CN106078699A - Hand decompression machinery ESD - Google Patents
Hand decompression machinery ESD Download PDFInfo
- Publication number
- CN106078699A CN106078699A CN201610667436.5A CN201610667436A CN106078699A CN 106078699 A CN106078699 A CN 106078699A CN 201610667436 A CN201610667436 A CN 201610667436A CN 106078699 A CN106078699 A CN 106078699A
- Authority
- CN
- China
- Prior art keywords
- cylinder
- overcoat
- digitorum manus
- articulations digitorum
- assembly
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/083—Gripping heads and other end effectors having finger members with means for locking the fingers in an open or closed position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
Abstract
Hand decompression machinery ESD, cylinder and forearm rotating cylinder is fixed including forearm, forearm is fixed cylinder front inner wall and is provided with twice annular groove, forearm rotating cylinder rear portion is plugged in forearm and fixes in cylinder, forearm rotating cylinder outer wall is provided with rotary spacing twice annulus fin in annular groove, forearm rotating cylinder front end is connected by wrist universal joint has palm to lay cylinder, palm lays a bottom left or right side opening is provided with thumb extending port, palm is laid a top and single is driven multi-bar linkage to be connected with side by side to be positioned at palm and lay the little finger of toe ectoskeleton assembly on front side of cylinder by a set of respectively, nameless ectoskeleton assembly, middle finger ectoskeleton assembly and forefinger ectoskeleton assembly.The present invention designs exclusively for porter, fully alleviates exerting oneself of porter's hand, and substantially increases the weight of carrying heavy goods, also improves the efficiency transported goods.Additionally the present invention can be additionally used in medical apparatus and instruments, contributes to portion patient hand and wrist better and more comprehensively rehabilitation.
Description
Technical field
The present invention relates to a kind of decompressor for carrying heavy goods, particularly relate to a kind of hand decompression mechanical exoskeleton dress
Put.
Background technology
From the point of view of the porter that often transports goods such as (removal of home workman, builder), often grasp with hand
Goods, four finger stress in addition to thumb are big especially, and long transport operation can cause finger skeleton, wrist to close
The damage of joint, the most older after hand the most basic disabled.The most not yet have and be specially adapted for porter's pendant
The device for alleviating hand pressure worn.
Summary of the invention
The present invention is to solve weak point of the prior art, it is provided that a kind of compact conformation, highly reliable, effect of easing stress
The hand decompression machinery ESD good, load-bearing is big.
For solving above-mentioned technical problem, the present invention adopts the following technical scheme that hand decompression machinery ESD, including
Forearm fixes cylinder and forearm rotating cylinder, and forearm is fixed cylinder front inner wall and is provided with twice annular groove, and forearm rotating cylinder rear portion is plugged in
Forearm is fixed in cylinder, and forearm rotating cylinder outer wall is provided with rotary spacing twice annulus fin in annular groove, before forearm rotating cylinder
Holding to be connected by wrist universal joint has palm to lay cylinder, and palm lays a bottom left or right side opening is provided with thumb extending port,
Palm is laid a top and single is driven multi-bar linkage to be connected be positioned at that palm lays on front side of cylinder little side by side by a set of respectively
Refer to ectoskeleton assembly, nameless ectoskeleton assembly, middle finger ectoskeleton assembly and forefinger ectoskeleton assembly；
Little finger of toe ectoskeleton assembly, third finger ectoskeleton assembly, middle finger ectoskeleton assembly are identical with the structure of forefinger ectoskeleton assembly；
Forefinger ectoskeleton assembly includes the first articulations digitorum manus overcoat, the second articulations digitorum manus overcoat and the 3rd articulations digitorum manus set gradually from front to back
Overcoat, single clutch end driving multi-bar linkage and the connection of the first articulations digitorum manus overcoat top, the second articulations digitorum manus overcoat rear end is stretched
Entering in the first articulations digitorum manus overcoat, the second articulations digitorum manus overcoat left and right sides is upper and lower by the first riveting axle and the first articulations digitorum manus overcoat
Being rotationally connected, the 3rd articulations digitorum manus overcoat rear end extend in the second articulations digitorum manus overcoat, and the 3rd articulations digitorum manus overcoat left and right sides is passed through
Second riveting axle and the second articulations digitorum manus overcoat rotate upwardly and downwardly connection, the 3rd articulations digitorum manus overcoat front end closure, the 3rd articulations digitorum manus overcoat
Outer cover is provided with Anti-slip cover, and Anti-slip cover outer surface is uniformly provided with anti-skidding projection；
Being provided with installing rack bottom forearm rotating cylinder, installing rack lower surface is provided with minitype pneumatic tendon, little finger of toe ectoskeleton assembly, unknown
Refer to ectoskeleton assembly, middle finger ectoskeleton assembly and forefinger ectoskeleton assembly the 3rd articulations digitorum manus overcoat respectively with minitype pneumatic tendon
Between be provided with one refer to bent-segment pull fastening mechanism.
Described single driving multi-bar linkage includes imaginary axis driver mounting seat, rotary shaft drive mounting seat, connecting plate, ball
Nest bearing, imaginary axis drive cylinder, rotary shaft drive cylinder, L-type drive arm, rear support arm, front support arm, the first drive rod,
Second drive rod and connecting rod；
Fixing bottom imaginary axis driver mounting seat being located at palm and lay a top rear, rotary shaft drive mounting seat is located at void
Intending axle driver mounting seat left lower, ball-and-socket bearing is fixing to be located at palm and lays on front side of a top, imaginary axis drive cylinder and
Rotary shaft drives cylinder to arrange the most along the longitudinal direction, is rotatably connected to be arranged in vertical in imaginary axis driver mounting seat
First ball rod, the first ball rod upper end is fixing with imaginary axis driving cylinder bottom to be connected, and turns in rotary shaft drive mounting seat
Being dynamically connected and be horizontally disposed with the second ball rod, the left end of the second ball rod is fixing with on the right side of rotary shaft driving cylinder to be connected, virtual
Axle drives the piston rod front end of cylinder to drive arm upper end thereof by the first spherical hinge with L-type, and front support arm lower end base is provided with
Ball cup, ball cup is rotatably connected in ball-and-socket bearing, is fixed with rocking bar on the left of ball cup, and rotary shaft drives the piston of cylinder
Bar front end is hinged with rocking bar left end by the second spherical hinge, and front support arm lower end is hinged with rear support arm front end, on front support arm
Hold and drive at the middle part drift angle of arm hinged with L-type；
The fixing lower hinge being located at the first articulations digitorum manus overcoat top, the first drive rod lower end and connecting plate in connecting plate lower end, the
Two drive rod lower ends and the upper articulation of connecting plate, the length of the first drive rod is more than the length of the second drive rod, and first drives
The upper end of bar is higher than the upper end of the second drive rod, and connecting rod two ends are cut with scissors with the first drive rod top with the second drive rod upper end respectively
Connecing, connecting rod, the first drive rod, constitute parallelogram sturcutre between the second drive rod and connecting plate, L-type drives arm front end and the
One drive rod upper end thereof, rear support arm front end is fixing with connecting rod lower rearward side to be connected.
The finger bent-segment being connected with forefinger ectoskeleton assembly pulls fastening mechanism to include, and bar, the cross bar and drawing of making contact are fixed in bracing wire
Line, bracing wire fixes bar level and is located on rear side of the 3rd articulations digitorum manus overcoat internal upper part, and the 3rd articulations digitorum manus overcoat top rear is along front and back
To being provided with elongated hole, the outer surface of top, front portion and the bottom of the 3rd articulations digitorum manus overcoat is provided with the gathering sill through with elongated hole front end,
Cross bar level of making contact is located at the bottom in the second articulations digitorum manus overcoat, and cross bar of making contact is provided with guide groove, the first articulations digitorum manus overcoat inner bottom
Portion is provided with a front wire-passing tube, and palm lays wire-passing tube after an inner bottom part has been evenly arranged four in left-right direction, and forearm rotates
Being provided with the cable-through hole being positioned on front side of minitype pneumatic tendon bottom Tong, the front end of bracing wire is fixedly connected on bracing wire and fixes on bar, bracing wire
Sequentially pass through elongated hole, gathering sill, the guide groove making contact on cross bar, rear wire-passing tube, wire-passing tube and mistake line before one of them from front to back
Hole, the rear end of bracing wire is fixedly connected on the clutch end of minitype pneumatic tendon；The top of the 3rd articulations digitorum manus outer casing inner wall and
Bottom is respectively equipped with a pressure transducer.
Forearm is fixed cylinder and is included upper half cylinder and lower half cylinder, and the both sides of upper half cylinder and lower half cylinder are correspondingly provided with connection
It is fastenedly connected by interior six square bolts between block, the contiguous block on upper half cylinder and the contiguous block on lower half cylinder.
Palm is laid a top and is provided with four single cases driving multi-bar linkage to cover.
Wrist universal joint includes connecting cylinder, left engaging lug, right engaging lug, upper engaging lug and lower engaging lug, left engaging lug and
The rear side of right engaging lug is respectively fixedly connected with on the left side and right side outer surface of forearm rotating cylinder front end, the left side of connecting cylinder and
Front side with left engaging lug and right engaging lug respectively, right side is rotationally connected by the first bearing pin, before upper engaging lug and lower engaging lug
Side is respectively fixedly connected with lays on the upper side and lower side outer surface at a rear portion at palm, and the upper side and lower side of connecting cylinder is respectively with upper
The rear side of engaging lug and lower engaging lug is rotationally connected by the second bearing pin；
Wrist rest seat it is provided with bottom connecting cylinder, four wire guides that wrist rest seat is penetrating before and after being provided with, four wire guides
Being arranged side by side in left-right direction, bracing wire is located in wire guide.
On the left of Anti-slip cover and right side is respectively equipped with a rectangle hole clipping, and left side and the right side of the 3rd articulations digitorum manus outer casing outer wall are divided
Not being provided with a fixture block, the thickness of fixture block is gradually increased by after forward direction, and Anti-slip cover is set in outside the 3rd articulations digitorum manus and puts and homonymy
Fixture block and rectangle hole clipping snap-fit engagement.
Using technique scheme, the present invention is specifically designed to porter and uses, and porter carries with power supply, control
Device and air pump, power supply is for powering to controller, air pump and minitype pneumatic tendon, and air pump drives cylinder and rotary shaft to imaginary axis
Drive cylinders providing power.
The present invention in use, fixed tube rear end by forearm and sequentially pass through forearm and fix cylinder, forearm rotating cylinder, wrist ten thousand by hands
After Xiang Jie, palm lay cylinder, thumb lays the thumb extending port on cylinder, forefinger, middle finger, the third finger and little finger of toe through palm
Correspondence extend into forefinger ectoskeleton assembly, middle finger ectoskeleton assembly, nameless ectoskeleton assembly and little finger of toe ectoskeleton assembly respectively
In, use binder that forearm is fixed cylinder and be fixed on forearm, fix in cylinder owing to forearm rotating cylinder rear portion is plugged in forearm, forearm
Rotating cylinder outer wall is provided with rotary spacing twice annulus fin in annular groove, when hand needs to rotate, forearm can be driven to revolve
Rotating cylinder and wrist universal joint, palm lay a common rotation.
Little finger of toe ectoskeleton assembly, nameless ectoskeleton assembly, middle finger ectoskeleton assembly and the structure of forefinger ectoskeleton assembly
Identical, only length is different, to adapt to four fingers of people.Little finger of toe ectoskeleton assembly, nameless ectoskeleton assembly, middle finger
Ectoskeleton assembly drives multi-bar linkage with being respectively connected with an identical list of structure on forefinger ectoskeleton assembly.During carrying heavy goods,
Starting four imaginary axis simultaneously and drive cylinder, imaginary axis drives the piston rod elongation of cylinder, promotes forward L-type to drive arm, and L-type is driven
It is that fulcrum rotates forward that the middle part drift angle of swing arm sentences front support arm upper end, L-type driving arm front-end driven the first drive rod, first
Drive rod is under the constraint of rear support arm, and the first drive rod front end can only rotate down, connecting rod, the first drive rod, the second driving
Constituting parallelogram sturcutre between bar and connecting plate to launch, the connecting plate of the first drive rod and the second drive rod front end is the most downward
Rotating, the i.e. first articulations digitorum manus overcoat rotates down.Meanwhile, minitype pneumatic tendon also starts, and pulls back bracing wire, before bracing wire
End pulls bracing wire to fix bar, thus can be bent downwardly by the 3rd articulations digitorum manus overcoat, and the 3rd articulations digitorum manus overcoat just drives the second finger
Joint overcoat is also bent downwardly, certainly, along with the first articulations digitorum manus overcoat, the second articulations digitorum manus overcoat and the 3rd articulations digitorum manus overcoat to
Lower bending, four fingers are also with bending.The outside sheathed Anti-slip cover of 3rd articulations digitorum manus overcoat contacts with weight, Anti-slip cover appearance
The anti-skidding projection that face is uniformly arranged is avoided slipping, it is ensured that the pressure sensing arranged in the safety of carrying, the 3rd articulations digitorum manus overcoat
After device detects Pressure maximum value, transmitting a signal to controller, control order imaginary axis drives cylinder and minitype pneumatic flesh
Tendon stops.If desired little finger of toe ectoskeleton assembly, nameless ectoskeleton assembly, middle finger ectoskeleton assembly and forefinger dermoskeleton are moved left and right
During bone assembly, as a example by rotating forefinger ectoskeleton assembly, starting rotary shaft and drive cylinder, rotary shaft drives the piston rod of cylinder to stretch
Contracting, drives ball cup and rear support arm to horizontally rotate in ball-and-socket bearing by rocking bar, and rear support arm drives first connecting rod and the
Two link rotatable, final drive forefinger ectoskeleton assembly left-right rotation.The 3rd articulations digitorum manus overcoat thus can be made to link closely weight
Correct position.Linking closely after weight, four fingers are the most suitably exerted oneself, and improve the safe reliability of carrying heavy goods.
Wrist universal joint plays the effect that forearm is finely tuned up and down of complying with, and wrist universal joint uses connecting cylinder, left connection
Ear, right engaging lug, upper engaging lug and the attachment structure of lower engaging lug, simple in construction and be easy to manufacture install.Forearm fixes cylinder bag
Include upper half cylinder and lower half cylinder, be so easy in forearm fixes cylinder dismount forearm rotating cylinder.Little finger of toe dermoskeleton after bending
When bone assembly, nameless ectoskeleton assembly, middle finger ectoskeleton assembly and forefinger ectoskeleton assembly need to launch, four handss can be passed through
The stretching, extension referred to drives expansion, and bracing wire simultaneously, imaginary axis drive cylinder also to reset.Refer to that bent-segment pulls what fastening mechanism used to draw
Line power comes from minitype pneumatic tendon, and the outside sheathed Anti-slip cover of the 3rd articulations digitorum manus overcoat also has protection and do not weares and teares to be wound on and lead
The effect of the bracing wire in groove, it addition, elongated hole, gathering sill, the guide groove made contact on cross bar, rear wire-passing tube, front wire-passing tube, wrist are propped up
The upper wire guide arranged and cable-through hole on support seat, all play the effect guiding bracing wire.Wherein it is provided with wrist rest bottom connecting cylinder
Seat, makes wrist support, contributes to making wrist comfortable and protecting the effect of wrist.
Single driving multi-bar linkage uses with cylinder as power and spherical hinge adds the mode of multi-bar linkage, it is achieved that finger
In three-dimensional activity.Using multi-bar linkage, structure is the compactest simply, and range of activity is limited, does not interferes with and fluctuates.
The thickness of fixture block is gradually increased by after forward direction, i.e. the lateral surface of fixture block forms lozenges, is so easy to Anti-slip cover set
Outside the 3rd articulations digitorum manus on set, and play good position-limiting action, to prevent Anti-slip cover from coming off.
In sum, present invention modern design, simple in construction, safe and reliable, it is easy to manufacture, set exclusively for porter
Meter, contributes to protecting arm and hand safety, fully alleviates exerting oneself of porter's hand, and substantially increases carrying heavy goods
Weight, also improves the efficiency transported goods.Additionally the present invention can be additionally used in medical apparatus and instruments, contributes to portion patient hand and wrist
Better and more comprehensively rehabilitation.
Accompanying drawing explanation
Fig. 1 is forefinger ectoskeleton assembly perspective view in the expanded state in the present invention；
Fig. 2 is forefinger ectoskeleton assembly perspective view in the bent state in the present invention；
Fig. 3 is the planar structure schematic diagram under Fig. 2 state；
Fig. 4 is the structural representation of wrist universal joint in the present invention；
Fig. 5 is the plan cross-section structural representation of forefinger ectoskeleton assembly in the present invention；
Fig. 6 is the explosive view of forefinger ectoskeleton assembly.
Detailed description of the invention
As shown in figs 1 to 6, the hand decompression machinery ESD of the present invention, fix cylinder including forearm and forearm rotates
Cylinder 2, forearm is fixed cylinder front inner wall and is provided with twice annular groove 3, and forearm rotating cylinder 2 rear portion is plugged in forearm and fixes in cylinder, forearm
Rotating cylinder 2 outer wall is provided with rotary spacing twice annulus fin 4 in annular groove 3, and forearm rotating cylinder 2 front end is universal by wrist
Joint 5 connection has palm to lay cylinder 6, and palm lays cylinder 6 bottom left or right side opening is provided with thumb extending port 7, and palm lays cylinder 6
Top single drives multi-bar linkage to be connected with side by side to be positioned at palm and lay the little finger of toe ectoskeleton group on front side of cylinder 6 by a set of respectively
Part 8, nameless ectoskeleton assembly 9, middle finger ectoskeleton assembly 10 and forefinger ectoskeleton assembly 11.
Little finger of toe ectoskeleton assembly 8, nameless ectoskeleton assembly 9, middle finger ectoskeleton assembly 10 and forefinger ectoskeleton assembly 11
Structure identical；Forefinger ectoskeleton assembly 11 includes first articulations digitorum manus overcoat the 12, second articulations digitorum manus set gradually from front to back
Overcoat 13 and the 3rd articulations digitorum manus overcoat 14, single clutch end driving multi-bar linkage and the first articulations digitorum manus overcoat 12 top are even
Connecing, the second articulations digitorum manus overcoat 13 rear end extend in the first articulations digitorum manus overcoat 12, and second articulations digitorum manus overcoat 13 left and right sides is passed through
First riveting axle 15 rotates upwardly and downwardly with the first articulations digitorum manus overcoat 12 and is connected, and the 3rd articulations digitorum manus overcoat 14 rear end extend into the second finger and closes
In joint overcoat 13, the 3rd articulations digitorum manus overcoat 14 left and right sides is rotated upwardly and downwardly with the second articulations digitorum manus overcoat 13 by the second riveting axle 16
Connecting, the 3rd articulations digitorum manus overcoat 14 front end closure, the 3rd articulations digitorum manus overcoat 14 outer cover is provided with Anti-slip cover 17, Anti-slip cover 17 appearance
Face is uniformly provided with anti-skidding protruding 18.
Being provided with installing rack 19 bottom forearm rotating cylinder 2, installing rack 19 lower surface is provided with minitype pneumatic tendon 20, little finger of toe dermoskeleton
Bone assembly 8, nameless ectoskeleton assembly 9, middle finger ectoskeleton assembly 10 and the 3rd articulations digitorum manus overcoat of forefinger ectoskeleton assembly 11
14 respectively and are provided with one between minitype pneumatic tendon 20 refers to that bent-segment pulls fastening mechanism.
Single drive multi-bar linkage include imaginary axis driver mounting seat 21, rotary shaft drive mounting seat 22, connecting plate 23,
Ball-and-socket bearing 24, imaginary axis drive cylinder 25, rotary shaft to drive cylinder 26, L-type to drive arm 27, rear support arm 28, front support arm
29, the first drive rod the 30, second drive rod 31 and connecting rod 32.
Bottom imaginary axis driver mounting seat 21, the fixing palm that is located at lays cylinder 6 top rear, and rotary shaft drive is installed
Seat 22 is located at imaginary axis driver mounting seat 21 left lower, and ball-and-socket bearing 24 is fixing to be located at palm and lay on front side of cylinder 6 top, empty
Intending axle drives cylinder 25 and rotary shaft to drive cylinder 26 to arrange the most along the longitudinal direction, the company of rotation in imaginary axis driver mounting seat 21
Being connected to the first ball rod 33 being arranged in vertical, the first ball rod 33 upper end and imaginary axis drive fixing bottom cylinder 25 company
Connect, in rotary shaft drive mounting seat 22, be rotatably connected to be horizontally disposed with the second ball rod 34, the left end of the second ball rod 34 with
Rotary shaft drives fixing on the right side of cylinder 26 connection, and imaginary axis drives the piston rod front end of cylinder 25 by the first spherical hinge 35 and L
Type drives arm 27 upper end thereof, and front support arm 29 lower end base is provided with ball cup 36, and ball cup 36 is rotatably connected on ball-and-socket bearing
In 24, being fixed with rocking bar (not illustrating out in figure) on the left of ball cup 36, rotary shaft drives the piston rod front end of cylinder 26 to lead to
Crossing the second spherical hinge 38 hinged with rocking bar left end, front support arm 29 lower end is hinged with rear support arm 28 front end, on front support arm 29
Hold and drive at the middle part drift angle of arm 27 hinged with L-type.
Fixing first articulations digitorum manus overcoat 12 top that is located at, connecting plate 23 lower end, the first drive rod 30 lower end and connecting plate 23
The upper articulation of lower hinge, the second drive rod 31 lower end and connecting plate 23, the length of the first drive rod 30 is more than the second driving
The length of bar 31, the upper end of the first drive rod 30 is higher than the upper end of the second drive rod 31, and connecting rod 32 two ends drive with second respectively
Bar 31 upper end and the first drive rod 30 upper articulation, between connecting rod the 32, first drive rod the 30, second drive rod 31 and connecting plate 23
Constituting parallelogram sturcutre, L-type drives arm 27 front end and the first drive rod 30 upper end thereof, rear support arm 28 front end and connecting rod
32 lower rearward side are fixing to be connected.
The finger bent-segment being connected with forefinger ectoskeleton assembly 11 pulls fastening mechanism to include, and bar 39, cross bar of making contact are fixed in bracing wire
40 and bracing wire 41, bracing wire is fixed bar 39 level and is located on rear side of the 3rd articulations digitorum manus overcoat 14 internal upper part, and the 3rd articulations digitorum manus overcoat 14 pushes up
Being provided with elongated hole 42 on rear side of portion along the longitudinal direction, the outer surface of top, front portion and the bottom of the 3rd articulations digitorum manus overcoat 14 is provided with long
The gathering sill 43 that front end, hole 42 is through, the bottom that cross bar 40 level of making contact is located in the second articulations digitorum manus overcoat 13, cross bar 40 of making contact
Being provided with guide groove 43, the first articulations digitorum manus overcoat 12 inner bottom part is provided with a front wire-passing tube 44, and palm lays cylinder 6 inner bottom part along left and right
Direction be evenly arranged four after wire-passing tube 45, be provided with bottom forearm rotating cylinder 2 be positioned on front side of minitype pneumatic tendon 20 cross line
Hole 46, the front end of bracing wire 41 is fixedly connected on bracing wire and fixes on bar 39, and bracing wire 41 sequentially passes through elongated hole 42, gathering sill from front to back
43, make contact the guide groove 43 on cross bar 40, rear wire-passing tube 45, wire-passing tube 44 and cable-through hole 46 before one of them, the rear end of bracing wire 41
It is fixedly connected on the clutch end of minitype pneumatic tendon 20；The upper and lower of the 3rd articulations digitorum manus overcoat 14 inwall sets respectively
There is a pressure transducer 47.
Forearm is fixed cylinder and is included upper half cylinder 1 and lower half cylinder 48, and upper half cylinder 1 is corresponding with the both sides of lower half cylinder 48 to be set
There is contiguous block 49, tight by interior six square bolts between the contiguous block 49 on upper half cylinder 1 and the contiguous block 49 on lower half cylinder 48
It is solidly connected.
Palm is laid cylinder 6 top and is provided with four single cases 50 driving multi-bar linkage to cover.
Wrist universal joint 5 includes connecting cylinder 51, left engaging lug 52, right engaging lug 53, upper engaging lug 54 and lower engaging lug 55,
The rear side of left engaging lug 52 and right engaging lug 53 is respectively fixedly connected with at the left side of forearm rotating cylinder 2 front end and right side outer surface
On, the left side of connecting cylinder 51 and right side are rotated even by the first bearing pin 56 with the front side of left engaging lug 52 and right engaging lug 53 respectively
Connecing, the front side of upper engaging lug 54 and lower engaging lug 55 is respectively fixedly connected with the upper side and lower side appearance laying cylinder 6 rear portion at palm
On face, the upper side and lower side of connecting cylinder 51 is rotated by the second bearing pin 57 with the rear side of upper engaging lug 54 and lower engaging lug 55 respectively
Connect；
Wrist rest seat 58 it is provided with bottom connecting cylinder 51, four wire guides 59 that wrist rest seat 58 is penetrating before and after being provided with, four
Individual wire guide 59 is arranged side by side in left-right direction, and bracing wire 41 is located in wire guide 59.
On the left of Anti-slip cover 17 and right side is respectively equipped with a rectangle hole clipping 60, the left side of the 3rd articulations digitorum manus overcoat 14 outer wall and
Right side is respectively equipped with a fixture block 61, and the thickness of fixture block 61 is gradually increased by after forward direction, and Anti-slip cover 17 is set in the 3rd articulations digitorum manus
On overcoat 14 and the fixture block 61 of homonymy and rectangle hole clipping 60 snap-fit engagement.
The present invention is specifically designed to porter and uses, and porter carries with power supply, controller and air pump and (do not shows in figure
Meaning is out), power supply is for powering to controller, air pump and minitype pneumatic tendon 20, and air pump drives cylinder 25 and rotation to imaginary axis
Rotating shaft drives cylinder 26 to provide power.
The present invention in use, fixed tube rear end by forearm and sequentially pass through forearm and fix cylinder, forearm rotating cylinder 2, wrist by hands
After universal joint 5, palm lay cylinder 6, thumb lays the thumb extending port 7 on cylinder 6, forefinger, middle finger, the third finger through palm
It extend into forefinger ectoskeleton assembly 11, middle finger ectoskeleton assembly 10, nameless ectoskeleton assembly 9 and little finger of toe with little finger of toe correspondence respectively
In ectoskeleton assembly 8, use binder that forearm is fixed cylinder and be fixed on forearm, owing to forearm rotating cylinder 2 rear portion is plugged in forearm
In fixing cylinder, forearm rotating cylinder 2 outer wall is provided with rotary spacing twice annulus fin 4 in annular groove 3, when hand needs to rotate
Time, forearm rotating cylinder 2 and wrist universal joint 5, palm can be driven to lay cylinder 6 common rotation.
Little finger of toe ectoskeleton assembly 8, nameless ectoskeleton assembly 9, middle finger ectoskeleton assembly 10 and forefinger ectoskeleton assembly 11
Structure identical, only length is different, to adapt to four fingers of people.Little finger of toe ectoskeleton assembly 8, nameless ectoskeleton group
Part 9, middle finger ectoskeleton assembly 10 drive multi-bar linkage with being respectively connected with an identical list of structure on forefinger ectoskeleton assembly 11.
During carrying heavy goods, starting four imaginary axis simultaneously and drive cylinder 25, imaginary axis drives the piston rod elongation of cylinder 25, promotes forward
L-type drives arm 27, and it is that fulcrum rotates forward that L-type drives the middle part drift angle of arm 27 to sentence front support arm 29 upper end, and L-type drives arm 27
Front-end driven the first drive rod 30, the first drive rod 30 is under the constraint of rear support arm 28, and the first drive rod 30 front end can only be to
Lower rotation, constitutes parallelogram sturcutre and launches between connecting rod the 32, first drive rod the 30, second drive rod 31 and connecting plate 23,
The connecting plate 23 of the first drive rod 30 and the second drive rod 31 front end also rotates down, and the i.e. first articulations digitorum manus overcoat 12 turns downwards
Dynamic.Meanwhile, minitype pneumatic tendon 20 also starts, and pulls back bracing wire 41, and bracing wire 41 front end pulls bracing wire to fix bar 39, this
3rd articulations digitorum manus overcoat 14 just can be bent downwardly by sample, and the 3rd articulations digitorum manus overcoat 14 just drives the second articulations digitorum manus overcoat 13 the most downward
Bending, certainly, along with being bent downwardly of first articulations digitorum manus overcoat the 12, second articulations digitorum manus overcoat 13 and the 3rd articulations digitorum manus overcoat 14,
Four fingers are also with bending.The outside sheathed Anti-slip cover 17 of 3rd articulations digitorum manus overcoat 14 contacts with weight, Anti-slip cover 17 appearance
What face was uniformly arranged anti-skidding protruding 18 avoids slipping, it is ensured that the safety of carrying, the pressure arranged in the 3rd articulations digitorum manus overcoat 14
After sensor 47 detects Pressure maximum value, transmitting a signal to controller, control order imaginary axis drives cylinder 25 and micro-
Type pneumatic muscle 20 stops.If desired little finger of toe ectoskeleton assembly 8, nameless ectoskeleton assembly 9, middle finger ectoskeleton group are moved left and right
When part 10 and forefinger ectoskeleton assembly 11, as a example by rotating forefinger ectoskeleton assembly 11, start rotary shaft and drive cylinder 26, rotate
Axle drives the piston rod of cylinder 26 to stretch, and drives ball cup 36 and rear support arm 28 level in ball-and-socket bearing 24 to turn by rocking bar
Dynamic, rear support arm 28 drives first connecting rod 32 and second connecting rod 32 to rotate, final drive forefinger ectoskeleton assembly 11 left-right rotation.
The 3rd articulations digitorum manus overcoat 14 thus can be made to link closely the correct position of weight.Linking closely after weight, four fingers are the most suitably exerted oneself,
Improve the safe reliability of carrying heavy goods.
Wrist universal joint 5 plays the effect that forearm is finely tuned up and down of complying with, and wrist universal joint 5 uses connecting cylinder 51, a left side
Engaging lug 52, right engaging lug 53, upper engaging lug 54 and the attachment structure of lower engaging lug 55, simple in construction and be easy to manufacture install.
Forearm is fixed cylinder and is included upper half cylinder 1 and lower half cylinder 48, is so easy in forearm fixes cylinder dismount forearm rotating cylinder 2.When
Little finger of toe ectoskeleton assembly 8 after bending, nameless ectoskeleton assembly 9, middle finger ectoskeleton assembly 10 and forefinger ectoskeleton assembly 11
When needing to launch, can drive expansion by the stretching, extension of four fingers, bracing wire simultaneously 41, imaginary axis drive cylinder 25 also to reset.
Referring to that bracing wire 41 power that bent-segment pulls fastening mechanism to use comes from minitype pneumatic tendon 20, the 3rd articulations digitorum manus overcoat 14 is outside
Sheathed Anti-slip cover 17 also has the effect protecting the bracing wire 41 being wound in gathering sill 43 of not wearing and tearing, it addition, elongated hole 42, gathering sill
43, make contact the upper wire guide 59 arranged on the guide groove 43 on cross bar 40, rear wire-passing tube 45, front wire-passing tube 44, wrist rest seat 58
With cable-through hole 46, all play the effect guiding bracing wire 41.Wherein it is provided with wrist rest seat 58 bottom connecting cylinder 51, makes wrist
Support, contribute to making wrist comfortable and protecting the effect of wrist.
Single driving multi-bar linkage uses with cylinder as power and spherical hinge adds the mode of multi-bar linkage, it is achieved that finger
In three-dimensional activity.Using multi-bar linkage, structure is the compactest simply, and range of activity is limited, does not interferes with and fluctuates.
The thickness of fixture block 61 is gradually increased by after forward direction, i.e. the lateral surface of fixture block 61 forms lozenges, is so easy to anti-skidding
Set 17 is enclosed within the 3rd articulations digitorum manus overcoat 14, and plays good position-limiting action, to prevent Anti-slip cover 17 from coming off.
The shape of the present invention, material, structure etc. are not made any pro forma restriction by the present embodiment, every according to this
Any simple modification, equivalent variations and the modification that above example is made by bright technical spirit, belongs to the technology of the present invention side
The protection domain of case.
Claims (7)
1. hand decompression machinery ESD, it is characterised in that: including that forearm fixes cylinder and forearm rotating cylinder, forearm fixes cylinder
Front inner wall is provided with twice annular groove, and forearm rotating cylinder rear portion is plugged in forearm and fixes in cylinder, and forearm rotating cylinder outer wall is provided with
Rotary spacing is twice annulus fin in annular groove, and forearm rotating cylinder front end is connected by wrist universal joint has palm to lay cylinder,
Palm lays a bottom left or right side opening is provided with thumb extending port, and it is many by a set of single driving respectively that palm lays a top
Linkage is connected with side by side and is positioned at palm and lays the little finger of toe ectoskeleton assembly on front side of cylinder, nameless ectoskeleton assembly, middle finger
Ectoskeleton assembly and forefinger ectoskeleton assembly；
Little finger of toe ectoskeleton assembly, third finger ectoskeleton assembly, middle finger ectoskeleton assembly are identical with the structure of forefinger ectoskeleton assembly；
Forefinger ectoskeleton assembly includes the first articulations digitorum manus overcoat, the second articulations digitorum manus overcoat and the 3rd articulations digitorum manus set gradually from front to back
Overcoat, single clutch end driving multi-bar linkage and the connection of the first articulations digitorum manus overcoat top, the second articulations digitorum manus overcoat rear end is stretched
Entering in the first articulations digitorum manus overcoat, the second articulations digitorum manus overcoat left and right sides is upper and lower by the first riveting axle and the first articulations digitorum manus overcoat
Being rotationally connected, the 3rd articulations digitorum manus overcoat rear end extend in the second articulations digitorum manus overcoat, and the 3rd articulations digitorum manus overcoat left and right sides is passed through
Second riveting axle and the second articulations digitorum manus overcoat rotate upwardly and downwardly connection, the 3rd articulations digitorum manus overcoat front end closure, the 3rd articulations digitorum manus overcoat
Outer cover is provided with Anti-slip cover, and Anti-slip cover outer surface is uniformly provided with anti-skidding projection；
Being provided with installing rack bottom forearm rotating cylinder, installing rack lower surface is provided with minitype pneumatic tendon, little finger of toe ectoskeleton assembly, unknown
Refer to ectoskeleton assembly, middle finger ectoskeleton assembly and forefinger ectoskeleton assembly the 3rd articulations digitorum manus overcoat respectively with minitype pneumatic tendon
Between be provided with one refer to bent-segment pull fastening mechanism.
Hand the most according to claim 1 decompression machinery ESD, it is characterised in that: described single driving multi-bar linkage
Cylinder, rotation is driven including imaginary axis driver mounting seat, rotary shaft drive mounting seat, connecting plate, ball-and-socket bearing, imaginary axis
Axle drives cylinder, L-type to drive arm, rear support arm, front support arm, the first drive rod, the second drive rod and connecting rod；
Fixing bottom imaginary axis driver mounting seat being located at palm and lay a top rear, rotary shaft drive mounting seat is located at void
Intending axle driver mounting seat left lower, ball-and-socket bearing is fixing to be located at palm and lays on front side of a top, imaginary axis drive cylinder and
Rotary shaft drives cylinder to arrange the most along the longitudinal direction, is rotatably connected to be arranged in vertical in imaginary axis driver mounting seat
First ball rod, the first ball rod upper end is fixing with imaginary axis driving cylinder bottom to be connected, and turns in rotary shaft drive mounting seat
Being dynamically connected and be horizontally disposed with the second ball rod, the left end of the second ball rod is fixing with on the right side of rotary shaft driving cylinder to be connected, virtual
Axle drives the piston rod front end of cylinder to drive arm upper end thereof by the first spherical hinge with L-type, and front support arm lower end base is provided with
Ball cup, ball cup is rotatably connected in ball-and-socket bearing, is fixed with rocking bar on the left of ball cup, and rotary shaft drives the piston of cylinder
Bar front end is hinged with rocking bar left end by the second spherical hinge, and front support arm lower end is hinged with rear support arm front end, on front support arm
Hold and drive at the middle part drift angle of arm hinged with L-type；
The fixing lower hinge being located at the first articulations digitorum manus overcoat top, the first drive rod lower end and connecting plate in connecting plate lower end, the
Two drive rod lower ends and the upper articulation of connecting plate, the length of the first drive rod is more than the length of the second drive rod, and first drives
The upper end of bar is higher than the upper end of the second drive rod, and connecting rod two ends are cut with scissors with the first drive rod top with the second drive rod upper end respectively
Connecing, connecting rod, the first drive rod, constitute parallelogram sturcutre between the second drive rod and connecting plate, L-type drives arm front end and the
One drive rod upper end thereof, rear support arm front end is fixing with connecting rod lower rearward side to be connected.
Hand the most according to claim 2 decompression machinery ESD, it is characterised in that: with forefinger ectoskeleton assembly even
The finger bent-segment connect pull fastening mechanism to include bar, make contact cross bar and bracing wire are fixed in bracing wire, bracing wire is fixed bar level and is located at the 3rd
On rear side of articulations digitorum manus overcoat internal upper part, the 3rd articulations digitorum manus overcoat top rear is provided with elongated hole along the longitudinal direction, the 3rd articulations digitorum manus overcoat
The outer surface of top, front portion and bottom be provided with the gathering sill through with elongated hole front end, cross bar level of making contact is located at the second finger and closes
Bottom in joint overcoat, cross bar of making contact is provided with guide groove, and the first articulations digitorum manus overcoat inner bottom part is provided with a front wire-passing tube, and palm is pacified
Put wire-passing tube after an inner bottom part has been evenly arranged four in left-right direction, be provided with bottom forearm rotating cylinder and be positioned at minitype pneumatic tendon
The cable-through hole of front side, the front end of bracing wire is fixedly connected on bracing wire and fixes on bar, and bracing wire sequentially passes through elongated hole, guiding from front to back
Groove, the guide groove made contact on cross bar, rear wire-passing tube, wire-passing tube and cable-through hole before one of them, the rear end of bracing wire is fixedly connected on micro-
On the clutch end of type pneumatic muscle；The upper and lower of the 3rd articulations digitorum manus outer casing inner wall is respectively equipped with a pressure sensing
Device.
4. according to the hand decompression machinery ESD described in claim 1 or 2 or 3, it is characterised in that: forearm fixes cylinder bag
Including upper half cylinder and lower half cylinder, the both sides of upper half cylinder and lower half cylinder are correspondingly provided with contiguous block, the connection on upper half cylinder
It is fastenedly connected by interior six square bolts between contiguous block on block and lower half cylinder.
5. according to the hand decompression machinery ESD described in claim 1 or 2 or 3, it is characterised in that: palm lays cylinder top
Portion is provided with four single cases driving multi-bar linkage to cover.
Hand the most according to claim 3 decompression machinery ESD, it is characterised in that: wrist universal joint includes connecting
Cylinder, left engaging lug, right engaging lug, upper engaging lug and lower engaging lug, the rear side of left engaging lug and right engaging lug is respectively fixedly connected with
On the left side and right side outer surface of forearm rotating cylinder front end, the left side of connecting cylinder and right side respectively with left engaging lug and right be connected
The front side of ear is rotationally connected by the first bearing pin, and the front side of upper engaging lug and lower engaging lug is respectively fixedly connected with lays cylinder at palm
On the upper side and lower side outer surface at rear portion, the upper side and lower side of connecting cylinder rear side with upper engaging lug and lower engaging lug respectively passes through
Second bearing pin is rotationally connected；
Wrist rest seat it is provided with bottom connecting cylinder, four wire guides that wrist rest seat is penetrating before and after being provided with, four wire guides
Being arranged side by side in left-right direction, bracing wire is located in wire guide.
Hand the most according to claim 1 decompression machinery ESD, it is characterised in that: on the left of Anti-slip cover and right side is divided
Not being provided with a rectangle hole clipping, the left side of the 3rd articulations digitorum manus outer casing outer wall and right side are respectively equipped with a fixture block, the thickness of fixture block
Being gradually increased by after forward direction, Anti-slip cover is set in outside the 3rd articulations digitorum manus and puts and fixture block and the rectangle hole clipping snap-fit engagement of homonymy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610667436.5A CN106078699B (en) | 2016-08-15 | 2016-08-15 | The mechanical exoskeleton device of hand decompression |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610667436.5A CN106078699B (en) | 2016-08-15 | 2016-08-15 | The mechanical exoskeleton device of hand decompression |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106078699A true CN106078699A (en) | 2016-11-09 |
| CN106078699B CN106078699B (en) | 2018-06-22 |
Family
ID=57457287
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610667436.5A Expired - Fee Related CN106078699B (en) | 2016-08-15 | 2016-08-15 | The mechanical exoskeleton device of hand decompression |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106078699B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107648011A (en) * | 2017-10-31 | 2018-02-02 | 大连大学 | A kind of the elderly trains mechanical device with fixed exoskeleton rehabilitation |
| CN110665192A (en) * | 2019-10-16 | 2020-01-10 | 哈尔滨理工大学 | Recovered type ectoskeleton gloves robot |
| CN112091938A (en) * | 2020-08-19 | 2020-12-18 | 中国人民解放军火箭军工程大学 | Wearable human upper limb pose acquisition equipment |
| WO2020252857A1 (en) * | 2019-06-21 | 2020-12-24 | 深圳岱仕科技有限公司 | Mechanical exoskeleton and vr device |
| CN112589827A (en) * | 2020-12-23 | 2021-04-02 | 万鑫精工(湖南)股份有限公司 | Manipulator for clamping workpiece |
| CN114147741A (en) * | 2021-12-07 | 2022-03-08 | 山东大学 | Multi-degree-of-freedom wearable exoskeleton hand function rehabilitation robot based on redundancy control |
| EP4119308A4 (en) * | 2020-03-11 | 2023-08-30 | Sony Group Corporation | Information processing device, information processing method, and information processing program |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1986003156A1 (en) * | 1984-11-23 | 1986-06-05 | Richter Hans | Gripping hand for a manipulator |
| WO1995010396A1 (en) * | 1993-10-08 | 1995-04-20 | Scuola Superiore Di Studi Universitari E Di Perfezionamento S. Anna | A device operable to supply a force feedback to a physiological unit to be used in particular as an advanced interface for machines and computers |
| US5516249A (en) * | 1994-05-10 | 1996-05-14 | Technical Research Associates, Inc. | Exoskeleton with kinesthetic feedback and robotic control |
| CN201510382U (en) * | 2009-11-05 | 2010-06-23 | 武汉大学 | Multi-finger exoskeleton manipulator |
| CN101773400A (en) * | 2010-01-19 | 2010-07-14 | 天津大学 | Minimally invasive surgical robot master control data glove |
| CN202045638U (en) * | 2011-05-13 | 2011-11-23 | 苏茂 | External framework type data glove |
| CN102579227A (en) * | 2012-02-28 | 2012-07-18 | 浙江大学 | Hand and wrist exoskeleton rehabilitation training device |
| CN103315880A (en) * | 2013-06-03 | 2013-09-25 | 上海交通大学 | Hand external skeleton rehabilitation system based on memory alloy driving |
| CN203680324U (en) * | 2013-12-12 | 2014-07-02 | 浙江理工大学 | Outer framework wearing-type data glove |
| WO2014178694A1 (en) * | 2013-05-03 | 2014-11-06 | 국립대학법인 울산과학기술대학교 산학협력단 | Linkage structure for hand exoskeleton for interacting with virtual objects |
| CN203935304U (en) * | 2014-06-20 | 2014-11-12 | 袁宁 | A kind of Novel bionic ectoskeleton wire-control type artificial limb |
-
2016
- 2016-08-15 CN CN201610667436.5A patent/CN106078699B/en not_active Expired - Fee Related
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1986003156A1 (en) * | 1984-11-23 | 1986-06-05 | Richter Hans | Gripping hand for a manipulator |
| WO1995010396A1 (en) * | 1993-10-08 | 1995-04-20 | Scuola Superiore Di Studi Universitari E Di Perfezionamento S. Anna | A device operable to supply a force feedback to a physiological unit to be used in particular as an advanced interface for machines and computers |
| US5516249A (en) * | 1994-05-10 | 1996-05-14 | Technical Research Associates, Inc. | Exoskeleton with kinesthetic feedback and robotic control |
| CN201510382U (en) * | 2009-11-05 | 2010-06-23 | 武汉大学 | Multi-finger exoskeleton manipulator |
| CN101773400A (en) * | 2010-01-19 | 2010-07-14 | 天津大学 | Minimally invasive surgical robot master control data glove |
| CN202045638U (en) * | 2011-05-13 | 2011-11-23 | 苏茂 | External framework type data glove |
| CN102579227A (en) * | 2012-02-28 | 2012-07-18 | 浙江大学 | Hand and wrist exoskeleton rehabilitation training device |
| WO2014178694A1 (en) * | 2013-05-03 | 2014-11-06 | 국립대학법인 울산과학기술대학교 산학협력단 | Linkage structure for hand exoskeleton for interacting with virtual objects |
| CN103315880A (en) * | 2013-06-03 | 2013-09-25 | 上海交通大学 | Hand external skeleton rehabilitation system based on memory alloy driving |
| CN203680324U (en) * | 2013-12-12 | 2014-07-02 | 浙江理工大学 | Outer framework wearing-type data glove |
| CN203935304U (en) * | 2014-06-20 | 2014-11-12 | 袁宁 | A kind of Novel bionic ectoskeleton wire-control type artificial limb |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107648011A (en) * | 2017-10-31 | 2018-02-02 | 大连大学 | A kind of the elderly trains mechanical device with fixed exoskeleton rehabilitation |
| WO2020252857A1 (en) * | 2019-06-21 | 2020-12-24 | 深圳岱仕科技有限公司 | Mechanical exoskeleton and vr device |
| CN110665192A (en) * | 2019-10-16 | 2020-01-10 | 哈尔滨理工大学 | Recovered type ectoskeleton gloves robot |
| EP4119308A4 (en) * | 2020-03-11 | 2023-08-30 | Sony Group Corporation | Information processing device, information processing method, and information processing program |
| CN112091938A (en) * | 2020-08-19 | 2020-12-18 | 中国人民解放军火箭军工程大学 | Wearable human upper limb pose acquisition equipment |
| CN112589827A (en) * | 2020-12-23 | 2021-04-02 | 万鑫精工(湖南)股份有限公司 | Manipulator for clamping workpiece |
| CN114147741A (en) * | 2021-12-07 | 2022-03-08 | 山东大学 | Multi-degree-of-freedom wearable exoskeleton hand function rehabilitation robot based on redundancy control |
| CN114147741B (en) * | 2021-12-07 | 2024-03-29 | 山东大学 | Multi-degree-of-freedom wearable exoskeleton hand function rehabilitation robot based on redundant control |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106078699B (en) | 2018-06-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106112987A (en) | The thumb in fingers out skeleton bending of hand decompression machinery ESD captures actuating unit | |
| CN106078699A (en) | Hand decompression machinery ESD | |
| JP5804310B2 (en) | Upper arm holding device and upper arm assist device | |
| TWI412355B (en) | Hand rehabilitation device | |
| KR102018566B1 (en) | Upper limb rehabilitation robot connectable with end-effector type robot | |
| ATE424868T1 (en) | ADAPTER DEVICE FOR ADHESING A MEDICAL DEVICE TO THE SURFACE OF THE SKIN | |
| EP1519345A3 (en) | An arm assembly for a crash test dummy | |
| ATE489531T1 (en) | PIPE HANDLING DEVICE AND SAFETY MECHANISM | |
| KR101370375B1 (en) | Exoskeleton-type glove for supporting motion of body by twisting string | |
| KR101610745B1 (en) | Robot Finger structure | |
| TW201801705A (en) | Master-slave typed hand rehabilitation device characterized by utilizing the fingers of one hand to drive the fingers of the other hand to perform synchronized movement, so as to improve the coordination of two hands and enhance rehabilitation effect | |
| CN106112986A (en) | Porter is with mechanical exoskeleton hand decompressor | |
| CN205019168U (en) | Dress auxiliary device of aseptic gloves | |
| JP5388686B2 (en) | 5 finger type hand device | |
| CN205928625U (en) | Single drive multi -bar linkage of mechanical ectoskeleton device of hand decompression | |
| CN205928626U (en) | Preceding rotation of arm activity mechanism of mechanical ectoskeleton device of hand decompression | |
| CN213666571U (en) | Exoskeleton rehabilitation glove based on tendon rope transmission | |
| ATE442119T1 (en) | STANDING AID FOR PERSONS | |
| CN206623084U (en) | Hand depressurizes the four of mechanical exoskeleton device and refers to bending drawing guiding drive system | |
| TWI762845B (en) | Integrated rehabilitation device | |
| CN205928699U (en) | Finger ectoskeleton subassembly of mechanical ectoskeleton device of hand decompression | |
| CN206200956U (en) | The thumb in fingers out bone flexion drive system of the mechanical ESD of hand decompression | |
| CN109700629A (en) | A kind of wrist joint exercise brace | |
| WO2008142552A3 (en) | Multiple joint linkage device | |
| CN203609073U (en) | Hidden drill operator chair with rotary display screen |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180622 Termination date: 20200815 |