping modes. Background Art

[0002] A prosthetic finger device refers to an artificial device used to replace missing or damaged fingers of the human body. Its main purpose is to restore the appearance and function of the fingers and help patients regain basic hand operation capabilities, such as grasping and pinching. Depending on the driving method, prosthetic finger devices can be divided into passive, semi-active and active types. Passive prosthetic fingers mainly rely on external forces (such as the healthy hand) to assist movement, semi-active types achieve a certain degree of autonomous movement through elastic elements or energy storage mechanisms, and active types are equipped with a power source (such as a motor) that can actively drive finger movement. Among them, an under-actuated prosthetic finger device refers to an active prosthetic finger device in which the number of drivers is less than the number of driven joints.

[0003] After searching, a Chinese patent with the publication number CN210077958U discloses a flexible prosthetic finger. This patent makes the finger flexible when grasping objects by setting a sleeve and an elastic connector on the connecting shaft of the upper joint and the lower joint, thereby better simulating the grasping performance of a real hand. However, when in use, it is not convenient to grasp sheet-like objects and small pellet-like objects on a plane. In addition, when using existing prosthetic fingers, when grasping easily deformable and fragile objects, it is easy for them to slip during the grasping process because too much force cannot be applied during the grasping. At the same time, if there are water marks on the surface of the grasped object, the friction between the finger and the object will be reduced, which can also easily cause the prosthetic finger to slip during the grasping process, resulting in poor practicality. Summary of the Invention

[0004] The purpose of the present invention is to solve the problem that the prosthetic finger devices in the prior art are difficult to grasp or have poor grasping effect when performing grasping operations on some objects, and to propose an under-actuated prosthetic finger device with multiple grasping modes.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: an underactuated prosthetic finger device with multiple gripping modes, comprising a first knuckle, a second knuckle, a third knuckle, and a connecting rod structure, wherein the first knuckle, the second knuckle, and the third knuckle are interconnected by the connecting rod structure, a silicone block is installed at the bottom end of the second knuckle, and further comprising:

[0006] A snap-fit ​​mechanism and a water-removing mechanism, wherein the snap-fit ​​mechanism is provided on the first knuckle, and a rubber mounting block is detachably mounted on the first knuckle via the snap-fit ​​mechanism. The snap-fit ​​mechanism is used to facilitate replacement of the rubber mounting block. The water-removing mechanism is provided on the rubber mounting block and is used to enable the prosthetic finger to securely grasp sheet-like objects and small pellet-like objects, and to remove water marks from the surface of the objects being grasped.

[0007] The friction enhancing mechanism is arranged on the second finger joint and is used to enhance the friction between the prosthetic finger and the object being picked up.

[0008] Preferably, the clamping mechanism includes an embedding groove and an embedding block, the embedding groove is opened at the end of the third finger joint away from the second finger joint, a rotating assembly is installed on the embedding block, and the embedding block is connected to the rubber mounting block through the rotating assembly, the embedding block is inserted in the embedding groove, and grooves are opened on both sides of the embedding block, a first spring is installed in the groove, and the groove is connected to a triangular clamping block through the first spring, and sliding grooves are opened on both sides of the groove, and two sliders are symmetrically installed on the side of the triangular clamping block facing the first spring, and the triangular clamping block is slidably connected to the sliding groove through the slider, and two propulsion grooves are opened on the inner wall of the embedding groove, and the positions of the two propulsion grooves correspond to the positions of the two grooves, the triangular clamping block is located in the propulsion groove, and a pushing assembly is provided in the third finger joint and the two propulsion grooves for applying thrust to the triangular clamping block.

[0009] Preferably, the rotating assembly includes an installation cavity, which is opened at one end of the embedded block facing the rubber mounting block, and a motor is installed in the installation cavity, a transmission disk is installed at the output end of the motor, and the motor is connected to the rubber mounting block through the transmission disk, and the outer wall of the transmission disk is arranged in contact with the inner wall of the installation cavity.

[0010] Preferably, the pushing assembly includes two extrusion plates and two force-applying grooves, the two force-applying grooves are opened inside the third finger joint, and the two force-applying grooves are both penetrated by a through opening on the outward side, the through opening radius is smaller than the radius of the force-applying groove, and a pressing block is provided in the through opening, a limiting block is installed on the outer wall of the pressing block, and the pressing block is slidably connected to the force-applying groove through the limiting block, a connecting rod and a second spring are installed at the inward end of the pressing block, and the pressing block is connected to the inner wall of the force-applying groove through the second spring, the inward end of the connecting rod passes through the inner wall of the force-applying groove and is fixedly connected to the extrusion plate, the extrusion plate is slidably connected in the propulsion groove, the propulsion groove height is greater than the groove height, and the propulsion groove height corresponds to the extrusion plate height.

[0011] Preferably, the water-taking and absorbing mechanism includes two silicone sheets and a plurality of micro-suction cups, and the plurality of micro-suction cups are respectively fixedly embedded in the top of the rubber mounting block and the end away from the third finger joint. A connecting plate is installed on the top of the two silicone sheets, and the two silicone sheets are symmetrically mounted on the rubber mounting block through the connecting plate. There is a separation component on the rubber mounting block, and the rubber mounting block is connected to two silicone strips through the separation component. The two silicone strips are in contact with each other, and the outward sides of the two silicone strips are in contact with the two silicone sheets respectively. The silicone sheet and the silicone strip are both located below the rubber mounting block, and the bottom ends of the silicone sheet and the silicone strip are provided with a plurality of branch grooves. The positions of the plurality of branch grooves on the silicone sheet and the silicone strip correspond to each other. The bottom end of the silicone strip is provided with a plurality of main grooves. The rubber mounting block, the silicone strip and the main groove are provided with a water-absorbing component for absorbing water in the main groove and the branch groove.

[0012] Preferably, the main groove and the branch grooves are arranged in a cross shape, and the width of the main groove is greater than the width of the branch groove.

[0013] Preferably, the separation component includes two strip grooves, both of which are opened at the bottom end of the rubber mounting block, and a first electric telescopic rod is installed inside the two strip grooves, the output ends of the two first electric telescopic rods face oppositely, and are both installed with transmission plates, the bottom ends of the two transmission plates are respectively fixedly connected to the top ends of the two silicone strips, and the two transmission plates are located close to the side where the two silicone strips are in contact, and a strip plate is installed at the opposite ends of the two transmission plates, and the two strip plates are respectively installed on the top ends of the two silicone strips.

[0014] Preferably, the water absorption assembly includes a square groove, an L-shaped connecting block and two through grooves, the square groove is opened at the bottom end of the rubber mounting block, and a water tank is installed on the inner side wall of the square groove, the L-shaped connecting block is installed at the bottom end of the rubber mounting block, and a second electric telescopic rod is installed on the L-shaped connecting block, the output end of the second electric telescopic rod passes through the bottom end of the water tank and is fixedly connected to a piston, and the piston is sealingly and slidably connected in the water tank;

[0015] The two through grooves are respectively opened at one end of the two silicone strips, and a plurality of square tubes are installed on the bottom wall of the through groove. A plurality of connecting tubes are installed at the bottom end of the square tubes. The bottom ends of the plurality of connecting tubes all pass through the bottom wall of the through groove and are located in the main groove. A second one-way tube and a plurality of first one-way tubes are installed on the top of the water tank. The end of the second one-way tube away from the water tank is located in the gap between the rubber mounting block and the silicone strip. The end of the plurality of first one-way tubes away from the water tank passes through the top walls of the two silicone strips and are respectively connected to the plurality of square tubes. The first one-way tube, the second one-way tube and the connecting tube are all hoses.

[0016] Preferably, the friction enhancing mechanism includes a mounting groove and a connecting belt, the mounting groove is opened at the top of the second knuckle, and a micro air pump is installed in the mounting groove, an L-shaped fixing plate is installed at the end of the second knuckle away from the first knuckle, the L-shaped fixing plate is opened with a yield groove, and two support plates are symmetrically installed on the bottom end of the L-shaped fixing plate, the two support plates are connected to a rotating shaft for common rotation, and a strip air bag is fixedly wound around the rotating shaft;

[0017] A connecting hose is installed at the output end of the micro air pump, and the end of the connecting hose away from the micro air pump passes through the inner wall of the installation groove and is connected to the strip air bag through the give way groove. One end of the connecting belt is fixedly connected to the top of the strip air bag near the edge, and a plurality of fixing strips are fixedly connected to the connecting belt. A second magnetic plate is installed on the side of the connecting belt away from the second finger joint, and the sides of the connecting belt and the fixing strip facing the second finger joint are in contact with the strip air bag. A first magnetic plate is installed at the bottom end of the L-shaped fixed plate, and two spiral springs are installed on the rotating shaft, and the rotating shaft is connected to the L-shaped fixed plate through the spiral spring.

[0018] Preferably, a porous plate is detachably mounted at the top opening of the mounting groove, and the length of the connecting hose corresponds to the length of the strip airbag.

[0019] Compared with the existing technology, the advantages of the present invention are:

[0020] 1. The present invention, through the provision of a water-absorbing mechanism, can not only utilize the adsorption of a micro suction cup and the clamping of a silicone strip to enable the prosthetic finger to conveniently and stably grasp sheet-like objects and small pill-like objects on a plane, but can also utilize the opening of grooves at the bottom ends of the silicone sheet and silicone strip and the extraction of water marks on the surface of the object to be grasped to increase the friction between the silicone sheet and silicone strip and the object, and effectively reduce the interference of water stains on the grasping operation of the prosthetic finger, thereby effectively improving the grasping stability of objects with water marks on the surface.

[0021] 2. By setting up a friction enhancement mechanism, the present invention can use the pulling out and expansion of the strip airbag to fill the gap between the prosthetic finger and the object when picking up easily deformable or fragile objects, thereby increasing the contact area between the prosthetic finger and the object, that is, effectively improving the friction between the prosthetic finger and the object, and thus significantly reducing the risk of the object slipping due to insufficient force during grasping, that is, effectively improving the stability of picking up easily deformable or fragile objects.

[0022] 3. By providing a snap-fit ​​mechanism, the present invention can quickly and conveniently replace the fingertip portion of the prosthetic finger (i.e., the rubber mounting block and the various mechanisms thereon) by pressing the pressing block when the fingertip portion of the prosthetic finger is damaged, thereby reducing the cost of replacement in the event of damage, and the replacement operation can be completed with one hand. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the overall structure of an under-actuated prosthetic finger device with multiple grasping modes proposed by the present invention;

[0024] Figure 2 This is a schematic diagram of the disassembled second knuckle and porous plate structure of an under-actuated prosthetic finger device with multiple grasping modes proposed by the present invention;

[0025] Figure 3 This is a schematic diagram of the micro air pump and silicone block structure of an under-actuated prosthetic finger device with multiple grasping modes proposed by the present invention;

[0026] Figure 4 This is a schematic diagram of the strip airbag and scroll spring structure of an under-actuated prosthetic finger device with multiple grasping modes proposed by the present invention;

[0027] Figure 5 This is a schematic diagram of the rubber mounting block and micro air pump structure of an under-actuated prosthetic finger device with multiple gripping modes proposed by the present invention;

[0028] Figure 6 This is a cross-sectional view of the rubber mounting block and silicone sheet structure of an under-actuated prosthetic finger device with multiple gripping modes proposed by the present invention;

[0029] Figure 7 for Figure 6 A magnified view of the structure at center A;

[0030] Figure 8 This is a schematic diagram of the disassembled structure of the rubber mounting block, silicone sheet, and embedded block of an under-actuated prosthetic finger device with multiple gripping modes proposed by the present invention;

[0031] Figure 9 This is a schematic diagram of a water tank, a first one-way tube, and a second one-way structure of an under-actuated prosthetic finger device with multiple gripping modes proposed by the present invention;

[0032] Figure 10 A cross-sectional view of the rubber mounting block structure of an under-actuated prosthetic finger device with multiple gripping modes proposed by the present invention;

[0033] Figure 11 This is a schematic diagram of the bottom structure of the silicone sheet and silicone strip of an under-actuated prosthetic finger device with multiple gripping modes proposed by the present invention;

[0034] Figure 12 A cross-sectional view of the silicone strip structure of an under-actuated prosthetic finger device with multiple gripping modes proposed by the present invention;

[0035] Figure 13This is a cross-sectional view of the water tank and piston structure of an under-actuated prosthetic finger device with multiple gripping modes proposed by the present invention.

[0036] In the figure: 1. first finger joint; 2. second finger joint; 3. third finger joint; 4. connecting rod structure; 5. rubber mounting block; 6. silicone sheet; 7. mounting groove; 8. porous plate; 9. micro air pump; 10. silicone block; 11. L-shaped fixing plate; 12. strip air bag; 13. rotating shaft; 14. volute spring; 15. first magnetic plate; 16. second magnetic plate; 17. connecting belt; 18. fixing strip; 19. micro suction cup; 20. silicone strip; 21. embedding block; 22. motor; 23. transmission plate; 24. triangular clamping block; 25. pressing block; 26. squeezing plate; 27. first electric telescopic rod; 28. transmission plate; 29. ​​water tank; 30. first one-way pipe; 31. second one-way pipe; 32. main groove; 33. branch groove; 34. connecting pipe; 35. square pipe; 36. second electric telescopic rod; 37. piston. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0038] Reference Figures 1 to 8 , an under-actuated prosthetic finger device with multiple grasping modes, including a first knuckle 1, a second knuckle 2, a third knuckle 3 and a connecting rod structure 4, the first knuckle 1, the second knuckle 2 and the third knuckle 3 are all connected to each other through the connecting rod structure 4, the connecting rod structure 4 is used to enable the first knuckle 1, the second knuckle 2 and the third knuckle 3 to cooperate and achieve bending and grasping behavior, and the connecting rod structure 4 is a prior art, and its specific structural design is not repeated here, a clamping mechanism is provided on the first knuckle 1, and the first knuckle 1 is detachably mounted with a rubber mounting block 5 through the clamping mechanism, the clamping mechanism is used to realize convenient replacement of the rubber mounting block 5, a silicone block 10 is installed at the bottom end of the second knuckle 2, the clamping mechanism includes an embedding groove and an embedding block 21, the embedding groove is opened at the first knuckle 1, and the embedding groove is opened at the second knuckle 2. At one end of the third finger joint 3 away from the second finger joint 2, a rotating assembly is installed on the embedded block 21, and the embedded block 21 is connected to the rubber mounting block 5 through the rotating assembly. The embedded block 21 is inserted in the embedded groove, and grooves are provided on both sides of the embedded block 21. A first spring is installed in the groove, and the groove is connected to a triangular clamping block 24 through the first spring. Slide grooves are provided on both sides of the groove. Two sliders are symmetrically installed on the side of the triangular clamping block 24 facing the first spring, and the triangular clamping block 24 is slidably connected to the slide groove through the slider. Two propulsion grooves are provided on the inner wall of the embedded groove. The positions of the two propulsion grooves correspond to the positions of the two grooves. The triangular clamping block 24 is located in the propulsion groove. A pushing assembly is provided in the third finger joint 3 and the two propulsion grooves for applying thrust to the triangular clamping block 24.

[0039] Reference Figures 6 to 8 The rotating assembly includes a mounting cavity, which is opened at one end of the embedded block 21 facing the rubber mounting block 5, and a motor 22 is installed in the mounting cavity. A transmission disc 23 is installed at the output end of the motor 22, and the motor 22 is connected to the rubber mounting block 5 through the transmission disc 23. The outer wall of the transmission disc 23 is in contact with the inner wall of the mounting cavity. This contact setting helps to reduce the torque borne by the motor 22 during operation, thereby reducing the burden on the motor 22 and extending the service life of the motor 22. The pushing assembly includes two extrusion plates 26 and two force grooves. The two force grooves are opened inside the third finger joint 3 , and both force-applying grooves are penetrated by a through-opening on one side facing outward, the through-opening radius is smaller than the radius of the force-applying groove, and a pressing block 25 is arranged in the through-opening, a limiting block is installed on the outer wall of the pressing block 25, and the pressing block 25 is slidably connected in the force-applying groove through the limiting block, a connecting rod and a second spring are installed on the inward end of the pressing block 25, and the pressing block 25 is connected to the inner wall of the force-applying groove through the second spring, the inward end of the connecting rod passes through the inner wall of the force-applying groove, and is fixedly connected to an extrusion plate 26, which is slidably connected in the propulsion groove, the height of the propulsion groove is greater than the height of the groove, and the height of the propulsion groove corresponds to the height of the extrusion plate 26.

[0040] Reference Figure 1 as well as Figures 5 to 12 , a water-taking mechanism is provided on the rubber mounting block 5, which is used to enable the prosthetic finger to firmly take sheet-like objects and small pill-like objects and to extract water marks on the surface of the objects. The water-taking mechanism includes two silicone sheets 6 and a plurality of micro suction cups 19. The plurality of micro suction cups 19 are respectively fixedly embedded in the top of the rubber mounting block 5 and the end away from the third finger joint 3. A connecting plate is installed on the top of the two silicone sheets 6, and the two silicone sheets 6 are symmetrically installed on the rubber mounting block 5 through the connecting plate. There is a separation component on the rubber mounting block 5, and the rubber mounting block 5 is connected to two silicone strips 20 through the separation component. The two silicone strips 20 are in contact with each other, and the outward sides of the two silicone strips 20 are respectively connected to the two The two silicone strips 20 are in contact with each other, and the separation component is used to separate the two silicone strips 20 from each other. The silicone strip 6 and the silicone strip 20 are both located below the rubber mounting block 5. The separation component includes two strip grooves, both of which are opened at the bottom end of the rubber mounting block 5, and first electric telescopic rods 27 are installed inside the two strip grooves. The output ends of the two first electric telescopic rods 27 face oppositely and are both equipped with transmission plates 28. The bottom ends of the two transmission plates 28 are respectively fixedly connected to the top ends of the two silicone strips 20, and the two transmission plates 28 are located close to the side where the two silicone strips 20 are in contact. A strip plate is installed at the opposite ends of the two transmission plates 28, and the two strip plates are respectively installed at the top ends of the two silicone strips 20.

[0041] Reference Figures 8 to 13, the bottom ends of the silicone sheet 6 and the silicone strip 20 are both provided with a plurality of branch grooves 33, and the positions of the plurality of branch grooves 33 on the silicone sheet 6 and the silicone strip 20 correspond to each other. The bottom end of the silicone strip 20 is provided with a plurality of main grooves 32, and the main grooves 32 and the branch grooves 33 are arranged in a cross shape, and the width of the main grooves 32 is greater than the width of the branch grooves 33. A water absorption component is provided on the rubber mounting block 5, the silicone strip 20 and the main groove 32, for absorbing water in the main groove 32 and the branch groove 33. The water absorption component includes a square groove, an L-shaped connecting block and two through grooves. The square groove is opened at the bottom end of the rubber mounting block 5, and a water tank 29 is installed on the inner side wall of the square groove. The L-shaped connecting block is installed at the bottom end of the rubber mounting block 5, and a second electric telescopic rod 36 is installed on the L-shaped connecting block. The output end of the second electric telescopic rod 36 passes through the bottom end of the water tank 29, and A piston 37 is fixedly connected, and the piston 37 is sealingly and slidingly connected in the water tank 29. Two through grooves are respectively opened at one end of the two silicone strips 20. A plurality of square tubes 35 are installed on the bottom wall of the through groove. A plurality of connecting tubes 34 are installed at the bottom end of the square tubes 35. The bottom ends of the plurality of connecting tubes 34 all pass through the bottom wall of the through groove and are located in the main groove 32. The relatively large width of the main groove 32 is set to facilitate the installation of the connecting tubes 34. A second one-way tube 31 and a plurality of first one-way tubes 30 are installed at the top of the water tank 29. The end of the second one-way tube 31 away from the water tank 29 is located in the gap between the rubber mounting block 5 and the silicone strip 20. The end of the plurality of first one-way tubes 30 away from the water tank 29 passes through the top wall of the two silicone strips 20 and is respectively connected to the plurality of square tubes 35. The first one-way tube 30, the second one-way tube 31 and the connecting tube 34 are all hoses.

[0042] Reference Figures 1 to 4, a friction enhancing mechanism is installed on the second knuckle 2 for enhancing the friction between the prosthetic finger and the object being picked up, the friction enhancing mechanism includes a mounting groove 7 and a connecting belt 17, the mounting groove 7 is opened at the top of the second knuckle 2, and a micro air pump 9 is installed in the mounting groove 7, and a porous plate 8 is detachably installed at the top opening of the mounting groove 7. The porous plate 8 is used to protect the micro air pump 9 from external physical damage, while also allowing external gas to smoothly enter the mounting groove 7 and be extracted and utilized by the micro air pump 9. An L-shaped fixing plate 11 is installed at the end of the second knuckle 2 away from the first knuckle 1, and a makeshift groove is opened on the L-shaped fixing plate 11, and two support plates are symmetrically installed at the bottom end of the L-shaped fixing plate 11, and the two support plates are connected to a rotating shaft 13 for rotation together, and a rotating shaft 13 is fixed around A strip airbag 12 is provided, and a connecting hose is installed at the output end of the micro air pump 9. The end of the connecting hose away from the micro air pump 9 passes through the inner wall of the mounting groove 7, and passes through the give way groove to be connected to the strip airbag 12, and the length of the connecting hose corresponds to the length of the strip airbag 12. One end of the connecting belt 17 is fixedly connected to the top of the strip airbag 12 near the edge, and a plurality of fixing strips 18 are fixedly connected to the connecting belt 17. A second magnetic plate 16 is installed on the side of the connecting belt 17 away from the second finger joint 2, and the side of the connecting belt 17 and the fixing strip 18 facing the second finger joint 2 are in contact with the strip airbag 12. A first magnetic plate 15 is installed at the bottom end of the L-shaped fixed plate 11, and two volute springs 14 are installed on the rotating shaft 13, and the rotating shaft 13 is connected to the L-shaped fixed plate 11 through the volute spring 14.

[0043] When the present invention is in use, the connecting rod structure 4 can drive the rotation of the first finger joint 1, the second finger joint 2 and the third finger joint 3, thereby enabling the grasping and picking up of objects. Since the fingertip portion of the prosthetic finger (i.e., the rubber mounting block 5 and the various mechanisms thereon) contacts external objects more frequently than other parts, this portion is more susceptible to damage. If the entire prosthetic finger is replaced after damage occurs, the cost is too high. Therefore, when the fingertip position is damaged and needs to be replaced, the two pressing blocks 25 are pressed into the interior of the third finger joint 3. When the pressing blocks 25 are pressed, the squeezing plate 26 will squeeze the triangular clamping block 24, so that the triangular clamping block 24 enters the groove on the embedding block 21. Since the height of the pushing groove is greater than the height of the groove and the height of the pushing groove corresponds to the height of the squeezing plate 26, the squeezing plate 26 can be prevented from entering the groove. Then, the rubber mounting block 5 is pulled outward, so that the embedding block 21 is disengaged from the embedding groove in the third finger joint 3. At this time, the pressing block 25 and the squeezing plate 26 return to their original positions under the action of the second spring.

[0044] Then take a new rubber mounting block 5 and embed the embedding block 21 on it into the embedding groove in the third finger joint 3. At this time, the triangular clamping block 24 will be engaged in the propulsion groove in the embedding groove under the action of the first spring, so that the fingertip part on the prosthetic finger can be replaced quickly and conveniently, reducing the cost of replacement due to damage, and the replacement operation can be completed with one hand. The shape of the triangular clamping block 24 is set to ensure that the embedding block 21 can smoothly enter the embedding groove in the third finger joint 3.

[0045] When it is necessary to pick up a small pill-shaped object on a plane (such as a pill, capsule, etc.), the two first electric telescopic rods 27 are controlled to move the two transmission plates 28 and the strip plates on the two transmission plates 28 away from each other, thereby separating the two silicone strips 20 from each other and squeezing the two silicone sheets 6 respectively (since silicone is an elastic material, the squeezed silicone sheets 6 will undergo elastic deformation, thereby allowing the two silicone strips 20 to smoothly separate from each other). Subsequently, the pill-shaped object is placed in the gap between the two silicone strips 20, and the first electric telescopic rod 27 is controlled to move the two transmission plates 28 and the two strip plates closer to each other, thereby causing the two silicone strips 20 to start moving toward each other until the pill-shaped object is clamped, thereby achieving stable picking up of the small pill-shaped object. In addition, during the process of separation of the silicone strips 20, the first one-way tube 30 has sufficient excess length to accommodate the movement of the silicone strips 20 (the first one-way tube 30 is a soft tube).

[0046] When it is necessary to pick up a sheet object on a plane or dropped on the ground, the transmission disc 23 can be rotated by controlling the motor 22, and the rotation of the transmission disc 23 is used to drive the rubber mounting block 5 and the silicone sheet 6 to rotate until the rubber mounting block 5 and the silicone sheet 6 are rotated one hundred and eighty degrees. Since a plurality of micro suction cups 19 are fixedly embedded in the top of the rubber mounting block 5, the rotated rubber mounting block 5 can make the micro suction cups 19 thereon face the sheet object. The sheet object can be picked up from the plane or the ground through the adsorption of the plurality of micro suction cups 19, thereby achieving a stable picking up of the sheet object. In addition, if a small sheet object needs to be picked up, there is no need to control the motor 22. It is only necessary to tilt the third finger joint 3 downward under the action of the connecting rod structure 4, and use the micro suction cup 19 fixedly embedded in the end of the rubber mounting block 5 away from the third finger joint 3 to adsorb and pick up the small sheet object.

[0047] When it is necessary to use the prosthetic finger to pick up an object with water marks on the surface (such as a cup with water droplets on the surface), the silicone sheet 6 and the silicone strip 20 will contact the surface of the object and apply pressure. Under the squeezing of the silicone sheet 6 and the silicone strip 20, the water marks on the surface of the object will be squeezed out and dispersed, and under the action of capillary phenomenon, they will be guided into the branch groove 33 in the silicone sheet 6 and the branch groove 33 and the main groove 32 in the silicone strip 20. Then, the second electric telescopic rod 36 is controlled to make the piston 37 in the water tank 29 move downward (under normal circumstances, the piston 37 in the water tank 29 is at the top). Since the multiple first one-way tubes 30 are respectively connected to the multiple square tubes 35, and the multiple square tubes 35 are connected through the connecting tube 3 4 is connected to the main groove 32. Therefore, when the piston 37 moves downward, the water in the main groove 32 will be sucked by the connecting pipe 34 and sequentially sucked into the water tank 29 through the connecting pipe 34, the square pipe 35 and the first one-way pipe 30. During this process, since the main groove 32 and the branch grooves 33 are arranged in a cross shape, the water in the branch grooves 33 will be attracted to the main groove 32 by the suction of the connecting pipe 34 and finally be sucked into the water tank 29 together. Then, by controlling the second electric telescopic rod 36, the piston 37 moves upward for a distance, and the air above the piston 37 in the water tank 29 is discharged through the second one-way pipe 31 (both the first one-way pipe 30 and the second one-way pipe 31 can only flow in one direction).

[0048] Afterwards, by repeatedly moving the piston 37 up and down, the water in the main groove 32 and the branch groove 33 can be continuously extracted and stored in the water tank 29. This process can significantly reduce the moisture content between the silicone sheet 6 and the silicone strip 20 and the surface of the object, thereby effectively reducing the interference of water stains on the grasping operation of the prosthetic finger, and thus effectively improving the stability of picking up objects with water marks on the surface. The opening of the main groove 32 and the branch groove 33 can also increase the friction between the silicone sheet 6 and the silicone strip 20 and the object, thereby further improving the stability of picking up the object.

[0049] When it is necessary to pick up an easily deformed or fragile object, the strip airbag 12 is pulled toward the third finger joint 3. At this time, the rotating shaft 13 rotates as the strip airbag 12 is pulled, and the two volute springs 14 are used to twist the rotating shaft 13, so that the pulled strip airbag 12 is in a straight state. Under the action of the pulling force, the second magnetic plate 16 on the connecting belt 17 will separate from the first magnetic plate 15 at the bottom end of the L-shaped fixing plate 11 (under normal circumstances, the second magnetic plate 16 and the first magnetic plate 15 are in a state of mutual adsorption). When the strip airbag 12 is pulled to the silicone strip 20, the connecting belt 17 is flipped up. The strip 17 and the plurality of fixing strips 18 are provided, and the two silicone strips 20 are clamped and fixed by controlling the first electric telescopic rod 27. Then, the micro air pump 9 is turned on to inflate the interior of the strip airbag 12 through the connecting hose, so that the strip airbag 12 expands (because the length of the connecting hose corresponds to the length of the strip airbag 12, the pulled strip airbag 12 will not affect the gas delivery of the connecting hose), thereby filling the gap between the prosthetic finger and the object (that is, increasing the contact area between the prosthetic finger and the object), thereby increasing the friction between the prosthetic finger and the object.

[0050] When using the prosthetic finger to grasp and pick up an easily deformed or fragile object, since excessive force cannot be applied during grasping, it is easy for the object to slip during the grasping process. The inflated strip airbag 12 can increase the friction between the prosthetic finger and the object, thereby significantly reducing the risk of the object slipping. After the strip airbag 12 is used, the gas in the strip airbag 12 is extracted by controlling the micro air pump 9 to restore it to a flat state, and then the fixing bar 18 is removed from between the two silicone strips 20 by controlling the first electric telescopic rod 27, and the connecting belt 17 and the fixing bar 18 are reset. Under the action of the spiral spring 14 on the rotating shaft 13, the strip airbag 12 will be reeled by the rotating shaft 13. As the strip airbag 12 gradually reels, the second magnetic plate 16 on the fixing bar 18 gradually approaches and eventually contacts and adsorbs the first magnetic plate 15, thereby completing the fixation of the strip airbag 12 after retraction and reset.

[0051] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An underactuated prosthetic finger device with multiple grasping modes, comprising a first finger joint (1), a second finger joint (2), a third finger joint (3) and a connecting rod structure (4), wherein the first finger joint (1), the second finger joint (2) and the third finger joint (3) are interconnected via the connecting rod structure (4), and a silicone block (10) is installed at the bottom end of the second finger joint (2), characterized in that: Also includes: A clamping mechanism and a water-taking and absorbing mechanism, wherein the clamping mechanism is arranged on the first finger joint (1), the first finger joint (1) is detachably mounted with a rubber mounting block (5) via the clamping mechanism, the clamping mechanism is used to realize convenient replacement of the rubber mounting block (5), and the water-taking and absorbing mechanism is arranged on the rubber mounting block (5) and is used to enable the prosthetic finger to realize stable picking up of sheet-like objects and small pill-like objects and to extract water marks on the surface of the picked-up objects; The water-taking and absorbing mechanism comprises two silicone sheets (6) and a plurality of micro suction cups (19), wherein the plurality of micro suction cups (19) are respectively fixedly embedded in the top of the rubber mounting block (5) and the end away from the third finger joint (3), the tops of the two silicone sheets (6) are both provided with a connecting plate, and the two silicone sheets (6) are symmetrically mounted on the rubber mounting block (5) through the connecting plate, the rubber mounting block (5) is provided with a separation component, and the rubber mounting block (5) is connected to two silicone strips (20) through the separation component, the bottom end of the silicone strip (20) is provided with a plurality of main grooves (32), and the rubber mounting block (5), the silicone strip (20) and the main grooves (32) are provided with a water-absorbing component; The separation component comprises two strip-shaped grooves, and a first electric telescopic rod (27) is installed inside each of the two strip-shaped grooves. The output ends of the two first electric telescopic rods (27) face opposite directions and are both installed with a transmission plate (28). The bottom ends of the two transmission plates (28) are respectively fixedly connected to the top ends of the two silicone strips (20); A friction enhancing mechanism, the friction enhancing mechanism being arranged on the second finger joint (2) and being used to enhance the friction between the prosthetic finger and the object being picked up; The friction enhancement mechanism comprises a mounting groove (7), and a micro air pump (9) is mounted in the mounting groove (7); a rotating shaft (13) is mounted on one end of the second finger joint (2) away from the first finger joint (1); a strip air bag (12) is fixedly wound around the rotating shaft (13); a connecting hose is mounted on the output end of the micro air pump (9), and the connecting hose is connected to the strip air bag (12).

2. The underactuated prosthetic finger device with multiple gripping modes according to claim 1, characterized in that: The clamping mechanism comprises an embedding groove and an embedding block (21), wherein the embedding groove is provided at one end of the third finger joint (3) away from the second finger joint (2), a rotating assembly is installed on the embedding block (21), and the embedding block (21) is connected to the rubber mounting block (5) through the rotating assembly, the embedding block (21) is inserted into the embedding groove, and grooves are provided on both sides of the embedding block (21), a first spring is installed in the groove, and the groove is connected to a triangular clamping block (24) through the first spring, and a sliding groove is provided on both sides of the groove, and two sliders are symmetrically installed on the side of the triangular clamping block (24) facing the first spring, and the triangular clamping block (24) is slidably connected in the sliding groove through the slider, and two propulsion grooves are provided on the inner wall of the embedding groove, and the positions of the two propulsion grooves correspond to the positions of the two grooves, and the triangular clamping block (24) is located in the propulsion groove, and a propulsion assembly is provided in the third finger joint (3) and the two propulsion grooves for applying a thrust to the triangular clamping block (24).

3. The underactuated prosthetic finger device with multiple gripping modes according to claim 2, characterized in that: The rotating assembly includes a mounting cavity, the mounting cavity is opened at one end of the embedding block (21) facing the rubber mounting block (5), and a motor (22) is installed in the mounting cavity, a transmission disc (23) is installed at the output end of the motor (22), and the motor (22) is connected to the rubber mounting block (5) through the transmission disc (23), and the outer wall of the transmission disc (23) is arranged in contact with the inner wall of the mounting cavity.

4. The underactuated prosthetic finger device with multiple gripping modes according to claim 2, characterized in that: The pushing assembly includes two extrusion plates (26) and two force-applying grooves, the two force-applying grooves are opened inside the third finger joint (3), and the two force-applying grooves are penetrated by a through-hole on the outward side, the through-hole radius is smaller than the radius of the force-applying groove, and a pressing block (25) is arranged in the through-hole, a limit block is installed on the outer wall of the pressing block (25), and the pressing block (25) is slidably connected in the force-applying groove through the limit block, a connecting rod and a second spring are installed at the inward end of the pressing block (25), and the pressing block (25) is connected to the inner wall of the force-applying groove through the second spring, the inward end of the connecting rod passes through the inner wall of the force-applying groove and is fixedly connected to the extrusion plate (26), the extrusion plate (26) is slidably connected in the pushing groove, the height of the pushing groove is greater than the height of the groove, and the height of the pushing groove corresponds to the height of the extrusion plate (26).

5. The underactuated prosthetic finger device with multiple gripping modes according to claim 1, characterized in that: The two silicone strips (20) are in contact with each other, and the outward sides of the two silicone strips (20) are in contact with the two silicone sheets (6) respectively. The silicone sheet (6) and the silicone strip (20) are both located below the rubber mounting block (5), and the bottom ends of the silicone sheet (6) and the silicone strip (20) are both provided with a plurality of branch grooves (33). The positions of the plurality of branch grooves (33) on the silicone sheet (6) and the silicone strip (20) correspond to each other. The water absorption component is used to absorb water in the main groove (32) and the branch groove (33).

6. The underactuated prosthetic finger device with multiple gripping modes according to claim 5, characterized in that: The main groove (32) and the branch groove (33) are arranged in a cross-shaped manner, and the width of the main groove (32) is greater than the width of the branch groove (33).

7. The underactuated prosthetic finger device with multiple gripping modes according to claim 5, characterized in that: The two strip grooves are both opened at the bottom end of the rubber mounting block (5), and the two transmission plates (28) are located close to the side where the two silicone strips (20) are in contact. The opposite ends of the two transmission plates (28) are both equipped with strip plates, and the two strip plates are respectively installed on the top ends of the two silicone strips (20).

8. The underactuated prosthetic finger device with multiple gripping modes according to claim 5, characterized in that: The water absorption assembly comprises a square groove, an L-shaped connecting block and two through grooves, the square groove is opened at the bottom end of the rubber mounting block (5), and a water tank (29) is installed on the inner side wall of the square groove, the L-shaped connecting block is installed at the bottom end of the rubber mounting block (5), and a second electric telescopic rod (36) is installed on the L-shaped connecting block, the output end of the second electric telescopic rod (36) passes through the bottom end of the water tank (29) and is fixedly connected to a piston (37), and the piston (37) is sealingly slidably connected in the water tank (29); The two through grooves are respectively opened at one end of the two silicone strips (20), and a plurality of square tubes (35) are installed on the bottom wall of the through groove. A plurality of connecting tubes (34) are installed at the bottom end of the square tubes (35). The bottom ends of the plurality of connecting tubes (34) all pass through the bottom wall of the through groove and are located in the main groove (32). A second one-way tube (31) and a plurality of first one-way tubes (30) are installed at the top of the water tank (29). The end of the second one-way tube (31) away from the water tank (29) is located in the gap between the rubber mounting block (5) and the silicone strip (20). The ends of the plurality of first one-way tubes (30) away from the water tank (29) pass through the top walls of the two silicone strips (20) and are respectively connected to the plurality of square tubes (35). The first one-way tube (30), the second one-way tube (31) and the connecting tube (34) are all hoses.

9. The underactuated prosthetic finger device with multiple gripping modes according to claim 1, characterized in that: The friction enhancement mechanism further includes a connecting belt (17), the mounting groove (7) is provided at the top of the second finger joint (2), an L-shaped fixing plate (11) is installed at one end of the second finger joint (2) away from the first finger joint (1), a recess is provided on the L-shaped fixing plate (11), and two support plates are symmetrically installed at the bottom end of the L-shaped fixing plate (11), and the two support plates are rotatably connected to the rotating shaft (13); The end of the connecting hose away from the micro air pump (9) passes through the inner wall of the installation groove (7) and passes through the clearance groove to be connected to the strip air bag (12). One end of the connecting belt (17) is fixedly connected to the top of the strip air bag (12) near the edge, and a plurality of fixing strips (18) are fixedly connected to the connecting belt (17). A second magnetic plate (16) is installed on the side of the connecting belt (17) away from the second finger joint (2), and the sides of the connecting belt (17) and the fixing strips (18) facing the second finger joint (2) are in contact with the strip air bag (12). A first magnetic plate (15) is installed at the bottom end of the L-shaped fixing plate (11). Two vortex springs (14) are installed on the rotating shaft (13), and the rotating shaft (13) is connected to the L-shaped fixing plate (11) through the vortex springs (14).

10. The underactuated prosthetic finger device with multiple gripping modes according to claim 9, characterized in that: A porous plate (8) is detachably mounted at the top opening of the mounting groove (7), and the length of the connecting hose corresponds to the length of the strip-shaped airbag (12).

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