CN106420268A - Lasso driving mechanism with two degrees of freedom - Google Patents

Lasso driving mechanism with two degrees of freedom Download PDF

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Publication number
CN106420268A
CN106420268A CN201611109147.XA CN201611109147A CN106420268A CN 106420268 A CN106420268 A CN 106420268A CN 201611109147 A CN201611109147 A CN 201611109147A CN 106420268 A CN106420268 A CN 106420268A
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CN
China
Prior art keywords
rope
packed
flute profile
tightening apparatus
motor
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Granted
Application number
CN201611109147.XA
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Chinese (zh)
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CN106420268B (en
Inventor
孙晓颖
肖飞云
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Harbin Institute of Technology
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Harbin Institute of Technology
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Priority to CN201611109147.XA priority Critical patent/CN106420268B/en
Publication of CN106420268A publication Critical patent/CN106420268A/en
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Publication of CN106420268B publication Critical patent/CN106420268B/en
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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285—Hand
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • A61H2201/1638—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A61H2205/065—Hands

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Animal Behavior & Ethology (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Pain & Pain Management (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Epidemiology (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention relates to a lasso driving mechanism with two degrees of freedom. One end of a forearm part of the lasso driving mechanism is connected with a wrist elbow connector; one end of a wrist joint radial deviation/ulnar deviation moving part is hinged with a first mounting spindle head while the other end is connected with one end of a wrist joint flexion and extension moving part; a first encoder mounting rack and a first encoder are successively arranged on a second mounting spindle head from inside to outside; the first encoder mounting rack is hinged with the second mounting spindle head and is fixedly connected with a first wrist joint; the other end of the wrist joint flexion and extension moving part is hinged with a joint shaft; one end of a palm part is fixedly arranged on the joint shaft while the other end is connected with a palm support part; a second encoder is arranged on the joint shaft; the left ends of a first rope and a second rope are both fixedly arranged on a first output wheel while the right ends are fixed on the wrist joint radial deviation/ulnar deviation moving part; and the left ends of a third rope and a fourth rope are fixedly arranged on a second output wheel while the right ends are fixed on the palm part. The lasso driving mechanism with two degrees of freedom is used for auxiliary and rehabilitation training of the aged and the disabled.

Description

A kind of lasso trick drive mechanism with two-freedom
Technical field
The present invention relates to a kind of lasso trick drive mechanism is and in particular to a kind of lasso trick drive mechanism with two-freedom.
Background technology
Human body carpal joint is a very flexible joint, in design during limb wearable ectoskeleton carpal joint, should try one's best Mitigate the weight of ectoskeleton wrist joint structure.At present, carpal joint ectoskeleton is typically all and motor is arranged on the arm of people, from And ensure that motor is closely connected with driving joint, increase the ectoskeleton weight that arm bears, this is one for human arm Individual very big burden.Furthermore in addition it is also necessary to accordingly driven juxtra-articular design motor installing structure, motor installing structure can contract The ectoskeletal movable scope of little carpal joint.
Content of the invention
The present invention is to solve the problems, such as that existing ectoskeleton carpal joint overall weight is heavier and range of motion is little, And a kind of lasso trick drive mechanism with two-freedom is provided.
A kind of lasso trick drive mechanism with two-freedom of the present invention, its composition include the first rope, the second rope, the Three ropes, the 4th rope, backboard, flute profile substrate, the first pre-tightening apparatus, the second pre-tightening apparatus, the 3rd pre-tightening apparatus, the 4th pretension Device, the first rope set, the second rope set, the 3rd rope set, the 4th rope set, the first output wheel, the second output wheel, the first electricity Machine, the second motor, joint shaft, wrist elbow connector, forearm part, carpal joint oar partially/the inclined moving component of chi, carpal joint flexion and extension Part, palm component, palmrest part, the first encoder, the first encoder mounting rack, second encoder, clutch shaft bearing, the second axle Hold, 3rd bearing, one end of forearm part is connected with wrist elbow connector, and the other end of forearm part is provided with the first installation spindle nose, Carpal joint oar partially/one end of the inclined moving component of chi installs spindle nose to pass through clutch shaft bearing hinged with first, carpal joint oar is inclined/chi transports partially Dynamic component is provided with the second installation spindle nose, and the first encoder mounting rack and the first encoder are successively set on the second peace from the inside to the outside Dress spindle nose on, the first encoder mounting rack with second install spindle nose by second bearing hinged, the first encoder mounting rack another One end and forearm part are connected, carpal joint oar partially/one end of the other end of the inclined moving component of chi and carpal joint flexion and extension part Connect, the carpal joint flexion and extension part other end and joint shaft are hinged by 3rd bearing, and one end of palm component is packed in pass On nodal axisn, the other end of palm component is connected with palmrest part, and second encoder is arranged on joint shaft, the second installation spindle nose Axis is vertically arranged with the axis of joint shaft, and flute profile substrate is arranged on before backboard, the first rope, the second rope, the 3rd rope Rope and the 4th rope are from top to bottom successively set in the groove of flute profile substrate, and the left end of the first rope passes through the left end of flute profile substrate It is packed on the first output wheel, the right-hand member of the first rope is fixed on carpal joint after passing through the right-hand member of flute profile substrate, the first rope set Oar partially/the inclined moving component of chi on, the left end of the second rope passes through the left end of flute profile substrate to be packed on the first output wheel, the second rope The right-hand member of rope be fixed on after passing through the right-hand member of flute profile substrate, the second rope set carpal joint oar partially/the inclined moving component of chi on, the 3rd rope The left end of rope passes through the left end of flute profile substrate to be packed on the second output wheel, and the right-hand member of the 3rd rope passes through the right side of flute profile substrate It is fixed on palm component behind end, the 3rd rope set, it is defeated that the left end of the 4th rope passes through the left end of flute profile substrate to be packed in second Go out on wheel, the right-hand member of the 4th rope is fixed on palm component after passing through the right-hand member of flute profile substrate, the 4th rope set, the first output Wheel is packed on the output shaft of the first motor, and the second output wheel is packed on the output shaft of the second motor, and the first pre-tightening apparatus are solid It is contained on the first rope, the second pre-tightening apparatus are packed on the second rope, and the 3rd pre-tightening apparatus are packed on the 3rd rope, the 4th Pre-tightening apparatus are packed on the 4th rope.
Technical scheme has the advantages that：
First, the carpal joint of the present invention has two degree of freedom, respectively carpal joint bend and stretch degree of freedom and carpal joint oar partially/chi is inclined Degree of freedom.The present invention utilizes rope structure, and motor power is delivered to carpal joint, drives the motion of carpal joint both direction.For Be not in backlash phenomenon in guarantee transmission process, backboard also disposed lasso trick pre-tightening apparatus on rope it is ensured that Rope, in transmission process, is always maintained at tension so that stable drive is reliable..Each degree of freedom corresponds to two ropes, protects Card stretch/shrink motion.The present invention contribute to increase the ectoskeletal range of movement of carpal joint so that auxiliary human body wrist joints sporting can Reach that space is bigger, more meet the actual range of movement of people's carpal joint.
2nd, because rope drive inevitably has friction, thus motor output torque is lost.Motor output torque There is a hysteresis phenomenon with being delivered to carpal moment, so, in wrist joint, two encoders (i.e. the first coding is installed Device 26 and second encoder 28), two encoders are used for measuring the joint rotation angle of reality, as the feedback letter of control system Number it is ensured that whole system according to anticipation track run.
3rd, first pre-tightening apparatus 7 of the present invention, the second pre-tightening apparatus 8, the 3rd pre-tightening apparatus 9 and the 4th pre-tightening apparatus 10 Can ensure that lasso trick transmission occurs without backlash phenomenon,
4th, present configuration is compact, can be widely used for old man, people with disability's life auxiliary and rehabilitation training.
Brief description
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is that the first pre-tightening apparatus 7, the master of the second pre-tightening apparatus 8, the 3rd pre-tightening apparatus 9 and the 4th pre-tightening apparatus 10 cut open View；
Fig. 3 is that the overall structure axonometric chart of the present invention (removes joint shaft 19, wrist elbow connector 20, forearm part 21, wrist pass Section oar partially/the inclined moving component of chi 22, carpal joint flexion and extension part 23, palm component 24, palmrest part 25, the first encoder 26th, the first encoder mounting rack 27, second encoder 28, clutch shaft bearing 29 second bearing 30 and 3rd bearing 31).
Fig. 4 be joint shaft 19, wrist elbow connector 20, forearm part 21, carpal joint oar partially/the inclined moving component of chi 22, wrist close Section flexion and extension part 23, palm component 24, palmrest part 25, the first encoder 26, the first encoder mounting rack 27, second are compiled The annexation axonometric chart of code device 28, clutch shaft bearing 29 second bearing 30 and 3rd bearing 31；
Fig. 5 be wrist elbow connector 20, forearm part 21, carpal joint oar partially/the inclined moving component of chi 22, carpal joint flexion and extension Part 23, palm component 24, the annexation solid of palmrest part 25, the first encoder 26 and the first encoder mounting rack 27 Figure；
Fig. 6 is the A-A sectional view of Fig. 5；
Fig. 7 is the structural perspective of flute profile substrate 6.
Specific embodiment
Specific embodiment one：In conjunction with Fig. 1～Fig. 7, present embodiment is described, present embodiment include the first rope 1, the Two ropes 2, the 3rd rope 3, the 4th rope 4, backboard 5, flute profile substrate 6, the first pre-tightening apparatus 7, the second pre-tightening apparatus the 8, the 3rd Pre-tightening apparatus 9, the 4th pre-tightening apparatus 10, first rope set 11, second rope set the 12, the 3rd rope set the 13, the 4th rope set 14, First output wheel 15, the second output wheel 16, the first motor 17, the second motor 18, joint shaft 19, wrist elbow connector 20, forethiga Part 21, carpal joint oar partially/the inclined moving component of chi 22, carpal joint flexion and extension part 23, palm component 24, palmrest part 25, the One encoder 26, the first encoder mounting rack 27, second encoder 28, clutch shaft bearing 29, second bearing 30,3rd bearing 31, One end of forearm part 21 is connected with wrist elbow connector 20 by connecting element, and the other end of forearm part 21 is provided with the first installation Spindle nose 21-1, carpal joint oar partially/one end of the inclined moving component of chi 22 with first to install spindle nose 21-1 hinged by clutch shaft bearing 29, Carpal joint oar partially/the inclined moving component of chi 22 is provided with the second installation spindle nose 22-1, the first encoder mounting rack 27 and the first coding Device 26 is successively set on the second installation spindle nose 22-1 from the inside to the outside, and the first encoder mounting rack 27 and second installs spindle nose 22-1 Hinged by second bearing 30, the other end of the first encoder mounting rack 27 and forearm part 21 are connected, carpal joint oar partially/chi is inclined The other end of moving component 22 is connected with one end of carpal joint flexion and extension part 23 by connecting element, carpal joint flexion and extension Part 23 other end and joint shaft 19 are hinged by 3rd bearing 31, and one end of palm component 24 is packed on joint shaft 19, handss The other end of metacarpus part 24 is connected with palmrest part 25 by connecting element, and second encoder 28 is arranged on joint shaft 19, the The axis of two installation spindle nose 22-1 is vertically arranged with the axis of joint shaft 19, and flute profile substrate 6 is arranged on before backboard 5, flute profile Substrate 6 is affixed with backboard 5, and the first rope 3, the second rope 4, the 3rd rope 5 and the 4th rope 6 are from top to bottom successively set on groove In the groove of shape substrate 6, the left end of the first rope 1 passes through the left end of flute profile substrate 6 to be packed on the first output wheel 15, the first rope 1 right-hand member be fixed on after passing through the right-hand member of flute profile substrate 6, the first rope set 11 carpal joint oar partially/the inclined moving component of chi 22 on, the The left end of two ropes 2 passes through the left end of flute profile substrate 6 to be packed on the first output wheel 15, and the right-hand member of the second rope 2 passes through flute profile Be fixed on after the right-hand member of substrate 6, the second rope set 12 carpal joint oar partially/the inclined moving component of chi 22 on, the left end of the 3rd rope 3 is worn The left end crossing flute profile substrate 6 is packed on the second output wheel 16, the right-hand member of the 3rd rope 3 pass through the right-hand member of flute profile substrate 6, the 3rd It is fixed on palm component 24 after rope set 13, the left end of the 4th rope 4 passes through the left end of flute profile substrate 6 to be packed in the second output On wheel 16, the right-hand member of the 4th rope 4 is fixed on palm component 24 after passing through the right-hand member of flute profile substrate 6, the 4th rope set 14, the One output wheel 15 is packed on the output shaft of the first motor 17, and the second output wheel 16 is packed on the output shaft of the second motor 18, First pre-tightening apparatus 7 are packed on the first rope 1, and the second pre-tightening apparatus 8 are packed on the second rope 2, and the 3rd pre-tightening apparatus 9 are solid It is contained on the 3rd rope 3, the 4th pre-tightening apparatus 10 are packed on the 4th rope 4.
Specific embodiment two：In conjunction with Fig. 6, present embodiment is described, present embodiment is the axle of the second installation spindle nose 22-1 Line and the dead in line of the first installation spindle nose 21-1.Other compositions and annexation are identical with specific embodiment one.
Specific embodiment three：In conjunction with Fig. 2, present embodiment is described, present embodiment is that the first pre-tightening apparatus 7, second are pre- Tight device 8, the 3rd pre-tightening apparatus 9 and the 4th pre-tightening apparatus 10 are by U-shaped seat 7-1, left U-shaped connector 7-2, right U-shaped connector 7-3, left pretension bolt 7-4, right pretension bolt 7-5, left screw 7-6, right screw 7-7, left nut 7-8 and right nut 7-9, U-shaped The U-shaped opening of seat 7-1 is arranged forward, and the left side of U-shaped seat 7-1 is provided with left-hand thread hole 7-1-1, in the right edge of U-shaped seat 7-1 It is provided with the left and right end that right-hand thread hole 7-1-2, left U-shaped connector 7-2 and right U-shaped connector 7-3 are symmetricly set on U-shaped seat 7-1, and The U-shaped opening of left U-shaped connector 7-2 and right U-shaped connector 7-3 is respectively facing outside, and left U-shaped connector 7-2 is provided with and a left side Screwed hole 7-1-1 just to left pretension bolt pass through hole 7-2-1, right U-shaped connector 7-3 with right-hand thread hole 7-1-2 is just provided with To right pretension bolt pass through hole 7-3-1, left pretension bolt 7-4 passes through left pretension bolt to pass through hole 7-2-1 and left-hand thread hole 7- 1-1 is threaded, and right pretension bolt 7-5 is threadeded with right-hand thread hole 7-1-2 through right pretension bolt by hole 7-3-1, left Screw 7-6 vertically pass through left U-shaped connector 7-2 on two U-shaped sides after threaded with left nut 7-8, right screw 7-7 is vertical Threaded with right nut 7-9 through after two U-shaped sides on right U-shaped connector 7-3.
Left screw 7-6 and right screw 7-7 is used for connecting the rope at two ends, and rope can be tied a knot around this screw.Left nut 7-8 and right nut 7-9 is used for fixing screws, prevents toner screw.Left nut 7-8 and right nut 7-9 is additionally operable to adjust two ends rope The relative displacement of rope, thus playing pretension effect, due to the pulling force of rope, so, left U-shaped connector 7-2 and right U-shaped connector 7-3 is close to left pretension bolt 7-4 and right pretension bolt 7-5, and left pretension bolt 7-4 with the connecting hole of left U-shaped connector 7-2 is Through hole, the connecting hole of right pretension bolt 7-5 and right U-shaped connector 7-3 is through hole, so, during adjusting, the rope at two ends Will not rotate with the rotation of left pretension bolt 7-4 and right pretension bolt 7-5.
Other compositions and annexation are identical with specific embodiment one or two.
Specific embodiment four：In conjunction with Fig. 7, present embodiment is described, present embodiment is that flute profile substrate 6 includes substrate 6- 1st, two gusset 6-2, two connecting plate 6-3 and several sleeve pipe 6-4, two gusset 6-2 are arranged on before substrate 6-1, two Connecting plate 6-3 is arranged on after substrate 6-1, and the vertical centrage N-N of two gusset 6-2 opposing substrate 6-1 is symmetrical arranged, and Inwardly, the side of each gusset 6-2 is from top to bottom sequentially provided with several bridle port 6-2-1, each bridle port to the interior angle of gusset 6-2 The outside of 6-2-1 corresponds to a sleeve pipe 6-4, and sleeve pipe 6-4 is connected with gusset 6 outside.Sleeve pipe 6-4 passes through for rope.Other Composition and annexation are identical with specific embodiment three.
Specific embodiment four：In conjunction with Fig. 2, present embodiment is described, present embodiment is that lasso trick drive mechanism also includes One motor mounting rack 32 and the second motor mounting rack 33, the first motor 17 is packed on the first motor mounting rack 32, the first motor Installing rack 32 is packed on backboard 5, and the second motor 18 is packed on the second motor mounting rack 33, and the second motor mounting rack 33 is fixedly mounted with On backboard 5.Other compositions and annexation are identical with specific embodiment four.
The operation principle of the present invention：
First motor 17 drive carpal oar partially/chi moves partially：By the first rope 1 and the second rope 2 realize oar partially/ Chi moves partially, the first encoder 26 measure actual oar partially/the inclined movement angle of chi.First motor 17, drives 15 turns of the first output wheel Dynamic, by the first rope 1 and the second rope 2 drive carpal joint oar partially/the inclined moving component of chi 22 rotates, using the first pre-tightening apparatus 7th, the second pre-tightening apparatus 8 carry out pretension to the first rope 1 and the second rope 2, carpal joint oar partially/the inclined moving component of chi 22 drives wrist Joint flexion and extension part 23, palm component 24, palmrest part 25 around carpal joint oar partially/the inclined moving component of chi 22 rotary shaft turns Dynamic, palmrest part 25 is connected with human body palm, thus realize carpal joint drive human body palm around carpal joint realize oar inclined/chi is inclined Motion.
Second motor 18 drives carpal flexion and extension：Flexion and extension is realized by the 3rd rope 3 and the 4th rope 4, Second encoder 28 measures actual flexion and extension.Second motor 18, drives the second output wheel 16 to rotate, by the 3rd rope 3, the Four rope 4 drives palm component 24 to rotate around rotary shaft, is restricted to the 3rd using the 3rd pre-tightening apparatus 9, the 4th pre-tightening apparatus 10 Rope 3, the 4th rope 4 carry out pretension, and palm component drives palmrest part 25 around the rotary shaft rotation of palm component, palmrest part 25 are connected with human body palm, thus carpal joint drives human body palm to realize flexion and extension around carpal joint.

Claims (5)

1. a kind of lasso trick drive mechanism with two-freedom it is characterised in that：Described lasso trick drive mechanism includes the first rope (1), the second rope (2), the 3rd rope (3), the 4th rope (4), backboard (5), flute profile substrate (6), the first pre-tightening apparatus (7), Second pre-tightening apparatus (8), the 3rd pre-tightening apparatus (9), the 4th pre-tightening apparatus (10), the first rope set (11), the second rope set (12), the 3rd rope set (13), the 4th rope set (14), the first output wheel (15), the second output wheel (16), the first motor (17), the second motor (18), joint shaft (19), wrist elbow connector (20), forearm part (21), carpal joint oar partially/chi moves partially Part (22), carpal joint flexion and extension part (23), palm component (24), palmrest part (25), the first encoder (26), first Encoder mounting rack (27), second encoder (28), clutch shaft bearing (29), second bearing (30), 3rd bearing (31), forethiga One end of part (21) is connected with wrist elbow connector (20), and the other end of forearm part (21) is provided with the first installation spindle nose (21-1), Carpal joint oar partially/one end of the inclined moving component of chi (22) with first install spindle nose (21-1) by clutch shaft bearing (29) hinged, wrist Joint oar partially/the inclined moving component of chi (22) is provided with the second installation spindle nose (22-1), the first encoder mounting rack (27) and first Encoder (26) is successively set on the second installation spindle nose (22-1) from the inside to the outside, and the first encoder mounting rack (27) is pacified with second Dress spindle nose (22-1) is hinged by second bearing (30), and the other end of the first encoder mounting rack (27) is solid with forearm part (21) Even, carpal joint oar partially/other end of the inclined moving component of chi (22) is connected with one end of carpal joint flexion and extension part (23), wrist pass Section flexion and extension part (23) other end and joint shaft (19) are hinged by 3rd bearing (31), and one end of palm component (24) is solid It is contained on joint shaft (19), the other end of palm component (24) is connected with palmrest part (25), second encoder (28) is arranged on On joint shaft (19), the axis of the second installation spindle nose (22-1) is vertically arranged with the axis of joint shaft (19), and flute profile substrate (6) sets Put before backboard (5), the first rope (3), the second rope (4), the 3rd rope (5) and the 4th rope (6) from top to bottom according to In the secondary groove being arranged on flute profile substrate (6), it is defeated that the left end of the first rope (1) passes through the left end of flute profile substrate (6) to be packed in first Go out on wheel (15), the right-hand member of the first rope (1) is fixed on wrist and closes after passing through the right-hand member of flute profile substrate (6), the first rope set (11) Section oar partially/the inclined moving component of chi (22) on, it is defeated that the left end of the second rope (2) passes through the left end of flute profile substrate (6) to be packed in first Go out on wheel (15), the right-hand member of the second rope (2) is fixed on wrist and closes after passing through the right-hand member of flute profile substrate (6), the second rope set (12) Section oar partially/the inclined moving component of chi (22) on, it is defeated that the left end of the 3rd rope (3) passes through the left end of flute profile substrate (6) to be packed in second Go out on wheel (16), the right-hand member of the 3rd rope (3) is fixed on palm after passing through the right-hand member of flute profile substrate (6), the 3rd rope set (13) On part (24), the left end of the 4th rope (4) passes through the left end of flute profile substrate (6) to be packed on the second output wheel (16), and the 4th The right-hand member of rope (4) is fixed on palm component (24) after passing through the right-hand member of flute profile substrate (6), the 4th rope set (14), and first Output wheel (15) is packed on the output shaft of the first motor (17), and the second output wheel (16) is packed in the output of the second motor (18) On axle, the first pre-tightening apparatus (7) are packed on the first rope (1), and the second pre-tightening apparatus (8) are packed on the second rope (2), the Three pre-tightening apparatus (9) are packed on the 3rd rope (3), and the 4th pre-tightening apparatus (10) are packed on the 4th rope (4).
2. a kind of lasso trick drive mechanism with two-freedom according to claim 1 it is characterised in that：Described second peace The axis of dress spindle nose (22-1) and first installs the dead in line of spindle nose (21-1).
3. a kind of lasso trick drive mechanism with two-freedom according to claim 1 and 2 it is characterised in that：First is pre- Tight device (7), the second pre-tightening apparatus (8), the 3rd pre-tightening apparatus (9) and the 4th pre-tightening apparatus (10) are by U-shaped seat (7-1), left U Shape connector (7-2), right U-shaped connector (7-3), left pretension bolt (7-4), right pretension bolt (7-5), left screw (7-6), the right side Screw (7-7), left nut (7-8) and right nut (7-9),
The U-shaped opening of U-shaped seat (7-1) is arranged forward, and the left side of U-shaped seat (7-1) is provided with left-hand thread hole (7-1-1), U-shaped seat (7-1) right edge is provided with right-hand thread hole (7-1-2), and left U-shaped connector (7-2) and right U-shaped connector (7-3) are symmetrical arranged At the left and right end of U-shaped seat (7-1), and the U-shaped opening of left U-shaped connector (7-2) and right U-shaped connector (7-3) is respectively facing outward Side, left U-shaped connector (7-2) be provided with left-hand thread hole (7-1-1) just to left pretension bolt pass through hole (7-2-1), right U-shaped Connector (7-3) be provided with right-hand thread hole (7-1-2) just to right pretension bolt pass through hole (7-3-1), left pretension bolt (7- 4) threadeded with left-hand thread hole (7-1-1) through left pretension bolt by hole (7-2-1), right pretension bolt (7-5) passes through the right side Pretension bolt is threadeded with right-hand thread hole (7-1-2) by hole (7-3-1), and left screw (7-6) vertically passes through left U-shaped connector (7-2) threaded with left nut (7-8) behind two U-shaped sides on, right screw (7-7) vertically passes through right U-shaped connector (7-3) On two U-shaped sides after threaded with right nut (7-9).
4. a kind of lasso trick drive mechanism with two-freedom according to claim 3 it is characterised in that：Described flute profile base Plate (6) includes substrate (6-1), two gussets (6-2), two connecting plates (6-3) and several sleeve pipe (6-4), two gussets (6-2) It is arranged on before substrate (6-1), two connecting plates (6-3) are arranged on after substrate (6-1), two gussets (6-2) are relatively The vertical centrage (N-N) of substrate (6-1) is symmetrical arranged, and the interior angle of gusset (6-2) is inwardly, the side of each gusset (6-2) From top to bottom it is sequentially provided with several bridle ports (6-2-1), the outside of each bridle port (6-2-1) corresponds to a sleeve pipe (6-4), and Sleeve pipe (6-4) is connected with outside gusset (6).
5. a kind of lasso trick drive mechanism with two-freedom according to claim 4 it is characterised in that：Described lasso trick passes Motivation structure also includes the first motor mounting rack (32) and the second motor mounting rack (33), and the first motor (17) is packed in the first motor On installing rack (32), the first motor mounting rack (32) is packed on backboard (5), and the second motor (18) is packed in the second motor and installs On frame (33), the second motor mounting rack (33) is packed on backboard (5).
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