CN106112986B - Porter is with mechanical exoskeleton hand decompressor - Google Patents
Porter is with mechanical exoskeleton hand decompressor Download PDFInfo
- Publication number
- CN106112986B CN106112986B CN201610667433.1A CN201610667433A CN106112986B CN 106112986 B CN106112986 B CN 106112986B CN 201610667433 A CN201610667433 A CN 201610667433A CN 106112986 B CN106112986 B CN 106112986B
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- China
- Prior art keywords
- cylinder
- housing
- digitorum manus
- articulations digitorum
- forearm
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Classifications
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- 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
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- 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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Porter is with mechanical exoskeleton hand decompressor, 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, fully alleviates exerting oneself for porter's hand, and substantially increases the weight of carrying heavy goods, also improves 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 porter's mechanical exoskeletons
Hand decompressor.
Background technology
For the porter that often transports goods such as（Move worker, construction worker）For, often grasped with hand
Cargo, four finger stress in addition to 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.
The content of the invention
The present invention provides a kind of compact-sized, highly reliable, effect of easing stress to solve shortcoming of the prior art
The porter good, load-bearing is big is with mechanical exoskeleton hand decompressor.
In order to solve the above technical problems, the present invention adopts the following technical scheme that：Porter is subtracted with mechanical exoskeleton hand
Pressure device, 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, and forearm rotation drum outer wall is equipped with rotary spacing twice annulus fin in annular groove, preceding
Arm rotating cylinder front 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 big thumb
Refer to extending port, palm is placed to be sequentially connected with side by side by a set of single driving multi-bar linkage respectively at the top of cylinder places cylinder positioned at palm
The little finger of toe ectoskeleton component of front side, nameless ectoskeleton component, middle finger ectoskeleton component and forefinger ectoskeleton component；
Little finger of toe ectoskeleton component, nameless ectoskeleton component, the construction of middle finger ectoskeleton component and forefinger ectoskeleton component
It is identical；Forefinger ectoskeleton component includes the first articulations digitorum manus housing, the second articulations digitorum manus housing and the 3rd that set gradually from front to back
Articulations digitorum manus housing, single power output end for driving multi-bar linkage at the top of the first articulations digitorum manus housing with being connected, the second articulations digitorum manus housing
Rear end is extend into the first articulations digitorum manus housing, is riveted at left and right sides of the second articulations digitorum manus housing by first outside axis and the first articulations digitorum manus
Rotation connection, the 3rd articulations digitorum manus housing rear end are extend into the second articulations digitorum manus housing set up and down, the 3rd 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 is connected, and the closure of the 3rd articulations digitorum manus housing front end, the 3rd 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,
3rd articulations digitorum manus housing of nameless ectoskeleton component, middle finger ectoskeleton component and forefinger ectoskeleton component respectively with minitype pneumatic
It sets to bend there are one finger joint between tendon and pulls fastening mechanism.
Single driving multi-bar linkage includes imaginary axis driver mounting base, connecting plate, ball-and-socket bearing, imaginary axis driving cylinder, L
Type actuating arm, rear support arm, front support arm, the first drive rod, the second drive rod and connecting rod.
Imaginary axis driver mounting base bottom, which is fixed, is located at palm placement cylinder top rear, and the fixation of ball-and-socket bearing is located at palm
Front side at the top of cylinder is placed, imaginary axis driving cylinder is set along the longitudinal direction, and edge is rotatably connected in imaginary axis driver mounting base
The ball rod that vertical direction is set, ball rod upper end are fixedly connected with imaginary axis driving cylinder bottom, imaginary axis driving cylinder
Piston rod front end is hinged by spherical hinge and L-type actuating arm upper end, and front support arm lower end base is equipped with ball cup, and ball cup rotates
It is connected in ball-and-socket bearing, front support arm lower end is hinged with rear support arm front end, front support arm upper end and the middle part of L-type actuating arm
Vertex is hinged；Stiffener plate is equipped in the apex angle of L-type actuating arm；
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 connected 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 the 3rd articulations digitorum manus housing internal upper part, and the 3rd articulations digitorum manus housing top rear is along front and back
To equipped with slot hole, the outer surface at the top of the 3rd articulations digitorum manus housing, forepart and bottom is equipped with the guide groove with the perforation of 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 3rd 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 the 3rd 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 the 3rd 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 provides dynamic to imaginary axis driving cylinder
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 places the thumb extending port on cylinder, forefinger, middle finger, the third finger and little finger of toe through palm
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, the construction of middle finger ectoskeleton component and forefinger ectoskeleton component
It is identical, it is only that length is different, to adapt to the four of people fingers.Little finger of toe ectoskeleton component, nameless ectoskeleton component, middle finger
Ectoskeleton component be all connected with that there are one the identical single driving multi-bar linkages of structure on forefinger ectoskeleton component.During carrying heavy goods,
Start four imaginary axis driving cylinders simultaneously, the piston rod elongation of imaginary axis driving cylinder promotes 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
It rotates, 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 the 3rd articulations digitorum manus housing, the 3rd 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 the 3rd articulations digitorum manus housing to
Lower bending, four fingers are also with bending.The Anti-slip cover being arranged outside 3rd 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 security of carrying, the interior pressure sensing set of the 3rd 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.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, the connection structure of upper connecting ear and lower connecting ear, it is simple in structure and convenient for manufacture installation.Forearm fixed cylinder bag
Upper half cylinder and lower half cylinder are included, is so convenient for dismounting forearm rotating cylinder in forearm fixed cylinder.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 the 3rd 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 two-dimensional space.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 so convenient for Anti-slip cover set
Outside the 3rd 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 for porter's hand, and substantially increase carrying heavy goods
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, porter of the invention is with mechanical exoskeleton hand decompressor, including forearm fixed cylinder
With forearm rotating cylinder 2, forearm fixed cylinder front inner wall is equipped with twice annular groove 3, and 2 rear portion of forearm rotating cylinder is plugged in forearm and fixes
In cylinder, 2 outer wall of forearm rotating cylinder is equipped with rotary spacing twice annulus fin 4 in annular groove 3, and 2 front end of forearm rotating cylinder leads to
It crosses wrist universal joint 5 and is connected with palm placement cylinder 6, palm places 6 bottom left of cylinder or right side opening is equipped with thumb extending port 7,
Palm is placed 6 top of cylinder and is sequentially connected with side by side positioned at 6 front side of palm placement cylinder by a set of single driving multi-bar linkage respectively
Little finger of toe ectoskeleton component 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
13 and the 3rd articulations digitorum manus housing 14 of housing, 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 connected, and 14 rear end of the 3rd articulations digitorum manus housing extend into the second finger pass
It saves in housing 13,14 left and right sides of the 3rd articulations digitorum manus housing is rotated upwardly and downwardly by the second riveting axis 16 with the second articulations digitorum manus housing 13
Connection, the closure of 14 front end of the 3rd articulations digitorum manus housing, 14 outer cover of the 3rd articulations digitorum manus housing are 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, the 3rd articulations digitorum manus housing of middle finger ectoskeleton component 10 and forefinger ectoskeleton component 11
14 set respectively between minitype pneumatic tendon 20 there are one finger joint bending pull fastening mechanism.
Single driving multi-bar linkage includes imaginary axis driver mounting base 21, connecting plate 23, ball-and-socket bearing 24, imaginary axis driving
Cylinder 25, L-type actuating arm 27, rear support arm 28, front support arm 29, 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, and the fixation of ball-and-socket bearing 24 is set
It is placed in palm on front side of 6 top of cylinder, imaginary axis driving cylinder 25 is set along the longitudinal direction, is turned in imaginary axis driver mounting base 21
Dynamic to be connected with the ball rod 33 being arranged in vertical, 33 upper end of ball rod is fixedly connected with 25 bottom of imaginary axis driving cylinder,
The piston rod front end of imaginary axis driving cylinder 25 is hinged by spherical hinge 35 and 27 upper end of L-type actuating arm, 29 lower end of front support arm
Bottom is equipped with ball cup 36, and ball cup 36 is rotatably connected in ball-and-socket bearing 24, before 29 lower end of front support arm and rear support arm 28
End is hinged, and 29 upper end of front support arm and the middle part vertex of L-type actuating arm 27 are hinged；It is equipped with and adds in the apex angle of L-type actuating arm 27
Strengthening tendons plate 22, stiffener plate 22 play the intensity of top pressure and tension forward of enhancing L-type actuating arm 27, it is ensured that L-type actuating arm 27 is not
Deformation.
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 connected 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 the 3rd articulations digitorum manus housing, and the 3rd 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 the 3rd 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 3rd articulations digitorum manus housing, 14 inner wall 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 the 3rd 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 the 3rd 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 powering to controller, air pump and minitype pneumatic tendon 20, air pump provides power supply to imaginary axis driving cylinder 25
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 places the thumb extending port 7 on cylinder 6, forefinger, middle finger, the third finger through palm
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, be only that 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 promotes 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
3rd articulations digitorum manus housing 14 can be bent downwardly by sample, and the 3rd 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 the 3rd articulations digitorum manus housing 14,
Four fingers are also with bending.The Anti-slip cover 17 being arranged outside 3rd 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 security of carrying, the 14 interior pressure set of the 3rd articulations digitorum manus housing
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.It links closely after weight, four fingers are also suitably exerted oneself, and 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, the connection structure of upper connecting ear 54 and lower connecting ear 55, it is simple in structure and convenient for manufacture installation.
Forearm fixed cylinder includes upper half cylinder 1 and lower half cylinder 48, is so convenient for dismounting forearm rotating cylinder 2 in forearm fixed cylinder.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 by the stretching, extension of four fingers, while bracing wire 41, imaginary axis driving cylinder 25 also reset.
41 power of bracing wire that finger joint bending pulls fastening mechanism to use comes from minitype pneumatic tendon 20, outside the 3rd articulations digitorum manus housing 14
The Anti-slip cover 17 being arranged also plays an important role 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 two-dimensional space.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, so convenient for anti-skidding
Set 17 is sleeved on the 3rd articulations digitorum manus housing 14, and plays 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. porter is with mechanical exoskeleton hand decompressor, 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, forearm rotating cylinder
Outer wall is equipped with rotary spacing twice annulus fin in annular groove, and forearm rotating cylinder front end is connected with hand by wrist universal joint
The palm places cylinder, and palm places cylinder bottom left or right side opening is equipped with thumb extending port, and palm is placed passes through one respectively at the top of cylinder
The single driving multi-bar linkage of set is sequentially connected with little finger of toe ectoskeleton component, the nameless ectoskeleton placed positioned at palm on front side of cylinder side by side
Component, middle finger 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 3rd articulations digitorum manus that set gradually from front to back
Housing, single power output end for driving multi-bar linkage with being connected at the top of the first articulations digitorum manus housing, stretch by the second articulations digitorum manus housing rear end
Enter into the first articulations digitorum manus housing, riveted at left and right sides of the second articulations digitorum manus housing by first above and below axis and the first articulations digitorum manus housing
Rotation connection, the 3rd articulations digitorum manus housing rear end are extend into the second articulations digitorum manus housing, are passed through at left and right sides of the 3rd articulations digitorum manus housing
Second riveting axis is rotated upwardly and downwardly with the second articulations digitorum manus housing to be connected, the closure of the 3rd articulations digitorum manus housing front end, the 3rd 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 3rd 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, connecting plate, ball-and-socket bearing, imaginary axis driving cylinder, L-type and drives
Swing arm, rear support arm, front support arm, the first drive rod, the second drive rod and connecting rod；
Imaginary axis driver mounting base bottom, which is fixed, is located at palm placement cylinder top rear, and the fixation of ball-and-socket bearing is located at palm placement
Cylinder top front side, imaginary axis driving cylinder set, are rotatably connected in imaginary axis driver mounting base along vertical along the longitudinal direction
The ball rod that direction is set, ball rod upper end are fixedly connected with imaginary axis driving cylinder bottom, and imaginary axis drives the piston of cylinder
Bar front end is hinged by spherical hinge and L-type actuating arm upper end, and front support arm lower end base is equipped with ball cup, ball cup rotation connection
In ball-and-socket bearing, front support arm lower end is hinged with rear support arm front end, front support arm upper end and the middle part apex angle of L-type actuating arm
Place is hinged；Stiffener plate is equipped in the apex angle of L-type actuating arm；
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. porter according to claim 1 is with mechanical exoskeleton hand decompressor, it is characterised in that：With outside forefinger
The finger joint bending of bone component connection pulls fastening mechanism to include bracing wire fixed link, make contact cross bar and bracing wire, bracing wire fixed link water
Flat to be located on rear side of the 3rd articulations digitorum manus housing internal upper part, the 3rd articulations digitorum manus housing top rear is equipped with slot hole along the longitudinal direction, and the 3rd
The outer surface at the top of articulations digitorum manus housing, forepart and bottom is equipped with the guide groove with the perforation of slot hole front end, and cross bar level of making contact is set
Lower part in the second articulations digitorum manus housing, cross bar of making contact are equipped with guide groove, and bottom sets that there are one preceding mistakes in the first articulations digitorum manus housing
Spool, palm are placed bottom in cylinder and are evenly arranged in left-right direction there are four rear wire-passing tube, and forearm rotating cylinder bottom, which is equipped with, to be located at
Cable-through hole on front side of minitype pneumatic tendon, the front end of bracing wire are fixedly connected in bracing wire fixed link, and bracing wire passes through successively from front to back
Slot hole, guide groove, the guide groove on cross bar of making contact, preceding wire-passing tube, one of them rear wire-passing tube and cable-through hole, the rear end of bracing wire is crossed to consolidate
Surely it is connected on the power output end of minitype pneumatic tendon；The upper and lower part of 3rd articulations digitorum manus outer casing inner wall is respectively equipped with one
Pressure sensor.
3. porter according to claim 1 or 2 is with mechanical exoskeleton hand decompressor, it is characterised in that：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 link block, upper half cylinder
On link block and lower half cylinder on link block between be fastenedly connected by interior six square bolt.
4. porter according to claim 1 or 2 is with mechanical exoskeleton hand decompressor, it is characterised in that：Palm
It places and is equipped at the top of cylinder by four single cases that multi-bar linkage is driven to cover.
5. porter according to claim 3 is with mechanical exoskeleton hand decompressor, it is characterised in that：Wrist is universal
Section includes the rear side point of connecting cylinder, left engaging lug, right engaging lug, upper connecting ear and lower connecting ear, left engaging lug and right engaging lug
Be not fixedly connected 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 connection
The front side of ear and right engaging lug is rotatablely connected by the first axis pin, is respectively fixedly connected on front side of upper connecting ear and lower connecting ear
Palm is placed on the upper side and lower side outer surface at cylinder rear portion, the upper side and lower side of connecting cylinder respectively with upper connecting ear and lower connecting ear
Rear side be 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, four wire guides
It is arranged side by side in left-right direction, bracing wire is threaded through in wire guide.
6. porter according to claim 4 is with mechanical exoskeleton hand decompressor, it is characterised in that：Anti-slip cover is left
Side and right side are respectively equipped with a rectangle card hole, and the left side and right side of the 3rd articulations digitorum manus outer casing outer wall are respectively equipped with a fixture block,
The thickness of fixture block gradually increases from the front to the back, and Anti-slip cover, which is set in outside the 3rd articulations digitorum manus, to be put on and the fixture block of homonymy and rectangle card hole
It is engaged by clamping.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610667433.1A CN106112986B (en) | 2016-08-15 | 2016-08-15 | Porter is with mechanical exoskeleton hand decompressor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610667433.1A CN106112986B (en) | 2016-08-15 | 2016-08-15 | Porter is with mechanical exoskeleton hand decompressor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106112986A CN106112986A (en) | 2016-11-16 |
| CN106112986B true CN106112986B (en) | 2018-05-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610667433.1A Expired - Fee Related CN106112986B (en) | 2016-08-15 | 2016-08-15 | Porter is with mechanical exoskeleton hand decompressor |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108972517A (en) * | 2018-09-19 | 2018-12-11 | 天津大衍天成科技有限公司 | A kind of pure manpower exoskeleton lower limbs system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201510382U (en) * | 2009-11-05 | 2010-06-23 | 武汉大学 | Multi-finger exoskeleton manipulator |
| CN202844043U (en) * | 2012-11-01 | 2013-04-03 | 上海理工大学 | Dynamic outer skeleton hand function rehabilitation training aid |
| CN103315880A (en) * | 2013-06-03 | 2013-09-25 | 上海交通大学 | Hand external skeleton rehabilitation system based on memory alloy driving |
| CN203935304U (en) * | 2014-06-20 | 2014-11-12 | 袁宁 | A kind of Novel bionic ectoskeleton wire-control type artificial limb |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE8434357U1 (en) * | 1984-11-23 | 1985-04-04 | Richter, Hans, 8900 Augsburg | GRIPPER HAND AT A MANIPULATOR |
| WO2015095459A1 (en) * | 2013-12-18 | 2015-06-25 | Board Of Regents, The University Of Texas System | Robotic finger exoskeleton |
-
2016
- 2016-08-15 CN CN201610667433.1A patent/CN106112986B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201510382U (en) * | 2009-11-05 | 2010-06-23 | 武汉大学 | Multi-finger exoskeleton manipulator |
| CN202844043U (en) * | 2012-11-01 | 2013-04-03 | 上海理工大学 | Dynamic outer skeleton hand function rehabilitation training aid |
| CN103315880A (en) * | 2013-06-03 | 2013-09-25 | 上海交通大学 | Hand external skeleton rehabilitation system based on memory alloy driving |
| CN203935304U (en) * | 2014-06-20 | 2014-11-12 | 袁宁 | A kind of Novel bionic ectoskeleton wire-control type artificial limb |
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| Publication number | Publication date |
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| CN106112986A (en) | 2016-11-16 |
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