CN211222733U - Holding pen device for assisting patient with myasthenia - Google Patents
Holding pen device for assisting patient with myasthenia Download PDFInfo
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- CN211222733U CN211222733U CN201921331133.1U CN201921331133U CN211222733U CN 211222733 U CN211222733 U CN 211222733U CN 201921331133 U CN201921331133 U CN 201921331133U CN 211222733 U CN211222733 U CN 211222733U
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Abstract
The utility model discloses a pen holding device for assisting a patient with myasthenia, which comprises an actuating mechanism, wherein the actuating mechanism comprises an arm exoskeleton component and a forefinger exoskeleton which are movably connected; the arm exoskeleton assembly includes a palm portion, an arm portion, and a thumb portion; the driving mechanism comprises a driving motor, a pulley block and a steel wire rope, and the steel wire rope connects the driving motor and the forefinger exoskeleton through the pulley block to drive the forefinger exoskeleton to move. When the driving motor drives the steel wire rope to be tightened, the distance between the forefinger exoskeleton and the thumb part is gradually reduced; when the driving motor drives the steel wire rope to be loosened, the distance between the forefinger exoskeleton and the thumb part is gradually increased. Supplementary myasthenia patient's pen holding device through reasonable structural design, realize forefinger and thumb and hold the motion of pen, also can guarantee to hold the pen forcefully when having guaranteed to wear comfortable, do not harm the finger.
Description
Technical Field
The utility model relates to an imitative people's cell-phone manipulator technical field especially relates to an auxiliary myasthenia patient's device of holding a pen.
Background
Myasthenia gravis is a rare chronic autoimmune disease caused by conduction disorders at the neuro-muscular junction. In life, a patient with muscle weakness lacks self-care ability, cannot generate enough force through self muscles to drive the movement of limbs such as fingers and arms of the body part like a normal person, and is weak in the whole body. These symptoms severely affect their aspects of learning, work and life. According to survey reports, about one third of adult patients with myasthenia lose work due to symptoms caused by myasthenia, so that it is increasingly important to invent a device capable of assisting the patients with myasthenia to recover normal work and study life.
With the rapid development of social science and technology, the robot technology is more mature and widely applied in various fields of life, and provides a technical basis for the research and design of a simulated human-mobile manipulator, so that a pen holding device for assisting a patient with myasthenia can be designed, the function of bending fingers to hold a pen is realized by assisting the patient with myasthenia by adopting a simple and convenient control mode, and the living and psychological burden of the patient is expected to be relieved.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to overcome prior art's defect, provide a weak patient of supplementary flesh and hold a device, the weak patient of flesh can't hold a problem because muscle is weak has effectively been solved to the invention, reaches to improve strong holding a pen, normally writes, wears comfortable purpose.
The utility model provides a technical scheme that its technical problem adopted is: a pen holding device for assisting a patient with myasthenia comprises an execution mechanism, a first control mechanism and a second control mechanism, wherein the execution mechanism comprises an arm exoskeleton assembly and an index finger exoskeleton; the arm exoskeleton assembly comprises a palm part, an arm part and a thumb part which are fixedly connected, the arm part is suitable for being sleeved on the arm of a human body, the palm part is suitable for being sleeved on the palm of the human body, the thumb part is suitable for being sleeved on the thumb of the human body, and the index finger exoskeleton is suitable for being sleeved on the index finger of the human body; the forefinger exoskeleton is movably connected with the arm exoskeleton assembly, the forefinger exoskeleton drives the forefinger of a human body to move, the palm of a user penetrates through the arm part and then is sleeved in the palm part, meanwhile, the thumb is sleeved in the thumb part, and the palm part, the arm part and the thumb are fixedly connected, so that the thumb of the user is fixed, and only the forefinger moves along with the forefinger exoskeleton. The relative positions of the pair of.
The driving mechanism comprises a driving motor, a pulley block and a steel wire rope, the driving motor is fixed on the arm exoskeleton assembly, and the steel wire rope connects the driving motor and the forefinger exoskeleton through the pulley block to drive the forefinger exoskeleton to move.
When the driving motor drives the steel wire rope to be tightened, the distance between the forefinger exoskeleton and the thumb part is gradually reduced and can be arranged opposite to the thumb part, at the moment, a task of holding the penholder can be executed, and the penholder is positioned between the forefinger exoskeleton and the thumb part; when the driving motor drives the steel wire rope to loosen, the distance between the forefinger exoskeleton and the thumb part is gradually increased, and the penholder can be loosened at the moment.
The utility model discloses establish palm portion, arm portion and thumb portion into the integral type structure according to the human body structure, the thumb can fix after the user wears arm ectoskeleton subassembly, only needs the motion through actuating mechanism control forefinger ectoskeleton, changes the relative distance of forefinger ectoskeleton and thumb portion, can carry out the action of holding the pen-holder and loosening the pen-holder.
Furthermore, the executing mechanism further comprises an adjusting assembly, one end of the adjusting assembly is connected with the palm part, the other end of the adjusting assembly is rotatably connected with the forefinger exoskeleton through a first rotating shaft, the first rotating shaft and a joint rotation center of the forefinger are coaxially arranged, the adjusting assembly is used as a switching part between the forefinger exoskeleton and the arm exoskeleton assembly and provides a moving space for the forefinger exoskeleton, the joint rotation center of the forefinger is a joint between the forefinger and the palm part of a human body, so that the rotation of the forefinger exoskeleton conforms to the finger structure of the human body, and the forefinger is prevented from being pressed and; the assembly pulley include with first pulley that driving motor connects, be close to palm portion set up in second pulley on the adjusting part and being close to forefinger ectoskeleton set up in the last third pulley of adjusting part, wire rope passes through in proper order first pulley, second pulley and third pulley with forefinger ectoskeleton is connected. When the index finger exoskeleton and the thumb are arranged oppositely, the rear end of the index finger exoskeleton abuts against the adjusting assembly.
The first pulley is directly driven by the driving motor to rotate, the second pulley and the third pulley are used for guiding the steel wire rope to the forefinger exoskeleton to avoid collision between the steel wire rope and other parts, when the steel wire rope is tightened, the forefinger exoskeleton rotates in the direction close to the driving motor by taking the first rotating shaft as a rotating center until the rear end of the forefinger exoskeleton abuts against the adjusting assembly, and at the moment, the forefinger exoskeleton and the thumb are arranged just opposite to each other to hold the pen holder.
Further, the adjustment assembly includes: the fixed support is fixed with the palm part; the second pulley is positioned on the fixed support; the top of the finger-heel track is provided with a first channel which is arranged along the length direction parallel to the arm part; the finger-heel track is connected with the palm part through a bolt, and the third pulley is positioned on the finger-heel track; when the forefinger exoskeleton and the thumb are arranged oppositely, the rear end of the forefinger exoskeleton abuts against the heel track; and one end of the connecting rod is fixedly connected with the fixed support, the other end of the connecting rod is provided with a first sliding block which is clamped in the first channel and is suitable for reciprocating motion in the first channel, and the connecting rod is used for connecting the fixed support and the finger heel track.
And a plurality of pin holes are formed between the finger and heel track and the palm part, and the relative distance between the finger and heel track and the fixed support is changed by changing the position of the bolt, so that the relative position between the third pulley and the second pulley is changed, and the optimal steel wire rope winding track is convenient to select.
Preferably, the driving motor is located at the top of the arm part, the fixed support is fixed at the top of the palm part, the finger-heel rail is of an L-shaped structure, and the third pulley is located at the lower end of the finger-heel rail.
Furthermore, the pulley block also comprises a fourth pulley and a fifth pulley, wherein the fourth pulley and the third pulley are symmetrically arranged, and the fifth pulley and the second pulley are symmetrically arranged; the driving mechanism further comprises a pre-tightening spring fixedly connected with the arm part through a fixing block.
A steel wire rope through hole is correspondingly formed in the surface, perpendicular to the first rotating shaft, of the index finger exoskeleton, and the steel wire rope is connected with the pre-tightening spring through the first pulley, the second pulley, the third pulley, the steel wire rope through hole, the fourth pulley and the fifth pulley in sequence; when the driving motor drives the steel wire rope to tighten, the pre-tightening spring is in a stretching state, and the steel wire rope can be always kept in a straightening state under the action of the pre-tightening spring.
Furthermore, the index finger exoskeleton comprises an inner skeleton part and an exoskeleton part which are sleeved inside and outside, two second channels which are arranged along the length direction of the index finger exoskeleton are symmetrically arranged on the inner side wall of the lower part of the exoskeleton part, and a second slide block which is matched and arranged in the second channels is arranged on the outer side wall of the inner skeleton part, so that the inner skeleton part and the exoskeleton part can move relatively along the second channels; the top of the exoskeleton part is provided with a threaded hole, a screw penetrates through the threaded hole to abut against the surface of the endoskeleton part, so that the endoskeleton part and the exoskeleton part are fastened with each other, and the endoskeleton part is connected with the finger-heel track.
Preferably, the top of endoskeleton portion is equipped with the recess of second channel parallel arrangement, and the screw passes the screw hole supports to be established the inside of recess reaches better limiting displacement.
Furthermore, the pen holding device for assisting the patient with myasthenia also comprises a control system, the control system comprises a PLC, and the driving motor is electrically connected with the PLC to realize automatic operation.
Preferably, the arm portion and the exoskeleton portion are provided with through holes for straps, the through holes for straps are located on two corresponding side walls, and the straps penetrate through the through holes for straps to fix the arm exoskeleton assembly and the forefinger exoskeleton with the arms and the forefingers of the human body respectively.
Preferably, the pulley assembly, the adjusting assembly and the driving mechanism are made of aluminum alloy materials, and the arm exoskeleton assembly and the index exoskeleton are formed by 3D printing of photopolymers such as ABS, PBT and the like.
The utility model has the advantages that:
(1) the utility model discloses a holding device for assisting myasthenia patient, which has small mass and simple structure, realizes the holding movement of forefinger and thumb through reasonable structural design, and completes the action requirements of holding and loosening the pen holder under the driving of the driving mechanism; the normal writing of the patient with myasthenia is ensured, the wearing comfort is ensured, the pen can be held forcefully, and the fingers are not damaged.
(2) Supplementary myasthenia patient's device of holding a pen is connected forefinger ectoskeleton and arm ectoskeleton subassembly through adjusting part, improves the activity space for forefinger ectoskeleton, holds under the pen state, forefinger ectoskeleton keeps tensile and position fixing under wire rope's tensioning effect and rear end adjusting part's the effect of supporting, the rotation axis of forefinger ectoskeleton and the joint centre of gyration coaxial arrangement of forefinger simultaneously avoid the activity in-process to damage the joint.
(3) The utility model discloses the accessible is adjusted among the adjusting part fixing support with indicate to realize the change of wire rope wire winding orbit with orbital relative position, improve the suitability of structure.
(4) The utility model discloses in wire rope's one end by driving motor drive tightens up and relaxs, the other end is connected the pretension spring, the pretension spring can make wire rope remains tight state all the time, and wire rope symmetry is taut forefinger ectoskeleton both sides can make forefinger ectoskeleton atress is even, avoids the unilateral atress to cause the motion of forefinger ectoskeleton is unstable.
(5) The utility model discloses in the inner skeleton portion and the ectoskeleton portion that forefinger ectoskeleton was established by the endotheca constitute, can change at forefinger ectoskeleton motion in-process the relative position of inner skeleton portion and ectoskeleton portion to can change according to the motion adaptability of finger the overall length of forefinger ectoskeleton.
(6) Supplementary myasthenia patient's device of holding a pen, through control system realizes right actuating mechanism with actuating mechanism's control realizes supplementary myasthenia patient's the task of holding a pen device execution and holding the pen-holder, degree of automation is high, the fast operation of being convenient for.
Drawings
The present invention will be further explained with reference to the drawings and examples.
FIG. 1 is a perspective view of an embodiment of a device for assisting a patient with myasthenia in holding a pen (not shown) according to the present invention;
FIG. 2 is a perspective view of an embodiment of the arm exoskeleton assembly of the present invention;
FIG. 3 is a perspective view of an embodiment of the index exoskeleton of the present invention;
FIG. 4 is a perspective view of an embodiment of the adjustment assembly of the present invention;
fig. 5 is an assembled cross-sectional view of the first channel and the first slider according to the present invention;
FIG. 6 is a schematic winding view (viewed from the thumb side) of the pen holding device for assisting the patient with myasthenia;
FIG. 7 is a schematic winding view of the pen holding device for assisting the patient with myasthenia (as viewed from a side away from the thumb) according to the present invention;
FIG. 8 is a schematic view of the internal structure of the aluminum box according to the present invention;
fig. 9 is a sectional view taken along line a-a of fig. 8.
In the figure, 1, an arm exoskeleton assembly, 101, an arm part, 102, a palm part, 103, a thumb part, 2, an index finger exoskeleton, 201, an exoskeleton part, 2011, a second channel, 202, an endoskeleton part, 2021, a second slider, 2022, a groove, 203, a steel wire through hole, 204, a screw, 205, a round wheel, 3, a pulley block, 301, a first pulley, 302, a second pulley, 303, a third pulley, 304, a fourth pulley, 305, a fifth pulley, 4, a steel wire, 5, an adjusting assembly, 501, a fixing support, 502, a connecting rod, 503, a first slider, 504, a finger-heel rail, 5041, a first channel, 6, a driving motor, 7, a fixing block, 8, a pre-tightening spring, 9, an aluminum box, 10, a first rotating shaft, 11, a binding belt through hole, 12 and a bearing bracket.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "length", "upper", "lower", "front", "rear", and the like, indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the term "connected" is to be interpreted broadly, for example, as a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The driving mechanism comprises a driving motor 6, a pulley block 3 and a steel wire rope 4, the driving motor 6 adopts miniature direct current, the motor driving motor 6 is fixed on the arm exoskeleton component 1, and the steel wire rope 4 connects the driving motor 6 with the forefinger exoskeleton 2 through the pulley block 3 to drive the forefinger exoskeleton 2 to move. Pulley block 3 adopts the aluminum alloy material to make, helps the device lightweight. The steel wire rope 4 can be connected with the forefinger exoskeleton 2 through a ring buckle or a small hole arranged on the surface of the forefinger exoskeleton 2.
When the driving motor 6 drives the steel wire rope 4 to be tightened, the distance between the forefinger exoskeleton 2 and the thumb part 103 is gradually reduced and can be arranged opposite to the thumb part 103, at the moment, a penholder can be held and is positioned between the forefinger exoskeleton 2 and the thumb part 103; when the driving motor 6 drives the steel wire rope 4 to be loosened, the distance between the forefinger exoskeleton 2 and the thumb part 103 is gradually increased, and at the moment, the penholder can be loosened.
As shown in fig. 1 and 2, the palm portion 102, the arm portion 101 and the thumb portion 103 of the exoskeleton arm assembly 1 are made into an integral structure according to the shape of the human arm, the arm portion 101 is a bottomless shell structure, the lower end and the rear end of the arm portion 101 are provided with arc-shaped structures to prevent the skin from being scratched by the corner of the surface of the arm portion 101, and the height of the rear half portion of the arm portion 101 is greater than that of the front half portion of the arm portion 101, the "front half portion" is the area of the arm portion 101 close to the wrist when the user wears the device, and the "rear half portion" is the area of the arm portion 101 far from the wrist when the user wears the device. The size of the arm is matched with that of the human body, namely, the arm close to the wrist part is thin, and the arm far away from the wrist part is thick, so that the phenomenon that the arm of the human body is damaged when the arm of the human body leaks out of the arm part 101 to cause fixation is avoided, or the gap between the arm part 101 and the arm of the human body is too large to cause the device to shake. The palm portion 102 is a hollow structure which is through from front to back, and the arm portion 101 and the palm portion 102 are through and designed into a whole, so that accidental injury caused by excessive freedom of the wrist can be avoided. The thumb part 103 is a cavity structure imitating the structure of a human thumb, the connecting part of the thumb part 103 and the palm part 102 is communicated, and the position of the thumb of a user is fixed when the user wears the device.
As shown in figure 1, the forefinger exoskeleton 2 is of a cavity structure which is through from front to back, so that the forefinger exoskeleton 2 is preferably of a cuboid structure in order to avoid long-term bending of the forefinger, and the forefinger exoskeleton 2 is kept in a straight state all the time in the motion process, namely, the finger tips and the finger abdomens are kept in a straight line.
The forefinger exoskeleton 2 and the arm exoskeleton component 1 in the embodiment are preferably formed by printing photopolymers such as ABS, PBT and the like through a 3D technology, the product is mild in material quality and does not hurt the skin, a finished product printed through the 3D technology is perfect in shape, the effect of human body simulation can be completely achieved, and the skin of a user is prevented from being damaged due to improper internal surface treatment.
The connection structure of the index finger exoskeleton 2 and the arm exoskeleton assembly 1 in the embodiment adopts, but is not limited to, the following structure: as shown in fig. 1, the actuator further includes an adjusting assembly 5, one end of the adjusting assembly 5 is connected to the palm portion 102, the other end of the adjusting assembly is rotatably connected to the index finger exoskeleton 2 through a first rotating shaft 10, the first rotating shaft 10 is coaxially arranged with a joint rotation center of the index finger, the joint rotation center of the index finger refers to a joint between the index finger and the palm portion 102 of the human body, so that the rotation of the index finger exoskeleton 2 conforms to the structure of the fingers of the human body, and the index finger is prevented from being pressed and twisted. The adjusting assembly 5 is also made of an aluminum alloy material, the pulley block 3 comprises a first pulley 301 connected with the driving motor 6, a second pulley 302 arranged on the adjusting assembly 5 close to the palm part 102, and a third pulley 303 arranged on the adjusting assembly 5 close to the forefinger exoskeleton 2, and the steel wire rope 4 is connected with the forefinger exoskeleton 2 through the first pulley 301, the second pulley 302 and the third pulley 303 in sequence. When the index exoskeleton 2 is arranged opposite to the thumb part 103, the rear end of the index exoskeleton 2 abuts against the adjusting assembly 5, and the rear end is the end far away from the finger tips.
As shown in fig. 1 and 6, the forefinger exoskeleton 2 is driven by the wire rope 4 to move around the first rotating shaft 10, the first rotating shaft 10 is parallel to the transverse section of the palm portion 102, and the finger belly of the thumb portion 103 is slightly bent towards the palm direction, so that when the forefinger exoskeleton 2 rotates to be opposite to the thumb portion 103, the distance between the forefinger exoskeleton 2 and the thumb portion 103 can be minimized, and the pen holder holding effect is realized. When the forefinger exoskeleton 2 is aligned with the thumb part 103, the steel wire rope 4 is in a tightened state, so that the forefinger exoskeleton 2 cannot rotate reversely away from the thumb part 103, and meanwhile, because the rear end of the forefinger exoskeleton 2 abuts against the adjusting assembly 5, the forefinger exoskeleton 2 cannot rotate backwards continuously, so that the forefinger exoskeleton 2 can be excessively rotated to damage fingers.
The utility model discloses well driving motor 6 can be located the top of arm ectoskeleton subassembly 1, also can be located the bottom of arm ectoskeleton subassembly 1, when driving motor 6 is located the bottom of arm ectoskeleton subassembly 1, 2 downstream forefinger ectoskeletons when wire rope 4 tightens up, adjusting part 5 and assembly pulley 3 need set up the below at whole device, be not convenient for write the operation, for this reason the preferred driving motor 6 of this embodiment sets up the top at the arm ectoskeleton, adjusting part 5 and assembly pulley 3 set up the top at whole device. Specifically, as shown in fig. 1, 4 and 6, the adjusting assembly 5 includes a fixed support 501, a heel rail 504 and a link 502; the fixed support 501 is fixed on the top of the palm part 102; the second pulley 302 is positioned on the fixed support 501 and is rotatably connected to one side of the fixed support 501; the finger-heel track 504 is of an L-shaped structure, a first channel 5041 is arranged at the top of the finger-heel track 504, and the first channel 5041 is arranged in the length direction parallel to the arm part 101; the finger and heel track 504 and the palm part 102 are provided with a plurality of pin holes which are connected through a bolt, the length of the finger and heel track 504 extending out of the palm part 102 can be changed by selecting different pin holes, so that the relative positions of the finger and heel track 504 and the fixed support 501 are changed, for the convenience of installation, the pin holes in the palm part 102 are communicated with the fixed support 501, the bolt is inserted from the fixed support 501 at the top to horizontally fix the finger and heel track 504, the horizontal direction is along the length direction of the arm exoskeleton assembly 1, the third pulley 303 is positioned at one side of the lower end of the finger and heel track 504, and the first pulley 301, the second pulley 302 and the third pulley 303 are all arranged at the same side; when the forefinger exoskeleton 2 is arranged opposite to the thumb part 103, the rear end of the forefinger exoskeleton 2 abuts against the heel track 504; one end of the connecting rod 502 is fixedly connected with the fixed support 501, and the other end of the connecting rod 502 is provided with a first sliding block 503 which is clamped in the first channel 5041 and is suitable for reciprocating motion in the first channel 5041, wherein the clamping means that the first sliding block 503 is positioned in the first channel 5041 and is not easy to be separated, specifically, as shown in fig. 5, the first channel 5041 is a T-shaped groove, and the finger-heel track 504 is vertically fixed through the clamping effect of the first sliding block 503 and the first channel 5041.
Embodiment 2, in embodiment 1, the wire rope 4 is disposed on one side of the forefinger exoskeleton 2, and only one side of the forefinger exoskeleton 2 is pulled, so that uneven stress on two side surfaces of the forefinger exoskeleton 2 is easily caused, and the forefinger exoskeleton 2 is laterally broken, and the forefinger exoskeleton 2 is only rigidly connected by the wire rope 4, when the forefinger exoskeleton 2 is aligned with the thumb 103, the wire rope 4 needs to be absolutely tightened, so as to ensure that the forefinger exoskeleton 2 does not shake, and at this time, the wire rope 4 has a large tension on the forefinger exoskeleton 2, so that the service life of the forefinger exoskeleton 2 is: as shown in fig. 1, 6-9, the pulley block 3 further comprises a fourth pulley 304 arranged symmetrically to the third pulley 303, and a fifth pulley 305 arranged symmetrically to the second pulley 302; the fourth pulley 304 and the third pulley 303 are both located at the lower end of the finger-heel track 504, the fifth pulley 305 and the second pulley 302 are both located on the fixed support 501, the driving mechanism further includes a pre-tightening spring 8 fixedly connected with the arm part 101 through a fixed block 7, the pre-tightening spring 8 can be a common spring, or can be a pre-tightening force of a screw-driven control spring (this is prior art, the present invention does not improve the structure and function), the fixed block 7 and the pre-tightening spring 8 can be separately connected with the arm part 101, or can be arranged in the aluminum box 9 together with the driving motor 6, the aluminum box 9 is connected with the arm part 101, the pre-tightening spring 8 and the driving motor 6 are isolated from the outside, as shown in fig. 8 and 9, the driving motor 6 is installed on a bearing frame 12 inside the aluminum box 9, an output shaft of the driving motor 6 passes through the aluminum box 9 to be connected with the first pulley 301, one end of the pre-tightening spring 8, the other end passes through the aluminum box 9 to be connected with the steel wire rope 4.
A steel wire rope through hole 203 is correspondingly formed in the surface, perpendicular to the first rotating shaft 10, of the index finger exoskeleton 2, and the steel wire rope 4 is connected with a pre-tightening spring 8 through a first pulley 301, a second pulley 302, a third pulley 303, the steel wire rope through hole 203, a fourth pulley 304 and a fifth pulley 305 in sequence; when the driving motor 6 drives the steel wire rope 4 to be tightened, the pre-tightening spring 8 is in a stretching state, and the steel wire rope 4 can be always kept in a straightening state under the action of the pre-tightening spring 8.
In the embodiment, the steel wire ropes 4 are symmetrically arranged at two sides of the forefinger exoskeleton 2, so that the two sides of the forefinger exoskeleton 2 are uniformly stressed; when the force exerted on the steel wire rope 4 by the driving motor 6 is larger than the pre-tightening force of the pre-tightening spring 8, the steel wire rope 4 drives the forefinger exoskeleton 2 to start to bend gradually until the forefinger exoskeleton reaches the limit position, so that the bending of the forefinger is controlled, and the steel wire rope 4 can be always kept in a tensioned state under the restoring force of the pre-tightening spring 8 because the pre-tightening spring 8 is in a stretched state at the moment, so that the forefinger exoskeleton 2 is not easy to shake; when the penholder is loosened, the motor 6 is driven to rotate reversely, the steel wire rope 4 is firstly pulled back by the pre-tightening spring 8 when loosened, and the forefinger exoskeleton 2 slowly rotates away from the thumb part 103 in the process of resetting the pre-tightening spring 8, so that a buffer space is provided for the rotation of the forefinger exoskeleton 2, and the finger joints are prevented from being damaged by sudden movement of the forefinger exoskeleton 2.
Meanwhile, the relative positions of the fixed support 501 and the finger-heel track 504 can be adjusted, so that convenience is provided for adjusting the pretightening force of the steel wire rope 4.
The two second grooves 2011 are symmetrically arranged, on one hand, the two second grooves can be used as relative movement tracks of the inner skeleton portion 202 and the exoskeleton portion 201, on the other hand, the two second grooves are used for limiting the inner skeleton portion 202 and the exoskeleton portion 201 in the vertical direction, so that the inner skeleton portion 202 and the exoskeleton portion 201 only move relatively in the length direction of the index finger, when the driving motor 6 operates, the screw 204 is in a loose state, the inner skeleton portion 202 and the exoskeleton portion 201 move relatively along with the bending of the finger, the total length of the index finger exoskeleton 2 is changed, and when the driving motor 6 stops, the inner skeleton portion 202 and the exoskeleton portion 201 are fastened by the screw 204.
Preferably, the groove 2022 arranged in parallel with the second groove 2011 is arranged at the top of the inner skeleton portion 202, the screw 204 passes through the threaded hole and abuts against the inside of the groove 2022, so that the screw 204 is prevented from slipping on the surface of the arched inner skeleton portion 202, and a better fastening effect is achieved.
Preferably, the arm part 101 and the exoskeleton part 201 are both provided with through holes 11 for straps on two corresponding side walls, and the straps pass through the through holes 11 for straps to fix the arm exoskeleton assembly 1 and the index exoskeleton 2 to the arm and the index of the human body respectively. The lower surface of exoskeleton portion 201 protrudes beyond the lower surface of endoskeleton portion 202, and when the strap is installed, endoskeleton portion 202 can be wrapped in the strap.
In this specification, the schematic representations of the terms are not necessarily referring to the same embodiment. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments.
In light of the foregoing, it will be apparent to those skilled in the art from this disclosure that various changes and modifications can be made without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (8)
1. A pen holding device for assisting a patient with myasthenia, comprising:
an actuator comprising an arm exoskeleton assembly (1) and an index exoskeleton (2); the arm exoskeleton component (1) comprises a palm part (102), an arm part (101) and a thumb part (103) which are fixedly connected, the arm part (101) is suitable for being sleeved on an arm of a human body, the palm part (102) is suitable for being sleeved on a palm of the human body, the thumb part (103) is suitable for being sleeved on a thumb of the human body, and the index finger exoskeleton (2) is suitable for being sleeved on an index finger of the human body; the index finger exoskeleton (2) is movably connected with the arm exoskeleton assembly (1);
the driving mechanism comprises a driving motor (6), a pulley block (3) and a steel wire rope (4), the driving motor (6) is fixed on the arm exoskeleton assembly (1), and the steel wire rope (4) connects the driving motor (6) with the forefinger exoskeleton (2) through the pulley block (3);
when the driving motor (6) drives the steel wire rope (4) to be tightened, the distance between the forefinger exoskeleton (2) and the thumb part (103) is gradually reduced, and the forefinger exoskeleton and the thumb part (103) can be arranged opposite to each other; when the driving motor (6) drives the steel wire rope (4) to be loosened, the distance between the forefinger exoskeleton (2) and the thumb part (103) is gradually increased;
the executing mechanism further comprises an adjusting component (5), one end of the adjusting component (5) is connected with the palm part (102), the other end of the adjusting component is rotatably connected with the forefinger exoskeleton (2) through a first rotating shaft (10), and the first rotating shaft (10) and a joint rotation center of the forefinger are coaxially arranged;
the pulley block (3) comprises a first pulley (301) connected with the driving motor (6), a second pulley (302) arranged on the adjusting assembly (5) close to the palm part (102), and a third pulley (303) arranged on the adjusting assembly (5) close to the index finger exoskeleton (2), and the steel wire rope (4) is connected with the index finger exoskeleton (2) through the first pulley (301), the second pulley (302) and the third pulley (303) in sequence;
when the index finger exoskeleton (2) is arranged opposite to the thumb part (103), the rear end of the index finger exoskeleton (2) is abutted on the adjusting component (5);
the adjustment assembly (5) comprises:
the fixed support (501), the said fixed support (501) is fixed with said palm portion (102); the second pulley (302) is positioned on the fixed support (501);
a finger-heel rail (504), the top of the finger-heel rail (504) is provided with a first channel (5041), and the first channel (5041) is arranged along the length direction parallel to the arm part (101); the finger-heel track (504) is connected with the palm part (102) through a bolt, and the third pulley (303) is positioned on the finger-heel track (504); when the forefinger exoskeleton (2) and the thumb part (103) are arranged oppositely, the rear end of the forefinger exoskeleton (2) abuts against the heel track (504);
and one end of the connecting rod (502) is fixedly connected with the fixed support (501), and the other end of the connecting rod (502) is provided with a first sliding block (503) which is clamped in the first channel (5041) and is suitable for reciprocating in the first channel (5041).
2. The device for assisting the patient with myasthenia of claim 1, wherein: the driving motor (6) is located at the top of the arm part (101), the fixed support (501) is fixed at the top of the palm part (102), the finger-heel rail (504) is of an L-shaped structure, and the third pulley (303) is located at the lower end of the finger-heel rail (504).
3. The device for assisting the patient with myasthenia of claim 1, wherein: the pulley block (3) further comprises a fourth pulley (304) arranged symmetrically to the third pulley (303), and a fifth pulley (305) arranged symmetrically to the second pulley (302);
the driving mechanism further comprises a pre-tightening spring (8) fixedly connected with the arm part (101) through a fixing block (7);
a wire rope through hole (203) is correspondingly formed in the surface, perpendicular to the first rotating shaft (10), of the index finger exoskeleton (2), and the wire rope (4) is connected with the pre-tightening spring (8) through the first pulley (301), the second pulley (302), the third pulley (303), the wire rope through hole (203), the fourth pulley (304) and the fifth pulley (305) in sequence; when the driving motor (6) drives the steel wire rope (4) to be tightened, the pre-tightening spring (8) is in a stretching state.
4. The device for assisting the patient with myasthenia of claim 1, wherein: the index finger exoskeleton (2) comprises an inner skeleton part (202) and an exoskeleton part (201) which are sleeved inside and outside, two second channels (2011) which are arranged along the length direction of the index finger exoskeleton (2) are symmetrically arranged on the inner side wall of the lower part of the exoskeleton part (201), and a second slide block (2021) which is arranged in the second channels (2011) in a matched mode is arranged on the outer side wall of the inner skeleton part (202);
the top of the exoskeleton part (201) is provided with a threaded hole, and a screw (204) is abutted to the surface of the endoskeleton part (202) through the threaded hole;
the endoskeleton portion (202) is connected to the finger-heel rail (504).
5. The device for assisting the patient with myasthenia as claimed in claim 4, wherein: the top of the endoskeleton part (202) is provided with a groove (2022) arranged in parallel with the second channel (2011), and a screw (204) passes through the threaded hole to abut against the inside of the groove (2022).
6. The device for assisting the patient with myasthenia of claim 1, wherein: the pen holding device for assisting the patient with myasthenia also comprises a control system, wherein the control system comprises a PLC (programmable logic controller), and the driving motor (6) is electrically connected with the PLC.
7. The device for assisting the patient with myasthenia as claimed in claim 4, wherein: and the arm part (101) and the exoskeleton part (201) are respectively provided with a through hole (11) for a binding band on two corresponding side walls, and the binding band passes through the through hole (11) for the binding band to fix the arm exoskeleton component (1) and the forefinger exoskeleton (2) with the arm and the forefinger of the human body respectively.
8. The device for assisting the patient with myasthenia of claim 1, wherein: the pulley block (3), the adjusting component (5) and the driving mechanism are made of aluminum alloy materials, and the arm exoskeleton component (1) and the forefinger exoskeleton component (2) are formed by 3D printing of photopolymers such as ABS and PBT.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921331133.1U CN211222733U (en) | 2019-08-16 | 2019-08-16 | Holding pen device for assisting patient with myasthenia |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921331133.1U CN211222733U (en) | 2019-08-16 | 2019-08-16 | Holding pen device for assisting patient with myasthenia |
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| Publication Number | Publication Date |
|---|---|
| CN211222733U true CN211222733U (en) | 2020-08-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921331133.1U Active CN211222733U (en) | 2019-08-16 | 2019-08-16 | Holding pen device for assisting patient with myasthenia |
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| Country | Link |
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| CN (1) | CN211222733U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110315887A (en) * | 2019-08-16 | 2019-10-11 | 常州机电职业技术学院 | A kind of holding device assisting myasthenia gravis patients |
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2019
- 2019-08-16 CN CN201921331133.1U patent/CN211222733U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110315887A (en) * | 2019-08-16 | 2019-10-11 | 常州机电职业技术学院 | A kind of holding device assisting myasthenia gravis patients |
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