CN106108564A - A kind of parkinson disease human hand held regulator and disappear and tremble implementation method - Google Patents
A kind of parkinson disease human hand held regulator and disappear and tremble implementation method Download PDFInfo
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- CN106108564A CN106108564A CN201610406981.9A CN201610406981A CN106108564A CN 106108564 A CN106108564 A CN 106108564A CN 201610406981 A CN201610406981 A CN 201610406981A CN 106108564 A CN106108564 A CN 106108564A
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47G—HOUSEHOLD OR TABLE EQUIPMENT
- A47G21/00—Table-ware
- A47G21/04—Spoons; Pastry servers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47G—HOUSEHOLD OR TABLE EQUIPMENT
- A47G21/00—Table-ware
- A47G21/02—Forks; Forks with ejectors; Combined forks and spoons; Salad servers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B43—WRITING OR DRAWING IMPLEMENTS; BUREAU ACCESSORIES
- B43K—IMPLEMENTS FOR WRITING OR DRAWING
- B43K23/00—Holders or connectors for writing implements; Means for protecting the writing-points
- B43K23/004—Holders specially adapted for assisting handicapped or disabled persons to write
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D19/00—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase
- G05D19/02—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase characterised by the use of electric means
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47G—HOUSEHOLD OR TABLE EQUIPMENT
- A47G2200/00—Details not otherwise provided for in A47G
- A47G2200/04—For person with a handicap
- A47G2200/046—For person with a handicap of holding or grasping
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Rehabilitation Tools (AREA)
- Percussion Or Vibration Massage (AREA)
Abstract
The invention provides a kind of parkinson disease human hand held regulator and disappear and tremble implementation method, this regulator includes the axial micro-adjusting mechanism of accessory, front end, swings Xiao Dou mechanism, rotation Xiao Dou mechanism and hand-held mechanism, accessory can be arbitrary form according to the functional requirement that user is different, is arranged in the axial micro-adjusting mechanism in front end by accessory mounting head.Three motors that this regulator is axially finely tuned by pitching, roll direction and front end control, coordinate master control borad algorithm controls, reach to disappear user hand the effect trembled, disappear and tremble the linkage of structure dependence parallel construction, it is capable of front end accessory angle in space not change, keeps stablizing of accessory.Different front end accessories can be replaced in this regulator, increases the range of patient, simple in construction simultaneously, it is easy to controls.
Description
Technical field
The present invention relates to a kind of human action auxiliary device, particularly relate to a kind of enhancing disturbances in patients with Parkinson disease or have and handkerchief gold
The hand stabilising arrangement of gloomy similar symptoms user.
Background technology
Trembling is a kind of disease caused due to the decline of aging nerve, and over-65s sickness rate is 10.5%.Because of hands
Portion's shake causes the patient of orthobiosis can not typically have three classes, and wherein over-65s parkinson sickness rate is 1.2%, this kind of trouble
Person can control shake with Drug therapy, and maximally effective medicine is madopar, is about 1～3 year according to state of an illness difference honeymooners, honey
In the phase moon, effect is fine, takes medicine every time and can control 6～8 hours, but after honeymooners, drug effect drastically declines, and some patient per take
Be only capable of after medicine controlling about 1 hour, and some patients take medicine after there will be the side effect such as drug allergy or blood pressure drops.According to system
Meter, China's disturbances in patients with Parkinson disease quantity is 200～4,000,000；Meanwhile idiopathic or essential tremor minimal invasive treatment be not by yet
With the puzzlement of degree, this type of patient that trembles does not has the concrete cause of disease, does not has medicine and other effective treatment meanss yet.China suffers from present
Having the number of disease of trembling 2000～40,000,000, wherein 90% is idiopathic or essential tremor, and they are trembled tired for a long time
Disturb.
Compared with Drug therapy, help disturbances in patients with Parkinson disease by external mechanical devices or there is the patient of the situation of trembling
Eliminating or slow down hand shake, on the one hand can reach the therapeutic effect of physics, the opposing party can eliminate Drug therapy to patient
The side effect brought and actual bodily harm.
The patent of Publication No. CN204218557U, discloses a kind of electronic flutter-proof spoon, and this device passes through sensor sensing
The dither signal of people, and dither signal is sent to controller, controller makes rightabout motor message according to people's shake
Controlling motor to X-axis and Z axis controls motor, X-axis controls motor and Z axis controls motor and controls link motion.But before this device
End can only mount spoon, helps user feed, and range is limited, and controls complex.
The patent of Publication No. CN203646979U, discloses a kind of stabilization spoon.This device passes through sensor and panel
Detecting and control the shake of user hand, device has simple in construction, feature easy to use.But same pin of this stabilization spoon
Feeding problem to patient, and frequency and amplitude cannot be trembled for patient disappearing of adjusting apparatus under different jitter amplitudes.
The patent of Publication No. CN204428223U, discloses a kind of device alleviating vibrational arm impact, this device energy
Enough replace different accessories, there is compared with most of anti-shake apparatus bigger range, but this device is during disappearing and trembling,
Its accessory can be followed rotating shaft and be swung in space, it is impossible to keeping stablizing of accessory angle, reducing disappears trembles effect, and cannot be manual
Device is disappeared and trembles effect and be adjusted.
Summary of the invention
The present invention is directed to the defect that existing structure exists, it is proposed that a kind of accessory can be replaced, dependence four-bar linkage structure
The parkinson disease human hand held regulator that motion disappears that tremble, easily controllable.
A kind of parkinson disease human hand held regulator that the present invention proposes, trembles problem for disturbances in patients with Parkinson disease, in combination with
The structure complexity of existing disclosed anti-shake apparatus, restricted application etc. are not enough and design.This device passes through pitching, roll direction
And three motors that front end is axially finely tuned control, coordinating master control borad algorithm controls, reach to disappear user hand the effect trembled, and disappears
Tremble structure and rely on the linkage of parallel construction, it is possible to realize front end accessory angle in space and do not change, keep joining
Stablizing of part.Device can replace different front end accessories, increases the range of patient, simple in construction simultaneously, it is easy to controls.
The technical scheme that the present invention takes is: a kind of parkinson disease human hand held regulator, it is characterised in that include accessory,
The axial micro-adjusting mechanism in front end, swing Xiao Dou mechanism, rotation Xiao Dou mechanism and hand-held mechanism, described accessory passes through accessory mounting head
Being arranged in the axial micro-adjusting mechanism in front end, the Magnet of accessory end is adsorbed by permanent magnet, the axial micro-adjusting mechanism in front end with
Swing Xiao Dou mechanism to be mechanically connected, swing Xiao Dou mechanism and be connected by axially regulation and control electromechanics with rotation Xiao Dou mechanism, rotate
Xiao Dou mechanism is mechanically connected by being connected shell with hand-held mechanism, and described accessory is for realizing the function that user is different, and swing disappears
Tremble mechanism to tremble for driving accessory to carry out longitudinal disappearing, rotate Xiao Dou mechanism and be used for driving swing Xiao Dou mechanism and accessory to carry out roll
Direction disappears and trembles, and the axial micro-adjusting mechanism in front end, for the direction of axial fine adjustment accessory, makes accessory keep during device disappears and trembles
Level is with stable.
The axial micro-adjusting mechanism in described front end includes front-end case, accessory mounting head, permanent magnet, bearing, inner ring gear, front end
Outer casing stand, angular acceleration transducer and gravity sensor.
Described swing Xiao Dou mechanism includes swinging follower and swinging driving mechanism.Wherein swing follower and include electricity
Machine A, swing driven shell, follower link, drive connecting rod, swing driving mechanism and include motor mounting shell, motor B and motor B
Rotating shaft.
Described rotation Xiao Dou mechanism includes axially regulating and controlling motor and connecting shell, and axially regulation and control motor is by fixing hole and motor
Mounting shell fixes, and connects shell and fixes with hand-held mechanism.
Described hand-held mechanism includes that fixing band, hand-held housing, adjustment compensate button and control circuit plate, battery.
Described accessory mounting head is arranged on the front portion of front-end case, and permanent magnet is placed in accessory mounting head, and accessory passes through
Accessory mounting head is adsorbed mutually with permanent magnet, and accessory can replace to replacing of concrete multi-form according to the different life requirement of patient
For thing.
Described angular acceleration transducer and gravity sensor are arranged on inside front-end case, for the appearance of detection accessory in real time
State and device jitter conditions.
Inner ring gear in the axial micro-adjusting mechanism in described front end is arranged on inside front-end case, and with the little gear of motor A
Being mutually twisted, the axial micro-adjusting mechanism in front end is connected by central rotating shaft with swinging follower, and central rotating shaft is divided by bearing
Be not fixed on front-end case support with on driven outer casing stand.
Motor A in described swing follower is fixed on the driven shell of swing by motor A mounting bracket.Motor A
During work, driving pinion rotates, and then drives the inner ring pinion rotation in the axial micro-adjusting mechanism in front end, then drives front-end case
Rotate, thus realize the axial micro-adjusting mechanism in front end to accessory regulation and control on roll direction, follower link and drive connecting rod respectively
It is fixed on axis hole by connecting rod rotating shaft, swings follower and be connected by follower link and drive connecting rod with swinging driving mechanism
Connect.
Motor B in described swing driving mechanism is fixed on motor mounting shell by motor B installing hole, motor B rotating shaft
Through motor B shaft hole, and being connected with drive connecting rod, follower link is solid with motor mounting shell by follower link installing hole
Fixed, during motor B work, motor B axis of rotation drives drive connecting rod to rotate, and follower link is followed drive connecting rod and rotated, and then band
Movable pendulum is moved follower and is swung in the pitch direction, thus realizes swinging the regulation and control on swaying direction of the Xiao Dou mechanism.Described from
Dynamic formation quadric chain between connecting rod and drive connecting rod, this forms of motion can eliminate the shadow that the swing of front end accessory is trembled
Ring, thus ensure accessory disappear tremble during easy motion.
The rotor of the axially regulation and control motor in described rotation Xiao Dou mechanism is connected with motor mounting shell, and its motor is fixed
Son with is connected shell and is connected, connect shell and be connected with hand-held housing, axially to regulate and control motor middle is hollow rotating shaft, the most above
Control line passes through and is connected on control circuit plate below.
Described hand-held mechanism comprises fixing band, and it act as assisting staff to be fixed on device, control circuit plate and battery
It is installed in inside hand-held housing.Adjustment is installed in described hand-held housing and compensates button, user can be allowed manually to regulate and disappear
The parameters such as the amplitude trembled, the angle state of accessory, making to disappear, it is more accurate to tremble.
Described swing Xiao Dou mechanism and hand-held mechanism all can carry out left and right and split, and overall structure is along axisymmetrical, it is simple to dress
The installation put.
A kind of parkinson disease human hand held regulator disappears and shakes the implementation method made, and comprises the following steps:
A: if user hand is in vertical direction shake, when hand (or upwards) shake downwards, parkinson disease staff
The swing driving mechanism held in stagger of stabilizer Xiao Dou mechanism regulates and controls, and motor B works drive motor B axis of rotation, makes main
Dynamic connecting rod upwards (or downward) swings, and after amplitude of fluctuation and direction are detected by angular acceleration transducer, keeps and user hands
Portion's shake angle is consistent, and drive connecting rod is swung up driving follower link motion, owing to drive connecting rod and follower link keep four
Bar linkage structure moves, so that front end accessory can keep its horizontal plane stable；
B: if user hand is horizontally oriented shake, regulator rotates the regulation and control of Xiao Dou mechanism, axially regulates and controls motor
Work makes the follower link of swing Xiao Dou mechanism and drive connecting rod rotate to horizontal direction, the meanwhile axial micro-adjusting mechanism in front end
Regulation and control, motor A work drive front-end case rotate, make accessory be adjusted to the angle that user normally uses, when hand to the left (or
To the right) during shake, with reference to step A, the swing driving mechanism swung in Xiao Dou mechanism regulates and controls, and motor B works drive motor B
Axis of rotation, makes drive connecting rod (or to the left) to the right swing, thus carries out level and disappear and tremble regulation and control；
C: if user hand is in arbitrarily angled shake, regulator rotates the regulation and control of Xiao Dou mechanism, axially regulates and controls motor
Work makes the follower link of swing Xiao Dou mechanism rotate to the plane vertical with user jitter direction with drive connecting rod, with this with
The axial micro-adjusting mechanism of Shi Qianduan regulates and controls, and makes accessory be adjusted to the angle that user normally uses, and with reference to step A, swinging disappears trembles machine
Swing driving mechanism in structure regulates and controls, and motor B works drive motor B axis of rotation, makes drive connecting rod shake to user
Rightabout swing, after amplitude of fluctuation and direction are detected by angular acceleration transducer, keep with user hand shake angle
Degree is consistent, thus disappears at any angle and tremble regulation and control.
Owing to technique scheme is used, the present invention compared with prior art has following advantages and an effect:
One effect of the present invention is, adsorbs accessory by magnetic piece, it is possible to achieve the replacement of accessory, meets user
The life requirement of different scenes；
One effect of the present invention is, device has swing, rotation and front end and axially finely tunes triple regulating and controlling mechanism, passes through
The cooperation of pitch orientation and roll direction bi-motor controls, it is possible to achieve arbitrarily angled the disappearing in orthogonal intersection space trembles；, pass through front end
Axially micro-adjusting mechanism can make accessory remain at suitable angle when operating with user；
One effect of the present invention is, regulator pitching disappears and trembles the forms of motion utilizing four-bar linkage structure, and device disappears and trembles
Do not interfere with the change of front end accessory attitude, so ensure disappear tremble during front end accessory be in Stability in Plane all the time；
One effect of the present invention is, device utilizes the various senser element such as angular acceleration transducer, gravity sensor
Real-time detection apparatus jitter conditions changes with the angle of accessory, and making to disappear, it is more accurate to tremble regulation and control.
One effect of the present invention is, regulator compensates button equipped with regulation, can manually regulate and disappears the amplitude of trembling and join
The parameters such as the residing angle of part；
One effect of the present invention is, regulator profile imitates gun-shaped structure, promotes the comfort level that user is hand-held.
Accompanying drawing explanation
Fig. 1 is regulator overall structure schematic diagram；
Fig. 2 is regulator entirety isometric view；
Fig. 3 is regulator entirety top view；
Fig. 4 is regulator one-piece parts decomposition view；
Fig. 5 is front end micro-adjusting mechanism schematic diagram；
Fig. 6 is that front end micro-adjusting mechanism assembles schematic diagram；
Fig. 7 is front-end case schematic diagram；
Fig. 8 is front end micro-adjusting mechanism sectional view；
Fig. 9 is pitching driven regulating and controlling mechanism schematic diagram；
Figure 10 is that the driven regulating and controlling mechanism of pitching assembles schematic diagram；
Figure 11 is pitching driven shell diagram；
Figure 12 is pitching active control structural representation；
Figure 13 is axially to regulate and control motor schematic diagram；
Figure 14 is to connect shell schematic diagram；
Figure 15 is hand-held mechanism schematic diagram；
Figure 16 is that hand-held mechanism assembles schematic diagram；
Figure 17 is regulator sectional view；
Figure 18 is pitching action diagram；
Figure 19 is horizontal hunting action diagram；
Figure 20 is arbitrarily angled wobbling action diagram.
In accompanying drawing, the parts representated by each label: 1, accessory 101, Magnet 2, the axial micro-adjusting mechanism in front end 3, swing disappear
Tremble mechanism 4, rotate Xiao Dou mechanism 5, hand-held mechanism 201, front-end case 202, accessory mounting head 203, permanent magnet 204,
Bearing 205, inner ring gear 211, front-end case support 212, angular acceleration transducer 213, gravity sensor 300, swing
Follower 310, swing driving mechanism 301, connect soft set 302, motor mounting shell 303, motor B 304, motor B rotating shaft
305, motor B installing hole 306, motor B shaft hole 307, follower link installing hole 311, swing driven shell 312, motor A
Mounting bracket 313, motor A 314, little gear 315, central rotating shaft 316, connecting rod rotating shaft 317, follower link 318, actively
Connecting rod 319, axis hole 3110, driven outer casing stand 401, axially regulation and control motor 402, connection shell 4021, connection shell support
4011, fixing hole 4012, rotor 4013, motor stator 4014, hollow rotating shaft 501, fixing band 502, adjustment compensate
Button 503, hand-held housing 504, control circuit plate 505, battery
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is described further.
As shown in figures 1-4, a kind of parkinson disease human hand held regulator, including accessory 1, the axial micro-adjusting mechanism in front end 2, pendulum
Dong Xiaodou mechanism 3, rotation Xiao Dou mechanism 4 and hand-held mechanism 5.Before described accessory mounting head 202 is arranged on front-end case 201
Portion, permanent magnet 203 is placed in accessory mounting head 202, and the Magnet 101 of accessory 1 end is by accessory mounting head 202 and permanent magnet
203 phases absorption, accessory 1 can replace to the substitution goods of concrete multi-form, such as spoon according to the different life requirement of patient
Son, fork, pointer, pencil etc..
The axial micro-adjusting mechanism in front end 2 is mechanically connected with swinging Xiao Dou mechanism 3, swings Xiao Dou mechanism 3 and rotates Xiao Dou mechanism 4
It is mechanically connected by axially regulation and control motor 401, rotates Xiao Dou mechanism 4 and be mechanically connected by being connected shell 402 with hand-held mechanism 5, institute
Stating accessory 1 for realizing the function that user is different, swing Xiao Dou mechanism 3 and be used for driving accessory 1 to carry out longitudinally and disappear trembling, rotation disappears
Trembling mechanism 4 to disappear tremble for driving swing Xiao Dou mechanism 3 and accessory 1 to carry out roll direction, the axial micro-adjusting mechanism in front end 2 is for axially
The direction of fine adjustment accessory 1, makes accessory 1 holding level and stable during device disappears and trembles.
As shown in figures 5-8, the axial micro-adjusting mechanism in described front end 2 includes front-end case 201, accessory mounting head 202, permanent magnetism
Body 203, bearing 204, inner ring gear 205, front-end case support 211, angular acceleration transducer 212 and gravity sensor 213.
It is internal that described angular acceleration transducer 212 and gravity sensor 213 are arranged on front-end case 201, for detection accessory 1 in real time
Attitude and device jitter conditions.
It is internal that inner ring gear 205 in the axial micro-adjusting mechanism in described front end 2 is arranged on front-end case 201, and with motor A
The little gear 314 of 313 is mutually twisted, and the axial micro-adjusting mechanism in front end 2 is connected by central rotating shaft 315 with swinging follower 300
Connect, central rotating shaft 315 by bearing 204 be separately fixed on front-end case support 211 with on driven outer casing stand 3110.
As shown in Fig. 9～11, the motor A 313 in described swing follower 300 is solid by motor A mounting bracket 312
Being scheduled on the driven shell 311 of swing, when motor A 313 works, driving pinion 314 rotates, and then drives the axial freqency fine adjustment machine in front end
Inner ring gear 205 in structure 2 rotates, then drives front-end case 201 to rotate, thus realizes the axial micro-adjusting mechanism in front end 2 to accessory 1
Regulation and control on roll direction, follower link 317 and drive connecting rod 318 are fixed on axis hole 319 by connecting rod rotating shaft 316 respectively
On, swing follower 300 and be connected by follower link 317 and drive connecting rod 318 with swinging driving mechanism 310.
As shown in figure 12, the motor B 303 in described swing driving mechanism 310 is fixed on electricity by motor B installing hole 305
On machine mounting shell 302, motor B rotating shaft 304 is through motor B shaft hole 306, and is connected with drive connecting rod 318, follower link
317 are fixed with motor mounting shell 302 by follower link installing hole 307, and when motor B 303 works, motor B rotating shaft 304 rotates
Driving drive connecting rod 318 to rotate, follower link 317 is followed drive connecting rod 318 and is rotated, and then drives swing follower 300 to exist
Swing on swaying direction, thus realize swinging Xiao Dou mechanism 3 regulation and control in the pitch direction.
Keeping four-bar linkage structure motion between described follower link 317 and drive connecting rod 318, this disappearing trembles forms of motion energy
Enough ensure that the horizontal plane of front end accessory 1 keeps angle constant, thus ensure accessory 1 disappear tremble during easy motion.
As shown in figure 13, the rotor 4012 of the axially regulation and control motor 401 in described rotation Xiao Dou mechanism 4 is pacified with motor
Dress shell 302 is connected, and its motor stator 4013 is connected with being connected shell 402, connects shell 40 and is connected with hand-held housing 503, axle
Being hollow rotating shaft 4014 in the middle of regulation and control motor 401, convenient control line above passes through and is connected to control circuit plate below
On 504.
As shown in figure 15, described hand-held mechanism 5 comprises fixing band 501, and it act as assisting staff to be fixed on device, control
It is internal that circuit board 504 processed and battery 505 are installed in hand-held housing 503.Be provided with in described hand-held housing 503 adjustment compensate by
Button 502, can allow user manually regulate disappear tremble amplitude, the parameter such as angle residing for accessory, making to disappear, it is more accurate to tremble.
As shown in Figure 18～20, a kind of parkinson disease human hand held regulator disappear shake make implementation method include following step
Rapid:
1: if user hand is in vertical direction shake, when hand (or upwards) shake downwards, parkinson disease staff
The swing driving mechanism 310 held in stagger of stabilizer Xiao Dou mechanism 3 regulates and controls, and motor B 303 works drive motor B rotating shaft
304 rotate, and make drive connecting rod 318 upwards (or downward) swing, after amplitude of fluctuation is detected by angular acceleration transducer 212, protect
Holding consistent with user hand shake angle, drive connecting rod 318 is swung up driving follower link 317 to move, owing to actively connecting
Bar 318 and follower link 317 keep four-bar linkage structure to move, so that front end accessory 1 can keep its horizontal plane stable；
2: if user hand is horizontally oriented shake, regulator rotates Xiao Dou mechanism 4 and regulates and controls, and axially regulates and controls motor
401 work make the follower link 317 of swing Xiao Dou mechanism 3 and drive connecting rod 318 rotate to horizontal direction, meanwhile front end axle
Regulating and controlling to micro-adjusting mechanism 2, motor A 313 work drives front-end case 201 to rotate, and makes accessory 1 be adjusted to user and normally uses
Angle, when hand (or to the right) to the left shake, with reference to step 1, the pitching driving mechanism 310 swung in Xiao Dou mechanism 3 enters
Row regulation and control, the motor B 303 drive motor B rotating shaft 304 that works rotates, and makes drive connecting rod 318 (or to the left) to the right swing, thus enters
Row level disappears and trembles regulation and control；
3: if user hand is in arbitrarily angled shake, regulator rotates Xiao Dou mechanism 4 and regulates and controls, and axially regulates and controls motor
401 work make the follower link 317 of swing Xiao Dou mechanism 3 rotate to vertical with user jitter direction with drive connecting rod 318
Plane, meanwhile the axial micro-adjusting mechanism in front end 2 regulates and controls, and makes accessory 1 be adjusted to the angle that user normally uses, with reference to step
1, the swing driving mechanism 310 swung in Xiao Dou mechanism 3 regulates and controls, and the motor B 303 drive motor B rotating shaft 304 that works rotates,
The rightabout making drive connecting rod 318 shake to user swings, and its amplitude of fluctuation and direction are by angular acceleration transducer 212
After detection, keep consistent with user hand shake angle, thus disappear at any angle and tremble regulation and control.
Specific embodiment described in the present embodiment is only to present invention spirit explanation for example.Skill belonging to the present invention
Described specific embodiment can be made various amendment or supplements or use similar side by the technical staff in art field
Formula substitutes, but without departing from the spirit of the present invention or surmount scope defined in appended claims.
Although the front end accessory used in the present embodiment is spoon, but identical position can be according to patient's not syngenesis
The demand of living and replace to writing pen, different article such as typewriting device etc., use spoon to be only used to more convenient vividly describe reconciliation
Release the essence of the present invention.Meanwhile, the present invention is suitable for but is not limited only to Parkinsonian symptoms patient, and other have the use of feature of trembling
Person is also within the scope of the present invention benefits from.
Claims (10)
1. a parkinson disease human hand held regulator, it is characterised in that include accessory (1), the axial micro-adjusting mechanism in front end (2), pendulum
Dong Xiaodou mechanism (3), rotation Xiao Dou mechanism (4) and hand-held mechanism (5), wherein said swing Xiao Dou mechanism (3) includes again pendulum
Dynamic follower (300) and swing driving mechanism (310), described accessory (1) is arranged on front end axle by accessory mounting head (202)
In micro-adjusting mechanism (2), the axial micro-adjusting mechanism in front end (2) is mechanically connected with swinging Xiao Dou mechanism (3), swings Xiao Dou mechanism (3)
It is mechanically connected by axially regulating and controlling motor (401) with rotating Xiao Dou mechanism (4), rotates Xiao Dou mechanism (4) and lead to hand-held mechanism (5)
Cross connection shell (402) to be mechanically connected；
Described accessory (1) can realize the functional requirement that user is different, swings Xiao Dou mechanism (3) and accessory (1) can be driven to carry out
Longitudinally disappear and tremble, rotate Xiao Dou mechanism (4) and swing Xiao Dou mechanism (3) and accessory (1) can be driven to carry out roll direction disappear and tremble, front end
Axially micro-adjusting mechanism (2) can the direction of axial fine adjustment accessory (1), make accessory (1) eliminate the impact that swing is trembled.
2. a kind of parkinson disease human hand held regulator as claimed in claim 1, it is characterised in that described accessory mounting head
(202) being arranged on the front portion of front-end case (201), permanent magnet (203) is placed in accessory mounting head (202), and accessory (1) passes through
The Magnet (101) of end adsorbs mutually with the permanent magnet (203) of accessory mounting head (202), and accessory (1) can be according to the different life of patient
The demand of living, replaces to the substitute of concrete multi-form, such as spoon, fork, pointer, pencil etc..
3. a kind of parkinson disease human hand held regulator as claimed in claim 1, it is characterised in that the axial freqency fine adjustment machine in described front end
Structure (2) includes front-end case (201), accessory mounting head (202), permanent magnet (203), bearing (204), inner ring gear (205), front
End housing support (211), angular acceleration transducer (212) and gravity sensor (213)；Wherein angular acceleration transducer
(212) and gravity sensor (213) to be arranged on front-end case (201) internal, for detecting attitude and the dress of accessory (1) in real time
Put jitter conditions；It is internal that inner ring gear (205) in the axial micro-adjusting mechanism in described front end (2) is arranged on front-end case (201), and
Being mutually twisted with the little gear (314) of motor A (313), the axial micro-adjusting mechanism in front end (2) is passed through with swinging follower (300)
Central rotating shaft (315) is connected, central rotating shaft (315) by bearing (204) be separately fixed at front-end case support (211) upper with
On driven outer casing stand (3110), during motor A (313) work, drive the little gear in front end (314) to rotate, and then drive internal ring gear
Wheel (205) rotates, and the rotation of inner ring gear (205) causes front-end case (201) to rotate, thus realizes the most micro-of accessory (1)
Conditioning function.
4. a kind of parkinson disease human hand held regulator as claimed in claim 1, it is characterised in that described swing follower
(300) include motor A (313), swing driven shell (311), follower link (317), drive connecting rod (318)；Wherein motor A
(313) it is fixed in the driven shell of swing (311) by motor A mounting bracket (312), during motor A (313) work, drives little tooth
Wheel (314) rotates, and then drives the inner ring gear (205) in the axial micro-adjusting mechanism in front end (2) to rotate, then drives front-end case
(201) rotate, thus realize the axial micro-adjusting mechanism in front end (2) to the accessory (1) regulation and control on roll direction, follower link
(317) it is fixed on axis hole (319) by connecting rod rotating shaft (316) respectively with drive connecting rod (318), swings follower (300)
It is connected by follower link (317) and drive connecting rod (318) with swinging driving mechanism (310).
5. a kind of parkinson disease human hand held regulator as claimed in claim 1, it is characterised in that described swing driving mechanism
(310) including motor mounting shell (302), motor B (303) and motor B rotating shaft (304), wherein motor B (303) passes through motor B
Installing hole (305) is fixed on motor mounting shell (302), motor B rotating shaft (304) pass motor B shaft hole (306), and with master
Dynamic connecting rod (318) is connected, and follower link (317) is fixed with motor mounting shell (302) by follower link installing hole (307),
During motor B (303) work, motor B rotating shaft (304) rotates and drives drive connecting rod (318) to rotate, and follower link (317) follows master
Dynamic connecting rod (318) rotates, and then drives swing follower (300) to rotate, thus eliminates and swing the impact trembled.
6. a kind of parkinson disease human hand held regulator as claimed in claim 1, it is characterised in that described swing driving mechanism
(310) constituting quadric chain between follower link (317) and the drive connecting rod (318) in, this forms of motion can eliminate
The impact that the swing of front end accessory (1) is trembled, thus ensure accessory (1) disappear tremble during easy motion.
7. parkinson disease human hand held regulator as claimed in claim 1 a kind of, it is characterised in that described rotation Xiao Dou mechanism
(4) include axially regulating and controlling motor (401) and connecting shell (402), axially regulate and control motor (401) by fixing hole (4011) and motor
Mounting shell (302) fixes, and connects shell (402) and fixes with hand-held mechanism (5), axially regulates and controls the rotor of motor (401)
(4012) being connected with motor mounting shell (302), its motor stator (4013) is connected with being connected shell (402), connects shell (402)
It is connected with hand-held housing (503), axially regulates and controls in the middle of motor (401) for hollow rotating shaft (4014), convenient control line above
By and be connected on control circuit plate (504) below.
8. a kind of parkinson disease human hand held regulator as claimed in claim 1, it is characterised in that described hand-held mechanism (5) wraps
Include fixing band (501), hand-held housing (503), adjust compensation button (502) and control circuit plate (504), battery (505), its
Middle fixing band (501) can assist staff to be fixed on device, and control circuit plate (504) and battery (505) are installed in hand-held
Shell (503) is internal, adjusts and compensates button (502) and be arranged in hand-held housing (503), and user can be allowed manually to regulate to disappear and tremble
Amplitude, the parameter such as angle state of accessory (1), making to disappear, it is more accurate to tremble.
9. a kind of parkinson disease human hand held regulator as claimed in claim 1, it is characterised in that described accessory (1) can root
It is arbitrary form according to the functional requirement that user is different.
10. a parkinson disease human hand held regulator disappears the implementation method that shake is made, it is characterised in that comprise the following steps:
A: if user hand is in vertical direction shake, when hand (or upwards) shake downwards, parkinson disease staff keeps steady
Determining the swing driving mechanism (310) that device swings in Xiao Dou mechanism (3) to regulate and control, motor B (303) works drive motor B rotating shaft
(304) rotating, make drive connecting rod (318) upwards (or downward) swing, angular acceleration transducer is passed through in amplitude of fluctuation and direction
(212) after detection, keeping consistent with user hand shake angle, drive connecting rod (318) is swung up driving follower link
(317) motion, owing to drive connecting rod (318) and follower link (317) keep four-bar linkage structure motion, so that front end accessory
(1) its horizontal plane can be kept stable；
B: if user hand is horizontally oriented shake, regulator rotates Xiao Dou mechanism (4) regulation and control, axially regulates and controls motor
(401) work makes the follower link (317) of swing Xiao Dou mechanism (3) and drive connecting rod (318) rotate to horizontal direction, same with this
The axial micro-adjusting mechanism of Shi Qianduan (2) regulates and controls, and motor A (313) work drives front-end case (201) to rotate, and makes accessory (1) be adjusted to
The angle that user normally uses, when hand (or to the right) to the left shake, with reference to step A, swings the pendulum in Xiao Dou mechanism (3)
Dynamic driving mechanism (310) regulates and controls, and motor B (303) work drive motor B rotating shaft (304) rotates, and makes drive connecting rod (318)
(or to the left) swings to the right, thus carries out level and disappear and tremble regulation and control；
C: if user hand is in arbitrarily angled shake, regulator rotates Xiao Dou mechanism (4) regulation and control, axially regulates and controls motor
(401) work makes the follower link (317) of swing Xiao Dou mechanism (3) and drive connecting rod (318) rotate to and user shake side
To vertical plane, meanwhile the axial micro-adjusting mechanism in front end (2) regulation and control, make accessory (1) be adjusted to what user normally used
Angle, with reference to step A, the swing driving mechanism (310) swung in Xiao Dou mechanism (3) regulates and controls, motor B (303) work strip
Galvanic electricity machine B rotating shaft (304) rotates, and the rightabout making drive connecting rod (318) shake to user swings, amplitude of fluctuation and direction
After being detected by angular acceleration transducer (212), keep consistent with user hand shake angle, thus carry out at any angle
Disappear and tremble regulation and control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610406981.9A CN106108564B (en) | 2016-06-12 | 2016-06-12 | A kind of Parkinson's human hand held stabilizer and its disappear and tremble implementation method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610406981.9A CN106108564B (en) | 2016-06-12 | 2016-06-12 | A kind of Parkinson's human hand held stabilizer and its disappear and tremble implementation method |
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| Publication Number | Publication Date |
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| CN106108564A true CN106108564A (en) | 2016-11-16 |
| CN106108564B CN106108564B (en) | 2018-01-12 |
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| CN106773645A (en) * | 2016-12-02 | 2017-05-31 | 南京理工大学 | A kind of self-stabilization meal spoon |
| CN106726042A (en) * | 2016-12-13 | 2017-05-31 | 成都和煦医疗科技有限公司 | It is applied to the arm stabilization device of disturbances in patients with Parkinson disease |
| CN107874565A (en) * | 2017-12-28 | 2018-04-06 | 长沙理工大学 | A kind of stabilization feeding device |
| CN108201477A (en) * | 2016-12-16 | 2018-06-26 | 威里利生命科学有限责任公司 | For the handheld tool of leveling incoordinate movement |
| CN109050084A (en) * | 2018-09-25 | 2018-12-21 | 绵阳鼎飞益电子科技有限公司 | A kind of structure write for parkinsonism patient |
| CN109278440A (en) * | 2018-09-25 | 2019-01-29 | 绵阳鼎飞益电子科技有限公司 | A kind of system write for parkinsonism patient |
| CN110584428A (en) * | 2019-09-25 | 2019-12-20 | 北京科技大学 | Electronic anti-shake tableware |
| CN111466766A (en) * | 2020-04-24 | 2020-07-31 | 合肥工业大学 | Anti-shake chopsticks |
| CN111642955A (en) * | 2020-07-01 | 2020-09-11 | 上海健康医学院 | Intelligent spoon and using method thereof |
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| CN106773645A (en) * | 2016-12-02 | 2017-05-31 | 南京理工大学 | A kind of self-stabilization meal spoon |
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| US11097427B2 (en) | 2017-07-20 | 2021-08-24 | Boe Technology Group Co., Ltd. | Handheld device and hand tremor compensation method |
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| CN111466766A (en) * | 2020-04-24 | 2020-07-31 | 合肥工业大学 | Anti-shake chopsticks |
| CN111642955A (en) * | 2020-07-01 | 2020-09-11 | 上海健康医学院 | Intelligent spoon and using method thereof |
| CN111642955B (en) * | 2020-07-01 | 2024-06-11 | 上海健康医学院 | Intelligent spoon and use method thereof |
| CN113100618A (en) * | 2021-03-24 | 2021-07-13 | 清华大学 | Feeding anti-shake device |
| CN113100618B (en) * | 2021-03-24 | 2022-06-21 | 清华大学 | Feeding anti-shake device |
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