CN210750114U

CN210750114U - Five-finger linkage grasping manipulator

Info

Publication number: CN210750114U
Application number: CN201920971564.8U
Authority: CN
Inventors: 郭晓辉; 侯安新; 许燕铭; 樊国龙
Original assignee: Shenzhen Rhb Medical Tech Co ltd
Current assignee: Shenzhen Rhb Medical Tech Co ltd
Priority date: 2019-06-24
Filing date: 2019-06-24
Publication date: 2020-06-16
Anticipated expiration: 2029-06-24

Abstract

The utility model relates to the technical field of medical rehabilitation instruments, in particular to a five-finger linkage grasping manipulator, which comprises a palm back base, wherein the palm back base is connected with a four-finger training mechanism and a thumb training mechanism, a driving mechanism is arranged on the palm back base, the driving mechanism comprises a lead screw arranged along the length direction and a driving slider arranged on the lead screw in a sliding way, the side edge of the driving slider extends outwards to form a driving arm, the upper end of the driving slider is hinged with a steering transmission component, the steering transmission component comprises a steering plate rotatably arranged on the palm back base, the steering plate is hinged with the four-finger training mechanism, a push-pull rod for driving the steering plate to rotate is arranged between the steering plate and the driving slider, the four-finger training mechanism and the thumb training mechanism can be driven to move simultaneously by the same driving slider, the structure is simple, and the rehabilitation training of five-finger linkage grasping action, the hand grasping motion of the human body is better simulated, and the training effect is better.

Description

Five-finger linkage grasping manipulator

Technical Field

The utility model relates to a medical treatment rehabilitation apparatus technical field especially relates to a five-finger linkage gripping manipulator.

Background

The chinese invention patent CN201710566714.2 "an exoskeleton type rehabilitation manipulator" discloses an exoskeleton type rehabilitation manipulator, which comprises a frame, a thumb training mechanism, an index finger training mechanism, a middle finger training mechanism, a ring finger training mechanism and a little finger training mechanism, wherein the thumb training mechanism, the index finger training mechanism, the middle finger training mechanism, the ring finger training mechanism and the little finger training mechanism are all link training mechanisms; the connecting rod training mechanism comprises a near finger baffle, a middle finger baffle, a far finger baffle, a near finger connecting rod, a middle finger connecting rod, a far finger first connecting rod, a far finger second connecting rod, a far finger third connecting rod and a transmission piece. This technical scheme can realize the swing of finger, straighten and crooked training, but the structure is complicated, and is only applicable to the dress of unilateral hand.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a simple structure's five fingers linkage gripping manipulator to existing technical current situation.

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

a five-finger linkage grasping manipulator, which comprises a palm back base, wherein the palm back base is connected with a four-finger training mechanism for driving four fingers to bend and stretch and a thumb training mechanism for driving a thumb to swing inwards and outwards, the palm back base is provided with a driving mechanism for driving the four-finger training mechanism and the thumb training mechanism to move simultaneously, the driving mechanism comprises a lead screw arranged along the length direction and a driving slider arranged on the lead screw in a sliding manner, the side edge of the driving slider extends outwards to form a driving arm used for driving the thumb training mechanism to swing inwards and outwards, the upper end of the driving slider is hinged with a steering transmission assembly used for driving the four-finger training mechanism to bend and extend, the steering transmission assembly comprises a steering plate rotatably arranged on the palm back base, the steering plate is hinged with the four-finger training mechanism, and a push-pull rod used for driving the steering plate to rotate is arranged between the steering plate and the driving slider.

The palm back base is further provided with a guide rail for guiding the sliding of the driving sliding block, and the driving sliding block is provided with a guide groove matched with the guide rail.

The thumb training mechanism comprises a first thumb training mechanism and a second thumb training mechanism which are respectively arranged on two sides of the dorsum palmae base, and the driving arm comprises a first driving arm connected with the first thumb training mechanism and a second driving arm connected with the second thumb training mechanism.

Thumb training mechanism include the swinging arms, the swinging arms including be used for driving the inside and outside wobbling swing section of thumb and be used for driving the swing section wobbling rotation section, rotate section and palm back of the body base rotatable coupling, palm back of the body base on rotatable coupling be used for driving the rotation section for palm back of the body base pivoted rotation curved bar, the one end of rotating the curved bar with rotate the section articulated, the other end is connected with and is used for the drive to rotate the curved bar for palm back of the body base pivoted actuating mechanism.

Swing section set up along the vertical direction of rotation section, and the one end that the palm back of the body base was kept away from to the swing section is equipped with horizontal section, and the fixed cover of thumb is installed to adjustable on the horizontal section, forms the obtuse angle between swing section and the horizontal section, the rotation section set up and locate along the horizontal direction and be used for the connecting hole be connected with palm back of the body base, the connecting hole is the slope setting for palm back of the body base with the line that the swing section was kept away from between the one end of palm back of the body base.

The four-finger training mechanism comprises a first fixing seat and a second fixing seat, a first parallel four-bar assembly for driving the first fixing seat to rotate around a metacarpophalangeal joint rotation center is arranged between the palm back base and the first fixing seat, a second parallel four-bar assembly for driving the second fixing seat to rotate around an interphalangeal joint rotation center is arranged between the first fixing seat and the second fixing seat, and a steering plate is hinged to the first parallel four-bar assembly.

The first fixing seat comprises a fixing base arranged along the horizontal direction, a containing groove used for containing four fingers is formed in the lower portion of the fixing base, a hinged frame is formed in the upper portion of the fixing base in a continuous mode, the hinged frame comprises a first hinged frame and a second hinged frame which are symmetrically arranged along the central axis of the first fixing seat, and an installation position used for containing a first parallel four-bar assembly and a second parallel four-bar assembly is formed between the first hinged frame and the second hinged frame.

The first parallel four-bar component comprises a bending bar, the bending bar comprises a driving section and a transmission section, an included angle is formed between the driving section and the transmission section, one end, far away from the driving section, of the transmission section extends outwards to form a meshing end of a tooth-shaped structure, the second parallel four-bar component is provided with a transmission bar, the end portion of the transmission bar is provided with the tooth-shaped structure, the meshing end and the transmission bar are hinged to the first fixing seat and meshed with each other, one end, far away from the transmission section, of the driving section is hinged to the steering plate, and the rotation speed ratio between the transmission section and the transmission bar is: 1.4.

the palm back base is provided with a mounting column on one side close to the metacarpophalangeal joints, the steering plate comprises a first hinge joint, a second hinge joint and a third hinge joint, the first hinge joint, the second hinge joint and the third hinge joint are arranged in a triangular shape, and the steering plate is hinged with the mounting column, the push-pull rod and the driving section through the first hinge joint, the second hinge joint and the third hinge joint respectively.

The driving arm is of an L-shaped structure extending towards the front of the driving sliding block, the screw rod can be mounted in a rear mode and is ensured to have a proper length, the stroke of the driving sliding block is ensured, and the layout design is more reasonable.

The beneficial effects of the utility model reside in that:

1) the four-finger training mechanism and the thumb training mechanism can be driven to move simultaneously through the same driving sliding block, the structure is simple, the rehabilitation training of the five-finger linkage grasping action of the hand of a human body can be realized, the grasping motion of the hand of the human body is better simulated, and the training effect is better.

2) The palm back base both sides set up first thumb training mechanism and second thumb training mechanism, realize that the left and right hands are general, and first thumb training mechanism and second thumb training mechanism adopt same set of actuating mechanism, simple structure, the change training convenient operation of left and right hands.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic structural view of the thumb training mechanism.

Detailed Description

The present invention will be further explained with reference to the accompanying drawings and embodiments:

referring to fig. 1-2, the present invention discloses a five-finger linkage grasping manipulator, which comprises a palm back base 1, the palm back base 1 is connected with a four-finger training mechanism 6 and a thumb training mechanism 2 for driving a thumb to swing inward and outward, the palm back base 1 is provided with a driving mechanism 3 for driving the four-finger training mechanism 6 and the thumb training mechanism 2 to move simultaneously, the driving mechanism 3 comprises a lead screw 31 arranged along a finger length direction and a driving slider 32 arranged on the lead screw 31 in a sliding manner, a side edge of the driving slider 32 extends outward to form a driving arm 321 for driving the thumb training mechanism 2 to swing inward and outward, an upper end of the driving slider 32 is hinged with a steering transmission assembly 5 for driving the four-finger training mechanism 6 to bend and extend, the steering transmission assembly 5 comprises a steering plate 51 rotatably arranged on the palm back base 1, the steering plate 51 is hinged with the four-finger training mechanism 6, and a push-pull rod 52 for driving the steering plate 51 to rotate is arranged between the steering plate 51 and the driving slider 32.

In this embodiment, lead screw 31 is connected with and is used for driving drive slider 32 along the gliding driving piece 33 of lead screw 31, and driving piece 33 is the motor, through gear drive between motor and the lead screw 31, in the use, drives lead screw 31 motion through motor drive to it slides around lead screw 31 to drive slider 32, the utility model discloses a same drive slider 32 can drive the simultaneous movement of four finger training mechanism 6 and thumb training mechanism 2, and simple structure can realize the rehabilitation training of human hand five finger linkage gripping action, and the human hand gripping motion of better simulation, training effect is better.

Still be equipped with on the palm back of the body base 1 and be used for carrying out the guide rail 4 that leads to the slip of drive slider 32, set up the guide slot with guide rail 4 looks adaptation on the drive slider 32, improve the gliding stability of drive slider 32, in this embodiment, guide rail 4 locates the lead screw 31 below, and the guide slot is located drive slider 32 below and the opening is downward.

As a preferred embodiment of the utility model, thumb training mechanism 2 is including locating first thumb training mechanism 2A and the second thumb training mechanism 2B of 1 both sides of palm back of the body base respectively, actuating arm 321 is including being used for the first actuating arm 321 that is connected with first thumb training mechanism 2A and being used for the second actuating arm 321 that is connected with second thumb training mechanism 2B, setting through first thumb training mechanism 2A and second thumb training mechanism 2B, it is general to realize the left and right hands, and first thumb training mechanism 2A and second thumb training mechanism 2B all adopt same set of actuating mechanism 3, moreover, the steam generator is simple in structure, the change training convenient operation of left and right hands.

Thumb training mechanism includes the swinging arms, and the swinging arms is including being used for driving the inside and outside wobbling swing section of thumb and being used for driving the wobbling rotation section of swing section, rotates section and palm back of the body base rotatable coupling, and rotatable coupling has the rotation curved bar that is used for driving the rotation section for palm back of the body base pivoted on the palm back of the body base, and the one end of rotating the curved bar is articulated with the rotation section, and the other end is connected with and is used for the drive to rotate the curved bar for palm back of the body base pivoted actuating mechanism.

The utility model discloses in, drive through actuating mechanism 3 and rotate curved bar 22 and use its junction with palm back of the body base 1 to rotate as the axle center, the rotation section 212 of linkage swinging arms 21 uses its junction with palm back of the body base 1 to rotate as the axle center to drive swing section 211 internal and external swing, realize the recovered motion of thumb, the utility model discloses a thumb training mechanism 2 adopts the setting of rotating curved bar 22, realizes the lever to combine swinging arms 21, the training of fitting finger movement track mode, simple structure, light in weight can combine four to indicate training mechanism 6 to carry out the gripping rehabilitation training of staff, and the human hand gripping motion of better simulation, training effect is better.

In the use, the linkage that slides around through drive slider 32 drives the rotation of rotating curved bar 22, and the driving mode is simple stable, as the utility model discloses an embodiment, actuating arm 321 are for the L type structure to extension in drive slider 32 the place ahead, ensure that lead screw 31 can rearmounted installation and have appropriate length, guarantee drive slider 32's stroke, and layout design is more reasonable.

As a preferred embodiment of the present invention, the rotating curved rod 22 includes a sliding end 221 for movably connecting with the driving arm 321 and a rotating end 222 for driving the thumb to swing, an included angle is formed between the sliding end 221 and the rotating end 222, a through connection is formed between the rotating curved rod 22 and the dorsum palmae base 1 through a rotating connection member, and the rotating connection member is disposed between the sliding end 221 and the rotating end 222. In this embodiment, the rotating connection member is a snap spring and a shaft pin, and the palm back base 1 is provided with a bearing corresponding to the shaft pin, and in the use process, the rotating curved rod 22 is driven by the driving slider 32 to rotate around the shaft pin, so as to drive the swinging rod 21 to move, wherein the length of the sliding end 221 is greater than that of the rotating end 222, so as to form a lever, which is more labor-saving.

As a preferred embodiment of the utility model, sliding end 221 has seted up sliding groove hole 223 along its section bar trend, sliding groove hole 223 is the slope form for sliding block 322's motion place axis, be equipped with on the actuating arm 321 with sliding groove hole 223 matched with sliding block 322, sliding block 322 slides and locates in the sliding groove hole 223, in the use, drive lead screw 31 through motor drive and move, thereby slide back and forth sliding of sliding block 322 on the drive arm 321, sliding block 322 offsets with sliding groove hole 223's cell wall, thereby force sliding groove hole 223 to rotate, and then realize rotating curved bar 22's rotation.

Because the human thumb is inclined relative to the palmar back, after a plurality of tests, the swing rod 21 in the utility model is a three-dimensional angle curved rod structure which accords with the functional position of the thumb, wherein, the swing section 211 is arranged along the vertical direction of the rotation section 212, and one end of the swing section 211, which is far away from the palmar back base 1, is provided with a transverse section 213, a thumb fixing sleeve 214 is adjustably arranged on the transverse section 213, the thumb fixing sleeve 214 can be finely adjusted according to the hand difference, so as to improve the man-machine compatibility, in the embodiment, a plurality of adjusting holes which are mutually matched are arranged between the transverse section 213 and the thumb fixing sleeve 214 for adjustment, an obtuse angle is formed between the swing section 211 and the transverse section 213, the rotation section 212 is arranged along the horizontal direction and is arranged at a connecting hole 215 which is connected with the palmar back base 1, a connecting line between the connecting hole 215 and one end of the swing section 211, through the structural design of three-dimensional angle knee for thumb training mechanism 2 more accords with the design of staff's motion, effectively improves the rehabilitation training effect, improves the comfort level of user in the training process, rotates the setting of section 212 and swing section 211, makes swinging arms 21 when satisfying the compatibility of man-machine motion, and the manufacturing of being convenient for.

The four-finger training mechanism 6 comprises a first fixing seat 61 and a second fixing seat 62, a first parallel four-bar assembly 63 for driving the first fixing seat 61 to rotate around a metacarpophalangeal joint rotation center is arranged between the palm back base 1 and the first fixing seat 61, a second parallel four-bar assembly 64 for driving the second fixing seat 62 to rotate around an interphalangeal joint rotation center is arranged between the first fixing seat 61 and the second fixing seat 62, and the steering plate 51 is hinged to the first parallel four-bar assembly 63.

As a specific embodiment of the present invention, the first fixing seat 61 includes the fixing base 611 disposed along the horizontal direction, the accommodating groove for accommodating four fingers is disposed below the fixing base 611, the upper portion of the fixing base 611 continues to form the hinge frame 612, the hinge frame 612 includes the first hinge frame 612 and the second hinge frame 612 disposed along the central axis symmetry of the first fixing seat 61, and the mounting position for accommodating the first parallel four rod assembly 63 and the second parallel four rod assembly 64 is formed between the first hinge frame 612 and the second hinge frame 612.

The second fixing base 62 is also provided with a hinged plate, and the hinged plate comprises a first hinged plate and a second hinged plate which are symmetrically arranged along the central axis of the second fixing base 62, and a mounting position for accommodating the second parallel four-bar assembly 64 is formed between the first hinged plate and the second hinged plate.

In the use, forefinger, middle finger, ring finger, little finger are fixed jointly through first fixing base 61 and second fixing base 62 to carry out the gripping motion under locating first parallel four pole subassembly 63 and the drive of the parallel four pole subassembly 64 of second on first fixing base 61 and the second fixing base 62, for among the prior art, four fingers are driven by the ectoskeleton unit drive that corresponds separately respectively, the utility model discloses a four fingers are fixed jointly, and constitute jointly by the drive of the same set of ectoskeleton unit (a first parallel four pole subassembly 63 and the parallel four pole subassembly 64 of second) can avoid uncomfortable sense in the four fingers rehabilitation training motion process.

The first parallel four-bar assembly 63 comprises a bending bar 631, the bending bar 631 comprises a driving section 6311 and a transmission section 6312, an included angle is formed between the driving section 6311 and the transmission section 6312, one end of the transmission section 6312, which is far away from the driving section 6311, extends outward to form a meshing end of a tooth-shaped structure, the second parallel four-bar assembly 64 is provided with a transmission rod 641 with a tooth-shaped structure at an end, the meshing end and the transmission rod 641 are hinged on the first fixing base 61 and are meshed with each other, one end of the driving section 6311, which is far away from the transmission section 6312, is hinged with the steering plate 51, and the rotation speed ratio between the transmission section 6312 and the transmission rod 641: 1.4, so that the rotating speed ratio between the first parallel four-bar assembly 63 and the second parallel four-bar assembly 64 is 1.4, and through a plurality of tests, under the condition of the rotating speed ratio, the movement of the four-finger training mechanism 6 better accords with the characteristics of a human body in the gripping process, the four fingers can be driven to perform the rehabilitation movement of firstly flexing the far-end knuckle and then flexing the near-end knuckle, the gripping of a normal person on an object is better simulated, and the training effect is better.

The utility model discloses in, one side that palm back of the body base 1 is close to the metacarpal phalangeal joint is provided with the erection column, the first articulated position that steering plate 51 includes, articulated position of second and third articulated position, and first articulated position, articulated position of second and third articulated position are triangle-shaped and arrange, steering plate 51 is through first articulated position, articulated position of second and third articulated position respectively with the erection column, push-and-pull rod 52 and drive segment 6311 are articulated mutually, in the use, the seesaw of drive slider 32 drives push-and-pull rod 52 and pushes away, pull steering plate 51, it is rotatory to make steering plate 51 use first articulated position as the axle center, thereby drive segment 6311 and rotate, realize four the gripping rehabilitation movements that indicate training mechanism 6.

Compared with a parallel four-bar structure completely consisting of straight bars, the parallel four-bar structure adopting the bending bars 631 replaces the traditional straight bars, the height of the exoskeleton unit in the vertical direction can be effectively reduced by adopting the parallel four-bar structure adopting the bending bars 631 under the condition that the movement centers are ensured to be consistent, the size of the whole height direction of the mechanism is reduced, and the product structure is simpler and more compact and can rotate more flexibly.

Of course, the above illustration is only a preferred embodiment of the present invention, and the scope of the present invention is not limited thereto, so all equivalent changes made in the principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A five-finger linkage grasping manipulator, which comprises a palm back base, wherein the palm back base is connected with a four-finger training mechanism for driving four fingers to bend and stretch and a thumb training mechanism for driving a thumb to swing inwards and outwards, the palm back base is provided with a driving mechanism for driving the four-finger training mechanism and the thumb training mechanism to move simultaneously, the driving mechanism comprises a lead screw arranged along the length direction and a driving slider arranged on the lead screw in a sliding manner, the side edge of the driving slider extends outwards to form a driving arm used for driving the thumb training mechanism to swing inwards and outwards, the upper end of the driving slider is hinged with a steering transmission assembly used for driving the four-finger training mechanism to bend and extend, the steering transmission assembly comprises a steering plate rotatably arranged on the palm back base, the steering plate is hinged with the four-finger training mechanism, and a push-pull rod used for driving the steering plate to rotate is arranged between the steering plate and the driving slider.

2. The five-finger linkage grasping manipulator according to claim 1, wherein the palm back base is further provided with a guide rail for guiding the sliding of the driving slider, and the driving slider is provided with a guide groove adapted to the guide rail.

3. The five-finger linkage grasping manipulator according to claim 2, wherein the thumb training mechanism includes a first thumb training mechanism and a second thumb training mechanism respectively disposed on two sides of the dorsum palmaris base, and the driving arms include a first driving arm for connecting with the first thumb training mechanism and a second driving arm for connecting with the second thumb training mechanism.

4. The five-finger linkage grasping manipulator according to any one of claims 2 to 3, wherein the thumb training mechanism includes a swinging lever, the swinging lever includes a swinging section for driving the thumb to swing inward and outward and a rotating section for driving the swinging section to swing, the rotating section is rotatably connected to the palmback base, the palmback base is rotatably connected to a rotating curved lever for driving the rotating section to rotate relative to the palmback base, one end of the rotating curved lever is hinged to the rotating section, and the other end of the rotating curved lever is connected to a driving mechanism for driving the rotating curved lever to rotate relative to the palmback base.

5. The five-finger linkage grasping manipulator according to claim 4, wherein the swinging section is disposed along a vertical direction of the rotating section, a transverse section is disposed at an end of the swinging section away from the palm back base, a thumb fixing sleeve is mounted on the transverse section, an obtuse angle is formed between the swinging section and the transverse section, the rotating section is disposed along a horizontal direction and is disposed in a connecting hole for connecting with the palm back base, and a connecting line between the connecting hole and an end of the swinging section away from the palm back base is disposed obliquely relative to the palm back base.

6. The five-finger linkage grasping manipulator according to claim 1, wherein the four-finger training mechanism includes a first fixing seat and a second fixing seat, a first parallel four-bar assembly for driving the first fixing seat to rotate around a metacarpophalangeal joint rotation center is disposed between the palm back base and the first fixing seat, a second parallel four-bar assembly for driving the second fixing seat to rotate around an interphalangeal joint rotation center is disposed between the first fixing seat and the second fixing seat, and the steering plate is hinged to the first parallel four-bar assembly.

7. The five-finger linkage grasping manipulator according to claim 6, wherein the first fixing seat includes a fixing base disposed along a horizontal direction, a receiving groove for receiving the four fingers is formed below the fixing base, a hinge frame is formed above the fixing base in an upward extending manner, the hinge frame includes a first hinge frame and a second hinge frame symmetrically disposed along a central axis of the first fixing seat, and a mounting position for receiving the first parallel four-bar assembly and the second parallel four-bar assembly is formed between the first hinge frame and the second hinge frame.

8. The five-finger linkage grasping manipulator according to claim 6, wherein the first parallel four-bar assembly includes a bending bar, the bending bar includes a driving section and a transmission section, an included angle is formed between the driving section and the transmission section, one end of the transmission section away from the driving section extends outwards to form a meshing end of a tooth-shaped structure, the second parallel four-bar assembly is provided with a transmission bar with a tooth-shaped structure at an end portion, the meshing end and the transmission bar are respectively hinged on the first fixing seat and are meshed with each other, one end of the driving section away from the transmission section is hinged with the steering plate, and the rotation speed ratio between the transmission section and the transmission bar is 1: 1.4.

9. the five-finger linkage grasping manipulator according to claim 8, wherein a mounting column is disposed on a side of the dorsum manus base near the metacarpophalangeal joint, the steering plate includes a first hinge joint, a second hinge joint and a third hinge joint, the first hinge joint, the second hinge joint and the third hinge joint are arranged in a triangle, and the steering plate is hinged to the mounting column, the push-pull rod and the driving section through the first hinge joint, the second hinge joint and the third hinge joint.

10. The five-finger linkage grasping robot according to claim 1, wherein the driving arm is an L-shaped structure extending forward of the driving slider.