CN109998866A - A kind of flexible wearable hand healing robot of memory alloy wire driving - Google Patents
A kind of flexible wearable hand healing robot of memory alloy wire driving Download PDFInfo
- Publication number
- CN109998866A CN109998866A CN201910410183.7A CN201910410183A CN109998866A CN 109998866 A CN109998866 A CN 109998866A CN 201910410183 A CN201910410183 A CN 201910410183A CN 109998866 A CN109998866 A CN 109998866A
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- alloy wire
- memory alloy
- drive
- thumb
- finger portion
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- 229910001285 shape-memory alloy Inorganic materials 0.000 title claims abstract description 50
- 230000035876 healing Effects 0.000 title claims abstract description 17
- 210000003813 thumb Anatomy 0.000 claims abstract description 47
- 210000003811 finger Anatomy 0.000 claims abstract description 44
- 210000004932 little finger Anatomy 0.000 claims abstract description 23
- 229910045601 alloy Inorganic materials 0.000 claims description 42
- 239000000956 alloy Substances 0.000 claims description 42
- 230000003287 optical effect Effects 0.000 claims description 10
- 230000000712 assembly Effects 0.000 claims description 6
- 238000000429 assembly Methods 0.000 claims description 6
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 claims description 4
- 230000004913 activation Effects 0.000 claims description 3
- 229910052737 gold Inorganic materials 0.000 claims description 3
- 239000010931 gold Substances 0.000 claims description 3
- 239000011810 insulating material Substances 0.000 claims description 2
- 238000011084 recovery Methods 0.000 abstract description 3
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 13
- 239000004677 Nylon Substances 0.000 description 6
- 229920001778 nylon Polymers 0.000 description 6
- 229910052802 copper Inorganic materials 0.000 description 5
- 239000010949 copper Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 239000002360 explosive Substances 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000012774 insulation material Substances 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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
-
- 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
- A61H1/0288—Fingers
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- 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
-
- 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
- A61H2205/067—Fingers
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to medical recovery training equipment, in particular to a kind of flexible wearable hand healing robot of memory alloy wire driving.Including drive part and execution part, wherein execution part includes thumb portion, index finger portion, middle finger portion, ring finger portion, little finger portion, connecting plate and hand back plate, wherein hand back plate is connect by connecting plate with drive part, thumb portion, index finger portion, middle finger portion, ring finger portion and little finger portion structure are identical, it include conducting wire part, nonflexible line and fingerstall, wherein the conducting wire part of thumb portion is connect with execution part, remaining four conducting wire part referred to is connect with hand back plate, one end of nonflexible line is connect with fingerstall, the pilot hole that the other end passes through on conducting wire part is connect with drive part, fingerstall is intended to be worn on the finger of user.Structure of the invention is compact, light-weight, and portability and wearing property are preferable, transmits power using nonflexible line, wearing flexibility is made it have, in hand rehabilitation course, it is ensured that trained safety.
Description
Technical field
The present invention relates to medical recovery training equipment, in particular to a kind of flexible wearable hand of memory alloy wire driving
Healing robot.
Background technique
Currently, clinically depending on rehabilitation teacher for the rehabilitation of hand function and patient being guided to carry out for a long time
The functional recovery training of repeatability, the time cost and human cost of consumption are higher.And it is directed to the robot of hand rehabilitation
System can carry out prolonged cycle movement, not only can be reduced the working strength of rehabilitation teacher, but also can improve the effect of rehabilitation training
Rate provides a kind of new departure for the rehabilitation of hand function.
Existing hand healing robot is made of rigid members such as connecting rod, gear, motors mostly, is covered on the upper of finger
Side drives finger synchronization movement.Since the joint position of rigid structure is fixed, machine often occurs during carrying out rehabilitation training
The phenomenon that device person joint and finger-joint misplace, not only rehabilitation efficacy is had a greatly reduced quality, and is returned patient and is brought sense of discomfort and safety
Hidden danger affects the training enthusiasm of patient.Meanwhile the volume of rigid structure is generally larger, weight is higher, leads to wearing and makes
The safety of used time, portability substantially reduce.
Summary of the invention
In view of the above-mentioned problems, the purpose of the present invention is to provide a kind of flexible wearable hand health of memory alloy wire driving
Multiple robot, to meet in hand rehabilitation training the needs of to safety, portability.
To achieve the goals above, the invention adopts the following technical scheme:
A kind of flexible wearable hand healing robot of memory alloy wire driving, including drive part and execution part,
Wherein execution part includes thumb portion, index finger portion, middle finger portion, ring finger portion, little finger portion, connecting plate and the back of the hand
Plate, wherein hand back plate is connect by connecting plate with drive part, the thumb portion, index finger portion, middle finger portion, third finger portion
Point and little finger portion structure it is identical, include conducting wire part, nonflexible line and fingerstall, wherein the conducting wire part of the thumb portion with it is described
Execution part connection, remaining four conducting wire part referred to are connect with the hand back plate, and one end of the nonflexible line is connect with the fingerstall,
The pilot hole that the other end passes through on the conducting wire part is connect with the drive part, and the fingerstall is intended to be worn in the hand of user
On finger.
The connecting plate is equipped with sliding slot, and the hand back plate is slidably connected with the sliding slot, be adjusted the hand back plate and
Link position between the connecting plate.
The upper end of the fingerstall is equipped with guide groove and attachment base, and the nonflexible line passes through guide groove and the attachment base connects
It connects.
The drive part includes main board, shell, control circuit board, thumb memorial alloy wire actuator and memorial alloy
Wire actuator group, wherein memorial alloy wire actuator group is mounted in the slot of main board, the control circuit board and the thumb
Memorial alloy wire actuator is respectively arranged at the two sides of the main board, and the control circuit board is used for thumb memorial alloy
The power supply and control of wire actuator and memorial alloy wire actuator group, the thumb memorial alloy wire actuator is for driving thumb
Partial movement, the memorial alloy wire actuator group are used to drive remaining four movement referred to, and the shell is fastened on main board
On.
Radiator fan is installed in the shell.
The memorial alloy wire actuator group includes four groups of memorial alloy wire actuators disposed in parallel, four groups of memorial alloys
Wire actuator is respectively used to drive other four movement referred in addition to thumb.
Memory alloy wire activation configuration described in the thumb memorial alloy wire actuator and four groups is identical, includes driving
Device main board, fixing terminal, memory alloy wire, drive terminal, feedback fraction and two groups of pulley assemblies, wherein two groups of pulley assemblies
The two sides of drive body plate are symmetrically disposed on, the drive terminal is slidably disposed in the end of the drive body plate
Portion, the memory alloy wire are connect with the drive terminal, and the both ends of the memory alloy wire are coiled respectively in two groups of pulley blocks
On part and both ends end is fixed on the drive body plate by fixing terminal, by the control circuit board to fixation
Terminal power supply, driving memory alloy wire is shunk, so that drive terminal be driven to generate linear movement, the feedback fraction is mounted on institute
It states on drive body plate and is connect with the drive terminal, the feedback fraction is used to obtain the movement of the drive terminal
Information.
The feedback fraction includes micropot, pulley, optical axis and driver fastener, and wherein micropot is outer
Shell is embedded in the drive body plate, and internal holes are connect with pulley, and the pulley is mounted on optical axis by bearing II, institute
The both ends for stating optical axis are connect with the drive body plate and driver fastener, the driver fastener and drive body
Plate is fixedly connected, and the drive terminal is connect by connecting line with the pulley.
Pulley block structure described in two groups is identical, includes the multiple groups leading block for being symmetrically disposed on fixing terminal two sides,
The end direction of the diameter of multiple groups leading block to the drive body plate is incremented by successively, and the end of the memory alloy wire is solid
It is scheduled in the fixing terminal and is successively coiled on multiple groups leading block from inside to outside, the leading block uses insulation material
Material.
The drive terminal includes connector and output line, and wherein one end of connector, which is equipped with, is used for the memory alloy wire
The through-hole passed through, the other end are connect with output line, and the output line is nonflexible line, for driving load movement.
Advantages of the present invention and good effect are as follows:
1. the present invention, as driving, keeps overall structure more compact, weight is greatly reduced, portability using memory alloy wire
Larger promotion has been obtained with wearing property.
2. the present invention transmits power using nonflexible line, there is wearing flexibility, during hand rehabilitation, it is ensured that
Trained safety.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is Structure explosion diagram of the invention；
Fig. 3 is the structural schematic diagram that drive part removes after shell in the present invention；
Fig. 4 is the structural schematic diagram of execution part in the present invention；
Fig. 5 is the structural schematic diagram of memorial alloy wire actuator in the present invention；
Fig. 6 is the explosive view of the fixing terminal of memorial alloy wire actuator in the present invention；
Fig. 7 is the explosive view of the leading block of memorial alloy wire actuator in the present invention；
Fig. 8 is the explosive view of the drive terminal of memorial alloy wire actuator in the present invention；
Fig. 9 is the explosive view of the feedback fraction of memorial alloy wire actuator in the present invention.
In figure: 1 is drive part, and 2 be execution part, plate based on 11, and 12 be radiator fan, and 13 be shell, and 14 be control
Circuit board processed, 112 be thumb memorial alloy wire actuator, and 113 be memorial alloy wire actuator group, and 114 be connecting stud, and 21 are
Thumb portion, 211 be thumb wire guide plate, and 212 be thumb nonflexible line, and 213 be thumbstall, and 22 be index finger portion, and 23 be middle finger portion
Point, 24 be ring finger portion, and 25 be little finger portion, and 251 be little finger of toe wire column, and 252 be little finger of toe nonflexible line, and 253 be small fingerstall, 26
It is hand back plate for connecting plate, 27；31 be drive body plate, and 32 be fixing terminal, and 321 be copper sheet, and 322 be bolt, and 323 be copper
Ring I, 324 be copper ring II, and 33 be leading block, and 331 be nylon pulley, and 332 be pin shaft, and 333 be bearing I, and 334 be circlip, 34
It is drive terminal for memory alloy wire, 35,351 be connector, and 352 be output line, and 353 be connecting line, and 36 be feedback fraction,
361 be micropot, and 362 be pulley, and 363 be bearing II, and 364 be optical axis, and 365 be screw, and 366 be driver fastener.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, right in the following with reference to the drawings and specific embodiments
The present invention is described in detail.
As shown in Figure 1, a kind of flexible wearable hand healing robot of memory alloy wire driving provided by the invention, packet
Include drive part 1 and execution part 2, wherein execution part 2 include thumb portion 21, it is index finger portion 22, middle finger portion 23, unknown
Refer to part 24, little finger portion 25, connecting plate 26 and hand back plate 27, wherein hand back plate 27 is connected by connecting plate 26 and drive part 1
It connects, thumb portion 21, index finger portion 22, middle finger portion 23, ring finger portion 24 and 25 structure of little finger portion are identical, include leading
Line piece, nonflexible line and fingerstall, wherein the conducting wire part of thumb portion 21 is connect with execution part 2, remaining four conducting wire part and hand referred to
Backboard 27 connects, and one end of nonflexible line is connect with fingerstall, and the pilot hole that the other end passes through on conducting wire part is connect with drive part 1,
Fingerstall is intended to be worn on the finger of user.
Further, connecting plate 26 is equipped with sliding slot, and hand back plate 27 is slidably connected with sliding slot, adjustable hand backboard 27 and company
Link position between fishplate bar 26.The upper end of fingerstall is equipped with guide groove and attachment base, and nonflexible line passes through guide groove and attachment base connects
It connects.
As Figure 2-3, drive part 1 includes main board 11, shell 13, control circuit board 14, thumb memory alloy wire
Driver 112 and memorial alloy wire actuator group 113, wherein memorial alloy wire actuator group 113 is mounted on the slot of main board 11
Interior, control circuit board 14 and thumb memorial alloy wire actuator 112 are respectively arranged at the two sides of main board 11, control circuit board
14 close for the power supply and control to thumb memorial alloy wire actuator 112 and memorial alloy wire actuator group 113, thumb memory
Spun gold driver 112 is used to drive the movement of thumb portion 21, and memorial alloy wire actuator group 113 is for driving index finger portion
22, the movement of middle finger portion 23, ring finger portion 24 and little finger portion 25, shell 13 are fastened on main board 11.
Further, radiator fan 12 is installed, radiator fan 12 can radiate for memory alloy wire in shell 13.Memory is closed
Spun gold driver group 113 includes four groups of memorial alloy wire actuators disposed in parallel, and four groups of memorial alloy wire actuators are used respectively
In the movement of driving index finger portion 22, middle finger portion 23, ring finger portion 24 and little finger portion 25.
As shown in figure 4, thumb portion 21 is made of thumb wire guide plate 211, thumb nonflexible line 212 and thumbstall 213, thumb
Wire guide plate 211 is connected on main board 11, and guidance thumb nonflexible line 212 is passed through from hole therein, connects thumb nonflexible line 212
It is connected to thumbstall 213, thumb nonflexible line 212 is connected with thumb memorial alloy wire actuator 112, and thumbstall 213 is inserted in wearer
Thumb.
Little finger portion 25 is made of little finger of toe wire column 251, little finger of toe nonflexible line 252 and small fingerstall 253, little finger of toe wire column 251
It is connected on hand back plate 27, guidance little finger of toe nonflexible line 252 is passed through from hole therein, and little finger of toe nonflexible line 252 is made to be connected to little finger of toe
Set 253, little finger of toe nonflexible line 252 is connected with a certain driver in memorial alloy wire actuator group 113, and 253 sets of small fingerstall is being worn
On wearer's little finger of toe.The connection type of index finger portion 22, middle finger portion 23 and ring finger portion 24 is identical as little finger portion 25.
As shown in figure 5, thumb memorial alloy wire actuator 112 is identical with four groups of memory alloy wire activation configurations, wrap
Drive body plate 31, fixing terminal 32, memory alloy wire 34, drive terminal 35, feedback fraction 36 and two groups of pulley assemblies are included,
Wherein two groups of pulley assemblies are symmetrically disposed on the two sides of drive body plate 31, and drive terminal 35 is slidably disposed in driver
The end of main board 31, memory alloy wire 34 are connect with drive terminal 35, and the both ends of memory alloy wire 34 are coiled respectively in two groups
On pulley assembly and both ends end is fixed on drive body plate 31 by fixing terminal 32, right by control circuit board 14
Fixing terminal 32 is powered, and driving memory alloy wire 34 is shunk, so that drive terminal 35 be driven to generate linear movement, feedback fraction 36
It is mounted on drive body plate 31 and is connect with drive terminal 35, feedback fraction 36 is used to obtain the movement of drive terminal 35
Information.Sliding slot is equipped at the top of one end of drive body plate 31 along its length, drive terminal 35 is placed in sliding slot.
Two groups of pulley block structures are identical, include the multiple groups leading block 33 for being symmetrically disposed on 32 two sides of fixing terminal,
The end direction of the diameter of multiple groups leading block 33 to drive body plate 31 is incremented by successively, and the end of memory alloy wire 34 is fixed
It is successively coiled on multiple groups leading block 33 in fixing terminal 32 and from inside to outside, leading block 33 uses insulating materials.
As shown in fig. 6, fixing terminal 32 includes copper sheet 321, bolt 322, copper ring I 323 and copper ring II 324, wherein copper ring I
323, copper sheet 321 and copper ring II 324 are successively anchored on drive body plate 31 by bolt 322, and copper sheet 321 is arranged in driving
The two sides of device main board 31, copper sheet 321 is by current transmission to copper ring I 323 and copper ring II 324, to drive memory alloy wire 34
It shrinks.Bolt 322 uses isolation material, and bolt 322 has insulating properties, can prevent short circuit.
In the embodiment of the present invention, leading block 33 and bolt 322 are all made of nylon material.
As shown in fig. 7, leading block 33 includes nylon pulley 331, pin shaft 332, bearing I 333 and circlip 334, wherein selling
Axis 332 passes through bearing I 333, and is positioned by circlip 334, and nylon pulley 331 is installed on the outer ring of bearing I 333.Nylon pulley
331 have insulating properties, and for coiling memory alloy wire 34, nylon pulley 331 is reduced between pin shaft 332 by bearing I 333
Friction avoids memory alloy wire 34 that Caton phenomenon occurs when shrinking.
As shown in figure 8, drive terminal 35 includes connector 351, the collection of output line 352 and connecting line 353, wherein connector
351 one end is equipped with the through-hole passed through for memory alloy wire 34, and the other end is connect with output line 352 and connecting line 353, exports
Line 352 and connecting line 353 are nonflexible line, and for driving load movement, connecting line 353 and feedback fraction 36 connect output line 352
It connects.
As shown in figure 9, feedback fraction 36 includes micropot 361, pulley 362, optical axis 364 and driver fastener
366, wherein the shell of micropot 361 is embedded in drive body plate 31, and internal holes are connect with pulley 362, pulley 362
It is mounted on optical axis 364 by bearing II 363, the both ends of optical axis 364 and drive body plate 31 and driver fastener 366 connect
It connects, driver fastener 366 is fixedly connected with drive body plate 31, and drive terminal 35 is connected by connecting line 353 and pulley 362
It connects, memory alloy wire 34 is shunk into the rotation that the linear movement generated is converted into pulley 362, and obtain by micropot 361
The angle change information is taken, to carry out further feedback control.
The present invention is by control circuit board 14 to the thumb memorial alloy wire actuator 112 in drive part 1, memorial alloy
Wire actuator group 113 is powered, and the fuel factor of electric current makes memory alloy wire is heated to generate contraction, drives thumb portion 21, index finger portion
Divide the nonflexible line movement in 22, middle finger portion 23, ring finger portion 24 and little finger portion 25, while pulling force is transmitted via nonflexible line
Into fingerstall, the finger synchronization of wearer is driven to stretch.The on-off of radiator fan 12 is also controlled by control circuit board 14, is dissipated
Hot-air fan 12 can radiate for memory alloy wire, shorten its turnaround time.
The present invention is suitable for needing the patient of hand rehabilitation training.It, as driving, makes overall structure by memory alloy wire
More compact, weight is lighter, and portability and wearing property are more preferable.Meanwhile power is transmitted using nonflexible line, it makes it have certain
Wearing is flexible, in hand rehabilitation course, ensure that trained flexibility and safety.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the present invention.It is all in the present invention
Spirit and principle within any modification, equivalent replacement, improvement, extension etc., be all contained in protection scope of the present invention
It is interior.
Claims (10)
1. a kind of flexible wearable hand healing robot of memory alloy wire driving, which is characterized in that including drive part (1)
With execution part (2), wherein execution part (2) include thumb portion (21), it is index finger portion (22), middle finger portion (23), unknown
Refer to part (24), little finger portion (25), connecting plate (26) and hand back plate (27), wherein hand back plate (27) by connecting plate (26) with
Drive part (1) connection, the thumb portion (21), index finger portion (22), middle finger portion (23), ring finger portion (24) and small
Refer to that part (25) structure is identical, includes conducting wire part, nonflexible line and fingerstall, wherein the conducting wire part of the thumb portion (21) and institute
State execution part (2) connection, remaining four refer to conducting wire parts connect with the hand back plate (27), one end of the nonflexible line with it is described
Fingerstall connection, the pilot hole that the other end passes through on the conducting wire part are connect with the drive part (1), and the fingerstall is for dressing
On the finger of user.
2. the flexible wearable hand healing robot of memory alloy wire driving according to claim 1, which is characterized in that
The connecting plate (26) is equipped with sliding slot, and the hand back plate (27) is slidably connected with the sliding slot, and the hand back plate is adjusted
(27) link position between the connecting plate (26).
3. the flexible wearable hand healing robot of memory alloy wire driving according to claim 1, which is characterized in that
The upper end of the fingerstall is equipped with guide groove and attachment base, and the nonflexible line passes through guide groove and connect with the attachment base.
4. the flexible wearable hand healing robot of memory alloy wire driving according to claim 1, which is characterized in that
The drive part (1) includes main board (11), shell (13), control circuit board (14), thumb memorial alloy wire actuator
(112) and memorial alloy wire actuator group (113), wherein memorial alloy wire actuator group (113) is mounted on main board (11)
In slot, the control circuit board (14) and the thumb memorial alloy wire actuator (112) are respectively arranged at the main board
(11) two sides, the control circuit board (14) are used to drive thumb memorial alloy wire actuator (112) and memory alloy wire
The power supply and control of dynamic device group (113), the thumb memorial alloy wire actuator (112) are used to drive the dynamic of thumb portion (21)
Make, the memorial alloy wire actuator group (113) is used to drive remaining four movement referred to, and the shell (13) is fastened on main board
(11) on.
5. the flexible wearable hand healing robot of memory alloy wire driving according to claim 4, which is characterized in that
Radiator fan (12) are installed in the shell (13).
6. the flexible wearable hand healing robot of memory alloy wire driving according to claim 4, which is characterized in that
The memorial alloy wire actuator group (113) includes four groups of memorial alloy wire actuators disposed in parallel, four groups of memory alloy wires
Driver is respectively used to drive other four movement referred in addition to thumb.
7. the flexible wearable hand healing robot of memory alloy wire driving according to claim 6, which is characterized in that
The thumb memorial alloy wire actuator (112) is identical with memory alloy wire activation configuration described in four groups, includes driver
Main board (31), fixing terminal (32), memory alloy wire (34), drive terminal (35), feedback fraction (36) and two groups of pulley blocks
Part, wherein two groups of pulley assemblies are symmetrically disposed on the two sides of drive body plate (31), the drive terminal (35) is slideably
It is set to the end of the drive body plate (31), the memory alloy wire (34) connect with the drive terminal (35), institute
The both ends for stating memory alloy wire (34) are coiled respectively to be fixed on two groups of pulley assemblies and both ends end by fixing terminal (32)
On the drive body plate (31), powered by the control circuit board (14) to fixing terminal (32), driving memory is closed
Spun gold (34) is shunk, so that drive terminal (35) be driven to generate linear movement, the feedback fraction (36) is mounted on the driving
It is connect on device main board (31) and with the drive terminal (35), the feedback fraction (36) is for obtaining the drive terminal
(35) motion information.
8. the flexible wearable hand healing robot of memory alloy wire driving according to claim 7, which is characterized in that
The feedback fraction (36) includes micropot (361), pulley (362), optical axis (364) and driver fastener (366),
The shell of middle micropot (361) is embedded in the drive body plate (31), and internal holes are connect with pulley (362), institute
It states pulley (362) to be mounted on optical axis (364) by bearing II (363), the both ends of the optical axis (364) and the driver master
Body plate (31) and driver fastener (366) connection, the driver fastener (366) and drive body plate (31) fixed company
It connects, the drive terminal (35) is connect by connecting line (353) with the pulley (362).
9. the flexible wearable hand healing robot of memory alloy wire driving according to claim 7, which is characterized in that
Pulley block structure described in two groups is identical, includes the multiple groups leading block (33) for being symmetrically disposed on fixing terminal (32) two sides,
The end direction of the diameter of multiple groups leading block (33) to the drive body plate (31) is incremented by successively, the memory alloy wire
(34) end is fixed on the fixing terminal (32) and is successively coiled on multiple groups leading block (33) from inside to outside, institute
Leading block (33) are stated using insulating materials.
10. the flexible wearable hand healing robot of memory alloy wire driving according to claim 7, feature exist
In the drive terminal (35) includes connector (351) and output line (352), and wherein one end of connector (351) is equipped with and is used for
The through-hole that the memory alloy wire (34) passes through, the other end are connect with output line (352), and the output line (352) is nonflexible line,
For driving load movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910410183.7A CN109998866B (en) | 2019-05-17 | 2019-05-17 | Flexible wearable hand rehabilitation robot driven by memory alloy wires |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910410183.7A CN109998866B (en) | 2019-05-17 | 2019-05-17 | Flexible wearable hand rehabilitation robot driven by memory alloy wires |
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| CN111685966A (en) * | 2019-10-15 | 2020-09-22 | 东北林业大学 | Finger motion function rehabilitation device driven by shape memory alloy wire |
| CN112426328A (en) * | 2020-11-17 | 2021-03-02 | 中国科学技术大学 | Intelligent flexible hand function rehabilitation glove based on shape memory alloy |
| CN113081661A (en) * | 2021-03-10 | 2021-07-09 | 北京航空航天大学 | Line-driven rehabilitation glove |
| CN113520794A (en) * | 2021-07-15 | 2021-10-22 | 东北林业大学 | Desktop-level hand function rehabilitation device driven by shape memory alloy wires |
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