CN110315887A - A kind of holding device assisting myasthenia gravis patients - Google Patents
A kind of holding device assisting myasthenia gravis patients Download PDFInfo
- Publication number
- CN110315887A CN110315887A CN201910757720.5A CN201910757720A CN110315887A CN 110315887 A CN110315887 A CN 110315887A CN 201910757720 A CN201910757720 A CN 201910757720A CN 110315887 A CN110315887 A CN 110315887A
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- CN
- China
- Prior art keywords
- ectoskeleton
- index finger
- pulley
- arm
- wirerope
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 206010028417 myasthenia gravis Diseases 0.000 title claims abstract description 34
- 210000003811 finger Anatomy 0.000 claims abstract description 170
- 210000003813 thumb Anatomy 0.000 claims abstract description 57
- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 210000000988 bone and bone Anatomy 0.000 claims description 9
- 229910000838 Al alloy Inorganic materials 0.000 claims description 4
- 239000000956 alloy Substances 0.000 claims description 4
- 238000010146 3D printing Methods 0.000 claims description 2
- 206010028372 Muscular weakness Diseases 0.000 claims description 2
- 230000036473 myasthenia Effects 0.000 claims description 2
- 230000006378 damage Effects 0.000 abstract description 5
- 230000008859 change Effects 0.000 description 10
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 7
- 229910052782 aluminium Inorganic materials 0.000 description 7
- 239000004411 aluminium Substances 0.000 description 7
- 229910000831 Steel Inorganic materials 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 239000010959 steel Substances 0.000 description 5
- 210000000707 wrist Anatomy 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 239000004677 Nylon Substances 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 229920001778 nylon Polymers 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 208000024891 symptom Diseases 0.000 description 2
- 208000021421 Arm injury Diseases 0.000 description 1
- 208000023275 Autoimmune disease Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001684 chronic effect Effects 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000006735 deficit Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 210000000715 neuromuscular junction Anatomy 0.000 description 1
- 230000036316 preload Effects 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B43—WRITING OR DRAWING IMPLEMENTS; BUREAU ACCESSORIES
- B43K—IMPLEMENTS FOR WRITING OR DRAWING
- B43K23/00—Holders or connectors for writing implements; Means for protecting the writing-points
- B43K23/004—Holders specially adapted for assisting handicapped or disabled persons to write
Abstract
The invention discloses a kind of holding device for assisting myasthenia gravis patients, including executing agency, the executing agency includes the arm ectoskeleton component and index finger ectoskeleton being flexibly connected；The arm ectoskeleton component includes palmar hand, arm part and thumb section；Driving mechanism, the driving mechanism include driving motor, pulley blocks and wirerope, and the wirerope is connected the driving motor with index finger ectoskeleton by the pulley blocks, drive the movement of index finger ectoskeleton.When the driving motor drives wirerope tightening, the distance between the index finger ectoskeleton and the thumb section are gradually reduced；When the driving motor drives the wirerope to loosen, the distance between the index finger ectoskeleton and the thumb section are gradually increased.The holding device of auxiliary myasthenia gravis patients of the present invention is designed by reasonable structure, is realized the movement that index finger and thumb hold a pen, also be can guarantee while ensure that comfortable wearing and effectively hold a pen, do not damage finger.
Description
Technical field
The present invention relates to apery mobile phone tool hand technical field more particularly to a kind of holding devices for assisting myasthenia gravis patients.
Background technique
Myasthenia gravis is rare chronic auto-immune disease caused by neuromuscular junction conductive impairment
Disease.In life, myasthenia gravis patients lack self-care ability, and the muscle that no image of Buddha normal person passes through itself like that generates enough power
Measure the movement to drive the limbs such as physical feeling such as finger, arm, general weakness.These serious symptoms affect their
It practises, the every aspect of work and life.According to survey report, the about people of one third is because of myasthenia in myasthenia gravis patients of growing up
Caused symptom and lose the job, because the invention one kind can assist myasthenia gravis patients to restore normal working and learning life
Device becomes more and more important.
With the rapid development of social science and technology, robot technology is more and more mature, in the every field of life
To being widely applied, provide technical foundation for the researching and designing of apery hand manipulator, thus can design a kind of auxiliary flesh without
The holding device of power patient, the function for assisting myasthenia gravis patients to realize that digital flexion holds a pen using simple and convenient control mode
Can, it lives and psychological burden it is expected that mitigating them.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the defects of the prior art, provide a kind of holding for auxiliary myasthenia gravis patients
Pen device, the present invention solve the problems, such as that myasthenia gravis patients can not hold a pen since muscle is powerless, reach raising and effectively hold
Pen is normally write, the purpose of comfortable wearing.
The technical solution adopted by the present invention to solve the technical problems is: a kind of holding device assisting myasthenia gravis patients,
Including executing agency, the executing agency includes arm ectoskeleton component and index finger ectoskeleton；The arm ectoskeleton component packet
The palmar hand, arm part and thumb section being fixedly connected are included, the arm part is suitable for being set on the arm of human body, the palmar hand
Suitable for being set on the palm of human body, the thumb section is suitable for being set on the thumb of human body, and the index finger ectoskeleton is suitable for set
It is located on the index finger of human body；The index finger ectoskeleton is flexibly connected with arm ectoskeleton component, and index finger ectoskeleton drives human body food
Refer to movement, the palm of user passes through arm part rear enclosure and enters palmar hand, while thumb covers in thumb section, due to palmar hand,
Arm part is fixedly connected with thumb section, therefore the thumb of user is fixed, and only index finger is moved with index finger ectoskeleton.Opposite position
It sets and is arranged according to structoure of the human body, after user dresses last arm ectoskeleton component, palm, arm and thumb are located at palm
In portion, arm part and thumb section, fix the thumb of user.
Driving mechanism, the driving mechanism include driving motor, pulley blocks and wirerope, and the driving motor is fixed on institute
It states on arm ectoskeleton component, the wirerope is connected the driving motor with index finger ectoskeleton by the pulley blocks, band
Dynamic index finger ectoskeleton movement.
When the driving motor drive the wirerope tightening when, between the index finger ectoskeleton and the thumb section away from
It from being gradually reduced, and can be arranged with the thumb section face, be able to carry out the holding penholder of the task at this time, penholder is located at index finger
Between ectoskeleton and thumb section；When the driving motor drives the wirerope to loosen, the index finger ectoskeleton and the thumb
The distance between finger portion is gradually increased, and can unclamp penholder at this time.
Palmar hand, arm part and thumb section can be integrated formula structure according to structoure of the human body by the present invention, when user dresses
Thumb can be fixed after last arm ectoskeleton component, it is only necessary to by the movement of driving mechanisms control index finger ectoskeleton, change
The relative distance of index finger ectoskeleton and thumb section, i.e., the executable movement held penholder and unclamp penholder.
Further, the executing agency further includes adjusting component, and described one end for adjusting component connects the palmar hand,
The other end is rotatablely connected through first rotating shaft and the index finger ectoskeleton, and the first rotating shaft and the joint centre of gyration of index finger are coaxial
Arrangement adjusts component as the switching part between index finger ectoskeleton and arm ectoskeleton component, provides work for index finger ectoskeleton
Dynamic space, the joint centre of gyration of the index finger refer to the index finger of human body and the joint of palm part, make index finger ectoskeleton
Rotation meets human finger construction, and index finger is avoided to be distorted by compressing；The pulley blocks include connecting with the driving motor
First pulley is set to the second pulley adjusted on component close to the palmar hand and sets close to the index finger ectoskeleton
The third pulley being placed on the adjusting component, the wirerope is successively through the first pulley, second pulley and third pulley
It is connect with the index finger ectoskeleton.When the index finger ectoskeleton and the thumb section face are arranged, the index finger ectoskeleton
Rear end is supported and is located on the adjusting component.
Driving motor directly drives first pulley to rotate, and second pulley and third pulley are for guiding the wirerope to institute
It states at index finger ectoskeleton, wirerope and remaining part is avoided to generate collision, when tightening the wirerope, the index finger ectoskeleton
It is rotated using first rotating shaft as rotation center to the direction close to the driving motor, until the rear end for reaching index finger ectoskeleton is supported and set
On the adjusting component, index finger ectoskeleton and the thumb section face are arranged at this time, can hold penholder.
Further, the adjusting component includes: hold-down support, and the hold-down support is fixed with the palmar hand；It is described
Second pulley is located on the hold-down support；Refer to track, it is described to refer to being provided with the first conduit at the top of track, described first
Conduit is along the length direction setting for being parallel to the arm part；The finger is connect with the palmar hand by bolt with track, institute
It states third pulley and is located at the finger on track；When the index finger ectoskeleton and the thumb section face are arranged, the index finger
The rear end of ectoskeleton, which is supported, is located at the finger on track；Connecting rod, described connecting rod one end is fixedly connected with the hold-down support, another
End is equipped with the first sliding block for being arranged in first conduit and being suitable for moving back and forth in first conduit, and connecting rod is for connecting
It connects hold-down support and refers to track.
In the finger with multiple pin holes are arranged between track and the palmar hand, the position by changing bolt refers to change
With the relative distance of track and hold-down support, thus change the relative position of third pulley and second pulley, it is best convenient for selection
Wirerope winding track.
Preferably, the driving motor is located at the top of the arm part, and the hold-down support is fixed on the palmar hand
Top, it is described refer to track be L-type structure, the third pulley be located at it is described refer to track lower end.
Further, the pulley blocks further include the 4th pulley being arranged symmetrically with the third pulley and described second
The 5th pulley that pulley is arranged symmetrically；The driving mechanism further includes the preload being fixedly connected by fixed block with the arm part
Spring.
Wirerope perforating, the steel are correspondingly provided on the index finger ectoskeleton on the surface vertical with the first rotating shaft
Cord is successively through the first pulley, second pulley, third pulley, wirerope perforating, the 4th pulley and the 5th pulley and institute
State preloading spring connection；When the driving motor drives wirerope tightening, the preloading spring is in tensional state, steel
Cord can remain straight configuration under the action of preloading spring.
Further, the index finger ectoskeleton includes the inside and outside endoskeleton portion and ectoskeleton portion being arranged, the ectoskeleton portion
Lower inside wall be arranged symmetrically there are two along the index finger ectoskeleton length direction arrange the second conduit, the endoskeleton
The lateral wall in portion is equipped with the second sliding block for being arranged in second conduit of matching, makes the endoskeleton portion and ectoskeleton portion along the
Two conduits perform relative motion；Threaded hole is provided at the top of the ectoskeleton portion, it is described to being located at that screw passes through the threaded hole
The surface in endoskeleton portion fastens the endoskeleton portion mutually with ectoskeleton portion, and the endoskeleton portion and described refer to connect with track
It connects.
Preferably, the top in the endoskeleton portion is equipped with the groove being arranged in parallel with second conduit, and screw passes through institute
It states threaded hole and supports the inside for being located at the groove, reach better position-limiting action.
Further, the holding device of the auxiliary myasthenia gravis patients further includes control system, and the control system includes
PLC controller, the driving motor are electrically connected with the PLC controller, realize automatic operation.
Preferably, it is equipped with the bandage perforating on two corresponding side walls in the arm part and ectoskeleton portion, tied up
Band passes through the bandage perforating and consolidates the arm ectoskeleton component and index finger ectoskeleton with the arm of human body and index finger respectively
It is fixed.
Preferably, the pulley assembly, adjusting component and driving mechanism are made of aluminum alloy material, the arm dermoskeleton
Bone component and index finger ectoskeleton are formed using photopolymers 3D printings such as ABS and PBT.
The beneficial effects of the present invention are:
(1) holding device of auxiliary myasthenia gravis patients of the present invention, quality is small, and structure is simple, by reasonably tying
Structure design, realizes the movement that index finger and thumb hold a pen, and completes to hold penholder under the driving of driving mechanism, unclamps the dynamic of penholder
It is required；The normal writing that ensure that myasthenia gravis patients, also can guarantee while ensure that comfortable wearing and effectively holds a pen, do not damage
Evil finger.
(2) holding device of auxiliary myasthenia gravis patients of the present invention, by adjusting component for index finger ectoskeleton and hand
The connection of arm ectoskeleton component improves activity space for index finger ectoskeleton, holds a pen under state, the index finger ectoskeleton is in wirerope
It keeps stretching under the abutment action of tensioning function and rear end adjusting component and position is fixed, while the rotary shaft of index finger ectoskeleton
It is coaxially arranged with the joint centre of gyration of index finger, avoid injured joint in active procedure.
(3) present invention can realize steel wire with the relative position of track by hold-down support in the adjusting adjusting component and finger
The variation of rope coiling track, improves the applicability of structure.
(4) one end of heretofore described wirerope by the driving motor driving tightening with loosen, the other end connects institute
Preloading spring is stated, the preloading spring can make the wirerope remain tight state, and the wirerope is symmetrically drawn
Tight index finger ectoskeleton two sides, can make the index finger ectoskeleton uniform force, unilateral stress is avoided to cause outside the index finger
The movement of bone is unstable.
(5) heretofore described index finger ectoskeleton is made of the inside and outside endoskeleton portion being arranged and ectoskeleton portion, outside index finger
It can change the relative position in the endoskeleton portion and ectoskeleton portion during skeleton motion, so as to according to the movement of finger
Adaptively change the overall length of the index finger ectoskeleton.
(6) holding device of auxiliary myasthenia gravis patients of the present invention, is realized by the control system to the drive
The control of motivation structure and the executing agency realizes that the holding device of the auxiliary myasthenia gravis patients executes and holds appointing for penholder
Business, high degree of automation are convenient for fast operating.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the perspective view (steel wire of the specific embodiment of the holding device of auxiliary myasthenia gravis patients of the present invention
Rope is not drawn into)；
Fig. 2 is the perspective view of the specific embodiment of heretofore described arm ectoskeleton component；
Fig. 3 is the perspective view of the specific embodiment of heretofore described index finger ectoskeleton；
Fig. 4 is the perspective view of the heretofore described specific embodiment for adjusting component；
Fig. 5 is the sectional arrangement drawing of heretofore described first conduit Yu first sliding block；
Fig. 6 is that the coiling schematic diagram of the holding device of auxiliary myasthenia gravis patients of the present invention (is seen from thumb section side
It examines)；
Fig. 7 is the coiling schematic diagram of the holding device of auxiliary myasthenia gravis patients of the present invention (from far from thumb section
Unilateral observation)；
Fig. 8 is heretofore described aluminium box schematic diagram of internal structure；
Fig. 9 is the sectional view along A-A of Fig. 8.
In figure, 1, arm ectoskeleton component, 101, arm part, 102, palmar hand, 103, thumb section, 2, index finger ectoskeleton,
201, ectoskeleton portion, the 2011, second conduit, 202, endoskeleton portion, the 2021, second sliding block, 2022, groove, 203, wirerope wears
Apertured, 204, screw, 205, circle wheel, 3, pulley blocks, 301, first pulley, 302, second pulley, 303, third pulley, 304, the
Four pulleys, the 305, the 5th pulley, 4, wirerope, 5, adjusting component, 501, hold-down support, 502, connecting rod, the 503, first sliding block,
504, refer to track, the 5041, first conduit, 6, driving motor, 7, fixed block, 8, preloading spring, 9, aluminium box, 10, first rotating shaft,
11, bandage perforating, 12, bearing bracket stand.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " longitudinal direction ", " transverse direction ", " length ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear" is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of retouching
It states the present invention and simplifies description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific
Orientation construction and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " etc. are used for description purposes only, it is not understood to indicate or imply relatively important
Property.In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " connection " should do broad sense
Understand, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be mechanical connection, it can also
To be electrical connection；It can be directly connected, it can also be indirectly connected through an intermediary.For those of ordinary skill in the art
For, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
Embodiment 1, as shown in figs. 1-9, a kind of holding device assisting myasthenia gravis patients, including executing agency, it is described
Executing agency includes arm ectoskeleton component 1 and index finger ectoskeleton 2；Arm ectoskeleton component 1 includes the palmar hand being fixedly connected
102, arm part 101 and thumb section 103, arm part 101 are suitable for being set on the arm of human body, and palmar hand 102 is suitable for being set in
On the palm of human body, thumb section 103 is suitable for being set on the thumb of human body, and index finger ectoskeleton 2 is suitable for being set in the index finger of human body
On；Index finger ectoskeleton 2 is flexibly connected with arm ectoskeleton component 1.By bandage and palm, arm and index finger phase after the completion of being arranged
Even, bandage preferably uses the nylon tape with nylon buckles, and nylon buckles can satisfy not according to personal actual conditions adjusting size
With the needs of crowd, the scope of application is wider.
Driving mechanism, the driving mechanism include driving motor 6, pulley blocks 3 and wirerope 4, and driving motor 6 is selected miniature
Direct current, motor driven motor 6 are fixed on arm ectoskeleton component 1, and wirerope 4 passes through the pulley blocks 3 for 6 He of driving motor
Index finger ectoskeleton 2 connects, and index finger ectoskeleton 2 is driven to move.Pulley blocks 3 are made of aluminum alloy material, facilitate device light weight
Change.Wirerope 4 can be connect by the latch closure or aperture that 2 surface of index finger ectoskeleton is arranged in index finger ectoskeleton 2.
When driving motor 6 drives wirerope 4 to tighten, the distance between index finger ectoskeleton 2 and thumb section 103 gradually subtract
It is small, and can be arranged with 103 face of thumb section, be able to carry out the holding penholder of the task at this time, penholder is located at 2 He of index finger ectoskeleton
Between thumb section 103；When driving motor 6 drive wirerope 4 loosen when, the distance between index finger ectoskeleton 2 and thumb section 103 by
It is cumulative big, penholder can be unclamped at this time.
As depicted in figs. 1 and 2,103 basis of the palmar hand 102 in arm ectoskeleton component 1, arm part 101 and thumb section
Human arm shape is fabricated to integral structure, and arm part 101 is bottomless shell structure, the lower end and rear end of arm part 101
Arc-shaped structure is set, and avoiding 101 surface of arm part, there are corner angle to scratch skin, and the latter half of height of arm part 101 is big
In the first half height of arm part 101, " first half " refers to when user wears the device close to the arm of the wrist
101 region of portion, " latter half of " 101 region of arm part referred to when user wears the device far from the wrist.With people
The arm size of body is adapted, i.e., thinner close to the arm of wrist, and the arm far from wrist is thicker, avoids human body
Arm leaks out when causing fixed outside arm part 101 the arm gap of the arm injury of human body or arm part 101 and human body too
Cause device to shake more.Palmar hand 102 is the cavity structure of front and back perforation, and arm part 101 and palmar hand 102 are mutually communicated and set
It is calculated as one, can cause unexpectedly to injure because freedom degree is excessive to avoid wrist.Thumb section 103 is apery body thumb structure
Cavity structure, the connecting portion of thumb section 103 and palmar hand 102 penetrates through, and the thumb of user is being worn by this covering device
When position just fixed.
As shown in Figure 1, index finger ectoskeleton 2 is the cavity structure of front and back perforation, in order to avoid index finger Long-term bend, outside index finger
Bone 2 preferably uses rectangular parallelepiped structure, makes to remain straight configuration in 2 motion process of index finger ectoskeleton, i.e., finger tip, finger pulp are kept
It is in alignment.
Index finger ectoskeleton 2 and arm ectoskeleton component 1 in the present embodiment are preferably passed through with photopolymers such as ABS and PBT
3D technology prints, and product material is mild, skin friendly, and the products moulding made of 3D technology printing is perfect, can
The effect of human emulation is fully achieved, avoids interior surface from dealing with improperly and user's skin is caused to damage.
The connection structure of index finger ectoskeleton 2 and arm ectoskeleton component 1 in the present embodiment is used but is not limited only to as follows
Structure: as shown in Figure 1, the executing agency further includes adjusting component 5, the one end for adjusting component 5 connects palmar hand 102, another
End is rotatablely connected through first rotating shaft 10 and index finger ectoskeleton 2, and first rotating shaft 10 and the joint centre of gyration of index finger are coaxially arranged, institute
The joint centre of gyration for stating index finger refers to the index finger of human body and palmar hand 102 joints, accords with the rotation of index finger ectoskeleton 2
Human finger construction is closed, index finger is avoided to be distorted by compressing.Adjusting component 5 also selects aluminum alloy material to be made, the pulley blocks 3
Including connect with driving motor 6 first pulley 301, close to palmar hand 102 be set to adjust component 5 on second pulley 302
And the third pulley 303 adjusted on component 5 is set to close to index finger ectoskeleton 2, wirerope 4 is successively through first pulley 301, the
Two pulleys 302 and third pulley 303 are connect with index finger ectoskeleton 2.When index finger ectoskeleton 2 and 103 face of thumb section are arranged, food
Refer to that the rear end of ectoskeleton 2 is supported to be located to adjust on component 5, " rear end " refers to one end far from finger tip.
As shown in figures 1 to 6, index finger ectoskeleton 2 moves under the drive of wirerope 4 around first rotating shaft 10, first rotating shaft
10 is parallel with the transversal cross-section of palmar hand 102, and the finger pulp position of thumb section 103 is slightly bent to volar direction, therefore when outside index finger
It can achieve minimum at a distance from index finger ectoskeleton 2 and thumb section 103 when the rotation of bone 2 is to 103 face of thumb section, realization is held
The effect of penholder.When index finger ectoskeleton 2 and 103 face of thumb section, wirerope 4 is in tightening state, therefore index finger ectoskeleton 2
It will not reversely rotate far from thumb section 103, be adjusted on component 5 simultaneously because the rear end of index finger ectoskeleton 2 is against, therefore outside index finger
Bone 2 will not continue to back rotation, and index finger ectoskeleton 2 is caused to rotate excessive damage finger.
Driving motor 6 can be located at the top of arm ectoskeleton component 1 in the present invention, can also be located at arm ectoskeleton group
The bottom of part 1, when driving motor 6 is located at the bottom of arm ectoskeleton component 1, index finger ectoskeleton 2 is downward when wirerope 4 is tightened
Movement, adjusts component 5 and pulley blocks 3 need to be arranged in the lower section of whole device, is not easy to write operation, the present embodiment is excellent thus
It selects driving motor 6 that the top of arm ectoskeleton is set, adjusts component 5 and the top of whole device is arranged in pulley blocks 3.Specifically
, as shown in Fig. 1, Fig. 4, Fig. 6, adjusts component 5 and include hold-down support 501, refer to track 504 and connecting rod 502；Hold-down support
501 are fixed on the top of palmar hand 102；Second pulley 302 is located on hold-down support 501, and is rotationally connected with hold-down support
501 side；Refer to that with track 504 be L-type structure, refers to and the top of track 504 is provided with the first conduit 5041, the first conduit
5041 along the length direction setting for being parallel to arm part 101；Refer to multiple pin holes, the two is arranged on track 504 and palmar hand 102
It is connected by bolt, refers to the length for stretching out palmar hand 102 with track 504 by selecting different pin holes can change, to change
Change refers to the relative position with track 504 and hold-down support 501, the pin hole and hold-down support for the ease of installing, on palmar hand 102
501 perforations, bolt will refer to from the insertion of the hold-down support 501 at top to be fixed with 504 level of track, and the level refers to outside arm
The length direction of bone component 1, third pulley 303 are located at the lower end side referred to track 504, first pulley 301, second pulley
302 and third pulley 303 be all set in the same side；When index finger ectoskeleton 2 and 103 face of thumb section are arranged, index finger ectoskeleton 2
Rear end support be located at finger on track 504；502 one end of connecting rod is fixedly connected with hold-down support 501, and the other end, which is equipped with, is arranged in the
In one conduit 5041 and the first sliding block 503 for being suitable for moving back and forth in the first conduit 5041, the card, which is set, refers to the first sliding block
503 are located in the first conduit 5041 and are not easy, specifically, passing through first as shown in figure 5, the first conduit 5041 is T-slot
The card of sliding block 503 and the first conduit 5041 is provided as fixed vertically with track 504 with that will refer to.
The side of index finger ectoskeleton 2 is arranged in embodiment 2, in embodiment 1, wirerope 4, simply pulls on index finger ectoskeleton 2
Side, be easy to cause 2 two sides discontinuity of index finger ectoskeleton, cause 2 side of index finger ectoskeleton to fracture, and outside index finger
Bone 2 is only by 4 rigid connection of wirerope, and when index finger ectoskeleton 2 and 103 face of thumb section, wirerope 4 needs absolutely to tighten,
Guarantee that index finger ectoskeleton 2 will not shake, wirerope 4 is very big to the pulling force of index finger ectoskeleton 2 at this time, be easy to cause index finger ectoskeleton
2 service lifes reduce, and the present embodiment makees following improve thus: as shown in Fig. 1, Fig. 6-Fig. 9, pulley blocks 3 further include sliding with third
The 4th pulley 304 that wheel 303 is arranged symmetrically and the 5th pulley 305 that second pulley 302 is arranged symmetrically；4th pulley 304 and
Three pulleys 303 are respectively positioned on the lower end referred to track 504, and the 5th pulley 305 and second pulley 302 are respectively positioned on hold-down support 501,
Driving mechanism further includes the preloading spring 8 being fixedly connected by fixed block 7 with arm part 101, and preloading spring 8 can be using common
Spring, the pretightning force of spring can also be controlled by screw drive, and (this is the prior art, and the present invention does not carry out its structure and function
Improve), fixed block 7 and preloading spring 8 can individually be connect with arm part 101, can also be set along with driving motor 6 in aluminium
In box 9, aluminium box 9 is connect with arm part 101, preloading spring 8 and driving motor 6 are isolated from the outside, as shown in Figure 8, Figure 9,
Driving motor 6 is mounted on the bearing bracket stand 12 inside aluminium box 9, and the output shaft of driving motor 6 passes through aluminium box 9 and first pulley 301
Connection, 8 one end connection fixing block 7 of preloading spring, the other end pass through aluminium box 9 and connect with wirerope 4.
Wirerope perforating 203, wirerope 4 are correspondingly provided on index finger ectoskeleton 2 on the surface vertical with first rotating shaft 10
It is successively sliding through first pulley 301, second pulley 302, third pulley 303, wirerope perforating 203, the 4th pulley 304 and the 5th
Wheel 305 is connect with preloading spring 8；When driving motor 6 drives wirerope 4 to tighten, preloading spring 8 is in tensional state, steel wire
Rope 4 can remain straight configuration under the action of preloading spring 8.
Wirerope 4 is symmetricly set on the two sides of index finger ectoskeleton 2 by the present embodiment, keeps 2 two sides stress of index finger ectoskeleton equal
It is even；When driving motor 6, which is applied to the power on wirerope 4, is greater than the pretightning force of preloading spring 8, wirerope 4 is just driven outside index finger
Bone 2 starts to be gradually curved, and until the position that reaches capacity, the bending of index finger is controlled with this, since preloading spring 8 is in drawing at this time
State is stretched, wirerope 4 can remain that tension, index finger ectoskeleton 2 are not easy to send out under the restoring force effect of preloading spring 8
It is raw to shake；When unclamping penholder, driving motor 6 is reversely rotated, wirerope 4 is pulled back first by preloading spring 8 when unclamping, pre-tightened
Index finger ectoskeleton 2 makees the slow rotary motion far from thumb section 103 in 8 reseting procedure of spring, is that the rotation of index finger ectoskeleton 2 is transported
It is dynamic that cushion space is provided, avoid the unexpected injury gained in sports finger-joint of index finger ectoskeleton 2.
Hold-down support 501 and finger are adjustable with the relative position of track 504 simultaneously, mention to adjust the pretightning force of wirerope 4
Convenience is supplied.
Index finger ectoskeleton 2 in embodiment 1 or embodiment 2 is changed to stretch by embodiment 3, the present embodiment by integral structure
Contracting formula structure, specifically, as shown in figure 3, index finger ectoskeleton 2 includes the inside and outside endoskeleton portion 202 and ectoskeleton portion 201 being arranged,
The perforation of the bottom in endoskeleton portion 202 and ectoskeleton portion 201, top are domes, and the lower inside wall in ectoskeleton portion 201 is symmetrical
There are two the second conduit 2011 that the length direction along index finger ectoskeleton 2 is arranged, the lateral wall in endoskeleton portion 202 is equipped with arrangement
With the second sliding block 2021 being arranged in the second conduit 2011, make endoskeleton portion 202 and ectoskeleton portion 201 along the second conduit 2011
It performs relative motion；The top in ectoskeleton portion 201 is provided with threaded hole, and screw 204 supports across threaded hole and is located at endoskeleton portion 202
Surface fastens endoskeleton portion 202 and ectoskeleton portion 201 mutually.Endoskeleton portion 202 is connect with finger with track 504, endoskeleton portion
202 rear end is connect with finger with 504 transition of track by circle wheel 205, and third pulley 303 and the 4th pulley 304 are rotatably connected on
On circle wheel 205, first rotating shaft 10 is located at the center point of circle wheel 205.
On the one hand second conduit 2011 can be used as the phase in endoskeleton portion 202 and ectoskeleton portion 201 there are two being symmetrical arranged
To tracks, on the other hand for limiting to endoskeleton portion 202 and 201 vertical direction of ectoskeleton portion, make 202 He of endoskeleton portion
The only relative motion on first finger length direction of ectoskeleton portion 201, in 6 operation process of driving motor, screw 204 is in relaxation shape
State, endoskeleton portion 202 and ectoskeleton portion 201 generate relative motion with the bending of finger, realize changing for 2 overall length of index finger ectoskeleton
Become, when driving motor 6 stops, being fastened endoskeleton portion 202 and ectoskeleton portion 201 using screw 204.
Preferably, the top in endoskeleton portion 202 is equipped with the groove 2022 being arranged in parallel with second conduit 2011,
Screw 204, which passes through threaded hole, to be supported and is located at the inside of groove 2022, avoids screw 204 in 202 slippery surface of endoskeleton portion of arch,
Reach better fastening effect, with 201 relative movement of ectoskeleton portion, screw 204 is located at groove 2022 in endoskeleton portion 202
Interior and be in relaxed state, the both ends of groove 2022 can limit the move distance in ectoskeleton portion 201, groove 2022
Setting can be mutually disengaged to avoid ectoskeleton portion 201 and endoskeleton portion 202.
Embodiment 4, on the basis of embodiment 1, embodiment 2 or embodiment 3, the auxiliary myasthenia gravis patients hold a pen
Device further includes control system, and control system includes PLC controller, and driving motor 6 is electrically connected with PLC controller, is realized automatic
Change operation.
Preferably, the bandage being equipped on two corresponding side walls in arm part 101 and ectoskeleton portion 201 is worn
Hole 11, bandage pass through bandage perforating 11 by arm ectoskeleton component 1 and index finger ectoskeleton 2 respectively with the arm of human body and index finger
It is fixed.The lower surface setting in the lower surface protrusion endoskeleton portion 202 in ectoskeleton portion 201, can be by endoskeleton portion when installing bandage
202 are wrapped in bandage.
In the present specification, identical embodiment is not necessarily referring to the schematic representation of the term.Moreover, description
Particular features, structures, materials, or characteristics can be combined in any suitable manner in any one or more embodiments.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (10)
1. a kind of holding device for assisting myasthenia gravis patients characterized by comprising
Executing agency, the executing agency include arm ectoskeleton component (1) and index finger ectoskeleton (2)；The arm ectoskeleton
Component (1) includes the palmar hand (102), arm part (101) and thumb section (103) being fixedly connected, and the arm part (101) is suitable for
It is set on the arm of human body, the palmar hand (102) is suitable for being set on the palm of human body, and the thumb section (103) is suitable for
It is set on the thumb of human body, the index finger ectoskeleton (2) is suitable for being set on the index finger of human body；The index finger ectoskeleton (2)
It is flexibly connected with arm ectoskeleton component (1)；
Driving mechanism, the driving mechanism include driving motor (6), pulley blocks (3) and wirerope (4), the driving motor (6)
It is fixed on the arm ectoskeleton component (1), the wirerope (4) passes through the pulley blocks (3) for the driving motor (6)
It is connected with index finger ectoskeleton (2)；
When the driving motor (6) drive the wirerope (4) tightening, the index finger ectoskeleton (2) and the thumb section
The distance between (103) it is gradually reduced, and can be arranged with the thumb section (103) face；When the driving motor (6) drive
When the wirerope (4) is loosened, the distance between the index finger ectoskeleton (2) and the thumb section (103) are gradually increased.
2. the holding device of auxiliary myasthenia gravis patients according to claim 1, it is characterised in that: the executing agency also wraps
Include and adjust component (5), described one end for adjusting component (5) connects the palmar hand (102), the other end through first rotating shaft (10) with
Index finger ectoskeleton (2) rotation connection, the first rotating shaft (10) and the joint centre of gyration of index finger are coaxially arranged；
The pulley blocks (3) include the first pulley (301) connecting with the driving motor (6), close to the palmar hand (102)
The second pulley (302) and the close index finger ectoskeleton (2) being set on adjusting component (5) are set to the adjusting
Third pulley (303) on component (5), the wirerope (4) successively through the first pulley (301), second pulley (302) and
Third pulley (303) is connect with the index finger ectoskeleton (2)；
When the index finger ectoskeleton (2) and the thumb section (103) face are arranged, the rear end of the index finger ectoskeleton (2) is supported
It is located on the adjusting component (5).
3. the holding device of auxiliary myasthenia gravis patients according to claim 2, it is characterised in that: the adjusting component (5)
Include:
Hold-down support (501), the hold-down support (501) and the palmar hand (102) are fixed；Second pulley (302) position
In on the hold-down support (501)；
Refer to that the finger at the top of track (504) with being provided with the first conduit (5041), first conduit with track (504)
(5041) along the length direction setting for being parallel to the arm part (101)；The finger is with track (504) and the palmar hand
(102) it is connected by bolt, the third pulley (303) is located at the finger on track (504)；When the index finger ectoskeleton
(2) when arranging with the thumb section (103) face, the rear end of the index finger ectoskeleton (2), which is supported, is located at the finger with track (504)
On；
Connecting rod (502), described connecting rod (502) one end are fixedly connected with the hold-down support (501), and the other end is equipped with and is arranged in institute
State the first sliding block (503) in the first conduit (5041) and being suitable for moving back and forth in first conduit (5041).
4. the holding device of auxiliary myasthenia gravis patients according to claim 3, it is characterised in that: the driving motor (6)
Positioned at the top of the arm part (101), the hold-down support (501) is fixed on the top of the palmar hand (102), the finger
It is L-type structure with track (504), the third pulley (303) is located at the lower end referred to track (504).
5. the holding device of auxiliary myasthenia gravis patients according to claim 3, it is characterised in that: the pulley blocks (3) are also
It is arranged symmetrically including the 4th pulley (304) being arranged symmetrically with the third pulley (303) and the second pulley (302)
5th pulley (305)；
The driving mechanism further includes the preloading spring (8) being fixedly connected by fixed block (7) with the arm part (101)；
Wirerope perforating is correspondingly provided on the surface vertical with the first rotating shaft (10) on the index finger ectoskeleton (2)
(203), the wirerope (4) is successively through the first pulley (301), second pulley (302), third pulley (303), wirerope
Perforating (203), the 4th pulley (304) and the 5th pulley (305) are connect with the preloading spring (8)；When the driving motor
(6) when driving the wirerope (4) tightening, the preloading spring (8) is in tensional state.
6. the holding device of auxiliary myasthenia gravis patients according to claim 3, it is characterised in that: the index finger ectoskeleton
It (2) include the inside and outside endoskeleton portion (202) and ectoskeleton portion (201) being arranged, the lower inside wall pair of the ectoskeleton portion (201)
Claiming arrangement, there are two the second conduit (2011) that the length direction along the index finger ectoskeleton (2) is arranged, the endoskeleton portions
(202) lateral wall is equipped with the second sliding block (2021) that matching is arranged in second conduit (2011)；
Threaded hole is provided at the top of the ectoskeleton portion (201), screw (204) supports across the threaded hole and is located at the in-seam
The surface in bone portion (202)；
The endoskeleton portion (202) connect with the finger with track (504).
7. the holding device of auxiliary myasthenia gravis patients according to claim 6, it is characterised in that: the endoskeleton portion
(202) top is equipped with the groove (2022) being arranged in parallel with second conduit (2011), and screw (204) passes through the screw thread
The inside for being located at the groove (2022) is supported in hole.
8. the holding device of auxiliary myasthenia gravis patients according to claim 1, it is characterised in that: the auxiliary myasthenia is suffered from
The holding device of person further includes control system, and the control system includes PLC controller, the driving motor (6) and the PLC
Controller electrical connection.
9. the holding device of auxiliary myasthenia gravis patients according to claim 6, it is characterised in that: the arm part (101)
Be equipped with the bandage perforating (11) on two corresponding side walls on ectoskeleton portion (201), bandage passes through the bandage and wears
Apertured (11) fixes the arm ectoskeleton component (1) and index finger ectoskeleton (2) with the arm of human body and index finger respectively.
10. the holding device of auxiliary myasthenia gravis patients according to claim 2, it is characterised in that: the pulley blocks (3)
Part, adjusting component (5) and driving mechanism are made of aluminum alloy material, the arm ectoskeleton component (1) and index finger ectoskeleton
(2) it is formed using photopolymers 3D printings such as ABS and PBT.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910757720.5A CN110315887A (en) | 2019-08-16 | 2019-08-16 | A kind of holding device assisting myasthenia gravis patients |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910757720.5A CN110315887A (en) | 2019-08-16 | 2019-08-16 | A kind of holding device assisting myasthenia gravis patients |
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| Publication Number | Publication Date |
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| CN110315887A true CN110315887A (en) | 2019-10-11 |
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ID=68126175
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910757720.5A Pending CN110315887A (en) | 2019-08-16 | 2019-08-16 | A kind of holding device assisting myasthenia gravis patients |
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| US20130219585A1 (en) * | 2012-02-29 | 2013-08-29 | The U.S.A. As Represented By The Administrator Of The National Aeronautics And Space Administration | Human grasp assist device with exoskeleton |
| CN106502412A (en) * | 2016-10-28 | 2017-03-15 | 广州初曲科技有限公司 | The shape tactile exoskeleton manipulator set that a kind of multiple degrees of freedom identification maneuver is followed the trail of |
| CN207465244U (en) * | 2017-11-24 | 2018-06-08 | 哈尔滨万融云联科技发展有限公司 | A kind of chain type multi-joint exoskeleton rehabilitation mechanical finger mechanism of flexible drive |
| WO2019033001A1 (en) * | 2017-08-10 | 2019-02-14 | The Regents Of The University Of California | Dexterous hand exoskeleton |
| CN110103611A (en) * | 2019-04-15 | 2019-08-09 | 河海大学常州校区 | A kind of holding device assisting myasthenia gravis patients |
| CN211222733U (en) * | 2019-08-16 | 2020-08-11 | 常州机电职业技术学院 | Holding pen device for assisting patient with myasthenia |
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- 2019-08-16 CN CN201910757720.5A patent/CN110315887A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130219585A1 (en) * | 2012-02-29 | 2013-08-29 | The U.S.A. As Represented By The Administrator Of The National Aeronautics And Space Administration | Human grasp assist device with exoskeleton |
| CN106502412A (en) * | 2016-10-28 | 2017-03-15 | 广州初曲科技有限公司 | The shape tactile exoskeleton manipulator set that a kind of multiple degrees of freedom identification maneuver is followed the trail of |
| WO2019033001A1 (en) * | 2017-08-10 | 2019-02-14 | The Regents Of The University Of California | Dexterous hand exoskeleton |
| CN207465244U (en) * | 2017-11-24 | 2018-06-08 | 哈尔滨万融云联科技发展有限公司 | A kind of chain type multi-joint exoskeleton rehabilitation mechanical finger mechanism of flexible drive |
| CN110103611A (en) * | 2019-04-15 | 2019-08-09 | 河海大学常州校区 | A kind of holding device assisting myasthenia gravis patients |
| CN211222733U (en) * | 2019-08-16 | 2020-08-11 | 常州机电职业技术学院 | Holding pen device for assisting patient with myasthenia |
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