WO2020134770A1

WO2020134770A1 - Novel passive prosthetic hand

Info

Publication number: WO2020134770A1
Application number: PCT/CN2019/120360
Authority: WO
Inventors: 罗永昭; 姚峰
Original assignee: 上海科生假肢有限公司
Priority date: 2018-12-29
Filing date: 2019-11-22
Publication date: 2020-07-02
Also published as: CN111374807A

Abstract

A passive prosthetic hand, comprising fingers (1, 2), a hand frame (18), a control rod (8), a link (5), an elastic component (6), a connecting plate, and a wrist ring; an arc-shaped rack gear (15) is mounted on the hand frame; a boat-shaped button (13) is mounted at a pressing position of the control rod (8); when the control rod (8) is pressed, a locking rod (14) can be moved to lock or unlock the fingers; when the fingers need to be in a relaxed state, the fingers are locked in a half-open state, and an additional passive joint (19) of the thumb is pulled, so as to switch the thumb of the fingers from an opposed state to a relaxed state close to the palm. The fingers of said prosthetic hand can be locked at different open positions, and the passive joint of the thumb enables the prosthetic hand to present a relaxed state, realizing both gripping and relaxing.

Description

New passive artificial hand

Technical field

The invention relates to the technical field of artificial limbs, and specifically refers to a multifunctional passive artificial hand which can not only present a state of a decorative artificial hand but also have functions of grasping, locking and lifting objects.

Background technique

At present, the most used upper limb prosthesis is a decorative prosthesis, but this kind of prosthesis has no grasping function, and the finger cannot lock and lift the object. The existing passive prosthetic hands also have no finger locking function, so they can only lift light objects. The objects are slightly heavier and will exceed the spring force of closing the fingers, causing the objects to slip off. The cable-controlled prosthetic hand only has a zero-position self-locking function. As long as the object is slightly thicker, the finger cannot be closed to the zero position where the thumb and index finger are in contact, and the object will slip off when it is slightly heavy. These prosthetic hands and ordinary electric and myoelectric control prosthetic hands can usually only be a tense state of grasping the fingers, and cannot assume the natural state of five fingers relaxing. The above prosthetic hand and the common electric and myoelectric control prosthesis driven by a motor, the movement of the ring finger and the little finger are driven by the middle finger. The space in the middle finger of the glove, in addition to the active middle finger, there is an additional skeleton on the side. This skeleton is connected to the little finger and ring finger skeleton at the root. The active middle finger drives the glove and the glove drives the additional skeleton in the middle finger Exercise to open and close the ring finger and little finger together with the middle finger. Because the additional skeleton of the middle finger and the middle finger are not fixed together, the activities of the ring finger and the little finger will lag behind the middle finger and cannot be fully moved into place. A new prosthetic hand needs to be invented to overcome the above-mentioned shortcomings of prosthetic technology at home and abroad.

Summary of the invention

The purpose of the present invention is to provide a new type of passive prosthetic hand to solve the problem that the passive prosthetic hand in the prior art cannot be locked, nor can it take into account both the gripping function and the relaxed state.

In order to solve the above technical problems, the present invention provides a new passive prosthetic hand, including fingers, a hand frame, a control rod, a connecting rod, an elastic member, a connecting plate, and a wristband. The new passive prosthetic hand further includes an arc-shaped rack and a head A locking lever with a locking pin, a boat-shaped button and a thumb-attached passive joint, the curved rack is installed on the hand frame, the boat-shaped button is installed on the pressing position of the control lever, and the control lever is pressed At this time, the lock lever can be moved to lock or unlock the finger; when the finger needs to be in a relaxed state, lock the finger in a half-opened state, pull the thumb to attach a passive joint, so that The thumb in the finger changes from the opposite finger state to a relaxed state close to the palm; the outer frame of each finger is provided with a finger sleeve of elastic material, and the middle finger sleeve has a double cavity, including a main skeleton for accommodating the middle finger Cavity of the middle finger and the side cavity of the middle finger side frame connected with the little finger and ring finger of the finger.

In this prosthetic limb structure, it also includes a lever shaft, with the lever shaft as the center, the arc rack is installed on the hand frame, the boat-shaped button is equipped with a spring inside, and has a front button The bistable performance of pressing down and rear, the shaft of the boat-shaped button is installed at the end of the control lever, and the front end of the boat-shaped button is connected to the locking lever through the shaft of the locking lever. When the rear of the button is applied, the boat-shaped button pulls the lock lever to disengage the lock pin of the head of the lock lever from the tooth groove of the arc-shaped rack to release the lock, and the control lever can be wound around The axis moves up and down, so that the finger can be opened and closed; at different positions where the finger is spread, pressing force can be applied toward the front of the boat-shaped button, and the boat-shaped button pushes the lock lever to make the The lock pin of the head of the lock rod is inserted into the corresponding tooth slot of the arc-shaped rack to lock the finger, and after pressing is stopped, the finger lock state is still maintained.

This prosthetic hand can also choose another locking method, using the pressed finger to push and lock the lock lever along the longitudinal direction of the lock lever to lock and unlock the finger, and make the pressing end of the lock lever suitable for all The concave shape of the thumb is convenient for pushing. The ball plunger mounted on the control rod is used to solve the stability of locking and unlocking. The ball plunger can enter two arc-shaped recesses on the lock rod respectively one of the.

In this prosthetic hand structure, the frictional resistance of pulling the thumb attached to the passive joint is adjusted by a screw, and the thumb can be pulled to a natural relaxed position close to the palm, when the thumb is pulled open to the grip of the finger When the functional position is limited, the axial center of the additional passive joint of the thumb is close to or coincides with the axial center of the control rod axis.

In the new passive artificial hand provided by the present invention, when the control lever is pressed, the lock lever can be moved to lock or unlock the finger; when the finger needs to be relaxed, the finger is locked in the half-open state and pulled A passive joint is added to the thumb, so that the thumb in the finger changes from the opposite-finger state to a relaxed state close to the palm, thereby not only realizing the grasping function of the prosthetic hand, but also allowing the prosthetic hand to assume a relaxed state. Further, the elastic material finger sleeve outside the middle finger skeleton has a double cavity, the middle cavity accommodates the main skeleton of the middle finger, and the side cavity accommodates the middle finger side frame connected to the little finger and the ring finger, thereby making it possible for the little finger ring finger to maintain linkage without lagging . When wearing artificial gloves, first put the mountain-shaped skeleton with the middle finger, ring finger and little finger connected to the finger sleeve, insert the side frame of the middle finger into the side cavity, and then put the three fingers into the corresponding parts of the artificial gloves. Insert the main skeleton of the middle finger into the middle cavity of the finger sleeve.

BRIEF DESCRIPTION

Figure 1 is a schematic diagram of the structure of a new passive artificial hand

Figure 2 is a schematic diagram of the structure of the new passive double-chamber middle finger sleeve

The labels in the figure are explained as follows:

1- index finger; 2- thumb; 3- index finger joint axis; 4- control rod axis; 5- connecting rod; 6-elastic member; 7- screw; 8- control rod; 9- limit pin; 10- boat button axis ; 11- connecting plate; 12- wrist ring; 13- boat-shaped button; 14- lock lever; 15-arc rack; 16- lock pin; 17- lock lever shaft; 18- hand frame; 19- additional passive joints; 20- upper thumb; 21- lower thumb; 22- middle finger sleeve; 23- middle cavity; 24-side cavity; 25- ring finger sleeve; 26- middle finger side frame; 27- ring finger frame; 28- little finger frame; 29-chute ; 30- lock pin shaft; 31- little finger sleeve.

detailed description

Please refer to FIG. 1 and FIG. 2, on the hand frame 18, a circular rack is installed with the lever shaft 4 as the center, and a boat-shaped button 13 is installed at the pressed position of the lever 8, the boat-shaped button 13 has a circuit The mechanical structure of the boat-shaped button is equipped with a spring inside, which has bistable performance. The boat-shaped button shaft 10 is installed at the end of the control rod 8. The front end of the boat-shaped button 13 is connected to the lock lever 14 through the lock lever shaft 17 and can rotate relatively. When the front of the boat-shaped button 13 is pressed, the lock lever 14 is pushed forward, and the lock pin 16 at the end of the lock lever 14 is inserted into a tooth groove of the arc rack 15 to lock the control lever 8, since the control lever 8 and five The fingers are linked, so the fingers are locked. When the pressing force is backward (that is, pressing the rear of the boat-shaped button 13), the boat-shaped button 13 pulls the lock lever 14 to move backward (that is, toward the boat-shaped button 13), so that the lock pin 16 at the head of the lock lever 14 is disengaged from the arc-shaped rack 15 The tooth groove is unlocked, and the control lever 8 can control the lever shaft 4 to move up and down as a shaft to open and close the finger. When the control lever 8 is depressed (press the rear of the boat-shaped button 13), the fingers are opened, and the pressing force is released. The fake fingers are closed by the elastic member 6 to grab the object. After the grip is completed, if necessary, lift the heavy object , Press the front of the boat-shaped button 13 to lock the finger, the object will not slip off, and the finger lock state will be maintained after the pressing is stopped.

In addition to using the bistable performance boat-shaped button 13 to push and pull the lock lever 14, the passive hand for locking and unlocking can also use other methods, such as pushing the lock lever 14 to slide in the chute of the control lever 8 by pressing the finger of the control lever 8 forward and backward The pressing position of the end of the lock rod 14 is made into a concave shape suitable for the thumb of the human hand, which is convenient for pushing. The ball plunger mounted on the control rod 8 is used to solve the stability of locking and unlocking. The ball plunger can enter the lock rod 14 respectively One of the two curved pits.

In order to make the fingers relax when not gripping, there is a thumb attached passive joint 19 in front of the thumb joint shaft (here, the control lever shaft 4), and the frictional resistance of turning the thumb attached passive joint 19 can be a screw 7 The adjustment should be adjusted to that the friction resistance of the additional passive joint 19 of the thumb is greater than the resistance of the glove to the opening and closing of the thumb 2, so that the opening and closing of the thumb 2 is not affected. When the thumb 2 is pulled to the grasping position of the opposite finger, the passive joint 19 is limited, so that the passive joint 19 is completely unaffected by the prosthetic hand grasping and lifting heavy objects. When the other four fingers are locked in the relaxed state of slight flexion, while pulling the thumb 2 to the self-relaxed position near the palm, the prosthetic hand completely becomes a decorative prosthetic hand state. The position of the axis of the thumb attached to the passive joint 19 can also coincide with the axis of the thumb joint axis.

Such an additional thumb passive joint 19 can also be used for myoelectric control or electric prosthetic hands, so that these prosthetic hands can also present a beautiful and relaxed state.

The five finger skeletons all have elastic material finger sleeves as false muscles. The elastic material finger sleeves outside the middle finger skeleton have double cavities. The middle cavity 23 accommodates the middle finger main skeleton, and the side cavity 24 accommodates the middle finger side frame 26 which drives the ring finger and the little finger. The middle finger side frame 26 is connected to the ring finger frame 27 and the little finger frame 28 at the base of the finger to form a mountain-shaped skeleton. When wearing artificial gloves, first put the mountain-shaped skeleton on the elastic finger sleeves of the three fingers, and then put the three fingers in Simulate the position corresponding to the glove, then put the prosthetic hand on the bionic glove, and insert the main skeleton of the middle finger into the middle cavity 23 of the middle finger sleeve 22 in the glove.

This method of connecting fake fingers can also be applied to a common motor-driven myoelectric control or electric prosthetic hand, as well as a cable-controlled prosthetic hand, which not only makes it easier to pass through the thinner wrist when wearing gloves, but also allows the pinky ring finger to be held when held Linkage will not lag.

Continuing to refer to FIG. 1 and FIG. 2, in this example, the control lever shaft 4 is also a thumb joint shaft. On the hand frame 18, with a control lever shaft 4 as the center, a circular arc rack 15 is installed at the end of the control lever 8 A boat-shaped button 13 is installed. The shaft 10 of the boat-shaped button 13 is installed at the end of the control rod 8. The front end of the boat-shaped button 13 is equipped with a lock lever shaft 17 to rotate the lock lever 14 and the front end of the boat-shaped button 13. The front end is a locking pin 16, which can slide in the sliding groove 29 of the control rod 8, the sliding groove 29 is in the radial direction of the arc rack 15 so that the locking pin 16 always moves in the radial direction of the arc rack 15 . The end of the lock pin 16 is connected to the lock rod through the lock pin shaft 30. When the front of the boat-shaped button 13 is pressed, the lock rod 14 is pushed, and the lock pin 16 at the end of the lock rod 14 is inserted into a tooth groove of the arc rack 15 to lock The control lever 8, because the control lever 8 and five fingers are all linked, the fingers are locked. When the rear of the boat-shaped button 13 is pressed, the boat-shaped button 13 pulls the lock lever 14, the lock pin 16 exits the tooth groove, and unlocks the control lever 8, the control lever 8 is pressed, the finger is opened, and the pressing force is relaxed, the fake finger is on the elastic member 6 Close under the action of to grasp the object. After the grip is completed, if you need to lift a heavy object, press the front of the boat-shaped button 13 to lock the finger, and the object will not slip off.

In order to allow the fingers to appear relaxed when not gripped, the thumb has a thumb attached to the lever shaft 4 with a passive joint 19, and the friction resistance of rotating this joint can be adjusted by the screw 7, the adjustment screw 7 can clamp or relax the upper thumb The contact pressure between the 20 and the lower thumb 21 at the additional passive joint 19. The upper thumb 20 has a limit pin 9, and when the upper thumb 20 is extended to the grasping position of the opposite finger, the limit pin 9 is blocked by the lower thumb 21, so that the joint does not move when the prosthetic hand is grasped and lifted, and the function is not Affected. When the prosthetic finger is locked in the half-open state, and then the upper section 20 of the thumb is pulled to a natural relaxed position near the palm, the prosthetic hand completely becomes a decorative prosthetic hand state.

As shown in FIG. 2, the outer parts of the five finger skeletons have elastic material finger cuffs as false muscles, and the middle finger cuff 22 has a double cavity, as shown in FIG. 2. The middle cavity 23 accommodates the main skeleton of the artificial middle finger, and the side cavity 24 accommodates the middle finger side frame 26 of the mountain-shaped skeleton. The middle finger side frame 26 is connected to the ring finger 27 and the little finger frame 28 in the shape of a mountain. When wearing artificial gloves, first put on the mountain-shaped skeleton respectively The elastic finger sleeves of the three fingers, and then put the three fingers into the corresponding parts of the artificial glove, then put the artificial hand on the bionic glove, and insert the main skeleton of the middle finger into the middle cavity 23 of the middle finger sleeve 22 in the glove.

Within the scope of the present invention, there may be various schemes for implementing the patent, and the description and drawings should be regarded as illustrative rather than restrictive.

Claims

A new type of passive prosthetic hand includes fingers, a hand frame, a control rod, a connecting rod, an elastic member, a connecting plate and a wristband, and is characterized in that the new passive prosthetic hand further includes a curved rack and a lock with a locking pin on the head The lever, the boat-shaped button and the thumb are attached with passive joints, the arc-shaped rack is installed on the hand frame, the boat-shaped button is installed at the pressing position of the control lever, and when the control lever is pressed, the The lock lever moves to lock or unlock the finger; when the finger needs to be in a relaxed state, lock the finger in a half-opened state, pull the thumb to attach a passive joint, so that the thumb in the finger From the state of facing the finger to the relaxed state close to the palm; the outer frame of each finger is provided with a finger sleeve of elastic material, the finger sleeve of the middle finger has a double cavity, including a middle cavity for accommodating the main skeleton of the middle finger, And a side cavity for receiving a middle finger side frame connected with the little finger and ring finger of the finger.
The new passive artificial hand according to claim 1, characterized in that it further comprises a control lever shaft, with the control lever shaft as the center of the circle, the arc-shaped rack is installed on the hand frame, and the inside of the boat-shaped button Equipped with springs, and having the bistable performance of front-end pressing and rear-end pressing, the shaft of the boat-shaped button is installed at the end of the control rod, and the front end of the boat-shaped button passes through the shaft of the lock lever and the lock Rod connection, when a pressing force is applied to the rear end of the boat-shaped button, the boat-shaped button pulls the lock lever to disengage the lock pin of the head of the lock lever from the tooth groove of the arc-shaped rack, When the lock is released, the control lever can move up and down around its axis, so that the finger can be opened and closed; when the pressing force can be applied to the front end of the boat-shaped button at different positions where the finger is spread, the The boat-shaped button pushes the lock lever, so that the lock pin of the head of the lock lever is inserted into the corresponding tooth groove of the arc-shaped rack, locks the finger, and keeps the finger locked state after pressing is stopped.
The new passive artificial hand according to claim 1, wherein the finger is pushed directly along the longitudinal direction of the lock lever with human fingers to complete finger locking and unlocking, and the end of the lock lever is pressed The concave shape suitable for the human thumb is easy to push. The ball plunger mounted on the control rod is used to solve the stability of locking and unlocking. The ball plunger can enter two arc-shaped concaves on the lock rod respectively One of the pits.
The new passive artificial hand according to claim 1, characterized in that the frictional resistance of the passive joint that pulls the thumb is adjusted by a screw, and the thumb can be pulled to a natural relaxed position near the palm of the hand. When the thumb is stretched to the functional position of grasping the finger, the position of the axis of the passive joint of the thumb can be placed on the upper end of the thumb, close to the axis of the control rod or with the axis The position where the axes of the lever shaft coincide.
The new passive artificial hand according to claim 1, characterized in that, when wearing the artificial gloves, the mountain-shaped skeleton connected with the middle finger, the ring finger and the little finger three fingers is first put on the finger sleeve, and the side frame of the middle finger is inserted into the finger sleeve of the middle finger Put the three fingers into the corresponding position in the simulated glove. When wearing the simulated glove, insert the main skeleton of the middle finger into the middle cavity of the finger sleeve in the simulated glove.