Intelligent medical bionic hand based on man-machine interaction

Abstract

The invention relates to the field of bionic hands, and provides an intelligent medical bionic hand based on man-machine interaction, the intelligent medical bionic hand comprises a bionic hand body and a base, the bottom wall of the base is provided with rear wheels, the bionic hand body is movably connected to the top wall of the base of the bionic hand body, the base is provided with a clamping groove, and the inner wall of the clamping groove is slidably connected with a clamping plate; a wireless module, a movable wheel assembly and a plate driving assembly are arranged in the base, and the plate driving assembly is connected with the clamping plate. Through the synergistic effect of the movable wheel assembly and the plate driving assembly, the base has the functions of storage supporting, controllable lifting and stable clamping under the condition that the overall size is not increased, so that light weight and walking stability are both considered, the working height range of the bionic hand body is expanded, and the working efficiency is improved. And stable and flexible application in various use scenes is realized.

Description

Technical Field

[0001] This invention relates to the field of bionic hand technology, specifically to an intelligent medical bionic hand based on human-computer interaction. Background Technology

[0002] Chinese utility model patent CN215201969U discloses a mobile intelligent robotic arm, including a frame, a mechanical gripping device, a data acquisition device, a detection device, a power supply device, a main control drive device, and a central processing unit. The frame includes a chassis and wheels, with the wheels rotatably connected to the chassis. The detection device is fixedly connected to the chassis. The mechanical gripping device is located on top of the chassis and fixedly connected to it, and includes a rotating base, a first robotic arm, a second robotic arm, a mechanical claw, and a drive device. The data acquisition device is fixedly connected to the chassis. The main control drive device and the power supply device are both fixedly connected to the chassis. The detection device, mechanical gripping device, and data acquisition device are all electrically connected to the main control drive device, which is electrically connected to the central processing unit. This utility model is a mobile robotic arm that increases the robotic arm's transport range and versatility. It can autonomously locate and navigate, enabling planned transport along different routes. It can also assist other machines in production, improving efficiency and safety.

[0003] However, the above-mentioned patents have the following problems: On the one hand, in order to ensure the overall stability of the robotic arm during movement and operation, its base frame usually needs to be designed as a long structure, which increases the overall size and weight to a certain extent. This not only makes the equipment structure bulky, but also occupies more space, which is not conducive to flexible deployment and use in space-constrained environments. On the other hand, the aforementioned frame structure itself does not have a lifting mechanism, and the robotic arm can only operate within a fixed height range during the work process. It is difficult to adapt to different usage scenarios and changes in the height of the work objects, thereby reducing the range of motion and applicability of the robotic arm. Furthermore, the frame can only be placed or moved by its own weight and wheel structure, and cannot be stably clamped to external fixed objects such as desktops or beds. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention aims to provide an intelligent medical bionic hand based on human-computer interaction. To solve these problems, this invention employs the following technical solution: A smart medical bionic hand based on human-computer interaction includes a bionic hand body and a base. The bottom wall of the base is provided with a rear wheel. The bionic hand body is movably connected to the top wall of the base of the bionic hand body. A clamping groove is provided on the base. A clamping plate is slidably connected to the inner wall of the clamping groove. A wireless module, a movable wheel assembly and a plate driving assembly are provided in the base. The plate driving assembly and the clamping plate are connected.

[0005] Optionally, the movable wheel assembly includes a transmission base, a servo motor, a threaded rod, and two top parts. The transmission base is slidably connected to the base, the two top parts are fixedly connected to the base, the servo motor is connected to the base, a spur gear is fixedly connected to the output shaft of the servo motor, the threaded rod is rotatably connected to the base, a spur gear is fixedly connected to the threaded rod, the spur gear and the spur gear mesh, and a threaded hole is provided on the transmission base, the threaded rod and the inner wall of the threaded hole are threadedly connected. Servo motor 2 is fixedly connected to the transmission base. A double-acting worm gear and two rotary seats are rotatably connected to the transmission base. The double-acting worm gear is fixedly connected to the output shaft of servo motor 2. A worm wheel is fixedly connected to the rotary seats. The worm wheel meshes with the double-acting worm gear. A spur gear 3 is rotatably connected to the rotary seats. An L-shaped movable plate is fixedly connected to the spur gear 3. A front wheel is movably connected to the L-shaped movable plate. A rack is slidably connected to the rotary seats. The rack is connected to the rotary seats through spring 1. The rack meshes with spur gear 3.

[0006] Optionally, the plate drive assembly includes a spur gear four, a bevel gear one, a bevel gear two, a threaded rod two, and a bent transmission bar. The bent transmission bar is slidably connected to the base and fixedly connected to the servo motor one. One end of the bent transmission bar extends from the top wall of the clamping groove into the clamping groove. The servo motor one is slidably connected to the base. The spur gear four and the threaded rod two are both rotatably connected to the base. The bevel gear one is fixedly connected to the spur gear four, and the bevel gear two is fixedly connected to the threaded rod two. The bevel gear two and the bevel gear one mesh. The threaded rod two extends into the clamping groove and is rotatably connected to the top wall of the clamping groove. A threaded hole two is provided on the clamping plate, and the threaded rod two is threadedly connected to the inner wall of the threaded hole two.

[0007] Optionally, the servo motor is connected to the base via a spring.

[0008] Optionally, the first spur gear is located between the fourth spur gear and the second spur gear, with the fourth spur gear located above the second spur gear.

[0009] Optionally, the rack is made of iron, and the top member is a permanent magnet.

[0010] Optionally, the permanent magnet is a neodymium iron boron magnet.

[0011] Optionally, both the top wall of the clamping groove and the top wall of the clamping plate are provided with a friction layer.

[0012] Optionally, the palm material of the bionic hand body includes aerospace aluminum alloy and food-grade plastic.

[0013] Optionally, the bionic hand body is provided with a current protection mechanism and a high temperature protection mechanism.

[0014] The present invention has the following beneficial effects: This invention, by setting up a retractable and rotatable movable wheel assembly, allows the movable wheel assembly to be stored inside the base under the drive of the transmission seat when the base is not working or in the initial walking state. This significantly reduces the overall space occupied by the base when it is stationary or moving. When the base enters the walking state, it can obtain sufficient lateral support without lengthening the overall frame, structurally reducing the risk of the base tipping over during walking and achieving a balance between lightweight and stability. The movable wheel assembly drives the base and the bionic hand body to move up or down as a whole, achieving controllable lifting and lowering, which significantly expands the working height range of the bionic hand body and improves its applicability and flexibility in different usage scenarios. The plate drive assembly can drive the clamping plate to move along the clamping groove direction, and under the combined action of the top wall of the clamping groove and the clamping plate, firmly clamp the base to the external fixed object, thereby providing stable and reliable operation support for the bionic hand body, expanding the usage and application scenarios. Attached Figure Description

[0015] The present invention will be further described with reference to the accompanying drawings, but the embodiments in the drawings do not constitute any limitation on the present invention. For those skilled in the art, other drawings can be obtained based on the following drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the structure of an intelligent medical bionic hand based on human-computer interaction according to the present invention; Figure 2 This is a structural schematic diagram of the base at one angle in this invention; Figure 3 This is a structural schematic diagram of the base from another angle in this invention; Figure 4 This is a structural diagram of one angle inside the base in this invention; Figure 5 This is a structural diagram of the base from another angle in this invention; Figure 6 This is an enlarged view of one angle of the movable wheel assembly and the plate drive assembly in this invention; Figure 7 This is an enlarged view of the movable wheel assembly and the plate drive assembly in this invention from another angle; Figure 8 This is a parameter diagram of the palm part on the bionic hand body in this invention.

[0017] Reference numerals: 1. Bionic hand body; 2. Base; 3. L-shaped movable plate; 4. Top piece; 5. Transmission seat; 6. Servo motor one; 7. Spur gear one; 8. Spur gear two; 9. Threaded rod one; 10. Servo motor two; 11. Bidirectional worm gear; 12. Worm wheel; 13. Rotary seat; 14. Spur gear three; 15. Rack; 16. Spring one; 17. Spur gear four; 18. Bevel gear one; 19. Bevel gear two; 20. Threaded rod two; 21. Spring two; 22. Bending transmission bar; 23. Front wheel; 24. Clamping groove; 25. Clamping plate. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] In the description of this invention, it should be noted that the terms "vertical," "upper," "lower," and "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the addition of "a," "b," "c," and "d" after the component names is for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0020] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or a connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances. Example

[0021] like Figures 1-7 As shown, an intelligent medical bionic hand based on human-computer interaction includes a bionic hand body 1 and a base 2. The bottom wall of the base 2 is provided with a rear wheel. The bionic hand body 1 is movably connected to the top wall of the base 2. The base 2 is provided with a clamping groove 24. A clamping plate 25 is slidably connected to the inner wall of the clamping groove 24. The base 2 is provided with a wireless module, a movable wheel assembly and a plate driving assembly. The plate driving assembly and the clamping plate 25 are connected.

[0022] The wireless module allows operators to easily perform remote human-computer interaction, sending commands to the bionic hand through an external controller and receiving information from the bionic hand through the external controller.

[0023] The bionic hand can be used not only in the medical field, but also in other fields that require bionic hands, such as intelligent industrial manufacturing, where it can be used as an industrial robot for cargo transportation.

[0024] To achieve a retractable and rotatable movable wheel assembly, based on the above scheme, the movable wheel assembly includes a transmission base 5, a servo motor 6, a threaded rod 9, and two top members 4. The transmission base 5 is slidably connected to the base 2, the two top members 4 are fixedly connected to the base 2, the servo motor 6 is connected to the base 2, a spur gear 7 is fixedly connected to the output shaft of the servo motor 6, the threaded rod 9 is rotatably connected to the base 2, a spur gear 8 is fixedly connected to the threaded rod 9, the spur gear 8 and the spur gear 7 mesh, the transmission base 5 has a threaded hole, and the threaded rod 9 is threadedly connected to the inner wall of the threaded hole.

[0025] A servo motor 2 10 is fixedly connected to the transmission base 5. A double-acting worm gear 11 and two rotating seats 13 are rotatably connected to the transmission base 5. The double-acting worm gear 11 is fixedly connected to the output shaft of the servo motor 2 10. A worm wheel 12 is fixedly connected to the rotating seat 13. The worm wheel 12 meshes with the double-acting worm gear 11. A spur gear 3 14 is rotatably connected to the rotating seat 13. An L-shaped movable plate 3 is fixedly connected to the spur gear 3 14. A front wheel 23 is movably connected to the L-shaped movable plate 3. A rack 15 is slidably connected to the rotating seat 13. The rack 15 is connected to the rotating seat 13 through a spring 16. The rack 15 meshes with the spur gear 3 14.

[0026] Servo motor 6 serves as a multi-functional drive source. On one hand, through the transmission relationship of spur gear 7, spur gear 8, and threaded rod 9, it enables the extension and retraction of the L-shaped movable plate 3, ensuring good lateral stability of the base 2 during movement. On the other hand, within the plate drive assembly, it can also switch to drive the lifting and lowering of the clamping plate 25, thus completing multiple actions while reducing the number of drive components, thereby reducing structural complexity and weight. Servo motor 10 is mainly used to drive the bidirectional worm gear 11 and worm wheel 12, enabling the base 2 and the bionic hand body 1 to achieve controllable lifting and lowering as a whole. Its worm gear transmission has a self-locking characteristic, maintaining a stable position when power is off or drive stops, preventing accidental slippage, improving safety and stability during lifting and lowering, and making the lifting and lowering action smoother, suitable for the safety and reliability requirements of medical scenarios. To enable the servo motor 6 to drive both the transmission base 5 and the clamping plate 25, as a preferred embodiment, the plate driving assembly includes a spur gear 4 17, a bevel gear 18, a bevel gear 2 19, a threaded rod 20, and a bent transmission bar 22. The bent transmission bar 22 is slidably connected to the base 2 and fixedly connected to the servo motor 6. One end of the bent transmission bar 22 extends from the top wall of the clamping groove 24 into the clamping groove 24. 6 is slidably connected to the base 2. Spur gear 4 17 and threaded rod 20 are rotatably connected to the base 2. Bevel gear 1 18 is fixed to spur gear 4 17. Bevel gear 2 19 is fixed to threaded rod 20. Bevel gear 2 19 and bevel gear 1 18 mesh. Threaded rod 20 extends into clamping groove 24. Threaded rod 20 and the top wall of clamping groove 24 are rotatably connected. Threaded hole 2 is provided on clamping plate 25. Threaded rod 20 and the inner wall of threaded hole 2 are threadedly connected.

[0027] To enable the servo motor 6 to smoothly perform buffered lifting and lowering, the servo motor 6 can optionally be connected to the base 2 via a spring 21, which can provide a motion buffering function.

[0028] It is worth noting that the first spur gear 7 is located between the fourth spur gear 17 and the second spur gear 8, and the fourth spur gear 17 is located above the second spur gear 8.

[0029] In order to enable the rack 15 to be reset smoothly, in an optional embodiment of the present invention, the rack 15 is made of iron and the top member 4 is a permanent magnet.

[0030] Furthermore, the permanent magnet is a neodymium iron boron magnet, which has a strong magnetic force and can attract and move the rack 15.

[0031] To improve clamping capacity, the top wall of the clamping groove 24 and the top wall of the clamping plate 25 are provided with a friction layer. The friction layer is preferably a silicone layer. Silicone will not scratch external objects and can increase friction and improve clamping stability.

[0032] like Figure 8 As shown, the palm portion of the bionic hand body 1 is made of aerospace-grade aluminum alloy and food-grade plastic. The palm portion, made of aerospace-grade aluminum alloy and food-grade plastic, ensures high structural strength and durability while reducing overall weight and improving safety and comfort when in contact with the human body or medical devices, making it more suitable for long-term, stable use in medical settings.

[0033] The preferred parameters for the palm portion of the bionic hand body 1 are as follows: The palm portion is a lightweight, multi-degree-of-freedom structure, with a single hand weight of approximately 383g, a height from the base of the palm to the tip of the middle finger of approximately 160mm, and an overall width of approximately 76mm. The palm portion has 11 degrees of freedom, including 6 active degrees of freedom. The overall load capacity of the hand is no less than 20kg, the overall grip strength of the five fingers is no less than 50N, the single-finger pinching force is no less than 15N, the flexion and extension response time is no greater than 0.6s, the position control accuracy can reach 0.1mm, the repeatability control accuracy can reach 0.1°, the operating noise is no greater than 50dB, the power supply voltage range can be set to 9V-64V, and it can be connected to an external control system via a 485, CANfd, or EtherCAT communication interface to achieve feedback control of position, speed, and current. It supports secondary development and online upgrade functions to improve the system's security, stability, and scalability.

[0034] Various intelligent sensors can be set on the bionic hand body 1 to realize recognition and body interaction functions.

[0035] To protect the bionic hand body 1, the bionic hand body 1 is equipped with a current protection mechanism and a high-temperature protection mechanism. The current protection mechanism includes a current protection circuit, and the high-temperature protection mechanism includes a high-temperature protection circuit.

[0036] During implementation, if base 2 is not working, such as Figure 1 As shown, the two L-shaped movable plates 3 are stored inside the base 2, reducing the space occupied by the base 2; Figures 6-7 As shown, spur gear 17 and spur gear 28 are engaged, spur gear 17 and spur gear 417 are disengaged, rack 15 is in the left extreme position, the rear wheel of the base 2 is in contact with the bottom surface, and all front wheels 23 are in contact with the bottom surface.

[0037] The base 2 has three working states: walking state, height-adjustable stationary state, and clamping state.

[0038] Base 2 switches from non-working to walking mode: such as Figure 1 As shown, the overall center of gravity of the bionic hand body 1 is shifted to the left, which in turn shifts the center of gravity of the base 2 to the left, making the base 2 prone to tipping to the left when moving. Activating the servo motor 6 causes the spur gear 7 to rotate, which in turn controls the rotation of the spur gear 8 and the threaded rod 9. Because the threaded rod 9 is threadedly connected to the inner wall of the threaded hole, the transmission seat 5 slides to the left, causing the two L-shaped movable plates 3 to extend to the left beyond the base 2. The L-shaped movable plates 3 extending to the left of the base 2 provide support, significantly reducing the probability of the base 2 tipping to the left when moving. The extension degree of the L-shaped movable plates 3 can be set according to actual needs, but the rack 15 does not abut against the top member 4 to prevent the rack 15 from being pushed by the top member 4 and causing the L-shaped movable plates 3 to rotate. The bionic hand body 1 then grasps the object for transportation.

[0039] The base 2 switches from a walking state to a height-adjustable stationary state: If the base 2 only needs to be stationary without raising or lowering, simply stop the rotation of the rear wheels; if the base 2 needs to be stationary and raised, after stopping the rotation of the rear wheels, the servo motor 6 continues to drive the transmission seat 5 to move to the left, the rack 15 is pushed by the top member 4, the rack 15 moves against the elastic force of the spring 16, thereby driving the spur gear 14 and the L-shaped movable plate 3 to rotate, the top member 4 can maintain contact with the rack 15, the two L-shaped movable plates 3 rotate in opposite directions by about ninety degrees, the two L-shaped movable plates 3 extend to the front and rear of the base 2 respectively, then... The rear servo motor 16 stops operating, and the servo motor 2 10 drives the bidirectional worm gear 11 to rotate. The bidirectional worm gear 11 causes the two worm wheels 12 to rotate in opposite directions, thereby causing the two rotating seats 13 to rotate in opposite directions. The two rotating seats 13 gradually tilt, while the front wheel 23 remains in contact with the bottom surface. The base 2 and the bionic hand body 1 move upward, thereby causing the base 2 and the bionic hand body 1 to perform lifting and lowering movements. At this time, the two L-shaped movable plates 3 are located in front of and behind the base 2, respectively. Compared with the traditional straight up and down lifting structure, this can improve stability, making the base 2 less likely to tip over, and the number of electric drive components is reduced accordingly.

[0040] Note that the user can slightly adjust the position of the base 2 using the front wheel 23.

[0041] The bionic hand 1 is used to place or grasp objects.

[0042] If it is necessary to switch the base 2 from the height-adjustable stationary state back to the walking state, as can be seen from the above principle, the operation can be reversed. It is worth noting that the magnetic force of the top part 4, combined with the elastic force of the spring 16, can give the rack 15 enough power to move to the left, so that the spur gear 14 and the swivel 13 reverse.

[0043] When base 2 switches from non-working to clamping state: Align the clamping groove 24 on base 2 with the edge of the fixed object and insert it. The clamping plate 25 is located below the edge of the fixed object. The top wall of the clamping groove 24 abuts against the top wall of the fixed object's edge. The top wall of the fixed object's edge pushes the bending transmission bar 22 upward, thereby causing the bending transmission bar 22 to drive the servo motor 1 6 to move upward against the spring 2 21 and its own weight. The spur gear 1 7 switches to mesh with the spur gear 4 17. Activate the servo motor 1 6 to make the spur gear 1 7 rotate. The spur gear 1 7 drives the spur gear 4 17, bevel gear 1 18, bevel gear 2 19, and threaded rod 2 20 to rotate. Since the threaded rod 2 20 is threadedly connected to the inner wall of the threaded hole 2 on the clamping plate 25, the rotation of the threaded rod 2 20 can cause the clamping plate 25 to move up and down. The clamping plate 25 rises until its top wall abuts against the bottom wall of the fixed object's edge. With the cooperation of the top wall of the clamping groove 24, the base 2 is clamped to the edge of the fixed object. The bionic hand body 1 can then place or grasp objects. The fixed object can be a heavy, fixed object such as a table.

[0044] When it is necessary to release the clamp, the servo motor 6 can be reversed to move the clamping plate 25 down to release the clamp. After the base 2 is moved away from the edge of the fixed object, the servo motor 6 moves down to reset under the action of the spring force of the second spring 21 and its own gravity, and the spur gear 7 switches back to mesh with the second spur gear 8.

[0045] The beneficial effects of this invention are as follows: This invention, by setting up a retractable and rotatable movable wheel assembly, allows the two L-shaped movable plates 3 to be stored inside the base 2 under the drive of the transmission seat 5 when the base 2 is not working or in the initial walking state. This significantly reduces the overall space occupied by the base 2 when it is stationary or moving. When the base 2 enters the walking state, the servo motor 6 drives the spur gear 7, spur gear 8 and threaded rod 9 to move the transmission seat 5 laterally along the base 2. This causes the two L-shaped movable plates 3 to extend outward from the base 2 to form a support structure. This allows the base 2 to obtain sufficient lateral support without increasing the overall frame length, structurally reducing the risk of the base 2 tipping over during walking and achieving a balance between lightweight and stability. As the servo motor 16 continues to drive the transmission base 5 to move to the left, the rack 15 is displaced under the action of the top piece 4, causing the spur gear 3 14 and the L-shaped movable plate 3 to change angles, so that the two L-shaped movable plates 3 extend to the front and rear directions of the base 2 to form stable support. Then, a power source servo motor 2 10 drives the bidirectional worm gear 11, causing the two worm wheels 12 and the rotating base 13 to rotate in opposite directions, thereby driving the base 2 and the bionic hand body 1 to move up or down as a whole, realizing controllable lifting and lowering, significantly expanding the working height range of the bionic hand body 1, and improving the applicability and flexibility in different usage scenarios; When the clamping groove 24 is inserted into the edge of a fixed object such as a desktop or bed, the bending transmission bar 22 moves upward under the action of the top wall of the external object, driving the servo motor 6 to switch positions against the spring 21, causing the spur gear 7 to switch from meshing with the spur gear 8 to meshing with the spur gear 17, thereby driving the threaded rod 20 to rotate. The rotation of the threaded rod 20 can drive the clamping plate 25 to move along the direction of the clamping groove 24. Under the combined action of the top wall of the clamping groove 24 and the clamping plate 25, the base 2 is firmly clamped to the external fixed object, thus providing stable and reliable working support for the bionic hand body 1, expanding the usage and application scenarios. Example

[0046] Based on Embodiment 1, this embodiment focuses on illustrating the specific application of the bionic hand in the medical field and its effects under different working conditions.

[0047] In medical settings, when items need to be transferred in wards, surgical preparation areas, or rehabilitation treatment areas, the base 2 is in a walking state. The two L-shaped movable plates 3 extend outward from the base 2 under the action of the servo motor 6 and the transmission seat 5 to form a lateral support structure. This ensures that the base 2 maintains good walking stability when carrying the bionic hand body 1 and medical devices, medicine trays, and other items, reducing the risk of tipping or shaking during the transfer process. It is suitable for the auxiliary transportation of medical supplies in wards.

[0048] When medical supplies need to be placed or retrieved at a higher position, the base 2 can be switched to a height-adjustable stopping state. Through the linkage of servo motor 1 6, rack 15, spur gear 3 14, and servo motor 2 10 with bidirectional worm gear 11, the base 2 and the bionic hand body 1 are raised and lowered as a whole. This allows the working height of the bionic hand body 1 to match the height of the higher shelf or high-level storage shelf, making it easier to accurately place or retrieve medical devices, medicine boxes, or disposable consumables from the high-level shelf. This reduces the need for medical staff to climb to retrieve items or move ladders, improving operational safety and work efficiency.

[0049] In medical scenarios requiring long-term stable operation, such as bedside care or medicine preparation tables, the base 2 can be switched to a clamping state. By inserting the clamping slot 24 into the edge of the bed or preparation table, and with the combined action of the bent transmission bar 22, the threaded rod 20, and the clamping plate 25, the base 2 is firmly clamped to an external fixed object, thereby enabling the bionic hand body 1 to maintain a stable position without occupying ground space, facilitating continuous medicine delivery and instrument handover actions.

[0050] Through the above application methods, this embodiment enables the bionic hand to flexibly switch working states according to different usage needs in the medical field, thus expanding the application scope of the bionic hand in medical scenarios.

[0051] The components, modules, mechanisms, and devices in this invention that are not described in detail are all general standard parts or components known to those skilled in the art. Their structures and principles can be learned by those skilled in the art through technical manuals or conventional experimental methods.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the essence and scope of the technical solutions of the present invention.

Claims

1. A smart medical bionic hand based on human-computer interaction, comprising a bionic hand body (1) and a base (2), wherein the bottom wall of the base (2) is provided with rear wheels, characterized in that, The bionic hand body (1) is movably connected to the top wall of the base (2) of the bionic hand body (1). The base (2) has a clamping groove (24) and a clamping plate (25) is slidably connected to the inner wall of the clamping groove (24). The base (2) has a wireless module, a movable wheel assembly and a plate drive assembly. The plate drive assembly and the clamping plate (25) are connected.

2. The intelligent medical bionic hand based on human-computer interaction according to claim 1, characterized in that, The movable wheel assembly includes a transmission seat (5), a servo motor (6), a threaded rod (9), and two top parts (4). The transmission seat (5) is slidably connected to the base (2), and the two top parts (4) are fixedly connected to the base (2). The servo motor (6) is connected to the base (2). A spur gear (7) is fixedly connected to the output shaft of the servo motor (6). The threaded rod (9) is rotatably connected to the base (2). A spur gear (8) is fixedly connected to the threaded rod (9). The spur gear (8) meshes with the spur gear (7). A threaded hole (1) is opened on the transmission seat (5), and the threaded rod (9) is threadedly connected to the inner wall of the threaded hole (1). A servo motor 2 (10) is fixedly connected to the transmission base (5). A bidirectional worm gear (11) and two rotating seats (13) are rotatably connected to the transmission base (5). The bidirectional worm gear (11) is fixedly connected to the output shaft of the servo motor 2 (10). A worm wheel (12) is fixedly connected to the rotating seat (13). The worm wheel (12) meshes with the bidirectional worm gear (11). A spur gear 3 (14) is rotatably connected to the rotating seat (13). An L-shaped movable plate (3) is fixedly connected to the spur gear 3 (14). A front wheel (23) is movably connected to the L-shaped movable plate (3). A rack (15) is slidably connected to the rotating seat (13). The rack (15) is connected to the rotating seat (13) through a spring 1 (16). The rack (15) meshes with the spur gear 3 (14).

3. The intelligent medical bionic hand based on human-computer interaction according to claim 2, characterized in that, The board drive assembly includes a spur gear four (17), a bevel gear one (18), a bevel gear two (19), a threaded rod two (20), and a bent transmission bar (22). The bent transmission bar (22) is slidably connected to the base (2). The bent transmission bar (22) is fixedly connected to the servo motor one (6). One end of the bent transmission bar (22) extends from the top wall of the clamping groove (24) into the clamping groove (24). The servo motor one (6) is slidably connected to the base (2). The spur gear four (17) Both the first bevel gear (18) and the second bevel gear (19) are rotatably connected to the base (2). The first bevel gear (18) is fixed to the fourth spur gear (17), and the second bevel gear (19) is fixed to the second bevel gear (20). The second bevel gear (19) and the first bevel gear (18) mesh. The second bevel gear (20) extends into the clamping groove (24). The second bevel gear (20) and the top wall of the clamping groove (24) are rotatably connected. The clamping plate (25) has a second threaded hole. The second bevel gear (20) and the inner wall of the second threaded hole are threadedly connected.

4. The intelligent medical bionic hand based on human-computer interaction according to claim 3, characterized in that, The servo motor (6) is connected to the base (2) via the spring (21).

5. The intelligent medical bionic hand based on human-computer interaction according to claim 4, characterized in that, The first spur gear (7) is located between the fourth spur gear (17) and the second spur gear (8), with the fourth spur gear (17) located above the second spur gear (8).

6. The intelligent medical bionic hand based on human-computer interaction according to claim 5, characterized in that, The rack (15) is made of iron, and the top piece (4) is a permanent magnet.

7. The intelligent medical bionic hand based on human-computer interaction according to claim 6, characterized in that, The permanent magnet is a neodymium iron boron magnet.

8. The intelligent medical bionic hand based on human-computer interaction according to claim 1, characterized in that, The top wall of the clamping groove (24) and the top wall of the clamping plate (25) are both provided with a friction layer.

9. A human-computer interaction-based intelligent medical bionic hand according to any one of claims 1-8, characterized in that, The palm part of the bionic hand body (1) is made of aerospace aluminum alloy and food-grade plastic.

10. The intelligent medical bionic hand based on human-computer interaction according to claim 9, characterized in that, The bionic hand body (1) is equipped with a current protection mechanism and a high temperature protection mechanism.

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