CN209933408U

CN209933408U - Finger bending and stretching movement mechanism for exoskeleton hand rehabilitation robot

Info

Publication number: CN209933408U
Application number: CN201920526158.0U
Authority: CN
Inventors: 杨超众; 陈希; 蔡颖鹏
Original assignee: Beijing Time Robot Technology Co Ltd
Current assignee: Beijing Time Robot Technology Co Ltd
Priority date: 2019-04-17
Filing date: 2019-04-17
Publication date: 2020-01-14
Anticipated expiration: 2029-04-17

Abstract

The utility model provides a finger flexion and extension movement mechanism for an exoskeleton hand rehabilitation robot, which comprises a fixing plate (1) covering the metacarpal region of a single hand, wherein the finger flexion and extension movement mechanism is provided with a first flexion and extension unit (A) corresponding to four fingers and a second flexion and extension unit (B) corresponding to a thumb respectively, the first flexion and extension unit (A) and the second flexion and extension unit (B) both adopt a linear driver as power and are matched with a transmission mechanism consisting of rod pieces, thus, the finger flexion and extension movement mechanism provided by the utility model can complete the flexion and extension actions of the fingers with fewer parts, thereby reducing the complexity of the whole equipment, and the parts are more compactly arranged by installing the first flexion and extension unit (A) and the second flexion and extension unit (B) on the fixing plate covering the metacarpal region, the limited space of the back of the hand is efficiently utilized, and the interference to the movement of the wrist can not be formed after the wrist is worn.

Description

Finger bending and stretching movement mechanism for exoskeleton hand rehabilitation robot

Technical Field

The utility model relates to the technical field of medical equipment, especially, relate to a finger bends and stretches motion for ectoskeleton hand rehabilitation robot.

Background

The human hand is an organ with a very fine anatomical structure and very easy trauma, and clinically, after a hand trauma operation, a patient's finger needs to be fixed in a certain position for 3-4 weeks, so that blood stasis deposited around tendons in joints is often caused to form fibrosis, and the adhesion of the finger joints and the tendons is directly caused, so that the function of the hand of the patient is influenced to a great extent.

The exoskeleton hand rehabilitation robot is wearable equipment for helping a patient to perform hand passive rehabilitation training, but a finger flexion and extension movement mechanism adopted by the existing exoskeleton hand rehabilitation robot is generally complex, is not easy to install and occupies a large space, so that the finger flexion and extension movement mechanism is improved, the installation and the occupation space are reduced, and the technical problem to be solved by technical personnel in the field is solved urgently.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model provides a finger bends and stretches motion for ectoskeleton hand rehabilitation robot, this finger bends and stretches motion has reduced the holistic complexity of equipment, has to arrange compactness, advantage that space utilization is high, is convenient for install during the use and can not form the interference to the wrist motion.

In order to achieve the above object, the utility model provides a following technical scheme:

a finger flexion-extension movement mechanism for an exoskeleton hand rehabilitation robot including a fixation plate covering a metacarpal area of a single hand, the finger flexion-extension movement mechanism comprising:

the four sets of first flexion and extension units are arranged on four finger areas of the fixing plate, the four sets of first flexion and extension units correspond to the four fingers one by one respectively, each set of first flexion and extension unit comprises a first linear driver arranged along the forward extension direction of the fingers and a first movable arch formed by rod pieces hinged with each other, the front end of the first movable arch is hinged with a first finger clamp used for clamping and fixing the first finger clamp on the middle section of the corresponding finger, the rear end of the first movable arch is hinged with the fixing plate, and the rotating motion of the first movable arch relative to the fixing plate and the curling motion of the corresponding finger are positioned in the same plane;

the second that corresponds with the thumb bends and stretches the unit, the second bends and stretches the unit and includes the second linear actuator who arranges along the thumb protrusion direction and the second activity bow that constitutes by articulated member, the second activity bow comprises articulated auxiliary rod, actuating lever and passive pole in proper order, the actuating lever is the initiative pole of second activity bow, the passive pole is kept away from the one end of actuating lever articulates there is the second finger grip that is used for clamping on the distant section of thumb, the auxiliary rod is kept away from the one end of actuating lever is installed the thumb district of fixed plate, the one end of second linear actuator with the thumb district of fixed plate is articulated, the other end with the actuating lever is articulated.

Preferably, in the above finger flexion and extension movement mechanism, the first flexion and extension unit includes a fixed support disposed at a position close to the front end of the four-finger region of the fixed plate and a fixed base disposed at a position close to the rear end of the four-finger region, the first movable bow is composed of a linkage rod and a double-rocker mechanism using the fixed support as a frame, one end of the linkage rod is hinged to a connecting rod of the double-rocker mechanism, and the other end is hinged to the first finger grip;

one end of the first linear driver is hinged to the fixed base, and the other end of the first linear driver is hinged to any rocker of the double-rocker mechanism serving as a driving rod.

Preferably, in the above finger flexion and extension movement mechanism, the first linear driver and the fixed base are replaced by a steering engine as a whole, and a swing arm of the steering engine is connected with a rocker of the double-rocker mechanism as a driving rod through a connecting rod.

Preferably, in the above finger flexion and extension movement mechanism, the first flexion and extension unit includes a fixed support disposed at a position near the front end of the four finger regions of the fixed plate, the first movable bow is composed of a linkage rod and a double-rocker mechanism using the fixed support as a frame, one end of the linkage rod is hinged to a connecting rod of the double-rocker mechanism, and the other end is hinged to the first finger grip;

one end of the first linear driver is installed on the fixed support, the other end of the first linear driver is connected to the connecting rod of the double-rocker mechanism, and the connecting rod of the double-rocker mechanism is the driving rod of the first movable bow.

Preferably, in the above finger bending and stretching exercise mechanism, a limit block is disposed at one end of the connecting rod of the double-rocker mechanism, which is close to the linkage rod, and when the linkage rod rotates relative to the connecting rod of the double-rocker mechanism, the linkage rod stops rotating after contacting the limit block.

Preferably, in the above finger flexion and extension movement mechanism, the linkage rod is composed of a male part and a female part which are inserted into each other, the male part and the female part are connected by an elastic buckle structure, the male part is hinged with the connecting rod of the double-rocker mechanism, and the female part is hinged with the first finger clip.

Preferably, in the above finger flexion and extension movement mechanism, one end of the driving rod close to the driven rod is in a shape of a tiger mouth comprising two ends, wherein one end is hinged to the driven rod, and the other end plays a role in limiting the rotation of the driven rod relative to the driving rod.

Preferably, in the above finger flexion and extension movement mechanism, the passive rod includes a body and a ball head connecting rod connected to the body through a headless screw, a ball end of the ball head connecting rod is hinged to the second finger clamp, and the body is hinged to the driving rod.

Preferably, in the above finger flexion and extension movement mechanism, the finger flexion and extension movement mechanism further comprises a soft rubber finger sleeve sleeved on the thumb, the soft rubber finger sleeve comprises a first sleeve section corresponding to the proximal joint of the thumb and a second sleeve section corresponding to the distal joint of the thumb, the first sleeve section and the second sleeve section are connected by a soft rib, the surface of the second sleeve section is provided with a plurality of protrusions, and the second finger clamp is provided with a plurality of holes matched and connected with the protrusions.

Preferably, in the above finger flexion and extension movement mechanism, the first linear actuator and the second linear actuator are provided with sensors for measuring force.

According to the technical scheme, the utility model provides an among the finger motion of bending and stretching for ectoskeleton hand rehabilitation robot, be provided with four fingers respectively the one-to-one first bend stretch the unit and bend with the thumb corresponding second and stretch the unit, first bend stretch the unit and the second bends and stretches the unit and all adopt linear actuator as power to be equipped with the drive mechanism who comprises the member, so, the utility model provides a finger motion of bending and stretching can accomplish the finger with less spare part, therefore can reduce the holistic complexity of equipment, moreover, through bending first unit and the second of stretching and bending the unit and install on covering the regional fixed plate of metacarpal bone for the part is arranged more compactly, and the high efficiency has utilized the finite space of back of the hand, can not form the interference to the wrist motion after dressing.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

Fig. 1 is a schematic view of a finger flexion and extension movement mechanism for an exoskeleton hand rehabilitation robot according to a first embodiment of the present invention;

FIG. 2 is a schematic view of the flexion-extension unit A corresponding to the middle finger in FIG. 1;

fig. 3 is a schematic view of the flexion-extension unit a shown in fig. 2 with the middle finger in an extended state;

FIG. 4 is a schematic view of the flexion-extension unit A shown in FIG. 2 with the middle finger in a bent state;

fig. 5 is a schematic view of a flexion and extension unit a in the finger flexion and extension movement mechanism according to the second embodiment of the present invention;

fig. 6 is a schematic view of a flexion and extension unit a in the finger flexion and extension movement mechanism according to the third embodiment of the present invention;

FIG. 7 is a schematic view of the flexion-extension unit B corresponding to the thumb in FIG. 1;

FIG. 8 is a schematic view of the flexion-extension unit B shown in FIG. 7 with the thumb in an extended state;

fig. 9 is a schematic view of the flexion-extension unit B shown in fig. 7 with the thumb in a bent state;

FIG. 10 is a disassembled schematic view of member 55 of FIG. 1;

FIG. 11 is a schematic view of the piece 41 of FIG. 7;

figure 12 is a schematic view of the piece 51 of figure 2.

Labeled as:

A. a bending and stretching unit; B. a bending and stretching unit;

1. a fixing plate; 11. the index finger; 12. middle finger; 121. middle finger middle section; 122. the proximal middle finger; 13. ring finger; 14. a little finger;

21. the distal thumb joint; 22. proximal thumb joint;

31. an auxiliary lever; 32. a drive rod; 33. a passive rod; 331. a body; 332. a ball head connecting rod; 34. a linear actuator;

41. finger clipping; 42. finger clipping; 43. a soft rubber finger sleeve;

51. a linear actuator; 511. a telescopic rod; 52. a rocker; 53. a rocker; 54. a connecting rod; 541. a limiting block; 55. a linkage rod; 551. a male part; 552. a master;

61. a fixed support; 62. a fixed base;

7. a steering engine; 71. swinging arms; 8. a connecting rod; 9. a sensor.

Detailed Description

For the sake of understanding, the present invention will be further described with reference to the accompanying drawings.

Example one

Referring to fig. 1 and fig. 2, fig. 1 is a schematic view of a finger flexion and extension movement mechanism for an exoskeleton hand rehabilitation robot according to an embodiment of the present invention, and fig. 2 is a schematic view of a flexion and extension unit a corresponding to a middle finger in fig. 1. The exoskeleton hand rehabilitation robot comprises a fixing plate 1, wherein the fixing plate 1 comprises a four-finger area and a thumb area, and is covered on a metacarpal bone area of a single hand when in use. In order to facilitate the demonstration of the use state of the finger flexion and extension movement mechanism, the human fingers and knuckles are simulated by the rod pieces, such as the index finger 11, the middle finger 12, the ring finger 13, the little finger 14, the thumb distant section 21, the thumb near section 22, the middle finger middle section 121 and the middle finger near section 122 shown in the figure.

The first finger flexion and extension movement mechanism provided in the embodiment includes four flexion and extension units a and four flexion and extension units B installed on the fixing plate 1, where the flexion and extension units a are located in four finger areas of the fixing plate 1 and respectively correspond to the four fingers one by one, and the flexion and extension units B are one set and correspond to the thumbs.

The four sets of flexion-extension units a have the same structure, only slightly different sizes, and the same operation principle, so the flexion-extension unit a corresponding to the middle finger 12 is taken as an example for explanation, as shown in fig. 2, the flexion-extension unit a includes a linear driver 51 arranged along the finger extension direction and a movable bow formed by mutually hinged rod members, the front end of the movable bow is hinged with a finger clip 42 for clipping on the middle finger knuckle 121, the rear end of the movable bow is hinged with the fixed plate 1, and the rotation motion of the movable bow relative to the fixed plate 1 and the rolling motion of the middle finger 12 are in the same plane.

In the first embodiment, the flexion-extension unit a includes a fixed support 61 disposed at a position near the front end of the four-finger area of the fixed plate 1, and a fixed base 62 disposed at a position near the rear end of the four-finger area, the movable bow is composed of a linkage rod 55 and a double-rocker mechanism, the double-rocker mechanism uses the fixed support 61 as a frame, and further includes a rocker 52, a rocker 53 and a connecting rod 54, one end of the linkage rod 55 is hinged to the connecting rod 54, and the other end is hinged to the finger clamp 42. One end of the linear actuator 51 is hinged to the fixed base 62, and the other end is hinged to a rocker 53 of the double-rocker mechanism as an active lever.

Referring to fig. 3 and 4, fig. 3 is a schematic view of the flexion and extension unit a shown in fig. 2 when the middle finger is in an extended state, and fig. 4 is a schematic view of the flexion and extension unit a shown in fig. 2 when the middle finger is in a bent state. When the telescopic bar 511 of the linear actuator 51 is extended, the finger is bent; when the telescopic bar 511 of the linear actuator 51 is retracted, the finger is extended.

Referring to fig. 7, which is a schematic view of the flexion and extension unit B corresponding to the thumb in fig. 1, the flexion and extension unit B includes a linear driver 34 arranged along the extending direction of the thumb and a movable bow formed by mutually hinged rod members, and the movable bow is composed of an auxiliary rod 31, a driving rod 32 and a driven rod 33 which are hinged in sequence. Wherein, the driving rod 32 is an active rod of a movable bow, one end of the passive rod 33 far away from the driving rod 32 is hinged with a finger grip 41 for being clamped on the thumb distal joint 21, one end of the auxiliary rod 31 far away from the driving rod 32 is installed in the thumb area of the fixing plate 1, one end of the linear actuator 34 is hinged with the thumb area of the fixing plate 1, the other end is hinged with the driving rod 32, the driving rod 32 rotates around the hinged point with the auxiliary rod 31 under the action of the linear actuator 34, the bending and stretching unit B makes the thumb extend as shown in fig. 8, and the bending and stretching unit B makes the thumb bend as shown in fig. 9.

The utility model provides an in the finger that is used for ectoskeleton hand rehabilitation robot bends and stretches motion, be provided with four fingers respectively one-to-one bend stretch unit A and bend and stretch unit B with what the thumb corresponds, bend and stretch unit A and bend and stretch unit B and all adopt linear actuator as power to be equipped with the drive mechanism who comprises the member, so, the utility model provides a bend and stretch motion of finger can be accomplished with less spare part to the finger, therefore can reduce the holistic complexity of equipment, moreover, install on the regional fixed plate 1 of covering the metacarpal bone through will bend and stretch unit A and bend and stretch unit B, make the part arrange more compactlyer, the high efficiency has utilized the finite space of the back of the hand, can not form the interference to the wrist motion after dressing.

Example two

In the second embodiment, a different bending and stretching unit a is designed, which is different from the first embodiment, in that the arrangement of the linear actuator 51 is different, as shown in fig. 5, in the second embodiment, in order to install the linear actuator 51, the bending and stretching unit a is only provided with a fixed support 61, a fixed base 62 is omitted, one end of the linear actuator 51 is installed on the fixed support 61, and the other end is connected to the connecting rod 54 of the double-rocker mechanism, at this time, the connecting rod 54 becomes the active rod of the movable bow.

EXAMPLE III

In the third embodiment, a flexion-extension unit a different from the first embodiment is designed, except that a power unit for driving the movable bow to move is different, in the first embodiment, the power unit is a linear driver 51, and in the third embodiment, the linear driver 51 and a fixed base 62 are replaced by a steering engine 7 as a whole, and as shown in fig. 6, a swing arm of the steering engine 7 is connected with a rocker 53 of a double-rocker mechanism as a driving rod through a connecting rod 8.

In the above embodiments, the flexion-extension unit a and the flexion-extension unit B both push the fingers to bend by means of the linkage action of the finger joints, and the pushing force of the finger clamps 41 and 42 on the fingers may cause the finger joints to turn up in motion, and in order to effectively avoid this situation, for the flexion-extension unit a, a limiting block 541 may be disposed at one end of the connecting rod 54 of the double-rocker mechanism, which is close to the linkage rod 55, as shown in fig. 3, when the linkage rod 55 rotates relative to the connecting rod 54, the linkage rod 55 stops rotating after contacting the limiting block 541; for the flexion-extension unit B, one end of the driving rod 32 close to the driven rod 33 may be designed to be in a shape of a tiger mouth including two ends, as shown in fig. 9, wherein one end is hinged to the driven rod 33, and the other end plays a role in limiting the rotation of the driven rod 33 relative to the driving rod 32.

In order to facilitate the replacement of the finger clip in the flexion and extension unit a to adapt to fingers with different thicknesses, the linkage rod 55 can be designed to be a detachable structure, as shown in fig. 2 and 10, the linkage rod 55 can be composed of a male part 551 and a female part 552 which are inserted into each other, the male part 551 and the female part 552 are connected by an elastic snap structure, the male part 551 is hinged with the connecting rod 54 of the double-rocker mechanism, and the female part 552 is hinged with the finger clip 42.

In order to facilitate the flexion-extension unit B to adapt to thumbs with different lengths, the passive rod 33 can be designed to be adjustable in length, as shown in fig. 7, the passive rod 33 includes a body 331 and a ball-end connecting rod 332 connected to the body 331 through a headless screw (not labeled), a ball end of the ball-end connecting rod 332 is hinged to the finger grip 41, and the body 331 is hinged to the driving rod 32.

In a specific practical application, in order to better fix the thumb to the flexion-extension unit B, a soft rubber finger sleeve 43 may be provided, as shown in fig. 8 and 11, in this embodiment, the soft rubber finger sleeve 43 includes a first sleeve section corresponding to the proximal joint 22 of the thumb and a second sleeve section corresponding to the distal joint 21 of the thumb, in the figure, the second sleeve section is covered by the finger clip 41, the second sleeve section and the first sleeve section are connected into a whole by a soft rib, the surface of the second sleeve section has a plurality of protrusions, and the finger clip 41 has a plurality of holes in matching connection with the protrusions. In other embodiments, the clip body of the finger clip 41 (the portion covering the second section of the soft finger 43) may be removed, leaving only the portion hinged to the passive rod 33, and the second section may be bonded to the second section of the soft finger 43, such that the second section replaces the original clip body portion of the finger clip 41.

In order to measure the force applied to the end of the finger, a sensor for measuring the force can be provided on the linear actuator, the sensor is generally installed at the tail of the linear actuator, as shown in fig. 12, and the end of the linear actuator 51 near the fixed base 62 is provided with the sensor 9.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to the embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A finger flexion and extension movement mechanism for an exoskeleton hand rehabilitation robot comprising a fixation plate (1) covering the metacarpal area of a single hand, characterized by comprising:

four sets of first bending and stretching units (A) are arranged on four finger areas of the fixing plate (1), the four sets of first bending and stretching units (A) correspond to four fingers one by one respectively, each set of first bending and stretching units (A) comprises a first linear driver (51) arranged along the forward extending direction of the fingers and a first movable arch formed by rod pieces hinged with each other, the front end of the first movable arch is hinged with a first finger clamp (42) used for clamping and fixing the middle section of the corresponding finger, the rear end of the first movable arch is hinged with the fixing plate (1), and the rotating motion of the first movable arch relative to the fixing plate (1) and the curling motion of the corresponding finger are positioned in the same plane;

the second bending and stretching unit (B) corresponds to a thumb, the second bending and stretching unit (B) comprises a second linear driver (34) arranged along the extending direction of the thumb and a second movable arch formed by rod pieces hinged with each other, the second movable arch comprises an auxiliary rod (31), a driving rod (32) and a driven rod (33) which are sequentially hinged, the driving rod (32) is an active rod of the second movable arch, one end, far away from the driving rod (32), of the driven rod (33) is hinged with a second finger clamp (41) used for being clamped on the far section of the thumb, one end, far away from the driving rod (32), of the auxiliary rod (31) is installed in the thumb area of the fixing plate (1), one end of the second linear driver (34) is hinged with the thumb area of the fixing plate (1), and the other end of the second linear driver is hinged with the driving rod (32).

2. The finger flexion and extension movement mechanism according to claim 1, wherein the first flexion and extension unit (a) comprises a fixed support (61) arranged at the position of the four finger zones of the fixed plate (1) close to the front end and a fixed base (62) arranged at the position of the four finger zones close to the rear end, the first movable bow consists of a linkage rod (55) and a double-rocker mechanism taking the fixed support (61) as a frame, one end of the linkage rod (55) is hinged with a connecting rod (54) of the double-rocker mechanism, and the other end is hinged with the first finger grip (42);

one end of the first linear driver (51) is hinged on the fixed base (62), and the other end of the first linear driver is hinged with any rocker of the double-rocker mechanism serving as a driving rod.

3. The mechanism according to claim 2, wherein the first linear driver (51) and the fixed base (62) are replaced by a steering engine (7) as a whole, and a swing arm of the steering engine (7) is connected with a rocker of the double-rocker mechanism as an active rod through a connecting rod (8).

4. The finger flexion and extension movement mechanism according to claim 1, wherein the first flexion and extension unit (a) comprises a fixed support (61) arranged at the position of the four finger regions of the fixed plate (1) close to the front end, the first movable bow consists of a linkage rod (55) and a double-rocker mechanism taking the fixed support (61) as a frame, one end of the linkage rod (55) is hinged with a connecting rod (54) of the double-rocker mechanism, and the other end is hinged with the first finger grip (42);

one end of the first linear driver (51) is installed on the fixed support (61), the other end of the first linear driver is connected to the connecting rod (54) of the double-rocker mechanism, and the connecting rod (54) of the double-rocker mechanism is the driving rod of the first movable bow.

5. The mechanism according to any one of claims 2 to 4, wherein a limit block (541) is disposed at one end of the link rod (54) of the double-rocker mechanism, which is close to the linkage rod (55), and when the linkage rod (55) rotates relative to the link rod (54) of the double-rocker mechanism, the linkage rod (55) stops rotating after contacting with the limit block (541).

6. The mechanism according to claim 5, wherein the linkage rod (55) is composed of a male member (551) and a female member (552) which are inserted into each other, the male member (551) and the female member (552) are connected by an elastic snap-fit structure, the male member (551) is hinged with the link (54) of the double rocker mechanism, and the female member (552) is hinged with the first finger clip (42).

7. The mechanism according to claim 1, wherein the end of the driving rod (32) near the driven rod (33) is in the shape of a tiger-mouth comprising two ends, one end is hinged to the driven rod (33), and the other end is used for limiting the rotation of the driven rod (33) relative to the driving rod (32).

8. The mechanism according to claim 1, wherein the passive rod (33) comprises a body (331) and a ball-end connecting rod (332) connected to the body (331) via a headless screw, the ball-end of the ball-end connecting rod (332) is hinged to the second finger grip (41), and the body (331) is hinged to the driving rod (32).

9. The mechanism according to claim 1, further comprising a soft rubber finger sleeve (43) sleeved on the thumb, wherein the soft rubber finger sleeve (43) comprises a first sleeve section corresponding to the proximal joint (22) of the thumb and a second sleeve section corresponding to the distal joint (21) of the thumb, the first sleeve section and the second sleeve section are connected into a whole by a soft rib, the surface of the second sleeve section is provided with a plurality of protrusions, and the second finger clip (41) is provided with a plurality of holes matched and connected with the protrusions.

10. The mechanism according to any one of claims 7 to 9, wherein the first linear actuator (51) and the second linear actuator (34) are provided with a sensor (9) for measuring force.