CN211067797U - Multi-drive modular exoskeleton mechanism - Google Patents
Multi-drive modular exoskeleton mechanism Download PDFInfo
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- CN211067797U CN211067797U CN201920958242.XU CN201920958242U CN211067797U CN 211067797 U CN211067797 U CN 211067797U CN 201920958242 U CN201920958242 U CN 201920958242U CN 211067797 U CN211067797 U CN 211067797U
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Abstract
The utility model relates to the technical field of exoskeleton, in particular to a multi-drive modularized exoskeleton mechanism, which comprises a near-end arc shell and a far-end arc shell, wherein the near-end arc shell is provided with a near-end arc toothed plate for driving the far-end arc shell to rotate in a sliding manner, a near-end driving piece for driving the near-end arc toothed plate to slide inside and outside the near-end arc shell is arranged above the near-end arc shell, the near-end driving piece comprises a near-end gear, the near-end gear is meshed with the upper end surface of the near-end arc toothed plate, the far-end arc shell is provided with a far-end arc toothed plate for driving a second proximal phalanx to rotate along the rotation center between phalanxes in a sliding manner, a far-end driving piece for driving the far-end arc toothed plate to slide inside and outside the far-end arc shell is arranged above the far-end arc shell, the far-end driving, simple structure, the transmission is stable, and the motion angle scope is big, and application scope is wider.
Description
Technical Field
The utility model relates to an ectoskeleton technical field especially relates to a many drive modularization ectoskeleton mechanism.
Background
The exoskeleton robot has wide application prospect in the fields of medical rehabilitation and human-computer interaction. The key point is that the adaptability of the skeleton mechanism and human physiology needs to be realized in a limited space, namely the movement circle center of the skeleton mechanism needs to be always coincided with the rotation center of the human joint (move around a remote center point) so as to ensure the safety.
Chinese utility model patent "recovered robot hand" (CN201320832443.8) discloses a recovered robot hand, including wearing the back of the hand laminating panel on patient's hand, thumb actuating mechanism, four fingers actuating mechanism, wrist actuating mechanism, characterized by, the back of the hand laminating panel on connect thumb actuating mechanism, four fingers actuating mechanism and wrist actuating mechanism respectively, wrist actuating mechanism is connected with four fingers actuating mechanism, thumb actuating mechanism through the linkage respectively, this patent adopts circular arc track joint mechanism to realize around the movement of far centre point, need to adopt the connecting rod transmission between the adjacent phalanges, on the one hand, the structure is complicated, the structure transmission efficiency, the stability is low, and because circular arc track arc angle is too big easy to block, limited by the spatial structure of circular arc track, the motion angle scope of ectoskeleton mechanism is narrower, take the proximal phalanx as an example, the motion angle maximum scope that this recovered robot hand can drive proximal phalanx realization is only about 40 degrees, the existing rehabilitation medical treatment, particularly the existing orthopedic rehabilitation training, usually needs the patient to perform the maximum mobility training of the joint within the allowable range as much as possible, and the range of the motion angle of the existing exoskeleton robot cannot meet the requirement of the orthopedic rehabilitation training; on the other hand, since a plurality of joints of the same finger use one driving source, rehabilitation training of a single joint cannot be performed, and the training mode is single.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to prior art current situation, provide a simple structure, transmission are stable, the big multi-drive modularization ectoskeleton mechanism of motion angle scope.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a multi-drive modularized exoskeleton mechanism comprises a near-end arc-shaped shell and a far-end arc-shaped shell for driving a first segment phalanx of a near palm to rotate along a metacarpophalangeal joint rotation center, and is characterized in that,
the near-end arc-shaped shell is provided with a near-end arc-shaped toothed plate which is used for driving the far-end arc-shaped shell to rotate in a sliding manner,
a near-end driving piece for driving the near-end arc toothed plate to slide inside and outside the near-end arc shell is arranged above the near-end arc shell and comprises a near-end gear, and the near-end gear is meshed with the upper end surface of the near-end arc toothed plate;
the far-end arc-shaped shell is provided with a far-end arc-shaped toothed plate which is used for driving the near palm second phalanx to rotate along the rotation center between the phalanges in a sliding way,
the top of distal end arc casing be equipped with and be used for driving distal end arc pinion rack and carry out gliding distal end driving piece inside and outside the distal end arc casing along, the distal end driving piece includes distal end gear, distal end gear meshes with the up end of distal end arc pinion rack mutually.
Preferably, the proximal gear is arranged at one end of the proximal arc-shaped shell close to the distal arc-shaped shell, and the distal gear is arranged at one end of the distal arc-shaped shell far away from the proximal arc-shaped shell.
Preferably, the arc-shaped track is arranged along the profile trend of the near-end arc-shaped toothed plate in a penetrating mode, one end, close to the far-end arc-shaped shell, of the near-end arc-shaped shell is connected with a limiting guide part used for limiting and guiding the sliding of the near-end arc-shaped toothed plate, and the limiting guide part penetrates through the arc-shaped track.
Preferably, near-end arc casing include the arc arm, the arc arm is including locating the lateral wall of both sides and locating the connecting wall of lateral wall top, the lateral wall extend forward and form the installation department, the installation department wears to be equipped with the mounting hole that is used for installing spacing guide, the connecting wall is located the installation department relevant position and is equipped with the near-end gear and dodges the groove.
Preferably, the limiting guide part comprises pin shafts, two ends of each pin shaft are arranged on the side walls, the shaft body of each pin shaft penetrates through the arc-shaped track, and a bearing is arranged between each pin shaft and the arc-shaped track.
Preferably, the side wall is further provided with a plurality of weight reduction grooves in a penetrating mode, and the weight reduction grooves are uniformly arranged along the radial direction of the side wall.
Preferably, the arc-shaped track comprises a first arc-shaped track and a second arc-shaped track, and the first arc-shaped track and the second arc-shaped track are both arc-shaped long strips and are distributed in a concentric circle shape.
Preferably, the near-end arc toothed plate is hinged to the far-end arc toothed plate, a first finger sleeve for fixing a first proximal metacarpal phalanx is arranged at one end, close to the near-end arc toothed plate, of the far-end arc toothed plate, and a second finger sleeve for fixing a second proximal metacarpal phalanx is arranged at one end, far away from the far-end arc toothed plate, of the far-end arc toothed plate.
Preferably, the proximal end driving member further comprises a proximal end motor for driving the proximal end gear to rotate and a driving gear sleeved on an output shaft of the proximal end motor, the driving gear is connected with a transmission gear for driving the proximal end gear to rotate, and the transmission gear and the proximal end gear are coaxially arranged.
The beneficial effects of the utility model reside in that:
1) the utility model discloses an arc casing and arc pinion rack that are the arc structure to make arc pinion rack slidable in the inside and outside of arc casing, simple structure adopts arc pinion rack and gear intermeshing's transmission mode, makes the motion more steady, and transmission efficiency is higher, can realize that the finger bends and stretches by a wide margin, and the motion angle scope is big, and application scope is wider.
2) The utility model discloses a near-end arc pinion rack adopts solitary driving piece to control respectively with distal end arc pinion rack, can realize the independent rehabilitation training of near palm first festival phalanx or near palm second festival phalanx, also can realize that the whole of finger bends and stretches the rehabilitation training, and the training mode is abundant, reaches all-round training, and application scope is wider.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings and embodiments:
referring to fig. 1, the utility model discloses a multi-drive modular exoskeleton mechanism, which comprises a near-end arc-shaped shell 1 and a far-end arc-shaped shell 5 for driving a first phalanx of a near palm to rotate along a metacarpophalangeal joint rotation center, wherein the near-end arc-shaped shell 1 is slidably provided with a near-end arc-shaped toothed plate 2 for driving the far-end arc-shaped shell 5 to rotate along the metacarpophalangeal joint rotation center, a near-end driving piece 3 for driving the near-end arc-shaped toothed plate 2 to slide inside and outside the near-end arc-shaped shell 1 is arranged above the near-end arc-shaped shell 1, the near-end driving piece 3 comprises a near-end gear 31, and the near-end; distal end arc casing 5 slides and is equipped with and is used for driving near palm second knuckle phalanx and carries out the distal end arc pinion rack 6 that rotates along centre of rotation between phalanx, and the top of distal end arc casing 5 is equipped with and is used for driving distal end arc pinion rack 6 and carries out gliding distal end driving piece 7 inside and outside distal end arc casing 5, and distal end driving piece 7 includes distal end gear 71, and distal end gear 71 meshes with the up end of distal end arc pinion rack 6 mutually.
When the utility model discloses an exoskeleton mechanism corresponds when installing on forefinger, middle finger, ring finger or little finger, and the first section phalanx of nearly palm is nearly section phalanx, and nearly palm second section phalanx is middle section phalanx, works as the utility model discloses an exoskeleton mechanism corresponds when installing on the thumb, and nearly palm first section phalanx is nearly section phalanx, and nearly palm second section phalanx is far section phalanx.
The utility model discloses in the function in-process, drive near-end arc pinion rack 2 and slide inside and outside near-end arc casing 1 through near-end gear 31 with near-end arc pinion rack 2 engaged with, the linkage drives the rotation of distal end arc casing 5, thereby it rotates along metacarpal knuckle center of rotation to drive near palm first festival phalanx, it slides inside and outside distal end arc casing 5 to drive distal end arc pinion rack 6 through distal end gear 71 with distal end arc pinion rack 6 engaged with, the linkage drives the rotation of distal end arc casing 5, thereby it rotates along center of rotation between phalanx to drive near palm second festival phalanx, moreover, the steam generator is simple in structure, adopt arc pinion rack and gear intermeshing's transmission mode, make the motion more steady, transmission efficiency is higher.
Through adopting near-end arc casing 1 and near-end arc pinion rack 2 that are the arc structure to make near-end arc pinion rack 2 slidable in the inside and outside of near-end arc casing 1, thereby greatly improve the motion angle scope of the first section phalanx of nearly palm, realize bending by a wide margin and stretching of the first section phalanx of nearly palm, the utility model discloses can realize that the first section phalanx of nearly palm realizes the rotation of 70 above motion range, through adopting distal end arc casing 5 and distal end arc pinion rack 6 that are the arc structure, and make distal end arc pinion rack 6 slidable in the inside and outside of distal end arc casing 5, thereby greatly improve the motion angle scope of the second section phalanx of nearly palm, realize bending by a wide margin and stretching of the second section phalanx of nearly palm, motion angle scope is big, and application scope is wider.
The utility model discloses a near-end arc pinion rack 2 adopts solitary driving piece to control respectively with distal end arc pinion rack 6 the utility model discloses an among the training mode, the accessible only starts arbitrary one among near-end driving piece 3 or distal end driving piece 7, realizes the independent rehabilitation training of near palm first festival phalanx or near palm second festival phalanx the utility model discloses an among another kind of training mode, can start near-end driving piece 3 and distal end driving piece 7 simultaneously, realize that the bending and stretching rehabilitation training of finger, the training mode is abundant, reaches all-round training, and application scope is wider.
As a specific embodiment of the present invention, the near-end gear 31 is disposed at one end of the near-end arc-shaped housing 1 close to the far-end arc-shaped housing 5, and the far-end gear 71 is disposed at one end of the far-end arc-shaped housing 5 far away from the near-end arc-shaped housing 1.
As a specific embodiment of the utility model, arc track 21 is worn to be equipped with along its section bar trend by near-end arc pinion rack 2, and near-end arc casing 1 is connected with the spacing guide 4 that is used for carrying out spacing direction to the slip of near-end arc pinion rack 2 near-end arc casing 5, and spacing guide 4 runs through arc track 21.
Circular arc track mechanism joint among the prior art, the adoption sets up the arc track in the frame usually, and the driving medium of taking the dactylotheca slides in the frame, the utility model discloses set up arc track 21 on near-end arc pinion rack 2, run through arc track 21 through spacing guide 4 for near-end arc pinion rack 2 not only can slide in near-end arc casing 1 is inside, can also slide in near-end arc casing 1 outsidely, greatly enlarge the motion angle scope, and near-end arc casing 1 combines the radian with near-end arc pinion rack 2's whole relatively gently, when enlarging the motion angle scope, can avoid appearing the jamming problem of mechanism, the function is smooth.
The distal end arc toothed plate 6 is also provided with an arc guide rail and a limiting part, and the limiting part is arranged at one end of the distal end arc shell 5 far away from the proximal end arc shell 1.
As a specific implementation manner, near-end arc casing 1 includes arc arm 11, arc arm 11 is including locating the lateral wall 111 of both sides and locating the connection wall 112 of lateral wall 111 top, form the decurrent cavity of opening, lateral wall 111 extends forward and forms installation department 113, installation department 113 wears to be equipped with the mounting hole that is used for installing spacing guide 4, the one end that lateral wall 111 is close to distal end arc casing 5 is located to the mounting hole, connection wall 112 is located the 113 relevant positions of installation department and is equipped with near-end gear and dodges groove 115, install spacing guide 4 on the installation department 113 that lateral wall 111 extends out, near-end gear 31 is located near-end gear and is dodged on groove 115, effectively prolong near-end arc toothed plate 2's motion stroke.
As a specific embodiment of the utility model, spacing guide 4 includes that both ends locate the round pin axle on lateral wall 111, and the pole body of round pin axle runs through arc track 21 and is equipped with the bearing between round pin axle and the arc track 21, and the motion that further makes near-end arc pinion rack 2 is more smooth and easy.
As a specific embodiment of the utility model, a plurality of heavy grooves 114 that subtract are still worn to be equipped with by lateral wall 111, subtract heavy groove 114 and evenly set up along the radial direction of lateral wall 111, effectively alleviate the weight of near-end arc casing 1, make whole mechanism lighter.
As a specific embodiment of the present invention, the arc-shaped track 21 includes the first arc-shaped track 211 and the second arc-shaped track 212, and the first arc-shaped track 211 and the second arc-shaped track 212 are both arc-shaped and are distributed in concentric circles, and the double arc-shaped track 21 is adopted, so that the movement of the near-end arc-shaped toothed plate 2 is more stable.
As a specific embodiment of the present invention, the proximal end arc toothed plate 2 is hinged to the distal end arc housing 5, and the end of the distal end arc housing 5 close to the proximal end arc toothed plate 2 is provided with a first finger sleeve 8 for fixing the proximal palm first phalanx, and the end of the distal end arc toothed plate 6 far from the distal end arc housing 5 is provided with a second finger sleeve 9 for fixing the proximal palm second phalanx, during use, the proximal end gear 31 rotates to drive the proximal end toothed plate to slide inside and outside along the proximal end arc housing 1 through the mutual cooperation of the arc track 21 and the spacing guide 4, and the first finger sleeve 8 on the distal end arc housing 5 is driven to move around the distal center point by the rotation center of the palm knuckle, thereby achieving the large-amplitude flexion and extension of the proximal palm first phalanx, the distal end gear 71 rotates to drive the distal end toothed plate to slide inside and outside along the distal end arc housing 5, and the second finger sleeve 9 on the distal end arc toothed plate 6 is driven to move around the distal point by linkage, thereby realize nearly palm second knuckle phalanx bend by a wide margin and stretch, the specification of first dactylotheca 8 and second dactylotheca 9 can be changed according to patient's hand size, through the regulation hole that sets up a plurality of even linear arrangements on first dactylotheca 8 and second dactylotheca 9, can finely tune the mounted position of first dactylotheca 8 and second dactylotheca 9, 8 accessible round pin axles of first dactylotheca and 5 rotatable coupling of distal end arc casing, 9 accessible round pin axles of second dactylotheca and 6 rotatable coupling of distal end arc pinion rack, make it rotate around the round pin axle, ensure that it remains throughout with the finger surface parallel with the finger contact surface, improve man-machine compatibility and travelling comfort.
As a specific implementation manner, the output epaxial drive gear of near-end motor 32 is still located including being used for driving near-end gear 31 pivoted near-end motor 32 and cover to near-end driving piece 3, drive gear is connected with and is used for driving near-end gear 31 pivoted drive gear, drive gear and near-end gear 31 are along coaxial setting, in the operation process, the output shaft drive of near-end motor 32 drives drive gear and rotates, the linkage drives drive gear and rotates, thereby drive the rotation with the near-end gear 31 of the coaxial setting of drive gear, and then drive and rotate near-end gear 31 meshed near-end arc pinion rack 2, adopt a plurality of gear drive between near-end motor 32 and the near-end gear 31, laborsaving square, can adopt the miniwatt motor, the motor is more small and exquisite, when being convenient for the installation, near-end driving piece.
The distal drive member 7 may be provided with the distal motor 72, drive gear and drive gears as described above for the proximal drive member 3.
As a specific embodiment of the present invention, the sensors for collecting torque and angle can be installed on the output shafts of the near-end motor 32 and the far-end motor 72, so as to realize safety control of movement, and make control more convenient and safer.
The technical principle of the present invention is described above with reference to the specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without any inventive effort, which would fall within the scope of the present invention.
Claims (9)
1. A multi-drive modularized exoskeleton mechanism comprises a near-end arc-shaped shell and a far-end arc-shaped shell for driving a first segment phalanx of a near palm to rotate along a metacarpophalangeal joint rotation center, and is characterized in that,
the near-end arc-shaped shell is provided with a near-end arc-shaped toothed plate which is used for driving the far-end arc-shaped shell to rotate in a sliding manner,
a near-end driving piece for driving the near-end arc toothed plate to slide inside and outside the near-end arc shell is arranged above the near-end arc shell and comprises a near-end gear, and the near-end gear is meshed with the upper end surface of the near-end arc toothed plate;
the far-end arc-shaped shell is provided with a far-end arc-shaped toothed plate which is used for driving the near palm second phalanx to rotate along the rotation center between the phalanges in a sliding way,
the top of distal end arc casing be equipped with and be used for driving distal end arc pinion rack and carry out gliding distal end driving piece inside and outside the distal end arc casing along, the distal end driving piece includes distal end gear, distal end gear meshes with the up end of distal end arc pinion rack mutually.
2. The multi-drive modular exoskeleton mechanism of claim 1 wherein the proximal gear is disposed at an end of the proximal arcuate housing proximal to the distal arcuate housing and the distal gear is disposed at an end of the distal arcuate housing distal to the proximal arcuate housing.
3. The multi-drive modular exoskeleton mechanism of claim 2, wherein the proximal arc-shaped toothed plate is provided with an arc-shaped track along the profile direction, one end of the proximal arc-shaped shell, which is close to the distal arc-shaped shell, is connected with a limiting guide for limiting and guiding the sliding of the proximal arc-shaped toothed plate, and the limiting guide penetrates through the arc-shaped track.
4. The multi-drive modular exoskeleton mechanism of claim 3, wherein the proximal curved housing includes curved arms, the curved arms include side walls disposed at two sides and a connecting wall disposed above the side walls, the side walls extend forward to form an installation portion, the installation portion is provided with a mounting hole for installing the limiting guide, and the connecting wall is provided with a proximal gear avoiding groove at a corresponding position of the installation portion.
5. The multi-drive modular exoskeleton mechanism of claim 4 wherein the limit guides comprise pins with ends on the side walls, the ends of the pins extending through the arcuate tracks and bearings between the pins and the arcuate tracks.
6. The multi-drive modular exoskeleton mechanism of claim 4 wherein the side walls are further perforated with weight-reducing slots, the weight-reducing slots being uniformly arranged in a radial direction of the side walls.
7. The multi-drive modular exoskeleton mechanism of claim 3 wherein the arcuate rails comprise a first arcuate rail and a second arcuate rail, the first arcuate rail and the second arcuate rail each being elongated and concentrically arranged.
8. The multi-drive modular exoskeleton mechanism of claim 1, wherein the proximal arcuate toothed plate is hinged to the distal arcuate housing, and a first finger cuff for fixing the first proximal metacarpal phalanx is provided at an end of the distal arcuate housing near the proximal arcuate toothed plate, and a second finger cuff for fixing the second proximal metacarpal phalanx is provided at an end of the distal arcuate toothed plate away from the distal arcuate housing.
9. The multi-drive modular exoskeleton mechanism of claim 1, wherein the proximal drive member further comprises a proximal motor for driving the proximal gear to rotate and a drive gear sleeved on an output shaft of the proximal motor, the drive gear is connected with a transmission gear for driving the proximal gear to rotate, and the transmission gear and the proximal gear are coaxially arranged.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920958242.XU CN211067797U (en) | 2019-06-24 | 2019-06-24 | Multi-drive modular exoskeleton mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920958242.XU CN211067797U (en) | 2019-06-24 | 2019-06-24 | Multi-drive modular exoskeleton mechanism |
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| CN211067797U true CN211067797U (en) | 2020-07-24 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110151494A (en) * | 2019-06-24 | 2019-08-23 | 深圳睿瀚医疗科技有限公司 | More drive module exoskeleton mechanisms |
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2019
- 2019-06-24 CN CN201920958242.XU patent/CN211067797U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110151494A (en) * | 2019-06-24 | 2019-08-23 | 深圳睿瀚医疗科技有限公司 | More drive module exoskeleton mechanisms |
| CN110151494B (en) * | 2019-06-24 | 2024-01-23 | 深圳睿瀚医疗科技有限公司 | Multi-drive modularized exoskeleton mechanism |
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