CN2385692Y

CN2385692Y - Self-manipulator

Info

Publication number: CN2385692Y
Application number: CN 99221343
Authority: CN
Inventors: 陈伯恒
Original assignee: Individual
Current assignee: Individual
Priority date: 1999-03-01
Filing date: 1999-06-20
Publication date: 2000-07-05
Anticipated expiration: 2009-06-20

Abstract

The utility model relates to a self-help manipulator used for a disabled person who loses hands. The utility model has the fundamental principle that the movement of the manipulator is controlled by using the movement of each joint of leg and foot parts of a human body and through pulling a line; basic components of the utility model are composed of the easy manipulator emulating each joint of human hands, hand arms, special foot sheaths, toe sheaths, an upper supporting block, a lower supporting block, a line pull fixed device, a pull line group sheathed with elastic screw sheaths, wherein, the manipulator is combined with the existing artificial limb technique, and the pull line group has the function of dynamic force transference. The utility model has the advantages that the structure is simple, the cost is low, the function is stronger, the utility model can solve the simple problems having in the daily life of the disabled person who loses hands, such as dining, writing, taking things, etc. at a certain degree, and the utility model is a relatively practical life tool.

Description

Self-manipulator

This utility model belongs to a kind of Self-manipulator for the people with disability's use that loses hands.

At present, making for the people with disability in the industry of artificial limb, doing evil through another person of its better performances is to adopt micro machine to drive mostly, and this method is that the different information of utilizing the muscular movement situation of the residual arm segment of people with disability to be sent receive the motion of handling the finger of drive motors control afterwards by sensing system.Because everyone situation difference, so use very inconvenient, finger often can only be done some open-and-shut work, such as finger slightly crooked, lift some very light objects etc., and this series products costs an arm and a leg often, and the high-grade product of a cover generally also gets four to 50,000 yuans, therefore, general salary family is difficult to bear.

The purpose of this utility model be propose a kind of easy to use, cost is lower, the motion in the lower limb that utilizes people with disability self of better performances, each joint of foot is controlled chirokinesthetic the doing of machinery and general as better simplyly had a meal, writes by the principle technical scheme of the Self-manipulator of work such as thing.

This utility model is achieved in that each joint of apery hands that has conventional prosthesis in the mechanism and do evil through another person easily (1) of each portion mechanism, arm prosthesis, (2), fixing band (3), it is characterized in that: outfan of the backguy (8) of each finger (6) of control and wrist (7) motion in (1) of doing evil through another person is connected on the upper end of control backguy (4) that many outsides are set with elasticity swivel nut (5), wherein, the upper end of the elasticity swivel nut (5) that control backguy (4) outside of wrist (7) hinge point motion in the artificial hand controlled (1) is set with presses closer on the wrist position of (1) of doing evil through another person, its lower end presses closer and is being fixed on the ankle cover (9) of human body ankle position or shank, the lower end of the control backguy (4) that is installed with in it is fixed on that the shape that is enclosed within on people's foot and people's feet shape roughly coincide and front end and is shaped on the footmuff of being made by flexible material (11) that can make hole that people's foot toe stretches out, the upper end of the elasticity swivel nut (5) that control backguy (4) outside of finger (6) motion on many artificial hand controlled (1) is with presses closer respectively in (1) the palm part lower end of doing evil through another person, its lower end presses closer respectively on footmuff (11), and the control backguy (4) that is installed with in it is fixed on the toe binding (13) on the toe that is sleeved on the people.The clamper mechanism that (1) also can adopt industrial machine to go in the end effector of doing evil through another person substitutes.Other finger (6) except that thumb also can be only controlled backguys (4) control that links with one or two.The ankle cover can be made into annular, be shaped on it can withstand elasticity swivel nut (5) lower surface and the centre be shaped on the last protruding block (10) that can make the hole that control backguy (4) passes through.Can people's foot instep of footmuff (11) one side near be shaped on the position of toe can withstand many elasticity swivel nuts (5) lower end and the centre be shaped on a plurality of lower convexity pieces (12) that can make the hole that control backguy (4) passes through.Clamper in adopting the industrial robot end effector substitutes when doing evil through another person (1), the quantity of its control backguy (4) can adopt one, at this moment rights reserved requires the control backguy (4) and the elasticity swivel nut of artificial hand controlled (1) the wrist portion componental movement described in 1, and makes the upper end of control backguy (4) be connected the front end that makes arm prosthesis (2) with the driving force input of clamper to fix with the end of clamper and be connected.During work, because the toe binding (13) that is with on the toe is fixedlyed connected with the lower end of control backguy (4), so, the motion of toe will drive control backguy (4) motion, press closer the guide effect of the elasticity swivel nut (5) on the infra protruding block (12) through the lower end after, can directly control the motion of each finger.So that Self-manipulator is finished its work purpose.Generally speaking, can make the motion of the motion drive hands thumb of foot big toe, the motion of other toe drives the motion of other finger, and the lower end of the elasticity swivel nut (5) that is set with outside the control backguy (4) owing to the motion of artificial hand controlled (1) wrist position presses closer on last protruding block (10), so, the motion of instep will press closer under the guide effect of the elasticity swivel nut (5) on the last protruding block (10) in the lower end, pulling control backguy (4) is so that (1) wrist motion of doing evil through another person, and reaches to make Self-manipulator can further simulate the purpose of human hand function.As the simplest situation, the hand of Self-manipulator, clamper mechanism in the available industrial robot end effector substitutes, at this moment finger part generally only needs the clamper of an external clamping, its control backguy (4) also only needs one, so its practicality relatively simple for structure, but outward appearance and function relative mistake some.

Since the utlity model has simple in structure, cost is lower, reliable in function, driving force are big, and the user training time is shorter relatively, evidence generally has one month the time just can be skilled, so its effect is positive.

This utility model has 15 accompanying drawings, wherein Fig. 1 is the basic principle schematic of Self-manipulator hand organization, Fig. 2 is the basic principle schematic of Self-manipulator foot mechanism, sketch map when Fig. 3 is the Self-manipulator use, Fig. 4 is the positive basic structure sketch map of doing evil through another person among the Self-manipulator embodiment, Fig. 5 is the basic structure sketch map at the back side of doing evil through another person among the Self-manipulator embodiment, Fig. 6 is the basic structure sketch map after Fig. 5 removes the palm lid, Fig. 7 is the A-A cutaway view of Fig. 6, Fig. 8 is the B-B cutaway view of Fig. 6, Fig. 9 is the mutual alignment sketch map with arm prosthesis and related components of doing evil through another person among the Self-manipulator embodiment, Figure 10 is that the A of Fig. 9 is to partial sectional view, Figure 11 is the basic structure sketch map of pretightning force adjusting device, Figure 12 is the basic structure sketch map of foot mechanism among the Self-manipulator embodiment, Figure 13 is the left view of Figure 12, and Figure 14 is the vertical view of Figure 13, and Figure 15 is that the A of Figure 12 is to view.In institute's drawings attached: do evil through another person (1), (2) arm prosthesis, (3) fixing band, (4) control backguy, (5) elasticity swivel nut, (6) finger, (7) wrist, (8) backguy, (9) ankle cover, (10) go up protruding block, (11) footmuff, (12) lower convexity piece, (13) toe binding, (14) axis of guide, (15) line ball post, (16) slide block, (17) housing screw, (18) limit shaft, (19) palm, (20) torsion spring, (21) hold-down screw, (22) hinge axis, (23) back-moving spring, (24) finger-joint hinge axis, (25) palm lid, (26) screw, (27) front limit piece, (28) back limited block, (29) rivet, (30) adjusting screw(rod), (31) adjusting nut, (32) toe tension piece, (33) inserts, (34) inserts in the middle of.

When this utility model is specifically implemented, should be taken into account that this utility model and the main distinction of prior art are to make the source and the mode of driving force of hand activities different, but others are similar, so, the basic structure of whole hand and the dimensional parameters of each joint part should be used structure of the prior art and parameter as far as possible, and design work is more saved time, rationally.Below, in conjunction with the situation of an embodiment, further specify implementation issue of the present utility model; The arm prosthesis (2) that in the concrete mechanism of present embodiment, has conventional prosthesis, fixing band (3), each section of apery hands skeleton of forming by linkage the multistage finger (6) that forms of articulatio simplex mechanisms in series, palm (19) and wrist (7), it is characterized in that: the linkage on each section finger (6) is positioned at a side of its axis, be fixed on the backguy (8) on each one section finger (6) topmost on being coated with in the through hole of its opposite side near the parallel and axis of outer edge, the through hole that the close outer edge of opposite side of axis is pointed by each one section finger (6) bottom hinged place corresponding with palm (19) in the lower end of the backguy (8) on each finger of other except that thumb penetrates in the palm (19) and the activity of being separately fixed at is positioned on the rectangular shaped slider (16) in the palm (19), between each section finger (6) and in the backguy of finger (6) and palm (19) hinged place, be respectively installed with back-moving spring (23), fixedly be equipped with at the back of the hand position of palm (19) and cover on slide block (16) and bump less than the shape of slide block (16) the palm lid (25) roughly corresponding with palm (19), the through hole that the other end of backguy on the thumb (8) is pointed the opposite side of axis by one section finger (6) hinged place corresponding with palm (19) bottom penetrates in the palm (19), be connected with the upper end of control backguy (4), the other end of control backguy (4) passes palm lid (25) and an end and presses closer and go up the other end at palm lid (25) and press closer behind the elasticity swivel nut (5) of the outer formation helical spring shape on rectangle that is shaped on through hole along human body ankle to direction of toe of last or semicircle lower convexity piece (12) rear end, be fixed on after through hole in lower convexity piece (12) passes again on the semicircle toe tension piece (32), slide block (16) along palm (19) to the direction of arm prosthesis (2), control backguy (4) also fixedly is housed, the other end of control backguy (4) passes palm lid (25) and an end and presses closer after palm lid (25) is gone up the other end and pressed closer the elasticity swivel nut (5) of the outer formation helical spring shape on infra protruding block (12) rear end, be fixed on the semicircle toe tension piece (32) after passing by the front end of lower convexity piece (12) again, lower convexity piece (12) is fixed on the belt fastener of making by the human foot shape that passes through and is fixed on that ankle place on the ankle becomes annular and extends planar extend to behind the direction of toe of last along the instep direction and be shaped on a size at foot big toe place and can just in time be enclosed within on the position near toe of the footmuff of being made by flexible material (11) of thin annulus of foot big toe the inner, toe tension piece (32) is fixed on the last front end that the lower end, middle part of being made by flexible material that is enclosed within on the human body foot big toe is shaped on the cylindrical shape toe binding (13) of V-type opening, toe tension piece (32) is fixed on the last front end that the lower end, middle part of being made by flexible material that is enclosed within on human body other toe except that the foot big toe is shaped on the oblate tubular toe binding (13) of V-type opening, inboard one side is shaped on macropore on along arm prosthesis (2) to volar direction and makes aperture and control backguy (4) work ladder hole movingly movingly with elasticity swivel nut (5) external diameter near the palm in wrist (7), an end that contacts with palm (19) of carrying on the back a side near palm is shaped on the linkage that the centre that cooperates with palm (19) is installed with hinge axis (22), on the hinge axis at the position, two symmetric spaces at the recessed position of the protrusion position of wrist (7) hinge and palm (19) hinge, be respectively installed with that to make palm stretch direction be to reset the torsion spring (20) of direction, the other end of wrist (7) fixes with the front end of arm prosthesis (2) and is connected, arm prosthesis (2) front portion is shaped on by the arm outside leads to the oblique through hole that inboard wrist (7) goes up ladder hole, another control backguy (4) fixedly is housed in the middle and lower part of palm (19), the other end of this control backguy (4), penetrate behind the aperture by the shoulder hole on palm (19) and the wrist (7) end press closer wrist (7) go up on the macropore inner face of ladder hole and pass arm prosthesis (2) and go up the elasticity swivel nut (5) of upper end that the other end of oblique through hole presses closer the last protruding block (10) that has through hole that is being fixed on front side, ankle cover (9) ankle position and be fixed on the lower convexity piece (12) after also by the through hole on the last protruding block (10).Can be shaped on aperture and the backguy (4) movingly of macropore and elasticity swivel nut (5) external diameter to the volar direction at the lower end edge arm prosthesis (2) of palm (19) and make movingly ladder hole, the end face of elasticity swivel nut (5) one ends is pressed closer on the bottom surface of its macropore.But infra protruding block (12) upper edge ankle to direction of toe of last is shaped on aperture and the backguy (4) movingly of macropore and elasticity swivel nut (5) external diameter and makes movingly ladder hole, and the end face of elasticity swivel nut (5) one ends is pressed closer on the bottom surface of its macropore.Can be shaped on aperture and the backguy (4) movingly of macropore and elasticity swivel nut (5) external diameter at last protruding block (10) upper edge ankle to direction of toe of last and make movingly ladder hole, the end face of elasticity swivel nut (5) one ends is pressed closer on the bottom surface of its macropore, and make the pilot hole that diameter dimension can make elasticity swivel nut (5) pass through respectively in the both sides of its ladder hole.One end of back-moving spring (23) is in the macropore of the shoulder hole that is shaped on its finger (6) correspondence position of can partly packing into.Back-moving spring (23), torsion spring (20) available stretch spring or leaf spring substitute.Generally speaking, control backguy (4) two ends can adopt screw in compression or welding or bonding method to fix.When user has only the situation of the residual upper arm of part, Self-manipulator should increase by one section artificial upper arm that is connected by linkage with arm prosthesis (2), at this moment control backguy (4) upper end that increases should fix with the artificial upper arm front end along hinged direction and be connected, its lower end should be fixed on the fixing point of people's shank upper end, elasticity swivel nut (5) upper end should press closer on the fixing point of arm prosthesis (2) rear end, its lower end should press closer on the fixing point of people's thigh lower end, and fixing band (3) front end should be fixed on the rear end of artificial upper arm.During work, because the toe binding that is with on the toe is that indirect securement is connected with the lower end of control backguy (4), so, the motion of toe will drive control backguy (4) motion, press closer the guide effect of the elasticity swivel nut (5) on the infra protruding block (12) through the lower end after, can directly control the motion of each finger.So that Self-manipulator is finished its work purpose.Generally speaking, can make the motion of the motion drive hands thumb of foot big toe, the motion of other toe drives the motion of other finger, and the lower end of the elasticity swivel nut (5) that is with outside the control backguy (4) owing to the motion of artificial hand controlled (1) wrist position presses closer on last protruding block (10), so, the motion that ankle drives instep will press closer under the guide effect of the elasticity swivel nut (5) on the last protruding block (10) in the lower end, pulling control backguy (4) is so that (1) wrist motion of doing evil through another person, and reaches to make Self-manipulator can further simulate the purpose of human hand function.Generally speaking, footmuff (11), last protruding block (10), lower convexity piece (12), toe tension piece (32), toe binding (13) can adopt leather substance or plastics to make, in the mating holes on the infra protruding block (12), inserts (33) and middle inserts (34) should fixedly be housed, can improve the parts working strength like this, last protruding block also should be taken into account this point on (10).Because people's the height and the situation difference of use, so the length of elasticity swivel nut (5) also can be different during specific design, therefore, should add a length adjustment device at the middle part of elasticity swivel nut (5) in the ordinary course of things, method is at the middle part of elasticity swivel nut (5) it to be disconnected, make control backguy (4) by after the adjusting device, the two ends that elasticity swivel nut (5) is disconnected are respectively charged in the macropore of two ends shoulder hole of adjusting device again, adjusting device is made up of adjusting screw(rod) (30) and adjusting nut (31), the centre of adjusting screw(rod) (30) is shaped on the through hole of the control backguy (4) of can packing into along axis, the upper end be shaped on one section with the hole of the co-axial slightly larger in diameter of through hole in elasticity swivel nut (5) overall diameter, in the lower end be shaped on the one section external screw thread that cooperates with screw in the adjusting nut (31), adjusting nut (31) a good appetite suddenly appearing in a serious disease upper end is shaped on outside the screw, middle lower end structure is identical with upper end in the adjusting screw(rod) (30), and placement direction is opposite after just installing.During use, as long as rotation adjusting screw(rod) (30), promptly the degree of tightness of scalable elasticity swivel nut (5) reaches the purpose of regulating control backguy (4) degree of tightness.In concrete structure of the present utility model, the intermediate cylindrical diameter that is fixed on the palm (19) is the direction of motion that changes control backguy (4) less than the effect of the cylindrical axis of guide of the ladder of two terminal circle column diameter (14), stressing conditions when improving its motion, line ball post (15) is made up of the ladder cylinder, its two cylindrical intersection is shaped on one along the through hole of its radial slightly larger in diameter in control backguy (4), earlier line ball post (15) is packed into during installation on the slide block (16) in the corresponding with it shoulder hole, make the upper end large cylinder of line ball post (15) partly spill the last plane of slide block (16), then, the control backguy (4) of packing into, the socket cap lower plane that reuse is spun on the housing screw (17) on the slide block (16) compresses line ball post (15) and gets final product.The effect of limit shaft (18) be the restriction slide block (16) with the vertical direction of palm on move.Palm (19) is fixed with wrist (7) general employing hold-down screw (21) in easy scheme and is got final product.Finger-joint hinge axis (24) should adopt nonmetallic materials to make under possible situation as far as possible.Front limit piece (27) is make elasticity swivel nut (5) neat and orderly with the effect of back limited block (28), generally can be fixed on arm prosthesis (2) by screw (26) and upward get final product.Screw (26) also can be used to palm lid (25) is fixed on the palm back side.Fixing band (3) is used rivet (29) generally speaking, and fixedly outward appearance is more smooth.Self-manipulator as simple type, generally can consider to adopt the motion of the motor control wrist of ankle, the motion of the motor control hands thumb of foot big toe, other four finger of foot is got final product by the motion of other finger of the unified control of a backguy (2), in case of necessity, little toe can not participate in control work, if but that motion divides is too thin, and operate and will compare difficulty.The design of footmuff part should meet bionic principle as far as possible, and it is pleasant to make people wear the back, does not influence as far as possible and wears footwear and walk, and this just need make light as far as possible that the material of each parts at footmuff position can be light under the condition of proof strength, and trying one's best of approaching approaches.For the lower people with disability of amputation site, the general programmable weak point of arm prosthesis (2) some, at this moment the design of fixing band (3) is except that considering to be set to another function of takeing on relative with arm prosthesis (2) of people, also should add the belt of a belt leather bracelet on the top of the arm big junction of this arm, fixing band (3) is fixed on people's the big arm with it.Slide block (16) can be designed to various ways, can be in palm add a gathering sill along pointing to orientation arm, also can cancel the mechanism on the whole slide block (16), the control backguy (4) on it is fixed together with welding or other method of putting, reach the purpose of simplified structure.When user has only the situation of the residual upper arm of part, Self-manipulator should increase by one section artificial upper arm that is connected by linkage with arm prosthesis (2), at this moment control backguy (4) upper end that increases should fix with the artificial upper arm front end along hinged direction and be connected, its lower end should be fixed on the fixing point of people's shank upper end, elasticity swivel nut (5) upper end should press closer on the fixing point of arm prosthesis (2) rear end, its lower end should press closer on the fixing point of people's thigh lower end, and fixing band (3) front end should be fixed on the rear end of artificial upper arm.When user belongs to the situation of omoplate amputation, the basic structure of traditional omoplate amputation artificial limb can be used in its top, but the lower end of control backguy (4) generally should be fixed on people's thigh root, and the lower end of elasticity swivel nut (5), then should press closer on the following fixing point of people's waist,, just use and not too made things convenient for though do feasiblely like this, the training difficulty is relatively also very big, so it is relatively good to consider that at this moment function with at present traditional myoelectricity formula artificial limb combines the method for design.

Claims

1, the people with disability that a kind of confession loses hands utilizes self lower limb, the Self-manipulator that the motion of foot joint drives, has each joint of apery hands of conventional prosthesis and do evil through another person easily (1) of each portion mechanism, arm prosthesis, (2), fixing band (3), it is characterized in that: outfan of the backguy (8) of each finger (6) of control and the motion of wrist (7) hinge point in (1) of doing evil through another person is connected on the upper end of control backguy (4) that many outsides are set with elasticity swivel nut (5), wherein, the upper end of the elasticity swivel nut (5) that control backguy (4) outside of wrist (7) hinge point motion in the artificial hand controlled (1) is set with presses closer on the wrist position of (1) of doing evil through another person, its lower end presses closer and is being fixed on the ankle cover (9) of human body ankle position or shank, the lower end of the control backguy (4) that is installed with in it is fixed on that the shape that is enclosed within on people's foot and people's feet shape roughly coincide and front end and is shaped on the footmuff of being made by flexible material (11) that can make hole that people's foot toe stretches out, the upper end of the elasticity swivel nut (5) that control backguy (4) outside of finger (6) motion on many artificial hand controlled (1) is with presses closer respectively in (1) the palm part lower end of doing evil through another person, its lower end presses closer respectively on footmuff (11), and the control backguy (4) that is installed with in it is fixed on the toe binding (13) on the toe that is sleeved on the people.

2, Self-manipulator according to claim 1 is characterized in that: do evil through another person (1) also can adopt the clamper mechanism in the industrial robot end effector to substitute.

3, Self-manipulator according to claim 1 is characterized in that: other finger (6) except that thumb, also can be only control backguys (4) control that links with one or two.

4, Self-manipulator according to claim 1, it is characterized in that: the ankle cover can be made into annular, be shaped on it can withstand elasticity swivel nut (5) lower surface and the centre be shaped on the last protruding block (10) that can make the hole that control backguy (4) passes through, the shape of toe binding (13) should be roughly identical with the shape of toe.

5, Self-manipulator according to claim 1 is characterized in that: can people's foot instep of footmuff (1 1) one side near be shaped on the position of toe can withstand many elasticity swivel nuts (5) lower end and the centre be shaped on a plurality of lower convexity pieces (12) that can make the hole that control backguy (4) passes through.

6, Self-manipulator according to claim 2, it is characterized in that: the quantity of its control backguy (4) can adopt one, at this moment a rights reserved requires the control backguy (4) and the elasticity swivel nut (5) of artificial hand controlled (1) wrist (7) the hinge portion motion described in 1, and the upper end of control backguy (4) is connected with the driving force input of clamper, the front end of arm prosthesis (2) is fixed with the end of clamper be connected.