CN106078699B - The mechanical exoskeleton device of hand decompression - Google Patents
The mechanical exoskeleton device of hand decompression Download PDFInfo
- Publication number
- CN106078699B CN106078699B CN201610667436.5A CN201610667436A CN106078699B CN 106078699 B CN106078699 B CN 106078699B CN 201610667436 A CN201610667436 A CN 201610667436A CN 106078699 B CN106078699 B CN 106078699B
- Authority
- CN
- China
- Prior art keywords
- cylinder
- housing
- digitorum manus
- articulations digitorum
- forearm
- 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.)
- Expired - Fee Related
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
Abstract
The mechanical exoskeleton device of hand decompression, including forearm fixed cylinder and forearm rotating cylinder, forearm fixed cylinder front inner wall is equipped with twice annular groove, forearm rotating cylinder rear portion is plugged in forearm fixed cylinder, forearm rotation drum outer wall is equipped with rotary spacing twice annulus fin in annular groove, forearm rotating cylinder front end is connected with palm by wrist universal joint and places cylinder, palm places cylinder bottom left or right side opening is equipped with thumb extending port, palm is placed at the top of cylinder respectively by a set of single little finger of toe ectoskeleton component that multi-bar linkage is driven to be sequentially connected with side by side on front side of palm placement cylinder, nameless ectoskeleton component, middle finger ectoskeleton component and forefinger ectoskeleton component.The present invention is designed exclusively for porter, is fully alleviated exerting oneself, and substantially increase the weight of carrying heavy goods for porter's hand, is also improved the efficiency transported goods.In addition the present invention can be additionally used in medical instrument, contribute to the better and more comprehensively rehabilitation of portion patient hand and wrist.
Description
Technical field
The present invention relates to a kind of decompressor for carrying heavy goods more particularly to a kind of hand decompression mechanical exoskeleton dresses
It puts.
Background technology
For the porter that often transports goods such as（Move worker, construction worker）For, often grasped with hand
Cargo, four finger stress other than thumb are especially big, prolonged transport operation, and finger bone, wrist can be caused to close
The damage of section, hand is just basic disabled after older.There has been no be specially adapted for porter to wear currently on the market
That wears is used to mitigate the device of hand pressure.
Invention content
The present invention provides a kind of compact-sized, highly reliable, effect of easing stress to solve shortcoming of the prior art
The mechanical exoskeleton device of hand decompression good, load-bearing is big.
In order to solve the above technical problems, the present invention adopts the following technical scheme that：The mechanical exoskeleton device of hand decompression, including
Forearm fixed cylinder and forearm rotating cylinder, forearm fixed cylinder front inner wall are equipped with twice annular groove, and forearm rotating cylinder rear portion is plugged in
In forearm fixed cylinder, forearm rotation drum outer wall is equipped with rotary spacing twice annulus fin in annular groove, before forearm rotating cylinder
End is connected with palm by wrist universal joint and places cylinder, and palm places cylinder bottom left or right side opening is equipped with thumb extending port,
It is sequentially connected with side by side by four sets of single driving multi-bar linkages respectively at the top of palm placement cylinder small on front side of palm placement cylinder
Refer to ectoskeleton component, nameless ectoskeleton component, middle finger ectoskeleton component and forefinger ectoskeleton component；
Little finger of toe ectoskeleton component, nameless ectoskeleton component, middle finger ectoskeleton component and forefinger ectoskeleton component construction
It is identical；Forefinger ectoskeleton component includes the first articulations digitorum manus housing, the second articulations digitorum manus housing and the third that set gradually from front to back
Articulations digitorum manus housing, single power output end for driving multi-bar linkage and the first articulations digitorum manus housing top are connect, the second articulations digitorum manus housing
Rear end is extend into the first articulations digitorum manus housing, is riveted outside axis and the first articulations digitorum manus by first at left and right sides of the second articulations digitorum manus housing
Set is rotatablely connected up and down, and third articulations digitorum manus housing rear end is extend into the second articulations digitorum manus housing, third articulations digitorum manus housing or so two
Side is rotated upwardly and downwardly with the second articulations digitorum manus housing by the second riveting axis and connect, and third articulations digitorum manus housing front end blocks, and third refers to pass
It saves housing outer cover and is equipped with Anti-slip cover, Anti-slip cover outer surface is uniformly provided with anti-skid bulge；
Forearm rotating cylinder bottom be equipped with mounting bracket, mounting bracket lower surface be equipped with minitype pneumatic tendon, little finger of toe ectoskeleton component,
The third articulations digitorum manus housing of nameless ectoskeleton component, middle finger ectoskeleton component and forefinger ectoskeleton component respectively with minitype pneumatic
It sets to be bent there are one finger joint between tendon and pulls fastening mechanism.
Single driving multi-bar linkage includes imaginary axis driver mounting base, rotary shaft drive mounting base, connecting plate, ball
Nest bearing, imaginary axis driving cylinder, rotary shaft driving cylinder, L-type actuating arm, rear support arm, front support arm, the first drive rod,
Second drive rod and connecting rod；
Imaginary axis driver mounting base bottom, which is fixed, is located at palm placement cylinder top rear, and rotary shaft drive mounting base is set
In imaginary axis driver mounting base left lower, the fixation of ball-and-socket bearing is located at palm and places front side at the top of cylinder, imaginary axis driving gas
Cylinder and rotary shaft driving cylinder are set along the longitudinal direction, are rotatably connected in imaginary axis driver mounting base and are vertically set
The first ball rod put, the first ball rod upper end are fixedly connected with imaginary axis driving cylinder bottom, rotary shaft drive mounting base
Horizontally disposed second ball rod is inside rotatably connected to, is fixedly connected on the right side of the left end of the second ball rod and rotary shaft driving cylinder,
The piston rod front end of imaginary axis driving cylinder is hinged by the first spherical hinge and L-type actuating arm upper end, front support arm lower end base
Equipped with ball cup, ball cup is rotatably connected in ball-and-socket bearing, and rocking bar is fixed on the left of ball cup, rotary shaft driving cylinder
Piston rod front end is hinged by the second spherical hinge and rocking bar left end, and front support arm lower end is hinged with rear support arm front end, front support
Arm upper end and the middle part vertex of L-type actuating arm are hinged；
Connecting plate lower end, which is fixed, to be located at the top of the first articulations digitorum manus housing, and the lower part of the first drive rod lower end and connecting plate is cut with scissors
It connecing, the upper articulation of the second drive rod lower end and connecting plate, the length of the first drive rod is more than the length of the second drive rod, and first
The upper end of drive rod be higher than the second drive rod upper end, connecting rod two end respectively with the second drive rod upper end and the first drive rod top
It is hinged, form parallelogram sturcutre between connecting rod, the first drive rod, the second drive rod and connecting plate, L-type actuating arm front end with
First drive rod upper end is hinged, and rear support arm front end is fixedly connected with connecting rod lower rearward side.
The finger joint bending being connect with forefinger ectoskeleton component pulls fastening mechanism to include bracing wire fixed link, make contact cross bar and drawing
Line, bracing wire fixed link level are located on rear side of third articulations digitorum manus housing internal upper part, and third articulations digitorum manus housing top rear is along front and back
To equipped with slot hole, the outer surface at the top of third articulations digitorum manus housing, forepart and bottom is equipped with the guide groove penetrated through with slot hole front end,
Cross bar level of making contact is located at the lower part in the second articulations digitorum manus housing, and cross bar of making contact is equipped with guide groove, bottom in the first articulations digitorum manus housing
Portion is set there are one preceding wire-passing tube, and palm is placed bottom in cylinder and is evenly arranged in left-right direction there are four rear wire-passing tube, and forearm rotates
Cylinder bottom is equipped with the cable-through hole being located on front side of minitype pneumatic tendon, and the front end of bracing wire is fixedly connected in bracing wire fixed link, bracing wire
From front to back successively by slot hole, guide groove, guide groove, preceding wire-passing tube, wire-passing tube and the mistake line after one of them made contact on cross bar
Hole, the rear end of bracing wire are fixedly connected on the power output end of minitype pneumatic tendon；The top of third articulations digitorum manus outer casing inner wall and
Lower part is respectively equipped with a pressure sensor.
Forearm fixed cylinder includes upper half cylinder and lower half cylinder, and the both sides of upper half cylinder and lower half cylinder are correspondingly provided with connection
Block is fastenedly connected by interior six square bolt between the link block on link block and lower half cylinder on upper half cylinder.
Palm, which is placed, to be equipped at the top of cylinder by four single cases that multi-bar linkage is driven to cover.
Wrist universal joint include connecting cylinder, left engaging lug, right engaging lug, upper connecting ear and lower connecting ear, left engaging lug and
Be respectively fixedly connected on rear side of right engaging lug on the left side and right side outer surface of forearm rotating cylinder front end, the left side of connecting cylinder and
Right side is rotatablely connected respectively with the front side of left engaging lug and right engaging lug by the first axis pin, before upper connecting ear and lower connecting ear
Side is respectively fixedly connected on the upper side and lower side outer surface for placing cylinder rear portion in palm, the upper side and lower side of connecting cylinder respectively with it is upper
Engaging lug and the rear side of lower connecting ear are rotatablely connected by the second axis pin；
Connecting cylinder bottom is equipped with wrist rest seat, and wrist rest seat is equipped with front and rear four penetrating wire guides, and four are led
String holes is arranged side by side in left-right direction, and bracing wire is threaded through in wire guide.
On the left of Anti-slip cover and right side is respectively equipped with a rectangle card hole, the left side and right side point of third articulations digitorum manus outer casing outer wall
It does not set there are one fixture block, the thickness of fixture block gradually increases from the front to the back, and Anti-slip cover, which is set in outside third articulations digitorum manus, to be put on and homonymy
Fixture block and rectangle card hole be engaged by clamping.
Using above-mentioned technical proposal, the present invention uses dedicated for porter, and porter carries power supply, control
Device and air pump, power supply are used to power to controller, air pump and minitype pneumatic tendon, and air pump drives cylinder and rotary shaft to imaginary axis
Drive cylinders providing power.
In the use of the present invention, hand fixes tube rear end by forearm sequentially passes through forearm fixed cylinder, forearm rotating cylinder, wrist ten thousand
After Xiang Jie, palm place cylinder, thumb passes through palm to place the thumb extending port on cylinder, forefinger, middle finger, the third finger and little finger of toe
It is corresponding respectively to extend into forefinger ectoskeleton component, middle finger ectoskeleton component, nameless ectoskeleton component and little finger of toe ectoskeleton component
It is interior, forearm fixed cylinder is fixed on forearm using bandage, since forearm rotating cylinder rear portion is plugged in forearm fixed cylinder, forearm
It rotates drum outer wall and is equipped with rotary spacing twice annulus fin in annular groove, when hand needs rotation, forearm can be driven to revolve
Rotating cylinder and wrist universal joint, palm place cylinder common rotation.
Little finger of toe ectoskeleton component, nameless ectoskeleton component, middle finger ectoskeleton component and forefinger ectoskeleton component construction
Identical, only length is different, to adapt to the four of people fingers.Little finger of toe ectoskeleton component, nameless ectoskeleton component, middle finger
The identical single driving multi-bar linkage of structure there are one being all connected on ectoskeleton component and forefinger ectoskeleton component.During carrying heavy goods,
Start four imaginary axis driving cylinders simultaneously, the piston rod elongation of imaginary axis driving cylinder pushes forward L-type actuating arm, and L-type is driven
Support arm upper end rotates forward for fulcrum before the middle part vertex of swing arm, L-type actuating arm the first drive rod of front-end driven, and first
Under the constraint of rear support arm, the first drive rod front end can only rotate down drive rod, connecting rod, the first drive rod, the second driving
It forms parallelogram sturcutre between bar and connecting plate to be unfolded, the connecting plate of the first drive rod and the second drive rod front end is also downward
Rotation, i.e., the first articulations digitorum manus housing rotates down.At the same time, minitype pneumatic tendon also starts, and bracing wire is pulled back, before bracing wire
End pulls bracing wire fixed link, can thus be bent downwardly third articulations digitorum manus housing, third articulations digitorum manus housing just drives the second finger
Joint housing is also bent downwardly, certainly, with the first articulations digitorum manus housing, the second articulations digitorum manus housing and third articulations digitorum manus housing to
Lower bending, four fingers are also with bending.The Anti-slip cover being arranged outside third articulations digitorum manus housing is contacted with weight, Anti-slip cover appearance
The anti-skid bulge that face is uniformly arranged avoids slipping, it is ensured that the safety of carrying, the interior pressure sensing set of third articulations digitorum manus housing
After device detects Pressure maximum value, controller, control order imaginary axis driving cylinder and minitype pneumatic flesh are transmitted a signal to
Tendon stops.If desired little finger of toe ectoskeleton component, nameless ectoskeleton component, middle finger ectoskeleton component and forefinger dermoskeleton are moved left and right
During bone component, for rotating forefinger ectoskeleton component, start rotary shaft driving cylinder, the piston rod of rotary shaft driving cylinder is stretched
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 rotatables, it is final to drive forefinger ectoskeleton component left-right rotation.Third articulations digitorum manus housing can thus be made to link closely weight
Suitable position.It links closely after weight, four fingers are also suitably exerted oneself, and improve the safe reliability of carrying heavy goods.
Wrist universal joint plays the role of complying with forearm finely tunes up and down, and wrist universal joint is using connecting cylinder, left connection
Ear, right engaging lug, upper connecting ear and lower connecting ear connection structure, it is simple in structure and convenient for manufacture installation.Forearm fixed cylinder packet
Upper half cylinder and lower half cylinder are included, is convenient for dismounting forearm rotating cylinder in forearm fixed cylinder in this way.When little finger of toe dermoskeleton after bending
When bone component, nameless ectoskeleton component, middle finger ectoskeleton component and forefinger ectoskeleton component need expansion, four hands can be passed through
The stretching, extension of finger is unfolded to drive, while bracing wire, imaginary axis driving cylinder also reset.Finger joint bending pulls the drawing that fastening mechanism uses
Line power comes from minitype pneumatic tendon, and the Anti-slip cover being arranged outside third articulations digitorum manus housing, which also has to protect not wearing to be wound on, leads
The effect of bracing wire into slot, in addition, slot hole, guide groove, the guide groove on cross bar of making contact, rear wire-passing tube, preceding wire-passing tube, wrist branch
The upper wire guide and cable-through hole set on seat is supportted, plays the role of being oriented to bracing wire.Wherein connecting cylinder bottom is equipped with wrist rest
Seat, is supported wrist, is helped to make wrist comfortable and is protected the effect of wrist.
Single driving multi-bar linkage is used in a manner that cylinder is power and spherical hinge adds multi-bar linkage, realizes finger
In the activity of three dimensions.Using multi-bar linkage, structure is compacter simple, and scope of activities is limited, does not interfere with and fluctuates.
The thickness of fixture block gradually increases from the front to the back, i.e., the lateral surface of fixture block forms lozenges, is convenient for Anti-slip cover set in this way
Outside third articulations digitorum manus on set, and good position-limiting action is played, to prevent Anti-slip cover from coming off.
In conclusion the present invention is novel in design, simple in structure, safe and reliable, and it is easily fabricated, it is set exclusively for porter
Meter helps to protect arm and hand safety, fully alleviates exerting oneself, and substantially increase carrying heavy goods for porter's hand
Weight also improves the efficiency transported goods.In addition the present invention can be additionally used in medical instrument, contribute to portion patient hand and wrist
Better and more comprehensively rehabilitation.
Description of the drawings
Fig. 1 is the dimensional structure diagram of forefinger ectoskeleton component in the expanded state in the present invention；
Fig. 2 is the dimensional structure diagram of forefinger ectoskeleton component in the bent state in the present invention；
Fig. 3 is the planar structure schematic diagram under Fig. 2 states；
Fig. 4 is the structure diagram of wrist universal joint in the present invention；
Fig. 5 is the plan cross-section structure diagram of forefinger ectoskeleton component in the present invention；
Fig. 6 is the explosive view of forefinger ectoskeleton component.
Specific embodiment
As shown in figs 1 to 6, the mechanical exoskeleton device of hand of the invention decompression, rotates including forearm fixed cylinder and forearm
Cylinder 2, forearm fixed cylinder front inner wall are equipped with twice annular groove 3, and 2 rear portion of forearm rotating cylinder is plugged in forearm fixed cylinder, forearm
2 outer wall of rotating cylinder is equipped with rotary spacing twice annulus fin 4 in annular groove 3, and 2 front end of forearm rotating cylinder is universal by wrist
Section 5 is connected with palm and places cylinder 6, and palm places 6 bottom left of cylinder or right side opening is equipped with thumb extending port 7, and palm places cylinder 6
Top passes through four sets of single little finger of toe ectoskeleton groups that multi-bar linkage is driven to be sequentially connected with side by side on front side of palm placement cylinder 6 respectively
Part 8, nameless ectoskeleton component 9, middle finger ectoskeleton component 10 and forefinger ectoskeleton component 11.
Little finger of toe ectoskeleton component 8, nameless ectoskeleton component 9, middle finger ectoskeleton component 10 and forefinger ectoskeleton component 11
Construction it is identical；Forefinger ectoskeleton component 11 includes the first articulations digitorum manus housing 12, the second articulations digitorum manus that set gradually from front to back
Housing 13 and third articulations digitorum manus housing 14, it is single that the power output end of multi-bar linkage is driven to connect with 12 top of the first articulations digitorum manus housing
It connects, 13 rear end of the second articulations digitorum manus housing is extend into the first articulations digitorum manus housing 12, and 13 left and right sides of the second articulations digitorum manus housing passes through
First riveting axis 15 is rotated upwardly and downwardly with the first articulations digitorum manus housing 12 to be connect, and 14 rear end of third articulations digitorum manus housing extend into the second finger pass
It saves in housing 13,14 left and right sides of third articulations digitorum manus housing is rotated upwardly and downwardly by the second riveting axis 16 with the second articulations digitorum manus housing 13
Connection, 14 front end of third articulations digitorum manus housing block, and 14 outer cover of third articulations digitorum manus housing is equipped with Anti-slip cover 17,17 appearance of Anti-slip cover
Face is uniformly provided with anti-skid bulge 18.
2 bottom of forearm rotating cylinder is equipped with mounting bracket 19, and 19 lower surface of mounting bracket is equipped with minitype pneumatic tendon 20, little finger of toe dermoskeleton
Bone component 8, nameless ectoskeleton component 9, middle finger ectoskeleton component 10 and forefinger ectoskeleton component 11 third articulations digitorum manus housing
14 set between minitype pneumatic tendon 20 respectively there are one finger joint bending pull fastening mechanism.
Single driving multi-bar linkage include imaginary axis driver mounting base 21, rotary shaft drive mounting base 22, connecting plate 23,
Ball-and-socket bearing 24, imaginary axis driving cylinder 25, rotary shaft driving cylinder 26, L-type actuating arm 27, rear support arm 28, front support arm
29th, the first drive rod 30, the second drive rod 31 and connecting rod 32.
21 bottom of imaginary axis driver mounting base, which is fixed, is located at palm placement 6 top rear of cylinder, rotary shaft drive installation
Seat 22 is located at 21 left lower of imaginary axis driver mounting base, and the fixation of ball-and-socket bearing 24 is located at palm and places 6 top front side of cylinder, empty
Intend axis driving cylinder 25 and rotary shaft driving cylinder 26 is set along the longitudinal direction, the company of rotation in imaginary axis driver mounting base 21
The first ball rod 33 being arranged in vertical is connected to, 33 upper end of the first ball rod is fixed with 25 bottom of imaginary axis driving cylinder to be connected
Connect, be rotatably connected to horizontally disposed second ball rod 34 in rotary shaft drive mounting base 22, the left end of the second ball rod 34 with
26 right side of rotary shaft driving cylinder is fixedly connected, and the piston rod front end of imaginary axis driving cylinder 25 passes through the first spherical hinge 35 and L
27 upper end of type actuating arm is hinged, and 29 lower end base of front support arm is equipped with ball cup 36, and ball cup 36 is rotatably connected on ball-and-socket bearing
In 24,36 left side of ball cup is fixed with rocking bar（It does not illustrate and in figure）, the piston rod front end of rotary shaft driving cylinder 26 leads to
It crosses the second spherical hinge 38 to be hinged with rocking bar left end, 29 lower end of front support arm is hinged with 28 front end of rear support arm, on front support arm 29
The middle part vertex with L-type actuating arm 27 is held to be hinged.
23 lower end of connecting plate, which is fixed, is located at 12 top of the first articulations digitorum manus housing, 30 lower end of the first drive rod and connecting plate 23
Lower hinge, 31 lower end of the second drive rod and the upper articulation of connecting plate 23, the length of the first drive rod 30 are more than the second driving
The length of bar 31, the upper end of the first drive rod 30 are higher than the upper end of the second drive rod 31, and 32 both ends of connecting rod drive respectively with second
31 upper end of bar and 30 upper articulation of the first drive rod, between connecting rod 32, the first drive rod 30, the second drive rod 31 and connecting plate 23
Parallelogram sturcutre is formed, 27 front end of L-type actuating arm is hinged with 30 upper end of the first drive rod, 28 front end of rear support arm and connecting rod
32 lower rearward sides are fixedly connected.
The finger joint bending being connect with forefinger ectoskeleton component 11 pulls fastening mechanism to include bracing wire fixed link 39, cross bar of making contact
40 and bracing wire 41,39 level of bracing wire fixed link is located on rear side of 14 internal upper part of third articulations digitorum manus housing, and third articulations digitorum manus housing 14 pushes up
It is equipped with slot hole 42 on rear side of portion along the longitudinal direction, the outer surface at the top of third articulations digitorum manus housing 14, forepart and bottom is equipped with and length
The guide groove 43 of 42 front end of hole perforation, the lower part that 40 level of cross bar is located in the second articulations digitorum manus housing 13 of making contact, cross bar 40 of making contact
Guide groove is equipped with, bottom is set there are one preceding wire-passing tube 44 in the first articulations digitorum manus housing 12, and palm places in cylinder 6 bottom along right and left
To being evenly arranged there are four rear wire-passing tube 45,2 bottom of forearm rotating cylinder is equipped with the cable-through hole for being located at 20 front side of minitype pneumatic tendon
46, the front end of bracing wire 41 is fixedly connected in bracing wire fixed link 39, and bracing wire 41 is from front to back successively by slot hole 42, guide groove
43rd, the make contact guide groove on cross bar 40, preceding wire-passing tube 44, one of them rear wire-passing tube 45 and cable-through hole 46, the rear end of bracing wire 41 is consolidated
Surely it is connected on the power output end of minitype pneumatic tendon 20；The upper and lower part of 14 inner wall of third articulations digitorum manus housing is respectively equipped with
One pressure sensor 47.
Forearm fixed cylinder includes upper half cylinder 1 and lower half cylinder 48, and the both sides of upper half cylinder 1 and lower half cylinder 48, which correspond to, to be set
There is a link block 49, it is tight by interior six square bolt between the link block 49 on link block 49 and lower half cylinder 48 on upper half cylinder 1
It is solidly connected.
Palm is placed 6 top of cylinder and is equipped with four single cases 50 that multi-bar linkage is driven to cover.
Wrist universal joint 5 includes connecting cylinder 51, left engaging lug 52, right engaging lug 53, upper connecting ear 54 and lower connecting ear 55,
The rear side of left engaging lug 52 and right engaging lug 53 is respectively fixedly connected in the left side of 2 front end of forearm rotating cylinder and right side outer surface
On, the left side and right side of connecting cylinder 51 are rotated respectively with the front side of left engaging lug 52 and right engaging lug 53 by the first axis pin 56 to be connected
It connects, the front side of upper connecting ear 54 and lower connecting ear 55 is respectively fixedly connected with the upper side and lower side appearance that 6 rear portion of cylinder is placed in palm
On face, the upper side and lower side of connecting cylinder 51 is rotated respectively with the rear side of upper connecting ear 54 and lower connecting ear 55 by the second axis pin 57
Connection；
51 bottom of connecting cylinder is equipped with wrist rest seat 58, and wrist rest seat 58 is equipped with front and rear four penetrating wire guides
59, four wire guides 59 are arranged side by side in left-right direction, and bracing wire 41 is threaded through in wire guide 59.
The left side of Anti-slip cover 17 and right side are respectively equipped with a rectangle card hole 60, the left side of 14 outer wall of third articulations digitorum manus housing and
Right side is respectively equipped with a fixture block 61, and the thickness of fixture block 61 gradually increases from the front to the back, and Anti-slip cover 17 is set in third articulations digitorum manus
On housing 14 and the fixture block of homonymy 61 is engaged by clamping with rectangle card hole 60.
The present invention uses dedicated for porter, and porter carries power supply, controller and air pump（Do not show in figure
Meaning comes out）, for power supply for powering to controller, air pump and minitype pneumatic tendon 20, air pump drives cylinder 25 and rotation to imaginary axis
Shaft driving cylinder 26 provides power.
In the use of the present invention, hand fixes tube rear end by forearm sequentially passes through forearm fixed cylinder, forearm rotating cylinder 2, wrist
After universal joint 5, palm place cylinder 6, thumb passes through palm to place the thumb extending port 7 on cylinder 6, forefinger, middle finger, the third finger
It is corresponded to respectively with little finger of toe and extend into forefinger ectoskeleton component 11, middle finger ectoskeleton component 10, nameless ectoskeleton component 9 and little finger of toe
In ectoskeleton component 8, forearm fixed cylinder is fixed on forearm using bandage, since 2 rear portion of forearm rotating cylinder is plugged in forearm
In fixed cylinder, 2 outer wall of forearm rotating cylinder is equipped with rotary spacing twice annulus fin 4 in annular groove 3, when hand needs to rotate
When, forearm rotating cylinder 2 and wrist universal joint 5, palm can be driven to place 6 common rotation of cylinder.
Little finger of toe ectoskeleton component 8, nameless ectoskeleton component 9, middle finger ectoskeleton component 10 and forefinger ectoskeleton component 11
Construction it is identical, only length is different, to adapt to the four of people fingers.Little finger of toe ectoskeleton component 8, nameless ectoskeleton group
The identical single driving multi-bar linkage of structure there are one being all connected on part 9, middle finger ectoskeleton component 10 and forefinger ectoskeleton component 11.
During carrying heavy goods, while start four imaginary axis driving cylinders 25, the piston rod elongation of imaginary axis driving cylinder 25 pushes forward
L-type actuating arm 27,29 upper end of support arm rotates forward the middle part vertex of L-type actuating arm 27 for fulcrum in the past, L-type actuating arm 27
The first drive rod of front-end driven 30, for the first drive rod 30 under the constraint of rear support arm 28,30 front end of the first drive rod can only be to
Lower rotation forms parallelogram sturcutre expansion between connecting rod 32, the first drive rod 30, the second drive rod 31 and connecting plate 23,
The connecting plate 23 of 31 front end of first drive rod 30 and the second drive rod also rotates down, i.e., the first articulations digitorum manus housing 12 turns downwards
It is dynamic.At the same time, minitype pneumatic tendon 20 also starts, and pulls back bracing wire 41, and 41 front end of bracing wire pulls bracing wire fixed link 39, this
Third articulations digitorum manus housing 14 can be bent downwardly by sample, and third articulations digitorum manus housing 14 just drives the second articulations digitorum manus housing 13 also downward
Bending, certainly, with being bent downwardly for the first articulations digitorum manus housing 12, the second articulations digitorum manus housing 13 and third articulations digitorum manus housing 14,
Four fingers are also with bending.The Anti-slip cover 17 being arranged outside third articulations digitorum manus housing 14 is contacted with weight, 17 appearance of Anti-slip cover
The anti-skid bulge 18 that face is uniformly arranged avoids slipping, it is ensured that the safety of carrying, the interior pressure set of third articulations digitorum manus housing 14
After sensor 47 detects Pressure maximum value, controller is transmitted a signal to, control order imaginary axis driving cylinder 25 and micro-
Type pneumatic muscle 20 stops.If desired little finger of toe ectoskeleton component 8, nameless ectoskeleton component 9, middle finger ectoskeleton group are moved left and right
When part 10 and forefinger ectoskeleton component 11, for rotating forefinger ectoskeleton component 11, start rotary shaft driving cylinder 26, rotation
The piston rod of axis driving cylinder 26 stretches, and drives ball cup 36 and rear support arm 28 are horizontal 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 to drive 11 left-right rotation of forefinger ectoskeleton component.
Third articulations digitorum manus housing 14 can thus be made to link closely the suitable position of weight.It linking closely after weight, four fingers are also suitably exerted oneself,
Improve the safe reliability of carrying heavy goods.
Wrist universal joint 5 plays the role of complying with forearm finely tunes up and down, and wrist universal joint 5 is using connecting cylinder 51, left
Engaging lug 52, right engaging lug 53, upper connecting ear 54 and lower connecting ear 55 connection structure, it is simple in structure and convenient for manufacture installation.
Forearm fixed cylinder includes upper half cylinder 1 and lower half cylinder 48, is convenient for dismounting forearm rotating cylinder 2 in forearm fixed cylinder in this way.When
Little finger of toe ectoskeleton component 8 after bending, nameless ectoskeleton component 9, middle finger ectoskeleton component 10 and forefinger ectoskeleton component 11
When needing expansion, can expansion be driven, while bracing wire 41, imaginary axis driving cylinder 25 are also resetted by the stretching, extension of four fingers.
41 power of bracing wire that finger joint bending pulls fastening mechanism to use comes from minitype pneumatic tendon 20, outside third articulations digitorum manus housing 14
The Anti-slip cover 17 being arranged also has the function of that the bracing wire 41 being wound in guide groove 43 is not worn in protection, in addition, slot hole 42, guide groove
43rd, make contact guide groove on cross bar 40, rear wire-passing tube 45, preceding wire-passing tube 44, upper 59 and of wire guide set on wrist rest seat 58
Cable-through hole 46 plays the role of being oriented to bracing wire 41.Wherein 51 bottom of connecting cylinder is equipped with wrist rest seat 58, is propped up wrist
Support helps to make wrist comfortable and protects the effect of wrist.
Single driving multi-bar linkage is used in a manner that cylinder is power and spherical hinge adds multi-bar linkage, realizes finger
In the activity of three dimensions.Using multi-bar linkage, structure is compacter simple, and scope of activities is limited, does not interfere with and fluctuates.
The thickness of fixture block 61 gradually increases from the front to the back, i.e., the lateral surface of fixture block 61 forms lozenges, in this way convenient for anti-skidding
Set 17 is sleeved on third articulations digitorum manus housing 14, and play good position-limiting action, to prevent Anti-slip cover 17 from coming off.
The present embodiment is every according to this hair not to the limitation of works in any form such as shape, material, the structures of the present invention
Any simple modification, equivalent change and modification that bright technical spirit makees above example, belongs to the technology of the present invention side
The protection domain of case.
Claims (6)
1. the mechanical exoskeleton device of hand decompression, it is characterised in that：Including forearm fixed cylinder and forearm rotating cylinder, forearm fixed cylinder
Front inner wall is equipped with twice annular groove, and forearm rotating cylinder rear portion is plugged in forearm fixed cylinder, and forearm rotation drum outer wall is equipped with
Rotary spacing twice annulus fin in annular groove, forearm rotating cylinder front end are connected with palm by wrist universal joint and place cylinder,
Palm places cylinder bottom left or right side opening is equipped with thumb extending port, is driven respectively by four sets of lists at the top of palm placement cylinder more
Linkage is sequentially connected with little finger of toe ectoskeleton component, nameless ectoskeleton component, the middle finger placed positioned at palm on front side of cylinder side by side
Ectoskeleton component and forefinger ectoskeleton component；
Little finger of toe ectoskeleton component, nameless ectoskeleton component, middle finger ectoskeleton component are identical with the construction of forefinger ectoskeleton component；
Forefinger ectoskeleton component includes the first articulations digitorum manus housing, the second articulations digitorum manus housing and the third articulations digitorum manus that set gradually from front to back
Housing, single power output end for driving multi-bar linkage and the first articulations digitorum manus housing top are connect, and the second articulations digitorum manus housing rear end is stretched
Enter into the first articulations digitorum manus housing, riveted above and below axis and the first articulations digitorum manus housing by first at left and right sides of the second articulations digitorum manus housing
Rotation connection, third articulations digitorum manus housing rear end are extend into the second articulations digitorum manus housing, are passed through at left and right sides of third articulations digitorum manus housing
Second riveting axis is rotated upwardly and downwardly with the second articulations digitorum manus housing to be connect, and third articulations digitorum manus housing front end blocks, third articulations digitorum manus housing
Outer cover is equipped with Anti-slip cover, and Anti-slip cover outer surface is uniformly provided with anti-skid bulge；
Forearm rotating cylinder bottom is equipped with mounting bracket, and mounting bracket lower surface is equipped with minitype pneumatic tendon, little finger of toe ectoskeleton component, unknown
Refer to the third articulations digitorum manus housing of ectoskeleton component, middle finger ectoskeleton component and forefinger ectoskeleton component respectively with minitype pneumatic tendon
Between set there are one finger joint bending pull fastening mechanism；
Single driving multi-bar linkage includes imaginary axis driver mounting base, rotary shaft drive mounting base, connecting plate, ball-and-socket branch
Seat, imaginary axis driving cylinder, rotary shaft driving cylinder, L-type actuating arm, rear support arm, front support arm, the first drive rod, second
Drive rod and connecting rod；
Imaginary axis driver mounting base bottom, which is fixed, is located at palm placement cylinder top rear, and rotary shaft drive mounting base is located at void
Intend axis driver mounting base left lower, ball-and-socket bearing fixation is located at palm place cylinder at the top of front side, imaginary axis driving cylinder and
Rotary shaft driving cylinder is set along the longitudinal direction, is rotatably connected to what is be arranged in vertical in imaginary axis driver mounting base
First ball rod, the first ball rod upper end are fixedly connected with imaginary axis driving cylinder bottom, turn in rotary shaft drive mounting base
It is dynamic to be connected with horizontally disposed second ball rod, it is fixedly connected on the right side of the left end of the second ball rod and rotary shaft driving cylinder, virtually
The piston rod front end of axis driving cylinder is hinged by the first spherical hinge and L-type actuating arm upper end, and front support arm lower end base is equipped with
Ball cup, ball cup are rotatably connected in ball-and-socket bearing, and rocking bar is fixed on the left of ball cup, and rotary shaft drives the piston of cylinder
Bar front end is hinged by the second spherical hinge and rocking bar left end, and front support arm lower end is hinged with rear support arm front end, on front support arm
The middle part vertex with L-type actuating arm is held to be hinged；
Connecting plate lower end, which is fixed, to be located at the top of the first articulations digitorum manus housing, the lower hinge of the first drive rod lower end and connecting plate, the
Two drive rod lower ends and the upper articulation of connecting plate, the length of the first drive rod are more than the length of the second drive rod, the first driving
The upper end of bar is higher than the upper end of the second drive rod, and connecting rod two end is cut with scissors respectively with the second drive rod upper end and the first drive rod top
It connects, forms parallelogram sturcutre between connecting rod, the first drive rod, the second drive rod and connecting plate, L-type actuating arm front end and the
One drive rod upper end is hinged, and rear support arm front end is fixedly connected with connecting rod lower rearward side.
2. the mechanical exoskeleton device of hand decompression according to claim 1, it is characterised in that：Connect with forefinger ectoskeleton component
The finger joint bending connect pulls fastening mechanism to include bracing wire fixed link, make contact cross bar and bracing wire, and bracing wire fixed link level is located at third
On rear side of articulations digitorum manus housing internal upper part, third articulations digitorum manus housing top rear is equipped with slot hole, third articulations digitorum manus housing along the longitudinal direction
Top, forepart and bottom outer surface be equipped with guide groove penetrate through with slot hole front end, cross bar level of making contact is located at the second finger and closes
The lower part in housing is saved, cross bar of making contact is equipped with guide groove, and bottom is set there are one preceding wire-passing tube in the first articulations digitorum manus housing, and palm is pacified
It puts bottom in cylinder to be evenly arranged in left-right direction there are four rear wire-passing tube, forearm rotating cylinder bottom, which is equipped with, is located at minitype pneumatic tendon
The cable-through hole of front side, the front end of bracing wire are fixedly connected in bracing wire fixed link, and bracing wire is from front to back successively by slot hole, guiding
Slot, guide groove, preceding wire-passing tube, one of them rear wire-passing tube and the cable-through hole made contact on cross bar, the rear end of bracing wire are fixedly connected on micro-
On the power output end of type pneumatic muscle；The upper and lower part of third articulations digitorum manus outer casing inner wall is respectively equipped with a pressure sensing
Device.
3. the mechanical exoskeleton device of hand decompression according to claim 1 or 2, it is characterised in that：Forearm fixed cylinder includes
The both sides of upper half cylinder and lower half cylinder, upper half cylinder and lower half cylinder are correspondingly provided with link block, the link block on upper half cylinder
It is fastenedly connected between the link block on lower half cylinder by interior six square bolt.
4. the mechanical exoskeleton device of hand decompression according to claim 1 or 2, it is characterised in that：Palm is placed at the top of cylinder
Equipped with the cases for covering four single driving multi-bar linkages.
5. the mechanical exoskeleton device of hand decompression according to claim 2, it is characterised in that：Wrist universal joint includes connection
Cylinder, left engaging lug, right engaging lug, upper connecting ear and lower connecting ear are respectively fixedly connected on rear side of left engaging lug and right engaging lug
On the left side and right side outer surface of forearm rotating cylinder front end, the left side and right side of connecting cylinder respectively with left engaging lug and right connection
The front side of ear is rotatablely connected by the first axis pin, is respectively fixedly connected on front side of upper connecting ear and lower connecting ear and is placed cylinder in palm
On the upper side and lower side outer surface at rear portion, the upper side and lower side of connecting cylinder on rear side of upper connecting ear and lower connecting ear respectively with passing through
Second axis pin is rotatablely connected；
Connecting cylinder bottom is equipped with wrist rest seat, and wrist rest seat is equipped with front and rear four penetrating wire guides, four wire guides
It is arranged side by side in left-right direction, bracing wire is threaded through in wire guide.
6. the mechanical exoskeleton device of hand decompression according to claim 1, it is characterised in that：On the left of Anti-slip cover and right side point
Rectangle card hole there are one not setting, the left side and right side of third articulations digitorum manus outer casing outer wall are respectively equipped with a fixture block, the thickness of fixture block
Gradually increase from the front to the back, Anti-slip cover, which is set in outside third articulations digitorum manus, to be put on and the fixture block of homonymy is engaged by clamping with rectangle card hole.
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| CN201610667436.5A CN106078699B (en) | 2016-08-15 | 2016-08-15 | The mechanical exoskeleton device of hand decompression |
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| CN201610667436.5A CN106078699B (en) | 2016-08-15 | 2016-08-15 | The mechanical exoskeleton device of hand decompression |
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| CN106078699B true CN106078699B (en) | 2018-06-22 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107648011B (en) * | 2017-10-31 | 2020-09-15 | 大连大学 | Fixed exoskeleton rehabilitation training mechanical device for old people |
| CN211189091U (en) * | 2019-06-21 | 2020-08-07 | 深圳岱仕科技有限公司 | Mechanical exoskeleton and VR equipment |
| CN110665192B (en) * | 2019-10-16 | 2021-01-08 | 哈尔滨理工大学 | Recovered type ectoskeleton gloves robot |
| WO2021182264A1 (en) * | 2020-03-11 | 2021-09-16 | ソニーグループ株式会社 | 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 |
| 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 |
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| CN106078699A (en) | 2016-11-09 |
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