RU2803482C1 - Mechanical anthropomorphous manipulator - Google Patents

Abstract

FIELD: prosthetics.

SUBSTANCE: mechanical anthropomorphic manipulator comprises an artificial palm and fingers pivotally connected to the artificial palm formed by three pivotally connected hollow phalanges, tension cords of the artificial fingers. The device comprises a forearm sleeve equipped with pressure pneumatic stops, a manual pneumatic pump and tubes connecting the pneumatic pump with pressure pneumatic stops and a telescopic extension. The telescopic extension is inserted into the forearm sleeve configured for rotation around its axis. At the outer end of the telescopic extension, an artificial hand is mounted, comprising expansion stops, and the expansion stops are attached inside each phalanx at its lower point. The inner end of the telescopic extension is equipped with a control lever of the telescopic extension, on which there is a switch of a manual pneumatic pump, a lever of a manual pneumatic pump and control stops with fixation rings, on which coils with tension rods wound on them are mounted, the free end attached to the extreme internal points of artificial fingers configured for compressing artificial fingers when compressing the control stops. The coils are equipped with an automatic winding mechanism and a tension rod blocking mechanism formed from corrugated plates connected to each other by springs on the sides. Between the plates there are tension rods configured for locking the tension rods when the control stops are compressed, and the telescopic extension is equipped with a return harness.

EFFECT: device that does not require the use of external energy sources, with a large elongation range, the use of which makes housekeeping easier and increases the functionality of people with disabilities.

1 cl, 2 dwg

Description

The invention relates to medical equipment, namely to prosthetics, and can find application in the everyday life of people with disabilities, as well as find application in conditions associated with the risk of radiation or biological contamination.

An anthropomorphic manipulator is known (RF patent No. 1465520) containing a master device and an actuator. The master device has three moving links. The actuator includes: shoulder, forearm, hand and is fixed to the base. The base and links are connected to each other by kinematic pairs. The kinematic pair is formed by a base and a link and provides rotation-type movement. The arm of the driving device is formed by two movable links with the ability to connect to the operator’s body with a universal (universal) joint.

The disadvantages of the known device are limited functionality due to its use only in robotics and the need to use an external energy source.

A copying manipulator is known (RF patent No. 135956) containing a master and an actuator device, designed to be mounted respectively on the operator’s body and base and containing a shoulder, forearm, and hand connected to each other by rotational pairs. The forearm of the setting device is equipped with a cradle for connecting it to the operator's forearm. The arm of the driving device contains two links connected to each other by a translational pair with the possibility of connection with the body and forearm of the operator via cardan shafts. The cardan axes and translational pair are equipped with devices for measuring the relative movement of the links.

The disadvantages of the known device are its complex design, containing several motors and the need for an external energy source.

A mechanical arm is known (RF patent No. 201029) consisting of an external forearm sleeve into which an internal forearm sleeve is inserted using ball sliding guides. The internal forearm sleeve is equipped with a wrist rest, a palmar platform, to which are attached five flexible artificial finger control keys with user finger latches. A support axis with five guide rollers is attached perpendicular to the inside of the sleeve, along which five braided tension cords move. The support axis is hingedly connected by levers to a movable tension axis, on which five guide rollers are located. The internal forearm sleeve is equipped with side pressure slots, over which a mechanical arm fixation belt is attached. The outer sleeve is equipped with a pressure mound, into which, when the control keys are compressed, five hinged artificial fingers rest, each of which consists of three hinged segments. Each segment contains elastic opening plates and external elastic corrugated pads at the lower point.

A disadvantage of the known mechanical arm is due to the small elongation range of the device.

Of the known technical solutions, the closest in purpose and technical essence to the declared object is a mechanical hand (RF patent No. 2245120) containing a palm, artificial fingers formed by hingedly connected hollow phalanges, veins for compressing artificial fingers into a fist and return springs for straightening artificial fingers. The mechanical brush also contains a ratchet wheel with a pulley located under the ratchet wheel and having a groove along the perimeter to accommodate a bundle of veins, a ratchet pawl, a knob for turning the ratchet wheel and a lock for holding the pawl. In this case, the veins for compressing the artificial fingers into a fist are fixed at the ends of the upper phalanges, passed inside the artificial fingers, pass through the pulley of the ratchet wheel and are secured in the cuff, designed to be installed above the elbow joint. Moreover, the artificial fingers are made with the possibility of clenching into a fist when bending the arm or turning the pulley using a knob due to the tension of the veins and with the possibility of straightening due to return springs, when straightening the arm or when removing the pawl from engagement with the tooth of the ratchet wheel.

The disadvantages of this device are limited functionality associated with the inability to extend the device and the compression of the artificial hand only into a fist without the ability to manipulate separately with different fingers.

The purpose of the proposed technical solution is to develop a device that does not require the use of external energy sources with a large elongation range, the use of which will make life easier and increase the functionality of people with disabilities, and will also create conditions for the use of the device in eliminating emergencies associated with the risk of biological or radioactive contamination .

This goal is achieved by proposing a mechanical anthropomorphic manipulator (Fig. 1), (Fig. 2) consisting of a forearm sleeve [1], a hollow telescopic extension closed at both ends [2] and an artificial hand [3]. The forearm sleeve [1] is equipped with pneumatic pressure stops [4], a manual pneumatic pump [5] and tubes [6] connecting the pneumatic pump [5] with the pneumatic pressure stops [4] and a telescopic extension [2]. The telescopic extension [2] is inserted into the forearm sleeve [1] with the ability to rotate around its axis. An artificial hand [3] is mounted at the outer end of the telescopic extension [2]. An artificial hand [3] consists of hollow artificial fingers [7], each of which is formed from three phalanges articulated together [8]. Inside each phalanx, at its lower point, release stops are attached [9]. The artificial fingers [7] are hinged to the artificial palm [10]. The inner end of the telescopic extension [2] is equipped with a control lever [11], on which the pump switch [12], pump lever [13] and control stops [14] with fixation rings [15] are located. Coils [16] are mounted on the fixation rings, on which tension cords [17] are wound, the free end of which is attached to the extreme inner points [18] of artificial fingers [7], with the possibility of compressing the artificial fingers when compressing the control stops [14]. The reels [16] are equipped with an automatic rewinding mechanism [19] and a tension rod locking mechanism [20]. The tension rod locking mechanism [20] consists of corrugated plates [21] connected on the sides by springs [22], tension rods [17] are located between the plates, with the possibility of locking the rods when the control stops are compressed [14]. The telescopic extension is equipped with a return harness [23].

The claimed device can be manufactured in an industrial environment from inexpensive but durable materials, for example, polyvinyl chloride.

The device works as follows. Before using the device, the user inserts his hand into the outer forearm sleeve [1], then, using the pneumatic pump switch [12], sets the air supply mode to the pneumatic clamping stops [4], after which the user activates the pneumatic pump using the pump lever [13], which pumps atmospheric air into the pneumatic clamping stops [4]. Pneumatic stops, expanding under the influence of air pumped into them, press the device to the user’s hand. After the user has attached the device to his hand, it is ready for use. If it is necessary to extend the device, the user sets the switch [12] to the mode of air supply to the telescopic extension [2], using the pump lever [13] forces atmospheric air inside the telescopic extension [2], the excess pressure created inside the telescopic extension leads to the extension of the telescopic extension [2 ]. When extending the device, the tension cords [17] are extended along with the telescopic extension [2], and thanks to the automatic winding mechanism [19] they are in constant tension, which eliminates overlap or tangling. After the device reaches the required length, the user inserts his fingers into the fixation rings [15] and, by squeezing the control stops [14], manipulates the artificial fingers [7] of the artificial hand [3], due to the fact that the tension cords [17] located on the control stops are connected to extreme inner points [18] of artificial fingers [7] with the possibility of compressing artificial fingers [7] when compressing the control stops [14]. When the control stops [14] are compressed, the tension rod locking mechanism [20] is triggered, since the tension rod locking mechanism [20] is mounted with the ability to block the tension rods [20] when the tension angle of the tension rods changes, due to the fact that the tension rods are clamped between corrugated plates. And the more the user presses on the control stops, the greater the angle and the more rods dig into the corrugated plates, while the grooves increase the contact area, thereby preventing the cables from slipping. The user, squeezing the control stops by means of tension on the cords, sets in motion the artificial fingers with which he carries out the grip and the necessary manipulations. To bring the object closer to himself, the user sets the switch to the mode of bleeding air from the device, which leads to a drop in pressure inside the telescopic extension and thanks to the return harness [23] which, when extended, stretches, and when the pressure inside drops, it contracts and the device decreases in length. After use, the user switches the switch to the mode of bleeding air from the pneumatic clamping stops [4], which leads to a drop in pressure inside them due to which they are deflated and no longer fix the device on the forearm, the user removes his hand from it and puts it away for storage.

The use of the proposed technical solution will make life easier and increase the functionality of people with disabilities, and will also create conditions for the use of the device in eliminating emergencies associated with the risk of biological or radioactive contamination. The device is completely autonomous and does not require the use of external energy sources. Examples of specific use.

Example No. 1. A user with a spinal injury, moving around the apartment in a wheelchair, decided to ventilate the room without assistance. While seated, he inserts his hand into the device, then uses a pneumatic pump lever to pump air into the pressure pads and securely secure the device to his forearm. After fixing the device on the forearm, the user extends the device by switching the switch to the air supply mode inside the telescopic extension. The blown air creates excess pressure inside the telescopic extension, which leads to elongation of the device. The user extends the device to the window handle, then grabs the window handle, pressing the control stops, which are connected by tension cords with artificial fingers, and turns the handle and pulls it towards himself, opening the window, then bleeds the air and removes the device from the hand. After ventilating the room, the user inserts his hand into the device, secures it and, by pointing at the window handle, closes the window and turns the handle to lock it in the closed position of the window. After use, the user bleeds the air and removes the device from his hand.

Example No. 2. A user with an injured upper limb decided to change the lighting lamp in the house; his physical capabilities, limited by the injury, did not allow him to bring and install a stepladder. The user applies the proposed device by inserting his healthy hand into the forearm sleeve and pumping air, conveniently securing it on his hand, then takes the light bulb in the hand of the device and points it at the lampshade, extends the device to the required length and screws the light bulb into the lampshade. After use, the user bleeds the air and removes the device from his hand.

The device allows the user, without outside help, to perform various manipulations with one hand if necessary.

Claims (1)

A mechanical anthropomorphic manipulator containing an artificial palm and fingers, hingedly connected to the artificial palm, formed by three hingedly connected hollow phalanges, tension cords of the artificial fingers, characterized in that it contains a forearm sleeve equipped with pressure pneumatic stops, a manual pneumatic pump and tubes connecting the pneumatic a pump with pressure pneumatic stops and a telescopic extension, wherein the telescopic extension is inserted into the forearm sleeve with the possibility of rotation around its axis, an artificial hand containing release stops is mounted on the outer end of the telescopic extension, and the release stops are attached inside each phalanx at its lowest point, with In this case, the inner end of the telescopic extension is equipped with a telescopic extension control lever, on which there is a manual pneumatic pump switch, a manual pneumatic pump lever and control stops with fixation rings, on which reels with tension cords wound on them are mounted, the free end attached to the extreme inner points of the artificial fingers with the possibility of compressing artificial fingers when the control stops are compressed, while the coils are equipped with an automatic winding mechanism and a tension rod locking mechanism, formed from corrugated plates connected on the sides by springs; tension rods are located between the plates with the possibility of locking the tension rods when the control stops are compressed, in this case, the telescopic extension is equipped with a return harness.

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