CN216908523U - Shape memory alloy rehabilitation glove - Google Patents
Shape memory alloy rehabilitation glove Download PDFInfo
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- CN216908523U CN216908523U CN202121469999.6U CN202121469999U CN216908523U CN 216908523 U CN216908523 U CN 216908523U CN 202121469999 U CN202121469999 U CN 202121469999U CN 216908523 U CN216908523 U CN 216908523U
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Abstract
The utility model belongs to the technical field of medical rehabilitation equipment, and discloses a shape memory alloy rehabilitation glove which comprises an execution mechanism and a driving mechanism, wherein the driving mechanism is arranged on the inner side of the execution mechanism. The actuating mechanism comprises gloves with guide holes, a control ring and a small arm sheath, wherein support columns are fixed on the gloves at intervals, and each support column is further sleeved with at least one bearing. The driving mechanism comprises a power supply, a control module arranged on the control ring, insulated traction wires penetrating through the glove guide hole, and shape memory alloy wires arranged in the forearm sheath and correspondingly connected with each insulated traction wire. In the forearm sheath, two ends of the shape memory alloy wire are respectively connected with two poles of the power supply and are arranged on the bearing in a reciprocating winding mode. The usable length range and the deformation range of the shape memory alloy wire are enlarged, and the requirements of the motion amplitude of the fingers in different rehabilitation stages are effectively met, so that the rehabilitation training effect is improved.
Description
Technical Field
The utility model relates to the technical field of medical rehabilitation equipment, in particular to a shape memory alloy rehabilitation glove.
Background
The treatment of hand skeletal injury diseases generally comprises two steps: operation treatment and postoperative rehabilitation training. The operation effect determines whether the hand function can be recovered, and the rehabilitation training effect determines the degree of the recovery of the hand function. With the improvement of medical technology level, the success rate of surgical operation is higher and higher, but the attention degree of people to postoperative rehabilitation training is still lower, so that the existing hand rehabilitation training device is still lagged behind.
Most of hand rehabilitation training devices in the current market still adopt the traditional electromechanical drive and the traditional air cylinder drive. The rehabilitation training device with the rigid structure has the advantages of large volume, heavy weight and poor air permeability, is not beneficial to wearing in the rehabilitation training, and invisibly increases the pressure of injured hands.
And most of the existing rehabilitation training devices are difficult to meet the requirements of different hand motion amplitudes at different rehabilitation training stages. If in the early stage of rehabilitation training, the motion amplitude of the hand is generally small, and the minimum deformation quantity provided by the driver for the rehabilitation device is too large, so that the motion with small amplitude of the hand cannot be realized, and the rehabilitation effect is poor. In the later stage of rehabilitation training, the motion amplitude requirement of the hand is large, the maximum deformation quantity provided by the driver for the rehabilitation device is too small, so that the motion requirement of the hand with large amplitude cannot be met, the pressure of the hand is increased by forced motion, the rehabilitation is not facilitated, and secondary damage to the hand is possibly caused; the rehabilitation training effect is reduced.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem that the rehabilitation training device in the prior art cannot meet the requirements of different hand motion amplitudes, the utility model provides the shape memory alloy rehabilitation glove, the shape memory alloy wire is arranged in a reciprocating winding mode in a limited space, so that the available length range of the shape memory alloy wire is expanded, and the deformation range provided by the shape memory alloy wire is expanded under the driving action.
In order to achieve the above purpose, the utility model provides the following technical scheme:
a shape memory alloy rehabilitation glove comprises an execution mechanism and a driving mechanism positioned in the execution mechanism; the actuating mechanism comprises the following components which are connected in sequence:
the glove comprises a knuckle sleeve provided with a guide hole along the finger direction;
a control loop;
the inner side of the small arm sheath is fixed with support columns which are arranged at intervals, and each support column is sleeved with at least one bearing;
the drive mechanism includes:
a power source;
the control module is arranged on the control ring and used for controlling the disconnection and the connection of the power supply;
each insulated traction wire is respectively arranged in the guide hole of the corresponding knuckle sleeve;
the shape memory alloy wire is arranged in the forearm sheath, and two ends of the shape memory alloy wire are connected with the power supply; one end of each shape memory alloy wire is connected with the corresponding insulated traction wire;
in the small arm sheath, the shape memory alloy wires are wound and arranged between the bearings sleeved on different support columns in a reciprocating manner.
The driving current of the shape memory alloy wire is generally 200mA-300mA, which exceeds the current range which can be borne by a human body, so that the insulated traction wire is used at the position of the glove, and the potential safety hazard in the use process is effectively prevented.
The maximum deformation of the shape memory alloy wire is only 3% -5%, and the shape memory alloy wire with the fixed length is difficult to meet the requirements of deformation in different rehabilitation stages, particularly in the later rehabilitation stage when the hand motion amplitude requirement is large. In the limited space of the forearm sheath, the arrangement mode of the shape memory alloy wire wound in a reciprocating manner enlarges the available original length range, further enlarges the deformation length range provided by the shape memory alloy wire under the driving action, and is favorable for meeting the requirements of different rehabilitation stages on the deformation quantity of the shape memory alloy wire; and in the rehabilitation training process, the improvement of the rehabilitation effect is promoted.
Further, the knuckle sleeve comprises an upper part, a left part and a right part; the upper part comprises a plurality of quadrilateral frame structures arranged along the axial direction of the fingers, and the quadrilateral frame structures are sequentially connected through opposite angles; the left part and the right part comprise a plurality of arc structures arranged along the circumferential direction of the finger, the arc structures are respectively connected with two opposite angles which are not connected with the quadrilateral frame structure, and the free end of the arc structures which are not connected with the upper part is a convex claw structure matched with the lower part of the finger; the guide holes of the knuckle upper part are arranged on the connected opposite angles of the quadrilateral frame structure, and the guide holes of the left part and the right part are arranged on the spare end of the arc structure.
The knuckle sleeve utilizes the space instability of a quadrilateral frame structure and an arc structure, and can deform along the driving direction of the insulated traction wire under the driving action of the driving mechanism; and the fingers matched with the hand rehabilitation training device are driven to move together to complete the hand rehabilitation training.
Further, the gloves are integrally formed through a 3D printing process.
The glove is manufactured by using a 3D printing integral forming process, and the hand covered by the glove is prevented from being abraded by an extra mechanical structure in the rehabilitation training process.
Furthermore, the glove is made of silica gel. The silica gel is soft to have good softness and deformability, and when the wearing comfort level is increased, the gloves drive the fingers to perform synchronous motion under the driving action.
Furthermore, the executing mechanism also comprises a connecting ring, and two ends of the connecting ring are respectively connected with the glove and the control ring; a guide channel is arranged in the connecting ring and used for placing the connecting position of the insulated traction wire and the shape memory alloy wire; and only one insulated traction wire and the shape memory alloy wire correspondingly connected with the insulated traction wire are arranged in each guide channel.
Each knuckle sleeve of the glove is driven by only one insulated traction wire and one shape memory alloy wire corresponding to the insulated traction wire. And only one insulated traction wire and the shape memory alloy wire correspondingly connected with the insulated traction wire are placed in each guide channel, so that the winding of the wires in a mixed mode is prevented, and the mutual influence of the driving action among different knuckle sleeves is prevented.
Further, the power source is a rechargeable thin-film battery.
In the rehabilitation training process, the battery type power supply is convenient for the rehabilitation training personnel to move freely, the rechargeable battery is favorable for reducing the use cost, the space occupied by the sheet type rechargeable battery is smaller, the size and the weight of the shape memory alloy rehabilitation glove are favorably reduced, and the pressure burden of the wearing part is further reduced.
Further, the control module can control and drive at least one knuckle sleeve at a time.
In the rehabilitation training process, the synchronous rehabilitation training of a plurality of damaged fingers is facilitated, and the rehabilitation time is shortened; and the control mode can ensure that the driving mechanism only exerts the driving action on the damaged finger and can exert the driving force with different strengths according to the damaged degree of different fingers, thereby increasing the rehabilitation effect.
Furthermore, a circle of groove for placing the shape memory alloy wire is arranged on the working surface of the bearing along the whole circumferential direction.
In order to realize the quick response to the requirement on the deformation of the knuckle sleeve under the driving action, the bearing for winding the shape memory alloy wire needs to have smooth surface characteristics, but the characteristics easily cause the wire to slide off the bearing, so a groove is arranged on the working surface of the bearing, the shape memory alloy wire is arranged in the groove, and the shape memory alloy wire can be used for preventing the sliding of the wire from influencing the use of the shape memory alloy rehabilitation glove.
Furthermore, the insulated traction wire is a carbon traction wire.
The carbon traction wire is used as an insulated traction wire and has the characteristic of poor heat conductivity. The driving force provided by the shape memory alloy wires is realized by the temperature rise deformation of the shape memory alloy wires after the shape memory alloy wires are electrified, and the carbon traction wires with poor heat conduction are used at the positions of the gloves, so that the gloves and the hands matched with the gloves are effectively prevented from being scalded by the heat conduction effect of the shape memory alloy wires after the temperature rise.
Furthermore, the executing mechanism is provided with adjusting belts with adjustable length at the positions matched with the hand, the wrist and the forearm of the human body. The wearable glove is beneficial to realizing the adjustment of the fitting degree of the executing mechanism and the wearable part of the human body, the wearing comfort degree is increased, the single use time of the rehabilitation glove by a rehabilitation patient is prolonged, and the rehabilitation effect is improved.
Furthermore, eight bearings matched with each shape memory alloy wire are uniformly divided into two groups and are respectively sleeved on the two support columns in sequence.
Further, the distance between the two support columns is 100mm-110 mm. The distance setting conforms to the length range of the forearm of the human body, and the single winding length of the shape memory alloy wire is increased to the maximum limit.
Furthermore, the support column and the bearing are made of Teflon. It has good surface smoothness and wear resistance; is beneficial to reducing the adverse effect of the mechanical abrasion of the support column and the bearing on the use of the rehabilitation glove in long-term use.
Furthermore, a layer of waterproof cloth is coated on the surface of the small arm sheath of the actuating mechanism. Can be used to increase the waterproof nature of forearm sheath, prevent the rehabilitation training in-process, common drinking water or other liquid infiltration inside actuating mechanism cause the potential safety hazard.
According to the technical scheme, the shape memory alloy rehabilitation glove at least has the following beneficial effects:
(1) according to the shape memory alloy glove, the shape memory alloy wires are arranged in the effective space of the rehabilitation training glove in a reciprocating winding mode, so that the available length of the shape memory alloy wires is increased, and the requirements on the length and the deformation of the shape memory alloy wires under different rehabilitation training strengths are effectively met; the rehabilitation effect is increased.
(2) According to the utility model, the insulating traction wire is used in the glove of the actuating mechanism to replace the shape memory alloy wire, so that potential safety hazards to a human body after the shape memory alloy wire is electrified are effectively eliminated.
(3) The knuckle sleeve part of the glove adopts a quadrilateral frame structure, and the left part and the right part adopt arc structures; the space instability of the quadrilateral frame structure and the strip structure is utilized to ensure that the knuckle sleeve has good deformation under the driving action, thereby driving the finger part matched with the knuckle sleeve to move synchronously and completing the rehabilitation training of the hand part.
(4) According to the utility model, the connecting ring is internally provided with the guide channels, and each guide channel is provided with only one insulated traction wire and one shape memory alloy wire which penetrate through the guide channel; the mutual influence between the wires for controlling different knuckle sleeves is effectively prevented.
(5) The utility model is a rechargeable thin battery, and the battery power supply is beneficial to the random movement of the rehabilitation training personnel in the using process; and the thin sheet battery can reduce the volume and the weight of the shape memory alloy rehabilitation glove, thereby reducing the pressure burden of a wearing part.
(6) The bearing working surface is provided with the circle of groove, and the shape memory alloy wire is arranged in the groove, so that the shape memory alloy wire is effectively prevented from sliding off the smooth surface of the bearing, and the use influence is further caused.
(7) The adjusting belts are arranged at the positions matched with the hand, the wrist and the forearm of the human body, and can be used for adjusting the fitting degree of the actuating mechanism and the human body during the wearing process, so that the wearing comfort is improved.
It should be understood that all combinations of the foregoing concepts and additional concepts described in greater detail below can be considered as part of the inventive subject matter of the present disclosure unless such concepts are mutually inconsistent.
The foregoing and other aspects, embodiments and features of the present teachings will be more fully understood from the following description taken in conjunction with the accompanying drawings. Additional aspects of the present invention, such as features and/or advantages of exemplary embodiments, will be apparent from the description which follows, or may be learned by practice of specific embodiments in accordance with the teachings of the present invention.
Drawings
The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the present invention will now be described, by way of example, with reference to the accompanying drawings, in which:
FIG. 1 is a schematic view of the whole actuator of the rehabilitation glove made of shape memory alloy according to the present invention.
FIG. 2 is a schematic diagram of the detachable executing mechanism of the rehabilitation glove made of shape memory alloy according to the present invention.
Fig. 3 is a schematic view of the structure of the glove of fig. 2.
Fig. 4 is a schematic view of the structure of the connecting member in the connecting ring of fig. 2.
FIG. 5 is a schematic view of the driving mechanism of the rehabilitation glove made of shape memory alloy according to the present invention.
FIG. 6 is a schematic view of the structure between the shape memory alloy wire and the bearing and the supporting post in FIG. 5.
The reference numbers in the figures mean: 1 is a glove, 2 is a connecting ring, 3 is a control ring, 4 is a forearm sheath, and 5 is a driving mechanism; a fingertip sleeve 11, a knuckle sleeve 12, a palm sleeve 13, a first adjusting belt 14 and a guide hole 15; 21 is a first shell, 22 is a connecting piece, 22a is a guide channel, 23 is a first lining, and 24 is a second adjusting belt; 31 is a second outer shell, 32 is a second inner liner; 41 is a third shell, 42 is a third liner, 43 is an inner pad, 44 is a third adjusting belt, 45 is a wire fixing piece, 46 is a bearing, and 47 is a supporting column; 51 is an insulated traction wire, 52 is a shape memory alloy wire, and 53 is a control module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the utility model without any inventive step, are within the scope of protection of the utility model. Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs.
The use of "first," "second," and similar terms in the description and in the claims of the present application does not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Similarly, the singular forms "a," "an," or "the" do not denote a limitation of quantity, but rather denote the presence of at least one, unless the context clearly dictates otherwise. The terms "comprises," "comprising," or the like, mean that the elements or items listed before "comprises" or "comprising" encompass the features, integers, steps, operations, elements, and/or components listed after "comprising" or "comprising," and do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. "upper", "lower", "left", "right", and the like are used only to indicate relative positional relationships, and when the absolute position of the object to be described is changed, the relative positional relationships may also be changed accordingly.
As shown in figures 1-6, the utility model discloses a shape memory alloy rehabilitation glove. The shape memory alloy rehabilitation glove comprises an execution mechanism and a driving mechanism. The actuating mechanism comprises a glove 1, a connecting ring 2, a control ring 3 and a forearm sheath 4 which are fixedly connected in sequence. The driving mechanism 5 is arranged in the executing mechanism and comprises a power supply, a control module 53, insulated traction wires 51 penetrating through the glove 1 and shape memory alloy wires 52 which are arranged on the inner side of the forearm sheath 4 and are respectively and correspondingly connected with each insulated traction wire 51.
Specifically, support columns 47 arranged at intervals are fixed in the forearm sheath 4, and bearings 46 are further sleeved on the support columns. The shape memory alloy wires 52 are wound back and forth between the bearings sleeved on the different support columns 47.
As shown in fig. 2 to 4, the glove 1 includes a palm cover 13 provided with a first adjustment band 14, a knuckle cover 12 connected to the palm cover 13, and a fingertip cover 11 correspondingly connected to the knuckle cover 12. The palm sleeve 13, the knuckle sleeve 12 and the fingertip sleeve 11 are all provided with guide holes 15, and the insulation traction wire 51 penetrates through the guide holes 15.
Specifically, as shown in fig. 3, each of the finger loops 12 and the associated finger tip 11 are driven by an insulated pull wire 51 and a shape memory alloy wire 52 connected thereto.
Specifically, the knuckle sleeve 12 includes an upper part, a left part, and a right part. The upper part comprises a plurality of quadrilateral frame structures arranged along the axial direction of the fingers, and the quadrilateral frame structures are sequentially connected through opposite angles. In this embodiment, the quadrilateral frame structure is a rhomboid frame structure. The left part and the right part comprise a plurality of arc structures arranged along the circumferential direction of the finger, the arc structures are respectively connected with two opposite angles which are not connected with the diamond frame structures, and the free end of the arc structures which are not connected with the upper part is a convex claw structure matched with the lower part of the finger; the guide holes of the knuckle upper part are arranged on the connected opposite angles of the diamond frame structure, and the guide holes 15 of the left part and the right part are arranged on the spare ends of the arc structure.
The fingertip cover 11 is a coating structure, the position of a guide hole 15 of an upper part of the fingertip cover corresponds to the position of a guide hole 15 of an upper part of the knuckle cover 12, and the position of a guide hole 15 of a lower part of the fingertip cover corresponds to the position of a guide hole 15 of a left part and a right part of the knuckle cover 12. The upper side and the lower side of the palm sleeve 13 are connected through a first adjusting belt 14; in particular, the first adjusting belt 14 is a closed loop with adjustable length. And the positions of the guide holes 15 of the upper part and the lower part of the palm sleeve 13 respectively correspond to the positions of the guide holes 15 of the upper part and the left part and the right part of the knuckle sleeve 12. The correspondence here means that the guide holes 15 are arranged substantially in the same line.
In the rehabilitation training process, the diamond frame structure of the upper part of the knuckle sleeve 12, the arc structures of the left part and the right part respectively utilize the space instability of the quadrilateral structure and the arc structures, so that the knuckle sleeve 12 is easy to deform under the action of the driving mechanism and drives the human fingers matched with the knuckle sleeve to perform rehabilitation movement. The positions of the guide holes 15 of the fingertip sleeves 11 and the palm sleeves 13 correspond to the positions of the guide holes 15 of the knuckle sleeves 12, so that the insulated traction wire 51 can pass through the guide holes, and the insulated traction wire is prevented from being wound, thereby influencing the driving effect. And the first adjusting belt 14 can adjust the length thereof, so as to adjust the fitting degree between the palm sleeve 13 and the palm part of the human body.
Specifically, the structure of the knuckle sleeve 12 of the present invention is not limited to the above structure, and any structure that can satisfy the deformation requirement is within the protection scope of the present invention.
Specifically, the glove 1 is formed by 3D printing in an integrated mode, the forming process is simple, and no extra mechanical connecting part is used for abrasion of a wearing part. Printing used material is silica gel, and in the use, its good deformability is favorable to guaranteeing under the drive action that gloves 1 and hand simultaneous movement, and its good compliance has then increased the comfort level of dressing.
In particular, the connection ring 2 comprises a connection piece 22 for connecting the glove 1 with the control ring 3; a first outer shell 21 disposed outside the connection member 22, a first inner liner 23 disposed inside the connection member 22; and a second adjusting belt 24 disposed below the connecting member 22 and movably bonded to the first housing 21.
Specifically, as shown in fig. 4, a plurality of guide channels 22a are further arranged inside the connecting piece 22; and it is specified that only one insulated traction wire 51, and a shape memory alloy wire 52 connected thereto, can be passed through each guide passage 22 a.
In the rehabilitation training process, the connecting ring 2 is matched with the wrist part, and the fitting degree of the executing mechanism and the wrist part is adjusted through the length adjustment between the second adjusting belt 24 and the first shell 21. The first liner 23 may be used to increase the wearing comfort. The guide passage 22a corresponding to the insulated traction wire 51 and the shape memory alloy wire 52 can prevent the shape memory alloy wire 52 or the insulated traction wire 51 for driving different knuckles 12 from being wound, which affects normal use.
Specifically, the connecting member 22 is made of a light material, such as aluminum, aluminum alloy, titanium alloy, or the like. The pressure on the wrist part is reduced in the wearing process.
Specifically, the control ring 3 includes a second outer shell 31, a second inner liner 32; the upper surface of the second housing 31 is embedded with a control module 53. The second liner 32 may increase the comfort of wear during rehabilitation exercises.
Specifically, the forearm sheath 4 includes a third outer shell 41, a third inner liner 42 disposed inside the third outer shell 41, an inner pad 43 covering the rear end of the third outer shell 41, and a third adjustment band 44 disposed below the third outer shell 41. In the rehabilitation training process, forearm sheath 4 and human forearm portion mutually support, the interior pad 43 of third inside lining 42 and rear end is favorable to increasing the comfort level of dressing, and has effectually prevented that shape memory alloy 52 circular telegram from rising temperature and causing the damage to human surface skin, third regulation band 44 is similar with second regulation band 24 structure, can realize that the laminating degree is adjusted between forearm sheath 4 and the forearm portion.
Specifically, support columns 47 arranged at intervals along the arm direction are fixed on the inner surface of the third housing 41, and a bearing 46 is sleeved on each support column 47. The front end of the inner surface of the third shell 41 is also provided with a wire fixing piece 45. The supporting column 47 and the bearing 46 are used for realizing the reciprocating winding of the shape memory alloy wire 52; the wire fixing piece 45 can be used for preventing the shape memory alloy wires 52 from being wound or rubbing against the third lining 42 of the small arm sheath 4 to cause abrasion of the shape memory alloy wires 52, so that the use is influenced.
Specifically, the first housing 21, the second housing 31, and the third housing 41 are all made of light plastic. The plastic is a non-conductive material, so that the safety of the shape memory alloy glove is improved under the action of electric drive.
Specifically, the outer surface of the third casing 41 is covered with a layer of waterproof cloth. The waterproof cloth can be used for increasing the waterproofness of the shell and preventing common drinking water or other liquids from permeating into the internal driving mechanism to cause potential safety hazards in the rehabilitation training process.
Specifically, the first inner liner 23, the second inner liner 32, the third inner liner 42 and the inner pad 43 at the rear end of the forearm sheath are all made of a non-conductive material with good skin-friendly property, and specifically, the material may be one or more of pure cotton fiber, sponge, leather and the like. The skin-friendly non-conductive material not only ensures the use safety, but also has good performance in the aspect of increasing the wearing comfort level, and is beneficial to preventing the rehabilitation gloves from generating uncomfortable feeling in the long-term use process.
As shown in fig. 5-6, the actuator includes a power source, a control module 53, an insulated pull wire 51, and a shape memory alloy wire 52 connected to the insulated pull wire 51. The power source may be disposed at the inner middle rear portion of the third housing 41 of the arm sheath 4, and may be embodied as a secondary rechargeable thin-sheet battery. The insulated traction wire 51 is placed in the guide hole 15 of the glove 1. In this embodiment, each insulated traction wire 51 is folded in half, and then both ends of the insulated traction wire are respectively inserted into the guide holes at the rear end of the lower part of the palm sleeve 13 and sequentially inserted into the corresponding guide holes in the left part and the right part of the knuckle sleeve 12 and the guide holes in the lower part of the fingertip sleeve 11; in the upper part of the fingertip sleeve 11, two ends of the insulated traction wire 51 penetrate out of the same guide hole and continuously penetrate through the guide hole of the upper part of the knuckle sleeve 12 and the guide hole of the upper part of the palm sleeve 11 in sequence and penetrate into the guide channel 22a corresponding to the guide hole on the connecting piece 22. One end of each shape memory alloy wire 52 is connected with the corresponding insulated traction wire 51 in the guide channel 22 a; the other end is wound on a bearing 46 sleeved on a support column 47 in a reciprocating manner.
Specifically, the battery type power supply is convenient for the rehabilitation training patient to move freely in the training process, the rechargeable battery is beneficial to reducing the use cost, the space occupied by the sheet type rechargeable battery is smaller, and the size and the weight of the shape memory alloy rehabilitation glove are beneficial to being reduced. The control module 53 is used for switching off and on the power supply, and can control and drive at least one knuckle sleeve at a time. The synchronous rehabilitation training of a plurality of damaged fingers is facilitated, and the rehabilitation time is shortened; and the control mode can ensure that the driving mechanism only exerts the driving action on the damaged finger and can exert different driving forces according to the damaged degree of different fingers, thereby increasing the rehabilitation effect. And the driving action of the shape memory alloy is an electric action, so that the insulated traction wire 51 is used in the glove 1, thereby preventing the potential safety hazard caused by increasing the driving action. In this embodiment, the insulated pulling wire 51 is specifically a carbon pulling wire, which has poor heat conduction characteristics, and is beneficial to preventing the hands from being scalded and damaged due to the heat conduction effect after the shape memory alloy wire 52 is electrified and heated.
Specifically, in the safe use range of the actuator, when the applied current is 200mA-300mA, the shape memory alloy wire 52 can be deformed and drive the hand to move; and the maximum deformation amount of the shape memory alloy wire 52 is only 3% -5%; therefore, the shape memory alloy wire 52 arranged in a winding mode is used, and the available length of the shape memory alloy wire 52 is prolonged in the limited space of the rehabilitation glove; the glove is beneficial to meeting the requirements of different motion amplitudes of the glove 1 and the hand matched with the glove in different rehabilitation stages in the rehabilitation training process. In the early stage of the rehabilitation training, the control module 53 controls the power supply to apply a small current to excite the shape memory alloy wire 52 to generate small deformation and release the shape memory alloy wire 52 with a short length, so that the requirement of small-amplitude movement of hands in the early stage is met. Along with the lapse of the rehabilitation training time, the control module 53 controls the current applied by the power supply to gradually increase, and the deformation quantity and the released original length of the shape memory alloy wire 52 are also gradually increased; therefore, the requirements of different rehabilitation training stages on the length of the shape memory wire are met, and a better rehabilitation effect is achieved.
Specifically, in the present embodiment, the glove 1 is provided with four knuckle sleeves 12 and four corresponding fingertip sleeves 11, so that the number of the insulated traction wires 51 and the shape memory alloy wires 52 corresponding to the driving mechanism 5 is four. Inside the third casing 41 of the forearm sheath 4, eight bearings 46 for winding each shape memory alloy wire 52 are divided into two groups, and are fixed to two support columns 47 in turn. The distance between the two support columns 47 is 100-110mm, and the shape memory alloy wire is wound on the two groups of bearings 46 for 6 times, so that the length of the shape memory alloy wire 52 is enlarged by 7 times.
Specifically, a circumferential groove is formed in the working surface of the bearing 46, and the shape memory alloy wire 52 is disposed in the groove. May be used to prevent the shape memory alloy wire 52 from falling off the bearing 46. In this embodiment, each bearing 46 has a height of 1.5mm, a bottom diameter of 3mm, a groove width of 0.2-0.3mm, and a depth of 0.2 mm.
Specifically, the bearing 46 and the supporting column 47 are both made of teflon, and have good surface smoothness and wear resistance; is beneficial to reducing the adverse effect caused by mechanical abrasion in long-term use.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the utility model. Therefore, the protection scope of the present invention should be determined by the appended claims.
Claims (10)
1. The shape memory alloy rehabilitation glove is characterized by comprising an execution mechanism and a driving mechanism positioned in the execution mechanism; the actuating mechanism comprises the following components which are connected in sequence:
the glove comprises a knuckle sleeve provided with a guide hole along the finger direction;
a control loop;
the inner side of the small arm sheath is fixed with support columns which are arranged at intervals, and each support column is sleeved with at least one bearing;
the drive mechanism includes:
a power source;
the control module is arranged on the control ring and used for controlling the disconnection and the connection of the power supply;
each insulated traction wire is respectively arranged in the guide hole of the corresponding knuckle sleeve;
the shape memory alloy wire is arranged in the forearm sheath, and two ends of the shape memory alloy wire are connected with the power supply; one end of each shape memory alloy wire is connected with the corresponding insulated traction wire;
in the small arm sheath, the shape memory alloy wires are wound between the bearings sleeved on different support columns in a reciprocating manner.
2. The shape memory alloy rehabilitation glove of claim 1, wherein the knuckle sleeve comprises an upper part, a left part and a right part; the upper part comprises a plurality of quadrilateral frame structures arranged along the axial direction of the fingers, and the quadrilateral frame structures are sequentially connected through opposite angles; the left part and the right part comprise a plurality of arc structures arranged along the circumferential direction of the finger, the arc structures are respectively connected with two opposite angles which are not connected with the quadrilateral frame structure, and the free end of the arc structures which are not connected with the upper part is a convex claw structure matched with the lower part of the finger; the guide holes of the knuckle upper part are arranged on the connected opposite angles of the quadrilateral frame structure, and the guide holes of the left part and the right part are arranged on the free ends of the arc structure.
3. The shape memory alloy rehabilitation glove of claim 1, wherein the glove is integrally formed by a 3D printing process.
4. The rehabilitation glove of shape memory alloy according to claim 1, wherein the actuator further comprises a connection ring, both ends of the connection ring are respectively connected with the glove and the control ring; a guide channel is arranged in the connecting ring and used for placing the connecting position of the insulated traction wire and the shape memory alloy wire; and only one insulated traction wire and the shape memory alloy wire correspondingly connected with the insulated traction wire are arranged in each guide channel.
5. The shape memory alloy rehabilitation glove of claim 1, wherein the power source is a rechargeable thin-film battery.
6. The shape memory alloy rehabilitation glove of claim 1, wherein the control module is configured to controllably actuate at least one of the knuckle sleeves at a time.
7. The shape memory alloy rehabilitation glove according to claim 1, wherein a circle of grooves for placing the shape memory alloy wires is formed on the working surface of the bearing along the whole circumferential direction.
8. The shape memory alloy rehabilitation glove of claim 1, wherein the insulated pull wire is a carbon pull wire.
9. The rehabilitation glove of claim 1, wherein the actuator is provided with adjustable length adjustment straps at the positions corresponding to the hand, wrist and forearm of the human body.
10. The rehabilitation glove of claim 1, wherein eight bearings are provided for each shape memory alloy wire, and the eight bearings are divided into two groups, and are respectively sleeved on the two support columns in sequence.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121469999.6U CN216908523U (en) | 2021-06-30 | 2021-06-30 | Shape memory alloy rehabilitation glove |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121469999.6U CN216908523U (en) | 2021-06-30 | 2021-06-30 | Shape memory alloy rehabilitation glove |
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| CN216908523U true CN216908523U (en) | 2022-07-08 |
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| CN202121469999.6U Active CN216908523U (en) | 2021-06-30 | 2021-06-30 | Shape memory alloy rehabilitation glove |
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| CN (1) | CN216908523U (en) |
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2021
- 2021-06-30 CN CN202121469999.6U patent/CN216908523U/en active Active
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