RU2663942C1 - Electromechanical hand - Google Patents

Abstract

FIELD: medicine.SUBSTANCE: invention relates to medicine. Electromechanical prosthesis of the hand on the long stump of the forearm contains the body, the receiving sleeve, the frameworks of the first, second, third, fourth fingers and the fifth finger, made in the form of an elastic link, and the mechanism of movement of the hand with microelectro drives. Frame of the first finger is fixed on the first axis of rotation, the skeleton of the third finger and the skeleton of the fourth finger are fixed on the second axis of rotation. Frame of the second finger is fixed in the carcass of the third finger by means of the third axis of rotation, and the carcass of the fourth finger and the fifth finger are made in the form of a single block, in which the lining of the carcass of the fourth finger is made integrally with the lining of the fifth finger. First axis of rotation and the second axis of rotation are fixed in the housing. Movement mechanism of hand is made in the form of a grip mechanism and an escape mechanism. Grip mechanism is made in the form of the first microelectrodrive equipped with a microcontroller of the gripping mechanism and the executive body of the gripper mechanism of the first, second and third finger frames. First microelectrical drive and the microcontroller of the gripping mechanism are located in the casing of the gripper mechanism. Withdrawal mechanism is made in the form of a second microelectrodrive fixed to the frame of the third finger and equipped with a microcontroller of the withdrawing mechanism and an executive organ of the withdrawal mechanism of the second from the third armature of the fingers. Microcontroller of the withdrawing mechanism is located on the body of the grip mechanism, and the body of the gripping mechanism is rigidly fixed in the body. Receiving sleeve is fixed to the body through the flange. Both microelectro drives are connected to the hand control system fixed to the autonomous power supply unit, which in turn is fixed to the flange and equipped with a control device for the autonomous power supply unit. Receiving sleeve has electrodes for picking up the signal of muscle activity associated with hand control system, which is connected with the microcontroller of the grip mechanism and the microcontroller of the withdrawal mechanism.EFFECT: invention provides reduction in the time for performing motor operations during the prosthesis of persons with disabilities after a one-sided or bilateral amputation of the arm to a long forearm stump and a reliable retention of the manipulation objects.3 cl, 6 dwg

Description

The invention relates to medical equipment, namely to prosthetics and prosthetics and can be used for prosthetics of disabled people after unilateral or bilateral amputation of a hand on a long stump of the forearm.

Known prosthetic hand (RU 2472469 C1, IPC: A61F 2/54 (2006.01), publ. 01/20/2013), comprising a housing, a first finger, a block of the second or third fingers, a lever transmission and the drive function of the mobility of the "grip-opening of the brush", the lead-down mechanism of the second finger, containing a microelectric drive with a helical gear, which provides the possibility of reciprocating movement of the nut, while the drive is motionlessly connected to the base of the finger block, and the frame of the second finger is made in the form of a two-shouldered lever and is pivotally mounted on the base of the finger block, etc. than one lever arm forms the second finger bracket and a second arm designed as a fork and is kinematically coupled with a nut screw transmission. The disadvantage of this device is its low functionality, as well as jamming of the gripping mechanism in extreme positions.

Known prosthetic hand adopted for the prototype (RU 2506931 B2, IPC: A61F 2/56 (2006.01), publ. 02/10/2014), comprising a housing, a receiving sleeve mounted on the housing, frames of the first, second, third, fourth fingers and fifth finger, made in the form of an elastic link, the mechanism of movement of the brush with microelectric drives.

The disadvantage of this device is low functionality and a long time to complete motor operations.

The task of the invention is the creation of an electromechanical prosthesis for the hand on a long stump of the forearm, increasing the usability of the prosthesis by expanding the functionality of the device.

The technical result is to reduce the time it takes to perform motor operations when prosthetics for disabled people after unilateral or bilateral amputation of the arm on a long stump of the forearm, reliable retention of the objects of manipulation by providing two-sided force control over the movement of the first and second fingers with the simultaneous installation of the third finger on the surface of complex objects, and also providing a grip between the second and third finger.

The specified technical result is achieved by the fact that in the electromechanical prosthesis of the hand on a long stump of the forearm containing the body, the receiving sleeve, the frames of the first, second, third, fourth fingers and the fifth finger, made in the form of an elastic link, the mechanism of movement of the brush with microelectrical drives, the frame of the first finger fixed on the first axis of rotation, the frame of the third finger and the frame of the fourth finger are fixed on the second axis of rotation, while the frame of the second finger is fixed in the frame of the third finger using the third axis in ascheniya, a frame of the fourth finger and fifth finger are formed as a single unit, wherein the fourth finger frame cladding is formed integrally with the lining of the fifth finger, and the first rotation axis and the second rotation axis is mounted fixedly in the housing and mechanism of the hand movement is in in the form of a gripping mechanism and a retraction mechanism, while the gripping mechanism is made in the form of a first microelectric drive equipped with a gripping mechanism microcontroller, and an executive body of the gripping mechanism of the first, second and third frames lts, while the first microelectric drive and the microcontroller of the gripping mechanism are located in the housing of the gripping mechanism, and the lead mechanism is made in the form of a second microelectric drive mounted on the frame of the third finger and equipped with a microcontroller of the lead mechanism and the executive body of the mechanism of removal of the second from the third frame of the fingers, and the microcontroller of the lead mechanism located on the housing of the gripping mechanism, the housing of the gripping mechanism is rigidly mounted in the housing, while the receiving sleeve is fixed on and the case through the flange, while both microelectronic drives are connected to the brush control system mounted on an autonomous power supply unit, which, in turn, is mounted on the flange and is equipped with an autonomous power supply control device, and electrodes for acquiring a muscle activity signal connected to the system are installed on the receiving sleeve control brush, which is connected to the microcontroller of the gripping mechanism and the microcontroller of the abstraction mechanism.

In this case, a cover is made on the outer part of the housing.

In this case, the frames of the first, second, third, fourth fingers represent a t-shaped profile in cross section.

The invention is illustrated by drawings.

In FIG. 1 shows an electromechanical brush, side view.

In FIG. 2 shows an electromechanical brush, top view.

In FIG. 3 shows an electromechanical brush, side view without a receiving sleeve.

In FIG. 4 shows an electromechanical brush without a receiving sleeve, a top view.

In FIG. 5 shows the fastening of the levers of the first and fourth fingers.

Figure 6 shows the fastening of the lever of the fourth finger to the frame of the fourth finger.

The following notation is introduced:

1 - housing;

2 - cover;

3 - a receiving sleeve;

4 - the first axis of rotation;

5 - frame of the first finger;

6 - the second axis of rotation;

7 - the frame of the third finger;

8 - frame of the fourth finger;

9 - frame of the second finger;

10 - the third axis of rotation;

11 - the fifth finger;

12 - the first microelectric drive;

13 - microcontroller gripping mechanism;

14 - a two-stage cylindrical gear (gear);

15 - housing of the gripping mechanism;

16 - screw;

17 - crank;

18 - screw;

19 - lever;

20 - the lever of the fourth finger;

21 - screw;

22 - axis of rotation;

23 - the lever of the first finger;

24 - screw;

25 - screw;

26 - the second microelectric drive;

27 - microcontroller of the abduction mechanism;

28 - helical gear;

29 - a nut;

30 - screw;

31 - brush control system;

32 - power supply unit;

33 - control device for an autonomous power supply unit;

34 - electrodes for signal acquisition of muscle activity;

35 - longitudinal axis.

36 - flange.

The electromechanical brush (Fig. 1) contains a housing 1 with a cover 2 mounted on the outer (back) side, a receiving sleeve 3, mounted on the housing 1 through a flange 36. In the housing 1, the frame of the first finger 5 is fastened by means of the first axis of rotation 4. By means of the second axis the rotation 6 (Fig. 2) in the housing 1 is attached to the frame of the third finger 7 and the frame of the fourth finger 8. In this case, the frame of the second finger 9 is fixed in the frame of the third finger 7 using the third axis of rotation 10, and the frame of the fourth finger 8 and the fifth finger 11, made in the form of an elastic link, made They are in the form of a single unit in which the lining of the frame of the fourth finger 8 is made in one piece with the lining of the fifth finger 11. In this case, the first axis of rotation 4 and the second axis of rotation 6 are fixed motionless in the housing 1 opposite the base of the frame of the first finger 5 and in the distal part of the housing 1 respectively.

The gripping mechanism consists of the first microelectric drive 12 (for example, a 0.3 Nm 1226A electric motor with a 12/4 ratio 256: 1 gearbox) electrically connected to the microcontroller of the gripping mechanism 13 (for example, SC1801S) and the actuator of the gripping mechanism of the first 5, second 9 and third 7 finger frames made in the form of a gear 14. In this case, the first microelectric drive 12 and the microcontroller of the gripping mechanism 13 are rigidly fixed in the housing of the gripping mechanism 15, rigidly fixed to the housing 1. The gear 14 is rigidly fixed to the shaft of the first mic of the electric drive 12 and is located in the housing of the gripping mechanism 15. On the driven shaft (not shown in the figure) of the gear 14, a crank 17 is fixed by means of a screw 16, to which one end of the lever 19 and one end of the lever of the fourth finger 20 are fastened with the screw 18 (Fig. 5) The second end of the lever 19 is fastened with a screw 21 to the frame of the first finger 5. In the frame of the first finger 5, the lever of the first finger 23 is attached via the rotation axis 22 (FIG. 3, 6), the second end of the lever of the first finger 23 by means of a screw 24 is attached to the frame of the third finger 7. The second end of the lever of the fourth finger 20 is screwed 25 to the frame of the fourth finger 8.

The lead mechanism is equipped with a second micro electric drive 26 (for example, an electric motor of 0.1 Nm 1016A with a 10 / 1K ratio 16: 1 gearbox), rigidly fixed to the frame of the third finger 7 and equipped with a microcontroller of the lead mechanism 27 (Fig. 2, 4) (for example, SC1801S ) and the executive body of the mechanism of abduction of the second 9 from the third 7 frame of the fingers. In this case, the microcontroller of the lead mechanism 27 is rigidly fixed to the housing of the gripping mechanism 15 and is electrically connected to the second micro electric drive 26. The executive body of the lead mechanism is made in the form of a helical gear 28 with a nut 29 installed on it. The helical gear 28 is mounted on the shaft of the second micro electric drive 26 with a screw 30 and is its continuation.

In this case, the first and second micro electric drives 12 and 26 are respectively electrically connected to the control system of the brush 31. (for example, the Dynamic Mode Control Plus® (DMC Plus®) control system).

The brush control system 31 is mounted on the autonomous power supply unit 32. The autonomous power supply unit 32 is located inside the flange 36, is attached to it with screws (for example, two, not shown in the figure) and is equipped with a control device for the autonomous power supply unit 33. Electrodes are installed on the receiving sleeve 3 for muscle signal collection 34 (for example, two groups of four electrodes - EPSM-02), which are in close contact with the stump of the disabled person, they take muscle activity signal and transmit it to the brush control system 31, which is connected with the mic controller gripper mechanism 13 and microcontroller retraction mechanism 27.

The control system of the brush 31 allows the patient to control the speed and grip force in proportion to the strength of his muscle signal, taken from the electrodes to pick up the signal of muscle activity 34 and to adjust the magnitude of the opening of the hand and dilution (mixing) of the fingers.

All structural elements are interconnected by fasteners - screws.

The frames of the first 5, second 9, third 7, fourth 8 fingers represent a t-shaped profile in cross section.

The frames of the first 5, second 9, third 7, fourth 8 fingers and fifth finger 11 are made with a lining, for example, of microcellular polyurethane foam.

The device operates as follows.

Using the control unit of the autonomous power supply unit 33, the autonomous power supply unit 32 is turned on. The electrodes for picking up the muscle activity signal 34, take out the muscular activity signal and transmit it to the brush control system 31, which converts the captured signals to command ones.

When forming a control command to open the brush coming from the electrodes of muscle signal 34 and the transformed control system of the brush 31, a command is sent to the microcontroller of the gripping mechanism 13, the first microelectric drive 12 is turned on, which drives the gear 14 with the crank 17 rigidly fixed to it The crank 17 begins to rotate counterclockwise, driving the lever 19 and the lever of the fourth finger 20. The lever 19 through the screw 21 transmits the movement to the frame of the first finger 5. Correspondingly Actually, the lever of the first finger 23, fixed at one end in the frame of the first finger 5, drives the frame of the third finger 7 with the second end, and the lever of the fourth finger 20 with the second end drives the frame of the fourth finger 8, the brush opens.

When forming the control command to close the brush, coming from the electrodes of the signal collection of muscle activity 34 and the transformed control system of the brush 31, a command is sent to the microcontroller of the gripping mechanism 13. The closing mechanism of the brush is carried out in the reverse order. The brush closes and a grip in the "pinch" or capture and hold of the subject.

When forming the control command for the removal of the frame of the second finger 9 from the frame of the third finger 7, coming from the electrodes of the signal collection of muscle activity 34 and the transformed control system of the brush 31, a command is sent to the microcontroller of the mechanism of the lead 27, the second microelectric drive 26 is turned on, the screw gear 28, along which the nut 29 moves, moving the frame of the second finger 9. The nut 29 makes a reciprocating motion. When the nut 29 approaches the microelectric drive 26, the frame of the second finger 9 is diverted from the frame of the third finger 7. When the nut 29 is moved from the microelectric drive 26, the frame of the second finger 9, on the contrary, is pressed against the frame of the third finger 7, which ensures that any object is clamped between the lined frames second and third finger.

Claims (3)

1. Electromechanical prosthesis of the hand on a long stump of the forearm, comprising a body, a receiving sleeve, frames of the first, second, third, fourth fingers and the fifth finger, made in the form of an elastic link, the mechanism of movement of the brush with microelectric drives, characterized in that the frame of the first finger is fixed to the first axis of rotation, the frame of the third finger and the frame of the fourth finger are fixed on the second axis of rotation, while the frame of the second finger is fixed in the frame of the third finger using the third axis of rotation, and the frame of the fourth finger a and the fifth finger are made in the form of a single unit, in which the lining of the frame of the fourth finger is made in one piece with the lining of the fifth finger, the first axis of rotation and the second axis of rotation being fixed motionless in the housing, and the brush movement mechanism is made in the form of a gripping mechanism and a retraction mechanism wherein the gripping mechanism is made in the form of a first microelectric drive equipped with a gripping mechanism microcontroller, and an executive body of the gripping mechanism of the first, second and third finger frames, wherein the first microelectrical the drive and the microcontroller of the gripping mechanism are located in the housing of the gripping mechanism, and the abstraction mechanism is made in the form of a second microelectric drive mounted on the frame of the third finger and equipped with a microcontroller of the retraction mechanism and an executive body of the abstraction mechanism of the second from the third frame of the fingers, while the microcontroller of the retraction mechanism is located on the mechanism body the gripper, and the housing of the gripping mechanism is rigidly mounted in the housing, while the receiving sleeve is fixed to the housing through the flange, moreover The microelectric actuator bays are connected to a brush control system mounted on an autonomous power supply unit, which, in turn, is mounted on a flange and equipped with an autonomous power supply control device, moreover, muscular activity signal pick-up electrodes connected to the brush control system, which is connected to the microcontroller, are installed on the receiving sleeve the gripping mechanism and the microcontroller of the abduction mechanism. 2. Electromechanical prosthesis of a brush according to claim 1, characterized in that a cover is made on the outer part of the body. 3. Electromechanical prosthesis of a brush according to claim 1, characterized in that the frames of the first, second, third, fourth fingers are a T-shaped profile in cross section.

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