CN114259383B - Hand exoskeleton device with under-actuated traction function - Google Patents
Hand exoskeleton device with under-actuated traction functionDownload PDFInfo
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明属于医疗装备相关技术领域，更具体地，涉及一种具备欠驱动牵引功能的手部外骨骼装置。The invention belongs to the related technical field of medical equipment, and more specifically relates to a hand exoskeleton device with an under-actuated traction function.
背景技术Background technique
双手是大多数复杂运动行为的主要效应器官，其具有高度的生物力学复杂性，对手产生影响的疾病或者损伤，通常会导致手的能力相应程度的丧失，对于一些由于神经网络损伤导致手部运动有障碍的患者，临床康复医学证明，除了必要的药物治疗以外，通过手术修复受损的神经系统后，依靠康复训练以帮助大脑皮质层重组及末梢神经再生，通过锻炼来补偿肌肉持续衰弱，对恢复患者运动能力具有重要意义。在康复训练的过程中，能够提供具有运动协同规律的手部外骨骼牵引辅助手指进行屈曲及伸展运动的康复机构种类较少。因此研制出能够提供主动运动、功能模拟、形体贴合人手表面以及使用方便的手部外骨骼牵引辅助康复机构具有极其重要的科研意义和社会价值。The hands are the main effector organs of most complex motor behaviors, which have a high degree of biomechanical complexity. Diseases or injuries that affect the hands usually lead to a corresponding loss of hand abilities. For some hand movements due to neural network damage For patients with disabilities, clinical rehabilitation medicine proves that in addition to necessary drug treatment, after repairing the damaged nervous system through surgery, rehabilitation training can be used to help the reorganization of the cerebral cortex and the regeneration of peripheral nerves, and exercise can be used to compensate for continuous muscle weakness, which is beneficial to recovery. The patient's ability to exercise is of great significance. In the process of rehabilitation training, there are few types of rehabilitation institutions that can provide hand exoskeleton traction with motion coordination rules to assist fingers in flexion and extension. Therefore, it is of great scientific significance and social value to develop a hand exoskeleton traction-assisted rehabilitation mechanism that can provide active movement, function simulation, body fit to the surface of the human hand, and is easy to use.
目前的手部外骨骼机构普遍存在一些问题，如未考虑患者手指在进行动作间的运动协同关系，控制系统复杂，整体体积偏大等情况，在中国发明专利CN201820116470.8中提出了一种柔性手部外骨骼装置，该外骨骼装置虽然在一定程度上可以辅助手部运动损伤患者实现“捏”和“握”两个动作且有一定的欠驱动能力，但仅考虑抓握动作的可实现性，且体积较大，重量较重不方便实际使用。在中国发明专利CN201710366041.6中提出的一种手部康复训练的柔性外骨骼，可以在一定程度上将健康手的运动协同规律复制到柔性外骨骼中，但是整体机构较大，不适用于居家场合，不方便患者长期康复训练。这两种外骨骼虽然一定程度上解决了手部运动损伤患者的运动康复难题，但是其体积、质量以及操作精度还需做出较大的改进。The current hand exoskeleton mechanism generally has some problems, such as not considering the movement coordination relationship between the patient's fingers, the control system is complicated, and the overall volume is too large. In the Chinese invention patent CN201820116470.8, a flexible Hand exoskeleton device, although the exoskeleton device can assist patients with hand sports injuries to achieve the two actions of "pinch" and "grip" to a certain extent and has a certain under-actuated ability, but only considers the grasping action. Sex, and the volume is larger, and the weight is heavier, which is inconvenient for practical use. A flexible exoskeleton for hand rehabilitation training proposed in the Chinese invention patent CN201710366041.6 can copy the movement synergy of healthy hands into the flexible exoskeleton to a certain extent, but the overall structure is relatively large, which is not suitable for home use Occasions, it is inconvenient for patients to undergo long-term rehabilitation training. Although these two types of exoskeletons have solved the problem of sports rehabilitation for patients with hand sports injuries to a certain extent, their volume, quality and operational accuracy still need to be greatly improved.
发明内容Contents of the invention
针对现有技术的以上缺陷或改进需求，本发明提供了一种具备欠驱动牵引功能的手部外骨骼装置，所述装置具备四指运动协同能力的欠驱动牵引外骨骼能够有效的考虑患者在家调养的实际工况需求，有效解决手部外骨骼装置体积过大，控制系统复杂等问题；同时具备在不同应用场合中的手指伸展及屈曲功能。整个手部外骨骼装置主要从以下三个方面进行了改进：分别是柔性手环连接、扭簧防松机构、两电机四手指运动协同驱动机构。同时，本发明采用三个电机控制人手外骨骼的14个自由度，拇指电机控制拇指两个关节的伸展、屈曲自由度，四指控制采用两电机驱动的具有运动协同关系的驱动机构控制四指的12个伸展/屈曲自由度，且本发明在主动辅助人手进行抓握/伸长功能的同时，具备自适应的包络抓取/放开功能，可随手指进行灵巧操作。In view of the above defects or improvement needs of the prior art, the present invention provides a hand exoskeleton device with underactuated traction function. The underactuated traction exoskeleton with four-finger movement coordination ability can effectively consider the patient The needs of actual working conditions for recuperation can effectively solve the problems of oversized hand exoskeleton devices and complex control systems; at the same time, it has the functions of finger extension and flexion in different applications. The entire hand exoskeleton device has been improved mainly in the following three aspects: the flexible bracelet connection, the torsion spring anti-loosening mechanism, and the two-motor four-finger movement cooperative drive mechanism. At the same time, the present invention uses three motors to control the 14 degrees of freedom of the exoskeleton of the human hand, the thumb motor controls the extension and flexion degrees of freedom of the two joints of the thumb, and the four-finger control uses a drive mechanism with a motion coordination relationship driven by two motors to control the four fingers. There are 12 degrees of freedom in extension/bending, and the present invention actively assists the gripping/stretching function of the human hand, and at the same time has an adaptive envelope grabbing/releasing function, which can be dexterously operated with fingers.
为实现上述目的，按照本发明的一个方面，提供了一种具备欠驱动牵引功能的手部外骨骼装置，所述手部外骨骼装置包括外骨骼本体、拇指驱动机构、四指驱动机构及紧固扭簧机构，所述拇指驱动机构连接于所述外骨骼本体，所述四指驱动机构通过所述紧固扭簧机构连接于所述外骨骼本体；In order to achieve the above object, according to one aspect of the present invention, a hand exoskeleton device with under-actuated traction function is provided, the hand exoskeleton device includes an exoskeleton body, a thumb drive mechanism, a four-finger drive mechanism and a tight A fixed torsion spring mechanism, the thumb drive mechanism is connected to the exoskeleton body, and the four-finger drive mechanism is connected to the exoskeleton body through the fastening torsion spring mechanism;
所述外骨骼本体包括合线块、小指、无名指、中指、食指及拇指，所述小指、所述无名指、所述中指、所述食指及所述拇指分别连接于所述合线块，所述合线块连接于所述紧固扭簧机构，所述拇指通过所述合线块连接于所述拇指驱动机构；所述中指包括指尖指套、中指指环、近指指环及第一四指牵引尼龙绳，所述第一四指牵引尼龙绳的一端依次串接所述近指指环、所述中指指环及所述指尖指套，另一端连接于所述合线块。The exoskeleton body includes a joint block, a little finger, a ring finger, a middle finger, an index finger and a thumb, and the little finger, the ring finger, the middle finger, the index finger and the thumb are respectively connected to the joint block, and the The wire closing block is connected to the fastening torsion spring mechanism, and the thumb is connected to the thumb driving mechanism through the wire closing block; Pulling nylon rope, one end of the first four-finger pulling nylon rope is sequentially connected to the near finger ring, the middle finger ring and the fingertip finger cot, and the other end is connected to the line block.
进一步地，所述小指的结构、所述无名指的结构、所述食指的结构及所述中指的结构相同。Further, the structures of the little finger, the ring finger, the index finger and the middle finger are the same.
进一步地，所述近指指环、所述中指指环及所述指尖指套均是采用橡胶制成的。Further, the near finger ring, the middle finger ring and the fingertip fingertip are all made of rubber.
进一步地，所述拇指包括拇指牵引尼龙绳、拇指近指指环及拇指指尖指套，所述拇指牵引尼龙绳的一端依次串接所述拇指近指指环及所述拇指指尖指套，另一端连接于所述拇指驱动机构。Further, the thumb includes a thumb traction nylon rope, a thumb proximal finger ring and a thumb fingertip finger cot, one end of the thumb traction nylon rope is sequentially connected to the thumb proximal finger ring and the thumb fingertip finger cot, and One end is connected to the thumb drive mechanism.
进一步地，所述紧固扭簧机构包括第一扣合板、第二扣合板、四个第一尼龙牵引绳、四个牵引传动轮、四个扭簧、传动轮轴、四个第二尼龙牵引绳及轴承底板，所述第一扣合板及所述第二扣合板均呈L型，两者收尾相连接以形成矩形框，三个所述轴承底板沿所述第一扣合板的长度方向间隔设置在所述矩形框内；所述传动轮轴的一端连接于所述第一扣合板，另一端穿过所述轴承底板后连接于所述第二扣合板。Further, the fastening torsion spring mechanism includes a first fastening plate, a second fastening plate, four first nylon traction ropes, four traction transmission wheels, four torsion springs, a transmission wheel shaft, and four second nylon traction ropes and the bearing bottom plate, the first fastening plate and the second fastening plate are L-shaped, and the two are connected at the end to form a rectangular frame, and the three bearing bottom plates are arranged at intervals along the length direction of the first fastening plate In the rectangular frame; one end of the transmission wheel shaft is connected to the first fastening plate, and the other end is connected to the second fastening plate after passing through the bearing bottom plate.
进一步地，所述紧固扭簧机构还包括四个第一尼龙牵引绳、四个牵引传动轮、四个扭簧及四个第二尼龙牵引绳，所述传动轮轴上分别形成有四个间隔设置的盘状凸起，凸起的断面形成有绳槽，所述第一尼龙牵引绳的一端套设在所述绳槽内，另一端连接于所述第一四指牵引尼龙绳；四个所述牵引传动轮分别设置在所述传动轮轴上；所述传动轮轴对应所述牵引传动轮的区域分别开设有卡槽，所述扭簧的中部卡在卡槽内，其两端分别连接于对应的所述牵引传动轮的内壁；所述牵引传动轮连接于所述第二尼龙牵引绳的一端，所述第二尼龙牵引绳的另一端连接于所述四指驱动机构。Further, the fastening torsion spring mechanism also includes four first nylon traction ropes, four traction transmission wheels, four torsion springs and four second nylon traction ropes, and four intervals are respectively formed on the transmission wheel shafts. A disc-shaped protrusion is provided, and a rope groove is formed on the raised section, one end of the first nylon traction rope is sleeved in the rope groove, and the other end is connected to the first four-finger traction nylon rope; four The traction drive wheels are respectively arranged on the drive wheel shaft; the area of the drive wheel shaft corresponding to the traction drive wheel is respectively provided with a card slot, the middle part of the torsion spring is stuck in the card slot, and its two ends are respectively connected to Corresponding to the inner wall of the traction transmission wheel; the traction transmission wheel is connected to one end of the second nylon traction rope, and the other end of the second nylon traction rope is connected to the four-finger driving mechanism.
进一步地，所述四指驱动机构包括两组对称设置的直流电机驱动组件、电机安装板、轴承安装通线板、食指滑轮、第一菱形连杆、中指滑轮、四指驱动尼龙绳、第二菱形连杆、无名指滑轮、小指滑轮及第三菱形连接杆，所述电机安装板与所述轴承安装通线板间隔设置，两个所述直流电机驱动组件的两端分别连接所述电机安装板及所述轴承安装通线板；所述食指滑轮及所述小指滑轮分别连接于两个所述直流电机驱动组件，所述食指滑轮通过所述第一菱形连杆连接于所述中指滑轮，所述中指滑轮通过所述第二菱形连杆连接于所述无名指滑轮，所述无名指滑轮通过所述第三菱形连杆连接于所述小指滑轮；四个所述四指驱动尼龙绳的一端分别穿过所述食指滑轮、所述中指滑轮、所述无名指滑轮及所述小指滑轮后连接于所述轴承安装通线板，另一端穿过所述轴承安装通线板后连接于所述第二尼龙牵引绳。Further, the four-finger drive mechanism includes two sets of symmetrically arranged DC motor drive assemblies, a motor mounting plate, a bearing mounting wire plate, a pulley for the index finger, a first diamond-shaped connecting rod, a pulley for the middle finger, a four-finger drive nylon rope, and a second finger pulley. Diamond-shaped connecting rod, ring finger pulley, little finger pulley and the third diamond-shaped connecting rod, the motor mounting plate and the bearing mounting wiring plate are arranged at intervals, and the two ends of the two DC motor drive components are respectively connected to the motor installation plate and the bearing are installed through the wire plate; the index finger pulley and the little finger pulley are respectively connected to the two DC motor drive components, and the index finger pulley is connected to the middle finger pulley through the first diamond-shaped connecting rod, The middle finger pulley is connected to the ring finger pulley through the second diamond-shaped connecting rod, and the ring finger pulley is connected to the little finger pulley through the third diamond-shaped connecting rod; four of the four fingers drive one end of the nylon rope Respectively pass through the index finger pulley, the middle finger pulley, the ring finger pulley and the little finger pulley and then connect to the bearing installation wiring board, and the other end passes through the bearing installation wiring board and then connects to the second Two nylon leashes.
进一步地，所述食指滑轮及所述小指滑轮由直流电机驱动组件直接驱动进行运动，所述中指滑轮、所述无名指滑轮由所述第一菱形连杆、所述第二菱形连杆及第三菱形连杆间接传动，所述第一菱形连杆、所述第二菱形连杆及所述第三菱形连杆的参数及位置摆放符合人手的协同运动规律。Further, the index finger pulley and the little finger pulley are directly driven by a DC motor drive assembly to move, and the middle finger pulley and the ring finger pulley are driven by the first diamond-shaped connecting rod, the second diamond-shaped connecting rod and the third Diamond-shaped connecting rods are used for indirect transmission, and the parameters and positions of the first rhombic-shaped connecting rod, the second rhombic-shaped connecting rod and the third rhombic-shaped connecting rod conform to the law of coordinated movement of human hands.
进一步地，所述直流电机驱动组件包括第一直流电机、第一主动齿轮、第一从动齿轮、第一丝杠、第一丝杠轴承、第一移动螺母、第一滑块、第一导轨及轴承安装通线板，所述第一直流电机设置在电机安装板上，其输出轴连接于所述第一主动齿轮；所述第一丝杠的一端连接于所述轴承安装通线板，另一端穿过所述电机安装板后连接于所述第一从动齿轮，所述第一从动齿轮与所述第一主动齿轮相啮合；所述第一移动螺母与所述第一丝杠形成丝杆螺母副，所述第一滑块连接于所述第一移动螺母，且其滑动地设置在所述第一导轨上，所述第一导轨相背的两端分别连接于电机安装板及轴承安装通线板。Further, the DC motor drive assembly includes a first DC motor, a first driving gear, a first driven gear, a first lead screw, a first lead screw bearing, a first moving nut, a first slider, and a first guide rail and a bearing installation wiring board, the first DC motor is arranged on the motor installation board, and its output shaft is connected to the first driving gear; one end of the first lead screw is connected to the bearing installation wiring board, The other end is connected to the first driven gear after passing through the motor mounting plate, and the first driven gear is meshed with the first driving gear; the first moving nut is connected to the first lead screw A screw nut pair is formed, the first slider is connected to the first moving nut, and it is slidably arranged on the first guide rail, and the opposite ends of the first guide rail are respectively connected to the motor mounting plate And bearing installation through the line plate.
进一步地，两个所述直流电机驱动组件的第一移动螺母分别与所述食指滑轮及小指滑轮固定连接。Further, the first moving nuts of the two DC motor drive assemblies are respectively fixedly connected to the index finger pulley and the little finger pulley.
总体而言，通过本发明所构思的以上技术方案与现有技术相比，本发明提供的具备欠驱动牵引功能的手部外骨骼装置主要具有以下有益效果：Generally speaking, compared with the prior art through the above technical solutions conceived by the present invention, the hand exoskeleton device provided by the present invention with under-actuated traction function mainly has the following beneficial effects:
1.手部外骨骼装置中以多个橡胶指环为手指外置主要接触件，指环由尼龙绳串接传动，进一步降低外骨骼质量与体积，增强了手指运动灵活性，手部外骨骼装置的合线块可以由魔术贴固定在手掌根部，由此指环与尼龙绳的连接节点在手心侧，可以辅助完成抓握动作，当合线块固定于手掌背侧根部时，指环与尼龙绳的连接点在手背侧，辅助完成手指伸展动作，且可以根据患者的具体病症通过不同固定方式完成自适应的抓握及伸展动作。1. In the hand exoskeleton device, multiple rubber rings are used as the main external contacts of the fingers. The rings are connected in series by nylon ropes, which further reduces the mass and volume of the exoskeleton and enhances the flexibility of finger movement. The joint block can be fixed on the root of the palm by Velcro, so that the connection node between the ring and the nylon rope is on the palm side, which can assist in the grasping action. When the joint block is fixed on the back root of the palm, the connection between the ring and the nylon rope Point on the back of the hand to assist in the stretching of the fingers, and can complete adaptive grasping and stretching through different fixation methods according to the specific symptoms of the patient.
2.手部外骨骼装置的紧固预紧模块由于有扭簧机构的存在，能够使手指完成包络操作后，电机反转，手指在扭簧的弹性势能下辅助复位，以完成整个动作循环。2. Due to the existence of the torsion spring mechanism, the fastening and pretensioning module of the hand exoskeleton device can make the fingers complete the envelope operation, the motor reverses, and the fingers are assisted in reset under the elastic potential energy of the torsion spring to complete the entire action cycle. .
3.所述手部外骨骼装置不仅可以做到与人手的自由形态较好贴合，而且在运动功能上也能利用患者手自有的关节进行运动，同时还兼具符合人手形态学规律的自适应的抓握功能，且只用三个电机驱动手部外骨骼装置的手指的14个自由度，驱动源少而使得控制进一步简化，控制精度进一步提高，该手部外骨骼装置具备重量轻、体积小、以及可自适应抓握的特点。3. The hand exoskeleton device can not only fit well with the free form of the human hand, but also can use the joints of the patient's own hand to move in terms of motor function, and it also has the ability to conform to the morphological laws of the human hand. Adaptive grasping function, and only three motors are used to drive the 14 degrees of freedom of the fingers of the hand exoskeleton device, so that the control is further simplified and the control accuracy is further improved due to fewer driving sources. The hand exoskeleton device has light weight , small size, and adaptive grip.
4.所述手部外骨骼装置应用性较广，对于一些手指不能进行伸展运动的患者，手部外骨骼装置能够起到增强牵引手指运动的作用，即与屈曲运动呈手性对称的运动方式，由于指环设计的轻巧化，如前所述的各种优势仍然能够发挥作用，紧固扭簧机构仍然能够提供预牵引力，四肢驱动模块仍可在欠驱动运动状态下进行运动，与手指屈曲运动应用前景不同的是，手指伸展运动不存在自适应包络物体的工况，但若伸展时手指遇到障碍，其他手指仍然能够正常运动，不堵塞直流电机。4. The hand exoskeleton device has a wide range of applications. For some patients whose fingers cannot perform stretching exercises, the hand exoskeleton device can play a role in enhancing the traction finger movement, that is, the movement mode is chiral symmetric with the flexion movement , due to the lightweight design of the ring, the various advantages mentioned above can still play a role, the fastening torsion spring mechanism can still provide pre-traction force, the limb drive module can still move under the state of under-actuated motion, and the flexion motion of the fingers The difference in application prospects is that there is no working condition of self-adaptive enveloping objects in the finger stretching movement, but if the finger encounters obstacles during stretching, other fingers can still move normally without blocking the DC motor.
附图说明Description of drawings
图1是本发明提供的一种具备欠驱动牵引功能的手部外骨骼装置的立体示意图；Fig. 1 is a three-dimensional schematic diagram of a hand exoskeleton device with an under-actuated traction function provided by the present invention;
图2是图1中的具备欠驱动牵引功能的手部外骨骼装置的中指的立体示意图；Fig. 2 is a three-dimensional schematic diagram of the middle finger of the hand exoskeleton device with underactuated traction function in Fig. 1;
图3是图1中的具备欠驱动牵引功能的手部外骨骼装置的拇指的立体示意图；Fig. 3 is a three-dimensional schematic diagram of the thumb of the hand exoskeleton device with underactuated traction function in Fig. 1;
图4是图1中的具备欠驱动牵引功能的手部外骨骼装置的紧固扭簧机构的局部剖视图；Fig. 4 is a partial cross-sectional view of the fastening torsion spring mechanism of the hand exoskeleton device with under-actuated traction function in Fig. 1;
图5是图1中的具备欠驱动牵引功能的手部外骨骼装置四指驱动机构的整体结构示意图；Fig. 5 is a schematic diagram of the overall structure of the four-finger driving mechanism of the hand exoskeleton device with the under-actuated traction function in Fig. 1;
图6是图5中的四指驱动机构沿一个角度的示意图；Fig. 6 is a schematic diagram of the four-finger driving mechanism in Fig. 5 along an angle;
图7是图1中的具备欠驱动牵引功能的手部外骨骼装置的拇指驱动机构的局部剖视图；Fig. 7 is a partial cross-sectional view of the thumb drive mechanism of the hand exoskeleton device with under-actuated traction function in Fig. 1;
图8是图1中的具备欠驱动牵引功能的手部外骨骼装置沿另一个角度的示意图；Fig. 8 is a schematic diagram of the hand exoskeleton device with underactuated traction function in Fig. 1 along another angle;
图9是本发明提供的另一个四指驱动机构的局部剖视图。Fig. 9 is a partial sectional view of another four-finger driving mechanism provided by the present invention.
在所有附图中，相同的附图标记用来表示相同的元件或结构，其中：1-1-小指，1-2-无名指，1-3-中指，1-4-食指，1-5-拇指，1-6-合线块，1-7-拇指驱动机构，1-9-紧固扭簧机构，2-1-指尖指套，2-2-中指指环，2-3-近指指环，2-4-第一四指牵引尼龙绳，3-1-拇指牵引尼龙绳，3-2-拇指近指指环，3-3-拇指指尖指套，4-1-第一扣合板，4-2-第二扣合板，4-3-第一尼龙牵引绳，4-4-第一转轮轴承，4-5-牵引传动轮，4-6-扭簧，4-7-传动轮轴，4-8-第二转轮轴承，4-9-第二尼龙牵引绳，4-10-轴承座板，5-1-第一直流电机，5-2-电机安装板，5-3-第一主动齿轮，5-4-第一从动齿轮，5-5-第一丝杠，5-6-第一移动螺母，5-7-第一滑块，5-8-第一导轨，5-9-第一丝杠轴承，5-10-轴承安装通线板，6-1-食指混轮，6-2-第一菱形连杆，6-3-中指滑轮，6-4-四指驱动尼龙绳，6-5-第二菱形连杆，6-6-无名指混轮，6-7-小指滑轮，7-1-拇指驱动直流电机，7-2-拇指主动齿轮，7-3-拇指从动齿轮，7-4-拇指丝杠，7-5-拇指轴承，7-6-拇指轴承座，7-7-拇指螺母，7-8-拇指滑块，7-9-拇指滑轮，7-10-拇指直线导轨，7-11-拇指导轨限位块，7-12-拇指扣合板，7-13-拇指尼龙绳，8-1-第一尼龙套管，8-2-拇指尼龙套管，8-3-第二尼龙套管，8-4-第二四指牵引尼龙绳，9-1-第二丝杠，9-2-第二螺母，9-3-压板，9-4-固定螺栓，9-5-第二滑轮固定销，9-6-手指滑轮，9-7-第二直线滑块，9-8-第二连接件，9-9-第二直线导轨。In all the drawings, the same reference numerals are used to represent the same elements or structures, wherein: 1-1-little finger, 1-2-ring finger, 1-3-middle finger, 1-4-index finger, 1-5- Thumb, 1-6-closing block, 1-7-thumb driving mechanism, 1-9-tightening torsion spring mechanism, 2-1-fingertip finger cover, 2-2-middle finger ring, 2-3-near finger Ring, 2-4-first four-finger traction nylon rope, 3-1-thumb traction nylon rope, 3-2-thumb proximal finger ring, 3-3-thumb fingertip fingertip, 4-1-first buckle plate , 4-2-the second fastening plate, 4-3-the first nylon traction rope, 4-4-the first runner bearing, 4-5-traction drive wheel, 4-6-torsion spring, 4-7-transmission Axle, 4-8-second runner bearing, 4-9-second nylon traction rope, 4-10-bearing seat plate, 5-1-first DC motor, 5-2-motor mounting plate, 5-3 -the first driving gear, 5-4-the first driven gear, 5-5-the first lead screw, 5-6-the first moving nut, 5-7-the first slider, 5-8-the first guide rail , 5-9-the first screw bearing, 5-10-bearing installation through the line plate, 6-1-index finger mixing wheel, 6-2-the first diamond-shaped connecting rod, 6-3-middle finger pulley, 6-4- Four-finger drive nylon rope, 6-5-second diamond-shaped connecting rod, 6-6-ring finger mixed wheel, 6-7-little finger pulley, 7-1-thumb drive DC motor, 7-2-thumb driving gear, 7- 3-thumb driven gear, 7-4-thumb screw, 7-5-thumb bearing, 7-6-thumb bearing seat, 7-7-thumb nut, 7-8-thumb slider, 7-9-thumb Pulley, 7-10-thumb linear guide, 7-11-thumb guide limit block, 7-12-thumb buckle plate, 7-13-thumb nylon rope, 8-1-first nylon sleeve, 8-2- Thumb nylon sleeve, 8-3-second nylon sleeve, 8-4-second four-finger traction nylon rope, 9-1-second screw, 9-2-second nut, 9-3-press plate, 9-4-fixing bolt, 9-5-fixing pin of the second pulley, 9-6-finger pulley, 9-7-second linear slider, 9-8-second connecting piece, 9-9-second straight line guide.
具体实施方式Detailed ways
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。此外，下面所描述的本发明各个实施方式中所涉及到的技术特征只要彼此之间未构成冲突就可以相互组合。In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.
请参阅图1，本发明提供的一种具备欠驱动牵引功能的手部外骨骼装置，所述手部外骨骼装置包括外骨骼本体、拇指驱动机构1-7、四指驱动机构及紧固扭簧机构1-9，所述拇指驱动机构1-7连接于所述外骨骼本体，所述四指驱动机构通过所述紧固扭簧机构1-9连接于所述外骨骼本体。所述拇指驱动机构1-7及所述四指驱动机构能够采用三个动力源来精确控制所述手部外骨骼装置的14个自由度，完成具有运动协同规律的包络抓取功能。本实施方式中，所述手部外骨骼装置适应穿戴于左手，且对应的合线块附着在左手手心处。Please refer to Fig. 1, a hand exoskeleton device with under-actuated traction function provided by the present invention. spring mechanism 1-9, the thumb drive mechanism 1-7 is connected to the exoskeleton body, and the four-finger drive mechanism is connected to the exoskeleton body through the fastening torsion spring mechanism 1-9. The thumb driving mechanism 1-7 and the four-finger driving mechanism can use three power sources to precisely control the 14 degrees of freedom of the hand exoskeleton device, and complete the envelope grasping function with the law of motion coordination. In this embodiment, the hand exoskeleton device is adapted to be worn on the left hand, and the corresponding stitching block is attached to the palm of the left hand.
请参阅图2及图3，所述外骨骼本体包括合线块1-6、小指1-1、无名指1-2、中指1-3、食指1-4及拇指1-5，所述小指1-1、所述无名指1-2、所述中指1-3、所述食指1-4及所述拇指1-5分别连接于所述合线块1-6。其中，所述小指1-1的结构、所述无名指1-2的结构、所述食指1-4的结构及所述中指1-3的结构相同。Please refer to Fig. 2 and Fig. 3, described exoskeleton body comprises line block 1-6, little finger 1-1, ring finger 1-2, middle finger 1-3, index finger 1-4 and thumb 1-5, described little finger 1 -1. The ring finger 1-2, the middle finger 1-3, the index finger 1-4 and the thumb 1-5 are respectively connected to the joint block 1-6. Wherein, the structure of the little finger 1-1, the structure of the ring finger 1-2, the structure of the index finger 1-4 and the structure of the middle finger 1-3 are the same.
所述中指1-3包括指尖指套2-1、中指指环2-2、近指指环2-3及第一四指牵引尼龙绳2-4，所述第一四指牵引尼龙绳2-4的一端依次串接所述近指指环2-3、所述中指指环2-2及所述指尖指套2-1，另一端连接于所述合线块1-6。所述近指指环2-3、所述中指指环2-2及所述指尖指套2-1间隔设置。所述拇指1-5包括拇指牵引尼龙绳3-1、拇指近指指环3-2及拇指指尖指套3-3，所述拇指牵引尼龙绳3-1的一端依次串接所述拇指近指指环3-2及所述拇指指尖指套3-3，另一端连接于所述拇指驱动机构。其中，指环及指套均能柔性贴合在手部，有较好的轻量化性能，能在抓握及拉伸过程中轻便操作；所述合线块1-6可以由魔术贴包络贴合在手掌底部，使得手掌的整个运动过程轻便灵巧。The middle finger 1-3 includes a fingertip finger cover 2-1, a middle finger ring 2-2, a near finger ring 2-3 and the first four-finger traction nylon rope 2-4, and the first four-finger traction nylon rope 2- One end of 4 is sequentially connected in series with the near finger ring 2-3, the middle finger ring 2-2 and the fingertip finger cot 2-1, and the other end is connected to the connecting block 1-6. The near finger ring 2-3, the middle finger ring 2-2 and the fingertip fingertip 2-1 are arranged at intervals. The thumb 1-5 includes a thumb traction nylon rope 3-1, a thumb proximal finger ring 3-2 and a thumb fingertip finger sleeve 3-3, and one end of the thumb traction nylon rope 3-1 is sequentially connected to the thumb proximal The other end of the finger ring 3-2 and the thumb fingertip cover 3-3 is connected to the thumb driving mechanism. Among them, both the ring and the finger cot can be flexibly attached to the hand, have good lightweight performance, and can be easily operated during the grasping and stretching process; the joint pieces 1-6 can be wrapped by Velcro Closed at the bottom of the palm, the whole movement of the palm is light and nimble.
请查阅图4及图8，所述紧固扭簧机构1-9包括第一扣合板4-1、第二扣合板4-2、四个第一尼龙牵引绳4-3、四个牵引传动轮4-5、四个扭簧4-6、传动轮轴4-7、四个第二尼龙牵引绳4-9及轴承底板4-10，所述第一扣合板4-1及所述第二扣合板4-2均呈L型，两者首尾相连接以形成矩形框，三个所述轴承底板4-10沿所述第一扣合板4-1的长度方向间隔设置在所述矩形框内，且两端分别连接于所述第一扣合板4-1及所述第二扣合板4-2。所述轴承底板4-10上设置有第二转轮轴承4-8，且所述第一扣合板4-1及所述第二扣合板4-2分别设置有端部轴承，所述传动轮轴4-7的中部分别套设在所述第二转轮轴承4-8内，其相背的两端分别套设在两个所述端部轴承内。所述传动轮轴4-7上分别形成有四个间隔设置的盘状凸起，凸起的端面形成有绳槽，所述第一尼龙牵引绳4-3的一端套设在所述绳槽内，另一端连接于所述第一四指牵引尼龙绳2-4。四个所述牵引传动轮4-5分别通过第一转轮轴承4-4设置在所述传动轮轴4-7上，且四个所述牵引传动轮4-5分别邻近四个所述凸起设置。所述传动轮轴4-7对应所述牵引传动轮4-5的区域分别开设有卡槽，所述卡槽内设置有扭簧4-6，所述扭簧4-6的中部卡在卡槽内，其两端分别连接于对应的所述牵引传动轮4-5的内壁。其中，所述扭簧4-6的中部随所述传动轮轴4-7的转动而转动，其两端分别通过扣合凹槽及扣合凸台与所述牵引传动轮4-5相连接。所述牵引传动轮4-5连接于所述第二尼龙牵引绳4-9的一端，所述第二尼龙牵引绳4-9的另一端连接于所述四指驱动机构。本实施方式中，所述扭簧4-6为条状，当然在其他实施方式中，所述扭簧4-6可以为其他形状。Please refer to Figure 4 and Figure 8, the fastening torsion spring mechanism 1-9 includes a first buckle plate 4-1, a second buckle plate 4-2, four first nylon traction ropes 4-3, four traction drive Wheel 4-5, four torsion springs 4-6, transmission wheel shaft 4-7, four second nylon traction ropes 4-9 and bearing base plate 4-10, the first fastening plate 4-1 and the second The fastening plates 4-2 are L-shaped, and the two are connected end to end to form a rectangular frame, and the three bearing bottom plates 4-10 are arranged at intervals in the rectangular frame along the length direction of the first fastening plate 4-1 , and both ends are respectively connected to the first fastening plate 4-1 and the second fastening plate 4-2. The bearing bottom plate 4-10 is provided with a second runner bearing 4-8, and the first fastening plate 4-1 and the second fastening plate 4-2 are respectively provided with end bearings, and the transmission wheel shaft The middle parts of 4-7 are respectively sleeved in the second runner bearings 4-8, and the two opposite ends are respectively sleeved in the two end bearings. The transmission wheel shaft 4-7 is respectively formed with four disc-shaped protrusions arranged at intervals, and the end surface of the protrusions is formed with a rope groove, and one end of the first nylon traction rope 4-3 is sleeved in the rope groove , and the other end is connected to the first four-finger traction nylon rope 2-4. The four traction transmission wheels 4-5 are respectively arranged on the transmission wheel shaft 4-7 through the first runner bearing 4-4, and the four traction transmission wheels 4-5 are respectively adjacent to the four protrusions set up. The area of the transmission wheel shaft 4-7 corresponding to the traction transmission wheel 4-5 is respectively provided with a card slot, and a torsion spring 4-6 is arranged in the card slot, and the middle part of the torsion spring 4-6 is stuck in the card slot Inside, its two ends are respectively connected to the inner wall of the corresponding traction drive wheel 4-5. Wherein, the middle part of the torsion spring 4-6 rotates with the rotation of the transmission wheel shaft 4-7, and its two ends are respectively connected with the traction transmission wheel 4-5 through a buckling groove and a buckling boss. The traction transmission wheel 4-5 is connected to one end of the second nylon traction rope 4-9, and the other end of the second nylon traction rope 4-9 is connected to the four-finger driving mechanism. In this embodiment, the torsion spring 4-6 is strip-shaped, of course, in other embodiments, the torsion spring 4-6 can be in other shapes.
所述牵引传动轮4-5用于将来自所述四指驱动机构的运动传递给所述扭簧4-6上，如此一方面能够给患者被动施加一预牵引力来降低电机的工作功率；另一方面辅助运动协同进行精准抓握动作，防止尼龙绳由于长时间弹性拉伸而变松。The traction transmission wheel 4-5 is used to transfer the motion from the four-finger drive mechanism to the torsion spring 4-6, so that on the one hand, a pre-traction force can be passively applied to the patient to reduce the working power of the motor; on the other hand On the one hand, the auxiliary movement cooperates to carry out precise grasping actions to prevent the nylon rope from becoming loose due to long-term elastic stretching.
在一个实施方式中，所述合线块1-6与所述紧固扭簧机构1-9之间间隔设置有四个第一尼龙套管8-1，所述紧固扭簧机构1-9与所述四指驱动机构之间间隔设置有四个第二尼龙套管8-3，所述合线块1-6与所述拇指驱动机构1-7之间设置有拇指尼龙套管8-2，所述第一尼龙牵引绳4-3设置在所述第一尼龙套管8-1内，所述第二尼龙牵引绳4-9设置在所述第二尼龙套管8-3内。所述拇指牵引尼龙绳3-1设置在所述拇指尼龙套管8-2内，其能够在所述拇指尼龙套管8-2内相对运动。In one embodiment, four first nylon sleeves 8-1 are arranged at intervals between the wire closing block 1-6 and the fastening torsion spring mechanism 1-9, and the fastening torsion spring mechanism 1- Four second nylon sleeves 8-3 are arranged at intervals between 9 and the four-finger driving mechanism, and thumb nylon sleeves 8 are arranged between the wiring block 1-6 and the thumb driving mechanism 1-7 -2, the first nylon traction rope 4-3 is arranged in the first nylon sleeve 8-1, and the second nylon traction rope 4-9 is arranged in the second nylon sleeve 8-3 . The thumb traction nylon rope 3-1 is arranged in the thumb nylon sleeve 8-2, and it can move relatively in the thumb nylon sleeve 8-2.
请参阅图5及图6，所述四指驱动机构设置在手部外骨骼装置的外部固定板上，其包括两组对称设置的直流电机驱动组件、电机安装板5-2、轴承安装通线板5-10、食指滑轮6-1、第一菱形连杆6-2、中指滑轮6-3、四指驱动尼龙绳6-4、第二菱形连杆6-5、无名指滑轮6-6、小指滑轮6-7及第三菱形连接杆，所述电机安装板5-2与所述轴承安装通线板5-10间隔设置，两个所述直流电机驱动组件的两端分别连接所述电机安装板5-2及所述轴承安装通线板5-10。所述食指滑轮6-1及所述小指滑轮6-7分别连接于两个所述直流电机驱动组件，所述食指滑轮6-1通过所述第一菱形连杆6-2连接于所述中指滑轮6-3，所述中指滑轮6-3通过所述第二菱形连杆6-5连接于所述无名指滑轮6-6，所述无名指滑轮6-6通过所述第三菱形连杆连接于所述小指滑轮6-7。四个所述四指驱动尼龙绳6-4的一端分别穿过所述食指滑轮6-1、所述中指滑轮6-3、所述无名指滑轮6-6及所述小指滑轮6-7后连接于所述轴承安装通线板5-10，另一端穿过所述轴承安装通线板5-10后连接于所述第二尼龙牵引绳4-9。其中，所述食指滑轮6-1及所述小指滑轮6-7由电机直接驱动进行运动，所述中指滑轮6-3、所述无名指滑轮6-6由所述第一菱形连杆6-2、所述第二菱形连杆6-5及第三菱形连杆间接传动，所述第一菱形连杆6-2、所述第二菱形连杆6-5及所述第三菱形连杆的参数及位置摆放符合人手的协同运动规律，能够让人手在抓握过程中实现肌肉的协同联动运动。Please refer to Fig. 5 and Fig. 6, the described four-finger driving mechanism is arranged on the external fixing plate of hand exoskeleton device, and it comprises two sets of symmetrically arranged DC motor driving components, motor mounting plate 5-2, bearing installation through-wire Plate 5-10, index finger pulley 6-1, first diamond-shaped connecting rod 6-2, middle finger pulley 6-3, four-finger driving nylon rope 6-4, second diamond-shaped connecting rod 6-5, ring finger pulley 6-6, The little finger pulley 6-7 and the third diamond-shaped connecting rod, the motor mounting plate 5-2 and the bearing installation wiring plate 5-10 are arranged at intervals, and the two ends of the two DC motor drive components are respectively connected to the The motor mounting plate 5-2 and the bearing mounting plate 5-10 are installed. The index finger pulley 6-1 and the little finger pulley 6-7 are respectively connected to the two DC motor drive assemblies, and the index finger pulley 6-1 is connected to the middle finger through the first diamond-shaped connecting rod 6-2. Pulley 6-3, the middle finger pulley 6-3 is connected to the ring finger pulley 6-6 through the second diamond-shaped connecting rod 6-5, and the ring finger pulley 6-6 is connected through the third diamond-shaped connecting rod On the little finger pulley 6-7. One end of the four four-finger driving nylon ropes 6-4 respectively pass through the index finger pulley 6-1, the middle finger pulley 6-3, the ring finger pulley 6-6 and the little finger pulley 6-7 and then connect Install the wiring board 5-10 on the bearing, and the other end is connected to the second nylon traction rope 4-9 after passing through the bearing installation wiring board 5-10. Wherein, the index finger pulley 6-1 and the little finger pulley 6-7 are directly driven by a motor to move, and the middle finger pulley 6-3 and the ring finger pulley 6-6 are driven by the first diamond-shaped connecting rod 6-2. , the second diamond-shaped connecting rod 6-5 and the third diamond-shaped connecting rod indirect transmission, the first diamond-shaped connecting rod 6-2, the second diamond-shaped connecting rod 6-5 and the third diamond-shaped connecting rod The parameters and position of the rod are in line with the law of coordinated movement of human hands, which can realize the coordinated movement of muscles in the process of grasping.
所述直流电机驱动组件包括第一直流电机5-1、第一主动齿轮5-3、第一从动齿轮5-4、第一丝杠5-5、第一丝杠轴承5-9、第一移动螺母5-6、第一滑块5-7及第一导轨5-8，所述第一直流电机5-1设置在所述电机安装板5-2上，其输出轴连接于所述第一主动齿轮5-3。所述电机安装板5-2及所述轴承安装通线板5-10上分别设置有第一丝杠轴承5-9，所述第一丝杠5-5的一端通过所述第一丝杠轴承5-9设置在所述轴承安装通线板5-10上，另一端穿过对应的第一丝杠轴承5-9后连接于所述第一从动齿轮5-4，所述第一从动齿轮5-4与所述第一主动齿轮5-3相啮合。所述第一移动螺母5-6设置在所述第一丝杠5-5上，两者组成丝杠螺母副。所述第一导轨5-8的两端分别连接于所述电机安装板5-2及所述轴承安装通线板5-10，所述第一滑块5-7滑动地设置在所述第一导轨5-8上，所述第一滑块5-7与所述第一移动螺母5-6固定连接。所述第一移动螺母5-6与对应的所述食指滑轮6-1或者小指滑轮6-7固定连接。The DC motor drive assembly includes a first DC motor 5-1, a first driving gear 5-3, a first driven gear 5-4, a first screw 5-5, a first screw bearing 5-9, a first A moving nut 5-6, a first slider 5-7 and a first guide rail 5-8, the first DC motor 5-1 is arranged on the motor mounting plate 5-2, and its output shaft is connected to the The first driving gear 5-3. The motor mounting plate 5-2 and the bearing installation wiring plate 5-10 are respectively provided with a first lead screw bearing 5-9, and one end of the first lead screw 5-5 passes through the first lead screw The bearing 5-9 is arranged on the bearing installation line plate 5-10, and the other end passes through the corresponding first screw bearing 5-9 and is connected to the first driven gear 5-4. The driven gear 5-4 meshes with the first driving gear 5-3. The first moving nut 5-6 is arranged on the first lead screw 5-5, and the two form a lead screw nut pair. Both ends of the first guide rail 5-8 are respectively connected to the motor mounting plate 5-2 and the bearing mounting wiring plate 5-10, and the first slider 5-7 is slidably arranged on the second On a guide rail 5-8, the first sliding block 5-7 is fixedly connected with the first moving nut 5-6. The first moving nut 5-6 is fixedly connected with the corresponding index finger pulley 6-1 or little finger pulley 6-7.
其中，所述第一直流电机5-1为所述第一主动齿轮5-3提供动力，所述第一主动齿轮5-3带动所述第一从动齿轮5-4转动，所述第一从动齿轮5-4将转矩及转速传递给所述第一丝杠5-5，所述第一丝杠5-5带动所述第一移动螺母5-6直线运动，所述第一移动螺母5-6带动所述第一滑块5-7沿着所述第一导轨5-8移动，同时所述第一移动螺母5-6带动对应的所述食指滑轮6-1运动，以将运动传递给所述四指驱动尼龙绳6-4上，所述四指驱动尼龙绳6-4又将运动传递给所述紧固扭簧机构1-9，进而所述紧固扭簧机构1-9将运动传递给所述外骨骼本体。Wherein, the first DC motor 5-1 provides power for the first driving gear 5-3, and the first driving gear 5-3 drives the first driven gear 5-4 to rotate. The driven gear 5-4 transmits the torque and rotational speed to the first lead screw 5-5, and the first lead screw 5-5 drives the first moving nut 5-6 to move linearly, and the first moving nut 5-6 moves linearly. The nut 5-6 drives the first slider 5-7 to move along the first guide rail 5-8, and at the same time, the first moving nut 5-6 drives the corresponding index finger pulley 6-1 to move The motion is transmitted to the four-finger driving nylon rope 6-4, and the four-finger driving nylon rope 6-4 transmits the motion to the fastening torsion spring mechanism 1-9, and then the fastening torsion spring mechanism 1 -9 Transmit motion to said exoskeleton body.
请参阅图9，在另一个实施方式中，所述直流电机驱动组件包括第一直流电机、第一主动齿轮、第一从动齿轮、第一丝杠轴承、第二丝杠9-1、第二螺母9-2、压板9-3、固定螺栓9-4、第二滑轮固定销9-5、手指滑轮9-6、第二直线滑块9-7、第二连接件9-8及第二直线导轨9-9，所述第一直流电机、所述第一主动齿轮、所述第一从动齿轮、所述第一丝杠轴承及所述第二丝杠9-1的设置与链接与上述相同，所述第二螺母9-2设置在所述第二丝杠9-1上，两者之间形成丝杠螺母副。所述压板9-3连接所述第二螺母9-2及所述第二连接件9-8，所述第二直线滑块9-7通过固定螺栓9-4连接于所述第二连接件9-8，所述手指滑轮9-6通过所述第二滑轮固定销9-5连接于所述第二连接件9-8。所述第二直线滑块9-7滑动地设置在所述第二直线导轨9-9上，所述第二直线导轨9-9相背的两端分别连接于所述电机安装板及所述轴承安装通线板。其中，所述手指滑轮9-6对应于所述食指滑轮6-1或者小指滑轮6-7；所述第二连接件9-8是采用三面打孔工艺制备而成的，制备精度要求较高，但其能够较大程度地提高运动精度，减少多余体积。Please refer to FIG. 9 , in another embodiment, the DC motor drive assembly includes a first DC motor, a first driving gear, a first driven gear, a first screw bearing, a second screw 9-1, a first Two nuts 9-2, pressure plate 9-3, fixed bolt 9-4, second pulley fixed pin 9-5, finger pulley 9-6, second linear slider 9-7, second connecting piece 9-8 and the second Two linear guide rails 9-9, the setting and linking of the first DC motor, the first driving gear, the first driven gear, the first screw bearing and the second screw 9-1 Same as above, the second nut 9-2 is arranged on the second lead screw 9-1, and a lead screw nut pair is formed between the two. The pressure plate 9-3 is connected to the second nut 9-2 and the second connecting piece 9-8, and the second linear slider 9-7 is connected to the second connecting piece through a fixing bolt 9-4 9-8, the finger pulley 9-6 is connected to the second connecting member 9-8 through the second pulley fixing pin 9-5. The second linear slider 9-7 is slidably arranged on the second linear guide rail 9-9, and the opposite ends of the second linear guide rail 9-9 are respectively connected to the motor mounting plate and the Bearings are mounted to the feed-through plate. Wherein, the finger pulley 9-6 corresponds to the index finger pulley 6-1 or the little finger pulley 6-7; the second connecting piece 9-8 is prepared by three-sided drilling process, and the preparation accuracy is relatively high , but it can greatly improve motion accuracy and reduce redundant volume.
请参阅图7，所述拇指驱动机构1-7设置在食指滑轮6-1的一侧，整体体积较小，其包括拇指驱动直流电机7-1、拇指驱动直流拇指主动齿轮7-2、拇指从动齿轮7-3、拇指丝杠7-4、拇指轴承7-5、拇指轴承座7-6、拇指螺母7-7、拇指滑块7-8、拇指滑轮7-9、拇指直线导轨7-10、拇指导轨限位块7-11、拇指扣合板7-12及拇指尼龙绳7-13，所述拇指轴承座7-6连接于所述拇指扣合板7-12。所述拇指轴承7-5分别设置在所述拇指轴承座7-6及所述拇指扣合板7-12内。所述拇指丝杠7-4的一端通过所述拇指轴承7-5设置在所述拇指扣合板7-12内，另一端穿过对应的所述拇指轴承7-5后连接于所述拇指从动齿轮7-3。所述拇指驱动直流电机7-1连接于所述拇指轴承座7-6，其输出轴连接于所述拇指主动齿轮7-2，所述拇指主动齿轮7-2与所述拇指从动齿轮7-3相啮合。所述拇指螺母7-7与所述拇指丝杠7-4之间形成螺纹连接。所述拇指滑块7-8连接于所述拇指螺母7-7，且其滑动地设置在所述拇指直线导轨7-10上，所述拇指滑轮7-9连接于所述拇指滑块7-8。所述拇指导轨限位块7-11设置在所述拇指扣合板7-12上，所述拇指直线导轨7-10相背的两端分别连接于所述拇指轴承座7-6及所述拇指扣合板7-12。所述拇指尼龙绳7-13的一端穿过所述拇指滑轮7-9后连接于所述拇指扣合板7-12，另一端连接于所述拇指牵引尼龙绳3-1。Please refer to Fig. 7, described thumb driving mechanism 1-7 is arranged on the side of forefinger pulley 6-1, and overall volume is smaller, and it comprises thumb driving DC motor 7-1, thumb driving DC thumb driving gear 7-2, thumb Driven gear 7-3, thumb screw 7-4, thumb bearing 7-5, thumb bearing seat 7-6, thumb nut 7-7, thumb slider 7-8, thumb pulley 7-9, thumb linear guide 7 -10. Thumb guide rail limiting block 7-11, thumb fastening plate 7-12 and thumb nylon rope 7-13, the thumb bearing seat 7-6 is connected to the thumb fastening plate 7-12. The thumb bearing 7-5 is respectively arranged in the thumb bearing seat 7-6 and the thumb fastening plate 7-12. One end of the thumb screw 7-4 is arranged in the thumb fastening plate 7-12 through the thumb bearing 7-5, and the other end passes through the corresponding thumb bearing 7-5 and is connected to the thumb slave. Moving gear 7-3. The thumb drive DC motor 7-1 is connected to the thumb bearing seat 7-6, its output shaft is connected to the thumb driving gear 7-2, and the thumb driving gear 7-2 is connected to the thumb driven gear 7. -3 meshes. A threaded connection is formed between the thumb nut 7-7 and the thumb screw 7-4. The thumb slider 7-8 is connected to the thumb nut 7-7, and it is slidably arranged on the thumb linear guide rail 7-10, and the thumb pulley 7-9 is connected to the thumb slider 7-10. 8. The thumb guide rail limiting block 7-11 is arranged on the thumb fastening plate 7-12, and the opposite ends of the thumb linear guide rail 7-10 are connected to the thumb bearing seat 7-6 and the thumb bearing seat 7-6 respectively. Fasten panels 7-12. One end of the thumb nylon rope 7-13 passes through the thumb pulley 7-9 and is connected to the thumb fastening plate 7-12, and the other end is connected to the thumb traction nylon rope 3-1.
本实施方式中，拇指驱动直流电机7-1带动拇指主动齿轮7-2进行旋转，通过拇指从动齿轮7-3将运动传递到拇指丝杠7-4上，拇指轴承7-5的外圈定子端固定在拇指轴承座7-6上，内圈动子与拇指丝杠7-4配合以固定丝杠，拇指丝杠7-4带动拇指螺母7-7直线移动，拇指螺母7-7与拇指滑块7-8通过螺栓固定在一起，拇指滑轮7-9带动拇指尼龙绳7-13进行运动，需要说明，尼龙绳在非传动机构及执行机构中时，尼龙绳均置于柔性套管内，套管的长度可根据患者需要进行裁剪调整，以固定安装位置。In this embodiment, the thumb drives the DC motor 7-1 to drive the thumb driving gear 7-2 to rotate, and the motion is transmitted to the thumb screw 7-4 through the thumb driven gear 7-3, and the outer ring of the thumb bearing 7-5 defines The sub-end is fixed on the thumb bearing seat 7-6, the inner ring mover cooperates with the thumb screw 7-4 to fix the screw, the thumb screw 7-4 drives the thumb nut 7-7 to move linearly, and the thumb nut 7-7 and The thumb slider 7-8 is fixed together by bolts, and the thumb pulley 7-9 drives the thumb nylon rope 7-13 to move. It should be noted that when the nylon rope is in the non-transmission mechanism and the actuator, the nylon rope is placed in the flexible sleeve , the length of the sleeve can be cut and adjusted according to the needs of the patient to fix the installation position.
当然，所述手部外骨骼装置的合线板还可以安装在右手手背上，对于一些手指不能进行伸展运动的患者，手部外骨骼装置能够起到增强牵引手指运动的作用，即与上面左手使用为手性对称的实施方式，在此实施方式中，如前改进中所述的各种优势仍然能够发挥作用，紧固扭簧机构仍然能够提供预牵引力，四指驱动机构仍可在欠驱动运动状态下进行运动，而不同的是，手指伸展运动不存在自适应包络物体的工况，但若伸展时手指遇到阻碍，其他手指仍然能够正常运动，不堵塞直流电机。Of course, the splint of the hand exoskeleton device can also be installed on the back of the right hand. For some patients whose fingers cannot be stretched, the hand exoskeleton device can play a role in enhancing the movement of the fingers, that is, with the left hand above Using an embodiment that is chiral symmetric, in this embodiment, the various advantages described in the previous improvement can still be implemented, the fastening torsion spring mechanism can still provide pre-traction force, and the four-finger actuation mechanism can still be under-actuated. The difference is that there is no working condition of self-adaptive enveloping objects in the finger stretching motion, but if the finger encounters obstacles during stretching, other fingers can still move normally without blocking the DC motor.
综上所述，通过绳索拉伸来驱动手部外骨骼装置指进行弯曲和伸展运动，这样可以通过一个输入完成多个自由度的变化，再加上三个电机提供5个输出，此方式仅采用两个电机完成了四个手指的驱动，同时通过连杆机构的作用，使得手部外骨骼装置依旧可以完成自适应的包络抓握功能，对复杂物体也具备了一定的形状自适应能力，并且便于控制，非常适用于医疗器械领域。拇指的运动通过一个电机驱动，侧摆运动通过被动实现，进一步简化了手部外骨骼装置的结构，同时整体小巧，便于患者穿戴及日常治疗。In summary, the hand exoskeleton device is driven to bend and extend by stretching the rope, so that multiple degrees of freedom can be changed through one input, and three motors provide 5 outputs. This method only Two motors are used to drive the four fingers. At the same time, through the function of the linkage mechanism, the hand exoskeleton device can still complete the adaptive envelope grasping function, and it also has a certain shape adaptive ability for complex objects. , and easy to control, it is very suitable for the field of medical equipment. The movement of the thumb is driven by a motor, and the side swing movement is realized passively, which further simplifies the structure of the hand exoskeleton device. At the same time, it is small and compact, which is convenient for patients to wear and carry out daily treatment.
本领域的技术人员容易理解，以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。Those skilled in the art can easily understand that the above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention, All should be included within the protection scope of the present invention.
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| CN115468128B (en)* | 2022-09-09 | 2023-11-21 | 溧阳市中医医院 | Portable searchlight is used in clinical doctor of department of respiration's ward round |
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