CN201279134Y - Robot finger for traditional Chinese medicine pulse diagnosis - Google Patents
Robot finger for traditional Chinese medicine pulse diagnosis Download PDFInfo
- Publication number
- CN201279134Y CN201279134Y CNU2008201318276U CN200820131827U CN201279134Y CN 201279134 Y CN201279134 Y CN 201279134Y CN U2008201318276 U CNU2008201318276 U CN U2008201318276U CN 200820131827 U CN200820131827 U CN 200820131827U CN 201279134 Y CN201279134 Y CN 201279134Y
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- middle finger
- dactylus
- finger joint
- connecting axle
- control stick
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Abstract
The utility model discloses a finger mechanism for a robot-arm, which is used for traditional Chinese pulse diagnostics, and is formed by mutually connecting three finger knuckles and is mutually connected with a gear structure controlled by a motor arranged at a palm part through a mechanical structure; a fingertip is pasted with a probe part consisting of a PVDF (polyvinylidene fluoride) thin film pressure sensor. The three finger knuckles are respectively a near finger knuckle, a middle finger knuckle and a far finger knuckle which are mutually connected with through the mechanical structures of a control sheet and a control rod. When the motor drives the gear arranged in the palm to rotate, the near finger knuckle, the middle finger knuckle and the far finger knuckle are driven, and thereby, the PVDF pressure sensor pasted at the fingertip presses and contacts cunkou pulse points. When pulsed by blood pressure, the sensor generates voltage. Voltage signals are processed to be used for controlling the calculation of the pressure degree of the fingers, and the pulse manifestation information matching.
Description
Affiliated technical field
This utility model relates to a kind of robot arm finger that can be used to traditional Chinese medical science the area on the wrist over the radial artery where the pulse is felt for diagnosis pulse diagnosis.
Background technology
At present, well-known traditional pulse diagnosis test probe all is by the vertical pressure pick off of rigid body, constitutes with the fixture of testee wrist portion the area on the wrist over the radial artery where the pulse is felt for diagnosis position and the on line of computer.During use, at first to be fixed on probe the point position of the cun,guan,chi at wrist place, then the method by artificial pressurization or automatically pressurization measure floating, in, heavy pulse condition information.We know that traditional Chinese medical science the area on the wrist over the radial artery where the pulse is felt for diagnosis pulse diagnosis needs three sample points, that is to say to fix a point to lay at least three traditional probes (three ones nine marquis that often say just).Such project organization makes the first step of pulse diagnosis, promptly lays probe, becomes very complicated.Vertical probe is the worst a kind of selection aspect stablizing in the holding position, and the variation meeting of probe positions directly influences the precision that pulse diagnosis is measured.In addition, the volume of traditional pulse diagnosis test probe is bigger than normal, also has influence on its application in real life.
Summary of the invention
In order to overcome the above-mentioned deficiency of existing pulse diagnosis checkout gear, this utility model provides a kind of robot arm finger of traditional Chinese medical science the area on the wrist over the radial artery where the pulse is felt for diagnosis pulse diagnosis, and this finger is by referring to body, mechanical controller structure, diaphragm pressure sensor.Refer to that body adopts the multi-joint finger structure of apery, pressure transducer just is flattened on the finger tripe in finger tip front.So, as the finger of probe just can be when common traditional Chinese medical doctor carries out pulse diagnosis finger position make even and put the finger tripe down.The user also can adjust the position of gauge probe (referring to tripe) freely before entering measurement.When entering the pulse diagnosis measuring phases, the finger pressurization can realize by the mechanical controller structure of an external motor and control system control finger thereof.The size of the diaphragm pressure sensor that is affixed on the finger tip place by the perception average pressure make finger stop at the area on the wrist over the radial artery where the pulse is felt for diagnosis pulse diagnosis floating, in, on heavy some positions, and keep state specific time of this application of force to obtain one group of pulse wave information among nine marquis.
Problem to be solved in the utility model is: simplify existing pulse diagnosis probe apparatus design complexity, make this novel practical that the characteristics of imitation human finger be arranged.Secondly, this novel practical is avoided vertical rigid pressure pick off, and adopts the pressure transducer of diaphragm type, so just makes this utility model be dwindled on volume; And with probe face replacement point, thereby make finger tip coarse alignment the area on the wrist over the radial artery where the pulse is felt for diagnosis pulse-taking position can obtain signal surely.Have the mechanical controller structure of finger to want to control again by an external motor, structure will be simplified so can provide the space for the cabling of multiply flexible sensor.
The technical scheme in the invention for solving the above technical problem can reduce three kinds: the finger body of three joints, three dactylus; The mechanical controller structure of gear and connecting rod assembly; Flexible PVDF (Kynoar) diaphragm pressure sensor.It is characterized in that: by dactylus far away (1), diaphragm pressure sensor (2), far, middle finger joint coupling part (3), middle finger joint (4), in, proximal phalange joint coupling part (5), nearly dactylus (6), the coupling part (7) of nearly dactylus and metacarpal bone joint, pitch face driven wheel A (8), pitch face driven wheel A axis (9), pitch face driven wheel B (10), pitch face driven wheel B axis (11), metacarpal bone is sat base (12), dactylus control strip (13) far away, middle finger joint control strip (14), nearly dactylus control strip (15), nearly dactylus and (8) connecting axle (16), closely refer to control stick (17), closely refer to control stick and (14) connecting axle (18), (14) with (15) connecting axle (19), (21) middle finger joint control stick and (15) connecting axle (20), middle finger joint control stick (21), (13) with (14) connecting axle (22), middle finger control stick (21) is formed with (13) connecting axle (23); (2) diaphragm pressure sensor by: electrode pin 1 (24), electrode pin 2 (25), PVDF diaphragm pressure sensor and skin contact (26), electrode (27), polyester substrate (28), PVDF thin film (29) are formed; Link to each other with palm portion by the coupling part (7) of nearly dactylus from nearly dactylus (6) with the metacarpal bone joint; Nearly dactylus control strip (15) and closely finger control stick (17) locate to be connected with (8) connecting axle (16) near dactylus with pitch face driven wheel A (8); Nearly dactylus (6) and nearly dactylus control strip (15) are integrally welded; Nearly dactylus control strip (15) is located to be connected with middle finger joint control strip (14) by (14) and (15) connecting axle (19) at an other end, refers to that closely control stick (17) then locates to be connected with middle finger joint control strip (14) with (14) connecting axle (18) near finger control stick; Middle finger joint control stick (21) is located to be connected with (15) connecting axle (20) at (21) middle finger joint control stick with middle finger joint control strip (14); An other end of middle finger joint control stick (21) is then located to interconnect at middle finger control stick and (13) connecting axle (23); Dactylus control strip (13) far away is located to link to each other with (14) connecting axle (22) in (13) with middle finger joint control strip (14); In like manner, dactylus control strip (13) far away interconnects by welding with dactylus far away (1) and middle finger joint (4) respectively with middle finger joint control strip (14).
The beneficial effects of the utility model are because it is simple in structure, can be used for a human simulating manipulator, and used by the user of medical professionalism training.
Description of drawings
Fig. 1 is a Facad structure sketch map of the present utility model.
Fig. 2 is that the A of Fig. 1 is to profile.
Fig. 3 is a PVDF diaphragm pressure sensor sketch map.
Fig. 4 is the side view of Fig. 3.
Among the figure:
1. dactylus 2. diaphragm pressure sensors far away
3. far away, middle finger joint coupling part 4. middle finger joints
5. in, proximal phalange joint coupling part 6. nearly dactylus
7. the coupling part 8. pitch face driven wheel A of nearly dactylus and metacarpal bone joint
9. pitch face driven wheel A axis 10. pitch face driven wheel B
11. pitch face driven wheel B axis 12. metacarpal bones are sat base
13. dactylus control strip 14. middle finger joint control strips far away
15. nearly dactylus control strip 16. nearly dactylus and 8 connecting axles
Closely refer to control stick and 14 connecting axles 17. closely refer to control stick 18.
19.14 with 15 connecting axles, 20. middle finger joint control sticks and 15 connecting axles
21. middle finger joint control stick 22.13 is 14 connecting axles therewith
23. middle finger control stick and 13 connecting axles, 24. electrode pins 1
25. electrode pin 2 26.PVDF diaphragm pressure sensor and skin contacts
27. electrode 28. polyester substrates
29.PVDF thin film
The specific embodiment
Below in conjunction with accompanying drawing this utility model is described in detail.
The present invention is a kind of machine finger of copying pulse diagnosis doctor finger, has the frame for movement of three joints, one degree of freedom, is installed in the function that just can be used for finishing similar staff feeling the pulse on the robot arm.
As Fig. 1, shown in 2, this utility model is by far away dactylus (1), diaphragm pressure sensor (2), far, middle finger joint coupling part (3), middle finger joint (4), in, proximal phalange joint coupling part (5), nearly dactylus (6), the coupling part (7) of nearly dactylus and metacarpal bone joint, pitch face driven wheel A (8), pitch face driven wheel A axis (9), pitch face driven wheel B (10), pitch face driven wheel B axis (11), metacarpal bone is sat base (12), dactylus control strip (13) far away, middle finger joint control strip (14), nearly dactylus control strip (15), nearly dactylus and (8) connecting axle (16), closely refer to control stick (17), closely refer to control stick and (14) connecting axle (18), (14) with (15) connecting axle (19), (21) middle finger joint control stick and (15) connecting axle (20), middle finger joint control stick (21), (13) with (14) connecting axle (22), middle finger control stick (21) is formed with (13) connecting axle (22).(2) diaphragm pressure sensor by: electrode pin 1 (24), electrode pin 2 (25), PVDF diaphragm pressure sensor and skin contact (26), electrode (27), polyester substrate (28), PVDF thin film (29) are formed.
As shown in Figure 2, connection of the present utility model links to each other with palm portion by the coupling part (7) of nearly dactylus with the metacarpal bone joint from nearly dactylus (6).Nearly dactylus control strip (15) and closely finger control stick (17) locate to be connected with (8) connecting axle (16) near dactylus with pitch face driven wheel A (8).Nearly dactylus (6) and nearly dactylus control strip (15) are integrally welded.Nearly dactylus control strip (15) is located to be connected with middle finger joint control strip (14) by (14) and (15) connecting axle (19) at an other end, refers to that closely control stick (17) then locates to be connected with middle finger joint control strip (14) with (14) connecting axle (18) near finger control stick.Middle finger joint control stick (21) is located to be connected with (15) connecting axle (20) with middle finger joint control strip (14) middle finger joint control stick.An other end of middle finger joint control stick (21) is then located to interconnect at middle finger control stick and (13) connecting axle (23).Dactylus control strip (13) far away is located to link to each other with (14) connecting axle (22) in (13) with middle finger joint control strip (14).In like manner, dactylus control strip (13) far away interconnects by welding with dactylus far away (1) and middle finger joint (4) respectively with middle finger joint control strip (14).
The metacarpal bone of this finger mounted in palm sat in the base (12).When external motor startup, rotation pitch face driven wheel B axis (11), and drive pitch face driven wheel B (10); Pitch face driven wheel B (10) and pitch face driven wheel A (8) transmission mutually, make nearly dactylus (6) move to the finger tip direction, and by nearly dactylus control strip (15) and closely refer to control stick (17) drive middle finger joint (4) forward and the face of making a comment or criticism move, moving the pressure when forming feeling the pulse to the finger tip front by middle finger joint control stick (21) and middle finger joint control strip (14) promotion dactylus far away at last.
It is a kind of high molecular polymer type sensing material that diaphragm pressure sensor has been used PVDF (Kynoar), and Kawai in 1969 finds that it has very strong piezoelectricity, is widely used in the pressure and the vibration characteristics of Measuring Object afterwards by people.This utility model is with the electrode among Fig. 4 (27), polyester substrate (28) and PVDF thin film (29) pressing, and gross thickness is drawn two pins then at 1 millimeter and constituted pressure transducer.
The making of sensor surface electrode shape has adopted silver-colored printing ink to make silk screen process on the two sides of pvdf membrane, and screen printing ink is very firm, and is also very pliable and tough, adds the acetone corroding method then through shearing, and so, guaranteed that pick off has certain non-metallic edge.For drawing of electrode, design of the present utility model is that the upper and lower electrode surface pin of pick off is staggered, and extraction electrode is than the penetration that is easier to accomplish, this law has adopted two kinds of methods of crimp type terminal crimping and hollow little rivet.Because the backplate of PVDF diaphragm pressure sensor is exposed, and need do encapsulation process with adhesive tape.Paste fixing then with 502 glue.
When it is put into the area on the wrist over the radial artery where the pulse is felt for diagnosis radial artery surface by finger tip of the present utility model (2,26), be subjected to the impulsion of blood pressure, pick off has voltage and produces.After this voltage process amplification, the Filtering Processing, transducing is an electric wave signal.The meansigma methods of voltage is used for controlling the dynamics that finger is pressed, with branch get floating, in, the rich information of deep pulse.The momentary fluctuation of voltage then goes on record, in order to the usefulness of pulse condition information coupling.
Claims (3)
1. a traditional Chinese medical science pulse diagnosis is pointed with robot arm, it is characterized in that: by dactylus far away (1), diaphragm pressure sensor (2), far, middle finger joint coupling part (3), middle finger joint (4), in, proximal phalange joint coupling part (5), nearly dactylus (6), the coupling part (7) of nearly dactylus and metacarpal bone joint, pitch face driven wheel A (8), pitch face driven wheel A axis (9), pitch face driven wheel B (10), pitch face driven wheel B axis (11), metacarpal bone is sat base (12), dactylus control strip (13) far away, middle finger joint control strip (14), nearly dactylus control strip (15), nearly dactylus and (8) connecting axle (16), closely refer to control stick (17), closely refer to control stick and (14) connecting axle (18), (14) with (15) connecting axle (19), (21) middle finger joint control stick and (15) connecting axle (20), middle finger joint control stick (21), (13) with (14) connecting axle (22), middle finger control stick (21) is formed with (13) connecting axle (23); (2) diaphragm pressure sensor by: electrode pin 1 (24), electrode pin 2 (25), PVDF diaphragm pressure sensor and skin contact (26), electrode (27), polyester substrate (28), PVDF thin film (29) are formed; Link to each other with palm portion by the coupling part (7) of nearly dactylus from nearly dactylus (6) with the metacarpal bone joint; Nearly dactylus control strip (15) and closely finger control stick (17) locate to be connected with (8) connecting axle (16) near dactylus with pitch face driven wheel A (8); Nearly dactylus (6) and nearly dactylus control strip (15) are integrally welded; Nearly dactylus control strip (15) is located to be connected with middle finger joint control strip (14) by (14) and (15) connecting axle (19) at an other end, refers to that closely control stick (17) then locates to be connected with middle finger joint control strip (14) with (14) connecting axle (18) near finger control stick; Middle finger joint control stick (21) is located to be connected with (15) connecting axle (20) at (21) middle finger joint control stick with middle finger joint control strip (14); An other end of middle finger joint control stick (21) is then located to interconnect at middle finger control stick and (13) connecting axle (23); Dactylus control strip (13) far away is located to link to each other with (14) connecting axle (22) in (13) with middle finger joint control strip (14); In like manner, dactylus control strip (13) far away interconnects by welding with dactylus far away (1) and middle finger joint (4) respectively with middle finger joint control strip (14).
2. traditional Chinese medical science pulse diagnosis according to claim 1 is pointed with robot arm, it is characterized in that: the metacarpal bone of this finger mounted in palm sat in the base (12); When external motor startup, rotation pitch face driven wheel B axis (11), and drive pitch face driven wheel B (10); Pitch face driven wheel B (10) and pitch face driven wheel A (8) transmission mutually, make nearly dactylus (6) move to the finger tip direction, and by nearly dactylus control strip (15) and closely refer to control stick (17) drive middle finger joint (4) forward and the face of making a comment or criticism move, it is positive mobile to finger tip to promote dactylus far away by middle finger joint control stick (21) and middle finger joint control strip (14) more at last, the pressure when forming feeling the pulse.
3. traditional Chinese medical science pulse diagnosis according to claim 1 is pointed with robot arm, it is characterized in that: electrode (27), polyester substrate (28) and PVDF thin film (29) pressing, gross thickness are drawn two pins then at 1 millimeter and are constituted pressure transducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201318276U CN201279134Y (en) | 2008-08-05 | 2008-08-05 | Robot finger for traditional Chinese medicine pulse diagnosis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201318276U CN201279134Y (en) | 2008-08-05 | 2008-08-05 | Robot finger for traditional Chinese medicine pulse diagnosis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201279134Y true CN201279134Y (en) | 2009-07-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008201318276U Expired - Fee Related CN201279134Y (en) | 2008-08-05 | 2008-08-05 | Robot finger for traditional Chinese medicine pulse diagnosis |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201279134Y (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103263256A (en) * | 2013-04-28 | 2013-08-28 | 香港应用科技研究院有限公司 | Method and equipment for sensing human pulses in traditional Chinese medicine |
| US9445732B2 (en) | 2013-04-28 | 2016-09-20 | Hong Kong Applied Science and Technology Research Institute Company Limited | Methods and device for sensing a person's pulse in traditional chinese medicine |
-
2008
- 2008-08-05 CN CNU2008201318276U patent/CN201279134Y/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103263256A (en) * | 2013-04-28 | 2013-08-28 | 香港应用科技研究院有限公司 | Method and equipment for sensing human pulses in traditional Chinese medicine |
| CN103263256B (en) * | 2013-04-28 | 2015-11-04 | 香港应用科技研究院有限公司 | For sensing the method and apparatus of people's pulse in Traditional Chinese Medicine |
| US9445732B2 (en) | 2013-04-28 | 2016-09-20 | Hong Kong Applied Science and Technology Research Institute Company Limited | Methods and device for sensing a person's pulse in traditional chinese medicine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| DD01 | Delivery of document by public notice |
Addressee: Li Laixi Document name: Notification to Pay the Fees |
|
| DD01 | Delivery of document by public notice |
Addressee: Li Laixi Document name: Notification of Termination of Patent Right |
|
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090729 Termination date: 20100805 |