CN112006889A - Thumb driving mechanism for hand function rehabilitation robot - Google Patents
Thumb driving mechanism for hand function rehabilitation robot Download PDFInfo
- Publication number
- CN112006889A CN112006889A CN201910468521.2A CN201910468521A CN112006889A CN 112006889 A CN112006889 A CN 112006889A CN 201910468521 A CN201910468521 A CN 201910468521A CN 112006889 A CN112006889 A CN 112006889A
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- CN
- China
- Prior art keywords
- thumb
- finger
- support
- hinged
- rod
- 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.)
- Granted
Links
- 210000003813 thumb Anatomy 0.000 title claims abstract description 80
- 210000003811 finger Anatomy 0.000 claims description 77
- 208000010727 head pressing Diseases 0.000 claims description 10
- 238000005452 bending Methods 0.000 abstract description 9
- 238000000034 method Methods 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
Images
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
- A61H2201/123—Linear 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
Abstract
The invention discloses a thumb driving mechanism for a hand function rehabilitation robot, which relates to the technical field of sick thumb rehabilitation training and mainly comprises a support, a linear driver and a linkage mechanism, wherein the bottom end of the linear driver is hinged on the support, and the output end of the linear driver is hinged with the linkage mechanism; the linkage mechanism is hinged to the support at one end which is not connected with the linear driver, and is used for connecting and fixing a thumb, and the linkage mechanism is a double-quadrilateral linkage mechanism. The invention adopts the double-quadrilateral linkage mechanism to be matched with the linear driving structure, skillfully converts the linear motion into the rotary motion, easily realizes the passive bending of the thumb, improves the comfort, and is smoother and free from clamping stagnation in the execution operation.
Description
Technical Field
The invention relates to the technical field of sick thumb rehabilitation training, in particular to a thumb driving mechanism for a hand function rehabilitation robot.
Background
The function of the thumb can realize bending and abduction, and can also rotate for 360 degrees around the lower joint of the thumb, so that the rotation is flexible; meanwhile, various stretching and grasping actions can be realized by matching with the four fingers. When the thumb is sick or injured, the thumb training device is often needed to assist in performing functional rehabilitation training of the thumb; particularly, the bending of the thumb is realized, the grasping function of the hand is realized by matching with four fingers, and the hand function of a patient is realized.
However, the conventional training device is stuck in the operation, and the bending action of the thumb cannot be realized well.
Disclosure of Invention
The invention aims to provide a thumb driving mechanism for a hand function rehabilitation robot, which aims to solve the problems in the prior art, adopts a double-quadrilateral linkage mechanism to be matched with a linear driving structure, skillfully converts linear motion into rotary motion, easily realizes passive bending of a thumb, improves comfort, and is smoother and free from clamping stagnation in executing operation.
In order to achieve the purpose, the invention provides the following scheme: the invention provides a thumb driving mechanism for a hand function rehabilitation robot, which comprises a support, a linear driver and a linkage mechanism, wherein the bottom end of the linear driver is hinged on the support, and the output end of the linear driver is hinged with the linkage mechanism; and one end of the linkage mechanism, which is not connected with the linear driver, is hinged on the support, and the linkage mechanism is used for connecting and fixing a thumb.
Preferably, the bottom end of the linear actuator is hinged to the support through a fixed shaft.
Preferably, the output end of the linear driver is connected with a universal ball head, and the universal ball head is hinged to the linkage mechanism.
Preferably, the universal ball head is arranged in a ball head pressing block, and the ball head pressing block is fixed on the linkage mechanism through an inner hexagonal countersunk head screw.
Preferably, the linkage mechanism comprises a finger driving rod, a thumb connecting rod, a finger proximal phalanx bracket, a finger limiting rod and a finger driven rod; one end of the finger driving rod is hinged to the support, and the other end of the finger driving rod is fixed with the ball head pressing block; one end of the finger driven rod is hinged to the support, and the other end of the finger driven rod is hinged to the thumb connecting rod; one end of the thumb connecting rod is hinged to the finger driving rod, and the other end of the thumb connecting rod is hinged to the finger proximal phalanx support; one end of the finger limiting rod is hinged to the finger driven rod, and the other end of the finger limiting rod is hinged to the finger proximal phalanx support; the finger driving rod, the support, the finger driven rod, the thumb connecting rod, the finger limiting rod and the finger proximal phalanx support form a double-quadrilateral linkage mechanism.
Preferably, the finger driving rod and the finger driven rod are arranged in parallel, and the thumb connecting rod and the finger limiting rod are arranged in parallel.
Preferably, the finger proximal phalanx support is connected with a thumb fixing device.
Preferably, the thumb fixing device comprises a fixing support, a notch is formed in the fixing support, and the thumb is fixedly and firmly fixed through the notch by means of magic adhesion.
Compared with the prior art, the invention has the following technical effects:
the invention adopts the double-quadrilateral linkage mechanism to be matched with the linear driving structure, skillfully converts the linear motion into the rotary motion, easily realizes the passive bending of the thumb, improves the comfort, and is smoother and free from clamping stagnation in the execution operation.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural view of a thumb driving mechanism for a hand function rehabilitation robot according to the present invention;
FIG. 2 is a schematic view of the thumb drive mechanism for the hand function rehabilitation robot of the present invention;
the device comprises a fixing shaft 1, a fixing shaft 2, a linear driver 3, a support 4, a universal ball head 5, a ball head pressing block 6, a hexagon socket countersunk head screw 7, a finger driving rod 8, a thumb connecting rod 9, a finger proximal phalanx bracket 10, a finger limiting rod 11, a finger driven rod 12, a thumb fixing device 13 and a palm thumb radius 14, wherein the first knuckle of the thumb is a first knuckle of the thumb.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a thumb driving mechanism for a hand function rehabilitation robot, which aims to solve the problems in the prior art, adopts a double-quadrilateral linkage mechanism to be matched with a linear driving structure, skillfully converts linear motion into rotary motion, easily realizes passive bending of a thumb, improves comfort, and is smoother and free from clamping stagnation in executing operation.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example one
As shown in fig. 1-2, the present embodiment provides a thumb driving mechanism for a hand function rehabilitation robot, including a support 3, a linear actuator 2 and a linkage mechanism, wherein the bottom end of the linear actuator 2 is hinged to the support 3, and the output end is hinged to the linkage mechanism; the linkage mechanism is hinged to the support 3 at one end which is not connected with the linear driver 2, and is used for connecting and fixing a thumb and driving the linkage mechanism to change position through the change of the stroke of the linear driver 2.
In the present embodiment, the bottom end of the linear actuator 2 is hinged to the support 3 by a fixed shaft 1; the output end of the linear driver 2 is screwed with a universal ball head 4, the universal ball head 4 is rotatably installed in a ball head pressing block 5, the ball head pressing block 5 is fixed on the linkage mechanism through an inner hexagonal countersunk head screw 6, and the universal ball head 4 is hinged with the linkage mechanism.
In this embodiment, the linkage mechanism comprises a finger driving rod 7, a thumb connecting rod 8, a finger proximal phalanx bracket 9, a finger limiting rod 10 and a finger driven rod 11; one end of the finger driving rod 7 is hinged to the support 3, and the other end of the finger driving rod is used for fixing the ball head pressing block 5; one end of the finger driven rod 11 is hinged on the support 3, and the other end of the finger driven rod is hinged on the thumb connecting rod 8; one end of the thumb connecting rod 8 is hinged to the finger driving rod 7, and the other end of the thumb connecting rod is hinged to the finger proximal phalanx support 9; one end of the finger limiting rod 10 is hinged on the finger driven rod 11, and the other end of the finger limiting rod is hinged on the finger proximal phalanx support 9.
In the embodiment, the linear driver 2, the support 3 and the finger active lever 7 form a swing guide rod mechanism, and the linear motion of the linear driver 2 is converted into the rotary motion of the finger active lever 7 around the support 3; the finger driving rod 7, the support 3, the finger driven rod 11, the thumb connecting rod 8, the finger limiting rod 10 and the finger proximal phalanx support 9 form a double-quadrilateral linkage mechanism; thereby realizing the 0-45 degree rotation motion of the finger proximal phalanx bracket 9 around the thumb proximal phalanx joint (virtual center), and the universal ball head 4 adopts a spherical hinge structure to solve the problem of non-coaxial motor shaft.
In the embodiment, the connecting rods of the linkage mechanism are rotatably connected through the matching of the pin shaft and the shaft retainer ring. Further, the finger driving rod 7 and the finger driven rod 11 are arranged in parallel, and the thumb connecting rod 8 and the finger limiting rod 10 are arranged in parallel.
In this embodiment, the bottom end of the finger proximal phalanx support 9 is provided with a thumb fixing device 12, the thumb fixing device 12 includes a fixing support, a notch is formed in the fixing support, the first knuckle 14 of the thumb is fixed and fixed firmly by penetrating through the notch through a magic adhesive, and the fixing support drives the thumb to rotate around the palm thumb radius 13.
The use method of the thumb driving mechanism for the hand function rehabilitation robot in the embodiment is as follows:
the support 3 can be fixed on a palm support (or other existing fixing devices can be adopted as long as the working requirements of the thumb driving mechanism for the whole hand function rehabilitation robot can be met), the palm support is fixed on the back of the hand through a binding band, and the back of the hand is placed in the palm support; the first knuckle 14 of the thumb penetrates through a notch of a thumb fixing support through fixing devices such as magic tapes or binding bands, the thumb is firmly fixed, a working instruction is sent to the linear driver 2, the extension rod of the linear driver 2 drives the finger driving rod 7 to move, and the double-quadrilateral linkage mechanism drives the fingers to rotate for 0-45 degrees, so that the thumb is bent for 0-45 degrees; when the linear actuator 2 is reset, the thumb straightens. The linear driver repeats the actions to realize the non-intermittent fully passive bending action of the thumb, thereby realizing the functional training of the diseased thumb.
The invention adopts the double-quadrilateral linkage mechanism to be matched with the linear driving structure, skillfully converts the linear motion into the rotary motion, easily realizes the passive bending of the thumb, improves the comfort, and is smoother and free from clamping stagnation in the execution operation.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. The utility model provides a thumb actuating mechanism for hand function rehabilitation robot which characterized in that: the linear actuator comprises a support, a linear actuator and a linkage mechanism, wherein the bottom end of the linear actuator is hinged to the support, and the output end of the linear actuator is hinged to the linkage mechanism; and one end of the linkage mechanism, which is not connected with the linear driver, is hinged on the support, and the linkage mechanism is used for connecting and fixing a thumb.
2. The thumb drive mechanism for a hand function rehabilitation robot according to claim 1, characterized in that: the bottom end of the linear driver is hinged to the support through a fixed shaft.
3. The thumb drive mechanism for a hand function rehabilitation robot according to claim 1, characterized in that: the output end of the linear driver is connected with a universal ball head, and the universal ball head is hinged with the linkage mechanism.
4. The thumb drive mechanism for a hand function rehabilitation robot according to claim 3, characterized in that: the universal ball head is arranged in the ball head pressing block, and the ball head pressing block is fixed on the linkage mechanism through an inner hexagonal countersunk head screw.
5. The thumb drive mechanism for a hand function rehabilitation robot according to claim 4, characterized in that: the linkage mechanism comprises a finger driving rod, a thumb connecting rod, a finger proximal phalanx bracket, a finger limiting rod and a finger driven rod; one end of the finger driving rod is hinged to the support, and the other end of the finger driving rod is fixed with the ball head pressing block; one end of the finger driven rod is hinged to the support, and the other end of the finger driven rod is hinged to the thumb connecting rod; one end of the thumb connecting rod is hinged to the finger driving rod, and the other end of the thumb connecting rod is hinged to the finger proximal phalanx support; one end of the finger limiting rod is hinged to the finger driven rod, and the other end of the finger limiting rod is hinged to the finger proximal phalanx support; the finger driving rod, the support, the finger driven rod, the thumb connecting rod, the finger limiting rod and the finger proximal phalanx support form a double-quadrilateral linkage mechanism.
6. The thumb drive mechanism for a hand function rehabilitation robot according to claim 5, characterized in that: the finger driving rod and the finger driven rod are arranged in parallel, and the thumb connecting rod and the finger limiting rod are arranged in parallel.
7. The thumb drive mechanism for a hand function rehabilitation robot according to claim 5, characterized in that: the finger proximal phalanx support is connected with a thumb fixing device.
8. The thumb drive mechanism for a hand function rehabilitation robot according to claim 7, characterized in that: the thumb fixing device comprises a fixing support, wherein a notch is formed in the fixing support, and the thumb is fixedly and firmly fixed through the notch by means of magic adhesion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910468521.2A CN112006889B (en) | 2019-05-31 | 2019-05-31 | Thumb driving mechanism for hand function rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910468521.2A CN112006889B (en) | 2019-05-31 | 2019-05-31 | Thumb driving mechanism for hand function rehabilitation robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112006889A true CN112006889A (en) | 2020-12-01 |
| CN112006889B CN112006889B (en) | 2022-02-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910468521.2A Active CN112006889B (en) | 2019-05-31 | 2019-05-31 | Thumb driving mechanism for hand function rehabilitation robot |
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| Country | Link |
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| CN (1) | CN112006889B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114425010A (en) * | 2022-02-21 | 2022-05-03 | 山东海天智能工程有限公司 | Four-finger driving mechanism of hand function rehabilitation training system |
| CN114470666A (en) * | 2022-02-21 | 2022-05-13 | 山东海天智能工程有限公司 | Thumb driving mechanism of hand function rehabilitation training system |
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| WO2008155286A1 (en) * | 2007-06-12 | 2008-12-24 | Commissariat A L'energie Atomique | Forearm rotation mechanism and orthosis including such mechanism |
| US20150223959A1 (en) * | 2012-08-28 | 2015-08-13 | Scuola Superiore S.Anna | Wearable exoskeleton device for hand rehabilitation |
| CN105396266A (en) * | 2015-12-15 | 2016-03-16 | 王俊华 | Four-limb linkage rehabilitation training robot |
| CN105943308A (en) * | 2016-05-27 | 2016-09-21 | 中国科学技术大学 | Hand exoskeleton device for rehabilitation training |
| CN106239485A (en) * | 2016-09-23 | 2016-12-21 | 合肥工业大学 | Wearable thumb rehabilitation training machinery hands |
| CN206414460U (en) * | 2016-09-23 | 2017-08-18 | 合肥工业大学 | wearable rehabilitation training exoskeleton manipulator |
| CN108524196A (en) * | 2018-05-08 | 2018-09-14 | 合肥工业大学 | A kind of hand functional training driving device |
-
2019
- 2019-05-31 CN CN201910468521.2A patent/CN112006889B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008155286A1 (en) * | 2007-06-12 | 2008-12-24 | Commissariat A L'energie Atomique | Forearm rotation mechanism and orthosis including such mechanism |
| US20150223959A1 (en) * | 2012-08-28 | 2015-08-13 | Scuola Superiore S.Anna | Wearable exoskeleton device for hand rehabilitation |
| CN105396266A (en) * | 2015-12-15 | 2016-03-16 | 王俊华 | Four-limb linkage rehabilitation training robot |
| CN105943308A (en) * | 2016-05-27 | 2016-09-21 | 中国科学技术大学 | Hand exoskeleton device for rehabilitation training |
| CN106239485A (en) * | 2016-09-23 | 2016-12-21 | 合肥工业大学 | Wearable thumb rehabilitation training machinery hands |
| CN206414460U (en) * | 2016-09-23 | 2017-08-18 | 合肥工业大学 | wearable rehabilitation training exoskeleton manipulator |
| CN108524196A (en) * | 2018-05-08 | 2018-09-14 | 合肥工业大学 | A kind of hand functional training driving device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114425010A (en) * | 2022-02-21 | 2022-05-03 | 山东海天智能工程有限公司 | Four-finger driving mechanism of hand function rehabilitation training system |
| CN114470666A (en) * | 2022-02-21 | 2022-05-13 | 山东海天智能工程有限公司 | Thumb driving mechanism of hand function rehabilitation training system |
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| Publication number | Publication date |
|---|---|
| CN112006889B (en) | 2022-02-22 |
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Denomination of invention: A Thumb Drive Mechanism for Hand Function Rehabilitation Robots Effective date of registration: 20231225 Granted publication date: 20220222 Pledgee: Agricultural Bank of China Limited Tai'an Mount Taishan Sub branch Pledgor: SHANDONG HAITIAN INTELLIGENT ENGINEERING Co.,Ltd. Registration number: Y2023980074026 |