CN201182660Y - Multiple-joint servo controlled bionic hand for rehabilitation and help deformity - Google Patents
Multiple-joint servo controlled bionic hand for rehabilitation and help deformity Download PDFInfo
- Publication number
- CN201182660Y CN201182660Y CNU2008200120075U CN200820012007U CN201182660Y CN 201182660 Y CN201182660 Y CN 201182660Y CN U2008200120075 U CNU2008200120075 U CN U2008200120075U CN 200820012007 U CN200820012007 U CN 200820012007U CN 201182660 Y CN201182660 Y CN 201182660Y
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- servomotor
- finger
- hasp
- palm plate
- plate
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Abstract
The utility model relates to a recovery and disability assistance artificial hand of a recovery training device with multiple-joint servo-control, comprising a servomotor used for controlling the finger action, a thumb rotation servomotor, wrist rotation servomotor, a microcomputer action controller, a palm plate, a binding belt and mechanical fingers; the roots of the mechanical fingers are fixed on the palm; each finger is divided into three segments; each segment is provided with a servomotor; an inner connecting plate and an outer connecting plate are mounted on each servomotor shaft; the adjacent two segments of each finger are connected with each other through the inner connecting plates and the outer connecting plates; the thumb rotation servomotor is arranged on one side of the palm plate; the lower end of the palm plate is provided with the wrist rotation servomotor; the palm plate is connected with the binding belt through the wrist rotation servomotor and the wrist rotation servomotor shaft; the microcomputer action controller is arranged on the palm plate and connected with the servomotors respectively. The recovery and disability assistance artificial hand has the advantages of convenient operation, flexible action and good training effect.
Description
Technical field
This utility model relates to a kind of bionic hand, particularly relates to the servo-controlled rehabilitation of a kind of multi-joint, the bionic hand of helping the disabled.
Background technology
In daily life, owing to reasons such as wound or various diseases all can cause the forfeiture of human hand function, not only influenced people's orthobiosis, the soul of returning people causes the wound that can't remedy.At present, the mechanical hand that is used for the hand rehabilitation training is existing multiple, but owing to simple structure, heaviness, the mechanical transmission mechanism complexity has only one or two action drives, it moves less, speed is slow, be difficult to the purpose that reaches rehabilitation and help the disabled, if adopt robot, not only the operation programming is complicated, and price is very expensive again, and general operation person is difficult to implement.
Summary of the invention
The purpose of this utility model provides a kind of easy to operate, flexible movements, the servo-controlled rehabilitation of the multi-joint that the training effect is good, the bionic hand of helping the disabled.
In order to address the above problem, this utility model by the following technical solutions:
The servo-controlled rehabilitation of a kind of multi-joint, the bionic hand of helping the disabled, it comprises the servomotor of controlling finger movement, the thumb wheel servomotor, wrist rotates servomotor, the micro computer movement controller, the palm plate, binding tape, mechanical finger, the root of mechanical finger is fixed on the palm plate, every finger is divided into three joints, every joint is provided with a servomotor, connecting plate and outside link plate in being equipped with on the servo motor shaft, link to each other with outside link plate by interior connecting plate between the servomotor of every adjacent two joints of finger, palm plate one side is provided with the thumb wheel servomotor, palm plate lower end is provided with wrist and rotates servomotor, and the palm plate rotates servomotor by wrist and wrist rotation servo motor shaft links to each other with binding tape; On the palm plate, be provided with the micro computer movement controller, link to each other with each servomotor respectively.
Described mechanical finger comprises that mechanical thumb, mechanical forefinger, mechanical middle finger and machinery are nameless, and the thumb wheel servomotor is installed on the palm plate of mechanical thumb root by motor fixing frame.
Described mechanical thumb finger tip place is provided with the fingertip pressure pick off, is connected with sensor controller; On the palm plate, be provided with range sensor, be connected with sensor controller.
On the described binding tape arm restraining board is installed, the both sides of binding tape upper end are provided with hasp A and last hasp B, and the both sides of binding tape lower end are provided with down hasp A and following hasp B.
Described mechanical finger and palm plate adopt thin aluminum sheet to make.
Sensor controller is arranged on the purse, this purse is made up of left hasp, right hasp, left side band, right band and purse bag, be provided with Switching Power Supply and sensor controller in the purse bag, purse bag both sides link to each other with right band with left side band respectively, left side band front end is provided with left hasp, right band front end is provided with right hasp, and Switching Power Supply links to each other with each servomotor of bionic hand by lead with sensor controller.
Compared with prior art, the beneficial effects of the utility model are:
At the bionic finger joint servomotor is installed, make that the driving of mechanical finger is more flexible, collocation has special purse again, is used to take up Switching Power Supply and sensor controller, do not limit patient's range of activity, thereby be more convenient for patient's treatment and orthobiosis.Device adopts joint Direct Digital servo-drive, delicate structure, and speed is fast, flexible movements, can be used for the malfunctioning of the rehabilitation training of staff and hand or do not have the hands helping the disabled of person, as the hands functional failure person that wound or cerebral infarction sequela cause, adopt this device can take article, dial phone etc.
Description of drawings
Fig. 1 is a mechanical hand structural representation of the present utility model
Fig. 2 is a purse structural representation of the present utility model
Among the figure: 1, mechanical thumb 2, machinery forefinger 3, machinery middle finger 4, machinery nameless 5, servomotor 6, fingertip pressure pick off 7, outside link plate 8, interior connecting plate 9, motor fixing frame 10, connecting line 11, palm plate 12, micro computer movement controller 13, motor pressing plate 14, wrist rotates servomotor 15, wrist rotates servo motor shaft 16, arm restraining board 17, binding tape 18, last hasp A 19, last hasp B 20, following hasp A 21, following hasp B 22, right hasp 23, the right side is with 24, lead 25, Switching Power Supply 26, purse bag 27, sensor controller 28, a left side is with 29, left side hasp 30, thumb wheel servomotor 31, range sensor
The specific embodiment
See Fig. 1, the servo-controlled rehabilitation of a kind of multi-joint, the bionic hand of helping the disabled, it comprises that servomotor 5, thumb wheel servomotor 30, the wrist of controlling finger movement rotate servomotor 14, micro computer movement controller 12, palm plate 11, binding tape 17, mechanical finger, and mechanical finger and palm plate 11 adopt thin aluminum sheet to make; The root of mechanical finger is fixed on the palm plate 11, every finger is divided into three joints, every joint is provided with a servomotor 5, connecting plate 8 and outside link plate 7 in being equipped with on the servo motor shaft, link to each other with outside link plate 7 by interior connecting plate 8 between the servomotor 5 of every adjacent two joints of finger, palm plate 11 1 sides are provided with thumb wheel servomotor 30, palm plate 11 lower ends are provided with wrist and rotate servomotor 14, and palm plate 11 rotates servomotor 14 by wrist and wrist rotation servo motor shaft 15 links to each other with binding tape 17; On palm plate 11, be provided with micro computer movement controller 12, link to each other with each servomotor respectively.Arm restraining board 16 is installed on the binding tape 17, and the both sides of binding tape 17 upper ends are provided with hasp A18 and last hasp B19, and the both sides of binding tape 17 lower ends are provided with down hasp A20 and following hasp B21.
Mechanical finger comprises mechanical thumb 1, mechanical forefinger 2, mechanical middle finger 3 and the machinery third finger 4, and thumb wheel servomotor 30 is installed on the palm plate 11 of mechanical thumb 1 root by motor fixing frame 9.
Mechanical thumb 1 finger tip place is provided with fingertip pressure pick off 6, is connected with sensor controller 27, is used for control finger contact pressure; On palm plate 11, be provided with range sensor 31, be connected, be used for measuring and taken object distance, to realize reliable extracting with sensor controller 27.
See Fig. 2, sensor controller 27 is arranged on the purse, this purse by left hasp 29, right hasp 22, a left side be with 28, the right side be with 23 and purse bag 26 form, be provided with Switching Power Supply 25 and sensor controller 27 in the purse bag 26, purse bag 26 both sides are with 28 to be with 23 to link to each other with the right side with a left side respectively, a left side is with 28 front ends to be provided with left hasp 29, and the right side is with 23 front ends to be provided with right hasp 22, and Switching Power Supply 25 links to each other with each servomotor of bionic hand by lead 24 with sensor controller 27.
The program of this device by weaving in advance controlled the action that each servomotor realization is predesignated by micro computer movement controller and sensor controller.During rehabilitation training, palm is placed on the palm plate 11, fix forearm with the arm restraining board on the binding tape 17 16, and utilize the upper and lower hasp of binding tape 17 that arm is wrapped, purse is tied up on waist Switching Power Supply of packing in the purse 25 and sensor controller 27, opening power, can drive each finger movement on demand, carry out rehabilitation training or the various article of taking.
Claims (7)
1, the servo-controlled rehabilitation of a kind of multi-joint, the bionic hand of helping the disabled, it is characterized in that, it comprises the servomotor (5) of controlling finger movement, thumb wheel servomotor (30), wrist rotates servomotor (14), micro computer movement controller (12), palm plate (11), binding tape (17), mechanical finger, the root of mechanical finger is fixed on the palm plate (11), every finger is divided into three joints, every joint is provided with a servomotor (5), interior connecting plate (8) and outside link plate (7) are installed on the servo motor shaft, link to each other with outside link plate (7) by interior connecting plate (8) between the servomotor (5) of every adjacent two joints of finger, palm plate (11) one sides are provided with thumb wheel servomotor (30), palm plate (11) lower end is provided with wrist and rotates servomotor (14), and palm plate (11) rotates servomotor (14) by wrist and wrist rotation servo motor shaft (15) links to each other with binding tape (17); On palm plate (11), be provided with micro computer movement controller (12), link to each other with each servomotor respectively.
2, the servo-controlled rehabilitation of multi-joint according to claim 1, the bionic hand of helping the disabled, it is characterized in that, described mechanical finger comprises mechanical thumb (1), mechanical forefinger (2), mechanical middle finger (3) and machinery nameless (4), and thumb wheel servomotor (30) is installed on the palm plate (11) of mechanical thumb (1) root by motor fixing frame (9).
3, the servo-controlled rehabilitation of multi-joint according to claim 2, the bionic hand of helping the disabled is characterized in that, described mechanical thumb (1) finger tip place is provided with fingertip pressure pick off (6), are connected with sensor controller (27).
4, the servo-controlled rehabilitation of multi-joint according to claim 1, the bionic hand of helping the disabled is characterized in that, are provided with range sensor (31) on palm plate (11), are connected with sensor controller (27).
5, the servo-controlled rehabilitation of multi-joint according to claim 1, the bionic hand of helping the disabled, it is characterized in that, arm restraining board (16) is installed on the described binding tape (17), the both sides of binding tape (17) upper end are provided with hasp A (18) and last hasp B (19), and the both sides of binding tape (17) lower end are provided with down hasp A (20) and following hasp B (21).
6, the servo-controlled rehabilitation of multi-joint according to claim 1, the bionic hand of helping the disabled is characterized in that, described mechanical finger and palm plate (11) adopt thin aluminum sheet to make.
7, according to claim 3 or the servo-controlled rehabilitation of 4 described multi-joints, the bionic hand of helping the disabled, it is characterized in that, sensor controller (27) is arranged on the purse, this purse is by left hasp (29), right hasp (22), left side band (28), right band (23) and purse bag (26) are formed, be provided with Switching Power Supply (25) and sensor controller (27) in the purse bag (26), purse bag (26) both sides link to each other with right band (23) with left side band (28) respectively, left side band (28) front end is provided with left hasp (29), right band (23) front end is provided with right hasp (22), and Switching Power Supply (25) links to each other with each servomotor of bionic hand by lead (24) with sensor controller (27).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200120075U CN201182660Y (en) | 2008-04-10 | 2008-04-10 | Multiple-joint servo controlled bionic hand for rehabilitation and help deformity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200120075U CN201182660Y (en) | 2008-04-10 | 2008-04-10 | Multiple-joint servo controlled bionic hand for rehabilitation and help deformity |
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| Publication Number | Publication Date |
|---|---|
| CN201182660Y true CN201182660Y (en) | 2009-01-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008200120075U Expired - Fee Related CN201182660Y (en) | 2008-04-10 | 2008-04-10 | Multiple-joint servo controlled bionic hand for rehabilitation and help deformity |
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|---|---|
| CN (1) | CN201182660Y (en) |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101797204A (en) * | 2010-03-26 | 2010-08-11 | 中国人民解放军第三军医大学第一附属医院 | Rehabilitative manipulator for hand burns and scalds |
| CN101884584A (en) * | 2010-07-30 | 2010-11-17 | 山东建筑大学 | Traditional Chinese medical massage robot for treating middle and old aged retrograde lumbocrural pain |
| CN101940522A (en) * | 2010-09-28 | 2011-01-12 | 陈招富 | Microcomputer controlled finger movement device |
| CN101978940A (en) * | 2010-10-25 | 2011-02-23 | 北京航空航天大学 | Virtual and real combined robot-assisted finger motion function rehabilitation training system |
| CN103284820A (en) * | 2013-03-14 | 2013-09-11 | 洛阳理工学院 | Humanoid artificial hand |
| CN104055563A (en) * | 2014-06-13 | 2014-09-24 | 朱红文 | Robot and intelligent repositing system |
| CN104706502A (en) * | 2013-12-11 | 2015-06-17 | 广州一康医疗设备实业有限公司 | Recovery robot hand |
| CN104768714A (en) * | 2012-11-01 | 2015-07-08 | 开普敦大学 | Hand exoskeleton |
| CN104890002A (en) * | 2015-03-20 | 2015-09-09 | 重庆交通大学 | Self-adaptive mechanical arm device |
| CN105364939A (en) * | 2015-12-18 | 2016-03-02 | 上海理工大学 | Air bag type flexible finger and flexible hand |
| CN106580648A (en) * | 2016-11-29 | 2017-04-26 | 洛阳市中心医院 | Medium conveying method with exercising function based on multi-functional pad |
| CN105193525B (en) * | 2015-10-29 | 2017-05-03 | 国家康复辅具研究中心 | Bionic hand with five fingers based on nickel-titanium memory alloy |
| CN106806091A (en) * | 2017-03-03 | 2017-06-09 | 李子木 | A kind of robot therapeutic equipment and its treatment method for treating cerebral embolism sequela rehabilitation |
| CN106974749A (en) * | 2017-04-25 | 2017-07-25 | 北京展翼计划科技发展有限公司 | Bionical prosthetic hand and device based on 3D printing |
| CN108371575A (en) * | 2018-01-23 | 2018-08-07 | 莆田学院 | A kind of severed finger auxiliary grip and knocking device |
| CN110075488A (en) * | 2019-04-22 | 2019-08-02 | 常州市第二人民医院 | A kind of multi-functional point of finger spring-grip |
| CN110740842A (en) * | 2017-06-14 | 2020-01-31 | 深圳鼎极智慧科技有限公司 | Robot hand |
| CN111110408A (en) * | 2019-12-16 | 2020-05-08 | 中国科学院深圳先进技术研究院 | Finger knuckle, finger and palm structure of human imitation |
| CN111263624A (en) * | 2017-09-20 | 2020-06-09 | Hkk仿生学有限责任公司 | Hand orthosis, knuckle module for a hand orthosis and method for producing a hand orthosis |
| CN111658467A (en) * | 2020-07-17 | 2020-09-15 | 重庆邮电大学 | Multifunctional massaging manipulator |
| CN113180893A (en) * | 2021-04-09 | 2021-07-30 | 杭州胖力科技有限公司 | Bionic hand device and control method thereof |
| CN114129392A (en) * | 2021-12-07 | 2022-03-04 | 山东大学 | Self-adaptive redundant driving exoskeleton rehabilitation robot capable of regulating and controlling terminal fingertip force |
-
2008
- 2008-04-10 CN CNU2008200120075U patent/CN201182660Y/en not_active Expired - Fee Related
Cited By (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101797204A (en) * | 2010-03-26 | 2010-08-11 | 中国人民解放军第三军医大学第一附属医院 | Rehabilitative manipulator for hand burns and scalds |
| CN101884584A (en) * | 2010-07-30 | 2010-11-17 | 山东建筑大学 | Traditional Chinese medical massage robot for treating middle and old aged retrograde lumbocrural pain |
| CN101884584B (en) * | 2010-07-30 | 2012-07-18 | 山东建筑大学 | Traditional Chinese medical massage robot for treating middle and old aged lumbocrural pain |
| CN101940522A (en) * | 2010-09-28 | 2011-01-12 | 陈招富 | Microcomputer controlled finger movement device |
| CN101978940A (en) * | 2010-10-25 | 2011-02-23 | 北京航空航天大学 | Virtual and real combined robot-assisted finger motion function rehabilitation training system |
| CN104768714A (en) * | 2012-11-01 | 2015-07-08 | 开普敦大学 | Hand exoskeleton |
| CN103284820A (en) * | 2013-03-14 | 2013-09-11 | 洛阳理工学院 | Humanoid artificial hand |
| CN103284820B (en) * | 2013-03-14 | 2017-06-23 | 洛阳理工学院 | Imitating human algorithm |
| CN104706502A (en) * | 2013-12-11 | 2015-06-17 | 广州一康医疗设备实业有限公司 | Recovery robot hand |
| CN104055563A (en) * | 2014-06-13 | 2014-09-24 | 朱红文 | Robot and intelligent repositing system |
| CN104890002B (en) * | 2015-03-20 | 2016-09-07 | 重庆交通大学 | Adaptive mechanical arm apparatus |
| CN104890002A (en) * | 2015-03-20 | 2015-09-09 | 重庆交通大学 | Self-adaptive mechanical arm device |
| CN105193525B (en) * | 2015-10-29 | 2017-05-03 | 国家康复辅具研究中心 | Bionic hand with five fingers based on nickel-titanium memory alloy |
| CN105364939A (en) * | 2015-12-18 | 2016-03-02 | 上海理工大学 | Air bag type flexible finger and flexible hand |
| CN106580648A (en) * | 2016-11-29 | 2017-04-26 | 洛阳市中心医院 | Medium conveying method with exercising function based on multi-functional pad |
| CN106806091A (en) * | 2017-03-03 | 2017-06-09 | 李子木 | A kind of robot therapeutic equipment and its treatment method for treating cerebral embolism sequela rehabilitation |
| CN106974749A (en) * | 2017-04-25 | 2017-07-25 | 北京展翼计划科技发展有限公司 | Bionical prosthetic hand and device based on 3D printing |
| CN110740842A (en) * | 2017-06-14 | 2020-01-31 | 深圳鼎极智慧科技有限公司 | Robot hand |
| CN110740842B (en) * | 2017-06-14 | 2022-12-16 | 深圳鼎极智慧科技有限公司 | Robot hand |
| CN111263624A (en) * | 2017-09-20 | 2020-06-09 | Hkk仿生学有限责任公司 | Hand orthosis, knuckle module for a hand orthosis and method for producing a hand orthosis |
| CN111263624B (en) * | 2017-09-20 | 2022-04-19 | Hkk仿生学有限责任公司 | Hand orthosis, knuckle module for a hand orthosis and method for producing a hand orthosis |
| CN108371575A (en) * | 2018-01-23 | 2018-08-07 | 莆田学院 | A kind of severed finger auxiliary grip and knocking device |
| CN110075488A (en) * | 2019-04-22 | 2019-08-02 | 常州市第二人民医院 | A kind of multi-functional point of finger spring-grip |
| CN111110408A (en) * | 2019-12-16 | 2020-05-08 | 中国科学院深圳先进技术研究院 | Finger knuckle, finger and palm structure of human imitation |
| CN111110408B (en) * | 2019-12-16 | 2022-03-18 | 中国科学院深圳先进技术研究院 | Finger knuckle, finger and palm structure of human imitation |
| CN111658467A (en) * | 2020-07-17 | 2020-09-15 | 重庆邮电大学 | Multifunctional massaging manipulator |
| CN113180893A (en) * | 2021-04-09 | 2021-07-30 | 杭州胖力科技有限公司 | Bionic hand device and control method thereof |
| CN114129392A (en) * | 2021-12-07 | 2022-03-04 | 山东大学 | Self-adaptive redundant driving exoskeleton rehabilitation robot capable of regulating and controlling terminal fingertip force |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090121 Termination date: 20110410 |