CN201510382U - Multi-finger exoskeleton manipulator - Google Patents
Multi-finger exoskeleton manipulator Download PDFInfo
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- CN201510382U CN201510382U CN2009202294682U CN200920229468U CN201510382U CN 201510382 U CN201510382 U CN 201510382U CN 2009202294682 U CN2009202294682 U CN 2009202294682U CN 200920229468 U CN200920229468 U CN 200920229468U CN 201510382 U CN201510382 U CN 201510382U
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- dactylus
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Abstract
The utility model relates to a multi-finger exoskeleton manipulator which comprises a forefinger transmission mechanism, a middle finger transmission mechanism and a thumb transmission mechanism, wherein the forefinger transmission mechanism and the middle finger transmission mechanism respectively comprise a middle-end knuckle; the upper end of the middle-end knuckle is articulated with a remote-end knuckle, and a near-end thereof is articulated with a near-end knuckle; the near-end knuckle is articulated with a palm plate which is provided with a locking mechanism, wherein the locking mechanism comprises a locking threaded rod, a locking pressure plate and the like; the thumb transmission mechanism comprises a palm connecting piece; the outer side of the palm connecting piece is connected with a thumb connecting piece through a locking palm plate and the locking threaded rod; and the outer side of the thumb connecting piece is connected with a thumb knuckle. The multi-finger exoskeleton manipulator has simple structure and convenient operation.
Description
Technical field
This utility model relates to a kind of medical apparatus, relates in particular to a kind of many finger exoskeleton manipulators.
Background technology
Old people, people with disability and suffer from the crowd of dyskinesia, its limbs can not be carried out action or limbs weakness as normal population, can't finish its corresponding sports function.At these problems, existing solution mainly contains EMG-controlling prosthetic hand, mechanical justice refers to two kinds of technology: EMG-controlling prosthetic hand is the electric arm that utilizes the electromyographic signal of human body to control, artificial limb produces electromyographic signal by amputee's cerebral nerve domination deformed limb muscular movement, after being amplified, electromyographic signal is used for controlling micromachine, drive drive mechanism, drive the will motion of doing evil through another person by the people; Machinery justice refers to not use any micro computer to handle, and uses theory of mechanics fully, and user only need just can be finished expanding-contracting action flexibly with the residual finger of a very little part.
Although above-mentioned two kinds of technology have all obtained good application, but also exist suitable shortcoming and defect: one, the product of two kinds of technology all is by after losing the human body self hand structure, the function that replaces the human body self hand by outside electromechanical structure, still can do small active people with disability for hand, use the misery that above-mentioned two kinds of technology must be accepted amputation; Two, above-mentioned two kinds of technology have relied on judgement and the reflection of electronic component to human action to a great extent, are not so good as the reliability height of pure frame for movement motion structure on reliability; Three, the design and the accuracy of manufacture and complex process, cost cost height, ordinary populace uses uneconomical.
The machinery ectoskeleton is as a kind of brand-new technology; it is meant shrimp, Eriocheir sinensis, the tough and tensile chitin skeleton of insecticide constant pitch main drive object table; it can not only prevent water evaporates and protection internal structure in the body; can also finish various motions jointly with the accompanying muscle of inwall; with the intravital skeleton of vertebrates similar effect is arranged, therefore be called ectoskeleton.And can depend on and be used for the auxiliary machinery of finishing motor function as the ectoskeleton of arthropod, according to whether containing power source mechanical ectoskeleton is divided into two classes; One class does not contain power source, and by the action of user control self, mechanical ectoskeleton only need be locked the attitude of each action so that carry out motor function, belongs to the power-assist formula; The another kind of power source that contains, the limbs of user are controlled by ectoskeleton fully, belong to active.
The machinery ectoskeleton is a kind of mechanical mechanism of a kind of operator's of being worn on health outside, can finish certain function and task under operator's control.Machinery ectoskeleton technology can play invigoration effect to people's limb action, in recent years mechanical ectoskeleton technology has been caused scientific research personnel's extensive concern in fields such as individual soldier's military combat equipment, auxiliary medical equipment, servomechanisms.But mechanical ectoskeleton also is a kind of brand-new technology simultaneously, and technology is not mature enough, particularly also is in the research initial stage in finger position machinery ectoskeleton technology.
The ectoskeleton technology refers to that with existing EMG-controlling prosthetic hand, mechanical justice the sharpest edges that two kinds of technology are compared are: one, user does not need amputation, can by the help of external auxiliary device, finish specific action on the basis of saving the former organism of people from damage; Two, avoid on to the user soul, very big consolation effect being arranged; Three, not only the people with disability can use, and hands such as old people kraftlos crowd also can use; Four, on the basis that has kept human body self mechanism,, allow the people with disability reach the purpose of progressively recovering by rational use rehabilitation accessory; Five, cost performance is higher, and whole device adopts pure frame for movement, does not have sophisticated electronic mechanism, has reduced manufacturing cost, favourable large-scale promotion practicality.Have a kind of mechanical ectoskeleton hands in the market, but the guiding on its palm, retaining mechanism are whole complicated, heavier, its thumb different design partly closes people's grasped object naturalness simultaneously, uses inconvenience.
The utility model content
The purpose of this utility model is to address the above problem and provide a kind of simple in structure, easy to operate many fingers exoskeleton manipulator.
This utility model solves the problems of the technologies described above the technical scheme that is adopted:
It comprises the forefinger transmission mechanism, middle finger transmission mechanism and thumb transmission mechanism, described forefinger transmission mechanism and middle finger transmission mechanism comprise the middle-end dactylus respectively, middle-end dactylus distal end articulated has the far-end dactylus, near-end is hinged with left knee, be hinged with the palm plate on the left knee, the palm plate outside has boss, the back side of middle-end dactylus is hinged with middle end link, the back side of left knee is hinged with the near-end connecting rod, be hinged with the middle-end knee on the near-end connecting rod, the rear end of left knee is hinged with the near-end knee, the middle-end knee all links to each other with the slide block that is positioned at palm plate top of boss inboard with the near-end knee, slide block is provided with top guide bar and lower guide rod, slide block can slide on top guide bar and lower guide rod, the side of slide block is connected with a locking pin, and locking pin can slide on the boss on the palm plate, and boss is locked at locking pin between boss and the locking pressure plate by locking screw rasp bar and locking pressure plate; Described thumb transmission mechanism comprises the palm connector, and the palm connector outside is connected with the thumb connector by locking palm and locking screw rasp bar, and the thumb connector outside is connected with the thumb dactylus.
The both ends of the surface of above-mentioned slide block are provided with spring, and it is through on top guide bar and the lower guide rod.
The dactylus inner surface of above-mentioned many fingers exoskeleton manipulator is oval, and the dactylus inner surface is provided with rubber gloves.
The planar angle of above-mentioned forefinger transmission mechanism and middle finger transmission mechanism and palm plate place is 5 °-10 °.
Angle between the plane, place of above-mentioned palm plate and the plane, palm connector place is 45 °-75 °.
Compared with prior art, this utility model has been obtained following technique effect:
1, this utility model is simple in structure, and by the locking mechanism that realizations such as slide block, tie down screw, locking pressure plate are carried out attitude control to forefinger, middle finger transmission mechanism, structure is simpler, and is easy to operate, and cost is low;
2, angle, the thumb transmission mechanism angle spatially between each finger of non-thumb transmission mechanism, can fit the better naturalness of people's grasped object, adopt the dactylus design of oval inner surface, can better fit with staff, embody hommization, be stained with rubber gloves, wear more comfortablely, also be convenient to operate the mechanical ectoskeletons of many fingers;
3, spring was in the state of compression or extension before the grasping object, storage power, and for the grasping object provides initial driving force, the unable person's grasping of more convenient hands object.
Description of drawings
Fig. 1 is a structural representation of the present utility model;
Fig. 2 is the vertical view of Fig. 1;
Fig. 3 is the right view of Fig. 1;
Fig. 4 is the enlarged drawing of the lock portion of the non-thumb transmission mechanism of this utility model;
Fig. 5 is the enlarged drawing of this utility model quadric chain 26.
Wherein: 1-forefinger far-end dactylus, 2-forefinger middle-end dactylus, 3-forefinger far-end dactylus, 4-middle finger far-end dactylus, 5-middle finger middle-end dactylus, 6-middle finger far-end dactylus, 7-palm plate, the 8-thumb, 9-locks spanner, 10-thumb connector, 11-palm connector, the 12-lower guide rod, the 13-top guide bar, the 14-spring, the 15-slide block, the 16-tie down screw, the 17-locking pressure plate, 18-near-end knee, 19-middle-end knee, 20-near-end connecting rod, end link among the 21-, the 22-locking pin, plane, 23-palm connector place, plane, 24-palm plate place, plane, 25-thumb connector place, the 26-quadric chain.
The specific embodiment
Further specify embodiment of the present utility model below in conjunction with accompanying drawing.
Referring to Fig. 1-5, a kind of many finger exoskeleton manipulators, it comprises the forefinger transmission mechanism, middle finger transmission mechanism and thumb transmission mechanism, described forefinger transmission mechanism and middle finger transmission mechanism comprise middle-end dactylus 2 respectively, 5, middle-end dactylus upper end is hinged with far- end dactylus 1,4, near-end is hinged with left knee 3,6, be hinged with palm plate 7 by quadric chain 26 on the left knee, the palm plate outside has boss, the back side of middle-end dactylus is hinged with middle end link 21, the back side of left knee is hinged with near-end connecting rod 20, be hinged with middle-end knee 19 on the near-end connecting rod, the rear end of left knee is hinged with near-end knee 18, middle-end knee and near-end knee all link to each other with the slide block 15 that the boss inboard is positioned at palm plate top, slide block is provided with top guide bar 13 and lower guide rod 12, the both ends of the surface of slide block are provided with spring 14, it is through on top guide bar 13 and the lower guide rod 12, slide block can slide on top guide bar and lower guide rod, the side of slide block is connected with a locking pin 22, locking pin can slide on the boss on the palm plate, and boss is locked at locking pin between boss and the locking pressure plate by locking screw rasp bar 16 and locking pressure plate 17; Described thumb transmission mechanism comprises palm connector 11, and the palm connector outside is connected with thumb connector 10 by locking palm 9 and locking screw rasp bar, and the thumb connector outside is connected with thumb dactylus 8.
The dactylus inner surface of above-mentioned many finger exoskeleton manipulators be oval, and the dactylus inner surface is provided with rubber gloves, adopts the dactylus of oval inner surface to design, can better fit with staff, embody hommization, be stained with rubber gloves, wear more comfortablely, also be convenient to operate the mechanical ectoskeletons of many fingers.The angle on described forefinger transmission mechanism and middle finger transmission mechanism and plane, palm plate place 24 is 5 °-10 °.Angle between the plane, place 24 of described palm plate and the plane, palm connector place 23 is 45 °-75; It is vertical that plane, thumb connector place 25 and plane, palm connector place 23 generally can be selected for use, can certainly form an angle with it, such as 110 °-120 °.Angle, thumb transmission mechanism angle spatially between each finger of non-thumb transmission mechanism, the naturalness of people's grasped object of fitting better.
Operation principle of the present utility model: wear the mechanical ectoskeleton of a lot of fingers, people's grasped object, corresponding grasping attitude is made in the mechanical hand servo-actuated, when promptly holding object, staff middle-end dactylus and left knee do curvature movement and object is adjacent to, and drives mechanical ectoskeletal middle- end dactylus 2 and 5 respectively accordingly, left knee 3 and 6 is done relatively rotating of same angle.At this moment, middle- end dactylus 2 and 5 flexing drive near-end connecting rod 20 and middle end link 21 lateral movement in palm, and then cause also lateral movement in palm of middle-end knee 19, and drive slide block and slide on top guide bar 13, finish the transmission of a kinematic chain.Simultaneously, left knee 3 and 6 bending drive 18 lateral movements in palm of near-end knee, and drive slide block at lower guide rod 12, finish another Motion Transmission chain.The thumb 8 of thumb transmission mechanism also rotates around thumb connector 10, finishes a Motion Transmission.When finishing grasp motion, screw tie down screw 16, locking pressure plate 17 moves down, and compresses locking pin 22.Because locking pin 22 is rigidly connected with slide block 15, slide block 15 can not slide on lower guide rod 12 and top guide bar 13, and dactylus will keep the attitude of grasping always, and non-thumb transmission mechanism enters locking state.Stir the locking spanner, thumb connecting plate and thumb are compressed mutually, thumb 8 can not rotate around thumb connector 10, and thumb enters locking state.After finishing the work, counter-rotating tie down screw and locking spanner 9, release is pointed mechanical ectoskeleton more and is got back to free state.
Protection domain of the present utility model is not limited to the above embodiments, and obviously, those skilled in the art can carry out various changes and distortion and not break away from scope and spirit of the present utility model this utility model.If these changes and distortion belong in the scope of this utility model claim and equivalent technologies thereof, intention then of the present utility model also comprises these changes and is out of shape interior.
Claims (5)
1. point exoskeleton manipulator one kind more, it comprises the forefinger transmission mechanism, middle finger transmission mechanism and thumb transmission mechanism, described forefinger transmission mechanism and middle finger transmission mechanism comprise middle-end dactylus (2 respectively, 5), middle-end dactylus distal end articulated has far-end dactylus (1,4), near-end is hinged with left knee (3,6), it is characterized in that: be hinged with palm plate (7) on the left knee near-end, the palm plate outside has boss, the back side of middle-end dactylus is hinged with middle end link (21), the back side of left knee is hinged with near-end connecting rod (20), be hinged with middle-end knee (19) on the near-end connecting rod, the rear end of left knee is hinged with near-end knee (18), the middle-end knee all links to each other with the slide block that is positioned at palm plate top (15) of boss inboard with the near-end knee, slide block is provided with top guide bar (13) and lower guide rod (12), slide block can slide on top guide bar and lower guide rod, the side of slide block is connected with a locking pin (22), locking pin can slide on the boss on the palm plate, and boss is locked at locking pin between boss and the locking pressure plate by locking screw rasp bar (16) and locking pressure plate (17); Described thumb transmission mechanism comprises palm connector (11), and the palm connector outside is connected with thumb connector (10) by locking palm (9) and locking screw rasp bar, and the thumb connector outside is connected with thumb dactylus (8).
2. many finger exoskeleton manipulators according to claim 1, it is characterized in that: the both ends of the surface of described slide block are provided with spring (14), and it is through on top guide bar (13) and the lower guide rod (12).
3. many finger exoskeleton manipulators according to claim 1 and 2, it is characterized in that: the dactylus inner surface of described many finger exoskeleton manipulators is for oval, and the dactylus inner surface is provided with rubber gloves.
4. many finger exoskeleton manipulators according to claim 1 and 2, it is characterized in that: the angle on described forefinger transmission mechanism and middle finger transmission mechanism and plane, palm plate place (24) is 5 °-10 °.
5. many finger exoskeleton manipulators according to claim 1 and 2, it is characterized in that: the angle between plane, described palm plate place (24) and the plane, palm connector place (23) is 45 °-75 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202294682U CN201510382U (en) | 2009-11-05 | 2009-11-05 | Multi-finger exoskeleton manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202294682U CN201510382U (en) | 2009-11-05 | 2009-11-05 | Multi-finger exoskeleton manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201510382U true CN201510382U (en) | 2010-06-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009202294682U Expired - Fee Related CN201510382U (en) | 2009-11-05 | 2009-11-05 | Multi-finger exoskeleton manipulator |
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| CN (1) | CN201510382U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104306087A (en) * | 2014-09-29 | 2015-01-28 | 北京理工大学 | Pure mechanical wearable finger artificial limb with multi-degree of freedom |
| CN106038009A (en) * | 2015-11-18 | 2016-10-26 | 杭州若比邻机器人科技有限公司 | Prosthetic hand |
| CN106078699A (en) * | 2016-08-15 | 2016-11-09 | 黄河科技学院 | Hand decompression machinery ESD |
| CN106112986A (en) * | 2016-08-15 | 2016-11-16 | 黄河科技学院 | Porter is with mechanical exoskeleton hand decompressor |
| CN106166740A (en) * | 2016-09-23 | 2016-11-30 | 合肥工业大学 | Multi-functional multi joint motion mechanism |
| CN106426137A (en) * | 2016-10-21 | 2017-02-22 | 合肥工业大学 | Human hand simulated manipulator |
| CN113350116A (en) * | 2020-03-02 | 2021-09-07 | 北京海益同展信息科技有限公司 | Exoskeleton device for gloves |
-
2009
- 2009-11-05 CN CN2009202294682U patent/CN201510382U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104306087A (en) * | 2014-09-29 | 2015-01-28 | 北京理工大学 | Pure mechanical wearable finger artificial limb with multi-degree of freedom |
| CN106038009A (en) * | 2015-11-18 | 2016-10-26 | 杭州若比邻机器人科技有限公司 | Prosthetic hand |
| CN106038009B (en) * | 2015-11-18 | 2018-02-06 | 杭州若比邻机器人科技有限公司 | Prosthetic hand |
| CN106078699A (en) * | 2016-08-15 | 2016-11-09 | 黄河科技学院 | Hand decompression machinery ESD |
| CN106112986A (en) * | 2016-08-15 | 2016-11-16 | 黄河科技学院 | Porter is with mechanical exoskeleton hand decompressor |
| CN106112986B (en) * | 2016-08-15 | 2018-05-22 | 黄河科技学院 | Porter is with mechanical exoskeleton hand decompressor |
| CN106078699B (en) * | 2016-08-15 | 2018-06-22 | 黄河科技学院 | The mechanical exoskeleton device of hand decompression |
| CN106166740A (en) * | 2016-09-23 | 2016-11-30 | 合肥工业大学 | Multi-functional multi joint motion mechanism |
| CN106166740B (en) * | 2016-09-23 | 2018-05-01 | 合肥工业大学 | Multi-functional multi joint motion mechanism |
| CN106426137A (en) * | 2016-10-21 | 2017-02-22 | 合肥工业大学 | Human hand simulated manipulator |
| CN106426137B (en) * | 2016-10-21 | 2019-03-05 | 合肥工业大学 | Apery hand manipulator |
| CN113350116A (en) * | 2020-03-02 | 2021-09-07 | 北京海益同展信息科技有限公司 | Exoskeleton device for gloves |
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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: 20100623 Termination date: 20101105 |