CN217908300U

CN217908300U - Finger joint controllable hand function rehabilitation manipulator

Info

Publication number: CN217908300U
Application number: CN202221563552.XU
Authority: CN
Inventors: 丁阳; 王刚; 李雨辰
Original assignee: Xian Jiaotong University
Current assignee: Xian Jiaotong University
Priority date: 2022-06-22
Filing date: 2022-06-22
Publication date: 2022-11-29
Anticipated expiration: 2032-06-22

Abstract

A finger joint controllable hand function rehabilitation manipulator comprises a palm, wherein the palm is connected with five fingers through a fixing device, the fingers are movably connected through at least two phalanges, each phalange is driven by a pull wire, the tail end of the pull wire is connected to an external driving device, and the arrangement of the driving devices is automatically set by a user so as to adapt to different movement modes; when the pull wire is contracted, the hole B is taken as a fulcrum, the hole C of the previous joint is drawn to move, and the joint overcomes the spring piece to do bending movement towards the palm direction; when the pull wire is loosened, the spring piece pulls the two adjacent joints to move, so that the included angle between the joints is increased, and the joints do stretching movement relative to the palm direction; in addition, the connection of the cylinder in the palm and the fingers realizes the size adjustment of the hand structure; the multi-section design of phalanges realizes the flexion and extension training of a single joint.

Description

Hand function rehabilitation manipulator with controllable finger joints

Technical Field

The utility model relates to a recovered robotechnology field, in particular to controllable hand function rehabilitation manipulator of finger joint.

Background

The rehabilitation engineering mainly researches the joints of the human body such as the pagoda, the ankle-knee-hip, the fingers, the wrist, the elbow, the shoulder and the like according to the modern Evidence-Based Medicine (EBM) and the Continuous Passive Motion (CPM) theory. The rehabilitation equipment mainly comprises a rehabilitation manipulator, a hospital robot system, an intelligent wheelchair, an artificial limb, a rehabilitation robot and the like, such as the equipment disclosed in Hebei Industrial science and technology, 2005 and 3 rehabilitation robot research progress, the training range of the hand function rehabilitation manipulator is limited, most of the equipment can only complete the actions of integral grasping of the hand or integral bending and stretching of fingers, and the training of single finger joints cannot be realized. Some mechanical devices capable of realizing single joint movement are too complex, are only suitable for the fields of mechanical exoskeletons, mechanical artificial limbs, robots and the like, and cannot meet the requirements of rehabilitation equipment on convenience and safety.

Disclosure of Invention

Aiming at the problem that the hand rehabilitation manipulator can not realize the motion training of a single finger joint, the utility model aims to provide a hand function rehabilitation manipulator with controllable finger joints, which not only can realize the flexion and extension motion of the single joint, but also can reserve space for secondary development; the user can realize complex training modes such as multi-joint linkage, multi-finger linkage and the like through the mechanical structure according to requirements.

In order to achieve the above purpose, the technical scheme of the utility model is that:

a finger joint controllable hand function rehabilitation manipulator comprises a palm 2, wherein the palm 2 is connected with five fingers 5 through a fixing device 3, and the fingers 5 are movably connected by at least two phalanges 4; the protrusion at one end of the phalanx 4 is provided with an A hole 6, the other end of the phalanx 4 is provided with an E hole 11, the A hole 6 of the phalanx 4 is connected with the E hole 11 of the adjacent phalanx through a fixed rod and a bearing, and the back of the phalanx at the connection part is provided with a spring piece 14;

the main body of the phalanx 4 is also provided with a B hole 7 and a C hole 8, the C hole 8 is a fixing starting end of a driving pull wire, the other end of the driving pull wire penetrates into the B hole 7 of the previous phalanx and extends out of a D hole 10 on the back of the B hole 7 to be externally connected with an external driving device.

The palm 2 is internally provided with a cylinder 21, and the cylinder 21 is connected with the phalanx 4 close to the palm 2 through a fixing device 3.

The fixing device 3 comprises a main rod 15-1 and a step-shaped integrated structure 15-2 sleeved on the main rod 15-1 through a connecting hole 19, the two ends of the main rod 15-1 are respectively provided with an air cylinder connecting end 15 and a phalanx connecting end 16, the air cylinder connecting end 15 is inserted into an air cylinder 21 and then fixed through a nut 15-3 in a sleeved and extruded mode, the step-shaped integrated structure 15-2 is integrally formed by a ring surface 17 and an inclined surface 18, and the end face of the step-shaped integrated structure 15-2 is provided with the connecting hole 19.

The finger 5 is provided with a flexible casing 1.

The utility model discloses an innovation point:

the utility model realizes the outward bending and stretching of fingers through the stay wires and the spring pieces; the multi-joint design of the phalanges realizes the flexion and extension training of a single joint.

The utility model discloses a fixing device can realize the adjustment of single finger length and angle, can adjust the size of manipulator and mechanical finger's rotation angle in order to adapt to different users' hand type.

Drawings

Fig. 1 is a general configuration diagram of a robot arm (mounting of a flexible housing 1).

Fig. 2 is a robot general configuration diagram two (without mounting the flexible housing 1).

Fig. 3 (a) is a schematic view of a single phalanx structure (palm center).

Fig. 3 (b) is a schematic view of a single phalanx structure (palmar back).

Fig. 4 (a) is a schematic view (side) of the connection of two phalanges.

Fig. 4 (b) is a schematic view (bottom) of the connection of two phalanges.

Fig. 5 is a schematic view of a fixture.

Fig. 6 is a schematic view of a socket step-shaped integrated structure on the fixing device.

Fig. 7 is a general structure of a finger.

Fig. 8 is a schematic view of the palm.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings.

Referring to fig. 1 and 2, the finger joint controllable hand function rehabilitation manipulator comprises a palm 2, wherein the palm 2 is connected with five fingers 5 through a fixing device 3, and the fingers 5 are movably connected through at least two phalanges 4.

Referring to fig. 1, the finger 5 is provided with a flexible cover 1 for increasing the comfort of the product, and the flexible cover 1 is fixed through an F-hole 9 on the phalanx 4.

Referring to fig. 4 (a) and 4 (b), a hole a 6 is formed on the protrusion of one end of the phalange 4, a hole E11 is formed on the other end of the phalange 4, the hole a 6 of the phalange 4 is connected with the hole E11 of the adjacent phalange through a fixing rod and a bearing, and a spring piece 14 is arranged on the back of the phalange at the connection position; the spring piece 14 limits the motion amplitude and the motion range of the adjacent phalanges 4, and the phalanges 4 are provided with driving pull wires.

Referring to fig. 3 (a), 3 (b), 4 (a) and 7, the phalanx 4 drive wire is designed in a manner that: a hole A6 is arranged on one end of each phalanx 4 in a protruding mode and used for penetrating a fixing rod to achieve connection between every two adjacent phalanxes 4; the phalange 4 is also provided with a C hole 8, a B hole 7, an F hole 9, a D hole 10 on the back of the B hole 7, the C hole 8 is a fixing starting end of a driving pull wire so as to control the flexion and extension movement of the driving pull wire, the other end of the driving pull wire penetrates into the B hole 7 of the previous phalange and extends out of the D hole 10 on the back of the B hole 7, an external driving device is connected externally, and the E hole 11 is a bearing mounting position. The F-hole 9 is a fixing hole of the flexible cover 1. Hole 12 and hole 13 in fig. 4 (a) are schematic views of another adjacent phalange, corresponding to hole B7 and hole D10 in fig. 3 (a).

Referring to fig. 8, a cylinder 21 is installed inside the palm 2, and the cylinder 21 is connected to the phalanx 4 close to the palm 2 through a thin rod. The rod is combined with the cylinder, so that the finger joints have an outward extending trend, and meanwhile, a limit nut is added to the opening of the cylinder, so that the size of the rehabilitation hand structure is adjustable. The other end of the palm 2 is provided with four hole sites 22 for fixing the whole manipulator, and the manipulator can be fixed on other equipment, so that good expansibility is realized.

Referring to fig. 5 and 6 and 7, the fixing device 3 includes a main rod 15-1 and a stepped integral structure 15-2 sleeved on the main rod 15-1 through a connecting hole 19, the two ends of the main rod 15-1 are respectively a cylinder connecting end 15 and a phalanx connecting end 16, the cylinder connecting end 15 is inserted into a cylinder 21 and then sleeved and extruded by a nut 15-3 to fix the stepped integral structure 15-2, the stepped integral structure 15-2 is integrally formed by a ring surface 17 and an inclined surface 18, and the end surface is provided with the connecting hole 19. The method comprises the following steps: the ring surface 17 is sleeved with the nut 15-3, and the nut 15-3 extrudes the inclined surface 18 in the screwing process to enable the connecting hole 19 to have a tendency of shrinking, so that the connection with the cylinder is pressed to realize fixation. When the angle and the length of the finger structure need to be adjusted, the nut 15-3 only needs to be unscrewed.

The utility model discloses a theory of operation does:

each phalanx 4 is driven by a pull wire, the tail end of the pull wire is connected to an external motor box, and the arrangement of motors in the motor boxes is set by a user so as to adapt to different motion modes. When the pull wire is contracted, the hole B7 is taken as a fulcrum, the hole C8 of the previous joint is drawn to move, and the joint overcomes the spring piece 14 to do bending motion towards the palm direction; when the pull wire is loosened, the spring piece 14 pulls the two adjacent joints to move, so that the included angle between the joints is increased, and the joints do stretching movement relative to the palm direction.

In addition, the connection of the cylinder 21 and the fingers realizes the size adjustment of the hand structure through the fixing device 3.

Claims

1. A finger joint controllable hand function rehabilitation manipulator is characterized by comprising a palm (2), wherein the palm (2) is connected with five fingers (5) through a fixing device (3), and the fingers (5) are movably connected by at least two phalanges (4); a hole A (6) is formed in the protrusion at one end of each phalanx (4), a hole E (11) is formed in the other end of each phalanx, the hole A (6) of each phalanx (4) is connected with the hole E (11) of the adjacent phalanx through a fixing rod and a bearing, and a spring piece (14) is arranged on the back face of each phalanx at the connection position;

the main body of the phalanx (4) is also provided with a hole B (7) and a hole C (8), the hole C (8) is a fixing starting end of a driving pull wire, the other end of the driving pull wire penetrates into the hole B (7) of the previous phalanx, extends out of the hole D (10) on the back of the hole B (7) and is externally connected with an external driving device.

2. The hand function rehabilitation manipulator with controllable finger joints according to claim 1, characterized in that a cylinder (21) is installed inside the palm (2), and the cylinder (21) is connected with the phalanges (4) close to the palm (2) through a fixing device (3).

3. The hand function rehabilitation manipulator with the controllable finger joints as claimed in claim 1, wherein the fixing device (3) comprises a main rod (15-1) and a step-shaped integrated structure (15-2) sleeved on the main rod (15-1) through a connecting hole (19), the two ends of the main rod (15-1) are respectively a cylinder connecting end (15) and a phalanx connecting end (16), the cylinder connecting end (15) is inserted into a cylinder (21) and then is sleeved and extruded with the step-shaped integrated structure (15-2) through a nut (15-3) for fixing, the step-shaped integrated structure (15-2) is integrally formed by a ring surface (17) and an inclined surface (18), and the connecting hole (19) is formed in the end surface.

4. The hand functional rehabilitation manipulator with controllable finger joints according to claim 1, characterized in that a flexible shell (1) is arranged on the finger (5).