CN105881519B - One kind is based on Wire driven robot hand movement function healing robot - Google Patents
One kind is based on Wire driven robot hand movement function healing robot Download PDFInfo
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- CN105881519B CN105881519B CN201610454987.3A CN201610454987A CN105881519B CN 105881519 B CN105881519 B CN 105881519B CN 201610454987 A CN201610454987 A CN 201610454987A CN 105881519 B CN105881519 B CN 105881519B
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- 230000033001 locomotion Effects 0.000 title claims abstract description 30
- 230000035876 healing Effects 0.000 title claims abstract description 19
- 210000000811 metacarpophalangeal joint Anatomy 0.000 claims abstract description 29
- 230000000694 effects Effects 0.000 claims abstract description 5
- 244000060701 Kaempferia pandurata Species 0.000 claims abstract description 4
- 235000016390 Uvaria chamae Nutrition 0.000 claims abstract description 4
- 230000003245 working effect Effects 0.000 claims abstract description 4
- 230000009916 joint effect Effects 0.000 claims abstract description 3
- 241000905957 Channa melasoma Species 0.000 claims description 52
- 239000004677 Nylon Substances 0.000 claims description 32
- 229920001778 nylon Polymers 0.000 claims description 32
- 210000002421 cell wall Anatomy 0.000 claims description 12
- 238000003780 insertion Methods 0.000 claims description 11
- 230000037431 insertion Effects 0.000 claims description 11
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 10
- 230000015572 biosynthetic process Effects 0.000 claims 3
- 210000003811 finger Anatomy 0.000 abstract description 23
- 238000010146 3D printing Methods 0.000 abstract description 3
- 210000003813 thumb Anatomy 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 9
- 238000000354 decomposition reaction Methods 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 208000012260 Accidental injury Diseases 0.000 description 1
- 208000025978 Athletic injury Diseases 0.000 description 1
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 208000012661 Dyskinesia Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 240000007711 Peperomia pellucida Species 0.000 description 1
- 235000012364 Peperomia pellucida Nutrition 0.000 description 1
- 206010041738 Sports injury Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 210000003169 central nervous system Anatomy 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 230000001447 compensatory effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 238000000554 physical therapy Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
- A61H2205/067—Fingers
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
One kind is based on Wire driven robot hand movement function healing robot, is to be made up of driver element and the execution unit being connected with driver element, execution unit includes：For driving metacarpophalangeal joints unit module, the nearly figure joint unit module for driving finger middle part joint motion and the remote figure joint unit module for driving finger end joint motion of finger root joint activity, driver element includes 3 groups of autonomous workings and the completely identical in structure drive module for corresponding to driving metacarpophalangeal joints unit module, nearly figure joint unit module and remote figure joint unit module respectively.The present invention can not only meet to locate other finger three degree of freedoms and the movement angle in each joint beyond thumb, and introduce series elastic driver, so as to ensure that the accurate control to joint moment；In addition most of part is made up of 3D printing, on the premise of proof strength, greatly reduces the weight of the finger of effect；And the individual difference of finger length has been adapted within the specific limits.
Description
Technical field
The present invention relates to a kind of functional rehabilitation robot.More particularly to a kind of hand to finger dyskinesia patient
Articulations digitorum manus carry out exercise rehabilitation training based on Wire driven robot hand movement function healing robot.
Background technology
The hand of people is highly prone to injure, and hand exercise obstacle caused by injury has become a big problem of today's society.
Hand exercise obstacle mainly causes upper limb hemiplegia, injury gained in sports and accidental injury including cerebral apoplexy.Research shows nervous centralis
System has higher plasticity, and experiment shows that specific functional training can promote the restructuring of central nervous system and compensatory, extensive
The limb function of multiple patient.Therefore rehabilitation self care ability, mitigates functionally to the locomitivity of recovery patient's hand
Disabled degree, the satisfaction for strengthening patient, reducing the high cost of nursing and saving social resources etc. has important meaning
Justice.However, traditional method of rehabilitation is to carry out man-to-man rehabilitation to patient by rehabilitation physical therapy teacher, this method not only price
It is expensive and waste time and energy, therefore hand healing robot arises at the historic moment.But existing rehabilitation equipment has the following disadvantages：Wear
The property worn is poor, and the weight for acting on hand is too big；The individual difference of patient's finger length individual can not be adapted to；Exist in rehabilitation course
Act on the axial thrust load for being unfavorable for Rehabilitation；The accurate control of the rehabilitation torque to acting on finger-joint can not be realized.
The content of the invention
The technical problem to be solved by the invention is to provide one kind can not only meet three, other fingers in addition to thumb
The free degree and the movement angle in each joint, and can guarantee that to the accurate control of joint moment based on Wire driven robot hand exercise
Functional rehabilitation robot.
The technical solution adopted in the present invention is：One kind be based on Wire driven robot hand movement function healing robot, be by
Driver element and the execution unit being connected with driver element are formed, and described execution unit includes：For driving finger root to close
The metacarpophalangeal joints unit module of section activity, for driving in the middle part of finger the nearly figure joint unit module of joint motion and for driving
The remote figure joint unit module of finger end joint motion, described driver element includes 3 groups of autonomous workings and structure is complete
Identical corresponds to the driving mould of driving metacarpophalangeal joints unit module, nearly figure joint unit module and remote figure joint unit module respectively
Block.
Described drive module includes：The motor with encoder being arranged on motor cabinet, is fixedly connected by flat key
Main driving pulley on the motor output shaft with encoder, and the first flexible cable and the second flexible cable, first flexible cable
It is fixedly connected on respectively by fixed pin shaft in the first flexible cable groove of the main driving pulley with one end of the second flexible cable, described
The other end of one flexible cable and the second flexible cable is fixed on the other end on flexible cable overcoat fixed mount through one end and is fixed on metacarpophalangeal joints list
Flexible cable overcoat on element module or nearly figure joint unit module or remote figure joint unit module connects driven metacarpophalangeal joints list
Element module or nearly figure joint unit module or remote figure joint unit module, described flexible cable overcoat fixed mount are fixedly installed on described
On motor cabinet.
One kind of the present invention is based on Wire driven robot hand movement function healing robot, can not only meet to locate beyond thumb
Other finger three degree of freedoms and the movement angle in each joint, and series elastic driver is introduced, so as to ensure that to joint
The accurate control of torque；In addition most of part is made up of 3D printing, on the premise of proof strength, greatly reduces effect
The weight of finger；And the individual difference of finger length has been adapted within the specific limits.The present invention has following features：
(1) executable portion adjustable length of the present invention, the individual difference of finger length is adapted within the specific limits；
(2) compared with existing hand rehabilitation equipment, independent bi-directional drive can be carried out to each joint of finger；
(3) compared with existing hand rehabilitation equipment, series elastic driver is introduced, it is possible to achieve close to being applied to finger
The accurate control of torque on section；
(4) most of part of the invention is all made of 3D printing, light weight, compact-sized, thus act in hand
Lighter in weight on finger.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the invention based on Wire driven robot hand movement function healing robot；
Fig. 2 is the overall structure diagram of drive module in the present invention；
Fig. 3 is main driving pulley internal structure schematic diagram in the present invention；
Fig. 4 is the overall structure diagram of metacarpophalangeal joints unit module in the present invention；
Fig. 5 is the decomposition texture schematic diagram of metacarpophalangeal joints unit module in the present invention；
Fig. 6 is the overall structure diagram of nearly figure joint unit module in the present invention；
Fig. 7 is the decomposition texture schematic diagram of nearly figure joint unit module in the present invention；
Fig. 8 is the overall structure diagram of remote figure joint unit module in the present invention；
Fig. 9 is the decomposition texture schematic diagram of remote figure joint unit module in the present invention；
Figure 10 is the internal structure signal of the first driving pulley, the second driving pulley and the 3rd driving pulley in the present invention
Figure.
In figure
1：Drive module 101：Motor cabinet
102：Fixed pin shaft 103：Flat key
104：Main driving pulley 105：Motor with encoder
106：First flexible cable 107：Flexible cable overcoat
108：Flexible cable overcoat fixed mount 109：Second flexible cable
1010：First flexible cable groove 1011：Axis hole
1012：Flat key slotted eye 1013：Pin-and-hole
1014：Spring groove 1015：Spring
1016：Spring pressure head 1017：Second flexible cable groove
1018：Nylon buckles band 1019：Through hole
2：Metacarpophalangeal joints unit module 201：Pedestal
202：Metacarpophalangeal joints base 203：First circular arc cover for seat
204：First driving pulley 205：First pulley groove
206：First screwed hole of centre 207：First centre bore
208：First central shaft 209：First magnet ring fixed seat
2010：First magnet ring 2011：First center wheel bore
2012：First pin-and-hole 2013：First bearing pin
2014：Cross with holes 2015：First magnetoresistive angle-sensor configuration
2016：First sensor groove 2017：First driving lever
2018：First follower lever 2019：Sliding block
2020：Miniature rectilinear orbit 2021：First U-lag
2022：Bolt 2023：First sensor baffle plate
3：Nearly figure joint unit module 301：Nearly articulations digitorum manus base afterwards
302：Second circular arc cover for seat 303：Nylon buckles trough of belt afterwards
304：Nylon buckles band 305 afterwards：Second pulley groove
306：Second screwed hole of centre 307：Second centre bore
308：Second driving pulley 309：Second center wheel bore
3010：Second central shaft 3011：Second magnet ring fixed seat
3012：Second magnet ring 3013：Second bearing pin
3014：Second sensor groove 3015：Second pin-and-hole
3016：Second driving lever 3017：Second follower lever
3018：Preceding nearly articulations digitorum manus base 3019：Preceding nylon buckles trough of belt
3020：Preceding nylon buckles band 3021：Chute
3022：Second U-lag 3023：Bolt
3024：Second magnetoresistive angle-sensor configuration 3025：Second sensor baffle plate
4：Remote figure joint unit module 401：Remote articulations digitorum manus base afterwards
402：Three-arc shape cover for seat 403：Hinged block
404：Nylon buckles trough of belt 405 afterwards：Nylon buckles band afterwards
406：3rd pulley groove 407：3rd screwed hole of centre
408：3rd centre bore 409：3rd driving pulley
4010：3rd center wheel bore 4011：3rd central shaft
4012：3rd magnet ring fixed seat 4013：3rd magnet ring
4014：3rd magnetoresistive angle-sensor configuration 4015：3rd sensor groove
4016：3rd pin-and-hole 4017：3rd bearing pin
4018：3rd driving lever 4019：3rd follower lever
4020：Preceding remote articulations digitorum manus base 4021：Preceding nylon buckles trough of belt
4022：Preceding nylon buckles band 4023：3rd U-lag
4024：Bolt 4025：3rd sensor baffle plate
5：Palm
Embodiment
Being made based on Wire driven robot hand movement function healing robot to the present invention with reference to embodiment and accompanying drawing
Describe in detail.
As shown in figure 1, the present invention based on Wire driven robot hand movement function healing robot, be by driver element and with
The connected execution unit of driver element is formed, and described execution unit includes：For driving the metacarpophalangeal of finger root joint activity
Joint unit module 2, for driving in the middle part of finger the nearly figure joint unit module 3 of joint motion and for driving finger end to close
The remote figure joint unit module 4 of section activity, described driver element 1 include 3 groups of autonomous workings and completely identical in structure point
The drive module 1 of metacarpophalangeal joints unit module 2, nearly figure joint unit module 3 and remote figure joint unit module 4 Dui Ying not driven.
As shown in Figure 2 and Figure 3, described drive module 1 includes：The motor with encoder being arranged on motor cabinet 101
105, the main driving pulley 104, Yi Ji on the output shaft of motor with encoder 105 is fixedly connected on by flat key 103
One flexible cable 106 and the second flexible cable 109, one end of the flexible cable 109 of the first flexible cable 106 and second pass through fixed pin shaft 102 respectively
It is fixedly connected in the first flexible cable groove 1010 of the main driving pulley 104, the flexible cable 109 of the first flexible cable 106 and second
The other end is fixed on the other end on flexible cable overcoat fixed mount 108 through one end and is fixed on metacarpophalangeal joints unit module 2 or closely finger pass
Save the flexible cable overcoat 107 in unit module 3 or remote figure joint unit module 4 connect driven metacarpophalangeal joints unit module 2 or
Nearly figure joint unit module 3 or remote figure joint unit module 4, described flexible cable overcoat fixed mount 108 is fixedly installed on the electricity
On support 101.
Exported as shown in figure 3, the center of described main driving pulley 104 is provided with for inserting motor 105 with encoder
The axis hole 1011 of axle, the side of the axis hole 1011 is provided with the flat key slotted eye 1012 for inserting flat key 103 with being connected, described
First flexible cable groove 1010 is along the circumferential direction to be inwardly recessed what is formed on the neighboring of the main driving pulley 104, in institute
State and be provided with that to fix the first flexible cable 106 and second soft for inserting fixed pin shaft 102 between the flexible cable groove 1010 of axis hole 1011 and first
The pin-and-hole 1013 of rope 109.
The driver element based on Wire driven robot hand movement function healing robot of the present invention passes through the He of the first flexible cable 106
First flexible cable 109 (totally 6) refers to the metacarpophalangeal joints unit module 2 in execution unit, nearly figure joint unit module 3 and far respectively
The independent bi-directional drive of joint unit module 4, realize flexing/stretching, extension rehabilitation action of patient's finger.In order to prevent execution unit
The first flexible cable 106 and the first flexible cable 109 between driver element relax, and avoid producing unnecessary coupling, both it
Between connected by flexible cable overcoat 107 (totally 6), the first flexible cable 106 and the first flexible cable 109 are each passed through corresponding flexible cable overcoat
107 realize transmission.Executable portion can be divided into metacarpophalangeal joints unit module 2 (1 free degree), nearly figure joint unit module 3 (1 again
The individual free degree), remote figure joint unit module 4 (1 free degree).
Chute 3021 on preceding nearly articulations digitorum manus base 3018 and remote figure joint unit module 4 in nearly figure joint unit module 3
Rear remote articulations digitorum manus base 401 be connected by bolt (as shown in Fig. 1, Fig. 7, Fig. 8), change the fixed position of chute 3021
Adjust the distance of nearly figure joint unit module 3 and remote figure joint unit module 4.In metacarpophalangeal joints unit module 2, slided by adjusting
The initial position of block 2019 and miniature rectilinear orbit 2020, it can be achieved to metacarpophalangeal joints unit module 2 and nearly figure joint unit mould
The adjustment (as shown in Figure 4, Figure 5) of the distance of block 3.It can be realized within the specific limits to finger length by both the above structure
The adaptation of individual difference.
As shown in Figure 4, Figure 5, described metacarpophalangeal joints unit module 2 includes：For being connected to the setting position of palm 5
On pedestal 201, the metacarpophalangeal joints base 202 being fixed on the pedestal 201, and be integrally formed in metacarpophalangeal joints base
The first circular arc cover for seat 203 on 202, the pedestal 201 are by forming excessively with holes 2014 and nylon buckles on pedestal 201
Band 1018 is fixedly connected with palm 5, and the first circular arc cover for seat 203 is in the one side positioned at not rounded cambered surface formed with concaving
The first pulley groove 205 entered, one in two side walls of first pulley groove 205 is formed in the first circular arc cover for seat 203
In side wall positioned at circle centre position formed with the first screwed hole of centre 206, in another side wall positioned at circle centre position formed with institute
206 the first coaxial centre bore 207 of the first screwed hole of centre stated, the first driving pulley 204 is by being sequentially inserted into the first center
First central shaft 208 in hole 207, the first center wheel bore 2011 of the first driving pulley 204 and the first screwed hole of centre 206 can
Rotation is arranged in the first pulley groove 205 of the first circular arc cover for seat 203, and the first described central shaft 208 passes through shape
It is threadedly coupled into the external screw thread in leading section with the first described screwed hole of centre 206 and is fixedly connected on first circular arc
In cover for seat 203, in the first circular arc cover for seat 203 positioned at the outside of first pulley groove 205 and with the first described center
The adjacent of hole 207 is formed with the magnet ring fixed seat 209 coaxial with the first described centre bore 207, the magnet ring fixed seat
209 are embedded in the first magnet ring 2010 with the described interference fit of magnet ring fixed seat 209, described magnet ring fixed seat 209 with
The first sensing for inserting the first magnetoresistive angle-sensor configuration 2015 is also formed between the side wall of described first pulley groove 205
Tank 2016, on first driving pulley 204 positioned at the side in centre wheel hole 2011 formed with the first pin-and-hole to connect
2012, it is fixedly connected from the exterior bottom of first pulley groove 205 on first pin-and-hole 2012 and is inserted into by the first bearing pin 2013
The first flexible cable 106 and second being used to drive in the drive module 1 of the first driving pulley 204 in the first pulley groove 205
Flexible cable 109, positioned at side of the centre wheel hole 2011 away from the first pin-and-hole 2012 on first driving pulley 204, and it is located at
The outside of the first pulley groove 205, is fixedly connected with one end of the first driving lever 2017, first driving lever 2017 it is another
One end is hinged with the top of the first follower lever 2018, and the bottom of first follower lever 2018 is fixedly connected on can be along miniature straight
On the sliding block 2019 that trajectory 2020 moves, described miniature rectilinear orbit 2020 is fixedly connected with the nearly figure joint unit module
3。
The first described driving lever 2017 is formed with the in the termination of the one end for connecting first driving pulley 204
One U-lag 2021, the first described driving pulley 204 are embedded in the first described U-lag 2021 and by being penetratingly formed at
Two bolts 2022 and first of through hole and the through hole formed on the first driving pulley 204 on the cell wall of first U-lag 2021
Driving lever 2017 is fixedly connected, and described two bolts 2022 are also associated with being used to fix first magnetoresistive angle close to nut side
The first sensor baffle plate sensor bezel 2023 of sensor 2015, the forward part of the first described magnetoresistive angle-sensor configuration 2015
In the described first sensor groove 2016 of insertion, rear part is fixed on the first U by being stuck between two bolts 2022
On the outside of the cell wall of shape groove 2021.
In metacarpophalangeal joints unit module 2, nylon buckles band 1018 on holes 2014 was fixed on by pedestal 201 by one end
It is fixed on the specified location (as shown in Figure 1) of palm 5；The one end of first driving lever 2017 is bolted and the first follower lever
2018 form revolute pair, and the other end is led to by two through holes of two sensor fixing holes respectively with the first driving pulley 204
Cross bolt to be fixed as one, then overall the first central shaft 208 with by the center wheel bore 2011 through the first driving pulley 204
Form revolute；First central shaft, 208 threaded one end is connected with the first screwed hole of centre 206, the first central shaft 208 it is another
End is connected with the first centre bore 207, and two end faces of the first central shaft 208 are held with two of the first driving pulley 204 respectively
In face of neat；First magnetoresistive angle-sensor configuration 2015 passes through the driving lever 2017 of first sensor baffle plate 2023 and first and the first driving
Pulley 204 is connected as a single entity, and ensures that the first magnetoresistive angle-sensor configuration 2015 ensures the while be located in first sensor groove 2016
One center shaft axis is in the cog region of the first magnetoresistive angle-sensor configuration 2015, and the first magnetoresistive angle-sensor configuration 2015 and first
The axial distance of magnet ring 2010 is turned with realizing in coverage to the first driving lever 2017 relative to the first central shaft 208
The accurate measurement at angle；First magnet ring 2010 is formed by its outer ring and the first magnet ring fixed seat 209 and is interference fitted, and ensures the
One magnet ring 2010, the first magnet ring fixed seat 209 and the first central shaft 2010 are concentric；By the first bearing pin 2013 by the first flexible cable
106 and second flexible cable 109 be fixed in the groove of the first driving pulley 204；The one end of spring 1015 is fixed with the phase of spring groove 1014, separately
One end is fixed with spring pressure head 1016, ensures that two end faces of spring 1015 overlap with both above-mentioned bottoms；First follower lever
2018 are connected by bolt and sliding block 2019；The screwed hole of miniature rectilinear orbit 2020 respectively with rear nearly articulations digitorum manus base
Four slideway fixing holes on 301 are joined with bolts (shown in Fig. 4, Fig. 5, Fig. 6, Fig. 7)；One end of flexible cable overcoat 107 is consolidated
It is scheduled on spring pressure head 1016；The first flexible cable 106 and the second flexible cable 109 in flexible cable overcoat 7 drive the first driving pulley 204 to drive
The spring 1015 of compressible drive side while moving whole block motion, and surveyed by calculating the first magnetoresistive angle-sensor configuration 2015
The difference of both encoder institute side motor angles in the joint angle angle value and motor with encoder 105 of amount, tries to achieve spring
1015 deformation quantity, the torque that acts on the first driving pulley 204 is drawn with reference to the coefficient of elasticity of known spring 1015.
As shown in Figure 6, Figure 7, described nearly figure joint unit module 3 includes：For being connected to the middle phalanx of palm 5
On rear nearly articulations digitorum manus base 301, and the second circular arc cover for seat 302 being integrally formed on nearly articulations digitorum manus base 301, metacarpophalangeal
Miniature rectilinear orbit 2020 in joint unit module 2 is fixedly connected in the rear on nearly articulations digitorum manus base 301, is closely referred to after described
Joint base 301 be by formed rear nylon buckles trough of belt 303 after near on articulations digitorum manus base 301 and rear nylon buckles band 304 and
The middle phalanx of palm 5 is fixedly connected, and the second circular arc cover for seat 302 is in the one side positioned at not rounded cambered surface formed with inside
Recessed second pulley groove 305, one in two side walls of second pulley groove 305 is formed in the second circular arc cover for seat 302
In individual side wall positioned at circle centre position formed with the second screwed hole of centre 306, in another side wall positioned at circle centre position formed with
Described 306 the second coaxial centre bore 307 of the second screwed hole of centre, the second driving pulley 308 is by being sequentially inserted into second
The energy of second central shaft 3010 in heart hole 307, the second center wheel bore 309 of the second driving pulley 308 and the second screwed hole of centre 306
What is enough rotated is arranged in the second pulley groove 305 of the second circular arc cover for seat 302, and the second described central shaft 3010 passes through
The external screw thread in leading section is formed to be threadedly coupled with the second described screwed hole of centre 306 and be fixedly connected on second circular arc
In shape cover for seat 302, in the second circular arc cover for seat 302 positioned at the outside of second pulley groove 305 and with described second
The adjacent of heart hole 307 is formed with the second magnet ring fixed seat 3011 coaxial with the second described centre bore 307, and described second
Magnet ring fixed seat 3011 is embedded in the second magnet ring 3012 with the second described magnet ring fixed seat 3011 interference fit, described
It is also formed with being used to insert the second magnetoresistive angle between second magnet ring fixed seat 3011 and the side wall of described second pulley groove 305
The second sensor groove 3014 of sensor 3024, positioned at the side of the second center wheel bore 309 on second driving pulley 308
It is fixedly connected from second and is slided by the second bearing pin 3013 formed with the second pin-and-hole 3015 to connect, on second pin-and-hole 3015
The exterior bottom of race 305 is inserted into the drive module 1 for being used to drive the second driving pulley 308 in the second pulley groove 305
In the first flexible cable 106 and the second flexible cable 109, on second driving pulley 308 positioned at the second center wheel bore 309 away from
The side of two pin-and-holes 3015, and positioned at the outside of the second pulley groove 305, be fixedly connected with the second driving lever 3016
End, the upper end of second driving lever 3016 are hinged with one end of the second follower lever 3017, second follower lever 3017 it is another
One end is for nearly articulations digitorum manus base 3018 before being fixedly connected with the middle phalanx of palm 5, the preceding nearly articulations digitorum manus base
3018 be by forming preceding nylon buckles trough of belt 3019 and preceding nylon buckles band 3020 and palm 5 on preceding nearly articulations digitorum manus base 3018
Middle phalanx be fixedly connected, formed with for connecting remote figure joint unit module 4 on nearly articulations digitorum manus base 3018 before described
Chute 3021.
The second described driving lever 3016 is formed with the second U-shaped in the bottom for connecting second driving pulley 308
Groove 3022, the second described driving pulley 308 are embedded in the second described U-lag 3022 and by being penetratingly formed at the 2nd U
The driving lever of two bolts 3023 and second of through hole and the through hole formed on the second driving pulley 308 on the cell wall of shape groove 3022
3016 are fixedly connected, and described two bolts 3023 are also associated with being used to fix second magnetoresistive angle-sensor configuration close to nut side
3024 second sensor baffle plate 3025, second that the forward part insertion of the second described magnetoresistive angle-sensor configuration 3024 is described pass
In sensor groove 3014, rear part is fixed on by being stuck between two bolts 3023 outside the cell wall of second U-lag 3022
Side.
In described nearly figure joint unit module 3, preceding nylon buckles band 3020 closely refers to through preceding nylon buckles trough of belt 3019 by before
Joint base 3018 is fixed on middle phalanx；The one end of second driving lever 3016 is bolted the second follower lever 3017 and formed
Revolute pair, and the other end is consolidated by two through holes 8 of two sensor fixing holes and the second driving pulley 308 by bolt respectively
It is set to one, then the overall shape of the second central shaft 3010 with by the second center wheel bore 309 through the second driving pulley 308
Into revolute；Second central shaft, 3010 threaded one end is connected with the second screwed hole of centre 306, the other end and the second center
Hole 307 is connected, and two end faces of the second central shaft 3010 are alignd respectively at the both ends of the surface of the second driving pulley 308；Second magnetic resistance
Angular transducer 3024 is linked as one by the driving lever 3016 of second sensor baffle plate 3025 and second and the second driving pulley 308
Body, ensure to ensure the axle of the second central shaft 3010 while the second magnetoresistive angle-sensor configuration 3024 is located in second sensor groove 3014
Line is in the cog region of the second magnetoresistive angle-sensor configuration 3024, and the second magnetoresistive angle-sensor configuration 3024 and the second magnet ring 3012
Axial distance is in coverage, to realize the accurate survey to the second driving lever 3016 relative to the corner of the second central shaft 3010
Amount；Second magnet ring 3012 is formed by its outer ring and the second magnet ring fixed seat 3011 and is interference fitted, and ensures the second magnet ring
3012nd, the central shaft 3010 of magnet ring fixed seat 30106 and second is concentric；By the second bearing pin 3013 by the first flexible cable 106 and
Two flexible cables 109 are fixed in the groove of the second driving pulley 308；The one end of spring 1015 is fixed with the phase of spring groove 1014, the other end with
Spring pressure head 1016 is fixed, and ensures that two end faces of spring 1015 overlap with both above-mentioned bottoms；Afterwards before nearly articulations digitorum manus base 301
Nearly articulations digitorum manus base 3018 is articulated and connected, and forms rotatable connection；One end of flexible cable overcoat 107 is fixed on spring pressure head 1016；
The first flexible cable 106 and the second flexible cable 109 in flexible cable overcoat 107 drive the second driving pulley 308 to drive whole block motion
Simultaneously compressible drive side spring 1015, and by calculate the second magnetoresistive angle-sensor configuration 3024 measure joint angle angle value and
The difference of both encoder institute side motor angles on motor 105 with encoder, the deformation quantity of spring 1015 is tried to achieve, with reference to
Know that the coefficient of elasticity of spring 1015 draws the torque acted on the second driving pulley 308, and then passive rehabilitation can be met, it is main
Dynamic rehabilitation, the realization of three kinds of rehabilitation modalities of impedance rehabilitation.
As shown in Figure 8, Figure 9, described remote figure joint unit module 4 includes：For being connected to the distal phalanx of palm 5
On rear remote articulations digitorum manus base 401, and the three-arc shape cover for seat 402 being integrally formed on rear remote articulations digitorum manus base 401, institute
State the chute 3021 that rear remote articulations digitorum manus base 401 is bolted in nearly figure joint unit module 3 and be fixedly connected on finger and close
The preceding nearly articulations digitorum manus base 3018 in unit module 3 is saved, remote articulations digitorum manus base 401 is by being formed in rear remote articulations digitorum manus after described
Rear nylon buckles trough of belt 404 and rear nylon buckles band 405 on base 401 are fixedly connected with the distal phalanx of palm 5, the 3rd circle
Arc cover for seat 402 is in the one side positioned at not rounded cambered surface formed with the 3rd pulley groove 406 being inwardly recessed, the three-arc shape
In cover for seat 402 form the 3rd pulley groove 406 two side walls in a side wall on positioned at circle centre position formed with the 3rd center
Screwed hole 407, in another side wall in positioned at circle centre position formed with the coaxial with the 3rd described screwed hole of centre 407 the 3rd
Heart hole 408, the 3rd driving pulley 409 is by being sequentially inserted into the 3rd centre wheel of the 3rd pulley groove 406, the 3rd driving pulley 409
What the 3rd central shaft 4011 of the screwed hole of centre 407 of hole 4010 and the 3rd can rotate is arranged on the three-arc shape cover for seat
In 402 the 3rd pulley groove 406, the 3rd described central shaft 4011 is by forming the external screw thread and the described the 3rd in leading section
Screwed hole of centre 407 is threadedly coupled and is fixedly connected in the three-arc shape cover for seat 402, the three-arc shape cover for seat
On 402 positioned at the outside of the 3rd pulley groove 406 and with the described adjacent of the 3rd centre bore 408 be formed with it is described
The 3rd coaxial magnet ring fixed seat 4012 of 3rd centre bore 408, the 3rd magnet ring fixed seat 4012 be embedded in it is described
3rd magnet ring 4013 of the 3rd magnet ring fixed seat 4012 interference fit, described the 3rd magnet ring fixed seat 4012 and the described the 3rd
The 3rd sensor groove 4015 for inserting the 3rd magnetoresistive angle-sensor configuration 4014 is also formed between the side wall of pulley groove 406,
On 3rd driving pulley 409 positioned at the side of the 3rd center wheel bore 4010 formed with the 3rd pin-and-hole 4016 to connect,
It is fixedly connected on 3rd pin-and-hole 4016 by the 3rd bearing pin 4017 from the exterior bottom of the 3rd pulley groove 406 and is inserted into described
The first flexible cable 106 and the second flexible cable that are used to drive in the drive module 1 of the 3rd driving pulley 409 in three pulley grooves 406
109, positioned at the 3rd side of the center wheel bore 4010 away from the 3rd pin-and-hole 4016 on the 3rd driving pulley 409, and it is located at
The outside of 3rd pulley groove 406, is fixedly connected with the lower end of the 3rd driving lever 4018, the 3rd driving lever 4018 it is upper
End is hinged with one end of the 3rd follower lever 4019, and the other end of the 3rd follower lever 4019 is hinged on for remote with palm 5
On the preceding remote articulations digitorum manus base 4020 that section phalanges is fixedly connected, remote articulations digitorum manus base 4020 is far referred to preceding by being formed before described
Preceding nylon buckles trough of belt 4021 and preceding nylon buckles band 4022 on joint base 4020 are fixedly connected with the distal phalanx of palm 5, institute
The preceding remote articulations digitorum manus base 4020 stated is with described rear remote articulations digitorum manus base 401 by being integrally formed in the preceding remote articulations digitorum manus bottom
The hinged block 403 of 4020 both sides of seat is articulated and connected.
The 3rd described driving lever 4018 is formed with the 3rd U-shaped in the bottom for connecting the 3rd driving pulley 409
Groove 4023, the 3rd described driving pulley 409 are embedded in the 3rd described U-lag 4023 and by being penetratingly formed at the 3rd U
The driving lever of two bolts 4024 and the 3rd of through hole and the through hole formed on the 3rd driving pulley 409 on the cell wall of shape groove 4023
4018 are fixedly connected, and described two bolts 4024 are also associated with being used to fix the 3rd magnetoresistive angle-sensor configuration close to nut side
4014 3rd sensor baffle plate 4025, the 3rd that the forward part insertion of the 3rd described magnetoresistive angle-sensor configuration 4014 is described pass
In sensor groove 4015, rear part is fixed on by being stuck between two bolts 4024 outside the cell wall of the 3rd U-lag 4023
Side.
In described remote figure joint unit module 4：Preceding nylon buckles band 4022 far refers to through preceding nylon buckles trough of belt 4021 by before
Joint base 4020 is fixed on distal phalanx；The one end of 3rd driving lever 4018 is bolted the 3rd follower lever 4019 and formed
Revolute pair, the other end are crossed bolt by two of two sensor fixing holes and the 3rd driving pulley 409 respectively and are fixed as all
One, it is then overall with being formed by the 3rd central shaft 4011 of the 3rd center wheel bore 4010 through the 3rd driving pulley 409
Revolute；3rd central shaft, 4011 threaded one end is connected with the 3rd screwed hole of centre 407, the other end and the 3rd centre bore
408 connections, and in two end faces of the 3rd central shaft 4011 alignd respectively with two end faces of the 3rd driving pulley 409；3rd
Magnetoresistive angle-sensor configuration 4014 is linked as by 3rd sensor baffle plate 4025 and the 3rd driving lever 4018 and the 3rd driving pulley 409
One, ensure to ensure the 3rd central shaft 4011 while the 3rd magnetoresistive angle-sensor configuration 4014 is located in 3rd sensor groove 4015
Axis is in the cog region of the 3rd magnetoresistive angle-sensor configuration 4014, and the 3rd magnetoresistive angle-sensor configuration 4014 and the 3rd magnet ring 4013
Axial distance in coverage, with realize to the 3rd driving lever 4018 relative to the accurate of the corner of the 3rd central shaft 4011
Measurement；3rd magnet ring 4013 is formed by its outer ring and the 3rd magnet ring fixed seat 4012 and is interference fitted, and ensures the 3rd magnet ring
4013rd, the 3rd magnet ring fixed seat 4012 and the 3rd central shaft 4011 are concentric；By the 3rd bearing pin 4017 by the He of the first flexible cable 106
Second flexible cable 109 is fixed in the groove of the 3rd driving pulley 409；The one end of spring 1015 is fixed with the phase of spring groove 1014, the other end with
Spring pressure head 1016 is fixed, and ensures that two end faces of spring 1014 overlap with both above-mentioned bottoms；Afterwards remote articulations digitorum manus base 401 with
Preceding remote articulations digitorum manus base 4020 is be hinged by hinged block 403, forms rotatable connection；One end of flexible cable overcoat 107 is fixed on spring
On pressure head 1016；The first flexible cable 106 and the second flexible cable 109 in flexible cable overcoat 107 drive the 3rd driving pulley 409 to drive entirely
The spring 1014 of compressible drive side while block motion, and the pass measured by calculating the 3rd magnetoresistive angle-sensor configuration 4014
The difference of both encoder institute side motor angles on angle value and motor with encoder 105 is saved, tries to achieve the shape of spring 1015
Variable, the torque that acts on the 3rd driving pulley 409 is drawn with reference to the coefficient of elasticity of known spring 1015, and then can met
Passive rehabilitation, initiative rehabilitation, the realization of three kinds of rehabilitation modalities of impedance rehabilitation.
As shown in Fig. 4, Fig. 6, Fig. 8, in the present invention outside the first circular arc cover for seat 203 of the bottom land of composition first pulley groove 205
On arc surface, or on the exterior arc surface of the second circular arc cover for seat 302 of the bottom land of composition second pulley groove 305, or form second pulley
Be formed with the exterior arc surface of the second circular arc cover for seat 302 of the bottom land of groove 305 inside and outside insertion to be respectively for insertion into first soft
Two spring grooves 1014 of the flexible cable 109 of rope 106 and second, spring groove is respectively fixedly connected with respectively in described two spring grooves 1014
1015 one end, the other end of the spring 1015 are fixedly connected on the spring pressure head 1016 outside spring groove 1014, institute
State the one end of spring pressure head 1016 away from spring 1015 and be fixedly connected with the flexible cable overcoat 107 away from flexible cable overcoat fixed mount 108
One end, the flexible cable is stretched out in the described one end of the first flexible cable 106 and the second flexible cable 109 away from main driving pulley 104 respectively
Overcoat 107 enters described first pulley groove 205 or the pulley groove of second pulley groove 305 or the 3rd through described spring 2026
Pass through the first bearing pin 2013 or the second bearing pin 3013 or the 3rd bearing pin 4017 and the first described driving pulley 204 or the in 406
Two driving pulleys 308 or the 3rd driving pulley 409 are fixedly connected.
As shown in Figure 10, the first described driving pulley 204 or the second driving pulley 308 or the 3rd driving pulley 409 exist
It is centrally formed with the first center for inserting the one the first central shafts 3010 of central shaft 208 or second or the 3rd central shaft 4011
The center wheel bore 309 of wheel bore 2011 or second or the 3rd center wheel bore 4010, the first flexible cable 106 and the second flexible cable are fixed for inserting
109 the first bearing pin 2013 or the second bearing pin 3013 or the first pin-and-hole 2012 of the 3rd bearing pin 4017 or the second pin-and-hole 3015 or the
Three pin-and-holes 4016 are located at the first center wheel bore 2011 or the side of the second center wheel bore 309 or the 3rd center wheel bore 4010, are used for
Two through holes 1019 of two bolts 2022/3023/4024 of insertion are formed in the first center wheel bore 2011 or the second center wheel bore
309 or the 3rd center wheel bore 4010 opposite side, driven in the driving pulley 308 or the 3rd of first driving pulley 204 or second
Along the circumferential direction it is inwardly recessed on the neighboring of movable pulley 409 and is enclosed formed with one for being embedded in the first flexible cable 106 and the second flexible cable
109 the second flexible cable groove 1017.
Claims (8)
- It is holding of being connected by driver element and with driver element 1. one kind is based on Wire driven robot hand movement function healing robot Row unit is formed, it is characterised in that described execution unit includes：For driving the metacarpophalangeal joints list of finger root joint activity Element module（2）, nearly figure joint unit module for driving joint motion in the middle part of finger（3）With for driving finger end joint The remote figure joint unit module of activity（4）, described driver element includes 3 groups of autonomous workings and completely identical in structure difference Corresponding driving metacarpophalangeal joints unit module（2）, nearly figure joint unit module（3）With remote figure joint unit module（4）Driving mould Block（1）；Described drive module（1）Include：The motor with encoder being arranged on motor cabinet (101)（105）, pass through flat key （103）It is fixedly connected on the motor with encoder（105）Main driving pulley on output shaft（104）, and the first flexible cable （106）With the second flexible cable（109）, first flexible cable（106）With the second flexible cable（109）One end pass through fixed pin shaft respectively （102）It is fixedly connected on the main driving pulley（104）The first flexible cable groove（1010）It is interior, first flexible cable（106）With Two flexible cables（109）The other end be fixed on flexible cable overcoat fixed mount through one end（108）The upper other end is fixed on metacarpophalangeal joints list Element module（2）Or nearly figure joint unit module（3）Or remote figure joint unit module（4）On flexible cable overcoat（107）Connection is driven Dynamic metacarpophalangeal joints unit module（2）Or nearly figure joint unit module（3）Or remote figure joint unit module（4）, described flexible cable Overcoat fixed mount（108）It is fixedly installed on the motor cabinet (101)；Described metacarpophalangeal joints unit module（2）Include：For being connected to palm（5）Setting position on pedestal（201）, It is fixed on the pedestal（201）On metacarpophalangeal joints base（202）, and it is integrally formed in metacarpophalangeal joints base（202）On First circular arc cover for seat（203）, the pedestal（201）It is by being formed in pedestal（201）On it is excessively with holes（2014）And nylon Cingulum（1018）With palm（5）It is fixedly connected, the first circular arc cover for seat（203）Formed in the one side positioned at not rounded cambered surface There is the first pulley groove being inwardly recessed（205）, the first circular arc cover for seat（203）Upper composition first pulley groove（205）Two In a side wall in individual side wall positioned at circle centre position formed with the first screwed hole of centre（206）, in another side wall positioned at Circle centre position formed with the first described screwed hole of centre（206）The first coaxial centre bore（207）, the first driving pulley （204）By being sequentially inserted into the first centre bore（207）, the first driving pulley（204）The first center wheel bore（2011）With first Screwed hole of centre（206）The first central shaft（208）What can be rotated is arranged on the first circular arc cover for seat（203）First Pulley groove（205）The first interior, described central shaft（208）By forming external screw thread and the first described center spiral shell in leading section Pit（206）It is threadedly coupled and is fixedly connected on the first circular arc cover for seat（203）On, the first circular arc cover for seat （203）On positioned at first pulley groove（205）Outside and with the first described centre bore（207）Adjacent be formed with The first described centre bore（207）The first coaxial magnet ring fixed seat（209）, the first magnet ring fixed seat（209）It is embedded in Have and the first described magnet ring fixed seat（209）First magnet ring of interference fit（2010）, described the first magnet ring fixed seat （209）With described first pulley groove（205）Side wall between be also formed be used for insert the first magnetoresistive angle-sensor configuration （2015）First sensor groove（2016）, first driving pulley（204）On positioned at centre wheel hole（2011）Side Formed with the first pin-and-hole to connect（2012）, first pin-and-hole（2012）It is upper to pass through the first bearing pin（2013）Be fixedly connected from First pulley groove（205）Exterior bottom is inserted into the first pulley groove（205）Interior is used for the first driving pulley of driving（204） Drive module（1）In the first flexible cable（106）With the second flexible cable（109）, first driving pulley（204）On in Heart wheel bore（2011）Away from the first pin-and-hole（2012）Side be fixedly connected with the first driving lever（2017）One end, described first Driving lever（2017）The other end be hinged with the first follower lever（2018）Top, first follower lever（2018）Bottom consolidate Surely being connected to can be along miniature rectilinear orbit（2020）Mobile sliding block（2019）On, described miniature rectilinear orbit（2020）Gu Surely the nearly figure joint unit module is connected（3）.
- 2. one kind according to claim 1 is based on Wire driven robot hand movement function healing robot, it is characterised in that institute The main driving pulley stated（104）Center be provided with for inserting motor with encoder（105）The axis hole of output shaft（1011）, institute State axis hole（1011）Side be provided with being connected for inserting flat key（103）Flat key slotted eye（1012）, described first be soft Rope groove（1010）It is in the main driving pulley（104）Neighboring on be along the circumferential direction inwardly recessed what is formed, in the axle Hole（1011）With the first flexible cable groove（1010）Between be provided with for inserting fixed pin shaft（102）Fix the first flexible cable（106）With Two flexible cables（109）Pin-and-hole（1013）.
- 3. one kind according to claim 1 is based on Wire driven robot hand movement function healing robot, it is characterised in that institute The first driving lever stated（2017）Connecting first driving pulley（204）The termination of one end be formed with the first U-shaped Groove（2021）, described the first driving pulley（204）It is embedded in the first described U-lag（2021）It is interior and by being penetratingly formed at First U-lag（2021）Through hole and formation on cell wall is in the first driving pulley（204）On through hole two bolts（2022） With the first driving lever（2017）It is fixedly connected, described two bolts（2022）It is also associated with being used to fix described the close to nut side One magnetoresistive angle-sensor configuration（2015）First sensor baffle plate（2023）, described the first magnetoresistive angle-sensor configuration（2015）'s The described first sensor groove of forward part insertion（2016）Interior, rear part is by being stuck in two bolts（2022）Between and be fixed on First U-lag（2021）Cell wall on the outside of.
- 4. one kind according to claim 1 is based on Wire driven robot hand movement function healing robot, it is characterised in that institute The nearly figure joint unit module stated（3）Include：For being connected to palm（5）Middle phalanx on rear nearly articulations digitorum manus base （301）, and it is integrally formed in nearly articulations digitorum manus base（301）On the second circular arc cover for seat（302）, metacarpophalangeal joints unit module （2）In miniature rectilinear orbit（2020）It is fixedly connected with nearly articulations digitorum manus base in the rear（301）On, nearly articulations digitorum manus bottom after described Seat（301）It is by forming the articulations digitorum manus base after near（301）On rear nylon buckles trough of belt（303）With rear nylon buckles band（304） With palm（5）Middle phalanx be fixedly connected, the second circular arc cover for seat（302）Formed in the one side positioned at not rounded cambered surface There is the second pulley groove being inwardly recessed（305）, the second circular arc cover for seat（302）Upper composition second pulley groove（305）Two In a side wall in individual side wall positioned at circle centre position formed with the second screwed hole of centre（306）, in another side wall positioned at Circle centre position formed with the second described screwed hole of centre（306）The second coaxial centre bore（307）, the second driving pulley （308）By being sequentially inserted into the second centre bore（307）, the second driving pulley（308）The second center wheel bore（309）In second Heart screwed hole（306）The second central shaft（3010）What can be rotated is arranged on the second circular arc cover for seat（302）Second Pulley groove（305）The second interior, described central shaft（3010）By forming external screw thread and the second described center in leading section Screwed hole（306）It is threadedly coupled and is fixedly connected on the second circular arc cover for seat（302）On, the second circular arc cover for seat （302）On positioned at second pulley groove（305）Outside and with the second described centre bore（307）Adjacent be formed with The second described centre bore（307）The second coaxial magnet ring fixed seat（3011）, the second magnet ring fixed seat（3011）It is embedded Enter to have and the second described magnet ring fixed seat（3011）Second magnet ring of interference fit（3012）, described the second magnet ring fixed seat （3011）With described second pulley groove（305）Side wall between be also formed be used for insert the second magnetoresistive angle-sensor configuration （3024）Second sensor groove（3014）, second driving pulley（308）On positioned at the second center wheel bore（309）One Side is formed with the second pin-and-hole to connect（3015）, second pin-and-hole（3015）It is upper to pass through the second bearing pin（3013）It is fixedly connected From second pulley groove（305）Exterior bottom is inserted into the second pulley groove（305）Interior is used for the second driving pulley of driving （308）Drive module（1）In the first flexible cable（106）With the second flexible cable（109）, second driving pulley（308）On Positioned at the second center wheel bore（309）Away from the second pin-and-hole（3015）Side be fixedly connected with the second driving lever（3016）Under End, second driving lever（3016）Upper end be hinged with the second follower lever（3017）One end, second follower lever （3017）The other end be hinged on and be used for and palm（5）The preceding nearly articulations digitorum manus base that is fixedly connected of middle phalanx（3018）On, Nearly articulations digitorum manus base before described（3018）It is by being formed in preceding nearly articulations digitorum manus base（3018）On preceding nylon buckles trough of belt （3019）With preceding nylon buckles band（3020）With palm（5）Middle phalanx be fixedly connected, nearly articulations digitorum manus base before described（3018） On formed with for connecting remote figure joint unit module（4）Chute（3021）.
- 5. one kind according to claim 4 is based on Wire driven robot hand movement function healing robot, it is characterised in that institute The second driving lever stated（3016）Connecting second driving pulley（308）Bottom be formed with the second U-lag （3022）, described the second driving pulley（308）It is embedded in the second described U-lag（3022）It is interior and by being penetratingly formed at Two U-lags（3022）Through hole and formation on cell wall is in the second driving pulley（308）On through hole two bolts（3023）With Second driving lever（3016）It is fixedly connected, described two bolts（3023）It is also associated with being used to fix described second close to nut side Magnetoresistive angle-sensor configuration（3024）Second sensor baffle plate（3025）, described the second magnetoresistive angle-sensor configuration（3024）Before Second sensor groove described in partial insertion（3014）Interior, rear part is by being stuck in two bolts（3023）Between and be fixed on institute State the second U-lag（3022）Cell wall on the outside of.
- 6. one kind according to claim 1 is based on Wire driven robot hand movement function healing robot, it is characterised in that institute The remote figure joint unit module stated（4）Include：For being connected to palm（5）Distal phalanx on rear remote articulations digitorum manus base （401）, and it is integrally formed in rear remote articulations digitorum manus base（401）On three-arc shape cover for seat（402）, the rear remote articulations digitorum manus Base（401）It is bolted nearly figure joint unit module（3）In chute（3021）And it is fixedly connected on figure joint unit Module（3）In preceding nearly articulations digitorum manus base（3018）, remote articulations digitorum manus base after described（401）It is by being formed in rear remote articulations digitorum manus Base（401）On rear nylon buckles trough of belt（404）With rear nylon buckles band（405）With palm（5）Distal phalanx be fixedly connected, institute State three-arc shape cover for seat（402）Formed with the 3rd pulley groove being inwardly recessed in the one side positioned at not rounded cambered surface（406）, institute State three-arc shape cover for seat（402）The 3rd pulley groove of upper composition（406）Two side walls in a side wall on positioned at the center of circle Place is formed with the 3rd screwed hole of centre（407）, in another side wall positioned at circle centre position formed with the 3rd described center spiral shell Pit（407）The 3rd coaxial centre bore（408）, the 3rd driving pulley（409）By being sequentially inserted into the 3rd pulley groove（406）、 3rd driving pulley（409）The 3rd center wheel bore（4010）With the 3rd screwed hole of centre（407）The 3rd central shaft（4011） What can be rotated is arranged on the three-arc shape cover for seat（402）The 3rd pulley groove（406）The 3rd interior, described central shaft （4011）By forming external screw thread and the 3rd described screwed hole of centre in leading section（407）It is threadedly coupled and is fixedly connected on The three-arc shape cover for seat（402）On, the three-arc shape cover for seat（402）On positioned at the 3rd pulley groove（406）It is outer Side and with the 3rd described centre bore（408）Adjacent is formed with and the 3rd described centre bore（408）Coaxial the 3rd Magnet ring fixed seat（4012）, the 3rd magnet ring fixed seat（4012）It is embedded in and the 3rd described magnet ring fixed seat（4012） 3rd magnet ring of interference fit（4013）, described the 3rd magnet ring fixed seat（4012）With the 3rd described pulley groove（406）'s It is also formed with being used to insert the 3rd magnetoresistive angle-sensor configuration between side wall（4014）3rd sensor groove（4015）, the described 3rd Driving pulley（409）On positioned at the 3rd center wheel bore（4010）Side formed with the 3rd pin-and-hole to connect（4016）, institute State the 3rd pin-and-hole（4016）It is upper to pass through the 3rd bearing pin（4017）It is fixedly connected from the 3rd pulley groove（406）Exterior bottom is inserted into institute State the 3rd pulley groove（406）Interior is used for the 3rd driving pulley of driving（409）Drive module（1）In the first flexible cable（106） With the second flexible cable（109）, the 3rd driving pulley（409）On positioned at the 3rd center wheel bore（4010）Away from the 3rd pin-and-hole （4016）Side be fixedly connected with the 3rd driving lever（4018）Lower end, the 3rd driving lever（4018）Upper end be hinged with 3rd follower lever（4019）One end, the 3rd follower lever（4019）The other end be hinged on and be used for and palm（5）Remote section The preceding remote articulations digitorum manus base that phalanges is fixedly connected（4020）On, remote articulations digitorum manus base before described（4020）It is by being formed preceding remote Articulations digitorum manus base（4020）On preceding nylon buckles trough of belt（4021）With preceding nylon buckles band（4022）With palm（5）Distal phalanx consolidate Fixed connection, described preceding remote articulations digitorum manus base（4020）With described rear remote articulations digitorum manus base（401）By being integrally formed in Remote articulations digitorum manus base before stating（4020）The hinged block of both sides（403）It is articulated and connected.
- 7. one kind according to claim 6 is based on Wire driven robot hand movement function healing robot, it is characterised in that institute The 3rd driving lever stated（4018）Connecting the 3rd driving pulley（409）Bottom be formed with the 3rd U-lag （4023）, described the 3rd driving pulley（409）It is embedded in the 3rd described U-lag（4023）It is interior and by being penetratingly formed at Three U-lags（4023）Through hole and formation on cell wall is in the 3rd driving pulley（409）On through hole two bolts（4024）With 3rd driving lever（4018）It is fixedly connected, described two bolts（4024）It is also associated with being used to fix the described 3rd close to nut side Magnetoresistive angle-sensor configuration（4014）3rd sensor baffle plate（4025）, described the 3rd magnetoresistive angle-sensor configuration（4014）Before 3rd sensor groove described in partial insertion（4015）Interior, rear part is by being stuck in two bolts（4024）Between and be fixed on institute State the 3rd U-lag（4023）Cell wall on the outside of.
- 8. one kind according to claim 1 or 4 or 6 is based on Wire driven robot hand movement function healing robot, its feature It is, forms first pulley groove（205）First circular arc cover for seat of bottom land（203）On exterior arc surface, or form second pulley groove （305）Second circular arc cover for seat of bottom land（302）On exterior arc surface, or form second pulley groove（305）Second circular arc of bottom land Shape cover for seat（302）Inside and outside insertion is formed with exterior arc surface is respectively for insertion into the first flexible cable（106）With the second flexible cable （109）Two spring grooves（1014）, described two spring grooves（1014）Spring is inside respectively fixedly connected with respectively（1015）One end, The spring（1015）The other end be fixedly connected positioned at spring groove（1014）Outside spring pressure head（1016）On, the spring Pressure head（1016）Away from spring（1015）One end be fixedly connected with the flexible cable overcoat（107）Away from flexible cable overcoat fixed mount （108）One end, the first described flexible cable（106）With the second flexible cable（109）Away from main driving pulley（104）One end stretch respectively Go out the flexible cable overcoat（107）Through described spring（1015）Into described first pulley groove（205）Or second pulley groove （305）Or the 3rd pulley groove（406）It is interior to pass through the first bearing pin（2013）Or second bearing pin（3013）Or the 3rd bearing pin（4017）With The first described driving pulley（204）Or second driving pulley（308）Or the 3rd driving pulley（409）It is fixedly connected.
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| CN106420311A (en) * | 2016-09-26 | 2017-02-22 | 郴州市第人民医院 | Orthopaedic joint recovery system adopting external force impact |
| CN107496140A (en) * | 2017-09-22 | 2017-12-22 | 常州大学 | A kind of spring-rope drives finger rehabilitation device |
| IT201800003847A1 (en) * | 2018-03-21 | 2019-09-21 | Marco Ceccarelli | Finger exoskeleton mechanism |
| CN109531607B (en) * | 2018-11-28 | 2023-12-26 | 清华大学 | Self-adaptive robot finger device with linear parallel clamping of connecting rod idle stroke transmission swing rod chute |
| CN109907939B (en) * | 2019-03-26 | 2024-02-02 | 南京航空航天大学 | Finger movement rehabilitation training robot based on lasso driving and myoelectricity control |
| CN111773027B (en) * | 2020-07-03 | 2022-06-28 | 上海师范大学 | Flexibly-driven hand function rehabilitation robot control system and control method |
| CN111938990B (en) * | 2020-07-20 | 2022-05-20 | 哈尔滨工程大学 | Muscle-imitating driving rope for lower limb rehabilitation training |
| CN112773661B (en) * | 2020-12-28 | 2022-04-01 | 燕山大学 | Exoskeleton forefinger function rehabilitation robot |
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