CN109893400A - A kind of finger flex movement mechanism for ectoskeleton hand healing robot - Google Patents
A kind of finger flex movement mechanism for ectoskeleton hand healing robot Download PDFInfo
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- CN109893400A CN109893400A CN201910308079.7A CN201910308079A CN109893400A CN 109893400 A CN109893400 A CN 109893400A CN 201910308079 A CN201910308079 A CN 201910308079A CN 109893400 A CN109893400 A CN 109893400A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 62
- 230000033001 locomotion Effects 0.000 title claims abstract description 44
- 230000035876 healing Effects 0.000 title claims abstract description 15
- 210000003811 finger Anatomy 0.000 claims abstract description 86
- 210000003813 thumb Anatomy 0.000 claims abstract description 40
- 230000000694 effects Effects 0.000 claims description 30
- 244000309464 bull Species 0.000 claims description 10
- 239000003292 glue Substances 0.000 claims description 9
- 239000000203 mixture Substances 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 4
- 241000282376 Panthera tigris Species 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 239000004744 fabric Substances 0.000 abstract 1
- 238000005452 bending Methods 0.000 description 20
- 238000010586 diagram Methods 0.000 description 17
- 210000001145 finger joint Anatomy 0.000 description 4
- 210000004932 little finger Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 208000011092 Hand injury Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 210000003484 anatomy Anatomy 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 210000002435 tendon Anatomy 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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Abstract
The present invention provides a kind of finger flex movement mechanisms for ectoskeleton hand healing robot, the ectoskeleton hand healing robot includes the fixed plate (1) for being covered on the metacarpal area of single hand, the finger flex movement mechanism is provided with and four refer to and one-to-one first bend and stretch unit (A) respectively and corresponding with thumb second bend and stretch unit (B), first, which bends and stretches unit (A) and second, bends and stretches unit (B) and is all made of linear actuator as power, and it is equipped with the transmission mechanism being made of rod piece, so, the flexor of finger can be completed with less components for finger flex movement mechanism provided by the invention, it thus can reduce the complexity of equipment entirety, and, by by first bend and stretch unit (A) and second bend and stretch unit (B) be mounted on covering metacarpal area fixed plate on, so that component cloth It sets more compact, is efficiently utilized the confined space of the back of the hand, Wrist-sport will not be formed and be interfered after wearing.
Description
Technical field
The present invention relates to technical field of medical equipment, more particularly to a kind of hand for ectoskeleton hand healing robot
Refer to flexion and extension mechanism.
Background technique
Manpower is that an anatomical structure is extremely fine and be easy to organ by wound, and clinically hand injury is postoperative needs more
Trouble is referred into fixed Mr. Yu's position 3~4 weeks, thus often causes to deposit and forms fibre modification in the extravasated blood of intra-articular peri-musculotendinous,
And the adhesion of finger-joint and tendon is directly resulted in, this will largely influence the function of patient hand.
Ectoskeleton hand healing robot is a kind of wearable device of help patient progress hand passive rehabilitation training, but
The finger flex movement mechanism that current ectoskeleton hand healing robot uses is typically more complicated, not easy to install, Er Qiezhan
It is larger with space, therefore, finger flex movement mechanism how is improved, in order to install and reduce occupied space, becomes ability
Field technique personnel technical problem urgently to be resolved.
Summary of the invention
In view of this, the present invention provides a kind of finger flex movement mechanism for ectoskeleton hand healing robot,
The finger flex movement mechanism reduces the complexity of equipment entirety, has the advantages that characteristics of compact layout, space utilization rate are high, makes
Used time, which is easily installed and will not be formed to Wrist-sport, interferes.
In order to achieve the above object, the invention provides the following technical scheme:
A kind of finger flex movement mechanism for ectoskeleton hand healing robot, the ectoskeleton hand rehabilitation machines device
People includes the fixed plate for being covered on the metacarpal area of single hand, and the finger flex movement mechanism includes:
Four set first be mounted in four finger areas of the fixed plate bends and stretches unit, and four sets described first are bent and stretched unit and four
Finger corresponds respectively, described in every set first bend and stretch unit and include along finger extension direction arrangement first straight line driver and
The first activity bow being made of the rod piece being hinged, the front end of the first activity bow are hinged with for clamping in corresponding finger
Middle section on first refer to folder, it is described first activity bow rear end and the fixed plate it is hinged, and it is described first activity bow relatively
The rotational motion of the fixed plate is in the same plane with the movement of curling of corresponding finger；
Corresponding with thumb second bends and stretches unit, and described second to bend and stretch unit include along the second of thumb extension direction arrangement
The second activity bow that linear actuator and the rod piece by being hinged are constituted, the second activity bow is by successively hinged auxiliary
Bar, drive rod and formed by lever, the drive rod is the driving lever of the second activity bow, it is described by lever far from the drive
One end of lever, which is hinged with, refers to folder for clamping second on the remote section of thumb, the auxiliary rod far from the drive rod one
End is mounted on the thumb area of the fixed plate, and one end of the second straight line driver and the thumb area of the fixed plate are hinged,
The other end and the drive rod are hinged.
Preferably, in above-mentioned finger flex movement mechanism, described first bends and stretches unit including being arranged in the fixed plate
Four finger areas close to front position hold-down support and that four finger areas are arranged in is living close to the firm banking of back-end location, described first
Double rocker mechanism of the dynamic bow by an interlocking bar and one using the hold-down support as rack forms, one end hinge of the interlocking bar
The connecting rod of the double rocker mechanism is connect, the other end hinged described first refers to folder；
One end of the first straight line driver hingedly on the fixed base, the other end and the double rocker mechanism
Any rocking bar as driving lever is hinged.
Preferably, in above-mentioned finger flex movement mechanism, the first straight line driver and the firm banking conduct
Whole to be replaced by steering engine, the swing arm of the steering engine is connect by connecting rod with the rocking bar as driving lever of the double rocker mechanism.
Preferably, in above-mentioned finger flex movement mechanism, described first bends and stretches unit including being arranged in the fixed plate
Four refer to areas close to front position hold-down support, it is described first activity bow by an interlocking bar and one with the hold-down support
It is formed for the double rocker mechanism of rack, the connecting rod of the hinged double rocker mechanism in one end of the interlocking bar, the hinged institute of the other end
State the first finger folder；
One end of the first straight line driver is mounted on the hold-down support, and the other end is connected to the double rocking lever machine
On the connecting rod of structure, and the connecting rod of the double rocker mechanism is the driving lever of the first activity bow.
Preferably, in above-mentioned finger flex movement mechanism, the connecting rod of the double rocker mechanism is close to the interlocking bar
One end is provided with limited block, when the link rotatable of the relatively described double rocker mechanism of the interlocking bar, the interlocking bar with it is described
It stops operating after limited block contact.
Preferably, in above-mentioned finger flex movement mechanism, the interlocking bar is by being mutually inserted bull and mother together
Part composition, the bull are connected with the parent part with elastic-buckle structure, and the connecting rod of the bull and the double rocker mechanism is cut with scissors
It connects, the parent part and described first refers to that folder is hinged.
Preferably, in above-mentioned finger flex movement mechanism, the drive rod close to it is described by one end of lever be to include
The tiger's jaw shape of two ends, one of end with it is described hinged by lever, another end is described relatively described by lever
Drive rod plays position-limiting action during rotating.
Preferably, described to include ontology by lever and pass through nothing with the ontology in above-mentioned finger flex movement mechanism
The ball head connecting rod of head screw connection, the ball end of the ball head connecting rod and described second refer to that folder is hinged, the ontology and the driving
Bar is hinged.
It preferably, further include the flexible glue fingerstall covered on thumb in above-mentioned finger flex movement mechanism, the flexible glue refers to
Set includes and thumb closely saves corresponding first set section and corresponding second set of section is far saved with thumb, the first set section and described the
It is connected between two sets of sections by software rib, the surface of second set of section has multiple protrusions, and the second finger fixture has multiple
The hole being connect with the male cooperation.
Preferably, in above-mentioned finger flex movement mechanism, the first straight line driver and second straight line driving
The sensor for dynamometry is provided on device.
According to the above technical scheme it is found that the finger flex provided by the present invention for ectoskeleton hand healing robot is transported
In motivation structure, it is provided with and four refers to and one-to-one first bend and stretch unit respectively and corresponding with thumb second bend and stretch unit,
First, which bends and stretches unit and second, bends and stretches unit and is all made of linear actuator as power, and is equipped with the driver being made of rod piece
Structure, in this way, the flexor of finger can be completed with less components for finger flex movement mechanism provided by the invention, thus
Can reduce the complexity of equipment entirety, moreover, by by first bend and stretch unit and second bend and stretch unit be mounted on covering the palm
In the fixed plate in bone region, so that component layout is more compact, the confined space of the back of the hand is efficiently utilized, it will not opponent after wearing
Wrist moves to form interference.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of finger flex fitness machine for ectoskeleton hand healing robot that the embodiment of the present invention one provides
The schematic diagram of structure；
Fig. 2 is the schematic diagram for bending and stretching unit A corresponding with middle finger in Fig. 1；
Fig. 3 is to bend and stretch unit A shown in Fig. 2 middle finger is made to be in the schematic diagram under extended state；
Fig. 4 is to bend and stretch unit A shown in Fig. 2 middle finger is made to be in the schematic diagram under bending state；
Fig. 5 is the schematic diagram for bending and stretching unit A in finger flex movement mechanism provided by Embodiment 2 of the present invention；
Fig. 6 is the schematic diagram for bending and stretching unit A in the finger flex movement mechanism that the embodiment of the present invention three provides；
Fig. 7 is the schematic diagram for bending and stretching unit B corresponding with thumb in Fig. 1；
Fig. 8 is to bend and stretch unit B shown in Fig. 7 thumb is made to be in the schematic diagram under extended state；
Fig. 9 is to bend and stretch unit B shown in Fig. 7 thumb is made to be in the schematic diagram under bending state；
Figure 10 is the dismantling schematic diagram of part 55 in Fig. 1；
Figure 11 is the schematic diagram of part 41 in Fig. 7；
Figure 12 is the schematic diagram of part 51 in Fig. 2.
In the figure, it is marked as
A, unit is bent and stretched；B, unit is bent and stretched；
1, fixed plate；11, index finger；12, middle finger；121, it is saved in middle finger；122, middle finger closely saves；13, nameless；14, little finger of toe；
21, thumb far saves；22, thumb closely saves；
31, auxiliary rod；32, drive rod；33, by lever；331, ontology；332, ball head connecting rod；34, linear actuator；
41, refer to folder；42, refer to folder；43, flexible glue fingerstall；
51, linear actuator；511, telescopic rod；52, rocking bar；53, rocking bar；54, connecting rod；541, limited block；55, it links
Bar；551, bull；552, parent part；
61, hold-down support；62, firm banking；
7, steering engine；71, swing arm；8, connecting rod；9, sensor.
Specific embodiment
In order to make it easy to understand, the invention will be further described with reference to the accompanying drawing.
Embodiment one
Referring to Fig. 1 and Fig. 2, Fig. 1 is a kind of for ectoskeleton hand healing robot of the offer of the embodiment of the present invention one
The schematic diagram of finger flex movement mechanism, Fig. 2 are the schematic diagrames for bending and stretching unit A corresponding with middle finger in Fig. 1.Ectoskeleton hand health
Multiple robot includes fixed plate 1, and fixed plate 1 includes four referring to areas and thumb area, and when use is covered on the metacarpal area of single hand.For
Convenient for showing the use state of finger flex movement mechanism, simulated in the finger and finger joint, such as figure of people in figure with rod piece
Shown in index finger 11, middle finger 12, the third finger 13, little finger of toe 14, thumb far save 21, thumb and closely saves that save 121 in 22, middle finger close with middle finger
Section 122.
The finger flex movement mechanism that embodiment one provides includes being mounted on bending and stretching in fixed plate 1 unit A and to bend and stretch list
First B, wherein bending and stretching unit A is four sets, and four positioned at fixed plate 1 refer to area, refer to four and correspond respectively, and bending and stretching unit B is one
Set, it is corresponding with thumb.
Four sets to bend and stretch unit A structure identical, and only size is slightly distinguished, and working principle is duplicate, therefore with middle finger
12 corresponding bend and stretch are illustrated for unit A, as shown in Fig. 2, bending and stretching unit A includes the straight line along finger extension direction arrangement
The activity bow that driver 51 and the rod piece by being hinged are constituted, the front end of activity bow is hinged with to be saved in middle finger for clamping
Finger folder 42 on 121, the rear end of activity bow and fixed plate 1 are hinged, and rotational motion and the middle finger 12 of activity bow opposing fixed plate 1
Movement of curling be in the same plane.
In example 1, bending and stretching unit A includes being arranged in the four of fixed plate 1 to refer to area close to the hold-down support of front position
61 refer to areas close to the firm banking 62 of back-end location with being arranged in four, and activity bow is by an interlocking bar 55 and a double rocker mechanism
Composition, it further includes rocking bar 52, rocking bar 53 and connecting rod 54 which, which is rack with hold-down support 61, and the one of interlocking bar 55
Articulated linkage 54 is held, the other end hingedly refers to folder 42.One end of linear actuator 51 is hinged on firm banking 62, the other end and double
The rocking bar 53 as driving lever of rocker device is hinged.
It is to bend and stretch unit A shown in Fig. 2 middle finger is made to be in the schematic diagram under extended state referring to Fig. 3 and Fig. 4, Fig. 3, Fig. 4 is
Unit A is bent and stretched shown in Fig. 2 makes middle finger be in the schematic diagram under bending state.When the telescopic rod 511 of linear actuator 51 extends,
Digital flexion；When the telescopic rod 511 of linear actuator 51 retracts, finger extension.
It is the schematic diagram for bending and stretching unit B corresponding with thumb in Fig. 1 referring to Fig. 7, bending and stretching unit B includes protracting along thumb
The activity bow that the linear actuator 34 and the rod piece by being hinged of direction arrangement are constituted, activity bow is by successively hinged auxiliary rod
31, it drive rod 32 and is formed by lever 33.Wherein, drive rod 32 is the driving lever of activity bow, by lever 33 far from drive rod 32
One end be hinged with for clamping the finger folder 41 far saved on 21 in thumb, auxiliary rod 31 is mounted on solid far from one end of drive rod 32
The thumb area of fixed board 1, one end of linear actuator 34 and the thumb area of fixed plate 1 are hinged, and the other end and drive rod 32 are hinged, drive
Lever 32 rotates under the action of linear actuator 34 around with the hinge joint of auxiliary rod 31, and bending and stretching unit B stretches thumb
State is as shown in figure 8, and bending and stretching unit B keeps the curved state of thumb as shown in Figure 9.
Refer to provided by the present invention for being provided in the finger flex movement mechanism of ectoskeleton hand healing robot with four
Bend and stretch correspondingly respectively unit A and it is corresponding with thumb bend and stretch unit B, bend and stretch unit A and bend and stretch unit B and be all made of directly
Line drive is equipped with the transmission mechanism being made of rod piece as power, in this way, finger flex movement mechanism provided by the invention
The flexor of finger can be completed with less components, it is thus possible to the complexity of equipment entirety is reduced, moreover, passing through
Unit A will be bent and stretched and bend and stretch unit B and be mounted in the fixed plate 1 of covering metacarpal area, so that component layout is more compact, efficiently
The confined space of the back of the hand is utilized, Wrist-sport will not be formed and be interfered after wearing.
Embodiment two
Embodiment two devise it is a kind of it is different from embodiment one bend and stretch unit A, the difference is that, linear actuator 51
Arrangement is different, as shown in figure 5, in example 2, in order to install linear actuator 51, bending and stretching unit A and being only provided with admittedly
Determine support 61, eliminate firm banking 62, one end of linear actuator 51 is mounted on hold-down support 61, and the other end is connected to double
On the connecting rod 54 of rocker device, at this point, connecting rod 54 becomes the driving lever of activity bow.
Embodiment three
Embodiment three devise it is a kind of it is different from embodiment one bend and stretch unit A, the difference is that, driving activity bow fortune
Dynamic power unit is different, and in example 1, power unit is linear actuator 51, and in the third embodiment, linear drives
Device 51 and firm banking 62 are replaced by steering engine 7 as a whole, as shown in fig. 6, the swing arm of steering engine 7 passes through connecting rod 8 and double rocking lever machine
The rocking bar 53 as driving lever of structure connects.
In the above various embodiments, bends and stretches unit A and bend and stretch the linkage effect promotion finger that unit B relies on finger-joint
Bending refers to folder 41 and refers to that the thrust of 42 pairs of fingers of folder may cause finger-joint and turn over during exercise, such in order to effectively avoid
The occurrence of, for unit A is bent and stretched, limited block can be set close to one end of interlocking bar 55 in the connecting rod 54 of double rocker mechanism
541, as shown in figure 3, interlocking bar 55 stops operating after contacting with limited block 541 when interlocking bar 55 is rotated relative to connecting rod 54；Needle
To bending and stretching unit B, can by drive rod 32 close to be designed as by one end of lever 33 include two ends tiger's jaw shape, such as Fig. 9
It is shown, one of end with it is hinged by lever 33, another end is during by lever 33 with respect to the rotation of drive rod 32
Play position-limiting action.
For the ease of replacing the finger folder bent and stretched in unit A, to adapt to the different finger of thickness, interlocking bar 55 can be designed
For detachable structure, as shown in figs. 2 and 10, interlocking bar 55 can be by being mutually inserted bull 551 together and 552 groups of parent part
At bull 551 is connected with parent part 552 with elastic-buckle structure, and the connecting rod 54 of bull 551 and double rocker mechanism is hinged, parent part 552
42 are pressed from both sides hingedly with referring to.
For the ease of bend and stretch unit B adapt to different length thumb, can will be designed as by lever 33 it is length-adjustable, such as
Shown in Fig. 7, by the ball head connecting rod that lever 33 includes ontology 331 and is connect with ontology 331 by grub screw (in figure unmarked)
332, the ball end of ball head connecting rod 332 and finger folder 41 are hinged, and ontology 331 and drive rod 32 are hinged.
In specific practical application, is bent and stretched in unit B in order to preferably be fixed to thumb, can be set one and cover in thumb
Flexible glue fingerstall 43 on finger, as shown in Figure 8 and Figure 11, in the present embodiment, flexible glue fingerstall 43 includes that 22 are closely saved with thumb is corresponding
First set section and 21 corresponding second set of section are far saved with thumb, second set of section is referred to that folder 41 covers in figure, second set of section
Be linked together with first set section by software rib, the surface of second set of section has multiple protrusions, and refer to folder 41 have it is multiple and this
The hole of a little male cooperation connections.In other examples, the clamp for referring to folder 41 (can also be covered into the of flexible glue fingerstall 43
The part of two sets of sections) remove, only retain with the part hinged by lever 33, and by second set of section of this part and flexible glue fingerstall 43
It is bonded together, such second set of section just presss from both sides 41 original clip body sections instead of finger.
In order to measure the stress of finger tips, the sensor for dynamometry, sensor can be set on linear actuator
It is typically mounted at the tail portion of linear actuator, as shown in figure 12, linear actuator 51 is provided with close to one end of firm banking 62
Sensor 9.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
A variety of modifications of embodiment will be readily apparent to those skilled in the art, it is as defined herein general
Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, the present invention will not
It can be restricted to embodiment illustrated herein, and be to fit to consistent with the principles and novel features disclosed in this article most wide
Range.
Claims (10)
1. a kind of finger flex movement mechanism for ectoskeleton hand healing robot, the ectoskeleton hand healing robot
Fixed plate (1) including being covered on the metacarpal area of single hand characterized by comprising
Four set first be mounted in four finger areas of the fixed plate (1) is bent and stretched unit (A), and four sets described first are bent and stretched unit
(A) refer to four and correspond respectively, first to bend and stretch unit (A) include along the first straight of finger extension direction arrangement described in every set
The first activity bow that line drive (51) and the rod piece by being hinged are constituted, the front end of the first activity bow, which is hinged with, to be used for
Clamping first on the middle section of corresponding finger refers to folder (42), the rear end and the fixed plate (1) of the first activity bow hingedly,
And the rotational motion that the relatively described fixed plate (1) is bent in first activity is generally aligned in the same plane with the movement of curling of corresponding finger
It is interior；
Corresponding with thumb second bends and stretches unit (B), and described second to bend and stretch unit (B) include along the of thumb extension direction arrangement
The second activity bow that two linear actuators (34) and the rod piece by being hinged are constituted, the second activity bow is by successively hinged
Auxiliary rod (31), drive rod (32) and the driving lever bent by lever (33) composition, the drive rod (32) for second activity,
Described be hinged with by lever (33) far from the one end of the drive rod (32) refers to folder for clamping second on the remote section of thumb
(41), the auxiliary rod (31) is mounted on the thumb area of the fixed plate (1) far from the one end of the drive rod (32), and described the
One end of two linear actuators (34) and the thumb area of the fixed plate (1) are hinged, and the other end and the drive rod (32) are hinged.
2. finger flex movement mechanism according to claim 1, which is characterized in that described first, which bends and stretches unit (A), includes
It is arranged and refers to that area refers to area close to rear end position close to the hold-down support (61) of front position and setting four the four of the fixed plate (1)
The firm banking (62) set, the first activity bow is by an interlocking bar (55) and one with the hold-down support (61) for rack
Double rocker mechanism composition, the connecting rod (54) of the hinged double rocker mechanism in one end of the interlocking bar (55), the other end is hinged
Described first refers to folder (42)；
One end of the first straight line driver (51) is hinged on the firm banking (62), the other end and the double rocking lever machine
Any rocking bar as driving lever of structure is hinged.
3. finger flex movement mechanism according to claim 2, which is characterized in that the first straight line driver (51) and
The firm banking (62) is replaced by steering engine (7) as a whole, and the swing arm of the steering engine (7) is shaken by connecting rod (8) with described pair
The rocking bar as driving lever of linkage connects.
4. finger flex movement mechanism according to claim 1, which is characterized in that described first, which bends and stretches unit (A), includes
It is arranged and refers to area close to the hold-down support (61) of front position the four of the fixed plate (1), the first activity bow is joined by one
Lever (55) and one forms with the double rocker mechanism that the hold-down support (61) are rack, and one end of the interlocking bar (55) is cut with scissors
The connecting rod (54) of the double rocker mechanism is connect, the other end hinged described first refers to folder (42)；
One end of the first straight line driver (51) is mounted on the hold-down support (61), and the other end is connected to described pair and shakes
On the connecting rod (54) of linkage, and the connecting rod (54) of the double rocker mechanism is the driving lever of the first activity bow.
5. the finger flex movement mechanism according to any one of claim 2~4, which is characterized in that the double rocking lever
The connecting rod (54) of mechanism is provided with limited block (541) close to the one end of the interlocking bar (55), when the interlocking bar (55) is opposite
When connecting rod (54) rotation of the double rocker mechanism, the interlocking bar (55) stops operating after contacting with the limited block (541).
6. finger flex movement mechanism according to claim 5, which is characterized in that the interlocking bar (55) is by being mutually inserted
Bull (551) and parent part (552) composition together, the bull (551) and the parent part (552) are connected with elastic-buckle structure
It connects, hingedly, the parent part (552) and described first refers to folder to the connecting rod (54) of the bull (551) and the double rocker mechanism
(42) hinged.
7. finger flex movement mechanism according to claim 1, which is characterized in that the drive rod (32) is close to the quilt
One end of lever (33) is the tiger's jaw shape for including two ends, one of end and it is described by lever (33) hingedly, another
End it is described by lever (33) relative to the drive rod (32) rotate during from position-limiting action.
8. finger flex movement mechanism according to claim 1, which is characterized in that described by lever (33) includes ontology
(331) and with the ontology (331) ball head connecting rod (332) being connect by grub screw, the ball end of the ball head connecting rod (332)
Refer to folder (41) hingedly with described second, the ontology (331) and the drive rod (32) are hinged.
9. finger flex movement mechanism according to claim 1, which is characterized in that further include that the flexible glue covered on thumb refers to
It covers (43), the flexible glue fingerstall (43) includes, and and thumb closely saves (22) corresponding first set section and that (21) are far saved with thumb is corresponding
Second set of section, the first set section and second set of section are linked together by software rib, and the surface of second set of section has
Multiple protrusions, described second refers to that folder (41) has multiple holes connecting with the male cooperation.
10. the finger flex movement mechanism according to any one of claim 7~9, which is characterized in that described first is straight
The sensor (9) for dynamometry is provided on line drive (51) and the second straight line driver (34).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910308079.7A CN109893400B (en) | 2019-04-17 | 2019-04-17 | Finger bending and stretching movement mechanism for exoskeleton hand rehabilitation robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910308079.7A CN109893400B (en) | 2019-04-17 | 2019-04-17 | Finger bending and stretching movement mechanism for exoskeleton hand rehabilitation robot |
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| CN109893400A true CN109893400A (en) | 2019-06-18 |
| CN109893400B CN109893400B (en) | 2024-04-05 |
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| CN201910308079.7A Active CN109893400B (en) | 2019-04-17 | 2019-04-17 | Finger bending and stretching movement mechanism for exoskeleton hand rehabilitation robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111135011A (en) * | 2019-11-04 | 2020-05-12 | 苏州瑞迈康健医疗科技有限公司 | Closed-chain cascade type wearable exoskeleton hand robot |
| WO2021066677A1 (en) * | 2019-10-04 | 2021-04-08 | Общество С Ограниченной Ответственностью "Экзоатлет" | Exoskeleton actuator |
| CN112656636A (en) * | 2019-10-15 | 2021-04-16 | 深圳市迈步机器人科技有限公司 | Hand rehabilitation device and control method thereof |
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| CN202537871U (en) * | 2012-02-28 | 2012-11-21 | 浙江大学 | Hand and wrist exoskeleton rehabilitation training device |
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| RU2767138C2 (en) * | 2019-10-04 | 2022-03-16 | Общество С Ограниченной Ответственностью "Экзоатлет" | Exoskeleton drive |
| CN112656636A (en) * | 2019-10-15 | 2021-04-16 | 深圳市迈步机器人科技有限公司 | Hand rehabilitation device and control method thereof |
| CN111135011A (en) * | 2019-11-04 | 2020-05-12 | 苏州瑞迈康健医疗科技有限公司 | Closed-chain cascade type wearable exoskeleton hand robot |
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