CN210145028U

CN210145028U - Flexible wearable hand rehabilitation robot driven by memory alloy wires

Info

Publication number: CN210145028U
Application number: CN201920710776.0U
Authority: CN
Inventors: 赵新刚; 赵明; 冯晓彬; 张道辉; 张弼; 徐壮
Original assignee: Shenyang Institute of Automation of CAS
Current assignee: Shenyang Institute of Automation of CAS
Priority date: 2019-05-17
Filing date: 2019-05-17
Publication date: 2020-03-17
Anticipated expiration: 2029-05-17

Abstract

The utility model relates to a medical rehabilitation training device, in particular to a memory alloy wire driven flexible wearable hand rehabilitation robot. Including drive division and execution part, wherein the execution part includes the thumb part, the forefinger part, the middle finger part, the third finger part, little finger part, connecting plate and backplate, wherein the backplate passes through the connecting plate to be connected with drive division, the thumb part, the forefinger part, the middle finger part, third finger part and little finger part structure are the same, all include wire spare, rigidity line and dactylotheca, wherein the wire spare of thumb part is connected with the execution part, the wire spare and the backplate of the hand of remaining four fingers are connected, the one end and the dactylotheca of rigidity line are connected, the other end passes the guiding hole on the wire spare and is connected with drive division, the dactylotheca is used for wearing on user's finger. The utility model discloses compact structure, light in weight, portability and wearing nature are better, adopt rigidity line transmission power, make it have and dress flexibility, at the recovered in-process of hand, can guarantee the security of training.

Description

Flexible wearable hand rehabilitation robot driven by memory alloy wires

Technical Field

The utility model relates to a medical rehabilitation training device, in particular to a memory alloy wire driven flexible wearable hand rehabilitation robot.

Background

At present, clinically, for the rehabilitation therapy of hand functions, a rehabilitee is mainly relied on to guide a patient to perform long-time repetitive function rehabilitation training, and the consumed time cost and the labor cost are both high. The robot system for hand rehabilitation can perform long-time periodic motion, can reduce the working strength of a rehabilitation teacher, can improve the efficiency of rehabilitation training, and provides a new scheme for the rehabilitation treatment of hand functions.

Most of the existing hand rehabilitation robots are composed of rigid components such as connecting rods, gears, motors and the like, and the rigid components cover the upper parts of fingers to drive the fingers to move synchronously. Because the joint position of the rigid structure is fixed, the phenomenon that the joint of the robot is dislocated with the finger joint often occurs in the process of rehabilitation training, the rehabilitation effect is greatly reduced, discomfort and potential safety hazards are brought to patients, and the training enthusiasm of the patients is influenced. Meanwhile, the rigid structure is generally large in size and high in weight, so that the safety and the portability of the wearable and usable portable wearable and wearable structure are greatly reduced.

SUMMERY OF THE UTILITY MODEL

To the problem, the utility model aims to provide a wearable hand rehabilitation robot of memory alloy silk driven flexibility to satisfy the demand to security, portability in hand rehabilitation training process.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a memory alloy wire driven flexible wearable hand rehabilitation robot comprises a driving part and an executing part, wherein the executing part comprises a thumb part, an index finger part, a middle finger part, a ring finger part, a little finger part, a connecting plate and a hand back plate, the hand back plate is connected with the driving part through the connecting plate, the thumb part, the index finger part, the middle finger part, the ring finger part and the little finger part are identical in structure and respectively comprise a wire guide piece, a rigid wire and a finger sleeve, the wire guide piece of the thumb part is connected with the executing part, the wire guide pieces of the rest four fingers are connected with the hand back plate, one end of the rigid wire is connected with the finger sleeve, the other end of the rigid wire penetrates through a guide hole in the wire guide piece to be connected with the driving part, and the finger sleeve is used for being worn on fingers of a user.

The connecting plate is provided with a sliding groove, the hand back plate is connected with the sliding groove in a sliding mode, and the connecting position between the hand back plate and the connecting plate can be adjusted.

The upper end of the finger stall is provided with a guide groove and a connecting seat, and the rigid wire penetrates through the guide groove and is connected with the connecting seat.

The drive part comprises a main body plate, a shell, a control circuit board, a thumb memory alloy wire driver and a memory alloy wire driver set, wherein the memory alloy wire driver set is installed in a groove of the main body plate, the control circuit board and the thumb memory alloy wire driver are respectively arranged on two side faces of the main body plate, the control circuit board is used for supplying power and controlling the thumb memory alloy wire driver and the memory alloy wire driver set, the thumb memory alloy wire driver is used for driving the motion of the thumb part, the memory alloy wire driver set is used for driving the motion of the rest four fingers, and the shell is buckled on the main body plate.

A heat radiation fan is installed in the shell.

The memory alloy wire driver set comprises four groups of memory alloy wire drivers which are arranged in parallel, and the four groups of memory alloy wire drivers are respectively used for driving the actions of the four fingers except the thumb.

The thumb memory alloy wire driver and the four groups of memory alloy wire drivers have the same structure and respectively comprise a driver main body plate, a fixed terminal, memory alloy wires, a driving terminal, a feedback part and two groups of pulley components, wherein the two pulley assemblies are symmetrically arranged at two sides of the driver main body plate, the driving terminal is slidably arranged at the end part of the driver main body plate, the memory alloy wire is connected with the driving terminal, two ends of the memory alloy wire are respectively coiled on the two pulley assemblies, the end parts of the two ends are fixed on the driver main body plate through the fixed terminals, the fixed terminals are powered through the control circuit board to drive the memory alloy wire to contract, thereby drive terminal and produce linear motion, the feedback part is installed on driver main part board, and with drive terminal is connected, the feedback part is used for acquireing the motion information of drive terminal.

The feedback part comprises a micro potentiometer, a pulley, an optical axis and a driver buckling piece, wherein a shell of the micro potentiometer is embedded in the driver main body plate, an internal hole is connected with the pulley, the pulley is installed on the optical axis through a bearing II, two ends of the optical axis are connected with the driver main body plate and the driver buckling piece, the driver buckling piece is fixedly connected with the driver main body plate, and a driving terminal is connected with the pulley through a connecting wire.

Two sets of the pulley block structure is the same, all sets up in the multiunit guide pulley of fixed terminal both sides including the symmetry, multiunit guide pulley's diameter to the tip direction of driver main part board increases progressively in proper order, the end fixing of memory alloy silk on the fixed terminal, and coil on multiunit guide pulley from inside to outside in proper order, guide pulley adopts insulating material.

The driving terminal comprises a connecting piece and an output line, wherein one end of the connecting piece is provided with a through hole for the memory alloy wire to pass through, the other end of the connecting piece is connected with the output line, and the output line is a rigid line and used for driving a load to move.

The utility model discloses an advantage does with positive effect:

1. the utility model discloses a memory alloy silk makes overall structure more compact as the drive, and weight reduces by a wide margin, and portability and dressing nature have obtained great promotion.

2. The utility model discloses a compliance is dressed to rigidity line transmission power, has, at the recovered in-process of hand, can guarantee the security of training.

Drawings

Fig. 1 is a schematic structural diagram of the present invention;

FIG. 2 is an exploded view of the structure of the present invention;

FIG. 3 is a schematic structural view of the present invention with the housing removed;

FIG. 4 is a schematic structural diagram of an actuator according to the present invention;

FIG. 5 is a schematic structural diagram of a memory alloy wire driver according to the present invention;

FIG. 6 is an exploded view of the fixing terminal of the memory alloy wire actuator of the present invention;

FIG. 7 is an exploded view of the guide pulley of the memory alloy wire driver of the present invention;

FIG. 8 is an exploded view of the driving terminal of the memory alloy wire actuator of the present invention;

fig. 9 is an exploded view of the feedback portion of the memory alloy wire actuator of the present invention.

In the figure: 1 is a driving part, 2 is an executing part, 11 is a main body plate, 12 is a cooling fan, 13 is a shell, 14 is a control circuit board, 112 is a thumb memory alloy wire driver, 113 is a memory alloy wire driver set, 114 is a connecting stud, 21 is a thumb part, 211 is a thumb wire guide plate, 212 is a thumb rigid wire, 213 is a thumb sleeve, 22 is an index finger part, 23 is a middle finger part, 24 is a ring finger part, 25 is a little finger part, 251 is a little finger wire guide column, 252 is a little finger rigid wire, 253 is a little finger sleeve, 26 is a connecting plate, and 27 is a backboard; 31 is driver main body board, 32 is fixed terminal, 321 is copper sheet, 322 is bolt, 323 is copper ring I, 324 is copper ring II, 33 is guide pulley, 331 is nylon pulley, 332 is round pin axle, 333 is bearing I, 334 is jump ring, 34 is memory alloy silk, 35 is drive terminal, 351 is connecting piece, 352 is output line, 353 is connecting wire, 36 is feedback part, 361 is micro potentiometer, 362 is pulley, 363 is bearing II, 364 is optical axis, 365 is screw, 366 is driver buckling piece.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

As shown in figure 1, the utility model provides a memory alloy wire driven flexible wearable hand rehabilitation robot, which comprises a driving part 1 and an executing part 2, wherein the executing part 2 comprises a thumb part 21, an index finger part 22, a middle finger part 23, a ring finger part 24, a little finger part 25, a connecting plate 26 and a hand back plate 27, wherein the hand back plate 27 is connected with the driving part 1 through the connecting plate 26, the thumb part 21, the index finger part 22, the middle finger part 23, the ring finger part 24 and the little finger part 25 have the same structure and comprise a wire guide, a rigid wire and a finger sleeve, wherein, the wire guide of the thumb part 21 is connected with the executing part 2, the wire guide of the other four fingers is connected with the hand backboard 27, one end of the rigid wire is connected with the finger sleeve, the other end passes through the guide hole on the wire guide and is connected with the driving part 1, and the finger sleeve is used for being worn on the fingers of the user.

Furthermore, a sliding groove is arranged on the connecting plate 26, the hand backboard 27 is connected with the sliding groove in a sliding manner, and the connecting position between the hand backboard 27 and the connecting plate 26 can be adjusted. The upper end of the finger sleeve is provided with a guide groove and a connecting seat, and the rigid wire passes through the guide groove and is connected with the connecting seat.

As shown in fig. 2-3, the driving portion 1 includes a main body plate 11, a housing 13, a control circuit board 14, a thumb memory alloy wire driver 112 and a memory alloy wire driver set 113, wherein the memory alloy wire driver set 113 is installed in a groove of the main body plate 11, the control circuit board 14 and the thumb memory alloy wire driver 112 are respectively disposed on two side surfaces of the main body plate 11, the control circuit board 14 is used for supplying power and controlling the thumb memory alloy wire driver 112 and the memory alloy wire driver set 113, the thumb memory alloy wire driver 112 is used for driving the thumb portion 21, the memory alloy wire driver set 113 is used for driving the index finger portion 22, the middle finger portion 23, the ring finger portion 24 and the little finger portion 25, and the housing 13 is fastened to the main body plate 11.

Further, a heat dissipation fan 12 is installed in the housing 13, and the heat dissipation fan 12 can dissipate heat for a memory alloy wire. The memory alloy wire driver set 113 includes four sets of memory alloy wire drivers arranged in parallel, and the four sets of memory alloy wire drivers are respectively used for driving the actions of the index finger part 22, the middle finger part 23, the ring finger part 24 and the little finger part 25.

As shown in fig. 4, the thumb portion 21 is composed of a thumb wire guide 211, a thumb rigid wire 212 and a thumb sleeve 213, the thumb wire guide 211 is connected to the main body plate 11, the thumb rigid wire 212 is guided through the hole therein, the thumb rigid wire 212 is connected to the thumb sleeve 213, the thumb rigid wire 212 is connected to the thumb memory alloy wire driver 112, and the thumb sleeve 213 is inserted into the thumb of the wearer.

The little finger part 25 is composed of a little finger guide wire column 251, a little finger rigid wire 252 and a little finger sleeve 253, the little finger guide wire column 251 is connected to the hand backboard 27, the little finger rigid wire 252 is guided to pass through a hole in the little finger rigid wire 252, the little finger rigid wire 252 is connected to the little finger sleeve 253, the little finger rigid wire 252 is connected with one driver in the memory alloy wire driver group 113, and the little finger sleeve 253 is sleeved on the little finger of a wearer. The index finger portion 22, middle finger portion 23 and ring finger portion 24 are connected in the same manner as the little finger portion 25.

As shown in fig. 5, the thumb memory alloy wire driver 112 has the same structure as the four groups of memory alloy wire drivers, and each of them includes a driver main body plate 31, a fixed terminal 32, a memory alloy wire 34, a driving terminal 35, a feedback part 36 and two groups of pulley assemblies, wherein, the two pulley components are symmetrically arranged at two sides of the driver main body plate 31, the driving terminal 35 is slidably arranged at the end of the driver main body plate 31, the memory alloy wire 34 is connected with the driving terminal 35, two ends of the memory alloy wire 34 are respectively coiled on the two pulley components, and the end parts of the two ends are fixed on the driver main body plate 31 through the fixing terminal 32, the fixed terminal 32 is powered by the control circuit board 14, the memory alloy wire 34 is driven to contract, thereby bringing the drive terminals 35 into linear motion, and a feedback portion 36 is mounted on the driver main body board 31 and connected to the drive terminals 35, the feedback portion 36 being used to acquire motion information of the drive terminals 35. A sliding groove is formed at the top of one end of the driver main body plate 31 along the length direction, and the driving terminal 35 is accommodated in the sliding groove.

Two sets of pulley assembly structures are the same, all include the symmetry and set up in the multiunit guide pulley 33 of fixed terminal 32 both sides, and the diameter of multiunit guide pulley 33 increases progressively in proper order to the tip direction of driver main body board 31, and the tip of memory alloy silk 34 is fixed on fixed terminal 32, and coils on multiunit guide pulley 33 from inside to outside in proper order, and guide pulley 33 adopts insulating material.

As shown in fig. 6, the fixed terminal 32 includes a copper sheet 321, a bolt 322, a copper ring i 323, and a copper ring ii 324, wherein the copper ring i 323, the copper sheet 321, and the copper ring ii 324 are fastened on the driver main body board 31 in sequence by the bolt 322, the copper sheet 321 is disposed at two sides of the driver main body board 31, and the copper sheet 321 transmits current to the copper ring i 323 and the copper ring ii 324, thereby driving the memory alloy wire 34 to contract. The bolts 322 are made of insulating materials, and the bolts 322 have insulating properties and can prevent short circuit of a circuit.

The embodiment of the utility model provides an in, leading pulley 33 and bolt 322 all adopt the nylon material.

As shown in fig. 7, the guide pulley 33 includes a nylon pulley 331, a pin 332, a bearing i 333 and a snap spring 334, wherein the pin 332 passes through the bearing i 333 and is positioned by the snap spring 334, and the nylon pulley 331 is mounted on an outer ring of the bearing i 333. The nylon pulley 331 is insulated and used for coiling the memory alloy wire 34, friction between the nylon pulley 331 and the pin shaft 332 is reduced through the bearing I333, and the phenomenon that the memory alloy wire 34 is blocked when being contracted is avoided.

As shown in fig. 8, the driving terminal 35 includes a connecting member 351, an output line 352 and a connecting line 353, wherein one end of the connecting member 351 is provided with a through hole for the memory alloy wire 34 to pass through, the other end of the connecting member is connected to the output line 352 and the connecting line 353, the output line 352 and the connecting line 353 are both rigid lines, the output line 352 is used for driving the load to move, and the connecting line 353 is connected to the feedback portion 36.

As shown in fig. 9, the feedback portion 36 includes a micro-potentiometer 361, a pulley 362, an optical axis 364 and a driver fastener 366, wherein the housing of the micro-potentiometer 361 is embedded in the driver main board 31, the internal hole is connected with the pulley 362, the pulley 362 is mounted on the optical axis 364 through a bearing ii 363, two ends of the optical axis 364 are connected with the driver main board 31 and the driver fastener 366, the driver fastener 366 is fixedly connected with the driver main board 31, the driving terminal 35 is connected with the pulley 362 through a connecting line 353, the linear motion generated by the contraction of the memory alloy wire 34 is converted into the rotation of the pulley 362, and the angle change information is obtained through the micro-potentiometer 361, so as to perform further feedback control.

The utility model discloses a control circuit board 14 is to thumb memory alloy silk driver 112 in the driver part 1, the power supply of memory alloy silk driver group 113, and the heat effect of electric current makes the memory alloy silk be heated and produces the shrink, drives the rigidity linear motion in thumb part 21, forefinger part 22, middle finger part 23, third finger part 24 and little finger part 25, and the pulling force drives the synchronous drawing of the finger of wearer in via the rigidity linear transmission to the dactylotheca simultaneously. The on-off of the heat dissipation fan 12 is also controlled by the control circuit board 14, and the heat dissipation fan 12 can dissipate heat for a memory alloy wire, so as to shorten the recovery time.

The utility model is suitable for a patient who needs hand rehabilitation training. The memory alloy wire is used as a drive, so that the whole structure is more compact, the weight is lighter, and the portability and the wearability are better. Meanwhile, the power is transmitted by a rigid line, so that the hand-held training device has certain wearing flexibility, and the flexibility and safety of training are ensured in the hand rehabilitation process.

The above description is only for the embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are all included in the protection scope of the present invention.

Claims

1. A flexible wearable hand rehabilitation robot driven by memory alloy wires is characterized by comprising a driving part (1) and an executing part (2), wherein the executing part (2) comprises a thumb part (21), an index finger part (22), a middle finger part (23), a ring finger part (24), a little finger part (25), a connecting plate (26) and a hand back plate (27), the hand back plate (27) is connected with the driving part (1) through the connecting plate (26), the thumb part (21), the index finger part (22), the middle finger part (23), the ring finger part (24) and the little finger part (25) are of the same structure and respectively comprise a wire guide, a rigid wire and a finger sleeve, wherein the wire guide of the thumb part (21) is connected with the executing part (2), the wire guides of the rest four fingers are connected with the hand back plate (27), and one end of the rigid wire is connected with the finger sleeve, the other end of the finger sleeve penetrates through a guide hole on the wire guide piece to be connected with the driving part (1), and the finger sleeve is used for being worn on the finger of a user.

2. The flexible wearable hand rehabilitation robot driven by memory alloy wires according to claim 1, characterized in that a sliding groove is formed in the connecting plate (26), the hand backboard (27) is slidably connected with the sliding groove, and the connecting position between the hand backboard (27) and the connecting plate (26) can be adjusted.

3. The flexible wearable hand rehabilitation robot driven by memory alloy wires according to claim 1, wherein a guide groove and a connecting seat are arranged at the upper end of the finger stall, and the rigid wire penetrates through the guide groove and is connected with the connecting seat.

4. The memory alloy wire-driven flexible wearable hand rehabilitation robot according to claim 1, wherein the driving part (1) comprises a main body plate (11), a housing (13), a control circuit board (14), a thumb memory alloy wire driver (112) and a memory alloy wire driver set (113), wherein the memory alloy wire driver set (113) is installed in a groove of the main body plate (11), the control circuit board (14) and the thumb memory alloy wire driver (112) are respectively arranged on two side surfaces of the main body plate (11), the control circuit board (14) is used for supplying power and controlling the thumb memory alloy wire driver (112) and the memory alloy wire driver set (113), the thumb memory alloy wire driver (112) is used for driving the motion of the thumb part (21), and the memory alloy wire driver set (113) is used for driving the motion of the rest four fingers, the shell (13) is buckled on the main body plate (11).

5. The memory alloy wire driven flexible wearable hand rehabilitation robot according to claim 4, characterized in that a heat dissipation fan (12) is installed inside the housing (13).

6. The memory alloy wire driven flexible wearable hand rehabilitation robot according to claim 4, characterized in that the memory alloy wire driver set (113) comprises four sets of memory alloy wire drivers arranged in parallel, and the four sets of memory alloy wire drivers are respectively used for driving the actions of four fingers except the thumb.

7. The memory alloy wire-driven flexible wearable hand rehabilitation robot according to claim 6, wherein the thumb memory alloy wire driver (112) and the four groups of memory alloy wire drivers are identical in structure and each comprises a driver main body plate (31), a fixed terminal (32), a memory alloy wire (34), a driving terminal (35), a feedback part (36) and two groups of pulley assemblies, wherein the two groups of pulley assemblies are symmetrically arranged on two sides of the driver main body plate (31), the driving terminal (35) is slidably arranged at the end part of the driver main body plate (31), the memory alloy wire (34) is connected with the driving terminal (35), two ends of the memory alloy wire (34) are respectively wound on the two groups of pulley assemblies, and the end parts of the two ends are fixed on the driver main body plate (31) through the fixed terminals (32), the control circuit board (14) supplies power to the fixed terminal (32) to drive the memory alloy wire (34) to contract, so that the drive terminal (35) is driven to generate linear motion, the feedback part (36) is installed on the driver main body board (31) and connected with the drive terminal (35), and the feedback part (36) is used for acquiring motion information of the drive terminal (35).

8. The memory alloy wire driven flexible wearable hand rehabilitation robot according to claim 7, characterized in that the feedback part (36) comprises a micro potentiometer (361), a pulley (362), an optical axis (364) and a driver snap (366), wherein the housing of the micro potentiometer (361) is embedded in the driver body plate (31), an internal hole is connected with the pulley (362), the pulley (362) is installed on the optical axis (364) through a bearing II (363), two ends of the optical axis (364) are connected with the driver body plate (31) and the driver snap (366), the driver snap (366) is fixedly connected with the driver body plate (31), and the driving terminal (35) is connected with the pulley (362) through a connecting wire (353).

9. The memory alloy wire-driven flexible wearable hand rehabilitation robot according to claim 7, wherein the two sets of pulley assemblies are identical in structure and each comprise a plurality of sets of guide pulleys (33) symmetrically arranged on two sides of a fixed terminal (32), the diameters of the plurality of sets of guide pulleys (33) are sequentially increased towards the end of the driver main body plate (31), the end of the memory alloy wire (34) is fixed on the fixed terminal (32) and is sequentially wound on the plurality of sets of guide pulleys (33) from inside to outside, and the guide pulleys (33) are made of insulating materials.

10. The memory alloy wire driven flexible wearable hand rehabilitation robot according to claim 7, characterized in that the driving terminal (35) comprises a connecting piece (351) and an output wire (352), wherein one end of the connecting piece (351) is provided with a through hole for the memory alloy wire (34) to pass through, and the other end is connected with the output wire (352), and the output wire (352) is a rigid wire for driving a load to move.