CN112356014B - Underactuated coupled adaptive hand exoskeleton robot - Google Patents

Abstract

The invention belongs to the technical field of medical instruments, and particularly relates to an under-actuated coupling self-adaptive hand exoskeleton robot, which aims to solve the problem that the hand exoskeleton robot in the prior art cannot assist a patient in both rehabilitation training and daily life operation. The application provides an under-actuated coupling self-adaptation hand ectoskeleton robot can realize the bending motion and the extension motion of finger through the motion of motor drive link gear, and the help patient is the rehabilitation training, can help the wearing person to operate the object promptly meticulous gripping and strength gripping in daily life simultaneously, carries out the helping hand. The hand exoskeleton robot has the advantages of small volume, light weight, large driving force, compatibility with hand joint motion, low cost and easy batch production.

Description

Under-actuated coupling self-adaptive hand exoskeleton robot

Technical Field

The invention belongs to the technical field of medical instruments, and particularly relates to an under-actuated coupling self-adaptive hand exoskeleton robot.

Background

In recent years, the number of patients with hand movement dysfunction caused by accidents such as car accidents and industrial injuries and nervous system dysfunction such as cerebral apoplexy and spinal cord injury is increasing, the rehabilitation cost is increased, and the defects of rehabilitation doctors are overcome, so that the rehabilitation requirement problem is increasingly prominent, and meanwhile, most of patients have insufficient hand muscle strength after rehabilitation and are difficult to operate daily to living required articles. In recent years, clinical tests show that the hand exoskeleton robot can help hand movement dysfunction patients to recover the limb active control ability to a certain extent, and can also help patients with insufficient muscle strength to perform daily operation, so that the hand exoskeleton robot has received wide attention from all social circles. The main focus of the existing hand exoskeleton robot design is to help a patient with hand dyskinesia to perform rehabilitation training, and the process of assisting the patient to perform daily life operation (i.e. assistance) after the patient recovers is rarely considered. Therefore, there is a need for a hand exoskeleton robot that allows for rehabilitation of the entire process of assistance to solve or at least mitigate the above problems.

Disclosure of Invention

In order to solve the above-mentioned problem among the prior art, for solve among the prior art hand ectoskeleton robot can't help the patient to carry out the rehabilitation training promptly and assist the patient to carry out the problem of daily life operation (helping hand promptly), this application provides an under-actuated coupling self-adaptation hand ectoskeleton robot, including articulated palm finger unit in proper order, proximal joint unit, well festival unit and distal joint unit and link gear, link gear is including articulated first connecting rod, second connecting rod, third connecting rod, fourth connecting rod, fifth connecting rod, sixth connecting rod in proper order.

The end, deviating from the second connecting rod, of the first connecting rod is arranged on the palm finger unit, the hinged end of the second connecting rod and the third connecting rod is arranged on the proximal joint unit through a first supporting seat, the hinged end of the fourth connecting rod and the fifth connecting rod is arranged on the middle joint unit through a second supporting seat, and the end, deviating from the fifth connecting rod, of the sixth connecting rod is arranged on the distal joint unit.

The end parts, close to each other, of the second connecting rod and the third connecting rod are respectively provided with a gear, the gear of the second connecting rod is meshed with the gear of the third connecting rod, the end parts, close to each other, of the fourth connecting rod and the fifth connecting rod are respectively provided with a gear, and the gear of the fourth connecting rod is meshed with the gear of the fifth connecting rod.

The first supporting seat is rotatably arranged on the proximal joint unit, the second supporting seat is rotatably arranged on the middle joint unit, and the rotating direction of the first supporting seat and the rotating direction of the second supporting seat are consistent with the bending direction of fingers.

One end of the first connecting rod, which is far away from the second connecting rod, is connected with an output shaft of a power device, and the power device drives the first connecting rod to rotate anticlockwise or clockwise so as to drive the robot to do flexion movement or extension movement.

In some preferred embodiments, the rotation angle of the proximal interphalangeal joint can be adjusted by adjusting a gear ratio of the gear of the second link to the gear of the third link.

In some preferred embodiments, the rotation angle of the distal interphalangeal joint can be adjusted by adjusting a gear ratio of the gear of the fourth link to the gear of the fifth link.

In some preferred technical schemes, the first supporting seat and the second supporting seat are identical in structure, the first supporting seat comprises a first fixing portion and a second fixing portion, and the first fixing portion and the second fixing portion are respectively used for fixing two gears meshed with each other, so that the two gears meshed with each other can rotate around the axes of the two gears respectively.

In some preferred technical solutions, the power device is fixed to the palm finger unit, an output shaft of the power device is arranged along the buckling direction of the fingers, and the output shaft of the power device is connected with the first connecting rod through a bevel gear assembly.

In some preferred technical schemes, one end of the first connecting rod departing from the power device is provided with a ball seat bearing, one end of the second connecting rod departing from the third connecting rod is a U-shaped end, and two fixing parts of the U-shaped end of the second connecting rod are respectively hinged with two side surfaces of the ball seat bearing.

In some preferred embodiments, the gear ratio of the gear of the second link to the gear of the third link is 1: 1.

In some preferred embodiments, a gear ratio of the gear of the fourth link to the gear of the fifth link is 0.7: 1.

In some preferred technical solutions, the first supporting seat and the second supporting seat are rotatably installed on the proximal joint unit and the middle joint unit through torsional elastic connection members, respectively.

In some preferred embodiments, the torsional elastic connecting element is a double torsion spring or a dovetail clip.

The invention has the beneficial effects.

The invention can realize the adjustment of the movable angle of each joint of the finger by changing the lengths of the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod, the fifth connecting rod and the sixth connecting rod. During the specific use, still can be through adjusting palm finger unit, nearly festival unit, the tie-up position of well festival unit at the hand, the tie-up position of distant festival unit at the hand realizes the regulation to patient's finger activity angle.

The invention realizes that a single motor drives the metacarpophalangeal joint, the proximal interphalangeal joint and the distal interphalangeal joint of the finger to move in an underactuated mode; meanwhile, the linkage mechanism can better realize strength gripping and fine gripping in daily life operation, the metacarpophalangeal joint, the proximal interphalangeal joint and the distal interphalangeal joint move in a coupling mode before the fingers do not contact with the object, and the fingers can self-adapt to the shape of the object to be gripped under the driving of the motor after any finger joint of the fingers contacts with the object.

The under-actuated coupling self-adaptive hand exoskeleton robot has the advantages of small volume, light weight, adjustable motion range, simple manufacture, low cost and easy realization of batch production.

The under-actuated coupling self-adaptive hand exoskeleton robot is used for helping a patient with hand dyskinesia to move fingers and assist a therapist to do rehabilitation training, and meanwhile, the hand exoskeleton robot can help a user with myasthenia to perform daily behavior operation and give assistance. The hand exoskeleton robot is flexible and light and can be widely applied to multiple fields.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings.

Fig. 1 is a schematic diagram of an under-actuated coupling adaptive hand exoskeleton robot according to an embodiment of the present invention in a state of actuating fingers to extend.

Fig. 2 is a schematic diagram of an under-actuated coupling adaptive hand exoskeleton robot according to an embodiment of the present invention in a state of driving fingers to bend.

Fig. 3 is an exploded view of an under-actuated coupled adaptive hand exoskeleton robot in accordance with an embodiment of the present invention.

List of reference numerals.

1-palm finger unit; 2-a proximal unit; 3-a middle section unit; 4-a distal unit; 5-palm finger base; 6, a motor; 7-bevel gears; 8-a first link; 9-ball seat bearing; 10-a second link; 11-a first support; 12-a first double torsion spring; 13-a proximal base; 14-a third link; 15-a fourth link; 16-a second support seat; 17-a second double torsion spring; 18-a middle section base; 19-a fifth link; 20-a sixth link; 21-distal joint base.

Detailed Description

In order to make the embodiments, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention.

The invention discloses an under-actuated coupling self-adaptive hand exoskeleton robot which comprises a palm andfinger unit 1, aproximal joint unit 2, amiddle joint unit 3, adistal joint unit 4, a linkage mechanism and a power device, wherein the palm and finger unit, theproximal joint unit 2, themiddle joint unit 3 and thedistal joint unit 4 are sequentially hinged.

The linkage mechanism comprises a first connectingrod 8, a second connectingrod 10, a third connectingrod 14, a fourth connectingrod 15, a fifth connectingrod 19 and a sixth connectingrod 20 which are hinged in sequence.

Further, the power device is fixed on thepalm finger unit 1, an output shaft of the power device is arranged along the buckling direction of the fingers, and the output shaft of the power device is connected with the first connecting rod through a bevel gear component. In the embodiment of the present application, the power device includes amotor 6 and a bevel gear assembly, specifically, the bevel gear assembly includes a bevel gear mounted on the output shaft of the motor and abevel gear 7 connected to thefirst link 8, and the two bevel gears are engaged to change the direction of the output shaft of the motor, so that the output shaft of the motor drives the first link to rotate.

The end of the first connectingrod 8 departing from the second connectingrod 10 is arranged on thepalm finger unit 1, the hinged end of the second connectingrod 10 and the third connectingrod 14 is arranged on theproximal joint unit 2 through the first supporting seat 11, the hinged end of the fourth connectingrod 15 and the fifth connectingrod 19 is arranged on the middlejoint unit 3 through the second supportingseat 16, and the end of the sixth connectingrod 20 departing from the fifth connectingrod 19 is arranged on thedistal joint unit 4.

Thesecond link 10 and thethird link 14 are provided with gears at ends close to each other, respectively, the gear of thesecond link 10 is engaged with the gear of thethird link 14, thefourth link 15 and thefifth link 19 are provided with gears at ends close to each other, respectively, and the gear of thefourth link 15 is engaged with the gear of thefifth link 19.

The first support seat 11 is rotatably installed on theproximal joint unit 2, thesecond support seat 16 is rotatably installed on themiddle joint unit 3, and the rotating direction of the first support seat 11 and the rotating direction of thesecond support seat 16 are consistent with the bending direction of the fingers.

One end of the first connectingrod 8 departing from the second connectingrod 10 is connected with an output shaft of the power device, that is, one end of the first connectingrod 8 departing from the second connectingrod 10 is connected with an output shaft of themotor 6, specifically, the power device drives the first connecting rod to rotate anticlockwise or clockwise so as to drive the robot to do flexion movement or extension movement.

In order to more clearly describe the under-actuated coupling adaptive hand exoskeleton robot, a preferred embodiment of the invention is described in detail below with reference to the accompanying drawings.

As a preferred embodiment of the present invention, an under-actuated coupling adaptive hand exoskeleton robot is shown in fig. 1, where fig. 1 illustrates a schematic diagram of the under-actuated coupling adaptive hand exoskeleton robot in an extension motion state, that is, apalm finger unit 1, aproximal joint unit 2, amiddle joint unit 3 and a distaljoint unit 4 are in the same horizontal plane, and fig. 2 illustrates a schematic diagram of the under-actuated coupling adaptive hand exoskeleton robot in a flexion motion state, that is, thepalm finger unit 1, theproximal joint unit 2, themiddle joint unit 3 and thedistal joint unit 4 are at a certain angle to each other. It will be appreciated that the palm andfinger unit 1 comprises a palm andfinger base 5 having a finger fixing portion, the fixing portion of the palm andfinger base 5 being capable of being fixed in a set position on a finger or palm, preferably the palm and finger unit being strapped to the back of the hand, i.e. in practice the palm of the hand of the wearer. Simultaneously this application palm indicatesbase 5 is used for decidingmotor 6 and first connectingrod 8, and first connectingrod 8 passes through bevel gear subassembly andmotor 6's output shaft with the stiff end of palm indicatesbase 5, and the bevel gear subassembly includes two intermeshing's bevel gear, and one of them is installed in the output shaft ofmotor 6, and another passes through rolling bearing with 8 bottom round holes of first connecting rod and is connected,bevel gear 7 that fig. 3 illustrates promptly. Through the arrangement, the torque output by the motor can be reversed to drive the first connectingrod 8 to rotate clockwise or anticlockwise around the hinged part of the first connecting rod and thepalm finger base 5. One end of the first connectingrod 8 departing from themotor 6 is provided with a ball seat bearing 9, one end of the second connectingrod 10 departing from the third connectingrod 14 is a U-shaped end, and two fixing parts of the U-shaped end of the second connecting rod are hinged to two side faces of the ball seat bearing 9 respectively. The ball seat bearing 9 can realize a passive left-right degree of freedom, and facilitates the left-right movement of fingers.

Further, theproximal joint unit 2 comprises aproximal joint base 13, by means of whichproximal joint unit 2 can be fixed in a set position of the finger, preferably the proximal joint unit is tied up at the dorsal third knuckle of the finger, i.e. the proximal knuckle actually corresponding to the hand of the wearer. Meanwhile, theproximal base 13 is used for fixing the first support seat 11, and the first support seat 11 comprises a first fixing portion and a second fixing portion, wherein the first fixing portion and the second fixing portion are respectively used for fixing two gears which are meshed with each other, so that the two gears which are meshed with each other can respectively rotate around the axis of the two gears. Specifically, one end of the second connectingrod 10 is U-shaped and connected to the ball seat bearing 9 on thepalm finger unit 1, and the other end is gear-shaped and connected to the fixing portion of the first supporting base 11 through a rotating bearing; one end of the third connecting rod is U-shaped and is connected with a fourth connectingrod 15 on themiddle joint unit 3 through a rotating bearing, the other end of the third connecting rod is gear-shaped and is connected with the first supporting seat 11 through a bearing, a gear at one end of the second connectingrod 10 is meshed with a gear at one end of the third connectingrod 14, and in the preferred embodiment of the invention, the gear ratio of the second connectingrod 10 to the third connectingrod 14 is 1: 1. It will be appreciated that a person skilled in the art can adjust the rotation angle of the proximal interphalangeal joint by adjusting the gear ratio of the gear of thesecond link 10 to the gear of thethird link 14.

Similarly, themiddle joint unit 3 comprises a middle joint base 18, and themiddle joint unit 3 can be fixed at a set position of a finger through the middle joint base 18, and is preferably bound at the back of the second knuckle of the finger, namely, the middle joint actually corresponding to the hand of the wearer. Meanwhile, the middle section base 18 is used for fixing thesecond support seat 16, thesecond support seat 16 has the same structure as the first support seat 11, and two fixing portions of thesecond support seat 16 are respectively used for fixing gear ends of the third connecting rod and the fourth connecting rod. Specifically, one end of the fourth connectingrod 15 is semicircular and is connected with the third connectingrod 14 of theproximal joint unit 2 through a rotating bearing, and the other end of the fourth connecting rod is gear-shaped and is connected with the second supportingseat 16 through a rotating bearing; one end of the fifth connectingrod 19 is semicircular and is connected with the sixth connectingrod 20 on theremote unit 4 through a rotating bearing, and the other end of the fifth connecting rod is gear-shaped and is connected with the second supportingseat 16 through the rotating bearing; the gear at one end of thefourth link 15 and the gear at one end of thefifth link 19 are engaged with each other, and in a preferred embodiment of the present invention, the gear ratio of thefourth link 15 to thefifth link 19 is 0.7: 1. It will be appreciated that a person skilled in the art can adjust the rotation angle of the proximal interphalangeal joint by adjusting the gear ratio of the gear of thefourth link 15 to the gear of thefifth link 19.

Referring to fig. 3, thedistal joint unit 4 includes a distal joint base 21, and thedistal joint unit 4 can be fixed at a set position of a finger through the distal joint base 21, preferably, the distal joint unit is tied to the dorsal part of the first knuckle of the finger, i.e., the distal joint actually corresponding to the hand of the wearer. One end of the sixth connectingrod 20 is U-shaped and is connected with the fifth connectingrod 19 of the middle joint unit through a rotating bearing, and the other end is connected with the remote joint base 21 through a rotating bearing.

In the preferred embodiment of the present invention, the first support base 11 is rotatably mounted to theproximal section unit 2 by a torsional elastic coupling, and thesecond support base 16 is rotatably mounted to themiddle section unit 3 by a torsional elastic coupling. Wherein, the elastic connecting piece is a double torsion spring or a dovetail clip. Referring to the drawings, the preferred elastic connecting piece of turning round of this application is two torsional springs, and two spring bodies of two torsional springs set up respectively in the both sides of supporting seat, and the U-shaped connecting portion of two torsional springs is contradicted with one side that the supporting seat deviates from power device.

Specifically, the first support seat 11 is connected with theproximal base 12 through a rotating bearing, the firstdouble torsion spring 12 is nested in the bearing connection position, the double torsion spring is in a compression pre-tightening state in an initial state, and the relative rotation between the first support seat 11 and theproximal base 12 is blocked, similarly, thesecond support seat 16 is connected with the middle base 18 through a rotating bearing, thedouble torsion spring 17 is nested in the rotating bearing position, thedouble torsion spring 17 is in a compression pre-tightening state in an initial state, and the relative rotation between thesecond support seat 16 and the middle base 18 is blocked. Thepalm finger base 5, theproximal base 13, the middle base 18, the distal base 21, thebevel gear 7, theball seat bearing 9, the first connectingrod 8, the second connectingrod 10, the third connectingrod 14, the fourth connectingrod 15, the fifth connectingrod 19, the sixth connectingrod 20, the firstdouble torsion spring 12 and the seconddouble torsion spring 17 may be made of light-cured resin, nylon, plastic or metal.

It will be appreciated that although not shown in the figures, the under-actuated coupled adaptive hand exoskeleton robot of the present invention includes control circuitry in addition to the structure shown in the figures. Since they are well known structures and devices, they will not be described in detail.

The working principle of the present invention is explained in detail below with reference to fig. 1-3.

The work of the hand exoskeleton robot is divided into two stages, namely a coupling stage and an adaptive stage. When the hand exoskeleton robot is not in contact with the object, the coupling stage is carried out; when the hand exoskeleton robot is in contact with an object, the self-adaptive phase is carried out.

In the coupling stage, the hand exoskeleton robot is not in contact with an object. At the moment, when the motor rotates a certain angular displacement in the forward direction at a certain angular speed, the bevel gear drives the first connecting rod to rotate forwards, the first connecting rod drives the second connecting rod to rotate, the first supporting seat where the second connecting rod is located cannot rotate relatively with the proximal base due to the pre-tightening force of the first double spring, and the metacarpophalangeal joints of the wearer can rotate under the driving of the exoskeleton and bend downwards, namely bend. When the gear-shaped end of the second connecting rod rotates, the third connecting rod can rotate forwards due to the fact that the second connecting rod and the third connecting rod are coupled together through the gear, the fourth connecting rod is driven to rotate, the second supporting seat where the fourth connecting rod is located cannot rotate relative to the middle base due to the pre-tightening force of the second double springs, and the near interphalangeal joint of a wearer can rotate under the driving of the exoskeleton and bend downwards, namely bending movement. When the gear-shaped end of the fourth connecting rod rotates, the fifth connecting rod rotates forwards due to the fact that the fourth connecting rod and the fifth connecting rod are coupled together through the gear, the sixth connecting rod is driven to rotate, and the far interphalangeal joint of the wearer rotates under the driving of the exoskeleton and bends downwards, namely bends. Similarly, when the motor rotates in a reverse direction at a certain angular speed for a certain angular displacement, the exoskeleton drives the metacarpophalangeal joints, the proximal interphalangeal joints and the distal interphalangeal joints of the fingers to extend upwards, namely the extension movement. In the coupling stage, the metacarpophalangeal joints, the proximal interphalangeal joints and the distal interphalangeal joints of the fingers move simultaneously, and the angles of the movement between the metacarpophalangeal joints, the proximal interphalangeal joints and the distal interphalangeal joints are in a fixed ratio of 1:1:1 (the ratio is adjustable by changing the gear ratio).

During the adaptation phase, the exoskeleton is in contact with the object (taking the third knuckle of the finger, the second knuckle, and the first knuckle in turn in contact with the object as an example). When the third knuckle of the finger contacts with the object earlier, namely the metacarpophalangeal joint of the wearer can not rotate any more, the motor rotates a certain angular displacement in the forward direction at a certain angular speed, the first connecting rod is driven to rotate forwards through the bevel gear, the first connecting rod drives the second connecting rod to rotate, at the moment, the finger does not rotate with the object again in contact, the pretightening force of the first double spring is overcome by the force applied to the first supporting seat by the second connecting rod, relative rotation occurs between the first supporting seat and the proximal base, the first supporting seat rotates forwards, the third connecting rod is driven to rotate, and then the fourth connecting rod is driven to rotate. Meanwhile, the second connecting rod and the third connecting rod are coupled together through the gear, when the gear-shaped end of the second connecting rod rotates, the third connecting rod can rotate forwards and can drive the fourth connecting rod to rotate, the second supporting seat where the fourth connecting rod is located begins to exist due to the pre-tightening force of the double springs, the second supporting seat and the middle base cannot rotate relatively, and the proximal interphalangeal joint of a wearer can rotate under the driving of the exoskeleton and bend downwards, namely bending movement is carried out until the second knuckle is contacted with an object. When the second knuckle is in contact, the wearer's proximal knuckle is not rotating. Because the third connecting rod continues to rotate, the force applied to the second supporting seat by the fourth connecting rod can overcome the pre-tightening force of the second double-spring, the second supporting seat and the middle section base rotate relatively, the second supporting seat can rotate forwards, and the fifth connecting rod is driven to rotate. Meanwhile, when the gear-shaped end of the fourth connecting rod rotates, the fourth connecting rod and the fifth connecting rod are coupled together through the gear, the fifth connecting rod can rotate forwards, the sixth connecting rod is driven to rotate, and the far interphalangeal joint of the wearer can rotate under the driving of the exoskeleton and bends downwards, namely bends to move until the first knuckle is in contact with an object. The whole process is one-time enveloping grasping, and the grasping process can be adaptive to the shape of an object. Similarly, when the motor rotates in a reverse direction at a certain angular speed for a certain angular displacement, the exoskeleton drives the metacarpophalangeal joints, the proximal interphalangeal joints and the distal interphalangeal joints of the fingers to extend upwards, namely to move in an extending mode, and at the moment, the first knuckle, the second knuckle and the third knuckle are separated from the object to be gripped, namely to release the gripped object.

The technical solutions in the embodiments of the present application at least have the following technical effects and advantages.

The invention can realize the adjustment of the movable angle of each joint of the finger by changing the lengths of the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod, the fifth connecting rod and the sixth connecting rod. During the specific use, still can be through adjusting palm finger unit, nearly festival unit, the tie-up position of well festival unit at the hand, the tie-up position of distant festival unit at the hand realizes the regulation to patient's finger activity angle.

The invention realizes that a single motor drives the metacarpophalangeal joint, the proximal interphalangeal joint and the distal interphalangeal joint of the finger to move in an underactuated mode; meanwhile, the linkage mechanism can better realize strength gripping and fine gripping in daily life operation, the metacarpophalangeal joint, the proximal interphalangeal joint and the distal interphalangeal joint move in a coupling mode before the fingers do not contact with the object, and the fingers can self-adapt to the shape of the object to be gripped under the driving of the motor after any finger joint of the fingers contacts with the object.

The under-actuated coupling self-adaptive hand exoskeleton robot is designed for a patient, is intended to help the patient to perform rehabilitation assistance and assist the patient with dysfunctional locomotion to perform rehabilitation training or power-assisted operation, considers exoskeleton design problems from the perspective of fusion of man-machine motion chains during design, considers hand joint motion into a closed loop chain of a mechanism, and constructs the man-machine to just restrain the motion chains to realize motion compatibility between man-machine fingers. The hand exoskeleton robot cannot move independently after leaving hands of wearers, and can only move after being worn by the hands to form man-machine fusion.

Compared with an industrial robot, the under-actuated coupling self-adaptive hand exoskeleton robot has different design concepts, and different technical problems to be solved and actual technical schemes.

The under-actuated coupling self-adaptive hand exoskeleton robot is used for helping a patient with hand dyskinesia to move fingers and assist a therapist to do rehabilitation training, meanwhile, the hand exoskeleton robot can help a user with weak muscles to perform daily behavior operation and give assistance, and can help a wearer to perform strength gripping (enveloping gripping) and fine gripping (pinching gripping) while realizing human-computer movement compatibility. The hand exoskeleton robot is flexible and light and can be widely applied to multiple fields.

It should be noted that in the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicating the directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The terms "comprises," "comprising," or any other similar term are intended to cover a non-exclusive inclusion, such that a process, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, article, or apparatus.

So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.

Claims (9)

Translated fromChinese

1.一种欠驱动耦合自适应手部外骨骼机器人，包括依次铰接的掌指单元、近节单元、中节单元和远节单元，其特征在于，还包括联动机构；所述联动机构包括依次铰接的第一连杆、第二连杆、第三连杆、第四连杆、第五连杆、第六连杆，通过更换所述第一连杆、所述第二连杆、所述第三连杆、所述第四连杆、所述第五连杆、所述第六连杆长度，能够实现对手指各关节活动角度的调节；所述第一连杆背离所述第二连杆的一端装设于所述掌指单元，所述第二连杆与所述第三连杆的铰接端通过第一支撑座装设于所述近节单元，所述第四连杆与所述第五连杆的铰接端通过第二支撑座装设于所述中节单元，所述第六连杆背离所述第五连杆的一端装设于所述远节单元；所述第二连杆与所述第三连杆在靠近彼此的端部分别设置有齿轮，所述第二连杆的齿轮与所述第三连杆的齿轮啮合，所述第四连杆与所述第五连杆在靠近彼此的端部分别设置有齿轮，所述第四连杆的齿轮与所述第五连杆的齿轮啮合；所述第一支撑座通过扭弹性连接件可转动地装设于所述近节单元，所述第二支撑座通过扭弹性连接件可转动地装设于所述中节单元，所述第一支撑座的转动方向、所述第二支撑座的转动方向与手指的弯曲方向一致；所述第一连杆背离所述第二连杆的一端与动力装置的输出轴连接，所述动力装置通过驱动所述第一连杆转动以驱动所述机器人做屈曲运动或伸展运动。1. An under-actuated coupling adaptive hand exoskeleton robot, comprising a palm-finger unit, a proximal segment unit, a middle segment unit and a distal segment unit hinged successively, is characterized in that, also comprises a linkage mechanism; The linkage mechanism includes sequentially The hinged first link, the second link, the third link, the fourth link, the fifth link, and the sixth link, by replacing the first link, the second link, the The lengths of the third link, the fourth link, the fifth link, and the sixth link can adjust the movement angle of each joint of the finger; the first link deviates from the second link One end of the rod is mounted on the palm-finger unit, the hinged ends of the second link and the third link are mounted on the proximal unit through the first support seat, and the fourth link is connected to the proximal unit. The hinged end of the fifth link is mounted on the middle section unit through the second support seat, and the end of the sixth link away from the fifth link is mounted on the distal unit; the second link The connecting rod and the third connecting rod are respectively provided with gears at their ends close to each other, the gears of the second connecting rod mesh with the gears of the third connecting rod, and the fourth connecting rod and the fifth connecting rod are engaged with each other. The connecting rods are respectively provided with gears at the ends close to each other, and the gears of the fourth connecting rod mesh with the gears of the fifth connecting rod; the first support seat is rotatably installed on the In the proximal segment unit, the second support base is rotatably installed on the middle segment unit through a torsion elastic connecting piece, and the rotation direction of the first support base, the rotation direction of the second support base and the The bending direction is the same; the end of the first link away from the second link is connected to the output shaft of the power device, and the power device drives the first link to rotate to drive the robot to flex or stretch sports.2.根据权利要求1所述的欠驱动耦合自适应手部外骨骼机器人，其特征在于，通过调整所述第二连杆的齿轮与所述第三连杆的齿轮齿数比能够调节近端指间关节的转动角度。2 . The underactuated coupling adaptive hand exoskeleton robot according to claim 1 , wherein the proximal finger can be adjusted by adjusting the gear ratio of the gear of the second link and the gear ratio of the third link. 3 . Rotation angle of the joint.3.根据权利要求1所述的欠驱动耦合自适应手部外骨骼机器人，其特征在于，通过调整所述第四连杆的齿轮与所述第五连杆的齿轮齿数比能够调节远端指间关节的转动角度。3 . The underactuated coupling adaptive hand exoskeleton robot according to claim 1 , wherein the distal finger can be adjusted by adjusting the gear ratio of the gear of the fourth link and the gear ratio of the fifth link. 4 . Rotation angle of the joint.4.根据权利要求1所述的欠驱动耦合自适应手部外骨骼机器人，其特征在于，所述第一支撑座和所述第二支撑座结构相同，所述第一支撑座包括第一固定部和第二固定部，所述第一固定部和所述第二固定部分别用于固定两个相互啮合的齿轮，以使两个相互啮合的齿轮能够分别绕自身轴线旋转。4 . The underactuated coupling adaptive hand exoskeleton robot according to claim 1 , wherein the first support base and the second support base have the same structure, and the first support base comprises a first fixed base. 5 . The first fixing part and the second fixing part are respectively used for fixing two gears that mesh with each other, so that the two gears that mesh with each other can rotate around their own axes respectively.5.根据权利要求1所述的欠驱动耦合自适应手部外骨骼机器人，其特征在于，所述动力装置固定于所述掌指单元，所述动力装置的输出轴沿手指的屈曲方向设置，所述动力装置的输出轴通过锥齿轮组件与所述第一连杆连接。5 . The underactuated coupling adaptive hand exoskeleton robot according to claim 1 , wherein the power device is fixed to the palm-finger unit, and the output shaft of the power device is arranged along the flexion direction of the finger, 6 . The output shaft of the power device is connected with the first connecting rod through a bevel gear assembly.6.根据权利要求1所述的欠驱动耦合自适应手部外骨骼机器人，其特征在于，所述第一连杆背离所述动力装置的一端设置有球座轴承，所述第二连杆背离所述第三连杆的一端为U型端，所述第二连杆U型端的两个固定部分别与所述球座轴承的两个侧面铰接。6 . The underactuated coupling adaptive hand exoskeleton robot according to claim 1 , wherein the end of the first link away from the power device is provided with a ball seat bearing, and the second link away from the power device. 7 . One end of the third connecting rod is a U-shaped end, and the two fixing parts of the U-shaped end of the second connecting rod are respectively hinged with two side surfaces of the ball seat bearing.7.根据权利要求1所述的欠驱动耦合自适应手部外骨骼机器人，其特征在于，所述第二连杆的齿轮与所述第三连杆的齿轮齿数比为1:1。7 . The underactuated coupling adaptive hand exoskeleton robot according to claim 1 , wherein the gear ratio of the gear of the second link to the gear ratio of the third link is 1:1. 8 .8.根据权利要求1所述的欠驱动耦合自适应手部外骨骼机器人，其特征在于，所述第四连杆的齿轮与所述第五连杆的齿轮齿数比为0.7:1。8 . The underactuated coupling adaptive hand exoskeleton robot according to claim 1 , wherein the gear ratio of the gear of the fourth link to the gear ratio of the fifth link is 0.7:1. 9 .9.根据权利要求1所述的欠驱动耦合自适应手部外骨骼机器人，其特征在于，所述扭弹性连接件为双扭簧或燕尾夹。9 . The underactuated coupling adaptive hand exoskeleton robot according to claim 1 , wherein the torsional elastic connector is a double torsion spring or a dovetail clip. 10 .

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