CN215395211U - Hand exoskeleton driven by flexible shaft - Google Patents
Hand exoskeleton driven by flexible shaft Download PDFInfo
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- CN215395211U CN215395211U CN202121846823.8U CN202121846823U CN215395211U CN 215395211 U CN215395211 U CN 215395211U CN 202121846823 U CN202121846823 U CN 202121846823U CN 215395211 U CN215395211 U CN 215395211U
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Abstract
The utility model discloses a flexible shaft transmission hand exoskeleton, which comprises a motor driving mechanism and a hand actuating mechanism which are detachably connected with each other, wherein the motor driving mechanism comprises a motor, an upper dismantling joint, a solid flexible shaft, a hollow flexible shaft and the like; the hand actuating mechanism comprises a finger assembly, a push rod, a lead screw, a connecting rod, a nut, a limiting sensor, a lower dismounting joint and the like, the finger assembly comprises a finger root, a finger joint and a spring assembly, the lead screw of the nut is connected with a solid flexible shaft in a rotating mode, the finger root, the push rod, the connecting rod and the nut are connected in sequence, the limiting sensor is arranged on one side of the connecting rod, and the lower dismounting joint is connected with the hollow flexible shaft. The power mechanism and the hand actuating mechanism are separated, so that the hand load is effectively reduced, and the hand actuating mechanism is convenient to use in daily life; the flexible shaft power transmission provides a better power transmission mode, and the reliability is higher; the transmission device is simpler, the size and the mass of the driving box body are reduced, and the carrying is convenient.
Description
Technical Field
The utility model belongs to the technical field of robots, and particularly relates to a flexible shaft transmission hand exoskeleton.
Background
The hand exoskeleton is a mechanical device manufactured by simulating the hand structure of a human body, can protect the hand structure of the human body from the outside and can complete actions by matching with the hand of the human body. At present, the hand exoskeleton is often applied to a bionic simulation scene to simulate the grabbing process of a user for an object. The hand exoskeleton capable of being used in daily life of people is researched to obviously improve the life quality of people with hand dysfunction. The common forms of hand exoskeleton are mainly two types: one is that the power and the actuating mechanism are integrated, and is concentrated on the hand; the other is that the power mechanism and the hand actuating mechanism are separated and transmit power through a wire. The first mode is that the size and the weight are larger, the hand is concentrated, the carrying of a user is not facilitated, and the first mode is generally applied to a fixed place for rehabilitation; in the second mode, the power mechanism is separated and can be placed at other parts of the body of a user, so that the hand load is reduced, and the hand-operated electric toothbrush is beneficial to daily life. However, the transmission of power by wire presents various problems in different situations: sometimes, the wire is needed to provide larger tension force and needs to be thicker, but the power is transmitted by the wire winding mode of the wire wheel generally, and the wire is needed to be softer for winding; the increased flexibility of the cord results in increased elasticity and reduced load bearing capacity, which in turn can impair the power transmission function of the pull cord. Simultaneously, act as go-between need constantly buckle on the line wheel, make a round trip to slide in the spool, the inside destruction and the outside wearing and tearing of acting as go-between are difficult to control, and then the reliability of power transmission is difficult to guarantee.
SUMMERY OF THE UTILITY MODEL
In view of the above, the present invention provides a flexible shaft transmission hand exoskeleton to solve the deficiencies in the prior art.
In order to achieve the purpose, the utility model is realized by the following technical scheme:
the utility model provides a flexible axle transmission hand ectoskeleton, its motor drive mechanism and the hand actuating mechanism that includes mutual detachable connection, wherein: the motor driving mechanism comprises a shell, a motor, an upper dismounting joint, a solid flexible shaft and a hollow flexible shaft, wherein the motor is positioned in the shell, the upper dismounting joint is connected with the outer end part of the shell, one end of the solid flexible shaft penetrates through the shell to be connected with the motor, the other end of the solid flexible shaft penetrates through the hollow flexible shaft, and the upper dismounting joint is connected with the hollow flexible shaft; the hand actuating mechanism comprises a base, and a finger assembly, a push rod, a lead screw, a seat platform, a connecting rod, a nut, a limiting sensor and a lower dismounting joint which are arranged on the base, wherein the lower dismounting joint is connected with the upper dismounting joint through a lead, the finger assembly comprises a finger root, a finger joint and a spring assembly, and the spring assembly is used for connecting the finger root with the finger joint and connecting the finger joint with the finger joint; lead screw one end swivelling joint in on the seat platform, the other end is connected solid flexible axle, nut swivelling joint in on the lead screw, indicate the root the push rod the connecting rod with the nut connects gradually, spacing sensor locates connecting rod one side, the joint connection of tearing open down hollow flexible axle, the bottom of base has electrical connection end.
The flexible shaft transmission hand exoskeleton is characterized in that the connecting rod is Contraband-shaped, the connecting rod is composed of two vertical rods and a cross rod, the push rod is connected with the ends of the vertical rods, and the nut is connected with the cross rod.
The flexible shaft transmission hand exoskeleton is characterized in that the spring assembly comprises a spring piece and a spiral spring, and the spiral spring surrounds the spring piece.
The hand exoskeleton is driven by the flexible shaft, and supporting blocks are arranged inside the spring assembly and between the finger joints.
The technical scheme of the utility model has the beneficial effects that:
the power mechanism and the hand actuating mechanism are separated, so that the hand load is effectively reduced, and the hand actuating mechanism is convenient to use in daily life;
the power transmission mechanism adopts a flexible shaft scheme, so that a better power transmission mode is provided, and the reliability is higher;
the transmission is simpler, the size and the mass of the driving box body are reduced, and the carrying is convenient.
Drawings
To further illustrate the above objects, structural features and effects of the present invention, the present invention will be described in detail below with reference to the accompanying drawings.
FIG. 1 is a schematic structural diagram of a motor driving mechanism according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a hand actuator according to an embodiment of the utility model.
Detailed Description
The utility model is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
Referring to fig. 1 and 2, the flexible shaft transmission hand exoskeleton comprises a motor driving mechanism 1 and a hand actuating mechanism 2 which are detachably connected with each other, wherein the motor driving mechanism 1 comprises a shell 11, a motor 12, an upper dismounting joint 13, a solid flexible shaft 14 and a hollow flexible shaft 15, the motor 12 is positioned in the shell 11, the upper dismounting joint 13 is connected with the outer end part of the shell 11, one end of the solid flexible shaft 14 penetrates through the shell 11 to be connected with the motor 12, the other end of the solid flexible shaft penetrates through the hollow flexible shaft 15, and the upper dismounting joint 13 is connected with the hollow flexible shaft 15. The hand actuator 2 comprises a base 21, and a finger assembly 22, a push rod 23, a lead screw 24, a seat 25, a connecting rod 26, a nut 27, a limit sensor 28 and a lower detachable joint 29 which are arranged on the base 21, wherein the lower detachable joint 29 is connected with the upper detachable joint 13 through a lead (the lead is not shown in the figure), so that the electric signal of the limit sensor 28 is transmitted to an external drive box control board. The finger assembly 22 includes a finger base 221, a finger joint 222 and a spring assembly 223, wherein the spring assembly 223 is used for connecting the finger base 221 and the finger joint 222 and connecting the finger joint 222 and the finger joint 222. One end of a screw rod 24 is rotatably connected to the seat stand 25, the other end of the screw rod is connected with the solid flexible shaft 14, a nut 27 is rotatably connected to the screw rod 24, a finger root 221, a push rod 23, a connecting rod 26 and the nut 27 are sequentially connected, a limit sensor 28 is arranged on one side of the connecting rod 26, a lower detachable joint 29 is connected with the hollow flexible shaft 15, and an electric connecting end 211 is arranged at the bottom of the base 21 and can provide an electric signal for the limit sensor 28.
In the preferred embodiment of the present disclosure, with continued reference to the drawings, the connecting rod 26 is "Contraband" shaped, the connecting rod 26 is formed by two vertical rods 261 and a cross rod 262, the push rod 23 is connected to the ends of the vertical rods 261, and the nut 27 is connected to the cross rod 262.
The spring assembly 223 of the finger assembly 22 includes a spring plate 2231 and a coil spring 2232, and the coil spring 2232 surrounds the spring plate 2231. Generally, the spring sheet 2231 is two sheets that overlap each other, but the utility model is not limited thereto. Preferably, support blocks are also provided inside the spring assembly 223 and between the knuckles 222 to provide support during extension.
The spring sheet 2231 is not stretchable but only bendable. The motor 12 rotates the screw 24, which in turn moves the nut 27 back and forth: the nut 27 drives the push rod 23 to push the upper layer of the spring sheet 2231 to slide forward through the connecting rod 26, so that the spring sheet 2231 deforms and bends to drive fingers to perform bending movement; the push rod 23 pulls the upper layer of the spring sheet 2231 to slide backwards, a finger is moved to perform stretching movement, the linear stroke of the nut 27 on the lead screw 24 is converted into the finger bending and stretching movement, and the limit sensor 28 is responsible for limiting the stroke limit position of the push rod 23.
The power mechanism and the hand actuating mechanism are separated, so that the hand load is effectively reduced, and the hand actuating mechanism is convenient to use in daily life; the power transmission mechanism adopts a flexible shaft scheme, so that a better power transmission mode is provided, and the reliability is higher; the transmission device is simpler, the size and the mass of the driving box body are reduced, and the carrying is convenient.
While the utility model has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the utility model.
Claims (4)
1. The utility model provides a flexible axle transmission hand ectoskeleton which characterized in that, includes motor-driven mechanism (1) and hand actuating mechanism (2) of mutual detachable connection, wherein: the motor driving mechanism (1) comprises a shell (11), a motor (12), an upper dismantling joint (13), a solid flexible shaft (14) and a hollow flexible shaft (15), the motor (12) is located in the shell (11), the upper dismantling joint (13) is connected with the outer end of the shell (11), one end of the solid flexible shaft (14) penetrates through the shell (11) to be connected with the motor (12), the other end of the solid flexible shaft penetrates through the hollow flexible shaft (15), and the upper dismantling joint (13) is connected with the hollow flexible shaft (15); the hand actuating mechanism (2) comprises a base (21), a finger assembly (22), a push rod (23), a lead screw (24), a seat (25), a connecting rod (26), a nut (27), a limiting sensor (28) and a lower dismounting joint (29) which are arranged on the base (21), wherein the lower dismounting joint (29) is connected with the upper dismounting joint (13) through a lead, the finger assembly (22) comprises a finger root (221), a finger joint (222) and a spring assembly (223), and the spring assembly (223) is used for connecting the finger root (221) with the finger joint (222) and connecting the finger joint (222) with the finger joint (222); lead screw (24) one end swivelling joint in on seat platform (25), the other end is connected solid flexible axle (14), nut (27) swivelling joint in on lead screw (24), indicate root (221) push rod (23) connecting rod (26) with nut (27) connect gradually, limit sensor (28) are located connecting rod (26) one side, lower disconnect joint (29) are connected hollow flexible axle (15), the bottom of base (21) has electrical connection end (211).
2. The flexible shaft transmission hand exoskeleton of claim 1, wherein the connecting rod (26) is "Contraband", the connecting rod (26) is composed of two vertical rods (261) and a cross rod (262), the push rod (23) is connected with the ends of the vertical rods (261), and the nut (27) is connected with the cross rod (262).
3. The flexible shaft transmission hand exoskeleton of claim 1, wherein the spring assembly (223) comprises a spring plate (2231) and a coil spring (2232), and the coil spring (2232) surrounds the spring plate (2231).
4. The flexible shaft driven hand exoskeleton of claim 3 wherein support blocks are provided inside the spring assembly (223) and between the finger joints (222).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121846823.8U CN215395211U (en) | 2021-08-09 | 2021-08-09 | Hand exoskeleton driven by flexible shaft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121846823.8U CN215395211U (en) | 2021-08-09 | 2021-08-09 | Hand exoskeleton driven by flexible shaft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215395211U true CN215395211U (en) | 2022-01-04 |
Family
ID=79658899
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121846823.8U Active CN215395211U (en) | 2021-08-09 | 2021-08-09 | Hand exoskeleton driven by flexible shaft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215395211U (en) |
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2021
- 2021-08-09 CN CN202121846823.8U patent/CN215395211U/en active Active
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