Intelligent display upper limb myoelectric prosthesis

Abstract

The application discloses an intelligent display upper limb myoelectric prosthesis, and relates to the technical field of upper limb prostheses.The intelligent display upper limb myoelectric prosthesis comprises a connecting arm, which is connected to an amputation site and internally provided with an induction electrode; a driving arm, which is fixed to the connecting arm and internally provided with a driving motor; a wrist assembly, which is installed at one end of the driving arm away from the connecting arm; a hand prosthesis, which is fixed to an output end of the wrist assembly; and a display, which is installed on the connecting arm and used for displaying and adjusting the overall state of the prosthesis.

Description

Technical Field

[0001] This invention relates to the field of upper limb prosthesis technology, specifically to an intelligent display upper limb myoelectric prosthesis. Background Technology

[0002] Myoelectric prostheses are intelligent prostheses controlled by bioelectrical signals. They utilize surface electromyography (EMG) signals generated by the contraction of residual limb muscles to drive mechanical movements. Their working principle involves collecting changes in muscle potential through electrodes, which are then analyzed by a microcomputer to control a micromotor to achieve functions such as finger opening and closing, and wrist rotation.

[0003] Currently, when the amputation site only has flexor and extensor muscle groups, the movements that the prosthesis can perform are limited, especially in the wrist area, where only forward and reverse rotation movements are possible, but not wrist flexion and extension movements, resulting in limited movements and affecting daily use.

[0004] To address the above problems, this invention provides an intelligent display upper limb myoelectric prosthesis to solve these issues. Summary of the Invention

[0005] To achieve the above objectives, the present invention provides the following technical solution: an intelligent display upper limb myoelectric prosthesis, comprising:

[0006] The connecting arm is attached to the amputation site and contains sensing electrodes.

[0007] A drive arm is fixed on the connecting arm, and a drive motor is fixed inside it;

[0008] A wrist assembly is mounted on the end of the drive arm away from the connecting arm;

[0009] A hand prosthesis, fixed to the output end of the wrist assembly;

[0010] A display, mounted on the connecting arm, is used to display and adjust the overall status of the prosthesis.

[0011] Further, preferably, the wrist assembly includes:

[0012] A fixed chamber is fixed to one end of the drive arm;

[0013] The sphere is rotated and positioned within the fixed chamber.

[0014] A connecting block is fixed to the end of the rotating ball away from the drive arm and is fixedly connected to the hand prosthesis;

[0015] An adjustment assembly is hinged to the end of the rotating ball away from the connecting block;

[0016] A bevel gear set is installed inside the drive arm, and the bevel gear set includes a first bevel gear and a second bevel gear. The first bevel gear is connected to the output end of the drive motor via a drive shaft, and the second bevel gear is fixedly connected to the adjustment assembly. The first bevel gear and the second bevel gear mesh and transmit power.

[0017] A fixed ring is fixed inside the drive arm, and the second bevel gear slides within the fixed ring using a conversion assembly.

[0018] Further, preferably, the adjustment component includes:

[0019] The swing arm is fixed to the axis of the second bevel gear by a column;

[0020] Link 1 is hinged at one end to one end of the swing rod and at the other end to the rotating ball;

[0021] Link two has one end hinged to the other end of the swing rod, and the other end is slidably connected to link three via multiple sliding columns. Link three is hinged to the rotating sphere.

[0022] Furthermore, preferably, the inner wall of the fixing ring is provided with an annular groove, and the conversion component is slidably disposed within the annular groove.

[0023] Further, preferably, the conversion component includes:

[0024] A sliding block is slidably disposed within the annular groove;

[0025] At least two limiting posts are symmetrically slidably arranged within the sliding block;

[0026] The drive column is fixed to the upper end face of the limiting column;

[0027] The drive rod has one end sleeved on the drive column and the other end slidably connected to a slide rod.

[0028] A sliding disk is slidably disposed within the sliding block, its outer wall is hinged to a plurality of sliding rods, and a return spring is provided between the sliding disk and the sliding block;

[0029] A rotating shaft is rotatably disposed within the sliding block, and the bottom of the second bevel gear is fixedly connected, with the rotating shaft located above the sliding disk;

[0030] An electromagnet is fixed inside the sliding block and located below the sliding disk.

[0031] Furthermore, preferably, the drive rod has a waist-shaped groove, the diameter of the drive column is smaller than the diameter of the limiting column, and a limiting plate is fixed to the upper end face of the drive column. The drive column and the waist-shaped groove are slidably connected, and the side wall of the drive rod is rotatably connected to the sliding block by a limiting shaft.

[0032] Furthermore, preferably, a magnetic post is slidably but non-rotatable provided at the bottom of the rotating shaft, the magnetic post passing through the sliding disk and corresponding to the electromagnet, and the magnetic post and the sliding disk are rotatably but non-slidably connected.

[0033] Furthermore, preferably, the initial state of the reset spring is to push the sliding disk to move in the direction of the rotating shaft, at which time the limiting post and the annular groove press and limit each other.

[0034] Compared with the prior art, the present invention provides an intelligent display upper limb myoelectric prosthesis, which has the following beneficial effects:

[0035] This invention enables key flexion and extension movements (palmar flexion / dorsiflexion) of the wrist in addition to rotation through the wrist component and the conversion component, thereby improving the ability to move. The multi-degree-of-freedom wrist movements (flexion, extension + rotation) significantly expand the range of motion that the prosthesis can perform, making it closer to the function of a natural wrist. This greatly improves the practicality of the prosthesis and its adaptability to daily activities (such as grasping objects at different angles, operating tools, opening and closing doors, etc.). Attached Figure Description

[0036] Figure 1 A schematic diagram of the overall structure of an intelligent display upper limb myoelectric prosthesis;

[0037] Figure 2 A schematic diagram of the internal structure of the wrist component of an intelligent display upper limb myoelectric prosthesis;

[0038] Figure 3 A schematic diagram of the adjustment component structure of an intelligent display upper limb myoelectric prosthesis;

[0039] Figure 4 A schematic diagram of the conversion component structure for an intelligent display upper limb myoelectric prosthesis;

[0040] In the diagram: 1. Connecting arm; 2. Drive arm; 3. Wrist assembly; 4. Hand prosthesis; 5. Display; 31. Rotating ball; 32. Connecting block; 33. Adjustment assembly; 34. Bevel gear set; 35. Fixing ring; 36. Drive shaft; 331. Swing rod; 332. Link 1; 333. Link 2; 334. Link 3; 335. Sliding column; 341. Bevel gear 1; 342. Bevel gear 2; 351. Annular groove; 371. Sliding block; 372. Limiting column; 373. Drive column; 374. Drive rod; 375. Waist-shaped groove; 376. Slide rod; 377. Sliding disc; 378. Rotating shaft; 379. Electromagnet. Detailed Implementation

[0041] Reference Figures 1-4 The present invention provides a technical solution: an intelligent display upper limb myoelectric prosthesis, comprising:

[0042] Connecting arm 1 is connected to the amputation site and has induction electrodes installed inside it;

[0043] Drive arm 2 is fixed on the connecting arm 1, and a drive motor is fixed inside it;

[0044] Wrist assembly 3 is installed at the end of the drive arm 2 away from the connecting arm 1;

[0045] The hand prosthesis 4 is fixed to the output end of the wrist assembly 3;

[0046] Display 5, mounted on the connecting arm 1, is used to display and adjust the overall status of the prosthesis.

[0047] The overall movement of the prosthesis can be controlled by adjusting the display 5, avoiding the situation where beginners cannot reset the prosthesis after operation. At this time, the overall movement of the prosthesis can be reset by actively adjusting the display 5. The display 5 can also be used to adjust the parameters of the prosthesis (such as sensitivity, movement speed, etc.).

[0048] In this embodiment, the wrist assembly 3 includes:

[0049] A fixed compartment is fixed to one end of the drive arm 2;

[0050] Rotate the sphere 31 to rotate it within the fixed chamber;

[0051] The connecting block 32 is fixed to the end of the rotating ball 31 away from the drive arm 2 and is fixedly connected to the hand prosthesis 4;

[0052] Adjustment component 33 is hinged to the end of the rotating ball 31 away from the connecting block 32;

[0053] A bevel gear set 34 is installed inside the drive arm 2, and the bevel gear set 34 includes a first bevel gear 341 and a second bevel gear 342. The first bevel gear 341 is connected to the output end of the drive motor via a drive shaft 36, and the second bevel gear 342 is fixedly connected to the adjustment component 33. The first bevel gear 341 and the second bevel gear 342 mesh and transmit power.

[0054] The fixed ring 35 is fixed inside the drive arm 2, and the bevel gear 342 slides within the fixed ring 35 using a conversion assembly.

[0055] It is important to note that when the wrist movement needs to be switched, the flexor muscle group contracts twice in succession, at which point the wrist switches from rotation mode to flexion-extension mode. Then, the flexor muscle group contracts twice in succession again, at which point the wrist switches from flexion-extension mode to rotation mode. In flexion-extension mode, bevel gear 2 342 is restricted by the conversion component. At this time, bevel gear 2 342 and the fixed ring 35 are relatively stationary. The drive motor drives bevel gear 1 341 and causes bevel gear 2 342 to rotate, thereby causing the hand prosthesis 4 to perform flexion-extension movements. In rotation mode, the conversion component stops working, releasing the restriction on bevel gear 2 342. At this time, bevel gear 2 342 can revolve along the inner wall of the fixed ring 35. The drive motor drives bevel gear 1 341 and causes bevel gear 2 342 to revolve, thereby causing the hand prosthesis 4 to perform rotational movements.

[0056] In a preferred embodiment, the adjustment component 33 includes:

[0057] The swing arm 331 is fixed to the axis of the bevel gear 342 by a column;

[0058] Link 332 is hinged at one end to one end of the swing rod 331 and at the other end to the rotating ball 31;

[0059] Link 2 333 is hinged at one end to the other end of the swing rod 331, and the other end is slidably connected to link 334 via multiple sliding columns 335. Link 334 is hinged to the rotating ball 31.

[0060] It should be noted that the center position of the swing arm 331 coincides with the axis position of the bevel gear 341.

[0061] In other words, when the bevel gear 342 rotates, it can drive the swing rod 331 to swing, thereby causing the connecting rod 332 to push the rotating ball 31 to swing, controlling the hand prosthesis 4 to perform flexion and extension movements.

[0062] In a preferred embodiment, the inner wall of the fixing ring 35 is provided with an annular groove 351, and the conversion component is slidably disposed in the annular groove 351.

[0063] In other words, when bevel gear 2 342 slides in the annular groove 351, bevel gear 2 342 revolves around the axis of bevel gear 1 341. At this time, bevel gear 2 342 drives the swing rod 331 to revolve, causing the swing rod 331 to drive the connecting rod 1 332, connecting rod 2 333 and connecting rod 334 to rotate, thereby driving the hand prosthesis 4 to rotate.

[0064] In a preferred embodiment, the conversion component includes:

[0065] The sliding block 371 is slidably disposed within the annular groove 351;

[0066] At least two limiting posts 372 are symmetrically slidably arranged within the sliding block 371;

[0067] The drive post 373 is fixed to the upper end face of the limiting post 372;

[0068] The drive rod 374 has one end sleeved on the drive column 373 and the other end slidably connected to the slide rod 376.

[0069] A sliding disk 377 is slidably disposed within the sliding block 371, its outer wall is hinged to a plurality of sliding rods 376, and a return spring is provided between the sliding disk 377 and the sliding block 371;

[0070] A rotating shaft 378 is rotatably disposed within the sliding block 371, and the bottom of the second bevel gear 342 is fixedly connected thereto, with the rotating shaft 378 located above the sliding disk 377;

[0071] Electromagnet 379 is fixed inside the sliding block 371 and located below the sliding disk 377.

[0072] In a preferred embodiment, the drive rod 374 has a waist-shaped groove 375, the diameter of the drive column 373 is smaller than the diameter of the limiting column 372, and a limiting plate is fixed on the upper end face of the drive column 373. The drive column 373 and the waist-shaped groove 375 are slidably connected, and the side wall of the drive rod 374 is rotatably connected to the sliding block 371 by a limiting shaft.

[0073] In a preferred embodiment, a magnetic post is provided at the bottom of the rotating shaft 378 that slides but does not rotate. The magnetic post passes through the sliding disk 377 and corresponds to the electromagnet 379. The magnetic post is rotatably but non-slidingly connected to the sliding disk 377.

[0074] When the electromagnet 379 is energized, the magnetic column drives the sliding disk 377 to slide towards the electromagnet 379. At this time, the electromagnet 379 attracts the magnetic column, restricting its rotation, so that the first bevel gear 341 can drive the second bevel gear 342 to revolve. At the same time as the magnetic column drives the sliding disk 377 to slide towards the electromagnet 379, the sliding disk 377 drives the sliding rod 376 and the drive rod 374 to rotate, and causes the limiting column 372 to slide upward (this principle is a seesaw action).

[0075] In a preferred embodiment, the initial state of the reset spring is to push the sliding disk 377 to move towards the rotating shaft 378, at which time the limiting post 372 and the annular groove 351 press and limit each other.

[0076] In practice, the wrist component 3 and the conversion component enable key flexion and extension movements (palmar flexion / dorsiflexion) of the wrist in addition to rotation, improving mobility. The multi-degree-of-freedom wrist movements (flexion, extension + rotation) significantly expand the range of motion that the prosthesis can perform, making it closer to the function of a natural wrist. This greatly improves the practicality of the prosthesis and its adaptability to daily activities (such as grasping objects at different angles, operating tools, opening and closing doors, etc.).

[0077] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An intelligent display of the upper limb myoelectric prosthesis, characterized in that, The utility model relates to a kind of prosthetic hand, including: Connecting arm (1) is connected with amputation site, and its inside is equipped with induction electrode; Driving arm (2) is fixed on the connecting arm (1), and driving motor is fixed in its inside; Wrist assembly (3) is installed at the end of the driving arm (2) away from the connecting arm (1); Hand prosthesis (4) is fixed at the output end of the wrist assembly (3); Display (5) is installed on the connecting arm (1), for showing and adjusting the overall state of prosthesis; The wrist assembly (3) includes: Fixed bin is fixed at one end of the driving arm (2); Rotary sphere (31) is rotatably arranged in the fixed bin; Connecting block (32) is fixed at the end of the rotary sphere (31) away from the driving arm (2), and is fixedly connected with the hand prosthesis (4); Adjusting assembly (33) is hinged at the end of the rotary sphere (31) away from the connecting block (32); Bevel gear set (34) is installed in the inside of the driving arm (2), and the bevel gear set (34) includes bevel gear one (341) and bevel gear two (342), the bevel gear one (341) is connected with the output end of the driving motor using driving shaft (36), the bevel gear two (342) is fixedly connected with the adjusting assembly (33), and the bevel gear one (341) and the bevel gear two (342) are engaged transmission; Fixed ring (35) is fixed in the inside of the driving arm (2), and the bevel gear two (342) is slidably arranged in the fixed ring (35) using conversion assembly; The inner wall of the fixed ring (35) is provided with annular slide groove (351), and the conversion assembly is slidably arranged in the annular slide groove (351); The conversion assembly includes: Sliding block (371) is slidably arranged in the annular slide groove (351); At least two limit posts (372) are symmetrically slidably arranged in the sliding block (371); Driving column (373) is fixed to the upper end face of the limit post (372); Driving rod (374) is sleeved on the driving column (373) at one end, and the other end is slidably connected with slide rod (376); Sliding disc (377) is slidably arranged in the sliding block (371), the outer wall thereof is hinged with a plurality of slide rods (376), and a return spring is arranged between the sliding disc (377) and the sliding block (371); Rotating shaft (378) is rotatably arranged in the sliding block (371), and the bottom of the bevel gear two (342) is fixedly connected, and the rotating shaft (378) is located above the sliding disc (377); Electromagnet (379) is fixed in the sliding block (371), and is located below the sliding disc (377).

2. The intelligent displayed myoelectric prosthesis of the upper limb according to claim 1, characterized in that, The adjusting assembly (33) includes: Swing rod (331) is fixed at the axial position of the bevel gear two (342) using a stand; Connecting rod one (332) is hingedly connected at one end of the swing rod (331), and the other end is hingedly connected to the rotary sphere (31); Connecting rod two (333) is hingedly connected to the other end of the swing rod (331), and the other end is slidably connected with connecting rod three (334) by a plurality of sliding columns (335), and the connecting rod three (334) is hingedly connected to the rotating sphere (31).

3. The intelligent displayed myoelectric prosthesis of the upper limb according to claim 1, characterized in that, A waist-shaped groove (375) is formed in the driving rod (374), the diameter of the driving column (373) is smaller than the diameter of the limiting column (372), and the upper end surface of the driving column (373) is fixedly provided with a limiting disc; the driving column (373) is slidably connected with the waist-shaped groove (375); and the side wall of the driving rod (374) is rotatably connected with the sliding block (371) through a limiting shaft.

4. The intelligent displayed myoelectric prosthesis of the upper limb according to claim 1, characterized in that, The bottom of the rotating shaft (378) is slidably and non-rotatably provided with a magnetic column, the magnetic column penetrates through the sliding disc (377) and corresponds to the electromagnet (379), and the magnetic column is rotatably and non-slidably connected with the sliding disc (377).

5. The intelligent displayed myoelectric prosthesis of claim 1, wherein, The initial state of the reset spring is to push the sliding disc (377) to move in the direction of the rotating shaft (378), at this time, the limiting column (372) is pressed and limited by the annular sliding groove (351).

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