CN211326576U

CN211326576U - Recovered machine gloves

Info

Publication number: CN211326576U
Application number: CN201921246568.6U
Authority: CN
Inventors: 罗睿康; 杨晓京; 刘孟狄; 王忠林; 赵相旭
Original assignee: Kunming University of Science and Technology
Current assignee: Kunming University of Science and Technology
Priority date: 2019-08-03
Filing date: 2019-08-03
Publication date: 2020-08-25
Anticipated expiration: 2029-08-03

Abstract

The utility model relates to a recovered machine gloves belongs to the recovered apparatus field. Including the gloves main part, the surface mounting of gloves main part has control assembly, and be located the finger surface department of gloves main part, control assembly includes the steering wheel, the internally mounted of steering wheel has the connecting rod, the loop bar is installed to the tip of connecting rod, one side of loop bar is connected with the side lever, install the regulating block on the side lever, one side of steering wheel is provided with the steering wheel axle, and be connected with the side lever, the bottom both sides of steering wheel all are provided with the elastic positioning thin slice of taking the buckle certainly, the one end of gloves main part is provided with the controller, install connecting wire between controller and the control assembly. The utility model relates to a recovered machine gloves, this robot portable liberates recovered person from tedious recovered robot, can walk while walking and carry out the hand rehabilitation, and application scope has obtained the reinforcing, can match the crowd of different palms size and carry out the rehabilitation activity, and use structure is comparatively light, easy operation, convenient and practical.

Description

Recovered machine gloves

Technical Field

The utility model relates to a recovered machine gloves belongs to the recovered apparatus field.

Background

The rehabilitation robot is an important branch of medical robots, and research on the rehabilitation robot penetrates through fields of rehabilitation medicine, biomechanics, mechanics, electronics, materials science, computer science, robotics and the like, and becomes a research hotspot in the international robot field. At present, the rehabilitation robot is widely applied to the aspects of rehabilitation nursing, artificial limbs, rehabilitation therapy and the like, which not only promotes the development of rehabilitation medicine, but also drives the development of new technology and new theory in the related field.

On the technical condition basis of the recovered robot that has now, still there are a lot of not enough on the scope nature and the convenience of the use of workstation, and most recovered manipulator is comparatively heavy, and the patient uses very arduous, and is structurally mostly heavier metal material, and the cost is great, uses very inconveniently.

Disclosure of Invention

The to-be-solved technical problem of the utility model is to provide a rehabilitation machine glove for overcome prior art's defect.

The utility model adopts the technical proposal that: a rehabilitation robot glove comprises a glove main body 1, wherein more than two control components 2 connected together are arranged on the surface of the glove main body 1, the control components 2 are positioned on the surfaces of fingers of the glove main body 1, the control component 2 comprises a control steering engine 7, a connecting rod 8 is arranged in the steering engine 7, the end part of the connecting rod 8 is connected with the lower end of a loop bar 11, one side of the loop bar 11 is connected with one end of a side bar 10, the side bar 10 is hollow and comprises a plurality of sections, two adjacent sections of the side bars 10 are connected in a sliding way through an adjusting block 12, one side of the steering engine 7 is provided with a steering engine shaft 9, the steering engine shaft 9 is connected with the other end of the side lever 10, one end of the glove main body 1 close to the wrist is provided with a controller 4, the controller 4 is connected with steering engines 7 in all the control assemblies 2 through connecting wires 3, and the upper end of a loop bar 11 in a lower end control assembly 2 is connected with a connecting rod 8 in the steering engine 7 in the next control assembly 2.

Specifically, the controller 4 is internally provided with a single chip microcomputer 14, a bluetooth module 15 and a power module 16 connected with the single chip microcomputer, the bluetooth module 15 is connected with the power module 16, and the bluetooth module 15 is connected with the control terminal.

Preferably, the side rod 10 is U-shaped as a whole, the cross section of the side rod 10 is circular, the cross section of the adjusting block 12 is circular, the diameter of the adjusting block 12 is smaller than that of the side rod 10, two ends of the adjusting block 12 are respectively sleeved inside two adjacent side rods 10, and the outer wall of the adjusting block 12 is in clearance fit with the inner wall of the side rod 10.

More preferably, the end of the side lever 10 is provided with a boss, the end of the two ends of the adjusting block 12 is provided with a boss, and the boss of the side lever 10 slides along the outer wall of the adjusting block 12.

Preferably, elastic positioning thin sheets 13 with buckles are arranged on two sides of the bottom end of the steering engine 7, and a plurality of positioning holes 6 corresponding to the buckles on the elastic positioning thin sheets 13 are formed in the glove main body (1).

Preferably, the housing of the steering engine 7 is made of a plastic material.

Preferably, one side of the controller 4 is provided with a USB connection port 5 connected with a power supply module 16.

Preferably, the connecting rod 8 is made of light metal, and the loop bar 11, the side bar 10 and the adjusting block 12 are made of high polymer plastics.

The utility model has the advantages that: the utility model relates to a recovered machine gloves, this robot portable liberates recovered person from tedious recovered robot, can walk while walking and carry out the hand rehabilitation, and application scope has obtained the reinforcing, can match the crowd of different palms size and carry out the rehabilitation activity, and use structure is comparatively light, easy operation, convenient and practical.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:

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

fig. 2 is a schematic view of a part of the structure of the control assembly of the present invention;

fig. 3 is a schematic diagram of the controller structure of the present invention.

The reference numbers in the figures are: 1. a glove body; 2. a control component; 3. connecting an electric wire; 4. a controller; 5. a connection port; 6. positioning holes; 7. a steering engine; 8. a connecting rod; 9. a rudder machine shaft; 10. a side lever; 11. a loop bar; 12. an adjusting block; 13. an elastic positioning sheet; 14. a single chip microcomputer; 15. a Bluetooth module; 16. and a power supply module.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention.

Example 1: as shown in fig. 1 to 3, a rehabilitation robot glove comprises a glove main body 1, wherein more than two control components 2 connected together are arranged on the surface of the glove main body 1, the control components 2 are positioned on the finger surface of the glove main body 1, the control component 2 comprises a control steering engine 7, a connecting rod 8 is arranged in the steering engine 7, the end part of the connecting rod 8 is connected with the lower end of a loop bar 11, one side of the loop bar 11 is connected with one end of a side bar 10, the side bar 10 is hollow and comprises a plurality of sections, two adjacent sections of the side bars 10 are connected in a sliding way through an adjusting block 12, one side of the steering engine 7 is provided with a steering engine shaft 9, the steering engine shaft 9 is connected with the other end of the side lever 10, one end of the glove main body 1 close to the wrist is provided with a controller 4, the controller 4 is connected with steering engines 7 in all the control assemblies 2 through connecting wires 3, and the upper end of a loop bar 11 in a lower end control assembly 2 is connected with a connecting rod 8 in the steering engine 7 in the next control assembly 2.

Further, the inside of controller 4 be provided with singlechip 14 and bluetooth module 15 and the power module 16 of being connected with it, bluetooth module 15 and power module 16 are connected, bluetooth module 15 and control terminal (like cell-phone or computer APP) wireless connection. Control terminal passes through bluetooth module and sends control signal for establishing singlechip 14, and singlechip 14 is according to the work of received control command control steering wheel 7, and then the work of the whole recovered machine gloves of control, and built-in power module 16 can provide electric power for singlechip 14, bluetooth module 15 and drive.

Furthermore, the side rod 10 is U-shaped as a whole, the cross section of the side rod 10 is circular, the cross section of the adjusting block 12 is circular, the diameter of the adjusting block 12 is smaller than that of the side rod 10, two ends of the adjusting block 12 are respectively sleeved inside two adjacent side rods 10, and the outer wall of the adjusting block 12 is in clearance fit with the inner wall of the side rod 10. Namely, the connecting mode of the polished rod and the sleeve rod, because the minimum distance between the two steering engines 7 is determined by the mounting positions of the two steering engines 7, the two ends of the adjusting block 12 cannot slide out of the side rods 10 connected with the adjusting block.

Furthermore, the end of the side lever 10 is provided with a boss, the end of the two ends of the adjusting block 12 is provided with a boss, and the boss of the side lever 10 slides along the outer wall of the adjusting block 12. The bosses at the end parts of the side rods 10 and the adjusting blocks 12 further ensure that the two ends of the adjusting blocks 12 cannot slide out of the side rods 10 connected with the adjusting blocks.

Furthermore, elastic positioning thin sheets 13 with buckles are arranged on two sides of the bottom end of the steering engine 7, and a plurality of positioning holes 6 corresponding to the buckles on the elastic positioning thin sheets 13 are formed in the glove main body 1. Elastic positioning sheet 13 is provided with a convex buckle, positioning hole 6 on glove body 1 is a concave hole, and control assembly 2 can be conveniently installed on glove body 1 by arranging positioning hole 6, and meanwhile, accurate positioning installation can be carried out.

Furthermore, the shell of the steering engine 7 is made of plastic materials. The mass of the assembly can be mostly reduced, and the cost is saved.

Further, one side of the controller 4 is provided with a USB connection port 5 connected with a power supply module 16. The USB connecting port 5 is used for connecting external electric equipment and is a power module 16, and the USB connecting device is simple and convenient.

Furthermore, the connecting rod 8 is made of light metal, and the loop bar 11, the side bar 10 and the adjusting block 12 are made of high polymer plastics.

The utility model discloses a theory of operation is: the utility model discloses when using, this manipulator is the mechatronic system that comprises drive arrangement, power transmission mechanism, actuating mechanism and control module, and it can not only drive the finger and carry out appointed motion, can also realize the rehabilitation training aids of different functions through control module's different control mode (for example only control a certain joint on the forefinger and take exercise, also can adjust steering wheel 7 axle moment of torsion size and control joint slew velocity and turned angle). Wherein the driving device is composed of a steering engine 7, which can receive the motion transmission condition of the monitoring force transmission mechanism and the instruction sent by the controller 4, and drive the mechanical joint to move through an actuating mechanism, thereby assisting the fingers of the patient to do corresponding motion, and achieving the purpose of training the fingers, in the design, the easy dismounting is taken as the main line for design, the steering engine 7 is selected and used in the rehabilitation robot, the steering engine 7 is light because the steering engine shaft only needs to provide torque to drive the exoskeleton connecting rod 8, and the motion of the steering engine 7 does not need high speed, and only rotates within an angle of 100 degrees, so the material can be selected and used for replacing the shell and some internal components with plastics, the quality of the steering engine can be greatly reduced, the weight of the steering engine is lightened, the cost is saved, the steering engine 7 is positioned on the glove, and through the arranged elastic positioning thin sheet 13 with a buckle, the location is 90 degrees thin slice, cooperate at its both ends with steering wheel 7, the fixed elastic positioning thin slice 13 of cooperation with a buckle of taking certainly and locating hole 6 on the gloves main part 1 and then fixed steering wheel 7 naturally, then be exactly the design of transmission connecting rod 8, adopt hemisphere draw-in groove to cooperate with the hemisphere groove on the steering wheel 7 the bulb end of pole, satisfy the motion angle of finger in the reality, regulating block 12 and side lever 10 are clearance fit relation, the diameter of side lever 12 slightly is less than regulating block 10, regulating block 12 can slide between a section distance in regulating block 10 inside, the great protection zone of protection (when the finger is crooked, two adjacent steering wheel 7 intervals are elongated, in order to match the length change, regulating block 12 slides in two adjacent side levers 10 insidely, the same reason is symmetrical structure, the opposite side has the same length change). Both the tie rod 8 and the loop rod 11 are commercially available elements, the specific construction of which will not be described in detail here. Then the steering engine shaft on one side of the steering engine 7 is used as a driving part and is finally connected with the loop bar 11 of the hemispherical bar through the matching of the connecting bar 8 and the loop bar 11 by a bar, so that a complete movement state of a joint is formed, similarly, other joints on one finger are assembled, the exoskeleton assembly of the whole palm glove is realized, and the steering engine and a transmission component thereof can be disassembled on certain normal fingers according to the requirements of users, and because the connecting mode of the adjusting block 12 and the side bar 10 ensures that the distance change in a certain range can be realized between two adjacent steering engines 7 to adapt to the requirements of different finger lengths, the control components are all standard components and can be assembled on the glove. Greatly increased its flexibility and applicability, and connecting rod 8 and loop bar 11 itself have frictional force so the user can turn off the power and use of using this resistance to temper the finger slowly at the recovery in-process, in the selection of the material of connecting rod 8, loop bar 11, regulating block 12, side lever 10, connecting rod 8 chooses light metal for use, and loop bar 11, regulating block 12, side lever 10 all choose polymer plastics for use, when satisfying its rotational rigidity, the weight is lightened, and can bear certain moment of flexure, in order to deal with some special cases.

This robot portable liberates the recovered person from heavy recovered robot, can walk while walking and carry out hand rehabilitation, and application scope has obtained the reinforcing, can match the crowd of different palms size and carry out the rehabilitation activity, and the use structure is comparatively light, easy operation, convenient and practical.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A rehabilitation machine glove, characterized in that: the glove comprises a glove main body (1), more than two control assemblies (2) which are connected together are mounted on the surface of the glove main body (1), the control assemblies (2) are positioned at the finger surface of the glove main body (1), each control assembly (2) comprises a control steering engine (7), a connecting rod (8) is mounted inside each steering engine (7), the end part of each connecting rod (8) is connected with the lower end of a sleeve rod (11), one side of each sleeve rod (11) is connected with one end of a side rod (10), each side rod (10) is hollow and comprises a plurality of sections, two adjacent sections of side rods (10) are in sliding connection through adjusting blocks (12), a steering engine shaft (9) is arranged on one side of each steering engine (7), each steering engine shaft (9) is connected with the other end of each side rod (10), a controller (4) is arranged at one end, close to a wrist, of the glove main body (1), and each controller (4) is connected with the steering engines (7) in all the control assemblies, the upper end of a loop bar (11) in the lower end control assembly (2) is connected with a connecting rod (8) in the steering engine (7) in the next control assembly (2).

2. The rehabilitation machine glove of claim 1, wherein: the controller (4) is internally provided with a single chip microcomputer (14), a Bluetooth module (15) and a power module (16) which are connected with the single chip microcomputer, the Bluetooth module (15) is connected with the power module (16), and the Bluetooth module (15) is connected with a control terminal.

3. The rehabilitation machine glove of claim 1, wherein: the side rod (10) wholly be the U type, the cross section of side rod (10) is circular, the cross section of regulating block (12) is circular, the diameter of regulating block (12) is less than the diameter of side rod (10), the both ends of regulating block (12) are overlapped respectively in the inside of adjacent two sections side rod (10), the outer wall of regulating block (12) and the inner wall clearance fit of side rod (10).

4. A rehabilitation machine glove according to claim 3, characterized in that: the end parts of the side rods (10) are provided with bosses, the end parts of the two ends of the adjusting block (12) are provided with bosses, and the bosses of the side rods (10) slide along the outer wall of the adjusting block (12).

5. The rehabilitation machine glove of claim 1, wherein: the glove is characterized in that elastic positioning thin sheets (13) with buckles are arranged on two sides of the bottom end of the steering engine (7), and a plurality of positioning holes (6) corresponding to the buckles on the elastic positioning thin sheets (13) are formed in the glove main body (1).

6. The rehabilitation machine glove of claim 1, wherein: the shell of the steering engine (7) is made of plastic materials.

7. The rehabilitation machine glove of claim 2, wherein: and one side of the controller (4) is provided with a USB connecting port (5) connected with the power supply module (16).

8. The rehabilitation machine glove of claim 1, wherein: the connecting rod (8) is made of light metal, and the loop bar (11), the side bar (10) and the adjusting block (12) are made of high polymer plastic.