CN205698411U - A kind of ectoskeleton hand device for healing and training - Google Patents
A kind of ectoskeleton hand device for healing and training Download PDFInfo
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- CN205698411U CN205698411U CN201620156400.6U CN201620156400U CN205698411U CN 205698411 U CN205698411 U CN 205698411U CN 201620156400 U CN201620156400 U CN 201620156400U CN 205698411 U CN205698411 U CN 205698411U
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- bowden cable
- finger
- gripper shoe
- arc
- hand
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Abstract
The utility model provides a kind of ectoskeleton hand device for healing and training, it is intended to realizes the hand rehabilitation training of stroke patient, mainly includes finger drive unit, hand bearing assembly, wrist support assembly, motor driver.Finger drive unit is arranged on hand bearing assembly, and hand bearing assembly and motor driver are arranged on wrist support assembly.The utility model is delivered to the power of motor on finger drive unit by Bowden cable assembly, realized the motion in joint, finger by gear drive, four fingers of driving that can be independent, simple in construction and being easily achieved, the mode that motor driver is rearmounted and Bowden cable drives alleviates the weight of finger ectoskeleton structure.There is arc orbit structure on finger drive unit of the present utility model, realizing that the centre of gyration of ESD and the centre of gyration of finger-joint keep consistent, finger drive unit can be adjusted length and the replacing finger retainer ring of exoskeleton finger according to the length of the finger of patient and radius.
Description
Technical field
The utility model relates to a kind of device for healing and training, particularly relates to a kind of ectoskeleton hand device for healing and training, belongs to hand
Rehabilitation medicine equipment.
Background technology
Hand is one of most important organ of human body, plays the effect that can not be substituted in mankind's daily life.In China, cerebral apoplexy
It is to cause disabled and dead major reason, be also a kind of common disease, the frequently-occurring disease of the elderly, due to cerebral apoplexy (apoplexy) etc.
The postoperative hand movement function obstacle causing because of central nervous system injury, is that the daily life of patient has brought greatly impact, cerebral apoplexy
The patient of rear 80% can experience acute paralysis brachialis, and only 30% patient can realize the recovery completely of function, needs to pass through health
Refreshment white silk regains motor function.With the development of robot and correlation technique, Robotics auxiliary patient's finger is utilized to enter
One of row bending and stretching, extension training study hotspot having become numerous medical research mechanism.
Have now been developed polytype ectoskeleton hand device for rehabilitation, some ectoskeleton hand device for rehabilitation bodies existing both at home and abroad at present
Long-pending huge, cannot carry, to the adaptation inaccurate coordination of hand and wearing property difference, make troubles to hand rehabilitation, it is difficult to completely full
The requirement of foot patient.
Content of the invention
The purpose of this utility model is to solve that current ectoskeleton hand device for rehabilitation is bulky, cannot carrying and adapt to harmony
The problem of difference and a kind of ectoskeleton hand device for healing and training is provided.
The purpose of this utility model is achieved in that and includes wrist support assembly, hand bearing assembly and finger drive unit,
It is characterized in that: described Wrist support assembly include Wrist support plate, be arranged on the wrist retainer ring immediately below Wrist support plate and
It is arranged on the electric machine support of Wrist support plate upper end, described electric machine support is provided with four direct current generators, the output of each motor
Axle is connected with Bowden cable II, and the end of each Bowden cable II is connected with Bowden cable I, described hand support by stretcher
Assembly includes hand support plate and is arranged on adjustable hand fixed band of hand support plate both sides, described finger drive unit bag
Include the 3rd gripper shoe of four L-types of the upper end being arranged on hand support plate, the horizontal ends of each the 3rd gripper shoe is provided with
Three abutments, is provided with third round axle, third round axle is provided with the 3rd straight-tooth between the vertical end of three abutments and the 3rd gripper shoe
Wheel, the vertical end of described 3rd gripper shoe is provided with three-arc groove, and the second arc groove is provided with the 3rd axle sleeve, the 3rd axle sleeve
End be fixed with three-arc tooth bar, and three-arc tooth bar and the engagement of the 3rd spur gear, the end of described Bowden cable I with
One end of 3rd worm screw is connected, and described third round axle is also equipped with the 3rd worm gear, and the 3rd worm gear and the 3rd worm engaging, the
The end of three-arc tooth bar is fixed with the 3rd pressing plate, and the 3rd pressing plate is arranged in the second gripper shoe of L-type, the second gripper shoe
Second bearing is installed in horizontal ends, between the vertical end of the second bearing and the second gripper shoe, is provided with the second wheel shaft, the second wheel shaft
On the second spur gear is installed, the vertical end of described second gripper shoe is provided with the second arc groove, is provided with in the second arc groove
Two axle sleeves, the end of the second axle sleeve is fixed with the second arc rack, and the second arc rack and the second spur gear engage, and the described 3rd
The other end of worm screw is fixed with the second Bowden cable assembly, and the end of described second Bowden cable assembly is solid with one end of the second worm screw
Even, described second wheel shaft is also equipped with the second worm gear, and the second worm screw engages with the second worm gear, the end of the second arc rack
It is fixed with the second pressing plate, and the second pressing plate is arranged in the first gripper shoe of L-type, the horizontal ends of the first gripper shoe is provided with
One bearing, is provided with the first wheel shaft, the first wheel shaft is provided with the first straight-tooth between the vertical end of the first bearing and the first gripper shoe
Wheel, the vertical end of described first gripper shoe is provided with the first arc groove, is provided with the first axle sleeve, the first axle sleeve in the first arc groove
End be fixed with the first arc rack, the first arc rack and the engagement of the first spur gear, the other end of described second worm screw is connected
Having the first Bowden cable assembly, the end of described first Bowden cable assembly is connected with the first worm screw, described first wheel shaft is also pacified
Equipped with the first worm gear, the first worm screw engages with the first worm gear, and the end of the first arc rack is fixed with the first pressing plate, and described first
The lower surface of pressing plate, the lower surface of the first gripper shoe horizontal ends, the second gripper shoe horizontal ends lower surface on chalk and be provided with
One finger retainer ring, the second finger retainer ring and the 3rd branch's retainer ring.
The utility model also includes some architectural features such:
1. the first Bowden cable assembly described in and the second Bowden cable modular construction are identical, all include: Bowden cable protection set I,
Fix what nut, Bowden cable protection set II and Bowden cable protection set II were connected with Bowden cable protection set I is connected first
Second fix nut, be arranged on first and fix nut and the second a set of cups fixing between nut, be provided with removable in described a set of cups
Slide block, slide block is fixed with outside Bowden cable, and described Bowden cable and is cased with spring, one end of described spring and slide block are solid
Even, to fix the surface of nut connected for the other end and first.
2. stretcher described in include stretcher a set of cups that the fixing nut II that is connected with Bowden cable II and fixing nut II is connected,
The fixing nut I being connected with Bowden cable I and the slide block being connected with fixing nut I, described slide block is arranged on described stretcher a set of cups
In, and it is provided with trip bolt on described stretcher a set of cups.
Compared with prior art, the beneficial effects of the utility model are: the utility model uses motor drive mode, four motors
Drive four exoskeleton fingers respectively, and use Bowden cable transmission moment of torsion, use the special steel wire that can transmit bi-directional torque
Flexible axle, the driving moment length less, Bowden cable needing due to hand is shorter and worm geared gearratio is relatively big, adopts
Disclosure satisfy that transmission power and required precision with Bowden cable transmission, use a motor just can drive exoskeleton finger, reduce
The size of ectoskeleton hand convalescence device, structure is more compact, simplifies drive mechanism simultaneously；Hand use ectoskeleton supporting and
Motor driver is arranged on the load that the method for wrist reduces hand.Ectoskeleton hand convalescence device of the present utility model works
When, finger drive unit has arc orbit structure, it is achieved the centre of gyration of the centre of gyration of ESD and finger-joint is protected
Hold consistent, it is ensured that without interfering movement between exoskeleton hand and staff；Finger drive unit can be according to the length of the finger of patient and half
Footpath is adjusted length and the replacing finger retainer ring of exoskeleton finger, it is achieved the centre of gyration of ESD and finger-joint
The centre of gyration overlaps so that it is have more preferable adaptability.
Brief description
Fig. 1 is overall structure schematic diagram of the present utility model；
Fig. 2 is the structural representation one (as a example by forefinger) of finger of the present utility model；
Fig. 3 is the structural representation two (as a example by forefinger) of finger of the present utility model；
Fig. 4 is the structural representation (as a example by the second Bowden cable assembly) of Bowden cable assembly of the present utility model；
Fig. 5 is the structural representation of stretcher of the present utility model；
Fig. 6 is the structural representation of hand bearing assembly of the present utility model and wrist support assembly；
Fig. 7 is course of work schematic diagram of the present utility model.
In figure: 1. finger drive unit, 2. ectoskeleton middle finger, 3. ectoskeleton forefinger, 4, fixed band tight locking button, 5. hand fixed band,
6. fastening block, 7. hand support plate, 8. Bowden cable I, 9. tensioning apparatus, 10. wrist retainer ring I, 11. Bowden cable II, 12.
Button, 13. wrist retainer ring II, 14. electric machine supports, 15. direct current generators, 16. encoders, 17. Wrist support plates, 18. splicing sleeves
Cylinder, 19. backbar I, 20. backbar II, 21. baffle plates, 22. ectoskeleton little fingers of toe, 23. ectoskeletons are nameless, 24. first segments,
25. joint I, 26. second segments, 27. joint II, 28. the 3rd segments, 29. the 3rd pressing plates, 30. joint III, 31. palms；3-1.
First pressing plate, 3-2. the first finger retainer ring II, 3-3. the first finger retainer ring I, 3-4. the first bearing I, 3-5. the first bearing II,
3-6. the second finger retainer ring I, 3-7. the first gripper shoe, 3-8. the second finger retainer ring II, 3-9. the second pressing plate, 3-10. second
Fagging, 3-11. the 3rd finger retainer ring I, 3-12. the 3rd finger retainer ring II, 3-13. the second Bowden cable assembly, 3-14. the 3rd
Bearing I, 3-15. three abutments II, 3-16. the 3rd gripper shoe, 3-17. the second wheel shaft, 3-18, three-arc tooth bar, 3-19.
Three worm gears, 3-20. the 3rd spur gear, 3-21. the 3rd worm screw, 3-22. the second catch, 3-23. the second axle sleeve, 3-24. the second circle-arc tooth
Bar, 3-25. the first arc rack, 3-26. the first Bowden cable assembly, 3-27. the first worm gear, 3-28. the first spur gear, 3-29.
First worm screw, 3-30. third gear piece, 3-31. the 3rd axle sleeve, 3-32. the second bearing II, 3-33. the second worm gear, 3-34. the second straight-tooth
Wheel, 3-35. the second worm screw, 3-36. the first axle sleeve, 3-37. third round axle, 3-38. the first wheel shaft, 3-39. the first catch, 3-40.
Second bearing I.9-1. fixes nut I, 9-2. trip bolt, and 9-3. fixes nut II, 9-4. a set of cups, 9-5. slide block.3-13-1. the
Two Bowden cable protection set I, 3-13-2. first fixes nut I, 3-13-3. the second a set of cups, 3-13-4. the second Bowden cable I, 3-13-5.
Second slide block, 3-13-6. the second Bowden cable protection set II, 3-13-7. second fixes nut II, 3-13-8. the second spring.
Detailed description of the invention
With detailed description of the invention, the utility model is described in further detail below in conjunction with the accompanying drawings.
In conjunction with Fig. 1, a kind of ectoskeleton hand device for healing and training, mainly include finger drive unit, hand bearing assembly, wrist
Portion's bearing assembly, motor driver；Finger drive unit is arranged on hand bearing assembly, and hand bearing assembly and motor drive
Dynamic device is arranged on wrist support assembly；Finger drive unit includes that ectoskeleton forefinger the 3rd, ectoskeleton middle finger the 2nd, ectoskeleton is unknown
Finger 23 and ectoskeleton little finger of toe 22, ectoskeleton forefinger the 3rd, ectoskeleton middle finger the 2nd, ectoskeleton nameless 23 and ectoskeleton little finger of toe 22
Driving principle is identical with structure, and concrete size is different.Ectoskeleton forefinger the 3rd, ectoskeleton middle finger the 2nd, ectoskeleton nameless 23 and outer
Bone little finger of toe 22 mates corresponding direct current generator, tensioning apparatus and Bowden cable respectively.
In conjunction with Fig. 6, described hand bearing assembly includes that hand support plate the 7th, hand fixed band the 5th, fixed band tight locking button is the 4th, tight
Gu block 6 and baffle plate 21；Hand fixed band 5 is arranged on hand support plate 7 by fastening block 6, and fixed band tight locking button 4 is installed
On hand fixed band 5, for regulating the length of hand fixed band 5, baffle plate 21 is arranged on hand support plate 7, baffle plate 21
Having four wire guides, hand bearing assembly integral installation is on backbar I 19 and backbar II 20；Wrist support assembly includes wrist
Portion's gripper shoe the 17th, bearing sleeve the 18th, backbar I the 19th, backbar II the 20th, electric machine support the 14th, wrist retainer ring I the 10th, wrist
Retainer ring II 13 and button 12；Backbar I 19 is arranged on Wrist support plate 17 by bearing sleeve 18 and bolt, motor
Support 14 and wrist retainer ring II 13 are arranged on Wrist support plate 17, backbar I 19 and backbar II 20 and hand supporting
It is bolted between assembly and electric machine support 14；Wrist retainer ring I 10 is arranged in wrist retainer ring II 13, and wrist is solid
Determining ring I 10 can be around the axis of rotation in wrist retainer ring II 13；Motor driver includes direct current generator 15 and encoder 16,
Direct current generator 15 is arranged on electric machine support 14.Motor driver is arranged on wrist, and hand bearing assembly and wrist prop up simultaneously
Bearing assembly is arranged on patient hand and wrist, and hand ectoskeleton undertakes weight by supporting part, will not cause burden to patient；
Motor driver is arranged on the installation that wrist is conducive to control part；Wrist retainer ring I and wrist retainer ring II can be square flexibly
Just being arranged on the wrist of patient, being realized combination and the separation of wrist retainer ring I and wrist retainer ring II by button, wrist is fixed
It is to removably connect between ring II and Wrist support plate, wrist retainer ring I can be changed according to the thickness of patient's wrist and wrist is solid
Determine ring II.
In conjunction with Fig. 2, Fig. 3 and Fig. 7, described ectoskeleton forefinger 3 includes first segment driving means, second section driving means and
Three joint driving means；First segment driving means includes the first pressing plate 3-1, the first finger retainer ring I 3-2, the first finger retainer ring
II 3-3, the first bearing I 3-4, the first bearing II 3-5, the first gripper shoe 3-7, the first arc rack 3-25, the first Bowden cable
Assembly 3-26, the first worm gear 3-27, the first spur gear 3-28, the first worm screw 3-29, the first wheel shaft 3-38, the first axle sleeve 3-36,
First catch 3-39；First finger retainer ring I 3-2 is arranged on the first finger retainer ring II 3-3, the first finger retainer ring II 3-3
Being arranged on the first pressing plate 3-1, the first pressing plate 3-1 is arranged on the first arc rack 3-25, the first pressing plate 3-1 and first circle
Being to removably connect between arc rack 3-25, the first pressing plate 3-1 has groove structure, by bolt regulation the first pressing plate 3-1 relative to
The position of the first arc rack 3-25 simultaneously fastens；First worm screw 3-29 is arranged on the first bearing I 3-4, the first bearing I 3-4 peace
Being contained in the first gripper shoe 3-7, the first gripper shoe 3-7 has arc orbit structure；First worm gear 3-27 and the first spur gear 3-28 peace
Being contained on the first wheel shaft 3-38, first wheel shaft 3-38 one end is arranged in the first gripper shoe 3-7, and one end is arranged on the first bearing II
On 3-5, the first worm gear 3-27 and the first worm screw 3-29 engagement, the first spur gear 3-28 and the first arc rack 3-25 engagement；
It is threaded hole on first arc rack 3-25 and be arranged on first by bolt, the first axle sleeve 3-36 and the first catch 3-35
On the arc orbit of gripper shoe 3-7, the first axle sleeve 3-36 is arranged on bolt and is positioned at the first catch 3-39 and the first arc rack
Between 3-25；First Bowden cable assembly 3-26 one end is arranged on the wheel shaft of the first worm screw 3-29, and the other end is arranged on second
Moment of torsion on the wheel shaft of worm screw 3-35, on first Bowden cable assembly 3-26 transmission the second worm screw 3-35 wheel shaft.Worm screw is used to pass
Move and can accurately realize that ectoskeleton forefinger first segment driving means drives patient with rack pinion mode and arc orbit structure
The first segment around joint I rotate, it is achieved the first segment ectoskeleton part of the ectoskeleton forefinger of finger-joint is around finger-joint center
Telecentricity motion, it is ensured that active force is perpendicular to phalanges, it is to avoid damage finger-joint；Between wildhaber-novikov gear and pressing plate being can
Dismounting connects, and pressing plate has groove structure, can be adjusted according to the length of patient's finger, simultaneously finger retainer ring I and finger
Retainer ring II is to removably connect with ectoskeleton supporting part, is adapted to not by changing finger retainer ring I and finger retainer ring II
With the finger of the different thicknesses of patient, the centre of gyration of ESD and the centre of gyration of finger-joint can be realized by regulation
Keep consistent；Use worm-drive and Bowden cable transmission power can obtain bigger gearratio and reduce ectoskeleton part
Volume, described Bowden cable can transmit double-direction twist moment.
In conjunction with Fig. 2, Fig. 3 and Fig. 7, the second section driving means of described ectoskeleton forefinger 3 include the second finger retainer ring II 3-8,
Second finger retainer ring I 3-6, the second pressing plate 3-9, the second bearing I 3-40, the second bearing II 3-32, the second gripper shoe 3-10,
Second arc rack 3-24, the second wheel shaft 3-17, the second Bowden cable assembly 3-13, the second spur gear 3-34, the second worm screw 3-35,
Second worm gear 3-33, the second catch 3-22 and the second axle sleeve 3-23；Second finger retainer ring I 3-6 is arranged on the second finger and fixes
On ring II 3-8, the second finger retainer ring II 3-8 is arranged in the first gripper shoe 3-7, the second finger retainer ring II 3-8 and first
Being detachable connection between gripper shoe 3-7, the second pressing plate 3-9 is arranged on the second arc rack 3-24, the second pressing plate 3-9
And being to removably connect between the second arc rack 3-24, the second pressing plate 3-9 has groove structure, regulate the second pressing plate 3-9 by bolt
Position relative to the second arc rack 3-24 simultaneously fastens；Second worm screw 3-35 is arranged on the second bearing I 3-40, the second bearing
I 3-40 is arranged in the second gripper shoe 3-10, and the second gripper shoe 3-10 has arc orbit structure；Second worm gear 3-33 and
Two spur gear 3-34 are arranged on the second wheel shaft 3-17, and second wheel shaft 3-17 one end is arranged in the second gripper shoe 3-10, and one end is pacified
It is contained on the second bearing II 3-32, the second worm gear 3-33 and the second worm screw 3-35 engagement, the second spur gear 3-34 and the second circular arc
Tooth bar 3-24 engages；It is threaded hole and by bolt, the second axle sleeve 3-23 and the second catch on second arc rack 3-24
3-22 is arranged on the arc orbit of the second gripper shoe 3-10, and the second axle sleeve 3-23 is arranged on bolt and is positioned at the second catch 3-22
With second between arc rack 3-24；Second Bowden cable assembly 3-13 one end is arranged on the wheel shaft of the second worm screw 3-35, separately
One end is arranged on the wheel shaft of the 3rd worm screw 3-21, the torsion on the second Bowden cable assembly 3-13 transmission the 3rd worm screw 3-21 wheel shaft
Square.Worm-drive and rack pinion mode and arc orbit structure is used can accurately to realize that ectoskeleton forefinger first segment drives
Dynamic device drives first segment of patient to rotate around joint I, it is achieved the first segment ectoskeleton part of the ectoskeleton forefinger of finger-joint
Telecentricity motion around finger-joint center, it is ensured that active force is perpendicular to phalanges, it is to avoid damage finger-joint；Wildhaber-novikov gear
And it is to removably connect between pressing plate, pressing plate has groove structure, can be adjusted according to the length of patient's finger, finger simultaneously
Retainer ring I and finger retainer ring II are to removably connect with ectoskeleton supporting part, solid by changing finger retainer ring I and finger
Determine the finger that ring II adapts to the different thicknesses of different patient, the centre of gyration and the finger of ESD can be realized by regulation
The centre of gyration in joint keeps consistent；Use worm-drive and Bowden cable transmission power can obtain bigger gearratio and subtract
The volume of little ectoskeleton part, Bowden cable can transmit double-direction twist moment.
In conjunction with Fig. 2, Fig. 3 and Fig. 7, Section of three driving means of described ectoskeleton forefinger 3 includes the 3rd pressing plate the 29th, the 3rd
Finger retainer ring I 3-11, the 3rd finger retainer ring II 3-12, three abutments I 3-14, three abutments II 3-15, the 3rd gripper shoe
3-16, three-arc tooth bar 3-18, Bowden cable I the 8th, the 3rd worm gear 3-19, the 3rd spur gear 3-20, the 3rd worm screw 3-21,
Third round axle 3-37, the 3rd axle sleeve 3-31, third gear piece 3-30；3rd finger retainer ring I 3-11 is arranged on the 3rd finger and fixes
On ring II 3-12, the 3rd finger retainer ring II 3-12 is arranged on the 3rd pressing plate 29, and the 3rd pressing plate 29 is arranged on three-arc tooth
On bar 3-18, being to removably connect between the 3rd pressing plate 29 and three-arc tooth bar 3-18, the 3rd pressing plate 29 has groove structure,
Regulate the position relative to three-arc tooth bar 3-18 for the 3rd pressing plate 29 by bolt and fasten；3rd worm screw 3-21 is arranged on
On three abutments I 3-14, three abutments I 3-14 is arranged on the 3rd gripper shoe 3-16, and the 3rd gripper shoe 3-16 has arc orbit structure；
3rd worm gear 3-19 and the 3rd spur gear 3-20 is arranged on third round axle 3-37, and third round axle 3-37 one end is arranged on the 3rd
On fagging 3-16, one end is arranged on three abutments II 3-15, and the 3rd worm gear 3-19 and the 3rd worm screw 3-21 engagement, the 3rd is straight
Gear 3-20 and three-arc tooth bar 3-18 engagement；Be threaded on three-arc tooth bar 3-18 hole and by bolt, the 3rd
Axle sleeve 3-31 and third gear piece 3-30 is arranged on the arc orbit of the 3rd gripper shoe 3-16, and the 3rd axle sleeve 3-31 is arranged on bolt
Go up and be positioned between third gear piece 3-30 and three-arc tooth bar 3-18；Bowden cable I 8 one end is arranged on the 3rd worm screw 3-21
Wheel shaft on, Bowden cable I 8 transmits the moment of torsion of motor I 15.Use worm-drive and rack pinion mode and circular arc
Track structure can accurately realize that ectoskeleton forefinger first segment driving means drives first segment of patient to rotate around joint I, it is achieved
The telecentricity motion around finger-joint center for the first segment ectoskeleton part of the ectoskeleton forefinger of finger-joint, it is ensured that active force is perpendicular to
Phalanges, it is to avoid finger-joint is damaged；It is to removably connect between wildhaber-novikov gear and pressing plate, pressing plate has groove structure, can
Being adjusted with the length according to patient's finger, finger retainer ring I and finger retainer ring II are can with ectoskeleton supporting part simultaneously
Dismounting connects, and is adapted to the finger of the different thicknesses of different patient by replacing finger retainer ring I and finger retainer ring II, passes through
Regulation can realize that the centre of gyration of ESD and the centre of gyration of finger-joint keep consistent；Use worm-drive and steel
Silk flexible axle transmission power can obtain bigger gearratio and reduce the volume of ectoskeleton part, and Bowden cable of the present utility model can
To transmit double-direction twist moment.
In conjunction with Fig. 4, the first described Bowden cable assembly 3-26 and the second Bowden cable assembly 3-13 structure are identical, concrete size
Different；Second Bowden cable assembly 3-13 include the second Bowden cable protection set I 3-13-1, first fix nut I 3-13-2, the
Two a set of cups 3-13-3, the second Bowden cable I 3-13-4, the second slide block 3-13-5, the second Bowden cable protection set II 3-13-6, the
Two fix nut II 3-13-7, the second spring 3-13-8；Second Bowden cable protection set I 3-13-1 is arranged on first and fixes nut I
On 3-13-2, the second Bowden cable protection set II 3-13-6 is arranged on second and fixes nut II 3-13-7, and first fixes nut I 3-13-2
Fix nut II 3-13-7 with second to be arranged on the second a set of cups 3-13-3, in interface welding；Second slide block 3-13-5 and second
Spring 3-13-8 is arranged in the second a set of cups 3-13-3, and the second Bowden cable I 3-13-4 is arranged on the second Bowden cable protection set I
In 3-13-1 and being connected with the second slide block 3-13-5, the cross section of the second slide block 3-13-5 is rule profile, can be at the second a set of cups
Moving and effectively transmit moment of torsion in 3-13-3, the overall length of the second Bowden cable assembly 3-13 can change within the specific limits.Outward
Bone finger is in motion process, and the relative position of two worm screws that the second Bowden cable assembly connects changes, the second steel wire
The length of flexible shaft component can produce adaptive change, and the length that the second Bowden cable assembly of employing is overall can become within the specific limits
Dynamic, use the slide block that cross section is rule profile can effectively transmit moment of torsion and can move in the second a set of cups, use bullet simultaneously
Spring can ensure that the length change of the second Bowden cable assembly has elasticity.
In conjunction with Fig. 5, described tensioning apparatus 9, it is characterised in that: include Bowden cable I the 8th, Bowden cable II the 11st, fixing spiral shell
Female I 9-1, fixing nut II 9-3, slide block 9-5, a set of cups 9-4 and trip bolt 9-2；Bowden cable I 8 and Bowden cable II 11
Being separately mounted on fixing nut I 9-1 and fixing nut II 9-3, slide block 9-5 is arranged on fixing nut I 9-1 and is welded on one
Rising, the cross section of slide block 9-5 is rule profile, and a set of cups 9-4 is arranged on fixing nut II 9-3 and welds together, trip bolt
9-2 is arranged on a set of cups 9-4.Use tensioning apparatus can pretension Bowden cable I and Bowden cable II, improve Bowden cable
Transmission efficiency, this firmly beforehand means simple in construction and being easily achieved.
The utility model Bowden cable uses torsional rigidity preferably and can transmit double-direction twist moment, protected set outside Bowden cable,
The driving moment length less, Bowden cable needing due to hand is shorter and worm geared gearratio is relatively big, uses steel wire
Soft axle transmission disclosure satisfy that transmission power and required precision.
Specific works process of the present utility model:
In conjunction with Fig. 1 Fig. 6, during use, wrist and finger according to patient select the wrist retainer ring of suitable size and finger to fix
Ring simultaneously installs, and ectoskeleton hand device for healing and training is arranged on the hand of patient, and the wrist of patient is arranged on wrist retainer ring
On, by hand fixed band 5, the palm of patient is fixed on hand support plate 7, can be regulated by fixed band tight locking button 4
The length of hand fixed band 5, each finger of patient is arranged on exoskeleton finger by finger retainer ring, unclamps arc rack
And bolt between pressing plate, regulation arc rack position relative with between pressing plate is simultaneously locked, for same patient, above-mentioned adjustment
Journey is only carried out once；Starting motor driver, each motor drives corresponding exoskeleton finger, exoskeleton finger band respectively
The finger of dynamic patient carries out rehabilitation training.
The driving principle of ectoskeleton forefinger is described in conjunction with Fig. 1 Fig. 7, and direct current generator 15 drives Bowden cable I to rotate, and steel wire is soft
Axle I drives the 3rd worm screw 3-21 to rotate, the 3rd worm gear 3-19 and the 3rd worm screw 3-21 engagement, and the 3rd worm gear 3-19 drives the 3rd
Spur gear 3-20, the 3rd spur gear 3-20 driving three-arc tooth bar 3-18 move along the arc orbit of the 3rd gripper shoe 3-16,
Three-arc tooth bar 3-18 makes the 3rd pressing plate 29 produce the active force being perpendicular to the 3rd segment 28 to the 3rd segment 28, it is achieved the
Three segments 28 rotate around joint III 30；Power on 3rd worm screw 3-21 is delivered to by the second Bowden cable assembly 3-13
On two worm screw 3-35, the second worm screw 3-35 drives the second worm gear 3-33 and the second spur gear 3-34, the second spur gear 3-34 to drive
Second arc rack 3-24 moves along the arc orbit of the second gripper shoe 3-10, and the second arc rack 3-24 makes the second pressing plate 3-9
Produce the active force being perpendicular to the second segment 26, it is achieved the second segment 26 rotates around joint II27, the second Bowden cable assembly 3-13
Length can change according to the Motion Adaptive of exoskeleton finger；The power of the second worm screw 3-35 passes through the first Bowden cable assembly
3-26 is delivered on the first worm screw 3-29, and the first worm screw 3-29 passes through the first worm gear 3-27 and the first spur gear 3-28 and drives first
Arc rack 3-25 moves along the arc orbit of the first gripper shoe 3-7, and the first arc rack 3-25 makes the first pressing plate 3-1 produce
It is perpendicular to the active force of the first segment 24, it is achieved the first segment 24 rotates around joint I25, by turning of regulation direct current generator 15
Speed and the angle rotating can regulate the kinematic parameter of exoskeleton finger.
A kind of ectoskeleton hand device for healing and training, mainly include finger drive unit, hand bearing assembly, wrist support assembly,
Motor driver；Finger drive unit is arranged on hand bearing assembly, and hand bearing assembly and motor driver are arranged on
On wrist support assembly；Finger drive unit includes ectoskeleton forefinger, ectoskeleton middle finger, the ectoskeleton third finger and ectoskeleton little finger of toe,
Ectoskeleton forefinger, ectoskeleton middle finger, ectoskeleton are nameless identical with structure with the driving principle of ectoskeleton little finger of toe, and concrete size is not
With.
Further, the first segment driving means of described ectoskeleton forefinger includes the first pressing plate, the first finger retainer ring I, the first finger
Portion's retainer ring II, the first bearing I, the first bearing II, the first gripper shoe, the first arc rack, the first Bowden cable assembly,
One worm gear, the first spur gear, the first worm screw, the first wheel shaft, the first axle sleeve, the first catch；First finger retainer ring I is installed
In the first finger retainer ring II, the first finger retainer ring II is arranged on the first pressing plate, and the first pressing plate is arranged on the first circle-arc tooth
On bar, being to removably connect between the first pressing plate and the first arc rack, the first pressing plate has groove structure, regulates first by bolt
Pressing plate is relative to the position of the first arc rack and fastens；First worm screw is arranged on the first bearing I, and the first bearing I is arranged on
First gripper shoe, the first gripper shoe has arc orbit structure；First worm gear and the first spur gear are arranged on the first wheel shaft, and first
Wheel shaft one end is arranged in the first gripper shoe, and one end is arranged on the first bearing II, the first worm gear and the first worm engaging, and first
Spur gear and the engagement of the first arc rack；It is threaded hole and by bolt, the first axle sleeve and first gear on first arc rack
Piece is arranged on the arc orbit of the first gripper shoe, and the first axle sleeve is arranged on bolt and is positioned at the first catch and the first arc rack
Between；First Bowden cable assembly one end is arranged on the wheel shaft of the first worm screw, and the other end is arranged on the wheel shaft of the second worm screw,
Moment of torsion on first Bowden cable component passes the second worm screw wheel shaft.
Further, the second section driving means of described ectoskeleton forefinger includes the second finger retainer ring II, the second finger retainer ring
I, the second pressing plate, the second bearing I, the second bearing II, the second gripper shoe, the second arc rack, the second wheel shaft, the second steel wire
Flexible shaft component, the second spur gear, the second worm screw, the second worm gear, the second catch and the second axle sleeve；Second finger retainer ring I peace
Being contained in the second finger retainer ring II, the second finger retainer ring II is arranged in the first gripper shoe, the second finger retainer ring II and
Being detachable connection between one gripper shoe, the second pressing plate is arranged on the second arc rack, the second pressing plate and the second arc rack
Between be to removably connect, the second pressing plate has groove structure, by bolt regulation the second pressing plate relative to the position of the second arc rack
And fasten；Second worm screw is arranged on the second bearing I, and the second bearing I is arranged in the second gripper shoe, and the second gripper shoe has
Arc orbit structure；Second worm gear and the second spur gear are arranged on the second wheel shaft, and second wheel shaft one end is arranged in the second gripper shoe,
One end is arranged on the second bearing II, the second worm gear and the second worm engaging, the second spur gear and the engagement of the second arc rack；The
It is threaded hole on two arc racks and be arranged on the arc orbit of the second gripper shoe by bolt, the second axle sleeve and the second catch
On, the second axle sleeve is arranged on bolt and is positioned between the second catch and the second arc rack；Second Bowden cable assembly one end peace
Being contained on the wheel shaft of the second worm screw, the other end is arranged on the wheel shaft of the 3rd worm screw, the second Bowden cable component passes the 3rd worm screw
Moment of torsion on wheel shaft.
Further, Section of three driving means of described ectoskeleton forefinger includes the 3rd pressing plate, the 3rd finger retainer ring I, the 3rd finger
Portion's retainer ring II, three abutments I, three abutments II, the 3rd gripper shoe, three-arc tooth bar, Bowden cable I, the 3rd worm gear,
3rd spur gear, the 3rd worm screw, third round axle, the 3rd axle sleeve, third gear piece；3rd finger retainer ring I is arranged on the 3rd finger
In portion's retainer ring II, the 3rd finger retainer ring II is arranged on the 3rd pressing plate, and the 3rd pressing plate is arranged on three-arc tooth bar, the
Being to removably connect between three pressing plates and three-arc tooth bar, the 3rd pressing plate has groove structure, relative by bolt regulation the 3rd pressing plate
In the position of three-arc tooth bar and fasten；3rd worm screw is arranged on three abutments I, and three abutments I is arranged on the 3rd support
Plate, the 3rd gripper shoe has arc orbit structure；3rd worm gear and the 3rd spur gear are arranged on third round axle, third round axle one end
Being arranged in the 3rd gripper shoe, one end is arranged on three abutments II, the 3rd worm gear and the 3rd worm engaging, the 3rd spur gear with
Three-arc tooth bar engages；It is threaded hole on three-arc tooth bar and be arranged on by bolt, the 3rd axle sleeve and third gear piece
On the arc orbit of the 3rd gripper shoe, the 3rd axle sleeve is arranged on bolt and is positioned between third gear piece and three-arc tooth bar；Steel
Silk flexible axle I one end is arranged on the wheel shaft of the 3rd worm screw, the moment of torsion of Bowden cable I transmission motor I.
Further, described first Bowden cable assembly and the second Bowden cable modular construction are identical, and concrete size is different；Second
Bowden cable assembly include the second Bowden cable protection set I, first fix nut I, the second a set of cups, the second Bowden cable I, the
Two slide blocks, the second Bowden cable protection set II, second fix nut II, the second spring；Second Bowden cable protection set I installs
Fixing on nut I first, the second Bowden cable protection set II is arranged on second and fixes nut II, and first fixes nut I and the
Two fix nut II is arranged on the second a set of cups, in interface welding；Second slide block and the second spring are arranged in the second a set of cups,
In second Bowden cable I is arranged on the second Bowden cable protection set I and being connected with the second slide block, the cross section of the second slide block is rule
Profile, can move and effectively transmit moment of torsion in the second a set of cups, and the overall length of the second Bowden cable assembly can be in certain limit
Interior variation, causes the change of Bowden cable length component for compensating exoskeleton finger when motion.
Further, described hand bearing assembly include hand support plate, hand fixed band, fixed band tight locking button, fastening block and
Baffle plate；Hand fixed band is arranged on hand support plate by fastening block, and fixed band tight locking button is arranged on hand fixed band, uses
In the length of regulation hand fixed band, baffle plate is arranged on hand support plate, and baffle plate has four wire guides, and hand bearing assembly is overall
It is arranged on backbar I and backbar II.
Further, described wrist support assembly includes that Wrist support plate, bearing sleeve, backbar I, backbar II, motor prop up
Frame, wrist retainer ring I, wrist retainer ring II and button；Backbar I is arranged on Wrist support plate by bearing sleeve and bolt,
Electric machine support and wrist retainer ring II are arranged on Wrist support plate, backbar I and backbar II and hand bearing assembly and motor
It is bolted between support；Wrist retainer ring I is arranged in wrist retainer ring II, and wrist retainer ring I can be solid around wrist
Determine the axis of rotation on ring II.
Further, described tensioning apparatus include Bowden cable I, Bowden cable II, fixing nut I, fixing nut II, slide block,
A set of cups and trip bolt；Bowden cable I and Bowden cable II is separately mounted on fixing nut I and fixing nut II, and slide block is pacified
Being contained on fixing nut I and welding together, the cross section of slide block is rule profile, and a set of cups is arranged on fixing nut II and welds
Together, trip bolt is arranged on a set of cups.
Further, described Bowden cable I, Bowden cable II, the first Bowden cable assembly and the second Bowden cable assembly can pass
Pass bi-directional torque.
The utility model mainly includes finger drive unit, hand bearing assembly, wrist support assembly, motor driver；Refer to
Portion's driving means is arranged on hand bearing assembly, and hand bearing assembly and motor driver are arranged on wrist support assembly；
Finger drive unit includes ectoskeleton forefinger the 3rd, ectoskeleton middle finger the 2nd, ectoskeleton nameless 23 and ectoskeleton little finger of toe 22, ectoskeleton
Forefinger the 3rd, ectoskeleton middle finger the 2nd, the ectoskeleton third finger 23 is identical with structure with the driving principle of ectoskeleton little finger of toe 22, concrete size
Difference, motor driver includes direct current generator 15 and encoder 16.
The first segment driving means of described ectoskeleton forefinger 3 includes the first pressing plate 3-1, the first finger retainer ring I3-2, the first finger
Retainer ring II3-3, the first bearing I3-4, the first bearing II3-5, the first gripper shoe 3-7, the first arc rack 3-25, the first steel
Silk flexible shaft component 3-26, the first worm gear 3-27, the first spur gear 3-28, the first worm screw 3-29, the first wheel shaft 3-38, the first axle
Set 3-36, the first catch 3-39；First finger retainer ring I3-2 is arranged in the first finger retainer ring II3-3, and the first finger is solid
Determining ring II3-3 to be arranged on the first pressing plate 3-1, the first pressing plate 3-1 is arranged on the first arc rack 3-25, the first pressing plate 3-1
And being to removably connect between the first arc rack 3-25, the first pressing plate 3-1 has groove structure, regulate the first pressing plate 3-1 by bolt
Position relative to the first arc rack 3-25 simultaneously fastens；First worm screw 3-29 is arranged on the first bearing I3-4, the first bearing
I3-4 is arranged on the first gripper shoe 3-7, and the first gripper shoe 3-7 has arc orbit structure；First worm gear 3-27 and the first spur gear
3-28 is arranged on the first wheel shaft 3-38, and first wheel shaft 3-38 one end is arranged in the first gripper shoe 3-7, and one end is arranged on first
On bearing II3-5, the first worm gear 3-27 and the first worm screw 3-29 engagement, the first spur gear 3-28 and the first arc rack 3-25
Engagement；It is threaded hole on first arc rack 3-25 and installed by bolt, the first axle sleeve 3-36 and the first catch 3-35
On the arc orbit of the first gripper shoe 3-7, the first axle sleeve 3-36 is arranged on bolt and is positioned at the first catch 3-39 and first circle
Between arc rack 3-25；First Bowden cable assembly 3-26 one end is arranged on the wheel shaft of the first worm screw 3-29, and the other end is installed
Moment of torsion on the wheel shaft of the second worm screw 3-35, on first Bowden cable assembly 3-26 transmission the second worm screw 3-35 wheel shaft.
The second section driving means of described ectoskeleton forefinger 3 include the second finger retainer ring II3-8, the second finger retainer ring I3-6,
Second pressing plate 3-9, the second bearing I3-40, the second bearing II3-32, the second gripper shoe 3-10, the second arc rack 3-24,
Great wheel arbor 3-17, the second Bowden cable assembly 3-13, the second spur gear 3-34, the second worm screw 3-35, the second worm gear 3-33,
Two catch 3-22 and the second axle sleeve 3-23；Second finger retainer ring I3-6 is arranged in the second finger retainer ring II3-8, and second refers to
Portion's retainer ring II3-8 is arranged in the first gripper shoe 3-7, and between the second finger retainer ring II3-8 and the first gripper shoe 3-7 being can
Being detachably connected with, the second pressing plate 3-9 is arranged on the second arc rack 3-24, the second pressing plate 3-9 and the second arc rack 3-24
Between be to removably connect, the second pressing plate 3-9 has groove structure, by bolt regulation the second pressing plate 3-9 relative to the second circle-arc tooth
The position of bar 3-24 simultaneously fastens；Second worm screw 3-35 is arranged on the second bearing I3-40, and the second bearing I3-40 is arranged on second
In gripper shoe 3-10, the second gripper shoe 3-10 has arc orbit structure；Second worm gear 3-33 and the second spur gear 3-34 installs
At the second wheel shaft 3-17, second wheel shaft 3-17 one end is arranged in the second gripper shoe 3-10, and one end is arranged on the second bearing II3-32
On, the second worm gear 3-33 and the second worm screw 3-35 engagement, the second spur gear 3-34 and the second arc rack 3-24 engagement；Second
It is threaded hole on arc rack 3-24 and be arranged on the second support by bolt, the second axle sleeve 3-23 and the second catch 3-22
On the arc orbit of plate 3-10, the second axle sleeve 3-23 is arranged on bolt and is positioned at the second catch 3-22 and the second arc rack 3-24
Between；Second Bowden cable assembly 3-13 one end is arranged on the wheel shaft of the second worm screw 3-35, and the other end is arranged on the 3rd worm screw
Moment of torsion on the wheel shaft of 3-21, on the second Bowden cable assembly 3-13 transmission the 3rd worm screw 3-21 wheel shaft.
Section three, driving means of described ectoskeleton forefinger 3 includes the 3rd pressing plate the 29th, the 3rd finger retainer ring I3-11, the 3rd finger
Retainer ring II3-12, three abutments I3-14, three abutments II3-15, the 3rd gripper shoe 3-16, three-arc tooth bar 3-18, steel
Silk flexible axle I8, the 3rd worm gear 3-19, the 3rd spur gear 3-20, the 3rd worm screw 3-21, third round axle 3-37, the 3rd axle sleeve 3-31,
Third gear piece 3-30；3rd finger retainer ring I3-11 is arranged in the 3rd finger retainer ring II3-12, the 3rd finger retainer ring II3-12
Being arranged on the 3rd pressing plate 29, the 3rd pressing plate 29 is arranged on three-arc tooth bar 3-18, the 3rd pressing plate 29 and three-arc
Being to removably connect between tooth bar 3-18, the 3rd pressing plate 29 has groove structure, by bolt regulation the 3rd pressing plate 29 relative to the 3rd
The position of arc rack 3-18 simultaneously fastens；3rd worm screw 3-21 is arranged on three abutments I3-14, and three abutments I3-14 installs
In the 3rd gripper shoe 3-16, the 3rd gripper shoe 3-16 has arc orbit structure；3rd worm gear 3-19 and the 3rd spur gear 3-20 peace
Being contained on third round axle 3-37, third round axle 3-37 one end is arranged in the 3rd gripper shoe 3-16, and one end is arranged on three abutments
On II3-15, the 3rd worm gear 3-19 and the 3rd worm screw 3-21 engagement, the 3rd spur gear 3-20 and three-arc tooth bar 3-18 engagement；
It is threaded hole on three-arc tooth bar 3-18 and be arranged on the 3rd by bolt, the 3rd axle sleeve 3-31 and third gear piece 3-30
On the arc orbit of gripper shoe 3-16, the 3rd axle sleeve 3-31 is arranged on bolt and is positioned at third gear piece 3-30 and three-arc tooth
Between bar 3-18；Bowden cable I8 one end is arranged on the wheel shaft of the 3rd worm screw 3-21, Bowden cable I8 transmission motor I15's
Moment of torsion.
Described first Bowden cable assembly 3-26 and the second Bowden cable assembly 3-13 structure are identical, and concrete size is different；Second
Bowden cable assembly 3-13 include second Bowden cable protection set I3-13-1, first fix nut I3-13-2, the second a set of cups 3-13-3,
Second Bowden cable I3-13-4, the second slide block 3-13-5, second Bowden cable protection set II3-13-6, second fix nut II3-13-7,
Second spring 3-13-8；Second Bowden cable protection set I3-13-1 is arranged on first and fixes on nut I3-13-2, and the second steel wire is soft
Protective shaft jacket II3-13-6 is arranged on second and fixes nut II3-13-7, and first fixes nut I3-13-2 and second fixes nut
II3-13-7 is arranged on the second a set of cups 3-13-3, in interface welding；Second slide block 3-13-5 and the second spring 3-13-8 installs
In the second a set of cups 3-13-3, in the second Bowden cable I3-13-4 is arranged on the second Bowden cable protection set I3-13-1 and with second
Slide block 3-13-5 connects, and the cross section of the second slide block 3-13-5 is rule profile, can move and effectively in the second a set of cups 3-13-3
Transmission moment of torsion, the overall length of the second Bowden cable assembly 3-13 can change within the specific limits.
Described hand bearing assembly includes hand support plate the 7th, hand fixed band the 5th, fixed band tight locking button the 4th, fastening block 6 and baffle plate
21；Hand fixed band 5 is arranged on hand support plate 7 by fastening block 6, and fixed band tight locking button 4 is arranged on hand fixed band
On 5, for regulating the length of hand fixed band 5, baffle plate 21 is arranged on hand support plate 7, and baffle plate 21 has four wire guides,
Hand bearing assembly integral installation is on backbar I19 and backbar II20.
Described wrist support assembly includes that Wrist support plate the 17th, bearing sleeve the 18th, backbar I19, backbar II20, motor prop up
Frame the 14th, wrist retainer ring I10, wrist retainer ring II13 and button 12；Backbar I19 passes through bearing sleeve 18 and bolt is installed
On Wrist support plate 17, electric machine support 14 and wrist retainer ring II13 are arranged on Wrist support plate 17, backbar I19 and
It is bolted between backbar II20 and hand bearing assembly and electric machine support 14；It is solid that wrist retainer ring I10 is arranged on wrist
Determining on ring II13, wrist retainer ring I10 can be around the axis of rotation in wrist retainer ring II13.
Including Bowden cable I8, Bowden cable II11, fixing nut I9-1, fixing nut II9-3, slide block 9-5, a set of cups 9-4
With trip bolt 9-2；Bowden cable I8 and Bowden cable II11 is separately mounted on fixing nut I9-1 and fixing nut II9-3,
Slide block 9-5 is arranged on fixing nut I9-1 and welds together, and the cross section of slide block 9-5 is installed for rule profile, a set of cups 9-4
On fixing nut II9-3 and weld together, trip bolt 9-2 is arranged on a set of cups 9-4.
The utility model patent relates to a kind of ectoskeleton hand device for healing and training, it is intended to realize the hand rehabilitation training of stroke patient,
Mainly include finger drive unit, hand bearing assembly, wrist support assembly, motor driver.Finger drive unit is installed
On hand bearing assembly, hand bearing assembly and motor driver are arranged on wrist support assembly.The utility model patent
It is delivered to the power of motor on finger drive unit by Bowden cable assembly, realized the motion in joint, finger by gear drive,
Four fingers of driving that can be independent, simple in construction and being easily achieved, the side that motor driver is rearmounted and Bowden cable drives
Formula alleviates the weight of finger ectoskeleton structure.There is arc orbit structure, it is achieved the revolution of ESD on finger drive unit
Center keeps consistent with the centre of gyration of finger-joint, and finger drive unit can be adjusted according to the length of the finger of patient and radius
The length of joint exoskeleton finger and replacing finger retainer ring.
Claims (3)
1. an ectoskeleton hand device for healing and training, including wrist support assembly, hand bearing assembly and finger drive unit,
It is characterized in that: described Wrist support assembly include Wrist support plate, be arranged on the wrist retainer ring immediately below Wrist support plate and
It is arranged on the electric machine support of Wrist support plate upper end, described electric machine support is provided with four direct current generators, the output of each motor
Axle is connected with Bowden cable II, and the end of each Bowden cable II is connected with Bowden cable I, described hand support by stretcher
Assembly includes hand support plate and is arranged on adjustable hand fixed band of hand support plate both sides, described finger drive unit bag
Include the 3rd gripper shoe of four L-types of the upper end being arranged on hand support plate, the horizontal ends of each the 3rd gripper shoe is provided with
Three abutments, is provided with third round axle, third round axle is provided with the 3rd straight-tooth between the vertical end of three abutments and the 3rd gripper shoe
Wheel, the vertical end of described 3rd gripper shoe is provided with three-arc groove, and the second arc groove is provided with the 3rd axle sleeve, the 3rd axle sleeve
End be fixed with three-arc tooth bar, and three-arc tooth bar and the engagement of the 3rd spur gear, the end of described Bowden cable I with
One end of 3rd worm screw is connected, and described third round axle is also equipped with the 3rd worm gear, and the 3rd worm gear and the 3rd worm engaging, the
The end of three-arc tooth bar is fixed with the 3rd pressing plate, and the 3rd pressing plate is arranged in the second gripper shoe of L-type, the second gripper shoe
Second bearing is installed in horizontal ends, between the vertical end of the second bearing and the second gripper shoe, is provided with the second wheel shaft, the second wheel shaft
On the second spur gear is installed, the vertical end of described second gripper shoe is provided with the second arc groove, is provided with in the second arc groove
Two axle sleeves, the end of the second axle sleeve is fixed with the second arc rack, and the second arc rack and the second spur gear engage, and the described 3rd
The other end of worm screw is fixed with the second Bowden cable assembly, and the end of described second Bowden cable assembly is solid with one end of the second worm screw
Even, described second wheel shaft is also equipped with the second worm gear, and the second worm screw engages with the second worm gear, the end of the second arc rack
It is fixed with the second pressing plate, and the second pressing plate is arranged in the first gripper shoe of L-type, the horizontal ends of the first gripper shoe is provided with
One bearing, is provided with the first wheel shaft, the first wheel shaft is provided with the first straight-tooth between the vertical end of the first bearing and the first gripper shoe
Wheel, the vertical end of described first gripper shoe is provided with the first arc groove, is provided with the first axle sleeve, the first axle sleeve in the first arc groove
End be fixed with the first arc rack, the first arc rack and the engagement of the first spur gear, the other end of described second worm screw is connected
Having the first Bowden cable assembly, the end of described first Bowden cable assembly is connected with the first worm screw, described first wheel shaft is also pacified
Equipped with the first worm gear, the first worm screw engages with the first worm gear, and the end of the first arc rack is fixed with the first pressing plate, and described first
The lower surface of pressing plate, the lower surface of the first gripper shoe horizontal ends, the second gripper shoe horizontal ends lower surface on chalk and be provided with
One finger retainer ring, the second finger retainer ring and the 3rd branch's retainer ring.
2. a kind of ectoskeleton hand device for healing and training according to claim 1, it is characterised in that: described first steel wire is soft
Shaft assembly and the second Bowden cable modular construction are identical, all include: Bowden cable protection set I and Bowden cable protection set I is connected
First fix that nut, Bowden cable protection set II and Bowden cable protection set II be connected second fix nut, be arranged on the
One fixes nut and the second a set of cups fixing between nut, is provided with movable sliding block, slide block is fixed with steel in described a set of cups
Being cased with spring outside silk flexible axle, and described Bowden cable, one end of described spring and slide block are connected, the other end and first fixes spiral shell
Female surface is connected.
3. a kind of ectoskeleton hand device for healing and training according to claim 1 and 2, it is characterised in that: described stretcher
Including the fixing nut II being connected with Bowden cable II is connected with Bowden cable I with the stretcher a set of cups that fixing nut II is connected
Fixing nut I and with fixing nut I be connected slide block, described slide block is arranged in described stretcher a set of cups, and described tensioning
It is provided with trip bolt on device a set of cups.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620156400.6U CN205698411U (en) | 2016-03-01 | 2016-03-01 | A kind of ectoskeleton hand device for healing and training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620156400.6U CN205698411U (en) | 2016-03-01 | 2016-03-01 | A kind of ectoskeleton hand device for healing and training |
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| Publication Number | Publication Date |
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| CN205698411U true CN205698411U (en) | 2016-11-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620156400.6U Withdrawn - After Issue CN205698411U (en) | 2016-03-01 | 2016-03-01 | A kind of ectoskeleton hand device for healing and training |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105796283A (en) * | 2016-03-01 | 2016-07-27 | 哈尔滨工程大学 | Exoskeleton hand rehabilitation training device |
| CN106625603A (en) * | 2016-12-30 | 2017-05-10 | 东南大学 | Exoskeleton mechanism based on sector track |
| CN106737789A (en) * | 2017-03-22 | 2017-05-31 | 江苏金刚文化科技集团股份有限公司 | A kind of bionic mechanical arm and robot |
| CN106983634A (en) * | 2017-04-20 | 2017-07-28 | 西安交通大学 | A kind of exoskeleton finger functional rehabilitation device based on multistage continuous structure |
| CN108524184A (en) * | 2017-03-03 | 2018-09-14 | 新加坡国立大学 | A kind of hand exoskeleton device based on the driving of prebuckling elasticity fiber tube |
| CN109199784A (en) * | 2017-07-04 | 2019-01-15 | 中国科学院沈阳自动化研究所 | A kind of the hand rehabilitation equipment and its feedback control circuit of flexible drive |
| WO2019033305A1 (en) * | 2017-08-16 | 2019-02-21 | 深圳市八指科技有限公司 | Portable puzzle-assisted anti-dementia rehabilitation device |
| CN109394475A (en) * | 2018-11-15 | 2019-03-01 | 南昌大学 | A kind of autonomous adjustable detachable the five fingers manipulators in rehabilitation of finger spacing |
| CN109549819A (en) * | 2018-11-13 | 2019-04-02 | 东南大学 | Palm support formula finger rehabilitation training device and application method |
| CN110812119A (en) * | 2019-11-28 | 2020-02-21 | 中国科学院自动化研究所 | Hand exoskeleton mechanism and robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105796283B (en) * | 2016-03-01 | 2017-11-21 | 哈尔滨工程大学 | A kind of ectoskeleton hand device for healing and training |
| CN105796283A (en) * | 2016-03-01 | 2016-07-27 | 哈尔滨工程大学 | Exoskeleton hand rehabilitation training device |
| CN106625603B (en) * | 2016-12-30 | 2019-04-30 | 东南大学 | Exoskeleton mechanism based on fan-shaped track |
| CN106625603A (en) * | 2016-12-30 | 2017-05-10 | 东南大学 | Exoskeleton mechanism based on sector track |
| CN108524184A (en) * | 2017-03-03 | 2018-09-14 | 新加坡国立大学 | A kind of hand exoskeleton device based on the driving of prebuckling elasticity fiber tube |
| CN106737789A (en) * | 2017-03-22 | 2017-05-31 | 江苏金刚文化科技集团股份有限公司 | A kind of bionic mechanical arm and robot |
| CN106983634A (en) * | 2017-04-20 | 2017-07-28 | 西安交通大学 | A kind of exoskeleton finger functional rehabilitation device based on multistage continuous structure |
| CN109199784A (en) * | 2017-07-04 | 2019-01-15 | 中国科学院沈阳自动化研究所 | A kind of the hand rehabilitation equipment and its feedback control circuit of flexible drive |
| CN109199784B (en) * | 2017-07-04 | 2024-03-26 | 中国科学院沈阳自动化研究所 | Flexibly-driven hand rehabilitation equipment and feedback control circuit thereof |
| WO2019033305A1 (en) * | 2017-08-16 | 2019-02-21 | 深圳市八指科技有限公司 | Portable puzzle-assisted anti-dementia rehabilitation device |
| CN109549819B (en) * | 2018-11-13 | 2020-11-24 | 东南大学 | Palm support type finger rehabilitation training device and using method |
| CN109549819A (en) * | 2018-11-13 | 2019-04-02 | 东南大学 | Palm support formula finger rehabilitation training device and application method |
| CN109394475B (en) * | 2018-11-15 | 2023-10-03 | 南昌大学 | Five-finger rehabilitation manipulator capable of autonomously adjusting and disassembling finger spacing |
| CN109394475A (en) * | 2018-11-15 | 2019-03-01 | 南昌大学 | A kind of autonomous adjustable detachable the five fingers manipulators in rehabilitation of finger spacing |
| CN110812119A (en) * | 2019-11-28 | 2020-02-21 | 中国科学院自动化研究所 | Hand exoskeleton mechanism and robot |
| CN110812119B (en) * | 2019-11-28 | 2021-06-29 | 中国科学院自动化研究所 | Hand exoskeleton mechanism and robot |
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