CN210145028U - Flexible wearable hand rehabilitation robot driven by memory alloy wire - Google Patents

Abstract

The utility model relates to medical rehabilitation training equipment, in particular to a flexible wearable hand rehabilitation robot driven by a memory alloy wire. It includes a driving part and an execution part, wherein the execution part includes the thumb part, the index finger part, the middle finger part, the ring finger part, the little finger part, the connecting plate and the back of the hand plate, wherein the back of the hand plate is connected with the driving part through the connecting plate, the thumb part, the index finger part, the middle finger Part, ring finger part and little finger part have the same structure, including wire guide, rigid wire and finger cover. The wire guide of thumb part is connected to the execution part, the wire guide of the other four fingers is connected to the back of the hand, and one end of the rigid wire is connected to the finger cover. The other end is connected with the driving part through the guide hole on the wire guide, and the finger cover is used for wearing on the user's finger. The utility model is compact in structure, light in weight, good in portability and wearability, adopts rigid wire to transmit power, so that the utility model has the flexibility of wearing, and can ensure the safety of training during the process of hand rehabilitation.

Description

Flexible wearable hand rehabilitation robot driven by memory alloy wire

technical field

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

Background technique

At present, the clinical rehabilitation of hand function mainly relies on rehabilitation practitioners to guide patients to carry out long-term repetitive functional recovery training, which consumes high time and labor costs. The robot system for hand rehabilitation can perform long-term periodic movements, which can not only reduce the work intensity of rehabilitation technicians, but also improve the efficiency of rehabilitation training, providing a new solution for the rehabilitation of hand function.

Most of the existing hand rehabilitation robots are composed of rigid components such as connecting rods, gears, and motors, which cover the upper part of the fingers and drive the fingers to move synchronously. Due to the fixed position of the joints of the rigid structure, the dislocation of the robot joints and the finger joints often occurs in the process of rehabilitation training, which not only greatly reduces the rehabilitation effect, but also brings discomfort and safety hazards to the patients, which affects the enthusiasm of the patients for training. At the same time, the rigid structure is generally larger in volume and higher in weight, which greatly reduces the safety and portability during wearing and use.

Utility model content

In view of the above problems, the purpose of the present invention is to provide a flexible wearable hand rehabilitation robot driven by a memory alloy wire to meet the requirements for safety and portability in the process of hand rehabilitation training.

In order to achieve the above object, the utility model adopts the following technical solutions:

A flexible wearable hand rehabilitation robot driven by a memory alloy wire, comprising a driving part and an execution part, wherein the execution part includes a thumb part, an index finger part, a middle finger part, a ring finger part, a little finger part, a connecting board and a back of the hand board, wherein the back of the hand board Connected to the driving part through a connecting plate, the thumb part, index finger part, middle finger part, ring finger part and little finger part have the same structure, and all include wire guides, rigid wires and finger covers, wherein the wire guides of the thumb part are connected with the actuator The other four-fingered wire guides are connected to the back of the hand, one end of the rigid wire is connected to the finger cover, and the other end is connected to the driving part through the guide holes on the wire guides. Finger cots are intended to be worn on the user's fingers.

The connecting plate is provided with a chute, the back of the hand board is slidably connected with the chute, and the connection position between the back of the hand board and the connecting plate can be adjusted.

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

The driving part includes a main body board, a casing, a control circuit board, a thumb memory alloy wire driver and a memory alloy wire driver group, wherein the memory alloy wire driver group is installed in the groove of the main body board, the control circuit board and the thumb memory alloy wire driver group. The memory alloy wire drivers are respectively arranged on both sides of the main body board, the control circuit board is used for power supply and control to the thumb memory alloy wire driver and the memory alloy wire driver group, and the thumb memory alloy wire driver is used to drive the thumb memory alloy wire driver. Part of the action, the memory alloy wire driver group is used to drive the actions of the remaining four fingers, and the shell is fastened to the main body plate.

A cooling fan is installed in the casing.

The memory alloy wire driver group includes four groups of memory alloy wire drivers arranged in parallel, and the four groups of memory alloy wire drivers are respectively used to drive the actions of the other four fingers except the thumb.

The thumb memory alloy wire driver and the four groups of memory alloy wire drivers have the same structure, including a driver main body plate, a fixed terminal, a memory alloy wire, a driving terminal, a feedback part and two sets of pulley assemblies, wherein the two sets of pulley assemblies are symmetrically arranged. On both sides of the driver main body board, the driving terminal is slidably arranged on the end of the driver main body plate, the memory alloy wire is connected with the driving terminal, and the two ends of the memory alloy wire are respectively coiled on two sides. The pulley assembly and both ends are fixed on the driver main body board through the fixed terminals. The fixed terminals are powered by the control circuit board to drive the memory alloy wire to shrink, thereby driving the drive terminals to produce linear motion. The feedback The part is mounted on the main body board of the driver and connected to the driving terminal, and the feedback part is used to obtain the motion information of the driving terminal.

The feedback part includes a miniature potentiometer, a pulley, an optical shaft and a driver fastener, wherein the shell of the miniature potentiometer is embedded in the main body plate of the driver, and the inner hole is connected with the pulley, and the pulley is installed on the optical shaft through the bearing II. On the upper side, both ends of the optical axis are connected with the driver main body board and the driver clasp, the driver clasp is fixedly connected with the driver main body board, and the drive terminal is connected with the pulley through a connecting wire.

The two groups of the pulley assemblies have the same structure, and both include multiple sets of guide pulleys symmetrically arranged on both sides of the fixed terminal. The part is fixed on the fixed terminal, and is coiled on a plurality of groups of guide pulleys in turn from the inside to the outside, and the guide pulleys are made of insulating materials.

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

The advantages and positive effects of the present utility model are:

1. The utility model adopts memory alloy wire as the drive, which makes the overall structure more compact, the weight is greatly reduced, and the portability and wearability are greatly improved.

2. The utility model adopts rigid wire to transmit power, and has the flexibility of wearing, which can ensure the safety of training during the process of hand rehabilitation.

Description of drawings

Fig. 1 is the structural representation of the present utility model;

Fig. 2 is the structure exploded diagram of the present utility model;

Fig. 3 is the structural schematic diagram of the drive part after removing the casing in the present invention;

Fig. 4 is the structural representation of the executive part in the present utility model;

5 is a schematic structural diagram of a memory alloy wire driver in the present invention;

6 is an exploded view of the fixed terminal of the memory alloy wire driver in the present invention;

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

8 is an exploded view of the drive terminal of the memory alloy wire driver in the present invention;

FIG. 9 is an exploded view of the feedback part of the memory alloy wire driver in the present invention.

In the figure: 1 is the driving part, 2 is the execution part, 11 is the main board, 12 is the cooling fan, 13 is the housing, 14 is the control circuit board, 112 is the thumb memory alloy wire driver, 113 is the memory alloy wire driver group, 114 is the connecting stud, 21 is the thumb part, 211 is the thumb wire board, 212 is the thumb rigid wire, 213 is the thumb sleeve, 22 is the index finger part, 23 is the middle finger part, 24 is the ring finger part, 25 is the little finger part, 251 is the Small guide post, 252 is the rigid line of the little finger, 253 is the little finger cover, 26 is the connection board, 27 is the back of the hand; 31 is the driver main board, 32 is the fixed terminal, 321 is the copper sheet, 322 is the bolt, and 323 is the copper ring I, 324 is copper ring II, 33 is guide pulley, 331 is nylon pulley, 332 is pin, 333 is bearing I, 334 is circlip, 34 is memory alloy wire, 35 is driving terminal, 351 is connecting piece, 352 It is the output line, 353 is the connecting line, 36 is the feedback part, 361 is the miniature potentiometer, 362 is the pulley, 363 is the bearing II, 364 is the optical axis, 365 is the screw, and 366 is the driver fastener.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present utility model more clear, the present utility model will be described in detail below with reference to the accompanying drawings and specific embodiments.

As shown in FIG. 1 , a flexible wearable hand rehabilitation robot driven by a memory alloy wire provided by the present invention includes a driving part 1 and an execution part 2 , wherein the execution part 2 includes a thumb part 21 , an index finger part 22 , and a middle finger part 23. The ring finger part 24, the little finger part 25, the connecting plate 26 and the back of the hand plate 27, wherein the back of the hand 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, including wire guides, rigid wires and finger covers. The wire guides of the thumb part 21 are connected to the execution part 2, and the wire guides of the remaining four fingers are connected to the back of the hand board 27. One end of the rigid wire is connected to the finger sleeve, and the other One end is connected with the driving part 1 through the guide hole on the wire guide, and the finger cover is used for wearing on the user's finger.

Further, the connecting plate 26 is provided with a chute, the back of the hand board 27 is slidably connected with the chute, and the connection position between the back of the hand board 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 line is connected with the connecting seat through the guide groove.

As shown in FIGS. 2-3 , the driving part 1 includes a main body board 11 , a casing 13 , a control circuit board 14 , a thumb memory alloy wire driver 112 and a memory alloy wire driver group 113 , wherein the memory alloy wire driver group 113 is installed on the main body board 11, the control circuit board 14 and the thumb memory alloy wire driver 112 are respectively arranged on both sides of the main body board 11, and the control circuit board 14 is used for power supply and control to the thumb memory alloy wire driver 112 and the memory alloy wire driver group 113. , the thumb memory alloy wire driver 112 is used to drive the action of the thumb part 21, the memory alloy wire driver group 113 is used to drive the action of the index finger part 22, the middle finger part 23, the ring finger part 24 and the little finger part 25, the shell 13 is fastened to the main body on board 11.

Further, a cooling fan 12 is installed in the casing 13 , and the cooling fan 12 can dissipate heat from the memory alloy wire. The memory alloy wire driver group 113 includes four groups of memory alloy wire drivers arranged in parallel, and the four groups of memory alloy wire drivers are respectively used to drive the movements of the index finger portion 22 , the middle finger portion 23 , the ring finger portion 24 and the little finger portion 25 .

As shown in FIG. 4 , the thumb portion 21 is composed of a thumb guide plate 211 , a thumb rigid wire 212 and a thumb sleeve 213 . The thumb guide wire plate 211 is connected to the main body plate 11 , and the thumb rigid wire 212 is guided through the holes therein, so that the thumb The rigid wire 212 is connected to the thumb cuff 213, the thumb rigid wire 212 is connected to the thumb memory alloy wire driver 112, and the thumb cuff 213 is fitted over the wearer's thumb.

The little finger part 25 is composed of a little guide wire post 251, a little finger rigid wire 252 and a little finger cover 253. The little guide wire post 251 is connected to the back of the hand plate 27, and guides the little finger rigid wire 252 to pass through the hole therein, so that the little finger rigid wire 252 is connected To the little finger cover 253, the little finger rigid wire 252 is connected to a certain driver in the memory alloy wire driver group 113, and the little finger cover 253 is put on the wearer's little finger. The index finger portion 22 , the middle finger portion 23 and the 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, including the driver main body plate 31 , the fixed terminal 32 , the memory alloy wire 34 , the driving terminal 35 , the feedback part 36 and two sets of pulley assemblies. , wherein two sets of pulley assemblies are symmetrically arranged on both sides of the driver main body plate 31, the driving terminal 35 is slidably arranged on the end of the driver main body plate 31, the memory alloy wire 34 is connected with the driving terminal 35, and the two ends of the memory alloy wire 34 It is respectively coiled on the two sets of pulley assemblies, and the two ends are fixed on the driver main body board 31 through the fixed terminals 32. The control circuit board 14 supplies power to the fixed terminals 32 to drive the memory alloy wire 34 to shrink, thereby driving the drive terminal 35 to generate electricity. For linear motion, the feedback part 36 is mounted on the driver main body board 31 and connected to the drive terminal 35 , and the feedback part 36 is used to obtain the motion information of the drive terminal 35 . The top of one end of the driver main body board 31 is provided with a chute along the length direction, and the driving terminal 35 is accommodated in the chute.

The two sets of pulley assemblies have the same structure, and both include multiple sets of guide pulleys 33 symmetrically arranged on both sides of the fixed terminal 32 . It is fixed on the fixed terminal 32, and is sequentially wound on a plurality of groups of guide pulleys 33 from the inside to the outside. The guide pulleys 33 are made of insulating materials.

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 sequentially fastened to the driver main body board 31 by the bolt 322. The copper sheets 321 are arranged on both sides of the driver main body board 31, and the copper sheets 321 transmit current to the copper ring I 323 and the copper ring II 324, thereby driving the memory alloy wire 34 to shrink. The bolts 322 are made of insulating material, and the bolts 322 have insulating properties to prevent short circuits.

In the embodiment of the present invention, the guide pulley 33 and the bolt 322 are made of nylon.

As shown in FIG. 7 , the guide pulley 33 includes a nylon pulley 331, a pin shaft 332, a bearing I333 and a retaining spring 334, wherein the pin shaft 332 passes through the bearing I333 and is positioned by the retaining spring 334, and the nylon pulley 331 is installed outside the bearing I333. circle. The nylon pulley 331 has insulating properties and is used to coil the memory alloy wire 34. The nylon pulley 331 reduces friction with the pin shaft 332 through the bearing I333 to avoid the memory alloy wire 34 from being stuck when it shrinks.

As shown in FIG. 8 , the driving terminal 35 includes a connecting piece 351 , a set of output wires 352 and a connecting wire 353 . One end of the connecting piece 351 is provided with a through hole for passing the memory alloy wire 34 , and the other end is connected with the output wire 352 and the connecting wire 353 . The line 353 is connected, the output line 352 and the connecting line 353 are both rigid lines, the output line 352 is used to drive the movement of the load, and the connecting line 353 is connected with the feedback part 36 .

As shown in FIG. 9 , the feedback part 36 includes a miniature potentiometer 361 , a pulley 362 , an optical axis 364 and a driver buckle 366 , wherein the shell of the miniature potentiometer 361 is embedded in the driver main body plate 31 , and the inner hole is connected with the pulley 362 , The pulley 362 is mounted on the optical axis 364 through the bearing II 363, the two ends of the optical axis 364 are connected with the driver main body plate 31 and the driver fastening piece 366, the driver fastening piece 366 is fixedly connected with the driver main body plate 31, and the driving terminal 35 is connected by a connecting wire 353 is connected with the pulley 362, and converts the linear motion generated by the shrinkage of the memory alloy wire 34 into the rotation of the pulley 362, and obtains the angle change information through the micro potentiometer 361 for further feedback control.

The utility model supplies power to the thumb memory alloy wire driver 112 and the memory alloy wire driver group 113 in the driving part 1 through the control circuit board 14, and the thermal effect of the current causes the memory alloy wire to shrink when heated, and drives the thumb part 21, the index finger part 22, the middle finger The rigid lines in the part 23 , the ring finger part 24 and the little finger part 25 move, and at the same time the tensile force is transmitted to the finger cover through the rigid lines, driving the wearer's fingers to stretch synchronously. The on-off of the cooling fan 12 is also controlled by the control circuit board 14 , and the cooling fan 12 can dissipate heat from the memory alloy wire to shorten the recovery time.

The utility model is suitable for patients who need hand rehabilitation training. It is driven by a memory alloy wire, which makes the overall structure more compact, lighter in weight, and better in portability and wearability. At the same time, the rigid wire is used to transmit the power, so that it has a certain flexibility of wearing, which ensures the flexibility and safety of training during the process of hand rehabilitation.

The above descriptions are merely embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present utility model are all included in the protection scope of the present utility model.

Claims (10)

1. A flexible wearable hand rehabilitation robot driven by a memory alloy wire, characterized in that it comprises a driving part (1) and an execution part (2), wherein the execution part (2) comprises a thumb part (21), an index finger part ( 22), the middle finger part (23), the ring finger part (24), the little finger part (25), the connecting board (26) and the back of the hand board (27), wherein the back of the hand board (27) is connected to the driving part (1) through the connecting board (26) ) connection, 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 all include wire guides, rigid wires and finger covers. The wire guides of the thumb part (21) are connected to the execution part (2), the wire guides of the remaining four fingers are connected to the back of the hand board (27), one end of the rigid wire is connected to the finger cover, and the other end The guide hole on the wire guide is connected to the driving part (1), and the finger cover is used to be worn on the user's finger. 2 . The flexible wearable hand rehabilitation robot driven by memory alloy wire according to claim 1 , wherein a chute is provided on the connecting plate ( 26 ), and the back plate ( 27 ) is connected with the sliding groove. 3 . The grooves are slidably connected, and the connection position between the hand back plate (27) and the connecting plate (26) can be adjusted. 3 . The flexible wearable hand rehabilitation robot driven by memory alloy wire according to claim 1 , wherein the upper end of the finger cover is provided with a guide groove and a connecting seat, and the rigid wire passes through the guide groove and the Connect to the connector. 4. The flexible wearable hand rehabilitation robot driven by memory alloy wire according to claim 1, wherein the driving part (1) comprises a main body board (11), a casing (13), a control circuit board ( 14), a thumb memory alloy wire driver (112) and a memory alloy wire driver group (113), wherein the memory alloy wire driver group (113) is installed in the groove of the main body board (11), and the control circuit board (14) and The thumb memory alloy wire drivers (112) are respectively arranged on both sides of the main body board (11), and the control circuit board (14) is used for the thumb memory alloy wire driver (112) and the memory alloy wire driver group ( 113) power supply and control, the thumb memory alloy wire driver (112) is used to drive the action of the thumb part (21), the memory alloy wire driver group (113) is used to drive the action of the remaining four fingers, the shell The body (13) is fastened on the main body plate (11). 5 . The flexible wearable hand rehabilitation robot driven by memory alloy wires according to claim 4 , wherein a cooling fan ( 12 ) is installed in the casing ( 13 ). 6 . 6. The flexible wearable hand rehabilitation robot driven by a memory alloy wire according to claim 4, wherein the memory alloy wire driver group (113) comprises four groups of memory alloy wire drivers arranged in parallel, and the four groups of memory alloy wire drivers The alloy wire drivers are respectively used to drive the actions of the other four fingers except the thumb. 7. The flexible wearable hand rehabilitation robot driven by a memory alloy wire according to claim 6, wherein the thumb memory alloy wire driver (112) has the same structure as the four groups of the memory alloy wire driver, all of which include 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 sets of pulley assemblies, wherein the two sets of pulley assemblies are symmetrically arranged on the driver main body plate (31) ), the drive terminals (35) are slidably arranged at the end of the driver main body plate (31), the memory alloy wires (34) are connected to the drive terminals (35), and the memory alloy wires (34) are connected to the drive terminals (35). Both ends of the alloy wire (34) are respectively wound on the two sets of pulley assemblies, and the ends of the two ends are fixed on the driver main body board (31) through the fixing terminals (32), and the control circuit board (14) connects to the driver main body board (31). The fixed terminal (32) supplies power, and drives the memory alloy wire (34) to shrink, thereby driving the driving terminal (35) to generate linear motion. The driving terminal (35) is connected, and the feedback part (36) is used for acquiring the motion information of the driving terminal (35). 8. The flexible wearable hand rehabilitation robot driven by memory alloy wire according to claim 7, wherein the feedback part (36) comprises a miniature potentiometer (361), a pulley (362), an optical axis (364) ) and the driver fastener (366), wherein the housing of the miniature potentiometer (361) is embedded in the driver main body plate (31), the inner hole is connected with the pulley (362), and the pulley (362) passes through the bearing II ( 363) is installed on the optical axis (364), and both ends of the optical axis (364) are connected with the driver main body plate (31) and the driver buckle (366), and the driver buckle (366) is connected with The driver main body board (31) is fixedly connected, and the driving terminal (35) is connected with the pulley (362) through a connecting wire (353). 9 . The flexible wearable hand rehabilitation robot driven by memory alloy wires according to claim 7 , wherein the two groups of pulley assemblies have the same structure, and each comprises a plurality of groups symmetrically arranged on both sides of the fixed terminal ( 32 ). 10 . Guide pulleys (33), the diameters of the plurality of guide pulleys (33) gradually increase in the direction of the end of the driver main body plate (31), and the ends of the memory alloy wires (34) are fixed on the fixed terminals (32). ), and are sequentially coiled on multiple groups of guide pulleys (33) from the inside to the outside, and the guide pulleys (33) are made of insulating materials. 10. The flexible wearable hand rehabilitation robot driven by memory alloy wires according to claim 7, wherein the driving terminal (35) comprises a connecting piece (351) and an output wire (352), wherein the connecting piece ( One end of 351) is provided with a through hole for the memory alloy wire (34) to pass through, and the other end is connected to an output wire (352), the output wire (352) is a rigid wire for driving the load to move.

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