WO2023213193A1

WO2023213193A1 - Wire-driven glove connecting apparatus, wire-driven glove, and using method

Info

Publication number: WO2023213193A1
Application number: PCT/CN2023/089398
Authority: WO
Inventors: 刘永波; 郑豪杰; 王兵; 李菁; 王灿雷
Original assignee: 法罗适(上海)医疗技术有限公司
Priority date: 2022-05-05
Filing date: 2023-04-20
Publication date: 2023-11-09
Also published as: CN114848395A

Abstract

The present invention provides a wire-driven glove connecting apparatus (100), a wire-driven glove (200), and a using method, and relates to the field of medical apparatus and instruments. The wire-driven glove connecting apparatus (100) comprises a square fixing frame (9) and positioning members (12). A plurality of first connecting blocks (7) are slidably arranged on the upper side of the inside of the square fixing frame (9). A plurality of second connecting blocks (8) are slidably provided on the lower side of the inside of the square fixing frame (9). Two first limiting plates (10) are slidably arranged on the upper side of the inside of the square fixing frame (9). The two first limiting plates (10) abut against both ends of all of the first connecting blocks (7), respectively, so as to align all of the first connecting blocks (7). Two second limiting plates (11) are slidably arranged on the lower side of the inside of the square fixing frame (9). The two second limiting plates (11) abut against both ends of all of the second connecting blocks (8), respectively, so as to align all of the second connecting blocks (8). The positioning members (12) are connected to the square fixing frame (9). The positioning members (12) are provided with elastic cantilevers (13) used for limiting the first limiting plates (10) and the second limiting plates (11) when the first limiting plates (10) abut against the first connecting blocks (7) and the second limiting plates (11) abut against the second connecting blocks (8).

Description

Wire-driven glove connection device, wire-driven gloves and methods of use

Cross-references to related applications

This application requires the priority of the Chinese patent application with application number 202210482129.5 and titled "A wire-driven glove connection device, wire-driven gloves and methods of use" submitted to the State Intellectual Property Office of China on May 5, 2022, all of which The contents are incorporated into this application by reference.

Technical field

The present application relates to the field of medical devices, specifically, to a wire-driven glove connection device, wire-driven gloves and methods of use.

Background technique

The hand function rehabilitation glove training system based on cord drive is designed to make one steering gear suitable for both left and right hands, while adapting to the differences in hand shapes of different patients and improving the flexion and dorsiflexion effects during training. On the wire power transmission route, a replacement module for rehabilitation training gloves is set up. The upper replacement module and the lower replacement module each have multiple steering gear side connection blocks, which are connected to the driving parts through clues to lead out the power. There are multiple glove-side connection blocks on the upper and lower surfaces of the glove-side replacement module, and they are all connected to the drive leads. There are multiple glove-side connection blocks on both the upper and lower surfaces of the glove-side replacement module, which are respectively connected to the servo side of the upper replacement module. The block is connected to the servo-side connecting block of the lower replacement module, so that the finger movement of the wire-driven glove is pulled under the power of the driving component, thereby achieving flexion and dorsiflexion of the fingers.

In the prior art, the connection between the connection block of the glove side replacement module, the connection block of the upper replacement module, and the connection block of the lower replacement module has problems such as poor alignment and high docking failure rate.

Contents of the invention

The present application provides a wire-driven glove connection device, a wire-driven glove and a method of use, which can quickly align the connecting blocks, thereby enabling quick docking, improving the docking success rate and having greater applicability.

The embodiment of this application can be implemented as follows:

An embodiment of the present application provides a wire-driven glove connection device, which includes:

Square fixed frame, the upper side of the square fixed frame is slidably provided with a plurality of first connecting blocks, the plurality of first connecting blocks are used to connect the upper surfaces of different fingers, and the upper sides of the square fixed frame are A plurality of second connection blocks are slidably provided on the lower side, and the plurality of second connection blocks are used to connect the lower surfaces of different fingers. Two first first connection blocks are slidably provided on the upper side of the square fixed frame. Limiting plates, the two first limiting plates are respectively in contact with both ends of all the first connecting blocks to align all the first connecting blocks, and the lower side of the square fixed frame can slide Two second limiting plates are provided on the ground, and the two second limiting plates are respectively in contact with both ends of all the second connecting blocks to align all the second connecting blocks;

A positioning piece, the positioning piece is connected to the square fixed frame, the positioning piece has an elastic cantilever, and the elastic cantilever The arm has an inclined surface, and the inclined surface is used to adjust the first limiting plate when the first limiting plate is in contact with the first connecting block and the second limiting plate is in contact with the second connecting block. The positioning plate and the second limiting plate are used for limiting.

Optionally, the positioning member includes a connecting plate and two cantilever plates, the connecting plate is connected to the square fixed frame, and the two cantilever plates are respectively connected to the first limiting plate and the second limiting plate. In contact, the elastic cantilevers are provided at both ends of the cantilever plate, and the inclined surfaces of the two elastic cantilevers are used to limit the first limiting plate or the second limiting plate at the same time. .

Optionally, the wire drive glove connection device further includes an auxiliary release block, which is connected to the middle part of the cantilever plate, and the top of the auxiliary release block passes through the square fixed frame and is located on the Outside the square fixed frame, the auxiliary release block is used to separate the cantilever plate from the first limiting plate or the second limiting plate when external force is applied.

Optionally, the inclined surface includes a first inclined surface and a second inclined surface, the first inclined surface and the second inclined surface are arranged at an included angle, and the first inclined surface is used to connect the first limiting plate and the When the first connecting block abuts the second limiting plate and the second connecting block, the first limiting plate and the second limiting plate are limited.

Optionally, the angle range between the first inclined surface and the plane where the cantilever plate is located is between 45 degrees and 58 degrees.

Optionally, the angle range between the first inclined surface and the plane where the cantilever plate is located is between 25 degrees and 45 degrees.

Optionally, the positioning member includes a connecting plate and two cantilever plates, the two cantilever plates are connected through the connecting plate, the cantilever plate is arc-shaped, and the two cantilever plates are respectively connected with the first The limiting plate and the second limiting plate are in contact with each other, and the elastic cantilevers are provided at both ends of the cantilever plate.

Optionally, the positioning member includes two cantilever plates, the cantilever plates are V-shaped, both of the cantilever plates are connected to the square fixed frame, and the elastic cantilevers are provided at both ends of the cantilever plates. , the elastic cantilevers with two cantilever plates located on the same side are respectively in contact with the first limiting plate and the second limiting plate.

Embodiments of the present application also provide a wire-driven glove, including an upper replacement module, a lower replacement module, a glove body, and a wire-driven glove connection device. The wire-driven glove connection device is disposed on the palm of the glove body and connected with The fingers of the glove body are connected through driving threads, the upper replacement module is connected to all the first connection blocks, and the lower replacement module is connected to all the second connection blocks.

Embodiments of the present application also provide a method of using wire-driven gloves, including:

Align all the first connecting blocks through the two first limiting plates, and then limit the two first limiting plates simultaneously through the positioning parts, and connect all the first connecting blocks with all the first connecting blocks. Replace the module connection above;

Align all the second connecting blocks through the two second limiting plates, and then limit the two second limiting plates simultaneously through the positioning parts, and connect all the second connecting blocks with all the second connecting blocks. Replace the module connection as follows;

The steering gear reverses the release mode to realize the self-release of the first limit plate on the left and the second limit plate on the right;

The steering gear's clockwise rotation release mode realizes the self-release of the first limit plate on the right and the second limit plate on the left;

After the release is completed, the servo rotates forward or reverse to control the finger back extension or fisting.

The beneficial effects of the wire-driven glove connection device, wire-driven gloves and usage methods of the embodiments of the present application include, for example:

The wire-driven glove connection device includes a square fixed frame and a positioning member. A plurality of first connecting blocks are slidably provided on the upper side of the square fixed frame. The plurality of first connecting blocks are used to connect the upper surfaces of different fingers. The square fixed frame is A plurality of second connecting blocks are slidably provided on the lower side of the fixed frame. The plurality of second connecting blocks are used to connect the lower surfaces of different fingers. Two first connecting blocks are slidably provided on the upper side of the square fixed frame. Limiting plates, two first limiting plates are respectively in contact with both ends of all the first connecting blocks to align all the first connecting blocks, and two second limiting plates are slidably provided on the lower side of the square fixed frame. Positioning plates, two second limiting plates are respectively in contact with both ends of all second connection blocks to align all second connection blocks, the positioning member is connected to the square fixed frame, the positioning member has an elastic cantilever, and the elastic cantilever has an inclined surface , the inclined surface is used to limit the first limiting plate and the second limiting plate when the first limiting plate is in contact with the first connecting block and the second limiting plate is in contact with the second connecting block. The wire-driven glove connection device aligns all first connection blocks through two first limiting plates, aligns all second connection blocks through two second limiting plates, and quickly connects all first connection blocks and all second connection blocks. The connecting blocks are aligned to enable quick docking, and then the first limiting plate and the second limiting plate are simultaneously limited through the slope of the cantilever of the positioning member, which improves the success rate of docking and has greater applicability.

The wire-driven glove includes an upper replacement module, a lower replacement module, a glove body and a wire-driven glove connection device. The wire-driven glove connection device is arranged on the palm of the glove body and is connected to the fingers of the glove body through driving threads. The upper replacement module is connected to all The first connection block is connected and the lower replacement module is connected to all the second connection blocks. The wire-driven glove connection device aligns all first connection blocks through two first limiting plates, aligns all second connection blocks through two second limiting plates, and quickly connects all first connection blocks and all second connection blocks. The connecting blocks are aligned for quick docking, and then the first limit plate and the second limit plate are limited at the same time through the slope of the cantilever of the positioning member, which improves the success rate of docking and has stronger applicability. At the same time, the first limit plate is The positioning plate and the second limiting plate cooperate with the elastic cantilever of the positioning piece. After connection, the positioning piece, the limiting piece, and the fixing piece are self-released through the control of a forward and reverse cycle of the wire-driven servo, without springs, The easily damaged and fatigue-deformed components such as the sheave group can be quickly released, the structure is simple, and they are not easily deformed and damaged after long-term use, and have a long service life.

The method of using the wire drive glove includes aligning all the first connection blocks through the two first limiting plates, and then simultaneously limiting the two first limiting plates through the positioning member, and connecting all the first connecting blocks with the upper Replacement module connection; align all the second connection blocks through the two second limit plates, then limit the two second limit plates at the same time through the positioning piece, and connect all the second connection blocks to the lower replacement module; steering gear Reversal release mode realizes the self-release of the first limit plate on the left and the second limit plate on the right; reverse rotation release mode of the steering gear realizes the self-release of the first limit plate on the right and the second limit plate on the left Self-release of the second limit plate; after completion of release, the servo rotates forward or reverse to control finger back extension or fisting. Through the specific control method in the first forward and reverse movement cycle of the steering gear, the self-release of positioning parts, limit parts, and fixing parts can be realized without springs, sheave groups and other parts that are easily damaged and prone to fatigue deformation. Quick release, simple structure, not easy to deform and damage after long-term use, long service life.

Description of the drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application and therefore do not It should be regarded as a limitation of the scope. For those of ordinary skill in the art, other relevant drawings can also be obtained based on these drawings without exerting creative efforts.

Figure 1 is a schematic structural diagram of the wire drive glove provided in this embodiment from a first perspective;

Figure 2 is a schematic structural diagram of the wire-driven glove connection device provided in this embodiment;

Figure 3 is a schematic structural diagram of the first structure of the positioning member provided in this embodiment;

Figure 4 is a schematic structural diagram of the inclined surface of the positioning member provided in this embodiment;

Figure 5 is a schematic structural diagram of the second structure of the positioning member provided in this embodiment;

Figure 6 is a schematic structural diagram of the third structure of the positioning member provided in this embodiment;

Figure 7 is a schematic structural diagram of the fourth structure of the positioning member provided in this embodiment;

Figure 8 is a schematic structural diagram of the first limiting plate provided in this embodiment;

FIG. 9 is a schematic structural diagram of the wire drive glove provided in this embodiment from a second perspective.

Icons: 1-Servo; 2-Servo side drive clue; 3-Upper replacement module; 4-Lower replacement module; 5-Upper replacement connection block; 6-Lower replacement connection block; 7-First connection block; 8- Second connecting block; 9-square fixed frame; 10-first limiting plate; 11-second limiting plate; 12-positioning piece; 13-elastic cantilever; 14-connecting plate; 15-cantilever plate; 16-inclined surface ; 161-first bevel; 162-second bevel; 17-glove body; 171-finger; 18-limiting boss; 19-auxiliary release block; 20-connection guide rod; 100-wire drive glove connection device; 200 -Wire drive gloves.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments These are part of the embodiments of this application, but not all of them. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.

Accordingly, the following detailed description of the embodiments of the application provided in the appended drawings is not intended to limit the scope of the claimed application, but rather to represent selected embodiments of the application. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the scope of protection of this application.

It should be noted that similar reference numerals and letters represent similar items in the following figures, therefore, once an item is defined in one figure, it does not need further definition and explanation in subsequent figures.

In the description of this application, it should be noted that if the terms "upper", "lower", "inner", "outer", etc. appear to indicate an orientation or positional relationship, they are based on the orientation or positional relationship shown in the drawings, or It is the orientation or positional relationship in which the applied product is usually placed when in use. It is only for the convenience of describing the application and simplifying the description, and is not intended to indicate or imply the device or device referred to. Elements must have a specific orientation, be constructed and operate in a specific orientation and therefore are not to be construed as limitations on the application.

In addition, if the terms "first", "second", etc. appear, they are only used to differentiate the description and shall not be understood as indicating or implying relative importance.

It should be noted that, as long as there is no conflict, the features in the embodiments of the present application can be combined with each other.

In the related art, the connection between the connection block of the glove-side replacement module, the connection block of the upper replacement module, and the connection block of the lower replacement module has problems such as poor alignment and high docking failure rate.

Please refer to Figures 1-9. This embodiment provides a wire-driven glove 200. The wire-driven glove 200 includes an upper replacement module 3, a lower replacement module 4, a glove body 17 and a wire-driven glove connection device 100. The wire-driven glove 200 The connection device 100 is disposed on the palm of the glove body 17 and is connected to the fingers 171 of the glove body 17 through driving threads. The upper replacement module 3 and the lower replacement module 4 are connected to the wire-driven glove connection device 100 . It can effectively improve the above-mentioned technical problems, enable the connection blocks to be quickly aligned, thereby quickly docking, improve the docking success rate, and have stronger applicability.

Please refer to Figures 1-3. This embodiment provides a wire-driven glove connection device 100 that includes a square fixed frame 9 and a positioning member 12. A plurality of first connecting blocks are slidably provided on the upper side of the square fixed frame 9. 7. A plurality of first connection blocks 7 are used to connect the upper surfaces of different fingers 171. A plurality of second connection blocks 8 are slidably provided on the lower side of the square fixed frame 9. The plurality of second connection blocks 8 are used for Connecting the lower surfaces of different fingers 171, two first limiting plates 10 are slidably provided on the upper side of the square fixed frame 9. The two first limiting plates 10 are respectively connected to both ends of all the first connecting blocks 7. In order to align all the first connecting blocks 7, two second limiting plates 11 are slidably provided on the lower side of the square fixed frame 9. The two second limiting plates 11 are respectively connected with all the second connecting blocks. The two ends of the second connecting blocks 8 are abutted to align all the second connecting blocks 8. The positioning member 12 is connected to the square fixed frame 9. The positioning member 12 has an elastic cantilever 13. The elastic cantilever 13 has an inclined surface 16. The inclined surface 16 is used at the first limit. When the positioning plate 10 is in contact with the first connecting block 7 and the second limiting plate 11 is in contact with the second connecting block 8 , the first limiting plate 10 and the second limiting plate 11 are limited.

Specifically, all the first connection blocks 7 are aligned through the two first limiting plates 10, and all the second connecting blocks 8 are aligned through the two second limiting plates 11, so that all the first connecting blocks 7 and all the first connecting blocks 7 are aligned quickly. The second connection block 8 is aligned, and then the first connection block 7 is connected to the upper replacement connection block 5 of the upper replacement module 3, and the second connection block 8 is connected to the lower replacement connection block 6 of the lower replacement module 4, so as to quickly perform docking. .

Furthermore, the upper replacement connection block 5 of the upper replacement module 3 and the lower replacement connection block 6 of the lower replacement module 4 are respectively connected to the steering gear 1 through the steering gear side driving thread 2, and the steering gear 1 is driven by the steering gear side driving thread 2. The upper replacement connection block 5 of the upper replacement module 3 and the lower replacement connection block 6 of the lower replacement module 4 move clockwise or counterclockwise.

Please refer to Figure 3. In this embodiment, the positioning member 12 includes a connecting plate 14 and two cantilever plates 15. The connecting plate 14 is connected to the square fixed frame 9. The two cantilever plates 15 are respectively connected to the first limiting plate 10 and the first limiting plate 10. The two limiting plates 11 are in contact with each other, and elastic cantilevers 13 are provided at both ends of the cantilever plate 15 . The inclined surfaces 16 of the two elastic cantilevers 13 are used to limit the first limiting plate 10 or the second limiting plate 11 at the same time.

Specifically, the two cantilever plates 15 are arranged in the vertical direction and are symmetrically arranged relative to the connecting plate 14 . The upper cantilever plate 15 limits the first limiting plate 10 , and the lower cantilever plate 15 limits the second limiting plate 11 .

More preferably, the cantilever plate 15 is a horizontal plate, and the elastic cantilever 13 and the cantilever plate 15 are integrally formed.

The two cantilever plates 15 and the connecting plate 14 are of an integrated structure.

Referring to Figure 4, the applicant found that the inclined plane 16 includes a first inclined plane 161 and a second inclined plane 162. The first inclined plane 161 and the second inclined plane 162 are arranged at an included angle. Different included angles can provide better positioning and engagement effects. In order to provide greater engagement force, prevent the wire drive glove 200 from being detached when replaced, and improve positioning reliability, the angle e between the first inclined surface 161 and the plane where the cantilever plate 15 is located ranges from 45 degrees to 58 degrees. , provides a large included angle range, provides greater engagement force, avoids disengagement when changing gloves, and improves positioning reliability. The included angle a between the second inclined surface 162 and the plane where the cantilever plate 15 is located ranges from 25 degrees to 44 degrees, which provides a small included angle range and is easy to install and position.

In this embodiment, the first limiting plate 10 and the second limiting plate 11 have the same shape.

In addition, please refer to Figure 8 in conjunction with Figures 2-4, taking the first limiting plate 10 as an example. The first limiting plate 10 is a strip structure with hole guides, and its two end surfaces are flat surfaces. Align the same side limits of the first connecting block 7 on a straight line. The first limiting plate 10 is provided with two guide holes that are loosely matched with the connecting guide rod 20 . The two guide holes on the first limiting plate 10 are distributed on the two outermost connecting guide rods 20, so that the steering gear 1 pulls the upper replacement connecting block 5 to drive the first connecting block 7 to move, thereby realizing the first limiting plate 10 When releasing, the movement of the first limiting plate 10 will not be stuck due to the lateral force of the traction rope, which will affect the positioning and release of the first connecting block 7 .

The first limiting plates 10 are distributed on the front and rear guide rods of the first connecting block 7 . Before the positioning member 12 is positioned, the first limiting plate 10 can move freely on the connecting guide rod 20 . The end of the first limiting plate 10 is located inside the square fixed frame 9 . The width of the first limiting plate 10 is such that one end surface is in contact with the positioning member 12 while the other side is in contact with the positioning member 12 to reduce alignment and positioning errors. The distance between the lower plane of the first limiting plate 10 and the lower end point of the cantilever of the positioning member 12 is c in Figure 4, preferably 1 to 2 mm, and the distance from the upper end point of the elastic cantilever 13 of the positioning member 12 is b in Figure 4, with 0.75~1.5mm is optimal, which ensures that the first limiting plate 10 can be smoothly introduced into the positioning gap of the positioning member 12 without causing too much loss when the driving clue 2 on the steering gear side pulls the first connecting block 7 to release the positioning member 12. Much mechanical energy.

In order to improve the reliability of positioning and releasing the first connection block 7 and the second connection block 8, the wire-driven glove connection device 100 It also includes an auxiliary release block 19. The auxiliary release block 19 is connected to the middle part of the cantilever plate 15. The top of the auxiliary release block 19 passes through the square fixed frame 9 and is located outside the square fixed frame 9. The auxiliary release block 19 is used when subjected to external force. When activated, the cantilever plate 15 is moved away from the first limiting plate 10 or the second limiting plate 11 .

Specifically, by squeezing the top of the auxiliary release block 19 when the upper replacement module 3 and the lower replacement module 4 are docked, the elastic cantilever 13 of the positioning member 12 is forced to droop, thereby realizing the first connection block 7 and the second connection block 8 Easier to release.

In this embodiment, the auxiliary release block 19 is columnar.

Please refer to Figure 5. In other embodiments, the positioning member 12 includes two cantilever plates 15. The cantilever plates 15 are V-shaped. The two cantilever plates 15 are connected to the square fixed frame 9. The elastic cantilever 13 is arranged on the cantilever plate 15. At both ends, the elastic cantilevers 13 of the two cantilever plates 15 located on the same side are in contact with the first limiting plate 10 and the second limiting plate 11 respectively.

The included angle k in Figure 5 represents the included angle between the inclined arms of the elastic cantilever 13 at both ends of the cantilever plate 15. The included angle ranges between 20 degrees and 30 degrees. This included angle can prompt the elastic cantilever 13 to provide sufficient While positioning the clamping force, the resistance should be within a controllable range that facilitates operation when the device is released from positioning. The controllable range means that the resistance overcome during release cannot be particularly large, preventing the user from releasing smoothly.

Specifically, two cantilever plates 15 are spaced apart along the horizontal direction, and the elastic cantilevers 13 of the two cantilever plates 15 located on the same side limit the first limiting plate 10 or the second limiting plate 11 respectively.

Furthermore, the two cantilever plates 15 are fixed on the square fixed frame 9 through arc cantilever positioning grooves. It can be understood that the shape of the arc positioning groove is the same as the shape of the cantilever plate 15 .

Please refer to Figure 6. In other embodiments, the positioning member 12 includes a connecting plate 14 and two cantilever plates 15. The cantilever plate 15 is arc-shaped. The two cantilever plates 15 are connected through the connecting plate 14. The two cantilever plates 15 are respectively connected to The first limiting plate 10 and the second limiting plate 11 are in contact with each other, and elastic cantilevers 13 are provided at both ends of the cantilever plate 15 . In the figure, there is an inclined arm located between the horizontal base plate and the inclined plane 16. The cantilever plate 15 is arc-shaped, which can provide a larger deformation space and provide better clamping and positioning capabilities during positioning. When leaving the positioning, the resistance is within a controllable range that is convenient for operation. This controllable range means that the resistance overcome during release cannot be particularly large, making it impossible for the user to release smoothly.

It should also be noted that the included angle g in the figure is the included angle between the inclined arms of the elastic cantilever 13 of the two cantilever plates 15 located on the same side, and the included angle ranges between 5 degrees and 15 degrees.

More preferably, the elastic cantilever 13 and the cantilever plate 15 are integrally formed.

Please refer to Figure 7. In other embodiments, the positioning member 12 includes two cantilever plates 15. The cantilever plates 15 are arc-shaped. The two cantilever plates 15 are connected to the square fixed frame 9. The elastic cantilever 13 is provided on the cantilever plate 15. At both ends, the two cantilever plates 15 are in contact with the first limiting plate 10 and the second limiting plate 11 respectively. In the figure, there is an inclined arm located on the water between the flat base plate and the slope 16. The cantilever plate 15 is curved, which can provide a larger deformation space, provide better clamping and positioning capabilities during positioning, and can also take into account that the resistance is within a controllable range for convenient operation when disengaging from positioning. The controllable range refers to the release The resistance to be overcome should not be so great that the user cannot release it smoothly.

Specifically, the two cantilever plates 15 are spaced apart in the vertical direction. The upper cantilever plate 15 limits the first limiting plate 10 , and the lower cantilever plate 15 limits the second limiting plate 11 .

r in Figure 7 represents the angle between the inclined arms of the elastic cantilever 13 of the two cantilever plates 15 located on the same side, and the angle ranges between 20 degrees and 30 degrees.

In this embodiment, in order to adapt to the number of fingers 171 , the number of the first connecting blocks 7 and the second connecting blocks 8 is five.

Please continue to refer to FIG. 2 . The square fixed frame 9 is provided with a limiting boss 18 . The distance between the limiting surfaces on the limiting boss 18 is equal to the distance between the two ends of the first connecting block 7 .

The embodiment of the present application also provides a method for using the wire drive glove 200, which includes:

S1: Align all the first connecting blocks 7 through the two first limiting plates 10, then limit the two first limiting plates 10 through the positioning parts 12 at the same time, and connect all the first connecting blocks 7 with the upper replacement module 3 connect;

S2: Align all the second connecting blocks 8 through the two second limiting plates 11, and then limit the two second limiting plates 11 through the positioning parts 12 at the same time, and connect all the second connecting blocks 8 with the lower replacement module 4 connect;

S3: The steering gear 1 reverses the release mode to realize the self-release of the first limit plate 10 on the left and the second limit plate 11 on the right;

S4: Servo 1 clockwise release mode to realize the self-release of the first limit plate 10 on the right and the second limit plate 11 on the left;

S5: After completing the release, the servo 1 rotates forward or reverse to control the finger 171 to extend its back or make a fist.

The method of using the wire drive glove 200 provided by the embodiment of the present application is:

Please refer to Figures 1 to 9. When the wire drive glove connection device 100 is placed between the upper replacement module 3 and the lower replacement module 4, step 1 is to manually move the first connection block 7 and the second connection block 8 to the left and right positions. The sliding first limit plate 10 and the second limit plate 11 push against the limit boss 18. Under the action of manual pushing force, the first limit plate 10 and the second limit plate 11 cross the limit of the positioning member 12. At the highest point, both end surfaces of the first limiting plate 10 and the second limiting plate 11 enter the limiting space between the limiting protrusion and the positioning member 12. Due to the length of the limiting protrusion 18 and the first connection block 7 and the second connection The blocks 8 have the same length, and the relative positioning of the two first limiting plates 10 and the two second limiting plates 11 can achieve precise positioning of the first connecting block 7 and the second connecting block 8 . Each of the upper replacement module 3 and the lower replacement module 4 has an upper replacement connection block 5 and a lower replacement connection block 6. There are five upper replacement connection blocks 5 and five lower replacement connection blocks 6 each. A tensioning spring is provided on the guide rod in the upper and lower replacement module 4. Through the control of the operating angle of the steering gear 1 inside the steering gear 1, all upper replacement connection blocks 5 and lower replacement connection blocks 6 are aligned, and the upper replacement connection blocks are aligned at the same time. Block 5 and lower replacement connection block 6 are also aligned simultaneously.

Manually insert the glove-positioned wire-driven glove connection device 100 into the upper replacement module 3 and the lower replacement module 4. Through the internal limiting and guiding structures of the upper replacement module 3 and the lower replacement module 4, the wire-driven glove connection device 100 The bosses of the first connection block 7 and the second connection block 8 correspond to the grooves of the upper replacement connection block 5 and the lower replacement connection block 6 . Then manually replace the upper module 3 under the guidance of the opening and closing guide rod, connect the upper replacement connection block 5 with the first connection block 7 and connect the lower replacement connection block 6 with the second connection block 8 to achieve Transmission of power and displacement.

Step 2. The first limit plate 10 releases the control and reverses the release mode through the servo 1. When the servo 1 inside the servo 1 starts to run counterclockwise, the servo side drive clue 2 on the upper side of the servo 1 moves to the left. , pull the upper replacement connecting block 5 to move to the left, and the first limiting plate 10 on the left side is separated from the cantilever positioning of the positioning member 12 under the pulling force of the first connecting block 7, thereby realizing the positioning and release of the first limiting plate 10 on the left side. , the first connecting block 7, driven by the upper replacement connecting block 5, urges the first limiting plate 10 on its left side to move to a position that does not affect the movement of the driving lead traction glove. At this time, because the steering gear side driving clue 2 on the upper side of the steering gear 1 moves to the left, the affected finger performs a counterclockwise dorsiflexion movement, pulling the driving clue on the inside of the affected finger's glove to move to the right, thereby driving the second connecting block 8 to the right. Move, under the push of the second connecting block 8, the second limiting plate 11 on the right side of the second connecting block 8 is separated from the positioning member 12, and the second limiting plate 11 on the right side is completely released, pulling the back side of the glove. The driving clue moves to the right, and the second connecting block 8 moves to the right driven by the driving clue on the inside of the affected finger glove that moves to the right, prompting the second limiting plate 11 on its right to move to a position that does not affect the movement of the rope traction glove. . Complete the positioning and release of the first limit plate 10 on the left side of the upper replacement module 3 and the second limit plate 11 on the right side of the lower replacement module 4. After the positioning and release process, during normal operation, the steering gear 1 pulls the rope through the glove. The force direction of the anchor point on the dorsum of the hand is guided, and the traction force is applied to the fingertip of the affected finger to achieve dorsiflexion rehabilitation movement of the affected finger.

Step 3. In the same way, the second limit plate 11 releases the control through the clockwise release mode of the servo 1. When the servo 1 inside the servo 1 starts to run clockwise, the servo side drive clue on the upper side of the servo 1 2 moves to the right, the steering gear side driving clue 2 on the lower side of the steering gear 1 moves to the left, and the replacement connecting block 6 is pulled to move to the left, and the second limiting plate 11 on the left side is under the pulling force of the second connecting block 8 , break away from the cantilever positioning of the positioning member 12, and realize the positioning and release of the second limiting plate 11 on the left side. Driven by the lower replacement connecting block 6, the second connecting block 8 pulls the driving clue on the palm side of the glove to move to the left, prompting the second connecting block 8 on the left side of the glove to move to the left. The two limiting plates 11 move to a position that does not affect the movement of the rope traction glove. At this time, because the driving clue 2 on the lower side of the steering gear 1 moves to the left, the fist movement pulls the driving clue on the outside of the back of the affected finger glove to move to the left, thereby driving the first connecting block 7 to move to the right. 7, the first limiting plate 10 on the right side of the first connecting block 7 is separated from the positioning member 12, thereby realizing the complete release of the first limiting plate 10. The upper side rope of the traction glove finger 171 moves to the right, and the first connecting block 7 moves to the right driven by the cord on the outside of the affected finger glove that moves to the right, prompting the first limiting plate 10 on the right side to move until it does not affect the rope. Traction glove sports hungry position. Complete the positioning and release of the first limit plate 10 on the right side of the upper replacement module 3 and the second limit plate 11 on the left side of the lower replacement module 4. After the positioning and release process, during normal operation, the steering gear 1 pulls the rope through the glove. The force direction of the anchor point on the heart side is guided, and the traction force is applied to the fingertip of the affected finger to realize the fist-clenching rehabilitation movement of the affected finger.

Additionally, the order of steps two and three is interchangeable.

Through the control of the clockwise and counterclockwise operation of the steering gear 1, the first limit plates 10 on the left and right sides and the second limit plates 11 on the left and right sides are automatically released crosswise, without springs, sheaves, etc. being easily damaged. Components that are prone to fatigue deformation can be quickly released, have a simple structure, are not easily deformed and damaged after long-term use, and have a long service life.

To sum up, the embodiment of the present application provides a wire-driven glove connection device 100, a wire-driven glove 200 and a method of use. The wire-driven glove connection device 100 includes a square fixed frame 9 and a positioning member 12. A plurality of first connecting blocks 7 are slidably provided on the upper side of the square fixed frame 9. The plurality of first connecting blocks 7 are used to connect the upper surfaces of different fingers 171. A plurality of first connecting blocks 7 are slidably provided on the lower side of the square fixed frame 9. Two connecting blocks 8, a plurality of second connecting blocks 8 are used to connect the lower surfaces of different fingers 171. Two first limiting plates 10 are slidably provided on the upper side of the square fixed frame 9. The positioning plates 10 are respectively in contact with both ends of all the first connecting blocks 7 to align all the first connecting blocks 7. Two second limiting plates 11 are slidably provided on the lower side of the square fixed frame 9. The second limiting plates 11 are respectively in contact with both ends of all the second connecting blocks 8 to align all the second connecting blocks 8. The positioning member 12 is connected to the square fixed frame 9. The positioning member 12 has an elastic cantilever 13. The cantilever 13 has an inclined surface 16, and the inclined surface 16 is used to push the first limiting plate 10 and the second limiting plate 10 and the second connecting block 8 together when the first limiting plate 10 is in contact with the first connecting block 7 and the second limiting plate 11 is in contact with the second connecting block 8. The two limiting plates 11 limit the position. The wire-driven glove connection device 100 aligns all the first connection blocks 7 through the two first limiting plates 10 and aligns all the second connection blocks 8 through the two second limiting plates 11 to quickly connect all the first connections. The block 7 is aligned with all the second connecting blocks 8 for quick docking, and then the first limiting plate 10 and the second limiting plate 11 are simultaneously limited through the cantilevered slope 16 of the positioning member 12, thereby improving the docking success rate. , and has stronger applicability.

The wire-driven glove 200 includes an upper replacement module 3, a lower replacement module 4, a glove body 17 and a wire-driven glove connection device 100. The wire-driven glove connection device 100 is disposed on the palm of the glove body 17 and passes through the fingers 171 of the glove body 17. The driving thread is connected, the upper replacement module 3 is connected with all the first connection blocks 7, and the lower replacement module 4 is connected with all the second connection blocks 8. The wire-driven glove connection device 100 aligns all the first connection blocks 7 through the two first limiting plates 10 and aligns all the second connection blocks 8 through the two second limiting plates 11 to quickly connect all the first connections. The block 7 is aligned with all the second connecting blocks 8 for quick docking, and then the first limiting plate 10 and the second limiting plate 11 are simultaneously limited through the cantilevered slope 16 of the positioning member 12, thereby improving the docking success rate. , and has stronger applicability. At the same time, the first limit plate 10 and the second limit plate 11 cooperate with the elastic cantilever 13 of the positioning member 12. After connection, through the control of a forward and reverse cycle of the wire drive servo 1, it is realized The positioning piece 12, the limit piece and the fixing piece are self-releasing, and there are no springs, sheave groups and other easily damaged and fatigue-deformed parts, which can achieve quick release, simple structure, long-term use, not prone to deformation and damage, and long service life.

The method of using the wire drive glove 200 includes aligning all the first connecting blocks 7 through the two first limiting plates 10, and then simultaneously limiting the two first limiting plates 10 through the positioning members 12, and aligning all the first limiting plates 10. A connecting block 7 is connected to the upper replacement module 3; all the second connecting blocks 8 are aligned through the two second limiting plates 11, and then the two second limiting plates 11 are limited at the same time through the positioning member 12, and all the second connecting blocks 8 are aligned. The second connection block 8 is connected to the lower replacement module 4; the steering gear 1 reverses the release mode, Realize the self-release of the first limiting plate 10 on the left and the second limiting plate 11 on the right; the steering gear 1 rotates in the release mode to realize the self-release of the first limiting plate 10 on the right and the second limiting plate 11 on the right. The second limiting plate 11 is self-released; after the release is completed, the steering gear 1 rotates forward or reverse to control the finger 171 to extend its back or make a fist. Through the specific control method in the first forward and reverse movement cycle of the steering gear 1, the self-release of the positioning part 12, the limit part, and the fixing part is realized, without springs, sheave sets and other parts that are easily damaged and prone to fatigue deformation. , can achieve quick release, has a simple structure, is not easily deformed and damaged after long-term use, and has a long service life.

The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application. All are covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

A wire-driven glove connection device, characterized by including:

A square fixed frame (9). A plurality of first connecting blocks (7) are slidably provided on the upper side of the square fixed frame (9). The plurality of first connecting blocks (7) are used to connect different On the upper surface of the finger (171), a plurality of second connection blocks (8) are slidably provided on the lower side of the square fixed frame (9). The plurality of second connection blocks (8) are used to connect different On the lower surface of the finger (171), two first limiting plates (10) are slidably provided on the upper side of the square fixed frame (9). The two first limiting plates (10) are respectively In contact with both ends of all the first connecting blocks (7) to align all the first connecting blocks (7), two sliding blocks are provided on the lower side of the square fixed frame (9) Second limiting plates (11). The two second limiting plates (11) are respectively in contact with both ends of all the second connecting blocks (8) to connect all the second connecting blocks (8). )Alignment;

Positioning piece (12), the positioning piece (12) is connected to the square fixed frame (9), the positioning piece (12) has an elastic cantilever (13), the elastic cantilever (13) has an inclined surface (16) , the inclined surface (16) is used to contact the first limiting plate (10) and the first connecting block (7) and the second limiting plate (11) and the second connecting block. In the case of (8), the first limiting plate (10) and the second limiting plate (11) are limited.
The wire drive glove connection device according to claim 1, characterized in that the positioning member (12) includes a connecting plate (14) and two cantilever plates (15), the connecting plate (14) and the square The fixed frame (9) is connected, the two cantilever plates (15) are respectively in contact with the first limiting plate (10) and the second limiting plate (11), and the elastic cantilever (13) is arranged on the At both ends of the cantilever plate (15), the inclined surfaces (16) of the two elastic cantilevers (13) are used to simultaneously align the first limiting plate (10) or the second limiting plate ( 11) Limit the position.
The wire-driven glove connection device according to claim 2, characterized in that the wire-driven glove connection device (100) further includes an auxiliary release block (19), and the auxiliary release block (19) is connected with the cantilever plate (100). 15), the top of the auxiliary release block (19) passes through the square fixed frame (9) and is located outside the square fixed frame (9). The auxiliary release block (19) is used for Under the action of external force, the cantilever plate (15) is separated from the first limiting plate (10) or the second limiting plate (11).
The wire-driven glove connection device according to claim 3, wherein the inclined surface (16) includes a first inclined surface (161) and a second inclined surface (162), and the first inclined surface (161) and the second inclined surface (162). Two inclined planes (162) are arranged at an included angle. The first inclined plane (161) is used to contact the first limiting plate (10) and the first connecting block (7) and the second limiting plate. In the case of the plate (11) and the second connecting block (8), the first limiting plate (10) and the second limiting plate (11) are limited.
The wire drive glove connection device according to claim 4, characterized in that the angle range between the first inclined surface (161) and the plane where the cantilever plate (15) is located is between 45 degrees and 58 degrees. .
The wire drive glove connection device according to claim 4, characterized in that the angle range between the first slope (161) and the plane where the cantilever plate (15) is located is between 25 degrees and 45 degrees. .
The wire drive glove connection device according to claim 1, characterized in that the positioning member (12) includes a connecting plate (14) and two cantilever plates (15), and the cantilever plates (15) are arc-shaped, The two cantilever plates (15) are connected through the connecting plate (14), and the two cantilever plates (15) respectively resist the first limiting plate (10) and the second limiting plate (11). Then, the elastic cantilever (13) is provided at both ends of the cantilever plate (15).
The wire drive glove connection device according to claim 1, characterized in that the positioning member (12) includes two cantilever plates (15), the cantilever plates (15) are V-shaped, and the two cantilever plates (15) are connected to the square fixed frame (9), the elastic cantilever (13) is provided at both ends of the cantilever plate (15), and the two cantilever plates (15) are located on the same side of the The elastic cantilever (13) is in contact with the first limiting plate (10) and the second limiting plate (11) respectively.
A wire-driven glove, characterized in that it includes an upper replacement module (3), a lower replacement module (4), a glove body (17), and a wire-driven glove connection device according to any one of claims 1 to 8 ( 100), the wire-driven glove connection device (100) is arranged on the palm of the glove body (17), and is connected to the fingers (171) of the glove body (17) through a driving thread, and the upper replacement module ( 3) Connect with all the first connection blocks (7), and the lower replacement module (4) is connected with all the second connection blocks (8).
A method of using the wire drive glove according to claim 9, characterized in that it includes:

Align all the first connecting blocks (7) through the two first limiting plates (10), and then limit the two first limiting plates (10) through the positioning pieces (12) at the same time. position, connect all the first connection blocks (7) with the upper replacement module (3);

Align all the second connecting blocks (8) through the two second limiting plates (11), and then limit the two second limiting plates (11) through the positioning pieces (12) at the same time. position, connect all the second connection blocks (8) with the lower replacement module (4);

The steering gear (1) reverses the release mode to realize the self-release of the first limit plate (10) on the left and the second limit plate (11) on the right;

The steering gear (1) rotates in a clockwise release mode to realize the self-release of the first limit plate (10) on the right side and the second limit plate (11) on the left side;

After the release is completed, the steering gear (1) rotates forward or reverse to control the finger (171) to extend its back or make a fist.