WO2020019992A1 - 手指模块及假肢 - Google Patents

手指模块及假肢 Download PDF

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Publication number
WO2020019992A1
WO2020019992A1 PCT/CN2019/095633 CN2019095633W WO2020019992A1 WO 2020019992 A1 WO2020019992 A1 WO 2020019992A1 CN 2019095633 W CN2019095633 W CN 2019095633W WO 2020019992 A1 WO2020019992 A1 WO 2020019992A1
Authority
WO
WIPO (PCT)
Prior art keywords
palm
base
finger
driving mechanism
connection terminal
Prior art date
Application number
PCT/CN2019/095633
Other languages
English (en)
French (fr)
Inventor
韩璧丞
吴默雷
王俊霖
李晓
Original Assignee
深圳市心流科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市心流科技有限公司 filed Critical 深圳市心流科技有限公司
Publication of WO2020019992A1 publication Critical patent/WO2020019992A1/zh

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/54—Artificial arms or hands or parts thereof
    • A61F2/58—Elbows; Wrists ; Other joints; Hands
    • A61F2/583—Hands; Wrist joints
    • A61F2/586—Fingers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2002/701—Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors

Definitions

  • the present application relates to the technical field of prostheses, and in particular, to a finger module and a prosthesis.
  • the finger structure of intelligent prostheses is becoming more and more complex, so that the way of finger movement is closer to the real finger.
  • the complexity of the finger structure also increases the failure rate of fingers. Once a finger fails, ordinary people cannot repair the finger alone and need to be repaired by the whole machine, which leads to higher maintenance costs for the prosthesis and poor user experience. .
  • the main purpose of this application is to provide a finger module, which aims to make the maintenance of prosthetics more convenient, reduce the maintenance cost of prostheses, and improve the user experience.
  • the present application proposes a finger module for a prosthesis, the prosthesis includes a palm, and the finger module includes:
  • a base that is movably connected to the finger body, and the base is used for detachable connection with the palm;
  • a driving mechanism is connected to the base, and the driving mechanism is connected to the finger body to drive the finger body to move.
  • an accommodating hole is provided at an end of the palm near the finger body, and the base is connected to the palm so that at least a part of the driving mechanism is received in the accommodating hole.
  • the driving mechanism is inserted into the receiving hole; and / or,
  • the base has a positioning portion, and the positioning portion is inserted into the receiving hole.
  • the base and the palm are positioned by positioning protrusions and positioning grooves, one of the positioning protrusions and the positioning grooves is provided on a side of the base facing the palm, and the other Corresponding to the positioning on the palm, the positioning protrusion is inserted into the positioning groove, so that the base and the palm are positioned and matched.
  • the prosthesis includes a fastener, a first fixing hole is opened on the base, a second fixing hole is opened on the palm, and the fastener is inserted into the first fixing hole and the A second fixing hole for fixedly connecting the base and the palm.
  • the positioning groove is opened on a side surface of the palm surface, the second fixing hole penetrates the inner peripheral wall of the positioning groove, and is formed on the palm surface of the palm for the fastener to be inserted Sockets; and / or,
  • the positioning groove is formed on a surface of the base facing the side surface of the palm
  • the first fixing hole penetrates the inner peripheral wall of the positioning groove, and a socket for inserting the fastener is formed on a side of the base near the palm surface.
  • a first terminal is provided on the base and / or the driving mechanism, the first terminal is electrically connected to the driving mechanism, a second terminal is provided on the palm, and the base The base is connected to the palm to electrically connect the first terminal and the second terminal.
  • the first connection terminal includes a first connector female seat
  • the second connection terminal includes a first connector male seat
  • the first connector female seat is configured to communicate with the first connector male
  • the socket is plugged in, so that the first terminal and the second terminal are electrically connected; and / or,
  • the first connection terminal includes a second connector male seat
  • the second connection terminal includes a second connector female seat
  • the second connector male seat is used for plugging into the second connector female seat, So that the first connection terminal and the second connection terminal are electrically connected.
  • an end of the palm close to the finger body is provided with a receiving hole for receiving at least a part of the driving mechanism, and the first connection terminal is provided at an end of the driving mechanism away from the finger body.
  • the second connection terminal is disposed in the receiving hole.
  • the prosthesis includes a fastener, a first fixing hole is opened on the base, a second fixing hole is opened on the palm, and the fastener is inserted into the first fixing hole and the A second fixing hole for fixedly connecting the base and the palm;
  • the second fixing hole has a space for the fastener to move in an extending direction of the receiving hole;
  • the first fixing hole has a space for the fastener to move in an extending direction of the receiving hole.
  • a side surface of the palm has a mounting surface group, and the mounting surface group includes a plurality of mounting surfaces for the base to be mounted; in a direction from a middle portion to two ends of the mounting surface group, the mounting surface group The height of the face decreases in order.
  • This application also proposes a prosthesis, which includes:
  • the finger module includes:
  • a base that is movably connected to the finger body, and the base is used for detachable connection with the palm;
  • a driving mechanism is connected to the base, and the driving mechanism is connected to the finger body to drive the finger body to move.
  • the base of the finger module and the palm are detachably connected, so that when the finger module is damaged, the base and the palm can be separated to detach the finger module from the palm as a whole, thereby facilitating the maintenance of the finger module. Or, to replace a damaged finger module.
  • the base is detachably connected to the palm as a whole, the connection between the finger module and the palm can be more convenient, and the overall assembly efficiency of the prosthesis is improved.
  • the present application also realizes the integration of the finger module by connecting the driving mechanism that drives the movement of the finger body with the base, so that the driving mechanism does not separate from the finger body with the separation of the base and the palm, so that The connection and transmission of the driving mechanism and the finger body are more stable, reducing the probability of failure of the driving mechanism in the process of driving the finger body.
  • FIG. 1 is a schematic structural diagram of an embodiment of a prosthesis of the present application
  • FIG. 2 is a schematic exploded structure diagram of a base and a palm base of the present application
  • FIG. 3 is a schematic diagram of an assembly structure of a base and a palm base of the present application.
  • FIG. 4 is another perspective view of the base and the palm base of FIG. 3;
  • FIG. 5 is a partially enlarged view of an embodiment of a finger module of the present application.
  • FIG. 6 is a partial cross-sectional view of the base of the application and the base of the palm after assembly, which is taken along the axial direction of the motor.
  • the present application proposes a finger module for a prosthesis.
  • the prosthetic limb includes a palm 10 and a finger module 20.
  • the finger module 20 includes a finger body 21 and a base 22.
  • the base 22 is movably connected to the finger body 21 and is detachable from the palm 10. connection. It can be understood that, because the base 22 is detachably connected to the palm 10 as a whole, when the finger module 20 is damaged, the base 22 and the palm 10 can be separated to detach the finger module 20 from the palm 10 as a whole, thereby It is convenient to perform maintenance on the finger module 20 or to replace the damaged finger module 20. In addition, since the base 22 is detachably connected to the palm 10 as a whole, the connection between the finger module 20 and the palm 10 can be more convenient, and the overall assembly efficiency of the prosthesis is improved.
  • the number of the finger modules 20 is multiple, a part of the multiple finger modules 20 may be detachably connected to the palm 10, or all the finger modules 20 may be detachably connected to the palm 10. It depends on the structure of the finger palm 10 and the finger module 20.
  • the finger module 20 may include a driving mechanism 23 connected to the base 22, and the driving mechanism 23 is connected to the finger body 21 to drive the finger body 21 to move relative to the base 22. Therefore, by connecting the driving mechanism 23 and the finger body 21, the integration of the finger module 20 is realized, and the driving mechanism 23 is not separated from the finger body 21 as the base 22 and the palm 10 are separated, so that the driving mechanism 23 The connection and transmission with the finger body 21 is more stable, reducing the probability of failure of the driving mechanism 23 during the process of driving the finger body 21.
  • the driving mechanism 23 may also be connected to the palm 10 after the finger module 20 and the palm 10 are connected, so that the driving mechanism 23 can stably drive the finger body 21 to move.
  • the base 22 and the palm 10 can be detachably connected by screws, snaps and other structures.
  • the base 22 and the palm 10 can be detachably connected by screws, snaps and other structures.
  • the palm 10 can be detachably connected by screws, snaps and other structures.
  • the base 22 and the palm 10 can be positioned by a positioning structure to make the connection between the base 22 and the palm 10 more stable.
  • the positioning structure includes a positioning protrusion 221 and a positioning groove 101, and one of the positioning protrusion 221 and the positioning groove 101 is provided on a side of the base 22 facing the palm 10.
  • the positioning protrusion 221 is inserted into the positioning groove 101, so that the base 22 and the palm 10 are positioned and matched, and the assembly is very convenient , And has a good positioning effect.
  • the cooperation of the positioning protrusion 221 and the positioning groove 101 can limit the movement of the base 22 relative to the palm 10 in the Y-axis and Z-axis directions, and the rotation using the Y-axis and Z-axis as the rotation axes.
  • the cross section of the positioning protrusion 221 is a non-circular cross section, the rotation of the base 22 relative to the palm 10 with the X axis as the rotation axis can also be restricted.
  • the number of the positioning structures may be one or more. Of course, when the number of the positioning structures is multiple, the positioning effect is better. Moreover, when the number of the positioning structures is plural, the positioning protrusions 221 of the multiple positioning structures may be all provided on the base 22, and a part of the positioning protrusions 221 of the multiple positioning structures may be provided on the base 22. The other part is arranged on the palm 10, which can be determined according to the structure of the base 22 and the palm 10, which is not limited in this embodiment.
  • the positioning protrusion 221 may be provided on a side of the base 22 facing the palm 10, and a positioning groove 101 may be provided at a position corresponding to the palm 10. It can be understood that, because the size of the palm 10 is large and the size of the base 22 is small, positioning the positioning protrusion 221 on the base 22 can effectively increase the strength of the base 22 and reduce damage to the finger module 20 The probability.
  • the base 22 and the palm 10 can be fixed and locked together by a locking structure to prevent the base 22 from being separated from the palm 10.
  • a locking structure to prevent the base 22 from being separated from the palm 10.
  • the locking structure may include a fastener 25, a first fixing hole 222 is provided on the base 22, and a second fixing hole 102 is provided on the palm 10.
  • the base 22 is fixedly connected to the palm 10 by inserting the fastener 25 into the first fixing hole 222 and the second fixing hole 102, and the base 22 is restricted from being aligned with the palm 10 in the X-axis direction. And X-axis rotation.
  • the structure of the fastener 25 is simple, and installation and removal are relatively convenient. Therefore, the connection and separation of the base 22 and the palm 10 can be more convenient, and the overall cost of the prosthesis can be reduced.
  • the positioning groove 101 on the palm 10 may be opened on the side surface of the palm 10.
  • the thickness of the palm 10 can be reduced, and when the base 22 is connected to the palm 10, it is closer to a real human hand structure, so that the movement mode of the finger module 20 is closer to a real finger.
  • the second fixing hole 102 can be penetrated through the inner peripheral wall of the positioning groove 101, and a socket for inserting the fastener 25 can be formed on the palm surface of the palm 10.
  • the structure of the base 22 and the palm 10 can be made simpler and the processing is more convenient.
  • the fastener 25 passes from the palm of the palm 10 through the second fixing hole 102 and the first fixing hole 222, and the appearance of the palm 10 Less affected.
  • the positioning groove 101 on the base 22 may be formed on the surface of the base 22 facing the side surface of the palm 10. Further, the first fixing hole 222 can be penetrated through the inner peripheral wall of the positioning groove 101 on the base 22, and a socket for the fastener 25 to be inserted is formed on the side of the base 22 near the palm surface of the palm 10, here No longer.
  • the first fixing hole 222 is correspondingly formed on the positioning protrusion 221 of the base 22;
  • the second fixing hole 102 is corresponding to the positioning protrusion 221 of the palm 10, which will not be repeated here.
  • the first fixing hole 222 may also be provided at other positions of the base 22, and the second fixing hole 102 may be provided at other positions of the palm 10, which may depend on the structure of the palm 10 and the base 22.
  • the side surface of the palm 10 can have a mounting surface group, and the mounting surface group includes a plurality of installations for the base 22 to be installed. ⁇ 103 ⁇ Surface 103.
  • the height of the mounting surface 103 can be sequentially lowered, so that the free ends of the finger modules 20 connected to different mounting surfaces 103 have different heights, reflecting the index finger, middle finger,
  • the difference in the length and position of the four fingers of the ring finger or little finger makes the prosthesis closer to the normal shape of a human hand, and achieves basically the same function as a normal human hand.
  • the mounting surfaces 103 of the mounting surface group have different heights, the index finger, middle finger, ring finger and the like can be replaced with each other with the same or similar length, thereby realizing standardized production of the finger module 20 and reducing production of the finger module 20 cost.
  • the base 22 can be detachably connected to the mounting surface 103 directly by means of buckles, screws, etc .; a positioning groove 101 or a positioning protrusion 221 can also be provided on the mounting surface 103 to achieve positioning connection.
  • the structure of the seat 22 and the palm 10 depends on the structure.
  • the locking structure may also be a buckle or other structure, so that the base 22 and the palm 10 are detachably connected.
  • the fastener 25 may be a screw, a pin, or the like, which is not limited in this embodiment.
  • the palm 10 may include the palm base 13, and the base 22 of the finger module 20 and the palm base 13 may be detachably connected to improve the structural strength of the palm 10.
  • the palm 10 and the base 22 of the finger module 20 are positioned and connected through the positioning protrusion 221 and the positioning groove 101, one of the positioning protrusion 221 and the positioning groove 101 can be provided on the palm base 13, and the other corresponding to On the base 22 of the finger module 20, the strength of the positioning protrusion 101 or the positioning groove 221 on the palm 10 is higher.
  • a receiving hole 104 for receiving at least a part of the driving mechanism 23 can be opened at the position of the palm 10 corresponding to the finger module 20.
  • at least part of the driving mechanism 23 is accommodated in the receiving hole 104 to make the structure of the prosthesis more compact and reduce the overall volume of the prosthesis.
  • the finger module 20 and the receiving hole 104 can be positioned and matched to make the cooperation between the finger module 20 and the receiving hole 104 more stable.
  • the driving mechanism 23 can be inserted into the receiving hole 104 so that the receiving hole 104 positions the finger module 20, restricts the movement of the finger module 20 relative to the palm 10 in the Y-axis and Z-axis directions, and the Y-axis and The Z axis is the rotation of the rotation axis.
  • the cross-sectional shape of the driving mechanism 23 and the cross-sectional shape of the receiving hole 104 may be the same or adapted, which is not limited in this embodiment.
  • the receiving hole 104 can also be used to restrict the rotation of the base 22 relative to the palm 10 with the X axis as the rotation axis.
  • the driving mechanism 23 and the receiving hole 104 can be interference fit to prevent the driving mechanism 23 from coming out of the receiving hole 104.
  • the base 22 may be provided with a positioning portion 223 and the positioning portion 223 is inserted into the receiving hole 104 so that the receiving hole 104 positions the finger module 20 and restricts the finger module 20 along the Y axis and Z axis relative to the palm 10 Directional movement, and rotation with the Y and Z axes as rotation axes.
  • the cross-sectional shape of the positioning portion 223 and the cross-sectional shape of the receiving hole 104 may be the same or adapted, which is not limited in this embodiment.
  • the receiving hole 104 can also be used to restrict the rotation of the base 22 relative to the palm 10 with the X axis as the rotation axis.
  • the positioning portion 223 and the receiving hole 104 can be interference fit to prevent the positioning portion 223 from coming out of the receiving hole 104.
  • one of the positioning portion 223 and the driving mechanism 23 can be inserted into the receiving hole 104, or the positioning portion 223 and the driving mechanism 23 can be inserted into the receiving hole 104 at the same time, wherein the latter can further improve the finger The positioning effect between the module 20 and the receiving hole 104.
  • the palm 10 may include a palm base 14 and a shell connected to the palm base 14, and the shell and the palm base 14 may be enclosed to form the aforementioned receiving hole 104, so that the processing of the receiving hole 104 is performed. More convenient.
  • the driving mechanism 23 and the base 22 can be connected, and the driving mechanism 23 and the positioning portion 223 can be simultaneously inserted into the receiving hole 104, so that the overall strength of the finger module 20 can be made higher. Installation is more convenient.
  • the electrical connection between the first connection terminal 24 and the second connection terminal 12 described below can be made more stable.
  • the receiving hole 104 can be located on the side of the positioning groove 101 near the palm of the palm 10 for full use
  • the space in the thickness direction of the palm 10 makes the structure of the prosthesis more compact.
  • the fastener 25 is inserted into the second fixing hole 102 and the first fixing hole 222 from the palm, the length of the fastener 25 can be shortened.
  • a first connection terminal 24 may be provided on the driving mechanism 23.
  • the first connection terminal 24 is electrically connected to the driving mechanism 23, and a corresponding setting is provided on the palm 10.
  • the second connection terminal 12 is electrically connected to the circuit board 11; when the base 22 is connected to the palm 10, the first connection terminal 24 and the second connection terminal 12 are electrically connected to make the circuit of the prosthesis
  • the board 11 is electrically connected to the driving mechanism 23 and controls the driving mechanism 23 to drive the finger body 21 to move.
  • first connection terminal 24 can also be provided on the base 22 of the finger module 20, or the first connection terminal 24 can be provided on the base 22 and the driving mechanism 23 at the same time, which will not be repeated here. .
  • the driving mechanism 23 and the circuit board 11 of the palm 10 may also be electrically connected directly through a wire, which may be specifically determined according to the structure of the palm 10.
  • the first connection terminal 24 may include a first connector female seat, and the second connection The terminal 12 includes a first connector male seat.
  • the base 22 is connected to the palm 10, the first connector female seat and the first connector male seat are plugged in, so that the first connection terminal 24 and the second connection terminal 12 are electrically connected.
  • the connection is very convenient, and can make the connection between the first terminal 24 and the second terminal 12 more stable.
  • first connection terminal 24 may include a second connector female seat
  • second connection terminal 12 includes a second connector male seat.
  • the second connector female seat and the second connector The male connector of the connector is plugged in, so that the first connection terminal 24 and the second connection terminal 12 are electrically connected.
  • a part of the plurality of first connection terminals 24 may be a first connector male seat, and the other portion is a second connector female. seat.
  • the first connection terminal 24 and the second connection terminal 12 can be abutted, so as to realize the electrical connection between the first connection terminal 24 and the second connection terminal 12. .
  • the driving mechanism 23 may include a motor 231, and a rotating shaft of the motor 231 is connected to the finger body 21 to drive the finger body 21 to move. Further, the driving mechanism 23 may further include a speed reducer 232, and the rotating shaft of the motor 231 is connected to the finger body 21 through the speed reducer 232 to improve the driving force of the driving mechanism 23.
  • the driving mechanism 23 can be arranged in a column shape as a whole, so that the driving mechanism 23 can be easily installed in the receiving hole 104, and the structure of the driving mechanism 23 is more compact, and the internal space of the palm 10 occupied by the driving mechanism 23 is reduced .
  • the first connection terminal 24 may be provided at an end of the driving mechanism 23 away from the finger body 21, and
  • the second connection terminal 12 is provided in the receiving hole 104. Accordingly, the palm 10 can protect the first connection terminal 24 and the second connection terminal 12.
  • the second connection terminal 12 can be directly disposed on the circuit board 11. It does not need to provide a structure for fixing the second connection terminal 12 in the palm 10, which makes the structure inside the palm 10 simpler and improves the utilization rate of the internal space of the palm 10.
  • the second fixing hole 102 can be provided with a space for the fastener 25 to move along the extending direction of the receiving hole 104 so that the base 22 can be moved a certain distance relative to the palm 10 after being connected to the palm 10. Correct the position of the finger module 20. In particular, when the driving mechanism 23 and the circuit board 11 are electrically connected through the first connection terminal 24 and the second connection terminal 12, by correcting the position of the finger module 20, the first connection terminal 24 and the second connection terminal 12 can be fully contacted. .
  • the diameter of the second fixing hole 102 may be larger than the diameter of the fastener 25, or the second fixing hole 102 may be a strip-shaped hole, and the extending direction of the strip-shaped hole is consistent with the extending direction of the receiving hole 104.
  • first fixing hole 222 can also be provided with a space for the fastener 25 to move in the extending direction of the mounting hole, which will not be repeated here.
  • the present application also provides a prosthetic limb, which includes a finger module.
  • a prosthetic limb which includes a finger module.
  • the finger module For a specific structure of the finger module, refer to the foregoing embodiments. Since the prosthetic limb proposed in this application includes all the solutions of all the embodiments of the above-mentioned finger module, it has at least The same technical effects of the finger module are not explained here one by one.

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  • Health & Medical Sciences (AREA)
  • Transplantation (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Cardiology (AREA)
  • Vascular Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Prostheses (AREA)

Abstract

一种手指模块（20）及假肢，假肢包括手掌（10）及手指模块（20），手指模块（20）包括手指本体（21）、基座（22）及驱动机构（23），基座（22）与手指本体（21）活动连接，基座（22）用于与手掌（10）可拆卸连接；驱动机构（23），与基座（22）连接，驱动机构（23）与手指本体（21）连接，以驱动手指本体（21）活动。改进了手指模块（20）的结构，使假肢的维修更加方便。

Description

手指模块及假肢
技术领域
本申请涉及假肢技术领域，尤其涉及一种手指模块及假肢。
背景技术
随着科技的发展和人们生活水平的提高，智能假肢的手指结构越来越复杂，以使手指运动方式更加接近真实的手指。但是，手指结构的复杂化也使得手指的故障率提高，一旦手指出现问题时，普通人无法单独对手指进行维修，需要整机送修，由此导致假肢的维护成本升高，用户体验不佳。
申请内容
本申请的主要目的在于提供一种手指模块，旨在使假肢的维修更加方便，降低假肢的维护成本，提高用户体验。
为实现上述目的，本申请提出一种手指模块，用于假肢，该假肢包括手掌，所述手指模块包括：
手指本体；
基座，与所述手指本体活动连接，所述基座用于与所述手掌可拆卸连接；
驱动机构，与所述基座连接，所述驱动机构与所述手指本体连接，以驱动所述手指本体活动。
可选地，所述手掌靠近所述手指本体的一端开设有容纳孔，所述基座与所述手掌连接，以使至少部分所述驱动机构收容于所述容纳孔内。
可选地，所述驱动机构与所述容纳孔插接；和/或，
所述基座具有定位部，所述定位部与所述容纳孔插接。
可选地，所述基座和所述手掌通过定位凸起和定位槽定位，所述定位凸起和所述定位槽中的一个设于所述基座面向所述手掌的一侧，另一个对应设于所述手掌上，所述定位凸起插入所述定位槽内，以使所述基座和所述手掌定位配合。
可选地，所述假肢包括紧固件，所述基座上开设有第一固定孔，所述手掌上开设有第二固定孔，所述紧固件插入所述第一固定孔和所述第二固定孔，以将所述基座和所述手掌固定连接。
可选地，所述定位槽开设于所述手掌面的侧边面，所述第二固定孔贯穿所述定位槽的内周壁，并在所述手掌的掌面形成供所述紧固件插入的插口；和/或，
所述定位槽开设于所述基座面向所述手掌侧边面的表面 ，所述第一固定孔贯穿所述定位槽的内周壁，并在所述基座靠近所述手掌掌面的一侧形成供所述紧固件插入的插口。
可选地，所述基座和/或所述驱动机构上设置有第一接线端子，该第一接线端子与所述驱动机构电连接，所述手掌上设置有第二接线端子，所述基座与所述手掌连接，以使所述第一接线端子和所述第二接线端子电连接。
可选地，所述第一接线端子包括第一连接器母座，所述第二接线端子包括第一连接器公座，所述第一连接器母座用于和所述第一连接器公座插接，以使所述第一接线端子和所述第二接线端子电连接；和/或，
所述第一接线端子包括第二连接器公座，所述第二接线端子包括第二连接器母座，所述第二连接器公座用于和所述第二连接器母座插接，以使所述第一接线端子和所述第二接线端子电连接。
可选地，所述手掌靠近所述手指本体的一端开设有供至少部分所述驱动机构收容的容纳孔，所述第一接线端子设于所述驱动机构远离所述手指本体的一端，所述第二接线端子设于所述容纳孔内。
可选地，所述假肢包括紧固件，所述基座上开设有第一固定孔，所述手掌上开设有第二固定孔，所述紧固件插入所述第一固定孔和所述第二固定孔，以将所述基座和所述手掌固定连接；
所述第二固定孔具有供所述紧固件沿所述容纳孔的延伸方向移动的空间；或者，
所述第一固定孔具有供所述紧固件沿所述容纳孔的延伸方向移动的空间。
可选地，所述手掌的侧边面具有安装面组，该安装面组包括多个供所述基座安装的安装面；在所述安装面组的中部至两端的方向上，所述安装面的高度依次降低。
本申请还提出一种假肢，该假肢包括：
手掌；
及如上所述的手指模块，所述手指模块包括：
手指本体；
基座，与所述手指本体活动连接，所述基座用于与所述手掌可拆卸连接；
驱动机构，与所述基座连接，所述驱动机构与所述手指本体连接，以驱动所述手指本体活动。
本申请通过使手指模块的基座和手掌可拆卸连接，以使手指模块出现损坏时，可以通过将基座和手掌分离，以将手指模块从手掌上整体拆卸下来，从而方便对手指模块进行维修，或者，以对损坏的手指模块进行替换。而且，由于基座与手掌整体可拆卸连接，能够使手指模块与手掌的连接更加方便，提高了假肢的整体装配效率。在此基础上，本申请还通过将驱动手指本体活动的驱动机构与基座连接，实现了手指模块的整体化，使驱动机构不会随着基座和手掌分离而与手指本体分离，从而使驱动机构和手指本体的连接及传动更加稳定，降低驱动机构在驱动手指本体活动的过程出现故障的概率。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图示出的结构获得其他的附图。
图1为本申请假肢一实施例的结构示意图；
图2为本申请基座及手掌基座的分解结构示意图；
图3为本申请基座及手掌基座的装配结构示意图；
图4为图3中基座及手掌基座的另一角度视图；
图5为本申请手指模块一实施例的局部放大图；
图6为本申请基座及手掌基座装配后的局部剖视图，其沿电机的轴向进行了剖视。
附图标号说明：
标号 名称 标号 名称
10 手掌 101 定位槽
11 电路板 102 第二固定孔
12 第二接线端子 103 安装面
13 手掌基座 104 容纳孔
20 手指模块 221 定位凸起
21 手指本体 222 第一固定孔
22 基座 223 定位部
23 驱动机构 231 电机
24 第一接线端子 232 减速器
25 紧固件
本申请目的的实现、功能特点及优点将结合实施例，参照附图做进一步说明。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请的一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有付出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
需要说明，本申请实施例中所有方向性指示（诸如上、下、左、右、前、后……）仅用于解释在某一特定姿态（如附图所示）下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。
另外，在本申请中涉及“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。另外，各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本申请要求的保护范围之内。
本申请提出一种手指模块，用于假肢。
参照图1及图2，所述假肢包括手掌10及所述手指模块20，该手指模块20包括手指本体21及基座22，基座22与手指本体21活动连接，并能够与手掌10可拆卸连接。可以理解的是，由于基座22与手掌10整体可拆卸连接，当手指模块20出现损坏时，可以通过将基座22和手掌10分离，以将手指模块20从手掌10上整体拆卸下来，从而方便对手指模块20进行维修，或者，以对损坏的手指模块20进行替换。而且，由于基座22与手掌10整体可拆卸连接，能够使手指模块20与手掌10的连接更加方便，提高了假肢的整体装配效率。
需要说明的是，当手指模块20的数量为多个时，可以使多个手指模块20中的一部分与手掌10可拆卸连接，也可以使全部的手指模块20与手掌10可拆卸连接，具体可根据手指手掌10及手指模块20的结构而定。
进一步地，可以使手指模块20包括与基座22连接的驱动机构23，该驱动机构23与手指本体21连接，用以驱动手指本体21相对基座22活动。由此，通过将驱动机构23与手指本体21连接，实现了手指模块20的整体化，使驱动机构23不会随着基座22和手掌10分离而与手指本体21分离，从而使驱动机构23和手指本体21的连接及传动更加稳定，降低驱动机构23在驱动手指本体21活动的过程出现故障的概率。当然，驱动机构23也可以在手指模块20和手掌10连接后，与手掌10连接，以使驱动机构23能够稳定的驱动手指本体21活动。
本实施例中，实现基座22和手掌10整体可拆卸连接的方式有多种，例如：可以使基座22和手掌10通过螺钉、卡扣等结构实现可拆卸连接，具体可根据手指模块20和手掌10的结构而定。
在一实施例中，可以使基座22和手掌10通过定位结构定位，以使基座22和手掌10之间的连接更加稳定。具体地，如图2及图3所示，所述定位结构包括定位凸起221和定位槽101，并使定位凸起221和定位槽101中的一个设于基座22面向手掌10的一侧，另一个对应设于手掌10上，在将基座22和手掌10连接的过程中，通过将定位凸起221插入定位槽101内，以使基座22和手掌10定位配合，且装配非常方便，且具有较好的定位效果。可以理解的是，通过定位凸起221和定位槽101的配合，能够限制基座22相对手掌10沿Y轴和Z轴方向的移动，以及，以Y轴和Z轴为旋转轴线的转动。而且，当定位凸起221的横截面为非圆形横截面时，还能限制基座22相对手掌10以X轴为旋转轴线的转动。
其中，上述定位结构的数量可以一个或多个，当然，当定位结构的数量为多个时，定位效果更好。而且，当定位结构的数量为多个时，可以使多个定位结构的定位凸起221均设置在基座22上，也可以使多个定位结构的一部分定位凸起221设置在基座22上，另一部分设置在手掌10上，具体可根据基座22和手掌10的结构而定，本实施例不作限制。
在一优选的实施例中，可以将定位凸起221设于基座22面向手掌10的一侧，并将在手掌10对应的位置开设定位槽101。可以理解的是，由于手掌10的尺寸较大，基座22的尺寸较小，将定位凸起221设于基座22上，能够有效的提高基座22的强度，进而降低手指模块20出现损坏的概率。
本实施例中，当将基座22安装到位后，可以通过锁定结构将基座22和手掌10固定锁定在一起，以防止基座22与手掌10分离，当需要将手指模块20需要维修或更换时，通过使锁定结构解锁，即可很方便的将手指模块20和手掌10分离，操作非常方便。
具体地，如图4、图5及图6所示，可以使锁定结构包括紧固件25，并在基座22上开设有第一固定孔222，手掌10上开设有第二固定孔102，当将基座22安装到位后，通过将紧固件25插入第一固定孔222和第二固定孔102，以将基座22和手掌10固定连接，限制基座22相对手掌10沿X轴方向的移动，以及，以X轴为旋转轴的转动。可以理解的是，紧固件25的结构简单，且安装和拆卸比较方便，因此，能够使基座22和手掌10的连接和分离更加方便，并降低假肢的整体成本。
本实施例中，如图2及图3所示，当在手掌10上开设定位槽101时，可以将手掌10上的定位槽101开设于手掌10的侧边面。由此，能够减小手掌10的厚度，当基座22与手掌10连接后，更加接近真实的人手结构，使手指模块20的运动方式更加接近真实的手指。
进一步地，可以使第二固定孔102贯穿定位槽101的内周壁，并在手掌10的掌面形成供紧固件25插入的插口。由此，能够使基座22和手掌10的结构更加简单，加工更加方便，而且，紧固件25从手掌10的掌心穿过第二固定孔102和第一固定孔222，对手掌10的外观影响较小。
同样地，当基座22上开设有定位槽101时，可以使基座22上的定位槽101开设于基座22面向手掌10侧边面的表面。进一步地，可以使第一固定孔222贯穿该基座22上的定位槽101的内周壁，并在基座22靠近手掌10的掌面的一侧形成供紧固件25插入的插口，此处不再赘述。
需要说明的是，当手掌10上开设定位槽101，且第二固定孔102贯穿该定位槽101的内周壁时，第一固定孔222对应开设于基座22的定位凸起221上；当基座22上开设定位槽101，且第一固定孔222贯穿该定位槽101的内周壁时，第二固定孔102对应设于手掌10的定位凸起221上，此处不再赘述。另外，第一固定孔222也可以设于基座22的其它位置，第二固定孔102对应设于手掌10的其它位置，具体可根据手掌10及基座22的结构而定。
如图2及图3所示，当基座22安装于手掌10的侧边面时，可以使手掌10的侧边面具有安装面组，该安装面组包括多个供基座22安装的安装面103。其中，在安装面组的中部至两端的方向上，可以使安装面103的高度依次降低，以使与不同安装面103连接的手指模块20的自由端具有不同的高度，体现出食指、中指、无名指或小指四根手指在长度和位置上的区别，使假肢更加接近人手的正常形状，实现和正常人手基本相同的功能。而且，通过使安装面组的多个安装面103具有不同的高度，能够使食指、中指、无名指等具有相同或相近的长度而相互替换，实现手指模块20的标准化生产，降低手指模块20的生产成本。
需要说明的是，基座22可以直接和安装面103通过卡扣、螺钉等方式可拆卸连接；也可以在安装面103上设置定位槽101或定位凸起221以实现定位连接，具体可根据基座22和手掌10的结构而定。
本实施例中，也可以使锁定结构为卡扣或其它结构，以使基座22和手掌10可拆卸连接。另外，当锁定结构包括紧固件25时，该紧固件25可以为螺钉、销钉等等，本实施例不作限制。
本实施例中，如图2及图3所示，可以使手掌10包括手掌基座13，并使手指模块20的基座22与手掌基座13可拆卸连接，以提高手掌10的结构强度。当手掌10和手指模块20的基座22通过定位凸起221和定位槽101定位连接时，可以将定位凸起221和定位槽101中的一个设于手掌基座13上，另一个对应设于手指模块20的基座22上，以使手掌10上的定位凸起101或定位槽221的强度更高。
在上述任意一实施例的基础上，如图2及图3所示，可以在手掌10对应手指模块20的位置开设供至少部分驱动机构23收容的容纳孔104，当基座22与手掌10可拆卸连接时，至少部分驱动机构23收容于容纳孔104内，以使假肢的结构更加紧凑，缩小假肢的整体体积。
其中，可以使手指模块20与容纳孔104定位配合，以使手指模块20和容纳孔104之间的配合更加稳定。具体地，可以使驱动机构23与容纳孔104插接，以使容纳孔104对手指模块20进行定位，限制手指模块20相对手掌10沿Y轴和Z轴方向的移动，以及，以Y轴和Z轴为旋转轴线的转动。其中，驱动机构23的横截面形状与容纳孔104的横截面形状可以相同或适配，本实施例不作限制。进一步地，当驱动机构23和容纳孔104的横截面为非圆形横截面时，还能够使容纳孔104限制基座22相对手掌10以X轴为旋转轴线的转动。另外，还可以使驱动机构23与容纳孔104过盈配合，以防止驱动机构23从容纳孔104内脱出。
或者，也可以使基座22具有定位部223，并使定位部223与容纳孔104插接，以使容纳孔104对手指模块20进行定位，限制手指模块20相对手掌10沿Y轴和Z轴方向的移动，以及，以Y轴和Z轴为旋转轴线的转动。其中，定位部223的横截面的形状与容纳孔104的横截面形状可以相同或适配，本实施例不作限制。进一步地，当定位部223和容纳孔104的横截面为非圆形横截面时，还能够使容纳孔104限制基座22相对手掌10以X轴为旋转轴线的转动。另外，还可以使定位部223与容纳孔104过盈配合，以防止定位部223从容纳孔104内脱出。
需要说明的是，可以使定位部223和驱动机构23中的一个与容纳孔104插接，也可以使定位部223和驱动机构23同时和容纳孔104插接，其中，后者能够进一步提高手指模块20和容纳孔104之间的定位效果。
本实施例中，可以使手掌10包括手掌基座14及与该手掌基座14连接的壳体，并使壳体和手掌基座14围合形成上述容纳孔104，以使容纳孔104的加工更加方便。
在一优选的实施例中，可以使驱动机构23和基座22连接，并使驱动机构23及定位部223同时与容纳孔104插接，由此，能够使手指模块20的整体强度更高，安装更加方便。而且，还能够使下述第一接线端子24和第二接线端子12之间的电连接更加稳定。
本实施例中，当手掌10上同时开设有容纳孔104和定位槽101时，如图2及图6所示，可以使容纳孔104位于定位槽101靠近手掌10掌心的一侧，以充分利用手掌10厚度方向的空间，使假肢的结构更加紧凑。而且，当紧固件25从掌心插入到第二固定孔102和第一固定孔222内时，能够缩短紧固件25的长度。
本实施例中，如图2、图3及图6所示，可以在驱动机构23上设置第一接线端子24，该第一接线端子24和驱动机构23电连接，并在手掌10上设置对应的第二接线端子12，该第二接线端子12与电路板11电连接；当基座22与手掌10连接时，使第一接线端子24和第二接线端子12电连接，以使假肢的电路板11与驱动机构23电连接，并控制驱动机构23驱动手指本体21活动。可以理解的是，通过第一接线端子24和第二接线端子12的电连接，能够使手指模块20和手掌10连接的过程中，手指模块20的驱动机构23和手掌10的控制板或电源板之间的连接更加方便，提高手指模块20的装配效率。
当然，也可以将所述第一接线端子24设置在手指模块20的基座22上，或者，同时在基座22和驱动机构23上同时设置所述第一接线端子24，此次不再赘述。
此外，也可以直接将驱动机构23和手掌10的电路板11通过导线电连接，具体可根据手掌10的结构而定。
当驱动机构23和手掌10通过第一接线端子24和第二接线端子12电连接时，如图2及图6所示，可以使第一接线端子24包括第一连接器母座，第二接线端子12包括第一连接器公座，当基座22与手掌10连接时，第一连接器母座和第一连接器公座插接，以使第一接线端子24和第二接线端子12电连接，其连接非常方便，且能够使第一接线端子24和第二接线端子12之间的连接更加稳定。
当然，也可以使第一接线端子24包括第二连接器母座，第二接线端子12包括第二连接器公座，当基座22与手掌10连接时，第二连接器母座和第二连接器公座插接，以使第一接线端子24和第二接线端子12电连接。
另外，当第一接线端子24和第二接线端子12的数量为多个时，还可以使多个第一接线端子24中的一部分为第一连接器公座，另一部分为第二连接器母座。
在另一些实施例中，也可以在基座22与手掌10连接时，使第一接线端子24和第二接线端子12抵接，以实现第一接线端子24和第二接线端子12的电连接。
本实施例中，如图2所示，可以使驱动机构23包括电机231，该电机231的转轴与手指本体21连接，以驱动手指本体21活动。进一步地，可以使驱动机构23还包括减速器232，电机231的转轴通过减速器232与手指本体21连接，以提高驱动机构23的驱动力。
其中，可以使驱动机构23整体呈柱状设置，以使驱动机构23更容易安装到容纳孔104内，并使驱动机构23的结构更加紧凑，减小驱动机构23所占空的手掌10的内部空间。
本实施例中，当在手掌10上开设容纳孔104，以使至少部分驱动机构23收容于容纳孔104内时，可以将第一接线端子24设于驱动机构23远离手指本体21的一端，并使第二接线端子12设于容纳孔104内。由此，能够使手掌10对第一接线端子24和第二接线端子12形成保护。
而且，当控制板或电源板等电路板11安装在手掌10内时，可以直接将第二接线端子12设置在电路板11上。其无需在手掌10内设置固定第二接线端子12的结构，使手掌10内部的结构更加简单，并提高手掌10内部空间的利用率。
本实施例中，可以使第二固定孔102具有供紧固件25沿容纳孔104的延伸方向移动的空间，以使基座22与手掌10连接后，能够相对手掌10移动一定的距离，以修正手指模块20的位置。尤其是驱动机构23和电路板11之间通过第一接线端子24和第二接线端子12电连接时，通过修正手指模块20的位置，能够保证第一接线端子24和第二接线端子12充分接触。
其中，可以使第二固定孔102的直径大于紧固件25的直径，也可以使第二固定孔102为条形孔，并使该条形孔的延伸方向与容纳孔104的延伸方向一致。
当然，也可以使第一固定孔222具有供紧固件25沿安装孔的延伸方向移动的空间，此处不再赘述。
本申请还提出一种假肢，该假肢包括手指模块，该手指模块的具体结构参照上述实施例，由于本申请提出的假肢包括上述手指模块的所有实施例的所有方案，因此，至少具有与所述手指模块相同的技术效果，此处不一一阐述。
以上所述仅为本申请的优选实施例，并非因此限制本申请的专利范围，凡是在本申请的申请构思下，利用本申请说明书及附图内容所作的等效结构变换，或直接/间接运用在其他相关的技术领域均包括在本申请的专利保护范围内。

Claims (12)

  1. 一种手指模块，用于假肢，该假肢包括手掌，其中，所述手指模块包括：
    手指本体；
    基座，与所述手指本体活动连接，所述基座用于与所述手掌可拆卸连接；
    驱动机构，与所述基座连接，所述驱动机构与所述手指本体连接，以驱动所述手指本体活动。
  2. 如权利要求1所述的手指模块，其中，所述手掌靠近所述手指本体的一端开设有容纳孔，所述基座与所述手掌连接，以使至少部分所述驱动机构收容于所述容纳孔内。
  3. 如权利要求2所述的手指模块，其中，所述驱动机构与所述容纳孔插接；和/或，
    所述基座具有定位部，所述定位部与所述容纳孔插接。
  4. 如权利要求1至3中任意一项所述的手指模块，其中，所述基座和所述手掌通过定位凸起和定位槽定位，所述定位凸起和所述定位槽中的一个设于所述基座面向所述手掌的一侧，另一个对应设于所述手掌上，所述定位凸起插入所述定位槽内，以使所述基座和所述手掌定位配合。
  5. 如权利要求4所述的手指模块，其中，所述假肢包括紧固件，所述基座上开设有第一固定孔，所述手掌上开设有第二固定孔，所述紧固件插入所述第一固定孔和所述第二固定孔，以将所述基座和所述手掌固定连接。
  6. 如权利要求5所述的手指模块，其中，所述定位槽开设于所述手掌面的侧边面，所述第二固定孔贯穿所述定位槽的内周壁，并在所述手掌的掌面形成供所述紧固件插入的插口；和/或，
    所述定位槽开设于所述基座面向所述手掌侧边面的表面 ，所述第一固定孔贯穿所述定位槽的内周壁，并在所述基座靠近所述手掌掌面的一侧形成供所述紧固件插入的插口。
  7. 如权利要求1所述的手指模块，其中，所述基座和/或所述驱动机构上设置有第一接线端子，该第一接线端子与所述驱动机构电连接，所述手掌上设置有第二接线端子，所述基座与所述手掌连接，以使所述第一接线端子和所述第二接线端子电连接。
  8. 如权利要求7所述的手指模块，其中，所述第一接线端子包括第一连接器母座，所述第二接线端子包括第一连接器公座，所述第一连接器母座用于和所述第一连接器公座插接，以使所述第一接线端子和所述第二接线端子电连接；和/或，
    所述第一接线端子包括第二连接器公座，所述第二接线端子包括第二连接器母座，所述第二连接器公座用于和所述第二连接器母座插接，以使所述第一接线端子和所述第二接线端子电连接。
  9. 如权利要求7或8所述的手指模块，其中，所述手掌靠近所述手指本体的一端开设有供至少部分所述驱动机构收容的容纳孔，所述第一接线端子设于所述驱动机构远离所述手指本体的一端，所述第二接线端子设于所述容纳孔内。
  10. 如权利要求7或8所述的手指模块，其中，所述假肢包括紧固件，所述基座上开设有第一固定孔，所述手掌上开设有第二固定孔，所述紧固件插入所述第一固定孔和所述第二固定孔，以将所述基座和所述手掌固定连接；
    所述第二固定孔具有供所述紧固件沿所述容纳孔的延伸方向移动的空间；或者，
    所述第一固定孔具有供所述紧固件沿所述容纳孔的延伸方向移动的空间。
  11. 如权利要求1至3中任意一项所述的手指模块，其中，所述手掌的侧边面具有安装面组，该安装面组包括多个供所述基座安装的安装面；在所述安装面组的中部至两端的方向上，所述安装面的高度依次降低。
  12. 一种假肢，其中，所述假肢包括：
    手掌；
    及如权利要求1至11中任意一项所述的手指模块，所述手指模块的基座和所述手掌可拆卸连接。
PCT/CN2019/095633 2018-07-26 2019-07-11 手指模块及假肢 WO2020019992A1 (zh)

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