CN106108564B - A kind of Parkinson's human hand held stabilizer and its disappear and tremble implementation method - Google Patents
A kind of Parkinson's human hand held stabilizer and its disappear and tremble implementation method Download PDFInfo
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- CN106108564B CN106108564B CN201610406981.9A CN201610406981A CN106108564B CN 106108564 B CN106108564 B CN 106108564B CN 201610406981 A CN201610406981 A CN 201610406981A CN 106108564 B CN106108564 B CN 106108564B
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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
-
- 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's human hand held stabilizer and its disappear and tremble implementation method, the stabilizer includes accessory, front end axial direction micro-adjusting mechanism, swings Xiao Dou mechanisms, rotates Xiao Dou mechanisms and hand-held mechanism, accessory can be arbitrary form according to the different functional requirement of user, be arranged on by accessory mounting head in the micro-adjusting mechanism of front end axial direction.Three motor controls that the stabilizer is axially finely tuned by pitching, roll direction and front end, coordinate the control of master control borad algorithm, reach the effect for disappearing to user's hand and trembling, disappear and tremble the linkage that structure relies on parallel construction, it can realize that angle of the front end accessory in space does not change, keep the stabilization of accessory.The stabilizer can replace different front end accessories, increase the use range of patient, while simple in construction, easily controllable.
Description
Technical field
The present invention relates to a kind of human action servicing unit, more particularly to a kind of enhancing disturbances in patients with Parkinson disease or have and pa gold
The hand stabilising arrangement of gloomy similar symptoms user.
Background technology
It is disease caused by a kind of decline due to aging nerve to tremble, and the over-65s incidence of disease is 10.5%.Because of hand
Portion's shake causes the patient for being unable to normal life typically to have three classes, and the wherein over-65s Parkinson incidence of disease is 1.2%, this kind of trouble
Person can be controlled with drug therapy to be shaken, and maximally effective medicine is Madopar, is about 1~3 year according to state of an illness difference honeymooners, honey
Effect is fine in the phase moon, and medication is controllable 6~8 hours every time, but drug effect drastically declines after honeymooners, some patient per's clothes
Control 1 hour or so is only capable of after medicine, and the side effects such as drug allergy or drop in blood pressure occur after some patientss medication.According to system
Meter, Chinese disturbances in patients with Parkinson disease quantity are 200~4,000,000；At the same time idiopathic or essential tremor minimal invasive treatment be not by yet
With the puzzlement of degree, such patient that trembles does not have the specific cause of disease, without medicine and other effective treatment means yet.China suffers from present
There is the number of disease of trembling 2000~40,000,000, wherein 90% is idiopathic or essential tremor, they are trembled tired for a long time
Disturb.
Compared with drug therapy, disturbances in patients with Parkinson disease is helped or with the patient of situation of trembling by external mechanical devices
Eliminate 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 and actual bodily harm brought.
Publication No. CN204218557U patent, discloses a kind of electronic flutter-proof spoon, and the device passes through sensor sensing
The dither signal of people, and dither signal is sent to controller, controller makes the motor message of opposite direction according to people's shake
To X-axis controlled motor and Z axis controlled motor, X-axis controlled motor and the motion of Z axis controlled motor controls connecting rod.But before the device
End can only mount spoon, help user's feed, and use range is limited, and controls complex.
Publication No. CN203646979U patent, disclose a kind of stabilization spoon.The device passes through sensor and control panel
To detect and control user's hand to shake, device has the characteristics of simple in construction, easy to use.But same pin of the stabilization spoon
To the feeding problem of patient, and frequency and amplitude can not be trembled for patient disappearing for adjusting apparatus under different jitter amplitudes.
Publication No. CN204428223U patent, disclose a kind of device for mitigating vibrational arm and influenceing, the device energy
Different accessories is enough replaced, there is larger use range compared with most of anti-shake apparatus, but the device is during disappearing and trembling,
Its accessory can follow rotating shaft to be swung in space, can not keep the stabilization of accessory angle, reduce to disappear and tremble effect, and can not be manual
Device is disappeared and trembles effect and is adjusted.
The content of the invention
Present invention the defects of existing for existing structure, it is proposed that a kind of accessory can be replaced, by four-bar linkage structure
Move the Parkinson's human hand held stabilizer tremble, easily controllable that disappears.
A kind of Parkinson's human hand held stabilizer proposed by the present invention, trembled problem for disturbances in patients with Parkinson disease, in combination with
The deficiencies of existing the complicated of disclosed anti-shake apparatus, restricted application and design.The device passes through pitching, roll direction
And three motor controls that front end is axially finely tuned, coordinate the control of master control borad algorithm, reach the effect for disappearing to user's hand and trembling, disappear
The linkage that structure relies on parallel construction is trembled, can realize that angle of the front end accessory in space does not change, keep matching somebody with somebody
The stabilization of part.Device can replace different front end accessories, increase the use range of patient, while simple in construction, easily controllable.
The technical scheme that the present invention takes is：A kind of Parkinson's human hand held stabilizer, it is characterised in that including accessory,
Front end axial direction micro-adjusting mechanism, swing Xiao Dou mechanisms, rotation Xiao Dou mechanisms and hand-held mechanism, the accessory pass through accessory mounting head
In the micro-adjusting mechanism of front end axial direction, the magnet of accessory end is adsorbed by permanent magnet, front end axial direction micro-adjusting mechanism with
Swing Xiao Dou mechanisms to mechanically connect, swing Xiao Dou mechanisms and be connected with rotating Xiao Dou mechanisms by axially regulation and control electromechanics, rotated
Xiao Dou mechanisms are mechanically connected with hand-held mechanism by being connected shell, and the accessory is used to realize the different function of user, and swing disappears
Tremble mechanism to be used to drive longitudinal disappear of accessory progress to tremble, rotate Xiao Dou mechanisms and be used to drive swing Xiao Dou mechanisms and accessory progress roll
Direction, which disappears, trembles, and front end axial direction micro-adjusting mechanism is used for the direction of axial fine adjustment accessory, accessory is kept during device disappears and trembled
It is horizontal and stably.
Front end axial direction micro-adjusting mechanism includes front-end case, accessory mounting head, permanent magnet, bearing, inner ring gear, front end
Outer casing stand, angular acceleration transducer and gravity sensor.
The swing Xiao Dou mechanisms include swinging follower and swing driving mechanism.Wherein swinging follower includes electricity
Machine A, driven shell, follower link, drive connecting rod are swung, swinging driving mechanism includes motor mounting shell, motor B and motor B
Rotating shaft.
The rotation Xiao Dou mechanisms include axially regulation and control motor and connection shell, axially regulate and control motor and pass through fixing hole and motor
Installation shell phase is fixed, and connection shell is mutually fixed with hand-held mechanism.
The hand-held mechanism includes fixing band, hand-held housing, adjustment compensation button and control board, battery.
The 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 mutually adsorbed with permanent magnet, and accessory can be substituted for specifically various forms of replace according to the different life requirement of patient
For thing.
The angular acceleration transducer and gravity sensor are arranged on inside front-end case, for detecting the appearance of accessory in real time
State and device jitter conditions.
Inner ring gear in the micro-adjusting mechanism of the front end axial direction is arranged on inside front-end case, and with motor A little gear
It is mutually twisted, front end axial direction micro-adjusting mechanism is connected with swinging follower by central rotating shaft, and central rotating shaft passes through bearing point
Be not fixed on front-end case support with driven outer casing stand.
Motor A in the swing follower is fixed on by motor A mounting brackets to be swung on driven shell.Motor A
Driving pinion rotates during work, and then drives the inner ring pinion rotation in the micro-adjusting mechanism of front end axial direction, then drives front-end case
Rotate, so as to realize regulation and control of the front end axial direction micro-adjusting mechanism to accessory on roll direction, follower link and drive connecting rod difference
It is fixed on by connecting rod rotating shaft on axis hole, swings follower and be connected with swinging driving mechanism by follower link and drive connecting rod
Connect.
Motor B in the swing driving mechanism is fixed on motor mounting shell by motor B mounting holes, motor B rotating shafts
Through motor B shaft holes, and it is connected with drive connecting rod, follower link is consolidated by follower link mounting hole and motor mounting shell
Fixed, when motor B works, motor B axis of rotation drives drive connecting rod to rotate, and follower link follows drive connecting rod to rotate, and then band
Movable pendulum is moved follower and swung in the pitch direction, so as to realize the regulation and control for swinging Xiao Dou mechanisms on swaying direction.It is described from
Dynamic that quadric chain is formed 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, so as to ensure accessory disappear tremble during easy motion.
The rotor of axial direction regulation and control motor in the rotation Xiao Dou mechanisms is connected with motor mounting shell, and its motor is determined
Son connects with being connected shell phase, and connection shell is connected with hand-held housing, and it is hollow rotating shaft axially to regulate and control among motor, conveniently above
Control line by and be connected in control board below.
The hand-held mechanism includes fixing band, and it act as aiding in human hand to be fixed on device, control board and battery
It is installed in inside hand-held housing.Adjustment compensation button is installed in the hand-held housing, user can be allowed to adjust manually and disappeared
The parameters such as the amplitude trembled, the angle state of accessory, making to disappear, it is more accurate to tremble.
The swing Xiao Dou mechanisms can carry out left and right fractionation with hand-held mechanism, and overall structure is easy to fill along axisymmetrical
The installation put.
A kind of Parkinson's human hand held stabilizer, which disappears, shakes the implementation method of work, comprises the following steps：
A：If user's hand is in vertical direction shake, when hand (or upward) shake downwards, Parkinson's human hand
The swing driving mechanism held in stagger of stabilizer Xiao Dou mechanisms is regulated and controled, and motor B work drive motor B axis of rotation, makes master
After (or downward) swing upwards of dynamic connecting rod, amplitude of fluctuation and direction are detected by angular acceleration transducer, keep and user's hand
Portion's shake angle is consistent, and drive connecting rod is swung up driving follower link motion, because 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's hand is horizontally oriented shake, stabilizer rotates the regulation and control of Xiao Dou mechanisms, axially regulates and controls motor
Work makes the follower link of swing Xiao Dou mechanisms and drive connecting rod rotate to horizontal direction, at the same time front end axial direction micro-adjusting mechanism
Regulation and control, motor A work drive front-end case rotate, accessory is adjusted to the angle of user's normal use, when hand to the left (or
When shaking to the right), with reference to step A, the swing driving mechanism swung in Xiao Dou mechanisms is regulated and controled, motor B work drive motors B
Axis of rotation, making drive connecting rod, (or to the left) is swung to the right, and regulation and control are trembled so as to which carry out level disappears；
C：If user's hand is in any angle shake, stabilizer rotates the regulation and control of Xiao Dou mechanisms, axially regulates and controls motor
Work makes the follower link of swing Xiao Dou mechanisms and drive connecting rod rotate to the plane vertical with user's jitter direction, same with this
The micro-adjusting mechanism regulation and control of Shi Qianduan axial directions, make accessory be adjusted to the angle of user's normal use, and with reference to step A, swing, which disappears, trembles machine
Swing driving mechanism in structure is regulated and controled, and motor B work drive motor B axis of rotation, drive connecting rod is shaken to user
Opposite direction swing, after amplitude of fluctuation and direction are detected by angular acceleration transducer, keep and user's hand shake angle
Degree is consistent, and regulation and control are trembled so as to be disappeared at any angle.
Because above-mentioned technical proposal is used, the present invention has following advantages and effect compared with prior art：
The effect of the present invention is, adsorbs accessory by magnetic patch, it is possible to achieve the replacement of accessory, meet user's
The life requirement of different scenes；
The effect of the present invention is that there is device swing, rotation and front end axially to finely tune triple regulating and controlling mechanisms, pass through
The cooperation control of pitch orientation and roll direction bi-motor, it is possible to achieve any angle in orthogonal intersection space, which disappears, trembles；, pass through front end
Axial micro-adjusting mechanism can make accessory remain at suitable angle when being operated with user；
The effect of the present invention is that stabilizer pitching disappears the forms of motion trembled using four-bar linkage structure, and device, which disappears, to be trembled
Do not interfere with the change of front end accessory posture, so ensure disappear tremble during front end accessory be in Stability in Plane all the time；
The effect of the present invention is that device utilizes the various senser elements such as angular acceleration transducer, gravity sensor
The angle change of real-time detection apparatus jitter conditions and accessory, making to disappear, it is more accurate to tremble regulation and control.
The effect of the present invention is that stabilizer can manually be adjusted to disappear and the amplitude of trembling and matched somebody with somebody equipped with regulation compensation button
The parameters such as the residing angle of part；
The effect of the present invention is that stabilizer profile imitates gun-shaped structure, the comfort level that lifting user holds.
Brief description of the drawings
Fig. 1 is stabilizer overall structure diagram；
Fig. 2 is stabilizer entirety isometric view；
Fig. 3 is stabilizer overall top view；
Fig. 4 is stabilizer one-piece parts decomposition view；
Fig. 5 is front end micro-adjusting mechanism schematic diagram；
Fig. 6 is front end micro-adjusting mechanism assembling schematic diagram；
Fig. 7 is front-end case schematic diagram；
Fig. 8 is front end micro-adjusting mechanism sectional view；
Fig. 9 is the driven regulating and controlling mechanism schematic diagram of pitching；
Figure 10 is the driven regulating and controlling mechanism assembling schematic diagram of pitching；
Figure 11 is the driven shell diagram of pitching；
Figure 12 is pitching active control structural representation；
Figure 13 is axially to regulate and control motor schematic diagram；
Figure 14 is connection shell schematic diagram；
Figure 15 is hand-held mechanism schematic diagram；
Figure 16 is hand-held mechanism assembling schematic diagram；
Figure 17 is stabilizer sectional view；
Figure 18 is pitching action diagram；
Figure 19 is horizontal hunting action diagram；
Figure 20 is any angle wobbling action diagram.
In accompanying drawing, the part representated by each label：1st, accessory 101, magnet 2, front end axial direction micro-adjusting mechanism 3, swing disappear
Tremble mechanism 4, rotate Xiao Dou mechanisms 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, the soft set 302 of connection, motor mounting shell 303, motor B 304, motor B rotating shafts
305th, motor B mounting holes 306, motor B shaft holes 307, follower link mounting hole 311, the driven shell 312 of swing, motor A
Mounting bracket 313, motor A 314, little gear 315, central rotating shaft 316, connecting rod rotating shaft 317, follower link 318, active
Connecting rod 319, axis hole 3110, axially driven outer casing stand 401, regulation and control motor 402, connection shell 4021, connection shell support
4011st, fixing hole 4012, rotor 4013, motor stator 4014, hollow rotating shaft 501, fixing band 502, adjustment compensation
Button 503, hand-held housing 504, control board 505, battery
Embodiment
The present invention is described further below in conjunction with the accompanying drawings.
As shown in figures 1-4, a kind of Parkinson's human hand held stabilizer, including accessory 1, front end axial direction micro-adjusting mechanism 2, pendulum
Dong Xiaodou mechanisms 3, rotate Xiao Dou mechanisms 4 and hand-held mechanism 5.Before the accessory mounting head 202 is arranged on front-end case 201
Portion, permanent magnet 203 are placed in accessory mounting head 202, and the magnet 101 of the end of accessory 1 passes through accessory mounting head 202 and permanent magnet
203 phases are adsorbed, and accessory 1 can be substituted for specific various forms of substitution goods, such as spoon according to the different life requirement of patient
Son, fork, stylus, pencil etc..
Front end axial direction micro-adjusting mechanism 2 mechanically connects with swinging Xiao Dou mechanisms 3, swings Xiao Dou mechanisms 3 with rotating Xiao Dou mechanisms 4
Mechanically connected by axially regulation and control motor 401, rotate Xiao Dou mechanisms 4 and mechanically connected with hand-held mechanism 5 by being connected shell 402, institute
State accessory 1 to be used to realize the different function of user, swing Xiao Dou mechanisms 3 and trembled for driving accessory 1 to carry out longitudinal disappear, rotation disappears
Tremble mechanism 4 be used for drive swing Xiao Dou mechanisms 3 and accessory 1 carries out roll direction and disappeared to tremble, front end axial direction micro-adjusting mechanism 2 is used for axial direction
The direction of fine adjustment accessory 1, make the keep level and stably during device disappears and trembled of accessory 1.
As shown in figures 5-8, front end axial direction micro-adjusting mechanism 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.
The angular acceleration transducer 212 and gravity sensor 213 are arranged on inside front-end case 201, for detecting accessory 1 in real time
Posture and device jitter conditions.
Inner ring gear 205 in front end axial direction micro-adjusting mechanism 2 is arranged on inside front-end case 201, and with motor A
313 little gear 314 is mutually twisted, and front end axial direction micro-adjusting mechanism 2 is connected with swinging follower 300 by central rotating shaft 315
Connect, central rotating shaft 315 by bearing 204 be separately fixed on front-end case support 211 with driven outer casing stand 3110.
As shown in Fig. 9~11, the motor A 313 swung in follower 300 is solid by motor A mounting brackets 312
It is scheduled on and swings on driven shell 311, driving pinion 314 rotates when motor A 313 works, and then drives front end axial direction freqency fine adjustment machine
Inner ring gear 205 in structure 2 rotates, then drives front-end case 201 to rotate, so as to realize front end axial direction micro-adjusting mechanism 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 with swinging driving mechanism 310 by follower link 317 and drive connecting rod 318.
As shown in figure 12, the motor B 303 swung in driving mechanism 310 is fixed on electricity by motor B mounting holes 305
On machine mounting shell 302, motor B rotating shafts 304 pass through motor B shaft holes 306, and are connected with drive connecting rod 318, follower link
317 are fixed by follower link mounting hole 307 and motor mounting shell 302, and when motor B 303 works, motor B rotating shafts 304 rotate
Drive connecting rod 318 is driven to rotate, follower link 317 follows drive connecting rod 318 to rotate, and then drives swing follower 300 to exist
Swung on swaying direction, 3 regulation and control in the pitch direction of Xiao Dou mechanisms are swung so as to realize.
Four-bar linkage structure motion is kept between the follower link 317 and drive connecting rod 318, this disappear trembles forms of motion energy
Enough ensure front end accessory 1 horizontal plane keep angle it is constant, so as to ensure accessory 1 disappear tremble during easy motion.
As shown in figure 13, the rotor 4012 of the axial direction regulation and control motor 401 in the rotation Xiao Dou mechanisms 4 is pacified with motor
Dress shell 302 is connected, and its motor stator 4013 is connected with being connected shell 402, and connection shell 40 is connected with hand-held housing 503, axle
Be hollow rotating shaft 4014 among to regulation and control motor 401, facilitate control line above by and be connected to control board below
On 504.
As shown in figure 15, the hand-held mechanism 5 includes fixing band 501, and it act as aiding in human hand to be fixed on device, controls
Circuit board 504 and battery 505 processed are installed in inside hand-held housing 503.Be provided with the hand-held housing 503 adjustment compensation by
Button 502, user can be allowed to adjust the amplitude trembled that disappears manually, 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's human hand held stabilizer disappear shake make implementation method include following step
Suddenly：
1：If user's hand is in vertical direction shake, when hand (or upward) shake downwards, Parkinson's human hand
The swing driving mechanism 310 held in stagger of stabilizer Xiao Dou mechanisms 3 is regulated and controled, the work drive motor B rotating shafts of motor B 303
304 are rotated, and making drive connecting rod 318, (or downward) is swung upwards, after amplitude of fluctuation is detected by angular acceleration transducer 212, is protected
Hold with user's hand shake angle it is consistent, drive connecting rod 318 be swung up drive follower link 317 move, due to actively connecting
Bar 318 and follower link 317 keep four-bar linkage structure motion, so that front end accessory 1 can keep its horizontal plane stable；
2：If user's hand is horizontally oriented shake, stabilizer rotates Xiao Dou mechanisms 4 and regulated and controled, and axially regulates and controls motor
401 work make the follower link 317 of swing Xiao Dou mechanisms 3 and drive connecting rod 318 rotate to horizontal direction, at the same time front end axle
Regulate and control to micro-adjusting mechanism 2, the work of motor A 313 drives front-end case 201 to rotate, and accessory 1 is adjusted to user's normal use
Angle, when hand (or to the right) shake to the left, with reference to step 1, the pitching driving mechanism 310 swung in Xiao Dou mechanisms 3 enters
Row regulation and control, the drive motor B rotating shafts 304 that work of motor B 303 rotate, and making drive connecting rod 318, (or to the left) swings to the right, so as to enter
Flat disappear of water-filling trembles regulation and control；
3：If user's hand is in any angle shake, stabilizer rotates Xiao Dou mechanisms 4 and regulated and controled, and axially regulates and controls motor
401 work make the follower link 317 of swing Xiao Dou mechanisms 3 and drive connecting rod 318 rotate to it is vertical with user's jitter direction
Plane, at the same time front end axial direction micro-adjusting mechanism 2 regulate and control, accessory 1 is adjusted to the angle of user's normal use, with reference to step
1, the swing driving mechanism 310 swung in Xiao Dou mechanisms 3 is regulated and controled, and the work drive motor B of motor B 303 rotating shafts 304 rotate,
Drive connecting rod 318 is set to be swung to the opposite direction that user shakes, its amplitude of fluctuation passes through angular acceleration transducer 212 with direction
After detection, keep consistent with user's hand shake angle, regulation and control are trembled so as to be disappeared at any angle.
Specific embodiment described in the present embodiment is only to spirit explanation for example of the invention.Skill belonging to the present invention
The technical staff in art field can make various modifications or supplement to described specific embodiment or use similar side
Formula substitutes, but without departing from the spiritual of the present invention or surmounts scope defined in appended claims.
Although the front end accessory used in the present embodiment is spoon, identical position can be different raw according to patient
Demand living and be substituted for the different articles such as writing pen, typewriting device, vividly describe reconciliation using spoon just for the sake of more convenient
Release the essence of the present invention.Meanwhile the present invention is applicable but is not limited only to Parkinsonian symptoms patient, other have the use for feature of trembling
Person is also within the scope of the present invention benefits from.
Claims (9)
1. a kind of Parkinson's human hand held stabilizer, it is characterised in that including accessory (1), front end axial direction micro-adjusting mechanism (2), pendulum
Dong Xiaodou mechanisms (3), Xiao Dou mechanisms (4) and hand-held mechanism (5) are rotated, wherein the swing Xiao Dou mechanisms (3) include pendulum again
Dynamic follower (300) and swing driving mechanism (310), the accessory (1) are arranged on front end axle by accessory mounting head (202)
In to micro-adjusting mechanism (2), front end axial direction micro-adjusting mechanism (2) mechanically connects with swinging Xiao Dou mechanisms (3), swings Xiao Dou mechanisms (3)
Mechanically connected with rotating Xiao Dou mechanisms (4) by axially regulation and control motor (401), it is logical with hand-held mechanism (5) to rotate Xiao Dou mechanisms (4)
Cross connection shell (402) mechanical connection；
The different functional requirement of user can be achieved in the accessory (1), and swinging Xiao Dou mechanisms (3) can drive accessory (1) to carry out
Longitudinal direction disappears and trembled, and rotates Xiao Dou mechanisms (4) and can drive and swings Xiao Dou mechanisms (3) and accessory (1) carries out roll direction and disappeared to tremble, front end
Axial micro-adjusting mechanism (2) can axial fine adjustment accessory (1) direction, swing Xiao Dou mechanisms (3), rotate Xiao Dou mechanisms (4) and
The mutual cooperation of front end axial direction micro-adjusting mechanism (2), the posture of accessory (1) is adjusted in real time, realizes that accessory (1) translation disappears and trembles, make to match somebody with somebody
Part (1) eliminates the influence for swinging and trembling；
The swing follower (300) includes follower link (317), drive connecting rod (318), follower link (317) and active
Connecting rod forms quadric chain between (318), and stabilizer fore-end can be made to remain flat in plane in swing process
Row motion.
A kind of 2. Parkinson's human hand held stabilizer as claimed in claim 1, it is characterised in that the accessory mounting head
(202) front portion of front-end case (201) is arranged on, permanent magnet (203) is placed in accessory mounting head (202), and accessory (1) passes through
The magnet (101) of end mutually adsorbs with the permanent magnet (203) of accessory mounting head (202).
A kind of 3. Parkinson's human hand held stabilizer as claimed in claim 1, it is characterised in that front end axial direction freqency fine adjustment machine
Structure (2) includes front-end case (201), accessory mounting head (202), permanent magnet (203), bearing (204), inner ring gear (205), preceding
End housing support (211), angular acceleration transducer (212) and gravity sensor (213)；Wherein angular acceleration transducer
(212) and gravity sensor (213) is arranged on front-end case (201) inside, for detecting the posture and dress of accessory (1) in real time
Put jitter conditions；Inner ring gear (205) in front end axial direction micro-adjusting mechanism (2) is arranged on front-end case (201) inside, and
It is mutually twisted with motor A (313) little gear (314), front end axial direction micro-adjusting mechanism (2) passes through with swinging follower (300)
Central rotating shaft (315) is connected, central rotating shaft (315) by bearing (204) be separately fixed on front-end case support (211) with
On driven outer casing stand (3110), when motor A (313) works, front end little gear (314) is driven to rotate, and then drive internal ring gear
Take turns (205) to rotate, the rotation of inner ring gear (205) causes front-end case (201) to rotate, so as to realize that the axial direction of accessory (1) is micro-
Conditioning function.
A kind of 4. Parkinson's human hand held stabilizer as claimed in claim 1, it is characterised in that the swing follower
(300) also include motor A (313), swing driven shell (311)；Wherein motor A (313) passes through motor A mounting brackets (312)
It is fixed on and swings on driven shell (311), driving pinion (314) rotates when motor A (313) works, and then drives front end axle
Inner ring gear (205) into micro-adjusting mechanism (2) rotates, then drives front-end case (201) to rotate, so as to realize that front end is axially micro-
Regulation and control of the regulating mechanism (2) to accessory (1) on roll direction, follower link (317) and drive connecting rod (318) pass through connecting rod respectively
Rotating shaft (316) is fixed on axis hole (319), is swung follower (300) with swinging driving mechanism (310) and is passed through follower link
(317) it is connected with drive connecting rod (318).
A kind of 5. Parkinson's human hand held stabilizer as claimed in claim 1, it is characterised in that the swing driving mechanism
(310) motor mounting shell (302), motor B (303) and motor B rotating shafts (304) are included, wherein motor B (303) passes through motor B
Mounting hole (305) is fixed on motor mounting shell (302), and motor B rotating shafts (304) pass through motor B shaft holes (306), and with master
Dynamic connecting rod (318) is connected, and follower link (317) is fixed by follower link mounting hole (307) and motor mounting shell (302),
When motor B (303) works, motor B rotating shafts (304), which rotate, drives drive connecting rod (318) to rotate, and follower link (317) follows master
Dynamic connecting rod (318) is rotated, and then drives and swing follower (300) rotation, and the influence trembled is swung so as to eliminate.
A kind of 6. Parkinson's human hand held stabilizer as claimed in claim 1, it is characterised in that the rotation Xiao Dou mechanisms
(4) include axially regulation and control motor (401) and connection shell (402), axially regulate and control motor (401) and pass through fixing hole (4011) and motor
Mounting shell (302) is mutually fixed, and connection shell (402) is mutually fixed with hand-held mechanism (5), axially regulates and controls the rotor of motor (401)
(4012) it is connected with motor mounting shell (302), its motor stator (4013) is connected with being connected shell (402), connection shell (402)
It is connected with hand-held housing (503), it is hollow rotating shaft (4014) axially to regulate and control among motor (401), convenient control line above
By and be connected in control board (504) below.
A kind of 7. Parkinson's human hand held stabilizer as claimed in claim 1, it is characterised in that hand-held mechanism (5) bag
Fixing band (501), hand-held housing (503), adjustment compensation button (502) and control board (504), battery (505) are included, its
Middle fixing band (501) can aid in human hand to be fixed on device, and control board (504) and battery (505) are installed in hand-held
Shell (503) is internal, and adjustment compensation button (502) is arranged in hand-held housing (503), and user can be allowed to adjust to disappear manually and tremble
Amplitude, the parameter such as angle state of accessory (1), making to disappear, it is more accurate to tremble.
8. a kind of Parkinson's human hand held stabilizer as claimed in claim 1, it is characterised in that the accessory (1) can root
It is arbitrary form according to the different functional requirement of user.
The implementation method that shake is made 9. a kind of Parkinson's human hand held stabilizer disappears, it is characterised in that comprise the following steps：
A：If user's hand is in vertical direction shake, when hand (or upward) shake downwards, Parkinson's human hand keeps steady
Determine the swing driving mechanism (310) that device is swung in Xiao Dou mechanisms (3) to be regulated and controled, motor B (303) work drive motor B rotating shafts
(304) rotate, making drive connecting rod (318), (or downward) is swung upwards, and amplitude of fluctuation and direction pass through angular acceleration transducer
(212) after detecting, keep consistent with user's hand shake angle, drive connecting rod (318) is swung up driving follower link
(317) move, because 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's hand is horizontally oriented shake, stabilizer rotates Xiao Dou mechanisms (4) regulation and control, axially regulates and controls motor
(401) work makes the follower link (317) of swing Xiao Dou mechanisms (3) and drive connecting rod (318) rotate to horizontal direction, same with this
Shi Qianduan axial directions micro-adjusting mechanism (2) regulates and controls, and motor A (313) work drives front-end case (201) to rotate, and is adjusted to accessory (1)
The angle of user's normal use, when hand (or to the right) shake to the left, with reference to step A, swing the pendulum in Xiao Dou mechanisms (3)
Dynamic driving mechanism (310) is regulated and controled, and motor B (303) work drive motor B rotating shafts (304) rotate, and make drive connecting rod (318)
To the right (or to the left) swing, tremble regulation and control so as to which carry out level disappears；
C：If user's hand is in any angle shake, stabilizer rotates Xiao Dou mechanisms (4) regulation and control, axially regulates and controls motor
(401) work makes the follower link (317) of swing Xiao Dou mechanisms (3) and drive connecting rod (318) rotate to and user shake side
To vertical plane, at the same time front end axial direction micro-adjusting mechanism (2) regulation and control, make accessory (1) be adjusted to user's normal use
Angle, with reference to step A, the swing driving mechanism (310) swung in Xiao Dou mechanisms (3) is regulated and controled, motor B (303) work bands
Dynamic motor B rotating shafts (304) rotate, and drive connecting rod (318) is swung to the opposite direction that user shakes, amplitude of fluctuation and direction
After being detected by angular acceleration transducer (212), keep consistent with user's hand shake angle, so as to carry out at any angle
Disappear and tremble regulation and control.
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| 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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| 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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| CN106108564B true 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 |
| CN108201477B (en) * | 2016-12-16 | 2020-07-17 | 威里利生命科学有限责任公司 | Hand-held tool for leveling uncoordinated actions |
| CN107378959A (en) | 2017-07-20 | 2017-11-24 | 京东方科技集团股份有限公司 | A kind of hand held object and its hand jitter compensation method |
| CN107874565A (en) * | 2017-12-28 | 2018-04-06 | 长沙理工大学 | A kind of stabilization feeding device |
| CN109278440B (en) * | 2018-09-25 | 2020-06-02 | 绵阳鼎飞益电子科技有限公司 | System for be used for parkinson syndrome patient to write |
| CN109050084B (en) * | 2018-09-25 | 2019-07-16 | 绵阳鼎飞益电子科技有限公司 | A kind of structure write for parkinsonism patient |
| CN110584428A (en) * | 2019-09-25 | 2019-12-20 | 北京科技大学 | Electronic anti-shake tableware |
| CN111466766B (en) * | 2020-04-24 | 2022-06-24 | 合肥工业大学 | Anti-shake chopsticks |
| CN111642955B (en) * | 2020-07-01 | 2024-06-11 | 上海健康医学院 | Intelligent spoon and use method thereof |
| CN113100618B (en) * | 2021-03-24 | 2022-06-21 | 清华大学 | Feeding anti-shake device |
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| US5197846A (en) * | 1989-12-22 | 1993-03-30 | Hitachi, Ltd. | Six-degree-of-freedom articulated robot mechanism and assembling and working apparatus using same |
| CN201049073Y (en) * | 2007-04-26 | 2008-04-23 | 于亚楼 | Anti-shaking soup ladle for nursing patient |
| WO2010080012A2 (en) * | 2009-01-12 | 2010-07-15 | 주식회사 로보멕 | Panning and tilting apparatus |
| CN203646979U (en) * | 2013-11-21 | 2014-06-18 | 濮汝钦 | Anti-shake spoon |
| CN204428223U (en) * | 2014-12-05 | 2015-07-01 | 深圳市臻络科技有限公司 | A kind of device alleviating vibrational arm impact |
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