Self-adaptive multi-mode stimulation neurological function evaluation mechanical claw

Abstract

The invention relates to the technical field of mechanical grippers, and discloses a self-adaptive multi-mode stimulation neurological function evaluation mechanical gripper which comprises a mechanical arm, a quick disassembly mechanism is arranged in the mechanical arm, a detection mechanism is arranged on the outer side of the mechanical arm, and the quick disassembly mechanism comprises a mechanical gripper body. A plurality of identical sliding grooves are formed in the outer surface of the mechanical claw body, and two electric telescopic rods are fixedly connected to the inner wall of each sliding groove. According to the self-adaptive multi-mode stimulation nerve function evaluation mechanical claw, the electric telescopic rod drives the sliding plate to move along the sliding groove, the movable frame is driven to move horizontally, and the first flexible contact plate and the second flexible contact plate can be rapidly disassembled or assembled in cooperation with the fixing effect of threaded holes in the movable frame, limiting bolts and limiting nuts; and the contact plates with different detection modes can be replaced according to the limb characteristics or evaluation requirements of the patient, so that the flexible adjustment effect is achieved, the adaptability of the equipment to different scenes is greatly improved, and the operation complexity is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical gripper, and in particular to a self-adaptive multi-modal stimulation nerve function evaluation mechanical gripper. BACKGROUND

[0002] The mechanical gripper is a key component of an industrial robot, which is directly responsible for grasping workpieces or performing work as an end effector, simulates the clamping, transporting and placing functions of human hands, and its common types include vacuum cups, soft grippers, parallel two-finger grippers and multi-fingered dexterous hands, which are suitable for different scenes, the vacuum cup is suitable for smooth and light objects, the soft gripper can grasp special-shaped and fragile objects by using flexible materials, and the parallel two-finger structure is simple and commonly used in industry.

[0003] At present, the mechanical gripper is mainly used for limiting and fixing the limbs of patients on medical equipment to prevent the patients from moving during the use of the medical equipment for examination, thereby causing the problem of inaccurate examination results. The mechanical gripper can only bind the limbs of the patients, and cannot evaluate the nerve function of the limbs of the patients during the binding process, so that other devices need to be used subsequently to test the nerve function of the patients, resulting in the problems of low adaptability and single function of the mechanical gripper. SUMMARY

[0004] The present application aims to provide a self-adaptive multi-modal stimulation nerve function evaluation mechanical gripper to solve the problems in the background art.

[0005] In order to solve the above technical problems, the present application provides the following technical scheme: a self-adaptive multi-modal stimulation nerve function evaluation mechanical gripper, comprising a mechanical arm, a quick dismounting mechanism is arranged in the inside of the mechanical arm, and a detection mechanism is arranged on the outside of the mechanical arm. The quick dismounting mechanism comprises a mechanical gripper main body, a plurality of same sliding grooves are formed in the outer surface of the mechanical gripper main body, the inner walls of each group of sliding grooves are fixedly connected with two electric telescopic rods, the telescopic ends of each group of electric telescopic rods are fixedly connected with two sliding plates, the sides away from each other of each group of sliding plates are fixedly connected with two movable racks, the upper surfaces of each group of movable racks are provided with four threaded holes, the outer surfaces of each group of sliding plates are in contact with the inner walls of the sliding grooves, a fixed frame is fixedly connected to the outer surface of the mechanical gripper main body, and the inner wall of the fixed frame is fixedly connected with the outer surface of the mechanical arm.

[0006] Preferably, the detection mechanism comprises a first flexible contact plate and a second flexible contact plate, the inner wall of the first flexible contact plate is fixedly connected with a flexible polyimide substrate, the upper surface of the flexible polyimide substrate is fixedly connected with a pressure sensor, the top end of the pressure sensor is fixedly connected with an embedded circuit board, the inner wall of the second flexible contact plate is fixedly connected with a heat-conducting substrate, the bottom surface of the heat-conducting substrate is fixedly connected with a medical silica gel film, and the inner wall of the medical silica gel film is fixedly connected with a semiconductor refrigeration piece.

[0007] Preferably, the outer surface of the mechanical arm is fixedly connected with a control panel and two supporting blocks, the control panel is electrically connected with the electric telescopic rod through wires, and the right side surface of each supporting block is fixedly connected with the left side surface of the fixed frame.

[0008] Preferably, the outer surface of the control panel is fixedly connected with a reinforcing frame, and the back surface of the reinforcing frame is fixedly connected with the outer surface of the mechanical arm.

[0009] Preferably, the outer surface of each group of electric telescopic rods is fixedly connected with two protection seats, and the side surface of each group of protection seats close to each other is fixedly connected with the inner wall of the sliding groove.

[0010] Preferably, the outer surface of the telescopic end of each group of electric telescopic rods is fixedly connected with two reinforcing plates, and the side surface of each group of reinforcing plates away from each other is fixedly connected with the side surface of the two sliding plates close to each other.

[0011] Preferably, the inner wall of each group of reinforcing plates is threadedly connected with a plurality of same fixing bolts, and the outer surface of each group of fixing bolts is threadedly connected with the inner wall of the sliding plate.

[0012] Preferably, the outer surface of each group of sliding plates is fixedly connected with four sliding blocks, and the outer surface of each group of sliding blocks is in contact with the inner wall of the sliding groove.

[0013] Preferably, the outer surface of the first flexible contact plate and the outer surface of the second flexible contact plate are fixedly connected with a plurality of same supporting frames, the inner wall of each group of supporting frames is threadedly connected with four limiting bolts, and the outer surface of each group of limiting bolts is threadedly connected with the inner wall of the threaded hole.

[0014] Preferably, the outer surface of each group of limiting bolts is threadedly connected with two limiting nuts, and the upper surface of each group of limiting nuts is in contact with the outer surface of the movable frame.

[0015] Compared with the prior art, the present application has the following beneficial effects: Firstly, the first flexible contact plate and the second flexible contact plate can be quickly disassembled or installed through the electric telescopic rod driving the sliding plate to move along the sliding groove, driving the movable frame to translate, and the fixing effect of the threaded hole on the movable frame and the limiting bolt and the limiting nut, and the design can replace the contact plate of different detection modes according to the limb characteristics of the patient or the evaluation requirements, play a flexible adjustment role, greatly improve the adaptability of the equipment to different scenes, and reduce the operation complexity.

[0016] Secondly, the first flexible contact plate is provided with a built-in pressure sensor and an embedded circuit board, so that the contact pressure of the mechanical claw and the limb can be detected in real time, and multi-parameter current signals can be accurately output to activate different types of nerve fibers, which are used for motor nerve evaluation and pain evaluation, and the human body safety and comfort can be ensured through mechanical protection and adaptive design, and the multi-modal stimulation system of the mechanical claw is perfectly integrated, the flexible characteristics of the flexible polyimide base can accurately perceive the contact state, and self-adaptive pressure regulation can be realized through pressure feedback, so that the patient is not uncomfortable due to excessive pressure or the fixation is unstable due to insufficient pressure, the second flexible contact plate provides temperature stimulation through the semiconductor refrigerating sheet, and the multi-modal stimulation mode of 'pressure + temperature' is formed through pressure stimulation, so that the neural response of the patient to different stimulations can be evaluated synchronously in the process of fixing the limb, without the need of additional equipment, and the medical detection efficiency is significantly improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description.

[0018] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the adaptive multi-modal stimulation nerve function evaluation mechanical claw of the present application. Figure 2 It is a schematic diagram of the overall three-dimensional structure of the adaptive multi-modal stimulation nerve function evaluation mechanical claw of the present application. Figure 3 It is a schematic diagram of the overall three-dimensional structure of the adaptive multi-modal stimulation nerve function evaluation mechanical claw of the present application. Figure 4 It is a schematic diagram of the overall three-dimensional structure of the adaptive multi-modal stimulation nerve function evaluation mechanical claw of the present application. Figure 5 It is a schematic diagram of the overall three-dimensional structure of the adaptive multi-modal stimulation nerve function evaluation mechanical claw of the present application. Figure 6 It is a schematic diagram of the overall three-dimensional structure of the adaptive multi-modal stimulation nerve function evaluation mechanical claw of the present application.

[0019] Wherein: 1, mechanical arm; 2, quick disassembly mechanism; 201, mechanical claw main body; 202, sliding groove; 203, electric telescopic rod; 204, sliding plate; 205, movable frame; 206, control panel; 207, fixed frame; 208, threaded hole; 209, sliding block; 3, detection mechanism; 301, first flexible contact plate; 302, flexible polyimide substrate; 303, pressure sensor; 304, embedded circuit board; 305, second flexible contact plate; 306, heat-conducting substrate; 307, medical silica gel film; 308, semiconductor refrigeration piece; 4, support block; 5, reinforcing frame; 6, protection seat; 7, reinforcing plate; 8, fixing bolt; 9, support frame; 10, limiting bolt; 11, limiting nut. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0021] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore cannot be understood as a limitation on the present application.

[0022] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances. In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0023] Embodiment one Please refer to Figures 1 to 6 The preferred exemplary embodiment of the present application provides a self-adaptive multi-modal stimulation neural function evaluation mechanical claw, comprising a mechanical arm 1, a quick disassembly mechanism 2 is arranged inside the mechanical arm 1, and a detection mechanism 3 is arranged outside the mechanical arm 1. The quick dismounting mechanism 2 comprises a mechanical claw body 201, the outer surface of the mechanical claw body 201 is provided with a plurality of same sliding grooves 202, the inner wall of each group of sliding grooves 202 is fixedly connected with two electric telescopic rods 203, the telescopic end of each group of electric telescopic rods 203 is fixedly connected with two sliding plates 204, the side face of each group of sliding plates 204 away from each other is fixedly connected with two movable racks 205, the upper surface of each group of movable racks 205 is provided with four threaded holes 208, the outer surface of each group of sliding plates 204 is in contact with the inner wall of the sliding groove 202, the outer surface of the mechanical claw body 201 is fixedly connected with a fixed frame 207, and the inner wall of the fixed frame 207 is fixedly connected with the outer surface of the mechanical arm 1; The outer surface of the mechanical arm 1 is fixedly connected with a control panel 206 and two supporting blocks 4, the control panel 206 is electrically connected with the electric telescopic rod 203 through wires, the right side face of each supporting block 4 is fixedly connected with the left side face of the fixed frame 207, the control panel 206 can be used for conveniently controlling and adjusting the equipment, the applicability of the device is enhanced, the fixed frame 207 is assisted and supported by the supporting block 4, the stability of the mechanical arm 1 and the mechanical claw body 201 is further improved, and the equipment runs stably during detection, and data acquisition is accurate; The outer surface of the control panel 206 is fixedly connected with a reinforcing frame 5, and the back surface of the reinforcing frame 5 is fixedly connected with the outer surface of the mechanical arm 1, the reinforcing frame 5 can enhance the connection strength of the key components and avoid loosening or damage in long-term use; The outer surface of each group of electric telescopic rods 203 is fixedly connected with two protection seats 6, the side face of each group of protection seats 6 away from each other is fixedly connected with the inner wall of the sliding groove 202, the protection seat 6 can protect the electric telescopic rod 203, prevent the electric telescopic rod 203 from being affected by external dust and impurities during use, and reduce the service life; The outer surface of the telescopic end of each group of electric telescopic rods 203 is fixedly connected with two reinforcing plates 7, the side face of each group of reinforcing plates 7 away from each other is fixedly connected with the side face of the two sliding plates 204, the reinforcing plate 7 can reinforce the electric telescopic rod 203 and the sliding plate 204, and prevent the electric telescopic rod 203 and the sliding plate 204 from being unstable due to position deviation during use; The inner wall of each group of reinforcing plates 7 is threadedly connected with a plurality of same fixing bolts 8, and the outer surface of each group of fixing bolts 8 is threadedly connected with the inner wall of the sliding plate 204, the fixing bolt 8 can reinforce the position of the reinforcing plate 7 and plays a role of fixing and limiting; The outer surface of each group of sliding plates 204 is fixedly connected with four sliding blocks 209, and the outer surface of each group of sliding blocks 209 is in contact with the inner wall of the sliding groove 202, the sliding block 209 can limit the position of the sliding plate 204 and prevent the sliding plate 204 from swinging during movement.

[0024] The specific implementation of the embodiment is: first, check the stability of the connection between the mechanical arm 1 and the mechanical claw body 201, confirm that the fixing frame 207 is firmly connected with the mechanical arm 1 through the support block 4, and there is no looseness, then check whether the reinforcing frame 5 of the control panel 206 is stable, avoid the control panel 206 shaking during operation, then check whether the electric telescopic rod 203 in the sliding groove 202 is completely wrapped by the protection seat 6, prevent dust from entering, check whether the sliding block 209 outside the sliding plate 204 is attached to the inner wall of the sliding groove 202, ensure smooth sliding without jamming, and finally confirm that the reinforcing plate 7 at the telescopic end of the electric telescopic rod 203 is tightly connected with the sliding plate 204 through the fixing bolt 8, and there is no bolt loosening. When the contact plate needs to be installed, the electric telescopic rod 203 is started through the control panel 206, the telescopic end is extended, the sliding plate 204 is translated along the sliding groove 202, the sliding block 209 slides along the inner wall of the sliding groove 202, and the position of the sliding plate 204 is prevented from deviating, then the movable frame 205 is moved to a position convenient for installation, the support frame 9 outside the first flexible contact plate 301 is aligned with the threaded hole 208 of the movable frame 205, it is ensured that the four mounting holes of each support frame 9 are completely aligned with the four threaded holes 208 of the movable frame 205, the limiting bolt 10 is passed through the mounting hole of the support frame 9 and screwed into the threaded hole 208, and it is initially screwed to a half-tight state. Adjust the electric telescopic rod 203 through the control panel 206, so that the contact surface of the first flexible contact plate 301 is parallel to the clamping surface of the mechanical claw body 201 with small error, confirm the position, and then tighten the limiting bolt 10 using a wrench, and then tighten the limiting nut 11 to be attached to the surface of the movable frame 205. Reverse tightening can effectively prevent the limiting bolt 10 from loosening. When the contact plate needs to be disassembled, the limiting nut 11 is loosened first using a wrench, so that it is separated from the surface of the movable frame 205, and then the limiting bolt 10 is unscrewed and taken out of the threaded hole 208 of the movable frame 205 and the mounting hole of the support frame 9 and placed in a special tool box. The electric telescopic rod 203 is controlled to retract through the control panel 206, the sliding plate 204 is moved along the sliding groove 202 to the inside of the mechanical claw body 201, the movable frame 205 is reset to the initial position, the space occupation during idling is reduced, and if the first flexible contact plate 301 of the electric stimulation mode is switched to the second flexible contact plate 305 of the temperature stimulation mode, the first flexible contact plate 301 is disassembled according to the above steps, and then the second flexible contact plate 305 is fixed according to the above steps. The whole switching process can be completed in a very short time, which reflects the flexibility of the quick disassembly mechanism 2.

[0025] Embodiment two See Figures 1 to 6Different from example one, in this embodiment, the detection mechanism 3 comprises a first flexible contact plate 301 and a second flexible contact plate 305, the inner wall of the first flexible contact plate 301 is fixedly connected with a flexible polyimide substrate 302, the upper surface of the flexible polyimide substrate 302 is fixedly connected with a pressure sensor 303, the top end of the pressure sensor 303 is fixedly connected with an embedded circuit board 304, the inner wall of the second flexible contact plate 305 is fixedly connected with a heat-conducting substrate 306, the bottom surface of the heat-conducting substrate 306 is fixedly connected with a medical silica gel film 307, and the inner wall of the medical silica gel film 307 is fixedly connected with a semiconductor refrigeration sheet 308; The outer surface of the first flexible contact plate 301 and the outer surface of the second flexible contact plate 305 are both fixedly connected with a plurality of identical support frames 9, the inner wall of each group of support frames 9 is threadedly connected with four limiting bolts 10, the outer surface of each group of limiting bolts 10 is threadedly connected with the inner wall of the threaded hole 208, the first flexible contact plate 301 adopts the flexible polyimide substrate 302, and the second flexible contact plate 305 is matched with the medical silica gel film 307, both of which have good flexibility and biocompatibility, can conform to the limb curve, reduce the discomfort caused by rigid contact, and can avoid excessive clamping through the real-time feedback of the pressure sensor 303, the temperature stimulation of the semiconductor refrigeration sheet 308 is conducted through the medical silica gel film 307, which can reduce the direct stimulation to the skin, thereby ensuring the safety and reliability of the detection process, through the fixing effect of the threaded hole 208 on the movable frame 205 and the limiting bolt 10 and the limiting nut 11, the first flexible contact plate 301 and the second flexible contact plate 305 can be quickly disassembled or installed, and the design can replace the contact plates of different detection modes according to the limb characteristics of the patient or the evaluation requirements, play a flexible adjustment role, greatly improve the adaptability of the equipment to different scenes, and reduce the operation complexity; The outer surface of each group of limiting bolts 10 is threadedly connected with two limiting nuts 11, the upper surface of each group of limiting nuts 11 is in contact with the outer surface of the movable frame 205, through the limiting nuts 11, the limiting bolts 10 can be prevented from shaking due to acting force during use, and the stability of the device is enhanced.

[0026] The specific implementation of the embodiment is: when the first flexible contact plate 301 is installed, the electrode on the embedded circuit board 304 contacts the human skin, outputs a current or voltage of a specific parameter to activate the nerve fibers, and the electrode is attached to the flexible polyimide base 302, which can deform with the skin surface and avoid displacement of the stimulation position. The micro pressure sensor 303 integrated behind the electrode can monitor the contact pressure between the electrode and the skin in real time, so that the multi-parameter current signal can be accurately output to activate different types of nerve fibers. When the second flexible contact plate 305 is installed, the surface of the medical silicone film 307 is clean and undamaged, the mechanical claw main body 201 is moved to make the medical silicone film 307 of the second flexible contact plate 305 lightly adhere to the area to be evaluated, and then the temperature control program is started. If low temperature stimulation is performed, the semiconductor refrigeration sheet 308 is connected to a forward current, and the cold quantity is conducted to the skin medical silicone film 307 through the heat conducting base 306 to reduce the discomfort of cold stimulation. If high temperature stimulation is performed, a reverse current is connected to realize heating, the contact temperature is monitored in real time, the temperature stimulation parameters and the resolution reaction time of the patient to the cold and hot stimulation are recorded, and a temperature sensation threshold report is generated.

[0027] Embodiment three See Figures 1 to 6The specific implementation of the embodiment is: first, check the stability of the connection between the mechanical arm 1 and the mechanical claw body 201, confirm that the fixing frame 207 is firmly connected with the mechanical arm 1 through the support block 4, and there is no looseness, then check whether the reinforcing frame 5 of the control panel 206 is stable to avoid shaking of the control panel 206 during operation, then check whether the electric telescopic rod 203 in the sliding groove 202 is completely wrapped by the protection seat 6 to prevent dust from entering, check whether the sliding block 209 outside the sliding plate 204 is attached to the inner wall of the sliding groove 202 to ensure smooth sliding without jamming, and finally confirm that the reinforcing plate 7 at the telescopic end of the electric telescopic rod 203 is tightly connected with the sliding plate 204 through the fixing bolt 8, and there is no looseness of the bolt, when the contact plate needs to be installed, the electric telescopic rod 203 is started through the control panel 206, the telescopic end is extended, the sliding plate 204 is translated along the sliding groove 202, the sliding block 209 slides along the inner wall of the sliding groove 202, and the position of the sliding plate 204 is prevented from deviating, then the movable frame 205 is moved to a position convenient for installation, the support frame 9 outside the first flexible contact plate 301 is aligned with the threaded hole 208 of the movable frame 205, it is ensured that the four mounting holes of each support frame 9 are completely aligned with the four threaded holes 208 of the movable frame 205, the limiting bolt 10 is inserted through the mounting hole of the support frame 9 and screwed into the threaded hole 208, and it is initially screwed to a half-tight state, the electric telescopic rod 203 is fine-tuned through the control panel 206, so that the contact surface of the first flexible contact plate 301 is parallel to the clamping surface of the mechanical claw body 201 with a small error, after confirming that the position is correct, the limiting bolt 10 is tightened using a wrench, and then the limiting nut 11 is screwed to be attached to the surface of the movable frame 205 and is reversely tightened, which can effectively prevent the limiting bolt 10 from loosening, when the contact plate needs to be disassembled, the limiting nut 11 is loosened using a wrench, so that it is separated from the surface of the movable frame 205, and then the limiting bolt 10 is unscrewed and taken out from the threaded hole 208 of the movable frame 205 and the mounting hole of the support frame 9 and placed in a special tool box, the electric telescopic rod 203 is controlled to retract through the control panel 206, the sliding plate 204 is moved along the sliding groove 202 to the inside of the mechanical claw body 201, the movable frame 205 is reset to the initial position, and the space occupied when idle is reduced, if the first flexible contact plate 301 in the electric stimulation mode is switched to the second flexible contact plate 305 in the temperature stimulation mode, after the first flexible contact plate 301 is disassembled according to the above steps, the second flexible contact plate 305 is installed according to the above steps, and the whole switching process can be completed in a very short time, which reflects the flexibility of the quick disassembly mechanism 2, after the first flexible contact plate 301 is installed, the electrodes on the embedded circuit board 304 contact the human skin, output a current or voltage with a specific parameter to activate nerve fibers, and the electrodes are attached to the flexible polyimide base 302 and can deform with the skin to avoid deviation of the stimulation position, the micro pressure sensor 303 is integrated behind the electrodes, which can monitor the contact pressure between the electrodes and the skin in real time, so that multiple-parameter current signals can be accurately output to activate different types of nerve fibers,When the second flexible contact plate 305 is installed, ensure that the surface of the medical silicone film 307 is clean and undamaged, move the mechanical claw body 201 to make the medical silicone film 307 of the second flexible contact plate 305 lightly adhere to the area to be evaluated, then start the temperature control program, if low temperature stimulation is performed, the semiconductor refrigeration sheet 308 is connected to the positive current, and the cold quantity is conducted to the skin medical silicone film 307 through the heat conducting base 306 to reduce the discomfort of cold stimulation, if high temperature stimulation is performed, the reverse current is connected to realize heating, the contact temperature is monitored in real time, the temperature stimulation parameters and the resolution reaction time of the patient to the cold and hot stimulation are recorded, and a temperature sensation threshold report is generated.

[0028] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An adaptive multi-modal stimulation neurofunctional assessment mechanical claw comprising a robotic arm (1), characterized in that: The inside of the mechanical arm (1) is provided with a quick disassembly mechanism (2), and the outside of the mechanical arm (1) is provided with a detection mechanism (3); The quick disassembly mechanism (2) comprises a mechanical claw body (201), a plurality of same sliding grooves (202) are formed in the outer surface of the mechanical claw body (201), the inner walls of each group of sliding grooves (202) are fixedly connected with two electric telescopic rods (203), the telescopic ends of each group of electric telescopic rods (203) are fixedly connected with two sliding plates (204), the sides of each group of sliding plates (204) away from each other are fixedly connected with two movable racks (205), the upper surfaces of each group of movable racks (205) are provided with four threaded holes (208), the outer surfaces of each group of sliding plates (204) are in contact with the inner walls of the sliding grooves (202), and the outer surface of the mechanical claw body (201) is fixedly connected with a fixed frame (207).

2. The self-adapting multi-modal stimulation neurofunctional assessment mechanical claw according to claim 1, characterized in that: The detection mechanism (3) comprises a first flexible contact plate (301) and a second flexible contact plate (305), the inner wall of the first flexible contact plate (301) is fixedly connected with a flexible polyimide base (302), the upper surface of the flexible polyimide base (302) is fixedly connected with a pressure sensor (303), the top end of the pressure sensor (303) is fixedly connected with an embedded circuit board (304), the inner wall of the second flexible contact plate (305) is fixedly connected with a heat-conducting base (306), the bottom surface of the heat-conducting base (306) is fixedly connected with a medical silica gel film (307), and the inner wall of the medical silica gel film (307) is fixedly connected with a semiconductor refrigeration sheet (308).

3. The self-adapting multi-modal stimulation neurofunctional assessment mechanical claw according to claim 1, characterized in that: The outer surface of the mechanical arm (1) is fixedly connected with a control panel (206) and two supporting blocks (4), the control panel (206) is electrically connected with the electric telescopic rods (203) through wires, and the right side surfaces of each supporting block (4) are fixedly connected with the left side surfaces of the fixed frame (207).

4. The self-adapting multi-modal stimulation neurofunctional assessment mechanical claw according to claim 3, characterized in that: The outer surface of the control panel (206) is fixedly connected with a reinforcing frame (5), and the back surface of the reinforcing frame (5) is fixedly connected with the outer surface of the mechanical arm (1).

5. The self-adapting multi-modal stimulation neurofunctional assessment mechanical claw according to claim 1, wherein: The outer surfaces of each group of electric telescopic rods (203) are fixedly connected with two protection seats (6), and the side surfaces of each group of protection seats (6) close to each other are fixedly connected with the inner walls of the sliding grooves (202).

6. The self-adapting multi-modal stimulation neurofunctional assessment mechanical claw according to claim 1, characterized in that: The outer surfaces of the telescopic ends of each group of electric telescopic rods (203) are fixedly connected with two reinforcing plates (7), and the side surfaces of each group of reinforcing plates (7) away from each other are fixedly connected with the side surfaces of the two sliding plates (204) close to each other.

7. The self-adapting multi-modal stimulation neurofunctional assessment mechanical gripper according to claim 6, wherein: The inner walls of each group of reinforcing plates (7) are threadedly connected with a plurality of same fixing bolts (8), and the outer surfaces of each group of fixing bolts (8) are threadedly connected with the inner walls of the sliding plates (204).

8. The self-adapting multi-modal stimulation neurofunctional assessment mechanical claw according to claim 1, wherein: The outer surfaces of each group of sliding plates (204) are fixedly connected with four sliding blocks (209), and the outer surfaces of each group of sliding blocks (209) are in contact with the inner walls of the sliding grooves (202).

9. The self-adapting multi-modal stimulation neurofunctional assessment mechanical claw according to claim 2, characterized in that: The outer surface of the first flexible contact plate (301) and the outer surface of the second flexible contact plate (305) are fixedly connected with a plurality of same support frames (9), the inner wall of each group of support frames (9) is threadedly connected with four limiting bolts (10), and the outer surface of each group of limiting bolts (10) is threadedly connected with the inner wall of the threaded hole (208).

10. The self-adapting multi-modal stimulation neurofunctional assessment mechanical gripper according to claim 9, wherein: The outer surface of each group of limiting bolts (10) is threadedly connected with two limiting nuts (11), and the upper surface of each group of limiting nuts (11) is in contact with the outer surface of the movable frame (205).

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