CN206623084U - Hand depressurizes the four of mechanical exoskeleton device and refers to bending drawing guiding drive system - Google Patents
Hand depressurizes the four of mechanical exoskeleton device and refers to bending drawing guiding drive system Download PDFInfo
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- CN206623084U CN206623084U CN201620880179.9U CN201620880179U CN206623084U CN 206623084 U CN206623084 U CN 206623084U CN 201620880179 U CN201620880179 U CN 201620880179U CN 206623084 U CN206623084 U CN 206623084U
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- overcoat
- digitorum manus
- articulations digitorum
- cylinder
- ectoskeleton component
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Abstract
Hand depressurizes the four of mechanical exoskeleton device and refers to bending drawing guiding drive system, including forearm rotating cylinder, forearm rotating cylinder front end is connected with palm by wrist universal joint and lays cylinder, and palm is laid and is provided with little finger of toe ectoskeleton component, nameless ectoskeleton component, middle finger ectoskeleton component and forefinger ectoskeleton component on front side of cylinder；Forefinger ectoskeleton component includes the first articulations digitorum manus overcoat, the second articulations digitorum manus overcoat and the 3rd articulations digitorum manus overcoat set gradually from front to back；Forearm rotating cylinder bottom is provided with mounting bracket, and mounting bracket bottom is provided with minitype pneumatic tendon, and the 3rd articulations digitorum manus overcoat is provided with a finger joint bending between minitype pneumatic tendon and pulls fastening mechanism respectively.The utility model designs exclusively for porter, fully alleviates exerting oneself for porter's hand, and substantially increases the weight of carrying heavy goods, also improves the efficiency transported goods.Other the utility model can be additionally used in medicine equipment, contribute to the better and more comprehensively rehabilitation of portion patient hand and wrist.
Description
Technical field
A kind of decompressor for carrying heavy goods is the utility model is related to, more particularly to a kind of hand depressurizes mechanical dermoskeleton
The four of bone device refer to bending drawing and are oriented to drive system.
Background technology
For the porter that often transports goods such as（Move worker, builder）For, often grasped with hand
Goods, four finger stress in addition to thumb are especially big, prolonged transport operation, and finger bone, wrist can be caused to close
The damage of section, hand is just basic disabled after older.There has been no be specially adapted for porter to wear in the market
That wears is used to mitigate the device of hand pressure.
Utility model content
The utility model is in order to solve weak point of the prior art, there is provided a kind of compact-sized, highly reliable, drawing
The hand that power is strong, effect of easing stress is good, load-bearing is big depressurizes the four of mechanical exoskeleton device and refers to bending drawing guiding drive system.
In order to solve the above technical problems, the utility model adopts the following technical scheme that：Hand depressurizes mechanical exoskeleton device
Four refer to bending drawing and be oriented to drive systems, including forearm rotating cylinder, forearm rotating cylinder front end be connected with by wrist universal joint
Palm lays cylinder, and palm is laid to be connected with side by side by a set of single driving multi-bar linkage respectively at the top of cylinder and laid positioned at palm
Little finger of toe ectoskeleton component, nameless ectoskeleton component, middle finger ectoskeleton component and the forefinger ectoskeleton component of cylinder front side；
Little finger of toe ectoskeleton component, nameless ectoskeleton component, the construction of middle finger ectoskeleton component and forefinger ectoskeleton component
It is identical；Forefinger ectoskeleton component includes the first articulations digitorum manus overcoat, the second articulations digitorum manus overcoat and the 3rd set gradually from front to back
Articulations digitorum manus overcoat, the closure of the 3rd articulations digitorum manus overcoat front end, the 3rd articulations digitorum manus overcoat outer cover are provided with Anti-slip cover, Anti-slip cover outer surface
It is uniformly provided with anti-skid bulge；
Forearm rotating cylinder bottom is provided with mounting bracket, and mounting bracket bottom is provided with minitype pneumatic tendon, little finger of toe ectoskeleton component, nothing
Name refer to the 3rd articulations digitorum manus overcoat of ectoskeleton component, middle finger ectoskeleton component and forefinger ectoskeleton component respectively with minitype pneumatic flesh
A finger joint bending is provided between tendon and pulls fastening mechanism；
The finger joint bending being connected with forefinger ectoskeleton component pulls fastening mechanism to include bracing wire fix bar, make contact cross bar and drawing
Line, bracing wire fix bar level are located on rear side of the 3rd articulations digitorum manus overcoat internal upper part, and the 3rd articulations digitorum manus overcoat top rear is along front and back
To provided with elongated hole, the outer surface at the top of the 3rd articulations digitorum manus overcoat, front portion and bottom is provided with the guide groove with the insertion of elongated hole front end,
Cross bar level of making contact is located at the bottom in the second articulations digitorum manus overcoat, and cross bar of making contact is provided with guide groove, bottom in the first articulations digitorum manus overcoat
Portion is provided with a preceding wire-passing tube, and palm lays wire-passing tube after cylinder inner bottom part has been evenly arranged four in left-right direction, forearm rotation
Cylinder bottom is provided with the cable-through hole on front side of minitype pneumatic tendon, and the front end of bracing wire is fixedly connected in bracing wire fix bar, bracing wire
From front to back successively by elongated hole, guide groove, the guide groove on cross bar of making contact, after wire-passing tube, one of them preceding wire-passing tube and cross line
Hole, the rear end of bracing wire are fixedly connected on the clutch end of minitype pneumatic tendon；The top of 3rd articulations digitorum manus outer casing inner wall and
Bottom is respectively equipped with a pressure sensor.
Wrist universal joint includes connecting cylinder, left engaging lug, right engaging lug, upper engaging lug and lower engaging lug, left engaging lug and
Be respectively fixedly connected with rear side of right engaging lug on the left side and right side outer surface of forearm rotating cylinder front end, the left side of connecting cylinder and
Right side is rotatablely connected with the front side of left engaging lug and right engaging lug by the first bearing pin respectively, before upper engaging lug and lower engaging lug
Side is respectively fixedly connected with the upper side and lower side outer surface that palm lays cylinder rear portion, the upper side and lower side of connecting cylinder respectively with it is upper
The rear side of engaging lug and lower engaging lug is rotatablely connected by the second bearing pin；
Connecting cylinder bottom is provided with wrist rest seat, and wrist rest seat is provided with front and rear four penetrating wire guides, and four are led
String holes is arranged side by side in left-right direction, and bracing wire is located in wire guide.
On the left of Anti-slip cover and right side is respectively equipped with a rectangle hole clipping, the left side and right side point of the 3rd articulations digitorum manus outer casing outer wall
Not She You a fixture block, the thickness of fixture block gradually increases from the front to the back, and Anti-slip cover, which is set in outside the 3rd articulations digitorum manus, to be put and homonymy
Fixture block and rectangle hole clipping be engaged by clamping.
Using above-mentioned technical proposal, hand, which depressurizes mechanical exoskeleton device, also includes following technical characteristic：Consolidate including forearm
Safety barrel, forearm fixed cylinder front inner wall are provided with twice annular groove, and forearm rotating cylinder rear portion is plugged in forearm fixed cylinder, forearm rotation
Rotating cylinder outer wall is provided with rotary spacing twice annulus fin in annular groove, and palm lays cylinder bottom left or right side opening is provided with greatly
Thumb extending port, single clutch end for driving multi-bar linkage at the top of the first articulations digitorum manus overcoat with being connected, the second articulations digitorum manus overcoat
Rear end is extend into the first articulations digitorum manus overcoat, is riveted at left and right sides of the second articulations digitorum manus overcoat by first outside axle and the first articulations digitorum manus
Set is rotatablely connected up and down, and the 3rd articulations digitorum manus overcoat rear end is extend into the second articulations digitorum manus overcoat, the 3rd articulations digitorum manus overcoat or so two
Side is rotated upwardly and downwardly with the second articulations digitorum manus overcoat by the second riveting axle and is connected.
Single driving multi-bar linkage includes imaginary axis driver mounting seat, rotary shaft drive mounting seat, connecting plate, ball
Nest bearing, imaginary axis drive cylinder, rotary shaft drive cylinder, L-type actuating arm, rear support arm, front support arm, the first drive rod,
Second drive rod and connecting rod；
Imaginary axis driver mounting seat bottom, which is fixed, is located at palm placement cylinder top rear, and rotary shaft drive mounting seat is set
In imaginary axis driver mounting seat left lower, ball-and-socket bearing, which is fixed, is located at front side at the top of palm placement cylinder, imaginary axis driving gas
Cylinder and rotary shaft drive cylinder are set along the longitudinal direction, are rotatably connected in imaginary axis driver mounting seat and are vertically set
The first ball rod put, the first ball rod upper end are fixedly connected with imaginary axis drive cylinder bottom, rotary shaft drive mounting seat
Horizontally disposed second ball rod is inside rotatably connected to, the left end of the second ball rod is fixedly connected with rotary shaft drive cylinder right side,
The piston rod front end of imaginary axis drive cylinder is hinged by the first spherical hinge and L-type actuating arm upper end, front support arm lower end base
Provided with ball cup, ball cup is rotatably connected in ball-and-socket bearing, and rocking bar is fixed with the left of ball cup, rotary shaft drive cylinder
Piston rod front end is hinged by the second spherical hinge and rocking bar left end, and front support arm lower end is hinged with rear support arm front end, front support
Arm upper end and the middle part vertex of L-type actuating arm are hinged；
Connecting plate lower end, which is fixed, to be located at the top of the first articulations digitorum manus overcoat, and the bottom of the first drive rod lower end and connecting plate is cut with scissors
Connecing, the upper articulation of the second drive rod lower end and connecting plate, the length of the first drive rod is more than the length of the second drive rod, and first
The upper end of drive rod be higher than the second drive rod upper end, connecting rod two end respectively with the second drive rod upper end and the first drive rod top
It is be hinged, form parallelogram sturcutre between connecting rod, the first drive rod, the second drive rod and connecting plate, L-type actuating arm front end with
First drive rod upper end is hinged, and rear support arm front end is fixedly connected with connecting rod lower rearward side.
Forearm fixed cylinder includes upper half cylinder and lower half cylinder, and the both sides of upper half cylinder and lower half cylinder are correspondingly provided with connection
Block, it is fastenedly connected by interior six square bolt between the contiguous block on contiguous block and lower half cylinder on upper half cylinder.
Palm, which is laid, to be provided with the top of cylinder by four single cases for driving multi-bar linkage to cover.
Hand depressurizes mechanical exoskeleton device and used dedicated for porter, and porter carries with power supply, control
Device and air pump, power supply are used to power to controller, air pump and minitype pneumatic tendon, and air pump is to imaginary axis drive cylinder and rotary shaft
Drive cylinder provides power.
Hand depressurizes mechanical exoskeleton device when in use, hand by forearm fix tube rear end sequentially pass through forearm fixed cylinder,
Forearm rotating cylinder, wrist universal joint, palm lay cylinder after, thumb through palm lay cylinder on thumb extending port, forefinger,
Middle finger, the third finger and little finger of toe correspond to extend into forefinger ectoskeleton component, middle finger ectoskeleton component, nameless ectoskeleton component respectively
In little finger of toe ectoskeleton component, forearm fixed cylinder is fixed on forearm using bandage, because forearm rotating cylinder rear portion is plugged in
In forearm fixed cylinder, forearm rotation drum outer wall is provided with rotary spacing twice annulus fin in annular groove, when hand needs to revolve
When turning, forearm rotating cylinder and wrist universal joint, palm can be driven to lay cylinder common rotation.
Little finger of toe ectoskeleton component, nameless ectoskeleton component, the construction of middle finger ectoskeleton component and forefinger ectoskeleton component
Identical, only length is different, to adapt to the four of people fingers.Little finger of toe ectoskeleton component, nameless ectoskeleton component, middle finger
A structure identical list driving multi-bar linkage is respectively connected with ectoskeleton component and forefinger ectoskeleton component.During carrying heavy goods,
Start four imaginary axis drive cylinders simultaneously, the piston rod elongation of imaginary axis drive cylinder, promote L-type actuating arm forward, L-type is driven
Support arm upper end is that fulcrum rotates forward before the middle part vertex of swing arm, L-type actuating arm the first drive rod of front-end driven, first
Under the constraint of rear support arm, the first drive rod front end can only rotate down drive rod, connecting rod, the first drive rod, the second driving
Form parallelogram sturcutre between bar and connecting plate to deploy, the connecting plate of the first drive rod and the second drive rod front end is also downward
Rotate, i.e., the first articulations digitorum manus overcoat rotates down.At the same time, minitype pneumatic tendon also starts, and bracing wire is pulled back, before bracing wire
End pulls bracing wire fix bar, can thus be bent downwardly the 3rd articulations digitorum manus overcoat, the 3rd articulations digitorum manus overcoat just drives the second finger
Joint overcoat is also bent downwardly, certainly, with the first articulations digitorum manus overcoat, the second articulations digitorum manus overcoat and the 3rd articulations digitorum manus overcoat to
Lower bending, four fingers are also with bending.The Anti-slip cover being arranged outside 3rd articulations digitorum manus overcoat contacts with weight, Anti-slip cover appearance
The anti-skid bulge that face is uniformly arranged avoids slipping, it is ensured that the security of carrying, the interior pressure sensing set of the 3rd articulations digitorum manus overcoat
After device detects Pressure maximum value, controller, control order imaginary axis drive cylinder and minitype pneumatic flesh are transmitted a signal to
Tendon stops.If desired little finger of toe ectoskeleton component, nameless ectoskeleton component, middle finger ectoskeleton component and forefinger dermoskeleton are moved left and right
During bone component, exemplified by rotating forefinger ectoskeleton component, start rotary shaft drive cylinder, the piston rod of rotary shaft drive cylinder is stretched
Contracting, ball cup and rear support arm is driven to horizontally rotate in ball-and-socket bearing by rocking bar, rear support arm drives first connecting rod and the
Two link rotatables, it is final to drive forefinger ectoskeleton component left-right rotation.The 3rd articulations digitorum manus overcoat can be thus set to link closely weight
Correct position.Link closely after weight, four fingers are also suitably exerted oneself, and improve the safe reliability of carrying heavy goods.
Wrist universal joint plays a part of complying with forearm finely tunes up and down, and wrist universal joint is using connecting cylinder, left connection
Ear, right engaging lug, the attachment structure of upper engaging lug and lower engaging lug, it is simple in construction and be easy to manufacture to install.Forearm fixed cylinder bag
Upper half cylinder and lower half cylinder are included, is so easy to dismount forearm rotating cylinder in forearm fixed cylinder.When little finger of toe dermoskeleton after bending
When bone component, nameless ectoskeleton component, middle finger ectoskeleton component and forefinger ectoskeleton component need expansion, four hands can be passed through
The stretching, extension of finger deploys to drive, while bracing wire, imaginary axis drive cylinder also reset.Finger joint bending pulls the drawing that fastening mechanism uses
Line power comes from minitype pneumatic tendon, and the Anti-slip cover being arranged outside the 3rd articulations digitorum manus overcoat, which also has to protect not wearing to be wound on, leads
The effect of bracing wire into groove, in addition, elongated hole, guide groove, the guide groove on cross bar of making contact, rear wire-passing tube, preceding wire-passing tube, wrist branch
The upper wire guide and cable-through hole set on seat is supportted, plays a part of being oriented to bracing wire.Wherein connecting cylinder bottom is provided with wrist rest
Seat, has supported wrist, helps to make wrist comfortable and protects the effect of wrist.
Single driving multi-bar linkage is used in a manner of cylinder is power and spherical hinge adds multi-bar linkage, realizes finger
In the activity of three dimensions.Using multi-bar linkage, structure is compacter simple, and scope of activities is limited, does not interfere with and fluctuates.
The thickness of fixture block gradually increases from the front to the back, i.e., the lateral surface of fixture block forms lozenges, is so easy to Anti-slip cover set
Outside the 3rd articulations digitorum manus on set, and good position-limiting action is played, to prevent Anti-slip cover from coming off.
In summary, the mechanical exoskeleton device of hand decompression is novel in design, simple in construction, safe and reliable, easily fabricated, specially
Door designs for porter, helps to protect arm and hand safety, fully alleviates exerting oneself for porter's hand, and carry significantly
The high weight of carrying heavy goods, also improves the efficiency transported goods.Other the utility model can be additionally used in medicine equipment, help
In the better and more comprehensively rehabilitation of portion patient hand and wrist.
Brief description of the drawings
Fig. 1 is that hand depressurizes the stereochemical structure signal of forefinger ectoskeleton component in the expanded state in mechanical exoskeleton device
Figure；
Fig. 2 is that hand depressurizes the stereochemical structure signal of forefinger ectoskeleton component in the bent state in mechanical exoskeleton device
Figure；
Fig. 3 is the planar structure schematic diagram under Fig. 2 states；
Fig. 4 is the structural representation that hand depressurizes wrist universal joint in mechanical exoskeleton device；
Fig. 5 is the plan cross-section structural representation that hand depressurizes forefinger ectoskeleton component in mechanical exoskeleton device；
Fig. 6 is the explosive view of forefinger ectoskeleton component.
Embodiment
As shown in figs 1 to 6, hand depressurizes mechanical exoskeleton device, including forearm fixed cylinder and forearm rotating cylinder 2, forearm
Fixed cylinder front inner wall is provided with twice annular groove 3, and the rear portion of forearm rotating cylinder 2 is plugged in forearm fixed cylinder, outside forearm rotating cylinder 2
Wall is provided with rotary spacing twice annulus fin 4 in annular groove 3, and the front end of forearm rotating cylinder 2 is connected with by wrist universal joint 5
Palm lays cylinder 6, and palm lays the bottom left of cylinder 6 or right side opening is provided with thumb extending port 7, and palm lays the top of cylinder 6 respectively
Single drive multi-bar linkage to be connected with side by side to lay the little finger of toe ectoskeleton component 8, unknown of the front side of cylinder 6 positioned at palm by a set of
Refer to ectoskeleton component 9, middle finger ectoskeleton component 10 and forefinger ectoskeleton component 11.
Little finger of toe ectoskeleton component 8, nameless ectoskeleton component 9, middle finger ectoskeleton component 10 and forefinger ectoskeleton component 11
Construction it is identical；Forefinger ectoskeleton component 11 includes the first articulations digitorum manus overcoat 12, the second articulations digitorum manus set gradually from front to back
The articulations digitorum manus overcoat 14 of overcoat 13 and the 3rd, it is single to drive the clutch end of multi-bar linkage to connect with the top of the first articulations digitorum manus overcoat 12
Connect, the rear end of the second articulations digitorum manus overcoat 13 is extend into the first articulations digitorum manus overcoat 12, and the left and right sides of the second articulations digitorum manus overcoat 13 passes through
First riveting axle 15 rotates upwardly and downwardly with the first articulations digitorum manus overcoat 12 to be connected, and the rear end of the 3rd articulations digitorum manus overcoat 14 extend into the second finger pass
Save in overcoat 13, the left and right sides of the 3rd articulations digitorum manus overcoat 14 is rotated upwardly and downwardly by the second riveting axle 16 with the second articulations digitorum manus overcoat 13
Connection, the closure of the front end of the 3rd articulations digitorum manus overcoat 14, the outer cover of the 3rd articulations digitorum manus overcoat 14 are provided with Anti-slip cover 17, the appearance of Anti-slip cover 17
Face is uniformly provided with anti-skid bulge 18.
The bottom of forearm rotating cylinder 2 is provided with mounting bracket 19, and the bottom of mounting bracket 19 is provided with minitype pneumatic tendon 20, little finger of toe ectoskeleton
Component 8, nameless ectoskeleton component 9, the 3rd articulations digitorum manus overcoat 14 of middle finger ectoskeleton component 10 and forefinger ectoskeleton component 11
A finger joint bending is provided between minitype pneumatic tendon 20 respectively and pulls fastening mechanism.
Single driving multi-bar linkage include imaginary axis driver mounting seat 21, rotary shaft drive mounting seat 22, connecting plate 23,
Ball-and-socket bearing 24, imaginary axis drive cylinder 25, rotary shaft drive cylinder 26, L-type actuating arm 27, rear support arm 28, front support arm
29th, the first drive rod 30, the second drive rod 31 and connecting rod 32.
The bottom of imaginary axis driver mounting seat 21, which is fixed, is located at the palm placement top rear of cylinder 6, rotary shaft drive installation
Seat 22 is located at the left lower of imaginary axis driver mounting seat 21, and ball-and-socket bearing 24, which is fixed, is located at the top front side of palm placement cylinder 6, empty
Intend axle drive cylinder 25 and rotary shaft drive cylinder 26 is set along the longitudinal direction, the company of rotation in imaginary axis driver mounting seat 21
The first ball rod 33 being arranged in vertical is connected to, the upper end of the first ball rod 33 is fixed with the bottom of imaginary axis drive cylinder 25 to be connected
Connect, be rotatably connected to horizontally disposed second ball rod 34 in rotary shaft drive mounting seat 22, the left end of the second ball rod 34 with
The right side of rotary shaft drive cylinder 26 is fixedly connected, and the piston rod front end of imaginary axis drive cylinder 25 passes through the first spherical hinge 35 and L
The upper end of type actuating arm 27 is hinged, and the lower end base of front support arm 29 is provided with ball cup 36, and ball cup 36 is rotatably connected on ball-and-socket bearing
In 24, the left side of ball cup 36 is fixed with rocking bar（Do not illustrate and in figure）, the piston rod front end of rotary shaft drive cylinder 26 leads to
Cross the second spherical hinge 38 to be hinged with rocking bar left end, the lower end of front support arm 29 is hinged with the front end of rear support arm 28, on front support arm 29
The middle part vertex with L-type actuating arm 27 is held to be hinged.
The lower end of connecting plate 23, which is fixed, is located at the top of the first articulations digitorum manus overcoat 12, the lower end of the first drive rod 30 and connecting plate 23
Lower hinge, the lower end of the second drive rod 31 and the upper articulation of connecting plate 23, the length of the first drive rod 30 are more than the second driving
The length of bar 31, the upper end of the first drive rod 30 are higher than the upper end of the second drive rod 31, and the both ends of connecting rod 32 drive with second respectively
The upper end of bar 31 and the upper articulation of the first drive rod 30, between connecting rod 32, the first drive rod 30, the second drive rod 31 and connecting plate 23
Parallelogram sturcutre is formed, the front end of L-type actuating arm 27 is hinged with the upper end of the first drive rod 30, the front end of rear support arm 28 and connecting rod
32 lower rearward sides are fixedly connected.
The finger joint bending being connected with forefinger ectoskeleton component 11 pulls fastening mechanism to include bracing wire fix bar 39, cross bar of making contact
40 and bracing wire 41, the level of bracing wire fix bar 39 is located on rear side of the internal upper part of the 3rd articulations digitorum manus overcoat 14, and the 3rd articulations digitorum manus overcoat 14 pushes up
Be provided with elongated hole 42 on rear side of portion along the longitudinal direction, the outer surface at the top of the 3rd articulations digitorum manus overcoat 14, front portion and bottom provided with and length
The guide groove 43 of the front end of hole 42 insertion, the bottom that the level of cross bar 40 is located in the second articulations digitorum manus overcoat 13 of making contact, cross bar 40 of making contact
Guide groove 43 is provided with, the inner bottom part of the first articulations digitorum manus overcoat 12 is provided with a preceding wire-passing tube 44, and palm lays the inner bottom part of cylinder 6 along left and right
Wire-passing tube 45 after direction has been evenly arranged four, the bottom of forearm rotating cylinder 2 is provided with crosses line positioned at the front side of minitype pneumatic tendon 20
Hole 46, the front end of bracing wire 41 are fixedly connected in bracing wire fix bar 39, and bracing wire 41 is from front to back successively by elongated hole 42, guide groove
43rd, guide groove 43, rear wire-passing tube 45, one of them the preceding wire-passing tube 44 and cable-through hole 46 made contact on cross bar 40, the rear end of bracing wire 41
It is fixedly connected on the clutch end of minitype pneumatic tendon 20；The upper and lower part of the inwall of 3rd articulations digitorum manus overcoat 14 is set respectively
There is a pressure sensor 47.
Forearm fixed cylinder includes upper half cylinder 1 and lower half cylinder 48, and the both sides of upper half cylinder 1 and lower half cylinder 48 are correspondingly set
There is a contiguous block 49, it is tight by interior six square bolt between the contiguous block 49 on contiguous block 49 and lower half cylinder 48 on upper half cylinder 1
It is solidly connected.
Palm is laid the top of cylinder 6 and is provided with four single cases 50 for driving multi-bar linkage to cover.
Wrist universal joint 5 includes connecting cylinder 51, left engaging lug 52, right engaging lug 53, upper engaging lug 54 and lower engaging lug 55,
The rear side of left engaging lug 52 and right engaging lug 53 is respectively fixedly connected with the left side of the front end of forearm rotating cylinder 2 and right side outer surface
On, the left side and right side of connecting cylinder 51 are rotated with the front side of left engaging lug 52 and right engaging lug 53 by the first bearing pin 56 respectively to be connected
Connect, the front side of upper engaging lug 54 and lower engaging lug 55 is respectively fixedly connected with the upper side and lower side appearance that the rear portion of cylinder 6 is laid in palm
On face, the upper side and lower side of connecting cylinder 51 is rotated with the rear side of upper engaging lug 54 and lower engaging lug 55 by the second bearing pin 57 respectively
Connection；
The bottom of connecting cylinder 51 is provided with wrist rest seat 58, and wrist rest seat 58 is provided with front and rear four penetrating wire guides
59, four wire guides 59 are arranged side by side in left-right direction, and bracing wire 41 is located in wire guide 59.
The left side of Anti-slip cover 17 and right side are respectively equipped with a rectangle hole clipping 60, the left side of the outer wall of the 3rd articulations digitorum manus overcoat 14 and
Right side is respectively equipped with a fixture block 61, and the thickness of fixture block 61 gradually increases from the front to the back, and Anti-slip cover 17 is set in the 3rd articulations digitorum manus
On overcoat 14 and the fixture block 61 of homonymy is engaged by clamping with rectangle hole clipping 60.
Hand depressurizes mechanical exoskeleton device and used dedicated for porter, and porter carries with power supply, control
Device and air pump（Do not illustrate and in figure）, power supply is used to power to controller, air pump and minitype pneumatic tendon 20, and air pump is to virtual
Axle drive cylinder 25 and rotary shaft drive cylinder 26 provide power.
Hand depressurizes mechanical exoskeleton device when in use, hand by forearm fix tube rear end sequentially pass through forearm fixed cylinder,
After forearm rotating cylinder 2, wrist universal joint 5, palm lay cylinder 6, thumb lays the thumb extending port 7 on cylinder 6 through palm,
Forefinger, middle finger, the third finger and little finger of toe correspond to respectively extend into forefinger ectoskeleton component 11, middle finger ectoskeleton component 10, the third finger
In ectoskeleton component 9 and little finger of toe ectoskeleton component 8, forearm fixed cylinder is fixed on forearm using bandage, because forearm rotates
2 rear portions of cylinder are plugged in forearm fixed cylinder, and it is convex that the outer wall of forearm rotating cylinder 2 is provided with rotary spacing twice annulus in annular groove 3
Rib 4, when hand needs rotation, forearm rotating cylinder 2 and wrist universal joint 5, palm can be driven to lay the common rotation of cylinder 6.
Little finger of toe ectoskeleton component 8, nameless ectoskeleton component 9, middle finger ectoskeleton component 10 and forefinger ectoskeleton component 11
Construction it is identical, only length is different, to adapt to the four of people fingers.Little finger of toe ectoskeleton component 8, nameless ectoskeleton group
A structure identical list driving multi-bar linkage is respectively connected with part 9, middle finger ectoskeleton component 10 and forefinger ectoskeleton component 11.
During carrying heavy goods, while start four imaginary axis drive cylinders 25, the piston rod elongation of imaginary axis drive cylinder 25, promote forward
L-type actuating arm 27, the upper end of support arm 29 is that fulcrum rotates forward to the middle part vertex of L-type actuating arm 27 in the past, L-type actuating arm 27
The first drive rod of front-end driven 30, for the first drive rod 30 under the constraint of rear support arm 28, the front end of the first drive rod 30 can only be to
Lower rotation, parallelogram sturcutre expansion is formed between connecting rod 32, the first drive rod 30, the second drive rod 31 and connecting plate 23,
First drive rod 30 and the connecting plate 23 of the front end of the second drive rod 31 also rotate down, i.e., the first articulations digitorum manus overcoat 12 turns downwards
It is dynamic.At the same time, minitype pneumatic tendon 20 also starts, and pulls back bracing wire 41, and the front end of bracing wire 41 pulls bracing wire fix bar 39, this
3rd articulations digitorum manus overcoat 14 can be bent downwardly by sample, and the 3rd articulations digitorum manus overcoat 14 just drives the second articulations digitorum manus overcoat 13 also downward
Bending, certainly, with being bent downwardly for the first articulations digitorum manus overcoat 12, the second articulations digitorum manus overcoat 13 and the 3rd articulations digitorum manus overcoat 14,
Four fingers are also with bending.The Anti-slip cover 17 being arranged outside 3rd articulations digitorum manus overcoat 14 contacts with weight, the appearance of Anti-slip cover 17
The anti-skid bulge 18 that face is uniformly arranged avoids slipping, it is ensured that the security of carrying, the 14 interior pressure set of the 3rd articulations digitorum manus overcoat
After sensor 47 detects Pressure maximum value, controller is transmitted a signal to, control order imaginary axis drive cylinder 25 and micro-
Type pneumatic muscle 20 stops.If desired little finger of toe ectoskeleton component 8, nameless ectoskeleton component 9, middle finger ectoskeleton group are moved left and right
When part 10 and forefinger ectoskeleton component 11, exemplified by rotating forefinger ectoskeleton component 11, start rotary shaft drive cylinder 26, rotation
The piston rod of axle drive cylinder 26 stretches, and drives ball cup 36 and rear support arm 28 are horizontal in ball-and-socket bearing 24 to turn by rocking bar
Dynamic, rear support arm 28 drives first connecting rod 32 and second connecting rod 32 to rotate, final to drive the left-right rotation of forefinger ectoskeleton component 11.
The 3rd articulations digitorum manus overcoat 14 can be thus set to link closely the correct position of weight.Linking closely after weight, four fingers are also suitably exerted oneself,
Improve the safe reliability of carrying heavy goods.
Wrist universal joint 5 plays a part of complying with forearm finely tunes up and down, and wrist universal joint 5 is using connecting cylinder 51, left
Engaging lug 52, right engaging lug 53, the attachment structure of upper engaging lug 54 and lower engaging lug 55, it is simple in construction and be easy to manufacture to install.
Forearm fixed cylinder includes upper half cylinder 1 and lower half cylinder 48, is so easy to dismount forearm rotating cylinder 2 in forearm fixed cylinder.When
Little finger of toe ectoskeleton component 8, nameless ectoskeleton component 9, middle finger ectoskeleton component 10 and forefinger ectoskeleton component 11 after bending
When needing expansion, expansion can be driven by the stretching, extension of four fingers, while bracing wire 41, imaginary axis drive cylinder 25 also reset.
The power of bracing wire 41 that finger joint bending pulls fastening mechanism to use comes from minitype pneumatic tendon 20, outside the 3rd articulations digitorum manus overcoat 14
The Anti-slip cover 17 being arranged also has the function that the bracing wire 41 being wound in guide groove 43 is not worn in protection, in addition, elongated hole 42, guide groove
43rd, make contact guide groove 43 on cross bar 40, rear wire-passing tube 45, preceding wire-passing tube 44, the upper wire guide 59 set on wrist rest seat 58
With cable-through hole 46, play a part of being oriented to bracing wire 41.Wherein the bottom of connecting cylinder 51 is provided with wrist rest seat 58, has made wrist
Support, help to make wrist comfortable and protect the effect of wrist.
Single driving multi-bar linkage is used in a manner of cylinder is power and spherical hinge adds multi-bar linkage, realizes finger
In the activity of three dimensions.Using multi-bar linkage, structure is compacter simple, and scope of activities is limited, does not interfere with and fluctuates.
The thickness of fixture block 61 gradually increases from the front to the back, i.e., the lateral surface of fixture block 61 forms lozenges, is so easy to anti-skidding
Set 17 is enclosed on the 3rd articulations digitorum manus overcoat 14, and plays good position-limiting action, to prevent Anti-slip cover 17 from coming off.
The present embodiment not makees any formal limitation, every foundation to shape of the present utility model, material, structure etc.
Any simple modification, equivalent change and modification that the technical essence of the utility model is made to above example, belongs to this reality
With the protection domain of new technique scheme.
Claims (3)
1. hand, which depressurizes the four of mechanical exoskeleton device, refers to bending drawing guiding drive system, it is characterised in that：Revolved including forearm
Rotating cylinder, forearm rotating cylinder front end are connected with palm by wrist universal joint and lay cylinder, and palm is laid at the top of cylinder respectively by a set of
Single little finger of toe ectoskeleton component for driving multi-bar linkage to be connected with side by side on front side of palm placement cylinder, nameless ectoskeleton group
Part, middle finger ectoskeleton component and forefinger ectoskeleton component；Little finger of toe ectoskeleton component, nameless ectoskeleton component, middle finger ectoskeleton
Component is identical with the construction of forefinger ectoskeleton component；Forefinger ectoskeleton component includes the first articulations digitorum manus set gradually from front to back
Overcoat, the second articulations digitorum manus overcoat and the 3rd articulations digitorum manus overcoat, the 3rd articulations digitorum manus overcoat front end block, outside the 3rd articulations digitorum manus overcoat
Anti-slip cover is arranged with, Anti-slip cover outer surface is uniformly provided with anti-skid bulge；
Forearm rotating cylinder bottom is provided with mounting bracket, and mounting bracket bottom is provided with minitype pneumatic tendon, little finger of toe ectoskeleton component, the third finger
3rd articulations digitorum manus overcoat of ectoskeleton component, middle finger ectoskeleton component and forefinger ectoskeleton component respectively with minitype pneumatic tendon it
Between be provided with the bending of finger joint and pull fastening mechanism；
The finger joint bending being connected with forefinger ectoskeleton component pulls fastening mechanism to include bracing wire fix bar, make contact cross bar and bracing wire,
Bracing wire fix bar level is located on rear side of the 3rd articulations digitorum manus overcoat internal upper part, and the 3rd articulations digitorum manus overcoat top rear is set along the longitudinal direction
There is an elongated hole, the outer surface at the top of the 3rd articulations digitorum manus overcoat, front portion and bottom is provided with the guide groove with the insertion of elongated hole front end, makes contact
Cross bar level is located at the bottom in the second articulations digitorum manus overcoat, and cross bar of making contact is provided with guide groove, and the first articulations digitorum manus overcoat inner bottom part is set
There is a preceding wire-passing tube, palm lays wire-passing tube after cylinder inner bottom part has been evenly arranged four in left-right direction, forearm rotating cylinder bottom
Portion is provided with the cable-through hole on front side of minitype pneumatic tendon, and the front end of bracing wire is fixedly connected in bracing wire fix bar, and bracing wire is by preceding
After successively by elongated hole, guide groove, the guide groove on cross bar of making contact, after wire-passing tube, one of them preceding wire-passing tube and cable-through hole, draw
The rear end of line is fixedly connected on the clutch end of minitype pneumatic tendon；The upper and lower part of 3rd articulations digitorum manus outer casing inner wall point
She You not a pressure sensor.
2. hand according to claim 1, which depressurizes the four of mechanical exoskeleton device, refers to bending drawing guiding drive system, its
It is characterised by：Wrist universal joint includes connecting cylinder, left engaging lug, right engaging lug, upper engaging lug and lower engaging lug, left engaging lug and
Be respectively fixedly connected with rear side of right engaging lug on the left side and right side outer surface of forearm rotating cylinder front end, the left side of connecting cylinder and
Right side is rotatablely connected with the front side of left engaging lug and right engaging lug by the first bearing pin respectively, before upper engaging lug and lower engaging lug
Side is respectively fixedly connected with the upper side and lower side outer surface that palm lays cylinder rear portion, the upper side and lower side of connecting cylinder respectively with it is upper
The rear side of engaging lug and lower engaging lug is rotatablely connected by the second bearing pin；
Connecting cylinder bottom is provided with wrist rest seat, and wrist rest seat is provided with front and rear four penetrating wire guides, four wire guides
It is arranged side by side in left-right direction, bracing wire is located in wire guide.
3. hand according to claim 2, which depressurizes the four of mechanical exoskeleton device, refers to bending drawing guiding drive system, its
It is characterised by：On the left of Anti-slip cover and right side is respectively equipped with a rectangle hole clipping, the left side and right side of the 3rd articulations digitorum manus outer casing outer wall
A fixture block is respectively equipped with, the thickness of fixture block gradually increases from the front to the back, and Anti-slip cover, which is set in outside the 3rd articulations digitorum manus, to be put and together
The fixture block of side is engaged by clamping with rectangle hole clipping.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620880179.9U CN206623084U (en) | 2016-08-15 | 2016-08-15 | Hand depressurizes the four of mechanical exoskeleton device and refers to bending drawing guiding drive system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620880179.9U CN206623084U (en) | 2016-08-15 | 2016-08-15 | Hand depressurizes the four of mechanical exoskeleton device and refers to bending drawing guiding drive system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206623084U true CN206623084U (en) | 2017-11-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620880179.9U Expired - Fee Related CN206623084U (en) | 2016-08-15 | 2016-08-15 | Hand depressurizes the four of mechanical exoskeleton device and refers to bending drawing guiding drive system |
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| Country | Link |
|---|---|
| CN (1) | CN206623084U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109646250A (en) * | 2019-02-18 | 2019-04-19 | 河海大学常州校区 | A kind of finger rehabilitation training robot |
-
2016
- 2016-08-15 CN CN201620880179.9U patent/CN206623084U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109646250A (en) * | 2019-02-18 | 2019-04-19 | 河海大学常州校区 | A kind of finger rehabilitation training robot |
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| CF01 | Termination of patent right due to non-payment of annual fee |
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| CF01 | Termination of patent right due to non-payment of annual fee |