CN114259383A - Hand exoskeleton device with under-actuated traction function - Google Patents
Hand exoskeleton device with under-actuated traction function Download PDFInfo
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- CN114259383A CN114259383A CN202111590970.8A CN202111590970A CN114259383A CN 114259383 A CN114259383 A CN 114259383A CN 202111590970 A CN202111590970 A CN 202111590970A CN 114259383 A CN114259383 A CN 114259383A
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Abstract
The invention belongs to the technical field related to medical equipment, and discloses a hand exoskeleton device with an under-actuated traction function, which comprises an exoskeleton body, a thumb driving mechanism, a four-finger driving mechanism and a fastening torsion spring mechanism, wherein the thumb driving mechanism is connected to the exoskeleton body; the exoskeleton body comprises a joint line block, a little finger, a ring finger, a middle finger, an index finger and a thumb, wherein the little finger, the ring finger, the middle finger, the index finger and the thumb are respectively connected with the joint line block; the middle finger comprises a fingertip finger sleeve, a middle finger ring, a near finger ring and a first four-finger traction nylon rope, one end of the first four-finger traction nylon rope is sequentially connected with the near finger ring, the middle finger ring and the fingertip finger sleeve in series, and the other end of the first four-finger traction nylon rope is connected with the joint line block. The invention reduces the volume and improves the flexibility.
Description
Technical Field
The invention belongs to the technical field related to medical equipment, and particularly relates to a hand exoskeleton device with an under-actuated traction function.
Background
The hands are the main effector organs of most complex motor behaviors, have high biomechanical complexity, and diseases or injuries affecting the hands usually cause the corresponding loss of the abilities of the hands, and for some patients with hand motion impairment caused by nerve network injury, clinical rehabilitation medicine proves that, besides necessary drug treatment, after the damaged nervous system is repaired by operation, the rehabilitation training is relied on to help the cortex layer reorganization and peripheral nerve regeneration of the brain, and the continuous weakening of muscles is compensated by exercise, thereby having important significance for recovering the motor abilities of the patients. In the process of rehabilitation training, the types of rehabilitation mechanisms which have the motion coordination rule and can provide the hand exoskeleton to pull the auxiliary fingers to perform flexion and extension motions are few. Therefore, the hand exoskeleton traction auxiliary rehabilitation mechanism which can provide active movement, function simulation, body fitting to the surface of the hand and is convenient to use has extremely important scientific research significance and social value.
The prior hand exoskeleton mechanism generally has some problems, such as the situation that the motion coordination relationship of the fingers of a patient during the motion is not considered, the control system is complex, the overall volume is large, and the like, and the invention patent CN201820116470.8 discloses a flexible hand exoskeleton device, which can assist the hand motion injury patient to realize two motions of pinching and holding to a certain extent and has certain under-driving capability, but only considers the realizability of the gripping motion, and has large volume and heavy weight, which is inconvenient for practical use. The flexible exoskeleton for hand rehabilitation training, which is provided in the Chinese patent invention CN201710366041.6, can copy the motion coordination rule of a healthy hand to the flexible exoskeleton to a certain extent, but the whole mechanism is large, so that the flexible exoskeleton is not suitable for household occasions and is not convenient for patients to perform long-term rehabilitation training. Although the two exoskeletons solve the problem of motion rehabilitation of hand motion injury patients to a certain extent, the size, the quality and the operation precision of the exoskeletons need to be improved greatly.
Disclosure of Invention
Aiming at the defects or improvement requirements of the prior art, the invention provides the hand exoskeleton device with the under-actuated traction function, the under-actuated traction exoskeleton device with the four-finger movement coordination capability can effectively consider the actual working condition requirement of the patient in home nursing, and effectively solves the problems of overlarge volume, complex control system and the like of the hand exoskeleton device; meanwhile, the device has the functions of extending and bending fingers in different application occasions. The whole hand exoskeleton device is mainly improved from the following three aspects: respectively is a flexible bracelet connection, a torsional spring anti-loosening mechanism and a two-motor four-finger motion cooperative driving mechanism. Meanwhile, the invention adopts three motors to control 14 degrees of freedom of the exoskeleton of the human hand, the thumb motor controls the extension and flexion degrees of freedom of two joints of the thumb, the four-finger control adopts a driving mechanism which is driven by two motors and has a motion coordination relationship to control 12 extension/flexion degrees of freedom of four fingers, and the invention has a self-adaptive enveloping grabbing/releasing function while actively assisting the grabbing/extending function of the human hand, and can be flexibly operated along with the fingers.
To achieve the above object, according to one aspect of the present invention, there is provided a hand exoskeleton device with an under-actuated traction function, the hand exoskeleton device including an exoskeleton body, a thumb driving mechanism, a four-finger driving mechanism and a fastening torsion spring mechanism, the thumb driving mechanism being connected to the exoskeleton body, the four-finger driving mechanism being connected to the exoskeleton body through the fastening torsion spring mechanism;
the exoskeleton body comprises a joint line block, a little finger, a ring finger, a middle finger, an index finger and a thumb, wherein the little finger, the ring finger, the middle finger, the index finger and the thumb are respectively connected with the joint line block, the joint line block is connected with the fastening torsion spring mechanism, and the thumb is connected with the thumb driving mechanism through the joint line block; the middle finger comprises a fingertip finger sleeve, a middle finger ring, a near finger ring and a first four-finger traction nylon rope, one end of the first four-finger traction nylon rope is sequentially connected with the near finger ring, the middle finger ring and the fingertip finger sleeve in series, and the other end of the first four-finger traction nylon rope is connected with the joint line block.
Further, the structure of the little finger, the structure of the ring finger, the structure of the index finger and the structure of the middle finger are the same.
Furthermore, the near finger ring, the middle finger ring and the fingertip finger sleeves are all made of rubber.
Furthermore, the thumb comprises a thumb traction nylon rope, a thumb near finger ring and a thumb fingertip fingerstall, one end of the thumb traction nylon rope is sequentially connected with the thumb near finger ring and the thumb fingertip fingerstall in series, and the other end of the thumb traction nylon rope is connected with the thumb driving mechanism.
Furthermore, the fastening torsion spring mechanism comprises a first buckling plate, a second buckling plate, four first nylon traction ropes, four traction transmission wheels, four torsion springs, a transmission wheel shaft, four second nylon traction ropes and a bearing base plate, wherein the first buckling plate and the second buckling plate are L-shaped, the first buckling plate and the second buckling plate are in end connection to form a rectangular frame, and the three bearing base plates are arranged in the rectangular frame at intervals along the length direction of the first buckling plate; one end of the transmission wheel shaft is connected to the first buckling plate, and the other end of the transmission wheel shaft penetrates through the bearing base plate and then is connected to the second buckling plate.
Furthermore, the fastening torsion spring mechanism further comprises four first nylon traction ropes, four traction transmission wheels, four torsion springs and four second nylon traction ropes, four disc-shaped protrusions arranged at intervals are formed on the transmission wheel shafts respectively, rope grooves are formed in the cross sections of the protrusions, one end of each first nylon traction rope is sleeved in each rope groove, and the other end of each first nylon traction rope is connected to the first four-finger traction nylon rope; the four traction driving wheels are respectively arranged on the driving wheel shafts; the transmission wheel shaft is provided with a clamping groove corresponding to the traction transmission wheel, the middle part of the torsion spring is clamped in the clamping groove, and the two ends of the torsion spring are connected to the inner wall of the corresponding traction transmission wheel; the traction driving wheel is connected to one end of the second nylon traction rope, and the other end of the second nylon traction rope is connected to the four-finger driving mechanism.
Furthermore, the four-finger driving mechanism comprises two groups of symmetrically arranged direct current motor driving components, a motor mounting plate, a bearing mounting through line plate, a forefinger pulley, a first diamond-shaped connecting rod, a middle finger pulley, a four-finger driving nylon rope, a second diamond-shaped connecting rod, a ring finger pulley, a little finger pulley and a third diamond-shaped connecting rod, the motor mounting plate and the bearing mounting through line plate are arranged at intervals, and two ends of the two direct current motor driving components are respectively connected with the motor mounting plate and the bearing mounting through line plate; the forefinger pulley and the little finger pulley are respectively connected to the two direct current motor driving components, the forefinger pulley is connected to the middle finger pulley through the first rhombic connecting rod, the middle finger pulley is connected to the ring finger pulley through the second rhombic connecting rod, and the ring finger pulley is connected to the little finger pulley through the third rhombic connecting rod; one ends of the four-finger driving nylon ropes respectively penetrate through the index finger pulley, the middle finger pulley, the ring finger pulley and the small finger pulley and then are connected to the bearing installation through line plate, and the other ends of the four-finger driving nylon ropes penetrate through the bearing installation through line plate and then are connected to the second nylon traction rope.
Furthermore, the index finger pulley and the little finger pulley are directly driven by a direct current motor driving component to move, the middle finger pulley and the ring finger pulley are indirectly driven by the first diamond-shaped connecting rod, the second diamond-shaped connecting rod and the third diamond-shaped connecting rod, and the parameter and position arrangement of the first diamond-shaped connecting rod, the second diamond-shaped connecting rod and the third diamond-shaped connecting rod conforms to the cooperative motion rule of human hands.
Further, the direct current motor driving assembly comprises a first direct current motor, a first driving gear, a first driven gear, a first lead screw bearing, a first moving nut, a first sliding block, a first guide rail and a bearing mounting wiring board, wherein the first direct current motor is arranged on the motor mounting board, and an output shaft of the first direct current motor is connected to the first driving gear; one end of the first lead screw is connected to the bearing mounting wiring board, the other end of the first lead screw penetrates through the motor mounting board and then is connected to the first driven gear, and the first driven gear is meshed with the first driving gear; the first movable nut and the first lead screw form a lead screw nut pair, the first sliding block is connected to the first movable nut and is arranged on the first guide rail in a sliding mode, and two ends, back to back, of the first guide rail are connected to the motor mounting plate and the bearing mounting through plate respectively.
Furthermore, the first movable nuts of the two direct current motor driving assemblies are fixedly connected with the index finger pulley and the little finger pulley respectively.
Generally, compared with the prior art, the hand exoskeleton device with the under-actuated traction function provided by the invention has the following beneficial effects:
1. the hand exoskeleton device is characterized in that a plurality of rubber finger rings are used as external main contact elements of fingers, the finger rings are connected in series through nylon ropes for transmission, the exoskeleton quality and the exoskeleton volume are further reduced, the finger movement flexibility is enhanced, a joint line block of the hand exoskeleton device can be fixed at the root of a palm through a magic tape, and therefore a connecting node of the finger rings and the nylon ropes is arranged on the palm side, the gripping action can be completed in an auxiliary mode.
2. The hand exoskeleton device is characterized in that the hand exoskeleton device comprises a hand exoskeleton device, a hand exoskeleton device and a motor, wherein the hand exoskeleton device is arranged on the hand exoskeleton device, and the hand exoskeleton device is arranged on the hand exoskeleton device.
3. The hand exoskeleton device can be well attached to the free form of a hand, can also utilize the joint of the hand of a patient to move in the motion function, has the self-adaptive gripping function according with the morphological rule of the hand, only uses three motors to drive 14 degrees of freedom of the fingers of the hand exoskeleton device, has fewer driving sources, further simplifies the control, further improves the control precision, and has the characteristics of light weight, small size and self-adaptive gripping.
4. The hand exoskeleton device is wide in applicability, and can play a role in enhancing traction finger motion for patients who cannot perform stretching motion on some fingers, namely, the hand exoskeleton device and the buckling motion are in a chiral symmetric motion mode.
Drawings
Fig. 1 is a perspective view of a hand exoskeleton device with an under-actuated traction function provided by the present invention;
FIG. 2 is a perspective view of a middle finger of the hand exoskeleton device with under-actuated traction function of FIG. 1;
FIG. 3 is a schematic perspective view of the thumb of the hand exoskeleton device with under-actuated traction function of FIG. 1;
FIG. 4 is a partial cross-sectional view of the tightening torsion spring mechanism of the hand exoskeleton device with under-actuated traction function of FIG. 1;
FIG. 5 is a schematic diagram of the overall structure of the four-finger driving mechanism of the hand exoskeleton device with under-actuated traction function shown in FIG. 1;
FIG. 6 is a schematic view of the four finger drive mechanism of FIG. 5 along an angle;
FIG. 7 is a partial cross-sectional view of the thumb drive mechanism of the hand exoskeleton device with under-actuated traction of FIG. 1;
FIG. 8 is a schematic view of the hand exoskeleton device with under-actuated traction of FIG. 1 taken from another angle;
fig. 9 is a partial cross-sectional view of another four finger drive mechanism provided by the present invention.
The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein: 1-1-little finger, 1-2-ring finger, 1-3-middle finger, 1-4-forefinger, 1-5-thumb, 1-6-joint block, 1-7-thumb drive mechanism, 1-9-fastening torsion spring mechanism, 2-1-fingertip, 2-2-middle finger ring, 2-3-near finger ring, 2-4-first four-finger traction nylon rope, 3-1-thumb traction nylon rope, 3-2-thumb near finger ring, 3-3-thumb fingertip, 4-1-first buckling plate, 4-2-second buckling plate, 4-3-first nylon traction rope, 4-4-first rotary wheel bearing, 4-5-traction driving wheel, 4-6-torsion spring, 4-7-driving wheel shaft, 4-8-second rotating wheel bearing, 4-9-second nylon traction rope, 4-10-bearing seat plate, 5-1-first direct current motor, 5-2-motor mounting plate, 5-3-first driving gear, 5-4-first driven gear, 5-5-first lead screw, 5-6-first moving nut, 5-7-first slide block, 5-8-first guide rail, 5-9-first lead screw bearing, 5-10-bearing mounting wiring board, 6-1-index finger mixed wheel, 6-2-first diamond connecting rod and 6-3-middle finger pulley, 6-4-four-finger driving nylon rope, 6-5-second diamond-shaped connecting rod, 6-6-ring finger mixed wheel, 6-7-little finger pulley, 7-1-thumb driving direct current motor, 7-2-thumb driving gear, 7-3-thumb driven gear, 7-4-thumb screw, 7-5-thumb bearing, 7-6-thumb bearing seat, 7-7-thumb nut, 7-8-thumb slide block, 7-9-thumb pulley, 7-10-thumb linear guide rail, 7-11-thumb guide rail limiting block, 7-12-thumb buckling plate, 7-13-thumb nylon rope, 8-1-first nylon sleeve, 8-2-thumb nylon sleeve, 8-3-second nylon sleeve, 8-4-second four-finger traction nylon rope, 9-1-second lead screw, 9-2-second nut, 9-3-pressing plate, 9-4-fixing bolt, 9-5-second pulley fixing pin, 9-6-finger pulley, 9-7-second linear sliding block, 9-8-second connecting piece and 9-9-second linear guide rail.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Referring to fig. 1, the hand exoskeleton device with an under-actuated traction function provided by the present invention includes an exoskeleton body, thumb driving mechanisms 1 to 7, four-finger driving mechanisms and fastening torsion spring mechanisms 1 to 9, wherein the thumb driving mechanisms 1 to 7 are connected to the exoskeleton body, and the four-finger driving mechanisms are connected to the exoskeleton body through the fastening torsion spring mechanisms 1 to 9. The thumb driving mechanisms 1-7 and the four-finger driving mechanism can adopt three power sources to accurately control 14 degrees of freedom of the hand exoskeleton device, and an enveloping grabbing function with a motion coordination rule is completed. In this embodiment, the hand exoskeleton device is adapted to be worn on the left hand, and the corresponding suture block is attached to the palm of the left hand.
Referring to fig. 2 and 3, the exoskeleton body comprises joint blocks 1-6, little fingers 1-1, ring fingers 1-2, middle fingers 1-3, index fingers 1-4 and thumbs 1-5, wherein the little fingers 1-1, the ring fingers 1-2, the middle fingers 1-3, the index fingers 1-4 and the thumbs 1-5 are respectively connected to the joint blocks 1-6. Wherein, the structure of the little finger 1-1, the structure of the ring finger 1-2, the structure of the index finger 1-4 and the structure of the middle finger 1-3 are the same.
The middle finger 1-3 comprises a fingertip finger sleeve 2-1, a middle finger ring 2-2, a near finger ring 2-3 and a first four-finger traction nylon rope 2-4, one end of the first four-finger traction nylon rope 2-4 is sequentially connected with the near finger ring 2-3, the middle finger ring 2-2 and the fingertip finger sleeve 2-1 in series, and the other end is connected with the joint block 1-6. The near finger ring 2-3, the middle finger ring 2-2 and the fingertip finger sleeves 2-1 are arranged at intervals. The thumb 1-5 comprises a thumb traction nylon rope 3-1, a thumb near finger ring 3-2 and a thumb fingertip fingerstall 3-3, one end of the thumb traction nylon rope 3-1 is sequentially connected with the thumb near finger ring 3-2 and the thumb fingertip fingerstall 3-3 in series, and the other end is connected with the thumb driving mechanism. The finger ring and the finger stall can be flexibly attached to the hand, so that the finger ring and the finger stall have better lightweight performance and can be operated easily in the processes of grasping and stretching; the line piece 1-6 can be attached to the bottom of the palm by the magic tape in an enveloping mode, so that the whole moving process of the palm is light and flexible.
Referring to fig. 4 and 8, the fastening torsion spring mechanism 1-9 includes a first fastening plate 4-1, a second fastening plate 4-2, four first nylon traction ropes 4-3, four traction transmission wheels 4-5, four torsion springs 4-6, a transmission wheel axle 4-7, four second nylon traction ropes 4-9, and a bearing base plate 4-10, wherein the first fastening plate 4-1 and the second fastening plate 4-2 are both L-shaped, and are connected end to form a rectangular frame, the three bearing base plates 4-10 are arranged in the rectangular frame at intervals along the length direction of the first fastening plate 4-1, and two ends of the three bearing base plates are respectively connected to the first fastening plate 4-1 and the second fastening plate 4-2. The bearing bottom plate 4-10 is provided with a second rotating wheel bearing 4-8, the first buckling plate 4-1 and the second buckling plate 4-2 are respectively provided with an end bearing, the middle parts of the transmission wheel shafts 4-7 are respectively sleeved in the second rotating wheel bearings 4-8, and the two opposite ends of the transmission wheel shafts are respectively sleeved in the two end bearings. Four disc-shaped protrusions arranged at intervals are formed on the transmission wheel shafts 4-7 respectively, rope grooves are formed in the end faces of the protrusions, one end of the first nylon traction rope 4-3 is sleeved in the rope grooves, and the other end of the first nylon traction rope is connected to the first four-finger traction nylon rope 2-4. The four traction driving wheels 4-5 are respectively arranged on the transmission wheel shafts 4-7 through first wheel bearings 4-4, and the four traction driving wheels 4-5 are respectively arranged adjacent to the four bulges. The transmission wheel shaft 4-7 is provided with a clamping groove corresponding to the traction transmission wheel 4-5, a torsion spring 4-6 is arranged in the clamping groove, the middle part of the torsion spring 4-6 is clamped in the clamping groove, and the two ends of the torsion spring are connected to the inner wall of the corresponding traction transmission wheel 4-5 respectively. The middle part of the torsion spring 4-6 rotates along with the rotation of the transmission wheel shaft 4-7, and the two ends of the torsion spring are respectively connected with the traction transmission wheel 4-5 through the buckling groove and the buckling boss. The traction transmission wheel 4-5 is connected to one end of the second nylon traction rope 4-9, and the other end of the second nylon traction rope 4-9 is connected to the four-finger driving mechanism. In this embodiment, the torsion springs 4-6 are strip-shaped, but in other embodiments, the torsion springs 4-6 may have other shapes.
The traction transmission wheel 4-5 is used for transmitting the motion from the four-finger driving mechanism to the torsion spring 4-6, so that on one hand, a pre-traction force can be passively applied to a patient to reduce the working power of the motor; on the other hand, the auxiliary motion is cooperated to carry out accurate gripping action, so that the nylon rope is prevented from being loosened due to long-time elastic stretching.
In one embodiment, four first nylon sleeves 8-1 are arranged between the fastening torsion spring mechanisms 1-9 and the line-closing blocks 1-6 at intervals, four second nylon sleeves 8-3 are arranged between the fastening torsion spring mechanisms 1-9 and the four-finger driving mechanisms at intervals, a thumb nylon sleeve 8-2 is arranged between the line-closing blocks 1-6 and the thumb driving mechanisms 1-7, the first nylon traction ropes 4-3 are arranged in the first nylon sleeves 8-1, and the second nylon traction ropes 4-9 are arranged in the second nylon sleeves 8-3. The thumb traction nylon rope 3-1 is arranged in the thumb nylon sleeve 8-2 and can move relatively in the thumb nylon sleeve 8-2.
Referring to fig. 5 and 6, the four-finger driving mechanism is arranged on an external fixing plate of the hand exoskeleton device and comprises two sets of dc motor driving components symmetrically arranged, a motor mounting plate 5-2, a bearing mounting through plate 5-10, a forefinger pulley 6-1, a first diamond-shaped connecting rod 6-2, a middle-finger pulley 6-3, a four-finger driving nylon rope 6-4, a second diamond-shaped connecting rod 6-5, a ring finger pulley 6-6, a little finger pulley 6-7 and a third diamond-shaped connecting rod, the motor mounting plate 5-2 and the bearing mounting through plate 5-10 are arranged at intervals, and two ends of the two dc motor driving components are respectively connected with the motor mounting plate 5-2 and the bearing mounting through plate 5-10. The forefinger pulley 6-1 and the little finger pulley 6-7 are respectively connected to the two direct current motor driving assemblies, the forefinger pulley 6-1 is connected to the middle finger pulley 6-3 through the first diamond-shaped connecting rod 6-2, the middle finger pulley 6-3 is connected to the ring finger pulley 6-6 through the second diamond-shaped connecting rod 6-5, and the ring finger pulley 6-6 is connected to the little finger pulley 6-7 through the third diamond-shaped connecting rod. One end of each of the four-finger driving nylon ropes 6-4 is connected to the bearing installation through-wire plate 5-10 after passing through the index finger pulley 6-1, the middle finger pulley 6-3, the ring finger pulley 6-6 and the little finger pulley 6-7 respectively, and the other end of each of the four-finger driving nylon ropes is connected to the second nylon traction rope 4-9 after passing through the bearing installation through-wire plate 5-10. The forefinger pulley 6-1 and the little finger pulley 6-7 are directly driven by a motor to move, the middle finger pulley 6-3 and the ring finger pulley 6-6 are indirectly driven by the first diamond-shaped connecting rod 6-2, the second diamond-shaped connecting rod 6-5 and the third diamond-shaped connecting rod, and the parameter and position arrangement of the first diamond-shaped connecting rod 6-2, the second diamond-shaped connecting rod 6-5 and the third diamond-shaped connecting rod conforms to the cooperative motion law of human hands, so that the human hands can realize the cooperative linkage motion of muscles in the gripping process.
The direct current motor driving assembly comprises a first direct current motor 5-1, a first driving gear 5-3, a first driven gear 5-4, a first lead screw 5-5, a first lead screw bearing 5-9, a first moving nut 5-6, a first sliding block 5-7 and a first guide rail 5-8, wherein the first direct current motor 5-1 is arranged on the motor mounting plate 5-2, and an output shaft of the first direct current motor is connected to the first driving gear 5-3. The motor mounting plate 5-2 and the bearing mounting wiring plate 5-10 are respectively provided with a first lead screw bearing 5-9, one end of the first lead screw 5-5 is arranged on the bearing mounting wiring plate 5-10 through the first lead screw bearing 5-9, the other end of the first lead screw penetrates through the corresponding first lead screw bearing 5-9 and then is connected with the first driven gear 5-4, and the first driven gear 5-4 is meshed with the first driving gear 5-3. The first movable nuts 5-6 are arranged on the first lead screws 5-5, and the first movable nuts and the first lead screws form a lead screw nut pair. The two ends of the first guide rail 5-8 are respectively connected to the motor mounting plate 5-2 and the bearing mounting through-wire plate 5-10, the first sliding block 5-7 is slidably arranged on the first guide rail 5-8, and the first sliding block 5-7 is fixedly connected with the first movable nut 5-6. The first movable nut 5-6 is fixedly connected with the corresponding index finger pulley 6-1 or little finger pulley 6-7.
Wherein the first direct current motor 5-1 provides power for the first driving gear 5-3, the first driving gear 5-3 drives the first driven gear 5-4 to rotate, the first driven gear 5-4 transmits torque and rotation speed to the first lead screw 5-5, the first lead screw 5-5 drives the first movable nut 5-6 to move linearly, the first movable nut 5-6 drives the first slider 5-7 to move along the first guide rail 5-8, meanwhile, the first movable nut 5-6 drives the corresponding index finger pulley 6-1 to move so as to transmit motion to the four-finger driving nylon rope 6-4, the four-finger driving nylon rope 6-4 transmits motion to the fastening torsion spring mechanism 1-9, the tightening torsion spring mechanisms 1-9 in turn transmit motion to the exoskeleton body.
Referring to fig. 9, in another embodiment, the dc motor driving assembly includes a first dc motor, a first driving gear, a first driven gear, a first lead screw bearing, a second lead screw 9-1, a second nut 9-2, a pressing plate 9-3, a fixing bolt 9-4, a second pulley fixing pin 9-5, a finger pulley 9-6, a second linear slider 9-7, a second connecting member 9-8, and a second linear guide rail 9-9, the arrangement and the connection of the first dc motor, the first driving gear, the first driven gear, the first lead screw bearing, and the second lead screw 9-1 are the same as above, the second nut 9-2 is disposed on the second lead screw 9-1, and a lead screw-nut pair is formed therebetween. The pressing plate 9-3 is connected with the second nut 9-2 and the second connecting piece 9-8, the second linear sliding block 9-7 is connected with the second connecting piece 9-8 through a fixing bolt 9-4, and the finger pulley 9-6 is connected with the second connecting piece 9-8 through a second pulley fixing pin 9-5. The second linear sliding block 9-7 is slidably arranged on the second linear guide rail 9-9, and two opposite ends of the second linear guide rail 9-9 are respectively connected to the motor mounting plate and the bearing mounting through wire plate. Wherein the finger pulley 9-6 corresponds to the forefinger pulley 6-1 or the little finger pulley 6-7; the second connecting piece 9-8 is manufactured by adopting a three-side punching process, the manufacturing precision requirement is high, but the movement precision can be improved to a large extent, and the redundant volume is reduced.
Referring to fig. 7, the thumb driving mechanism 1-7 is arranged on one side of the forefinger pulley 6-1, has a small overall volume, and includes a thumb driving dc motor 7-1, a thumb driving dc gear 7-2, a thumb driven gear 7-3, a thumb screw 7-4, a thumb bearing 7-5, a thumb bearing seat 7-6, a thumb nut 7-7, a thumb slider 7-8, a thumb pulley 7-9, a thumb linear guide rail 7-10, a thumb guide rail limiting block 7-11, a thumb fastening plate 7-12, and a thumb nylon rope 7-13, and the thumb bearing seat 7-6 is connected to the thumb fastening plate 7-12. The thumb bearings 7-5 are respectively arranged in the thumb bearing seats 7-6 and the thumb buckling plates 7-12. One end of the thumb screw 7-4 is arranged in the thumb buckling plate 7-12 through the thumb bearing 7-5, and the other end of the thumb screw passes through the corresponding thumb bearing 7-5 and then is connected to the thumb driven gear 7-3. The thumb driving direct current motor 7-1 is connected to the thumb bearing seat 7-6, an output shaft of the thumb driving direct current motor is connected to the thumb driving gear 7-2, and the thumb driving gear 7-2 is meshed with the thumb driven gear 7-3. The thumb nut 7-7 and the thumb screw 7-4 form threaded connection. The thumb sliding block 7-8 is connected to the thumb nut 7-7 and is slidably arranged on the thumb linear guide rail 7-10, and the thumb pulley 7-9 is connected to the thumb sliding block 7-8. The thumb guide rail limiting blocks 7-11 are arranged on the thumb buckling plates 7-12, and two opposite ends of the thumb linear guide rail 7-10 are respectively connected to the thumb bearing seat 7-6 and the thumb buckling plates 7-12. One end of the thumb nylon rope 7-13 penetrates through the thumb pulley 7-9 and then is connected to the thumb buckling plate 7-12, and the other end of the thumb nylon rope is connected to the thumb traction nylon rope 3-1.
In the embodiment, the thumb-driven DC motor 7-1 drives the thumb driving gear 7-2 to rotate, the motion is transmitted to a thumb screw 7-4 through a thumb driven gear 7-3, an outer ring stator end of a thumb bearing 7-5 is fixed on a thumb bearing seat 7-6, an inner ring rotor is matched with the thumb screw 7-4 to fix the screw, the thumb screw 7-4 drives a thumb nut 7-7 to move linearly, the thumb nut 7-7 and a thumb sliding block 7-8 are fixed together through bolts, a thumb pulley 7-9 drives a thumb nylon rope 7-13 to move, and when needing to be explained, the nylon rope is in a non-transmission mechanism and an execution mechanism, the nylon rope is arranged in the flexible sleeve, and the length of the sleeve can be cut and adjusted according to the needs of a patient to fix the installation position.
Certainly, the joint line plate of the hand exoskeleton device can also be arranged on the back of the right hand, for some patients who cannot perform stretching movement of fingers, the hand exoskeleton device can play a role in enhancing the motion of the traction fingers, namely, the hand exoskeleton device is used as a chiral symmetrical implementation mode with the upper left hand, in the implementation mode, various advantages as described in the previous improvement can still play a role, the fastening torsion spring mechanism can still provide pre-traction force, the four-finger driving mechanism can still perform motion in an underactuated motion state, and the difference is that the finger stretching movement does not have the working condition of a self-adaptive envelope object, but if the fingers are blocked during stretching, other fingers can still perform normal motion without blocking a direct current motor.
In conclusion, the hand exoskeleton device is driven to bend and stretch by stretching a rope, so that the change of multiple degrees of freedom can be completed through one input, and in addition, three motors provide 5 outputs, the mode only adopts two motors to complete the driving of four fingers, and meanwhile, through the action of a link mechanism, the hand exoskeleton device can still complete the self-adaptive enveloping gripping function, has certain shape self-adaptive capacity for complex objects, is convenient to control, and is very suitable for the field of medical instruments. The motion of the thumb is driven by a motor, and the side-sway motion is realized passively, so that the structure of the hand exoskeleton device is further simplified, and meanwhile, the whole device is small and exquisite, and is convenient for patients to wear and carry out daily treatment.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A hand exoskeleton device with an under-actuated traction function, comprising:
the hand exoskeleton device comprises an exoskeleton body, a thumb driving mechanism, a four-finger driving mechanism and a fastening torsion spring mechanism, wherein the thumb driving mechanism is connected to the exoskeleton body, and the four-finger driving mechanism is connected to the exoskeleton body through the fastening torsion spring mechanism;
the exoskeleton body comprises a joint line block, a little finger, a ring finger, a middle finger, an index finger and a thumb, wherein the little finger, the ring finger, the middle finger, the index finger and the thumb are respectively connected with the joint line block, the joint line block is connected with the fastening torsion spring mechanism, and the thumb is connected with the thumb driving mechanism through the joint line block; the middle finger comprises a fingertip finger sleeve, a middle finger ring, a near finger ring and a first four-finger traction nylon rope, one end of the first four-finger traction nylon rope is sequentially connected with the near finger ring, the middle finger ring and the fingertip finger sleeve in series, and the other end of the first four-finger traction nylon rope is connected with the joint line block.
2. The hand exoskeleton device of claim 1 having an under-actuated traction function, wherein: the structure of the little finger, the structure of the ring finger, the structure of the index finger and the structure of the middle finger are the same.
3. The hand exoskeleton device of claim 1 having an under-actuated traction function, wherein: the near finger ring, the middle finger ring and the fingertip finger sleeves are all made of rubber.
4. The hand exoskeleton device of claim 1 having an under-actuated traction function, wherein: the thumb comprises a thumb traction nylon rope, a thumb near finger ring and a thumb fingertip fingerstall, one end of the thumb traction nylon rope is sequentially connected with the thumb near finger ring and the thumb fingertip fingerstall in series, and the other end of the thumb traction nylon rope is connected with the thumb driving mechanism.
5. The hand exoskeleton device of claim 1 having an under-actuated traction function, wherein: the fastening torsion spring mechanism comprises a first buckling plate, a second buckling plate, four first nylon traction ropes, four traction transmission wheels, four torsion springs, a transmission wheel shaft, four second nylon traction ropes and a bearing bottom plate, wherein the first buckling plate and the second buckling plate are L-shaped, the first buckling plate and the second buckling plate are connected in a terminating manner to form a rectangular frame, and the three bearing bottom plates are arranged in the rectangular frame at intervals along the length direction of the first buckling plate; one end of the transmission wheel shaft is connected to the first buckling plate, and the other end of the transmission wheel shaft penetrates through the bearing base plate and then is connected to the second buckling plate.
6. The hand exoskeleton device of claim 5 having an under-actuated traction function, wherein: the fastening torsion spring mechanism further comprises four first nylon traction ropes, four traction transmission wheels, four torsion springs and four second nylon traction ropes, four disc-shaped bulges arranged at intervals are formed on the transmission wheel shafts respectively, rope grooves are formed on the cross sections of the bulges, one end of each first nylon traction rope is sleeved in each rope groove, and the other end of each first nylon traction rope is connected to the first four-finger traction nylon rope; the four traction driving wheels are respectively arranged on the driving wheel shafts; the transmission wheel shaft is provided with a clamping groove corresponding to the traction transmission wheel, the middle part of the torsion spring is clamped in the clamping groove, and the two ends of the torsion spring are connected to the inner wall of the corresponding traction transmission wheel; the traction driving wheel is connected to one end of the second nylon traction rope, and the other end of the second nylon traction rope is connected to the four-finger driving mechanism.
7. The hand exoskeleton device of claim 6 having an under-actuated traction function, wherein: the four-finger driving mechanism comprises two groups of symmetrically arranged direct current motor driving components, a motor mounting plate, a bearing mounting through plate, an index finger pulley, a first diamond-shaped connecting rod, a middle finger pulley, a four-finger driving nylon rope, a second diamond-shaped connecting rod, a ring finger pulley, a little finger pulley and a third diamond-shaped connecting rod, the motor mounting plate and the bearing mounting through plate are arranged at intervals, and two ends of the two direct current motor driving components are respectively connected with the motor mounting plate and the bearing mounting through plate; the forefinger pulley and the little finger pulley are respectively connected to the two direct current motor driving components, the forefinger pulley is connected to the middle finger pulley through the first rhombic connecting rod, the middle finger pulley is connected to the ring finger pulley through the second rhombic connecting rod, and the ring finger pulley is connected to the little finger pulley through the third rhombic connecting rod; one ends of the four-finger driving nylon ropes respectively penetrate through the index finger pulley, the middle finger pulley, the ring finger pulley and the small finger pulley and then are connected to the bearing installation through line plate, and the other ends of the four-finger driving nylon ropes penetrate through the bearing installation through line plate and then are connected to the second nylon traction rope.
8. The hand exoskeleton device of claim 7 having an under-actuated traction function, wherein: the index finger pulley and the little finger pulley are directly driven by a direct current motor driving component to move, the middle finger pulley and the ring finger pulley are indirectly driven by the first diamond-shaped connecting rod, the second diamond-shaped connecting rod and the third diamond-shaped connecting rod, and the parameters and the positions of the first diamond-shaped connecting rod, the second diamond-shaped connecting rod and the third diamond-shaped connecting rod are arranged to accord with the cooperative motion law of human hands.
9. The hand exoskeleton device of claim 7 having an under-actuated traction function, wherein: the direct current motor driving assembly comprises a first direct current motor, a first driving gear, a first driven gear, a first lead screw bearing, a first moving nut, a first sliding block, a first guide rail and a bearing mounting wiring board, wherein the first direct current motor is arranged on a motor mounting board, and an output shaft of the first direct current motor is connected to the first driving gear; one end of the first lead screw is connected to the bearing mounting wiring board, the other end of the first lead screw penetrates through the motor mounting board and then is connected to the first driven gear, and the first driven gear is meshed with the first driving gear; the first movable nut and the first lead screw form a lead screw nut pair, the first sliding block is connected to the first movable nut and is arranged on the first guide rail in a sliding mode, and two ends, back to back, of the first guide rail are connected to the motor mounting plate and the bearing mounting through plate respectively.
10. The hand exoskeleton device of claim 9 having an under-actuated traction function, wherein: and first movable nuts of the two direct current motor driving components are respectively and fixedly connected with the index finger pulley and the little finger pulley.
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| CN202111590970.8A CN114259383B (en) | 2021-12-23 | 2021-12-23 | Hand exoskeleton device with under-actuated traction function |
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Cited By (1)
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| CN115468128A (en) * | 2022-09-09 | 2022-12-13 | 溧阳市中医医院 | Breathe branch of academic or vocational study clinician and make rounds of ward and use portable searchlight |
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