CN113491618A - Exoskeleton robot hand with thumb adjusting mechanism - Google Patents
Exoskeleton robot hand with thumb adjusting mechanism Download PDFInfo
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- CN113491618A CN113491618A CN202010282831.8A CN202010282831A CN113491618A CN 113491618 A CN113491618 A CN 113491618A CN 202010282831 A CN202010282831 A CN 202010282831A CN 113491618 A CN113491618 A CN 113491618A
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- 210000003813 thumb Anatomy 0.000 title claims abstract description 131
- 230000007246 mechanism Effects 0.000 title claims abstract description 7
- 210000003811 finger Anatomy 0.000 claims abstract description 48
- 230000008878 coupling Effects 0.000 claims description 17
- 238000010168 coupling process Methods 0.000 claims description 17
- 238000005859 coupling reaction Methods 0.000 claims description 17
- 230000008859 change Effects 0.000 claims description 4
- 238000012549 training Methods 0.000 abstract description 13
- 230000009471 action Effects 0.000 abstract description 6
- 210000003414 extremity Anatomy 0.000 abstract description 3
- 241000905957 Channa melasoma Species 0.000 description 7
- 210000001142 back Anatomy 0.000 description 7
- 230000000694 effects Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000000284 resting effect Effects 0.000 description 3
- 210000001364 upper extremity Anatomy 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- 210000000811 metacarpophalangeal joint Anatomy 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000282376 Panthera tigris Species 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 210000002478 hand joint Anatomy 0.000 description 1
- 210000004932 little finger Anatomy 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
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- 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
- A61H1/0218—Drawing-out devices
-
- 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
- A61H2201/16—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
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- 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)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to an exoskeleton robot hand with a thumb adjusting mechanism, which comprises a hand back base, four finger frameworks, a thumb base, a thumb framework and a connecting assembly, wherein the hand back base is connected with the four finger frameworks; the hand back base is provided with a four-finger side; the finger framework is arranged on the hand back base and protrudes forwards from the side edges of the four fingers; the thumb base is positioned on the transverse side of the hand back base and is provided with a thumb side edge; the thumb framework is arranged on the thumb base and protrudes out of the side edge of the thumb; the connecting assembly is connected with the hand back base and the thumb base, the front-back distance between the four-finger side edge and the thumb side edge can be changed, and the eversion or inner rotation angle of the thumb base relative to the hand back base can also be changed; therefore, the fitness between the wearable health care device and the limbs can be improved, and various rehabilitation training actions with different thumb angles such as holding, pinching and the like can be easily performed.
Description
Technical Field
The invention relates to a medical apparatus, in particular to a mechanical exoskeleton for assisting upper limb hand training.
Background
Functional training is a necessary process for recovering functions of the injured or diseased person, and auxiliary equipment plays an extremely important role. In the training process of rehabilitation of the hands of the upper limbs, a therapist needs to make the hands of a patient repeatedly operate according to specific actions or tasks so as to achieve the efficacy of functional training, and then a wearable upper limb exoskeleton robot hand, namely a medical apparatus, is developed.
Referring to fig. 13 to 15, the exoskeleton robot hand is sleeved on the hand by using a mechanical structure as a skeleton, and the skeleton is controlled by a computer or other methods to move the fingers of the patient, so as to achieve the effect of function training; specifically, the exoskeleton robot hand generally comprises a dorsal base 91, a thumb base 92, and five outwardly protruding finger skeletons (not shown); when the training device is used, the hand back base 91 and the thumb base 92 are attached to the back of the palm of a user, and the finger frameworks are respectively sleeved outside the fingers of the user and can forcibly drive the fingers of the user to move so as to achieve the training effect.
When the exoskeleton robot hand is worn, the position of the thumb base 92 is adjusted by sliding along the arc-shaped rail 911, so that the distance between the finger skeleton sleeved with the thumb and the finger skeleton sleeved with the other four fingers is adjusted to meet the size of the hand of the user, and then the pressing rod 931 of the fixing assembly 93 is rotated and pressed down, so that the eccentric protrusion 9311 of the pressing rod 931 presses down the fixed thumb base 92.
The prior art exoskeleton robots suffer from the following disadvantages:
first, it is difficult to coordinate the hand size of the user to adjust when wearing. The length of each finger is different, so when wearing, the joint point alignment fit can be improved by adjusting the front and back positions, particularly, the proportion of the other four fingers except the thumb is not too different, if the four fingers are too long or too short, the user wears the thumb forward or backward a little, however, the moving range of the thumb is far larger than that of the other four fingers, and therefore, the simple front and back adjustment is not suitable for the thumb. Specifically, to ensure effective use, the base of the user's four fingers and thumb should be aligned with the front edge 912 of the backhand base 91 and the front edge 921 of the thumb base 92, respectively. When the four fingers are too long or too short, the four fingers can move back and forth to align the root parts of the four fingers with the front edge 912 of the hand back base 91, but the root parts of the thumbs cannot be aligned with the front edge 921 of the thumb base 92 at the same time, so that the joint points of the existing exoskeleton robot hand are poor in matching degree when the robot hand is worn, and the comfort is poor.
Second, the rotation angle of the thumb cannot be matched. When the fingers of a person hold the heel, the inward-outward turning angles of the thumbs are greatly different, but the angles of the thumbs of the existing exoskeleton robot hand cannot be adjusted, so that the exoskeleton robot hand is inconvenient to perform different action training. Specifically, the thumb can rotate around the index finger, that is, the thumb can move inward to hold the thumb and the other four fingers, or the thumb can move outward to close the thumb and the other four fingers; when the holding is to be exercised, the thumb can be turned outwards; when the user wants to practice the pinching, the thumb can be turned inwards. However, the relative angle between the conventional thumb base 92 and the hand back base 91 is fixed, and thus cannot be adjusted in accordance with various functional task training movements, which is inconvenient in use.
Third, the eccentric protrusion 9311 of the pressing rod 931 may wear the back base 91 after a long period of use, so that the position where the back base 91 contacts the eccentric protrusion 9311 is recessed due to wear, and the fixing member 93 may not be able to reliably fix the thumb base 92.
Fourth, the combining seat 932 of the fixing assembly 93 needs to be connected to the back of hand base 91 through the tenon 933 and the connecting post 934. However, the edge of the tenon joint piece 933 is sharp and not easy to round, and easily scratches a user. In addition, the end portion 9341 of the connecting column 934 protrudes out of the combining seat 932, which is easy to entangle the clothes of the user and affects the appearance.
Fifth, when the pressing rod 931 of the fixing member 93 is rotated and pressed downward, the user needs to carefully control the rotation angle of the pressing rod 931 by feel, which is troublesome in use. If the user presses the pressing rod 931 to the bottom, the pressing rod 931 rotates too much, so that the eccentric protrusion 9311 cannot press down the back base 91 accurately, and the thumb base 92 cannot be fixed reliably.
Therefore, the exoskeleton robots in the prior art need to be improved.
Disclosure of Invention
In view of the foregoing drawbacks and deficiencies of the prior art, the present invention provides a exoskeleton robot hand with a thumb adjusting mechanism, wherein the position of the thumb of the robot hand can be adjusted back and forth to improve the fitting between the robot hand and the limb during wearing and improve the training effect.
In order to achieve the above object, the present invention provides an exoskeleton robot hand with a thumb adjusting mechanism, comprising:
a back of hand base having a longitudinal direction, a transverse direction and four-finger sides, the four-finger sides being one side of the back of hand base along the longitudinal direction;
the four-finger framework is arranged on the hand back base and protrudes out of the four-finger side edges of the hand back base;
the thumb base is positioned on one side of the hand back base along the transverse direction and is provided with a thumb side edge;
the thumb framework is arranged on the thumb base and protrudes out of the side edge of the thumb base;
the connecting component is connected with the hand back base and the thumb base, and the thumb base can move linearly along the longitudinal direction relative to the hand back base through the connecting component.
The invention has the advantages that the longitudinal position of the thumb base can be linearly moved and adjusted relative to the back base (namely the longitudinal distance between the side edges of the four fingers and the side edge of the thumb can be changed), so that the longitudinal distance between the side edges of the four fingers and the side edge of the thumb can be adjusted by matching with the size of the palm of a user, therefore, the metacarpophalangeal joints of the four fingers and the metacarpophalangeal joints of the thumb of the user can be respectively aligned with the side edges of the four fingers of the back base and the side edge of the thumb base, the matching degree between the exoskeleton robot hand and the hand joint points of the user can be improved when the exoskeleton robot hand is worn, and the comfort level is further improved.
Further, the exoskeleton robot hand, wherein the thumb base can rotate relative to the back base through the connecting assembly, and the rotation axes of the thumb base and the back base extend along the longitudinal direction, so that the thumb skeleton can approach or move away from the finger skeletons through the relative rotation of the thumb base and the back base. Therefore, the shape of the invention can be adjusted by matching with the outward turning and inward turning actions of the thumb, so that the invention can be adjusted by matching with various functional task training courses, and is more convenient to use.
Further, the exoskeleton robot hand, wherein the connecting assembly comprises: a connecting shaft rod connected with the thumb base and extending along the longitudinal direction; the first pressing plate is connected with the hand back base; the second pressure plate is connected with the first pressure plate and clamps the connecting shaft rod together with the first pressure plate; the connecting shaft rod can move relative to the first pressing plate and the second pressing plate so that the thumb base can move linearly relative to the hand back base.
Further, the exoskeleton robot hand, wherein the connecting assembly comprises: a connecting shaft rod connected with the thumb base and extending along the longitudinal direction; the first pressing plate is connected with the hand back base; the second pressure plate is connected with the first pressure plate and clamps the connecting shaft rod together with the first pressure plate; the connecting shaft rod can move relative to the first pressing plate and the second pressing plate so that the thumb base can move linearly relative to the hand back base; the connecting shaft rod can rotate relative to the first pressing plate and the second pressing plate so that the thumb base can rotate relative to the hand back base. Therefore, the invention can simultaneously make linear movement and rotation through a connecting shaft lever, thereby having the advantages of simple structure, rapid adjustment, easy maintenance, lower cost and the like.
Further, the exoskeleton robot hand, wherein: a clamping space is formed between the first pressing plate and the second pressing plate, and the connecting shaft rod penetrates through the clamping space; the connecting assembly further has: at least one tightening adjusting bolt penetrates through the second pressing plate, the clamping space and the first pressing plate and can push against the second pressing plate through the pivoting of the at least one tightening adjusting bolt so as to change the height of the clamping space. Therefore, the stability of the shaft lever for clamping and connecting the first pressing plate and the second pressing plate is improved, and the clamping force is easy to adjust.
Further, the exoskeleton robot hand, wherein the connecting assembly comprises: the hand back base is positioned between the combination seat and the first pressing plate; at least one tightening adjusting bolt is screwed with the combination seat, and the tail end of the tightening adjusting bolt is hidden in the combination seat; the pressing rod is pivoted on the combination seat through the pressing pivot, one end of the pressing rod pivoted on the combination seat protrudes towards the radial direction of the pressing pivot to form at least one eccentric part, and the pressing pivot can be pivoted to the position where the at least one eccentric part is located between the circle center of the pressing pivot and the hand back base. Therefore, the adjusting bolt is tightly pressed and is not exposed out of the combination seat, so that the clothes can be prevented from being hooked and wound by the adjusting bolt, and the appearance is attractive; in addition, the problem that the sharp edge of the combining seat easily scratches a user can be solved only by rounding the outer edge of the combining seat.
Further, the exoskeleton robot hand, wherein: the head of at least one tightening adjusting bolt is polygonal; the connecting component is further provided with a bolt anti-loosening piece which is connected with the second pressure plate and is clamped with the head of at least one tightening adjusting bolt so as to limit the rotation of the at least one tightening adjusting bolt.
Further, the exoskeleton robot hand, wherein: the connecting assembly has: the hand back base is positioned between the combination seat and the first pressing plate; at least one tightening adjusting bolt is screwed with the combination seat; the pressing rod is pivoted on the combination seat through the pressing pivot, one end of the pressing rod pivoted on the combination seat protrudes towards the radial direction of the pressing pivot to form at least one eccentric part, and the pressing pivot can be pivoted to a position where the at least one eccentric part is positioned between the circle center of the pressing pivot and the hand back base; a pad, which is arranged between at least one eccentric part and the hand back base, and the hardness of the pad is greater than that of the hand back base; when the eccentric part of the pressing rod is positioned between the circle center of the pressing pivot and the hand back base, the eccentric part tightly supports the gasket towards the direction of the first pressing plate. Therefore, the gasket is not easy to be worn by the eccentric protrusion part of the pressing rod to generate a recess, so that the pressing rod can really press and fix the thumb base.
Further, the exoskeleton robot hand, wherein: the connecting assembly has: the hand back base is positioned between the combination seat and the first pressing plate; at least one tightening adjusting bolt is screwed with the combination seat; the pressing rod is pivoted on the combination seat through the pressing pivot, one end of the pressing rod pivoted on the combination seat protrudes towards the radial direction of the pressing pivot to form at least one eccentric part, and the pressing pivot can be pivoted to a position where the at least one eccentric part is positioned between the circle center of the pressing pivot and the hand back base; when the eccentric part of the pressing rod is positioned between the circle center of the pressing pivot and the first pressing plate, the pressing rod abuts against at least one pressing rod limiting part. Therefore, when a user fixes the thumb base by the pressing rod, the pressing rod is directly pressed to the bottom, the rotating angle does not need to be adjusted by feeling, and the use is more convenient.
Further, the exoskeleton robot hand, wherein the connecting member is connected to the back base in an arc-shaped movable manner, so that the thumb framework can move in an arc-shaped manner relative to the finger frameworks through the arc-shaped movement of the connecting member relative to the back base. Therefore, the shape of the invention can be adjusted by matching with the closing-opening action of the thumb of the user relative to other four fingers, thereby further increasing the use comfort.
Drawings
The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way. In addition, the shapes, the proportional sizes, and the like of the respective members in the drawings are merely schematic for facilitating the understanding of the present invention, and do not specifically limit the shapes, the proportional sizes, and the like of the respective members of the present invention. Those skilled in the art, having the benefit of the teachings of this invention, may choose from the various possible shapes and proportional sizes to implement the invention as a matter of case.
FIG. 1 is a perspective view of a portion of the assembly of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a perspective view of another portion of the assembly of the present invention;
FIG. 4 is an exploded view of a portion of the assembly of the present invention;
FIG. 5 is another partially exploded view of the present invention;
FIG. 6 is a schematic view in partial cross-section of the present invention;
FIGS. 7 to 8 are schematic sectional views of the eccentric portion of the pressing rod of the present invention in an unworn state;
FIGS. 9 to 10 are schematic sectional views of the eccentric portion of the pressing rod of the present invention in a worn state;
FIG. 11 is a schematic view of the longitudinal adjustment of the thumb base of the present invention;
FIG. 12 is a schematic view of the rotational adjustment of the thumb base of the present invention;
FIG. 13 is a perspective exterior view of a prior art exoskeleton robot hand;
FIG. 14 is an exploded view of a portion of the components of a prior art exoskeleton robot;
fig. 15 is a cross-sectional view of a prior art exoskeletal robotic hand.
Description of reference numerals:
10. a hand back base; 101. a front side; 102. a back side; 11. four finger sides; 12. a back of hand-contacting surface; 13. a web of tiger's mouth; 131. a first track; 132. a second track; 20. a finger skeleton; 30. a thumb base; 31. a thumb-engaging surface; 32. the side of the thumb; 40. a thumb skeleton; 50. a connecting assembly; 51. a first platen; 511. a first groove; 512. an inner side surface; 513. clamping a space; 52. a second platen; 521. a second groove; 522. an inner side surface; 53. connecting the shaft lever; 54. tightening the adjusting bolt; 541. a head portion; 542. a tail end; 55. a coupling seat; 551. a pressing rod limiting part; 56. pressing the rods; 561. an eccentric portion; 57. a gasket; 58. pressing the pivot; 59. a connecting bolt; 61. a bolt anti-loosening element; l, longitudinal direction; t, transverse direction; DL0, distance; DR1, distance; DL1, distance; 91. a hand back base; 911. an arc-shaped track; 912. a leading edge; 92. a thumb base; 921. a leading edge; 93. a fixing assembly; 931. pressing the rods; 932. a coupling seat; 9311. an eccentric protrusion; 933. a joggle sheet; 934. connecting columns; 9341. and an end portion.
Detailed Description
The details of the present invention can be more clearly understood in conjunction with the accompanying drawings and the description of the embodiments of the present invention. However, the specific embodiments of the present invention described herein are for the purpose of illustration only and are not to be construed as limiting the invention in any way. Any possible variations based on the present invention may be conceived by the skilled person in the light of the teachings of the present invention, and these should be considered to fall within the scope of the present invention.
The technical means adopted by the invention to achieve the predetermined creation purpose is further described below with reference to the drawings and the preferred embodiments of the invention.
Referring to fig. 1 to 3, the exoskeleton robot with a thumb adjusting mechanism of the present invention is used for covering a hand of a user, and includes a back base 10, four finger skeletons 20, a thumb base 30, a thumb skeleton 40 and a connecting assembly 50.
The hand back base 10 has a longitudinal direction L, a transverse direction T and a four-finger side 11, wherein the four-finger side 11 is a side of the hand back base 10 along the longitudinal direction L; the side of the backhand base 10 facing the palm of the user is defined as the front side 101 of the backhand base 10, and the side of the backhand base 10 opposite to the front side 101 is defined as the back side 102. The front side of the backhand base 10 has a backhand resting surface 12. The dorsum manus base 10 is preferably a bent plate and is shaped to generally correspond to the curvature of the back of the hand of the user, but not limited thereto.
The finger frame 20 is disposed on the back base 10 and protrudes from the four finger sides 11 of the back base 10 along the longitudinal direction L. The four finger frames 20 correspond to the index finger, the middle finger, the ring finger and the little finger, respectively.
The thumb base 30 is located on one side of the dorsum manus base 10 along the transverse direction T; the thumb base 30 has a thumb-engaging surface 31 and a thumb side 32.
The thumb framework 40 is disposed on the thumb base 30 and protrudes from the thumb side 32. The thumb base 30 is preferably a bent plate and has a shape corresponding to the curvature of the side of the hand corresponding to the thumb, but not limited thereto.
Referring to fig. 4, 5 and 12, the connecting element 50 connects the back base 10 and the thumb base 30, and the thumb base 30 can move linearly along the longitudinal direction L relative to the back base 10 through the connecting element 50, so as to change the distance between the four-finger side 11 and the thumb side 32 along the longitudinal direction L; in the present embodiment, the thumb base 30 can further rotate relative to the back base 10 through the connecting component 50, and the rotation axes of the thumb base 30 and the back base 10 extend along the longitudinal direction L, so that the thumb framework 40 can approach or separate from the finger framework 20 through the relative rotation of the thumb base 30 and the back base 10, that is, the included angle between the back resting surface 12 and the thumb resting surface 31 can be changed by the rotation of the thumb base 30. The connecting assembly 50 in this embodiment includes a first pressing plate 51, a second pressing plate 52, a connecting shaft 53, two tightening adjusting bolts 54, a connecting seat 55, a pressing rod 56, a spacer 57, a pressing pivot 58 and a bolt anti-loosening element 61.
Referring to fig. 5 to fig. 7, the first pressing plate 51 is attached to the front side 101 of the dorsum manus base 10; the second pressure plate 52 is locked to the first pressure plate 51 by the connecting bolts 59, and clamps the connecting shaft 53 together with the first pressure plate 51.
The connecting shaft 53 is a round bar extending along the longitudinal direction L in the embodiment, the first pressing plate 51 and the second pressing plate 52 are respectively formed with a first groove 511 and a second groove 521 corresponding to the outer circumferential surface of the round bar, the first groove 511 and the second groove 521 both extend along the longitudinal direction L, and the first groove 511 and the second groove 521 respectively clamp the connecting shaft 53 from two opposite sides of the connecting shaft 53, so that the connecting shaft 53 can linearly move and rotate between the first pressing plate 51 and the second pressing plate 52 relative to the second pressing plate. Further, a clamping space 513 is formed between the first pressing plate 51 and the second pressing plate 52, the clamping space 513 extends to the periphery of the first pressing plate 51 and the second pressing plate, the connecting shaft 53 penetrates through the clamping space 513 along the longitudinal direction L, in other words, the first pressing plate 51 and the second pressing plate 52 are connected by the connecting bolt 59 to form a block, the clamping space 513 is a slit concavely arranged in the block, and the slit extends to the connecting shaft 53, so that the first pressing plate 51 and the second pressing plate 52 can deform towards each other when being pressed, and the effect of clamping the connecting shaft 53 is increased. The opposite ends of the connecting shaft 53 are fixed to the thumb base 30, so that the thumb base 30 can be driven by the connecting shaft 53 to move and rotate linearly relative to the dorsum manus base 10.
The coupling seat 55 is located on the back side 102 of the backhand base 10, the backhand base 10 is located between the coupling seat 55 and the first pressing plate 51, and the two tightening adjusting bolts 54 penetrate through the second pressing plate 52, the clamping space 513 and the first pressing plate 51 and are screwed with the coupling seat 55, so that the first pressing plate 51 and the second pressing plate are located between the head 541 of the bolts and the coupling seat 55. When the tightening adjusting bolt 54 is screwed into the coupling seat 55, the head 541 of the tightening adjusting bolt 54 pushes against the second pressing plate 52 to change the height of the clamping space 513 (as shown in fig. 7 and 9), which is more precisely the distance between an inner side surface 512 of the first pressing plate 51 facing the second pressing plate 52 and an inner side surface 522 of the second pressing plate 52 facing the first pressing plate 51. The number of the tightening adjusting bolts 54 may be only one, and the tail end 542 of the tightening adjusting bolt 54 is preferably hidden in the coupling seat 55, so as to prevent the tail end 542 from protruding out of the coupling seat 55 and easily snagging the clothes, and to make the appearance more beautiful.
The pressing rod 56 is pivoted on the combining seat 55 by a pressing pivot 58, one end of the pressing rod 56 pivoted on the combining seat 55 protrudes in the radial direction of the pressing pivot 58 to form two eccentric parts 561, and the two eccentric parts 561 are respectively located on two opposite sides of the combining seat 55, but the number of the eccentric parts 561 may be only one. The pad 57 is located between the combining seat 55 and the backhand base 10, and extends to between the eccentric portion 561 and the backhand base 10.
Referring to fig. 7 and 8, the pressing rod 56 has a locking state and a releasing state; in the locked state (as shown in fig. 8), the pressing pivot 58 and the pressing rod 56 pivot together, so that the eccentric portion 561 is located between the center of the pressing pivot 58 and the hand back base 10; at this time, the eccentric portion 561 tightly abuts against the pad 57 in the direction of the first pressing plate 51, so that the first pressing plate 51 and the second pressing plate 52 tightly abut against the connecting shaft 53 from two opposite sides of the connecting shaft 53 (i.e. the first groove 511 and the second groove 521 tightly clamp the connecting shaft 53), so as to limit the connecting shaft 53 from moving linearly or rotating; in the released state (as shown in fig. 7), the eccentric portion 561 is pivoted away from the area between the pivot shaft 58 and the first pressure plate 51 to allow the connecting shaft 53 to move linearly and rotate relative to the two pressure plates. In this embodiment, the pad 57 has a hardness greater than that of the dorsum manus base 10, thereby reducing wear and ensuring that the thumb base 30 is securely held down by the pressing bar 56 after a long period of use.
Referring to fig. 5, in the present embodiment, two sides of the combination base 55 are respectively protruded to form a pressing rod limiting portion 551, when the eccentric portion 561 of the pressing rod 56 pivots between the pressing pivot 58 and the first pressing plate 51, the pressing rod 56 abuts against the pressing rod limiting portion 551; therefore, when the user fixes the thumb base 30 by the pressing rod 56, the pressing rod 56 is directly pressed to the bottom, the rotating angle does not need to be adjusted by feeling, and the use is more convenient.
As shown in fig. 3 and fig. 5, in addition, the head 541 of the tightening adjustment bolt 54 is polygonal, the bolt anti-loosening element 61 is fixed to the second pressing plate 52, and the bolt anti-loosening element 61 abuts against the polygonal side surface of the head 541 of the tightening adjustment bolt 54 in the radial direction of the tightening adjustment bolt 54, so that the bolt anti-loosening element 61 is engaged with and fixes the tightening adjustment bolt 54, thereby restricting the rotation of the tightening adjustment bolt 54 and avoiding accidental loosening.
The construction of the aforementioned connection assembly 50 may also have several variations:
1. the connecting assembly 50 may not have the pressing rod 56, and the pressing plates may not have the space 513 therebetween, but the movement and rotation of the connecting shaft 53 are limited by tightening the adjusting bolt 54.
2. The first presser plate 51 and the second presser plate 52 may be integrally formed, and the first presser plate 51 may be integrally formed on the dorsum manus base 10.
3. The coupling seat 55 and the first pressing plate 51 may be disposed on the front side 101 and the back side 102 of the backhand base 10, respectively.
4. The connecting shaft 53 may instead be connected to the dorsum manus base 10, and the first and second pressing plates 51 and 52 may instead be connected to the thumb base 30.
5. The connecting shaft 53 in this embodiment has two degrees of freedom with respect to the first pressing plate 51 and the second pressing plate 52 (one degree of freedom is that the connecting shaft 53 can move linearly with respect to the first pressing plate 51 and the second pressing plate 52, and the other degree of freedom is that the connecting shaft 53 can rotate with respect to the first pressing plate 51 and the second pressing plate 52), but the connecting shaft 53 may have only one degree of freedom (move linearly or rotate).
Referring to fig. 8, 9, 11 and 12, when the present invention is used, the pressing rod 56 is pulled upward to release the pressing rod 56, and then the present invention is sleeved outside the hand of the user, and the front and rear positions and the rotation angle of the thumb base 30 relative to the back of the hand base 10 are adjusted according to the size of the hand of the user and the required training action, so that the present invention is matched with the joint points of the hand of the user. After the adjustment is completed, the pressing rod 56 is pressed down toward the back of the hand base 10 to fix the front-back position and the rotation angle of the thumb base 30 relative to the back of the hand base 10, and the back of the hand contact surface 12 and the thumb contact surface 31 are aligned with the back of the hand and the root of the thumb of the user, respectively.
Referring to fig. 10 and 11, after a long time use, the eccentric portion 561 may be worn to reduce the radial protrusion amount, so that the position of the thumb base 30 cannot be pressed and fixed (in the locked state, the distance DL0 between the head 541 of the tightening adjustment bolt 54 and the coupling seat 55 is reduced due to the wear of the eccentric portion 561). At this time, the tightening adjusting bolt 54 can be appropriately tightened to force the head 541 and the second pressing plate 52 to move toward the coupling seat 55 (i.e. the distance DR1 between the head 541 and the coupling seat 55 is smaller than the distance DR0 as shown in fig. 7 and 9 by tightening the tightening adjusting bolt 54), so that the protrusion amount of the eccentric portion 561 due to wear can be compensated, and the eccentric portion 561 can firmly press down the fixed thumb base 30 again (after adjustment, the distance DL1 between the head 541 of the tightening adjusting bolt 54 and the coupling seat 55 in the locked state is adjusted to be the same as the distance DL 0).
Finally, in this embodiment, one side of the hand back base 10 along the transverse direction T has a web 13, the first pressing plate 51 is attached to the web 13, the web 13 has a first rail 131 and a second rail 132, and the first rail 131 and the second rail 132 are parallel to each other and form an included angle with the longitudinal direction L; the two tightening adjusting bolts 54 respectively penetrate through the first rail 131 and the second rail 132, and the two tightening adjusting bolts 54 can move along the corresponding first rail 131 and the second rail 132. Therefore, the connecting component 50 can be connected with the hand back base 10 in an arc-shaped moving way on a virtual plane parallel to the first web 13, and the thumb framework 40 which is indirectly fixedly provided with the connecting component 50 can be moved in an arc-shaped way relative to the finger framework 20.
In other words, at least one elongated rail is formed through the web 13 of the back base 10, and when viewed from a direction perpendicular to the web 13, a line connecting two opposite ends of the rail forms an angle of 30 to 90 degrees with the longitudinal direction L, and the at least one tightening adjustment bolt 54 is movably inserted through the rail, so that the thumb frame 40 can move linearly or arcuately relative to the finger frame 20 by the arcuate movement of the at least one tightening adjustment bolt 54 relative to the back base 10. This arcuate movement further allows the thumb frame 40 to have a degree of freedom to close or open relative to the finger frame 20, thereby providing the thumb base 30 of the present invention with a total of three degrees of freedom, forward and backward movement, eversion-inward rotation, and closing-opening, respectively.
In summary, the present invention designs a connecting assembly 50, wherein the connecting assembly 50 connects the back of the hand base 10 and the thumb base 30, and the connecting shaft 53 of the connecting assembly 50 can move longitudinally and linearly and can be rotatably clamped between the two pressing plates, so that the position of the thumb base 30 can be adjusted with two degrees of freedom (longitudinal linear movement and rotation) relative to the back of the hand base 10; the linkage assembly 50 is movably coupled to the backhand base 10 such that the position of the thumb base 30 can be adjusted with respect to the backhand base 10 with a third degree of freedom, thereby substantially improving the fit between the exoskeleton robot hand and the limb. However, the above-mentioned longitudinal linear movement and rotation can be achieved by two non-axial rod-shaped components, respectively, and the present invention can even have only one degree of freedom of longitudinal linear movement.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited to the embodiments, and various changes and modifications can be made by one skilled in the art without departing from the scope of the invention.
Claims (10)
1. An exoskeletal robot hand with a thumb adjustment mechanism, the exoskeletal robot hand comprising:
the hand back base is provided with a longitudinal direction, a transverse direction and four finger sides, and the four finger sides are one sides of the hand back base along the longitudinal direction;
the four-finger framework is arranged on the hand back base and protrudes out of the four-finger side edges of the hand back base;
the thumb base is positioned on one side of the hand back base along the transverse direction and is provided with a thumb side edge;
the thumb framework is arranged on the thumb base and protrudes out of the side edge of the thumb base;
the connecting component is connected with the hand back base and the thumb base, and the thumb base can move linearly along the longitudinal direction relative to the hand back base through the connecting component.
2. An exoskeleton robot hand as claimed in claim 1 wherein said thumb base is pivotable relative to said dorsal base via said connecting assembly and the axes of rotation of said thumb base and said dorsal base extend in said longitudinal direction to enable said thumb skeleton to move towards and away from said finger skeletons via relative pivoting of said thumb base and said dorsal base.
3. An exoskeleton robot hand as claimed in claim 1 wherein said coupling assembly has:
a connecting shaft rod connected with the thumb base and extending along the longitudinal direction;
the first pressing plate is connected with the hand back base;
the second pressure plate is connected with the first pressure plate and clamps the connecting shaft rod together with the first pressure plate; the connecting shaft rod can move relative to the first pressing plate and the second pressing plate so that the thumb base can move linearly relative to the hand back base.
4. An exoskeleton robot hand as claimed in claim 2 wherein said coupling assembly has:
a connecting shaft rod connected with the thumb base and extending along the longitudinal direction;
the first pressing plate is connected with the hand back base;
the second pressure plate is connected with the first pressure plate and clamps the connecting shaft rod together with the first pressure plate; the connecting shaft rod can move relative to the first pressing plate and the second pressing plate so that the thumb base can move linearly relative to the hand back base; the connecting shaft rod can rotate relative to the first pressing plate and the second pressing plate so that the thumb base can rotate relative to the hand back base.
5. An exoskeletal robot hand as claimed in claim 3 or claim 4,
a clamping space is formed between the first pressing plate and the second pressing plate, and the connecting shaft rod penetrates through the clamping space;
the connecting assembly has:
and the at least one tightening adjusting bolt penetrates through the second pressing plate, the clamping space and the first pressing plate and can push against the second pressing plate through the pivoting of the at least one tightening adjusting bolt so as to change the height of the clamping space.
6. An exoskeleton robot hand as claimed in claim 5 wherein said coupling assembly has:
the hand back base is positioned between the combination seat and the first pressing plate; at least one tightening adjusting bolt is screwed with the combination seat, and the tail end of the tightening adjusting bolt is hidden in the combination seat;
the pressing rod is pivoted on the combination seat through the pressing pivot, one end of the pressing rod pivoted on the combination seat protrudes towards the radial direction of the pressing pivot to form at least one eccentric part, and the pressing pivot can be pivoted to the position where the at least one eccentric part is located between the circle center of the pressing pivot and the hand back base.
7. An exoskeletal robot hand as claimed in claim 5,
the head of at least one tightening adjusting bolt is polygonal;
the connecting component is provided with a bolt anti-loosening piece which is connected with the second pressure plate and is clamped with the head of at least one tightening adjusting bolt so as to limit the rotation of at least one tightening adjusting bolt.
8. An exoskeletal robot hand as claimed in claim 5,
the connecting assembly has:
the hand back base is positioned between the combination seat and the first pressing plate; at least one tightening adjusting bolt is screwed with the combination seat;
the pressing rod is pivoted on the combination seat through the pressing pivot, one end of the pressing rod pivoted on the combination seat protrudes towards the radial direction of the pressing pivot to form at least one eccentric part, and the pressing pivot can be pivoted to a position where the at least one eccentric part is positioned between the circle center of the pressing pivot and the hand back base;
a pad, which is arranged between at least one eccentric part and the hand back base, and the hardness of the pad is greater than that of the hand back base;
when the eccentric part of the pressing rod is positioned between the circle center of the pressing pivot and the hand back base, the eccentric part tightly supports the gasket towards the direction of the first pressing plate.
9. An exoskeletal robot hand as claimed in claim 5,
the connecting assembly has:
the hand back base is positioned between the combination seat and the first pressing plate; at least one tightening adjusting bolt is screwed with the combination seat;
the pressing rod is pivoted on the combination seat through the pressing pivot, one end of the pressing rod pivoted on the combination seat protrudes towards the radial direction of the pressing pivot to form at least one eccentric part, and the pressing pivot can be pivoted to a position where the at least one eccentric part is positioned between the circle center of the pressing pivot and the hand back base;
when the eccentric part of the pressing rod is positioned between the circle center of the pressing pivot and the first pressing plate, the pressing rod abuts against at least one pressing rod limiting part.
10. An exoskeletal robot hand as claimed in any of claims 1 to 4 wherein said connecting member is arcuately movably connected to said dorsal base whereby arcuate movement of said thumb skeleton relative to said finger skeletons is permitted by arcuate movement of said connecting member relative to said dorsal base.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010282831.8A CN113491618A (en) | 2020-04-08 | 2020-04-08 | Exoskeleton robot hand with thumb adjusting mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010282831.8A CN113491618A (en) | 2020-04-08 | 2020-04-08 | Exoskeleton robot hand with thumb adjusting mechanism |
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| CN113491618A true CN113491618A (en) | 2021-10-12 |
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