CN212020797U - Control device of bionic hand - Google Patents

Abstract

The utility model discloses a control device of a bionic hand, which is applied to the technical field of artificial limbs and comprises a signal detector arranged at the joint part of a human body, a driving machine arranged on the bionic hand and a controller for connecting the signal detector and the driving machine, wherein the signal detector is electrically connected with the input end of the controller, the output end of the controller is electrically connected with the driving machine, and the driving machine drives each joint on the bionic hand to move; the utility model discloses simple structure, the modern design has brought the gospel for amputation patient, and its cost of manufacture is low, and the practicality is high, and the bionic hand action flexibility, the convenient operation of the device control, the action coordination ability between shoulder, elbow and each finger is strong, and control accuracy is high, has effectively improved the accuracy of snatching and holding between the fingers.

Description

Control device of bionic hand

Technical Field

The utility model relates to an artificial limb technical field, specific controlling means of bionic hand that says so.

Background

Patients with upper limb amputation have certain restrictions in daily life, and are particularly inconvenient for bilateral upper limb amputees. Although some people have strong willingness and perseverance and need to do actions by hands through continuous effort and exercise, the people can do the actions well by feet, but certain disadvantages exist after all. It is better if there is a bionic hand to assist.

With the development of science and technology, the development of artificial limbs is also a change day by day in order to meet various requirements of different people. The design of the artificial limb and the action form thereof tend to be more humanized and diversified. The artificial limb is driven by a plurality of motors from an original single motor to a present multi-motor driven artificial hand, which is called a bionic hand, and only can be opened and closed simply from the original finger head to the present single action and the simple combined action of each finger head. However, the control precision of each finger is not sufficient, and the flexibility and coordination of the movements still need to be improved. And at present, the bionic hand adopts bioelectricity control, the technical difficulty is high, the cost is high, and most disabled people are powerless to buy and cannot use the bionic hand.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that a controlling means of bionic hand is provided, adopt intelligent control device control bionic hand to accomplish the action that the staff can accomplish, its cost of manufacture is low, control accuracy is high, control speed is fast, and the flexibility and the harmony of each finger action of bionic hand improve greatly.

In order to solve the technical problem, the utility model discloses the technical scheme who adopts is:

the utility model discloses a set up at the signal detector at human joint position, set up driving machine and the connection on the bionic hand the controller of signal detector and driving machine, the input electricity of signal detector and controller is connected, the output and the driving machine electricity of controller are connected, each joint motion on the bionic hand of driving machine drive.

Furthermore, the signal detector comprises a first sensor arranged at an interphalangeal joint or a toe joint of the hand and a second sensor arranged at a metacarpophalangeal joint or an ankle joint, the first sensor and the second sensor are both electrically connected with the input end of the controller, the driver comprises a driving unit and a wrist driver, the output end of the controller is connected with the driving unit, the driving unit is respectively connected with the metacarpophalangeal joint and the interphalangeal joint, the output end of the controller is electrically connected with the wrist driver, and the wrist driver is connected with the wrist joint.

Furthermore, the driving unit is electrically connected with the output end of the controller through a switch group, and the driving unit comprises a first driving machine, a second driving machine, a third driving machine, a fourth driving machine, a fifth driving machine and a sixth driving machine.

Further, the switch group includes a first switch, a second switch, a third switch, a fourth switch, a fifth switch and a sixth switch.

Further, the metacarpophalangeal joints include a first joint, a second joint, a third joint, a fourth joint and a fifth joint.

Further, the first switch drives the first joint through a first driver, the second switch drives the second joint through a second driver, the third switch drives the third joint through a third driver, the fourth switch drives the fourth joint through a fourth driver, the fifth switch drives the fifth joint through a fifth driver, and the sixth switch drives the metacarpal joint through a sixth driver.

Further, the wrist driving machine is electrically connected with the output end of the controller through a wrist switch.

The device comprises a first sensor, a second sensor, a third sensor, a fourth sensor, a fifth sensor and a sixth sensor, wherein the first sensor is arranged at the interphalangeal joint or the knee of a hand, the fourth sensor is arranged at the metacarpophalangeal joint or the hip joint of the hand, the fifth sensor is arranged at the shoulder or the hip, the sixth sensor is arranged at the arm or the thigh, the third sensor, the fourth sensor, the fifth sensor and the sixth sensor are all electrically connected with the input end of a controller, the output end of the controller is respectively electrically connected with a shoulder driver, an elbow driver, a folding driver and a rotary driver which are arranged on a bionic hand through a shoulder switch, an elbow switch, a folding switch and a rotary switch, the shoulder driver, the elbow driver, the folding driver and the rotary driver are connected with the shoulder joint of the bionic hand, and the elbow driver is connected with the elbow joint of the bionic hand.

Furthermore, switch block, wrist switch, shoulder switch, the integrated structure that the switch that opens and shuts, rotary switch and elbow switch set up as an organic whole.

Furthermore, the controller is provided with a wireless transmission device electrically connected with the controller, the wireless transmission device comprises a wireless transmitter and a wireless receiver, the wireless transmitter is electrically connected with the input end of the controller, and the wireless receiver is electrically connected with the output end of the controller.

Since the technical scheme is used, the utility model discloses the beneficial effect who gains is:

the utility model discloses simple structure, the modern design is special for upper limbs unilateral amputation or two sides amputation, singlehanded amputation or both hands amputation patient and designs, wears the bionic hand behind the device and can move like normal people's hand and arm, satisfies daily life's demand.

The bionic hand controlled by the device is flexible in action, convenient to operate, strong in action coordination capacity among shoulders, elbows and fingers, high in control precision and capable of effectively improving the grabbing and pinching precision. The manufacturing cost is low, the practicability is high, the economic value and the social benefit are higher, and the popularization is necessary.

Drawings

Fig. 1 is a schematic structural diagram of the present invention;

FIG. 2 is a schematic diagram of the control principle structure of the present invention;

FIG. 3 is a schematic structural diagram of the wireless control of the present invention;

fig. 4 is a schematic diagram of the control principle structure of the switch group of the present invention;

fig. 5 is a schematic diagram of the arrangement of the sensors in the second embodiment and the fourth embodiment of the present invention.

Wherein, 1, a first sensor; 2. a second sensor; 3. a wrist driver; 4. the metacarpophalangeal joints; 4-1, a first joint; 4-2, the second joint; 4-3, third joint; 4-4, fourth joint; 4-5, fifth joint; 5. the metacarpal-intercondylar joint; 6. driving the machine set; 6-1, a first driving machine; 6-2, a second driving machine; 6-3, a third driving machine; 6-4, a fourth drive; 6-5, a fifth driving machine; 6-6, a sixth driving machine; 7. a controller; 8. a switch group; 8-1, a first switch; 8-2, a second switch; 8-3, a third switch; 8-4, a fourth switch; 8-5, a fifth switch; 8-6 and a sixth switch; 9. a wrist switch; 10. a wrist joint; 11. a wireless transmitter; 12. a wireless receiver; 13. a third sensor; 14. a fourth sensor; 15. a shoulder switch; 16. an elbow switch; 17. a shoulder driver; 18. an elbow driver; 19 a shoulder joint; 20. an elbow joint; 21. a fifth sensor; 22. a sixth sensor; 23. an opening and closing switch; 24. a rotary switch; 25. a folding driver; 26. a rotary drive.

Detailed Description

The present invention will be described in further detail with reference to the following examples:

a control device of a bionic hand is disclosed, as shown in figures 1-5, and comprises a signal detector arranged at a joint part of a human body, a driving machine arranged on the bionic hand and a controller 7 for connecting the signal detector and the driving machine, wherein the signal detector is electrically connected with an input end of the controller 7, an output end of the controller 7 is electrically connected with the driving machine, the driving machine is connected with a movable joint on the bionic hand through a connecting rod or a gear and drives each joint to act, so that the bionic hand can smoothly complete daily activities which can be completed by a hand, and good news is brought to amputation patients.

The signal detector detects that the signal of human body joint's bending and straightening transmits for the input of controller 7, and controller 7 is the singlechip of market purchase, can use after writing into the procedure in the singlechip as required, and controller 7 receives the input signal that signal detector sent and carries out comparison, judgement, then sends the order to the output of controller 7, drives the movable joint action that drives on the bionic hand that corresponds after receiving the order, the bending and straightening of bionic hand.

The signal monitor is a sensor, the sensor can be a curvature sensor or an angle sensor, the curvature sensor is a sensor for measuring the bending degree, the bending degree and the impedance of the sensor form a certain relation, the resistance value change information of the sensor is transmitted to the input end of the controller 7, and the controller 7 controls the movement of each joint on the bionic hand to complete corresponding actions after analysis and judgment. The angle sensor can accurately detect the angle and convert the angle into a position quantity, and the controller 7 controls the movement of each joint on the bionic hand to complete corresponding actions according to the change of the angle information.

First embodiment, as shown in fig. 1 and 2, the signal detector includes a first sensor 1 disposed at the interphalangeal joint of the small finger and a second sensor 2 disposed at the metacarpophalangeal joint 4 of the small finger, which are disposed at the small finger because the small finger does not play an important role in the process of dry activity, does not affect daily activities, and meets the requirements of bending and straightening flexibility for the small finger, which is also possible for other fingers. The information of the bending or straightening of the metacarpophalangeal joint 4 of the little finger detected by the first sensor 1 and the motion information of the little finger detected by the second sensor 2 are transmitted to the input end of the controller 7.

The driving machine comprises a driving machine set 6 and a wrist driving machine 3, as shown in fig. 2 and 3, the output end of a controller 7 is connected with the driving machine set 6 through a switch set 8, the driving machine set 6 drives the metacarpal joints 5 and the metacarpophalangeal joints 4 of the bionic hand to move, the controller 7 sends a command to the switch set 8 after analyzing and judging the information of bending or straightening of the first sensor 1, the switch set 8 transmits the command to the driving machine set 6, and the driving machine set 6 drives the corresponding metacarpal joints 5 and the metacarpophalangeal joints 4 to move so that the fingers of the bionic hand complete corresponding bending or straightening actions.

The output end of the controller 7 is electrically connected with the wrist driving machine 3 through a wrist switch 9, and the wrist driving machine 3 drives a wrist joint 10 to move. When the controller 7 receives the motion information of the metacarpophalangeal joint 4 detected by the second sensor 2, the motion information is analyzed and judged, and then a command is sent to the wrist switch 9 to drive the wrist joint 10 through the wrist driving machine 3 to finish the motion simulating the rotation of the wrist. At the moment, action information detected by the first sensor 1 and the second sensor 2 is transmitted to the input end of the controller 7 together, the controller 7 sends commands to the driving unit 6 and the wrist driving machine 3 through the switch group 8 and the wrist switch 9 respectively after analysis and judgment, and the metacarpophalangeal joints 4, the metacarpal joints 5 and the wrist joints 10 on the bionic hand act together to drive the bionic hand to complete more and more complex actions, so that the bionic hand flexibly controls the bending and straightening of daily fingers like a human hand, and the actions of holding, pinching, drinking, eating and the like are met.

As shown in fig. 4, the driving unit 6 is a structure in which a plurality of driving machines are integrated, and the driving unit 6 includes a first driving machine 6-1, a second driving machine 6-2, a third driving machine 6-3, a fourth driving machine 6-4, a fifth driving machine 6-5, and a sixth driving machine 6-6. The switch group 8 is a structure formed by integrating a plurality of switches, and the switch group 8 comprises a first switch 8-1, a second switch 8-2, a third switch 8-3, a fourth switch 8-4, a fifth switch 8-5 and a sixth switch 8-6. The metacarpophalangeal joints 4 comprise a first joint 4-1, a second joint 4-2, a third joint 4-3, a fourth joint 4-4 and a fifth joint 4-5.

The output end of the controller 7 is respectively electrically connected with a first switch 8-1, a second switch 8-2, a third switch 8-3, a fourth switch 8-4, a fifth switch 8-5 and a sixth switch 8-6, the first switch 8-1 is electrically connected with a first driver 6-1, the first driver 6-1 is connected with a first joint 4-1 and drives the first joint 4-1 to complete the bending or straightening of the little finger; the second switch 8-2 is electrically connected with a second driver 6-2, and the second driver 6-2 is connected with the second joint 4-2 and drives the second joint 4-2 to complete the bending or straightening of the ring finger; the third switch 8-3 is electrically connected with a third driver 6-3, and the third driver 6-3 is connected with the third joint 4-3 and drives the third joint 4-3 to complete the bending or straightening of the middle finger; the fourth switch 8-4 is electrically connected with a fourth driving machine 6-4, and the fourth driving machine 6-4 is connected with a fourth joint 4-4 and drives the fourth joint 4-4 to complete the bending or straightening of the forefinger; the fifth switch 8-5 is electrically connected with a fifth driver 6-5, and the fifth driver 6-5 is connected with the fifth joint 4-5 and drives the fifth joint 4-5 to complete the bending or straightening of the thumb; the sixth switch 8-6 is electrically connected with the sixth driving machine 6-6, and the sixth driving machine 6-6 is connected with the metacarpal joint 5 and drives the metacarpal joint 5 to complete the inward and outward reversal of the thumb.

In the implementation process, if "OK" is indicated, the first switch 8-1, the second switch 8-2 and the third switch 8-3 are turned off, so that the information detected by the first sensor 1 at the interphalangeal joint of the human hand is transmitted to the input end of the controller 7, and then the information is transmitted to the wireless receiver 12 through the wireless transmitter 11, and the information received by the wireless receiver 12 is transmitted to the output end of the controller 7, and since the first switch 8-1, the second switch 8-2 and the third switch 8-3 are turned off, the little finger, the ring finger and the middle finger are in the standby state, and the fourth switch 8-4 and the fifth switch 8-5 are turned on, a dynamic "OK" gesture can be formed according to the bending or straightening of the first sensor 1.

If the forefinger is in the straightened or bent state, the first switch 8-1, the second switch 8-2, the third switch 8-3 and the fifth switch 8-5 are closed. If the action of holding the water cup to drink water is to be finished, the switch group 8 and the wrist switch 9 are required to be in an open state, the water cup is held under the combined action of the first sensor 1 and the second sensor 2, the wrist joint 10 is rotated to finish the actions of drinking water and the like, and the rest actions are finished in the same way.

The second embodiment, as shown in fig. 1, fig. 2 and fig. 5, differs from the first embodiment only in that: the first sensor 1 and the second sensor 2 are respectively arranged at the position of a toe or an ankle, and transmit the action information of the toe and the ankle to the input end of the controller 7, so that the bionic hand is controlled to smoothly and flexibly complete daily actions like a human hand.

Third embodiment, as shown in fig. 1 and 2, the position of the movable joint on the bionic hand to be controlled can be increased or decreased according to the needs of the patient. When a patient with amputated limbs from the shoulder is met, the elbow and the shoulder are additionally arranged on the bionic hand, then a third sensor 13 is arranged at the interphalangeal joint of the hand, a fourth sensor 14 is arranged at the metacarpophalangeal joint 4 of the hand, a fifth sensor 21 is arranged on the shoulder, and a sixth sensor 22 is arranged on the big arm of the arm on the basis of the first embodiment, the third sensor 13, the fourth sensor 14, the fifth sensor 21 and the sixth sensor 22 are all electrically connected with the input end of the controller 7, and the output end of the controller 7 is respectively electrically connected with a shoulder driver 17, a unfolding driver 25 and a rotary driver 26 which are arranged on the bionic hand and used for controlling the shoulder action through a shoulder switch 15, an unfolding switch 23 and a rotary switch 24; and the output end of the controller 7 is electrically connected with an elbow driver 18 for controlling the elbow motion through an elbow switch 16. The shoulder driver 17, the unfolding driver 25 and the rotary driver 26 are connected with the shoulder joint 19 of the bionic hand to control rotation, unfolding and front and back movement of the shoulder, so that the shoulder of the bionic arm is as flexible as the shoulder of a person, and the elbow driver 18 is connected with the elbow joint 20 of the bionic arm to control flexible movement of the elbow of the bionic hand.

In this way, the extension and bending information of the interphalangeal joints of the human hand collected by the third sensor 13 is transmitted to the input end of the controller 7, and after being analyzed and judged by the controller 7, the elbow switch 16 sends a command to the elbow driver 18 to drive the elbow joint 20 to move; the motion information of the metacarpophalangeal joint 4, the shoulder and the upper arm is respectively collected by the fourth sensor 14, the fifth sensor 21 and the sixth sensor 22 and is transmitted to the input end of the controller 7, and the command is sent to the shoulder driver 17, the unfolding driver 25 and the rotary driver 26 which are electrically connected with the output end of the controller 7 after the analysis and judgment of the controller 7 to comprehensively control the flexible motion of the shoulder joint 19 of the bionic arm.

Fourth embodiment, as shown in fig. 1, 2 and 5, when the patient has amputated both sides of the upper limb, the sensor needs to be arranged at the leg and foot to control the motion of the bionic hand through the controller 7, which is different from the third embodiment in that: the first sensor 1 and the second sensor 2 are respectively arranged at the toe or the ankle, the third sensor 13 is arranged at the knee, the fourth sensor 14 is arranged at the hip joint, the fifth sensor 21 is arranged at the hip and the sixth sensor 22 is arranged at the thigh, and other control structures and control principles are the same as the third embodiment.

The switch group 8, the wrist switch 9, the shoulder switch 15, the unfolding and folding switch 23, the rotary switch 24 and the elbow switch 16 are integrated into a whole. Each switch of the integrated structure integrally arranged correspondingly controls one driving machine, and the switches are connected in parallel. In the using process, any one driving machine can be controlled to work independently according to the requirement through the connection and disconnection of the switch, any two or more driving machines can be controlled to work simultaneously and coordinately finish high-comprehensive actions through arbitrary combination, and the device is convenient to operate and high in control precision.

As shown in fig. 3, a wireless transmission device electrically connected to the controller 7 is disposed on the controller 7, and the wireless transmission device includes a wireless transmitter 11 and a wireless receiver 12. The information detected by the first sensor 1 and the second sensor 2 is transmitted to the input end of the controller 7, the information at the input end of the controller 7 is transmitted to the output end of the controller 7 through a wireless transmission device, two controllers 7 with the same configuration are needed at the moment, the controller 7 connected with the first sensor 1 and the second sensor 2 is electrically connected with the wireless transmitter 11, and the controller 7 with the output end connected with the switch group 8 is electrically connected with the wireless receiver 12. The wireless transmission is adopted, so that the control is more direct, and the limitation of the connection to the working process is avoided.

Therefore, when a patient with a hand or arm shortage can select the bionic hand with or without the arm according to needs, the bionic hand can be cheerful, the design is humanized, the production cost is low, and the bionic hand is convenient and practical and has the need of vigorous popularization.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present invention.

Claims (10)

1. A bionic hand control device is characterized in that: the signal detector is electrically connected with the input end of the controller (7), the output end of the controller (7) is electrically connected with the driving machine, and the driving machine drives each joint on the bionic hand to move.

2. A bionic hand control device as claimed in claim 1, wherein: the signal detector comprises a first sensor (1) arranged at an interphalangeal joint or a toe joint of a hand and a second sensor (2) arranged at a metacarpophalangeal joint (4) or an ankle joint, the first sensor (1) and the second sensor (2) are electrically connected with the input end of a controller (7), the driver comprises a driving unit (6) and a wrist driver (3), the output end of the controller (7) is connected with the driving unit (6), the driving unit (6) is respectively connected with the metacarpal joint (4) and the metacarpal joint (5), the output end of the controller (7) is electrically connected with a wrist driver (3), and the wrist driver (3) is connected with a wrist joint (10).

3. A bionic hand control device as claimed in claim 2, wherein: the driving unit (6) is electrically connected with the output end of the controller (7) through a switch group (8), and the driving unit (6) comprises a first driving machine (6-1), a second driving machine (6-2), a third driving machine (6-3), a fourth driving machine (6-4), a fifth driving machine (6-5) and a sixth driving machine (6-6).

4. A bionic hand control device as claimed in claim 3, wherein: the switch group (8) comprises a first switch (8-1), a second switch (8-2), a third switch (8-3), a fourth switch (8-4), a fifth switch (8-5) and a sixth switch (8-6).

5. The bionic hand control device according to claim 4, characterized in that: the metacarpophalangeal joints (4) comprise a first joint (4-1), a second joint (4-2), a third joint (4-3), a fourth joint (4-4) and a fifth joint (4-5).

6. The bionic hand control device according to claim 5, characterized in that: the first switch (8-1) drives the first joint (4-1) through a first driver (6-1), the second switch (8-2) drives the second joint (4-2) through a second driver (6-2), the third switch (8-3) drives the third joint (4-3) through a third driver (6-3), the fourth switch (8-4) drives the fourth joint (4-4) through a fourth driver (6-4), the fifth switch (8-5) drives the fifth joint (4-5) through a fifth driver (6-5), and the sixth switch (8-6) drives the metacarpal joint (5) through a sixth driver (6-6).

7. A bionic hand control device as claimed in claim 3, wherein: the wrist driving machine (3) is electrically connected with the output end of the controller (7) through a wrist switch (9).

8. The bionic hand control device according to claim 7, characterized in that: the hand-held bionic hand comprises a first sensor (13) arranged at the interphalangeal joint or the knee of a hand, a second sensor (14) arranged at the metacarpophalangeal joint (4) or the hip joint of the hand, a first sensor (21) arranged at the shoulder or the hip joint of the hand and a second sensor (22) arranged at the arm or the thigh joint of the hand, wherein the first sensor (13), the second sensor (14), the first sensor (21) and the second sensor (22) are all electrically connected with the input end of a controller (7), the output end of the controller (7) is respectively and electrically connected with a shoulder driver (17), an elbow driver (18), a unfolding driver (25) and a rotary driver (26) arranged on the bionic hand through a shoulder switch (15), an elbow switch (16), a unfolding switch (23) and a rotary switch (24), the shoulder driver (17), the elbow driver (18), the unfolding driver (25) and the rotary driver (26), the shoulder driver (17), the unfolding driver (25) and the rotary driver (26) are connected with the shoulder joint (19, the elbow driver (18) is connected with an elbow joint (20) of the bionic hand.

9. The bionic hand control device according to claim 8, characterized in that: the switch group (8), the wrist switch (9), the shoulder switch (15), the opening and closing switch (23), the rotary switch (24) and the elbow switch (16) are integrated into a whole.

10. A bionic hand control device as claimed in claim 1, wherein: the wireless transmission device is characterized in that a wireless transmission device electrically connected with the controller (7) is arranged on the controller (7), the wireless transmission device comprises a wireless transmitter (11) and a wireless receiver (12), the wireless transmitter (11) is electrically connected with the input end of the controller (7), and the wireless receiver (12) is electrically connected with the output end of the controller (7).

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