CN205734891U - Hand ectoskeleton is equipped - Google Patents
Hand ectoskeleton is equipped Download PDFInfo
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- CN205734891U CN205734891U CN201620399773.6U CN201620399773U CN205734891U CN 205734891 U CN205734891 U CN 205734891U CN 201620399773 U CN201620399773 U CN 201620399773U CN 205734891 U CN205734891 U CN 205734891U
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- hand ectoskeleton
- ectoskeleton
- hand
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- induction installation
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Abstract
This utility model provides a kind of hand ectoskeleton equipment, including: hand ectoskeleton body；Induction installation, induction installation is arranged on hand ectoskeleton body for sensing the motion intention of wearer；Driving means, driving means is arranged on hand ectoskeleton body and electrically connects with induction installation, and driving means receives the signal of induction installation transmitting and drives hand this body running of ectoskeleton.Hand ectoskeleton of the present utility model equipment makes wearer the most more convenient to operate, has higher operational comfort.
Description
Technical field
This utility model relates to ectoskeleton equipment field, in particular to a kind of hand ectoskeleton equipment.
Background technology
Current ectoskeleton equipment mainly general ectoskeleton, including back, hand and foot, whole body ectoskeletal power-assisted energy
Power is high, but it is big to there is a whole set of ectoskeleton weight, the problem carrying inconvenience.It addition, existing hand ectoskeleton equipment device
Not there is the ability that sensing wearer is intended to, inconvenient operation.
Utility model content
Main purpose of the present utility model is to provide a kind of hand ectoskeleton equipment, to solve hands ectoskeleton of the prior art behaviour
Make inconvenient problem.
To achieve these goals, this utility model provides a kind of hand ectoskeleton equipment, including: hand ectoskeleton body；
Induction installation, induction installation is arranged on hand ectoskeleton body for sensing the motion intention of wearer；Driving means, drives
Device is arranged on hand ectoskeleton body and electrically connects with induction installation, and driving means receives the signal of induction installation transmitting and drives
Start portion's this body running of ectoskeleton.
Further, hand ectoskeleton equipment also includes: energy source device, energy source device is arranged on hand ectoskeleton body and uses
In providing the energy for hand ectoskeleton equipment.
Further, hand ectoskeleton equipment also includes: joint freedom degrees adjusting means, joint freedom degrees adjusting means is arranged on
The joint of hand ectoskeleton body, for regulating the rotation between hand ectoskeleton body.
Further, induction installation includes pressure transducer, dynamic pickup and skin sensor.
Further, driving means includes: motor, and motor is for providing power to hand ectoskeleton equipment；Decelerator, slows down
Device is connected with motor.
Further, induction installation also includes the environmental sensor for perception environment.
Further, hand ectoskeleton equipment also includes data feedback device, and data feedback device is for by induction installation perception
Data pass to external monitoring systems, and external monitoring systems is used for working environment and the working condition of monitor hand ectoskeleton equipment.
Further, hand ectoskeleton equipment also includes: GPS positioner, and GPS positioner is arranged on hand ectoskeleton originally
For the position of location hand ectoskeleton equipment on body.
Further, hand ectoskeleton body uses alloy in lightweight to make.
Further, the weight of hand ectoskeleton equipment is in the range of 30kg to 40kg.
Application the technical solution of the utility model, hand ectoskeleton of the present utility model is equipped, is sensed wearer by induction installation
The motion intention of hand, driving means receives the signal of induction installation transmitting and drives hand this body running of ectoskeleton, thus makes to wear
Wearer is the most more convenient to operate, has higher operational comfort.
Accompanying drawing explanation
The Figure of description of the part constituting the application is used for providing being further appreciated by of the present utility model, of the present utility model
Schematic description and description is used for explaining this utility model, is not intended that improper restriction of the present utility model.In the accompanying drawings:
Fig. 1 diagrammatically illustrates the simplification figure of hand ectoskeleton of the present utility model equipment；And
Fig. 2 diagrammatically illustrates the structured flowchart of hand ectoskeleton of the present utility model equipment.
Wherein, above-mentioned accompanying drawing includes the following drawings labelling:
10, hand ectoskeleton body；20, joint freedom degrees adjusting means；30, induction installation；40, driving means；50、
Energy source device；60, data feedback device；70, GPS positioner.
Detailed description of the invention
It should be noted that in the case of not conflicting, the embodiment in the application and the feature in embodiment can be mutually combined.
Describe this utility model below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
As described in background technology, current ectoskeleton equipment includes back, hand and the ectoskeleton of foot, is attached to
Entirety together, but in many cases, it is not required to the ectoskeletal assist function of whole body, it is only necessary to ectoskeletal one
Dividing and carry out assist function, such as hand, during use, staff needs overall ectoskeleton equipment of dressing can realize hands
Portion's power-assisted, and overall ectoskeletal weight is the biggest, it has not been convenient to transport is carried.And in more existing hand ectoskeleton is equipped,
Although can realize only dressing hand, but these hand ectoskeletons equipment does not have the energy that sensing wearer action is intended to
Power, generally requires the operation being controlled hand ectoskeleton equipment by outer computer during operation, very inconvenient in operation, impact
The operating experience of wearer.
Seeing shown in Fig. 1 and Fig. 2, this utility model provides a kind of hand ectoskeleton equipment, and this hand ectoskeleton equipment includes
Hand ectoskeleton body 10, induction installation 30 and driving means 40, wherein, induction installation 30 is arranged on hand ectoskeleton body
Being used for sensing the motion intention of wearer on 10, the motion intention being sensed wearer by induction installation 30 operates hand ectoskeleton
Equipment, and then improve the comfort of wearer.Specifically, driving means 40 is arranged on hand ectoskeleton body 10
Above and electrically connecting with induction installation 30, driving means 40 receives the signal of induction installation 30 transmitting and drives hand ectoskeleton body
10 work.
Fig. 2 shows the structured flowchart that hand ectoskeleton of the present utility model is equipped, specifically, the sensing in this utility model
Device 30 is important component part of the present utility model, and it has the function that multiple perception human motion is intended to, in this utility model
Induction installation 30 include pressure transducer, dynamic pickup and skin sensor, other assist in perception human motion
Within the sensor such as heartbeat sensor of intention, muscle sensor, neural sensor belong to protection domain of the present utility model.
Driving means 40 of the present utility model includes control assembly, controls assembly and receives the sense of each sensor in induction installation 30
Answer data and analyze and process, driving corresponding hand ectoskeleton body 10 to transport according to these Data Control driving means 40
Dynamic.Control assembly include central processing unit, ROM and RAM storage assembly, various communication interface (I/O port, USB, I2C,
UART, SPI) etc. can complete to control function or auxiliary and complete to control the conventional fitment of function.
When using hand ectoskeleton of the present utility model to equip, pressure transducer is pressed by wearer by hand, pressure transducer
Perceive the hand pressure of wearer, and form corresponding pressure data according to different pressure sizes, and these data are transmitted
To the control assembly in driving means 40, after these pressure datas are analyzed processing by control assembly, control of the present utility model
Hand ectoskeleton body 10 moves.
Specifically, the pressure size that can experience of assembly is controlled according to pressure transducer and synchronization control driving means 40 drives hands
The motion dynamics of portion's ectoskeleton body 10, the pressure that pressure transducer is experienced is the biggest, then driving means 40 drives hand dermoskeleton
The dynamics of bone body 10 motion is the biggest, and the pressure that pressure transducer is experienced is the least, then driving means 40 drives hand ectoskeleton
The dynamics of body 10 motion is the least.
Dynamic pickup in this utility model i.e. dynamic force sensor, dynamic by the arm of dynamic force sensor measurement wearer,
Such as the speed of arm, acceleration etc., the arm dynamic data of perception is passed to the control group in driving means 40 by dynamic pickup
Part, controls assembly and is analyzed arm dynamic data processing, assist other sensors to judge the motion intention of wearer, drive
Starting portion's ectoskeleton body 10 completes corresponding action.
In order to make ectoskeleton of the present utility model equipment operationally can sense the motion intention of wearer more accurately, this
Induction installation 30 in utility model also includes skin sensor, senses each position of human hands by skin sensor
Touching information, and these touching information are passed to the control assembly in driving means 40, by controlling block analysis wearer
Work be intended to and judge accordingly, drive hand ectoskeleton body 10 complete corresponding action.
Energy required during hand ectoskeleton armament-related work of the present utility model all passes through in hand ectoskeleton of the present utility model equipment
Energy source device 50 supply, specifically, energy source device 50 be arranged on hand ectoskeleton body 10 and for for ectoskeleton fill
Standby each building block provides the energy.
Energy source device 50 in this utility model be high electricity lithium battery composition, certainly, as long as can meet of the present utility model outside
Energy needed for skeleton equipment, other types battery also may be used.Energy source device 50 also includes Power Monitoring Unit, and once power supply is not enough,
Wearer electricity can be pointed out not enough, charge in time.
In order to the motion making the hand ectoskeleton body 10 in this utility model is more flexible, this utility model also includes that joint is freely
Degree adjusting means 20, joint freedom degrees adjusting means 20 is arranged on the joint of hand ectoskeleton body 10, is used for regulating hand
Rotation between each parts of ectoskeleton body 10.
Hand ectoskeleton of the present utility model is equipped specifically, has the hands ectoskeleton of at least three automatic unit.One is used for
It is attached with thumb, and there are two elements for being attached with distal phalanx and proximal phalanx.Both other, each has three
Individual element, for being attached with forefinger and the distal phalanx of middle finger, middle phalanx and proximal phalanx.The element of each automatic unit leads to
Crossing joint freedom degrees adjusting means 20 to interconnect, the relative angular movement of generating element, the rotary shaft of this motion is basic and uses
The rotary shaft of the interphalangeal joint motion of person is coincide.Drive mechanism is associated with the shutdown of each ectoskeleton, can drive two elements.
Certainly, it is attached with corresponding automatic unit at the third finger with little finger and falls within protection domain of the present utility model, it addition, this reality
It is both provided with position limiting structure with novel each automatic unit, moves past wearer's hand when hand of the present utility model is ectoskeletal
During the limit of sports record in portion, position limiting structure can be cut off the electricity supply, to protect the hand safety of wearer.
Driving means 40 in this utility model includes motor and decelerator, and motor is for filling to hand ectoskeleton of the present utility model
Standby providing power, decelerator is connected with motor and moves to hand ectoskeleton body 10 supplying corresponding speed.This utility model
In driving means 40 be arranged on the diverse location on hand ectoskeleton body 10, to drive each position hand ectoskeleton body 10
Motion, the driving means 40 in this utility model comprises the actuators such as steering wheel, motor, servomotor, direct current generator,
Certainly other actuators required that drive meeting kinematic driving unit 40 also may be used.
Owing to wearer realizes power-assisted by hand ectoskeleton body 10 of the present utility model, so being difficult to the hands by wearer
External environment condition is understood in portion, there is also certain danger by hand perception in the environment that some high temperature or degree of corrosion are high, therefore,
Induction installation 30 of the present utility model also includes the environmental sensor for perception environment.Specifically, the ring in this utility model
Border sensor includes temperature sensor and humidity sensor, and when picking up object, wearer correctly can not be felt by direct sense of touch
Knowing the temperature and humidity of outside, the environmental sensor in this utility model includes wet temperature sensor, and operationally, wet temp passes
Temperature and humidity outside sensor perception at any time, and feed back to external monitoring systems, to working environment by data feedback device 60
Monitor in real time, enable wearer to understand the temperature and humidity of touching object in time, danger can be prevented effectively from.This practicality
Data feedback device 60 in novel is arranged on hand ectoskeleton body 10 of the present utility model, for being felt by induction installation 30
The data known pass to external monitoring systems, the working environment that external monitoring systems is equipped for monitor hand ectoskeleton and work shape
Condition.Data feedback device 60 in this utility model include WIFI module, 2.4G communication module, RFID, ZIGBEE,
Bluetooth, infrared communication module etc., as long as contribute to the data of transmission sensor senses.
In some relatively complex environment, outside commanding is it is to be appreciated that hand ectoskeleton of the present utility model equips wearer
Particular location, in order to sue and labour in time or command, hand ectoskeleton of the present utility model equipment also includes GPS positioner 70,
This GPS positioner 70 is arranged on hand ectoskeleton body 10 position for location hand ectoskeleton equipment.During work,
The position of GPS real-time positioning wearer, and report to outside commanding.
In order to alleviate the overall weight of hand ectoskeleton of the present utility model equipment, the hand ectoskeleton body 10 in this utility model
Employing alloy in lightweight makes, and certainly, other do not affect hand ectoskeleton body 10 strength character and the material of light weight.
The weight of hand ectoskeleton of the present utility model equipment is in the range of 30Kg to 40Kg.Hand dermoskeleton of the present utility model
Bone equipment has lightweight advantage, and hand ectoskeleton of the present utility model equipment is not limited solely to the ectoskeleton application of hand,
Extend also on other ectoskeletons, such as leg, waist etc..
The foregoing is only preferred embodiment of the present utility model, be not limited to this utility model, for this area
For technical staff, this utility model can have various modifications and variations.All within spirit of the present utility model and principle, institute
Any modification, equivalent substitution and improvement etc. made, within should be included in protection domain of the present utility model.
Claims (10)
1. a hand ectoskeleton equipment, it is characterised in that including:
Hand ectoskeleton body (10)；
Induction installation (30), described induction installation (30) is arranged on described hand ectoskeleton body (10) and above and is used for feeling
Answer the motion intention of wearer；
Driving means (40), described driving means (40) is arranged on described hand ectoskeleton body (10) and with described
Induction installation (30) electrically connects, and described driving means (40) receives signal that described induction installation (30) launches and drives
Dynamic described hand ectoskeleton body (10) work.
Hand ectoskeleton the most according to claim 1 is equipped, it is characterised in that described hand ectoskeleton equipment also includes:
Energy source device (50), described energy source device (50) is arranged on described hand ectoskeleton body (10) and is used for and is
Described hand ectoskeleton equipment provides the energy.
Hand ectoskeleton the most according to claim 1 is equipped, it is characterised in that described hand ectoskeleton equipment also includes:
Joint freedom degrees adjusting means (20), described joint freedom degrees adjusting means (20) is arranged on described hand ectoskeleton
The joint of body (10), is used for the rotation regulating between each parts of described hand ectoskeleton body (10).
Hand ectoskeleton the most according to claim 1 is equipped, it is characterised in that described induction installation (30) includes that pressure passes
Sensor, dynamic pickup and skin sensor.
Hand ectoskeleton the most according to claim 1 is equipped, it is characterised in that described driving means (40) including:
Motor, described motor is for providing power to described hand ectoskeleton equipment；
Decelerator, described decelerator is connected with described motor.
Hand ectoskeleton the most according to claim 4 equip, it is characterised in that described induction installation (30) also include for
The environmental sensor of perception environment.
Hand ectoskeleton the most according to claim 6 is equipped, it is characterised in that described hand ectoskeleton equipment also includes data
Feedback device (60), described data feedback device (60) is for passing to the data of described induction installation (30) perception
External monitoring systems, described external monitoring systems is for monitoring working environment and the working condition of described hand ectoskeleton equipment.
Hand ectoskeleton the most according to claim 1 is equipped, it is characterised in that described hand ectoskeleton equipment also includes:
GPS positioner (70), described GPS positioner (70) is arranged on described hand ectoskeleton body (10)
On for position described hand ectoskeleton equipment position.
Hand ectoskeleton the most according to claim 1 is equipped, it is characterised in that described hand ectoskeleton body (10) uses
Alloy in lightweight makes.
Hand ectoskeleton the most according to claim 1 is equipped, it is characterised in that the weight of described hand ectoskeleton equipment is at 30kg
To 40kg.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620399773.6U CN205734891U (en) | 2016-05-04 | 2016-05-04 | Hand ectoskeleton is equipped |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620399773.6U CN205734891U (en) | 2016-05-04 | 2016-05-04 | Hand ectoskeleton is equipped |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205734891U true CN205734891U (en) | 2016-11-30 |
Family
ID=57373158
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620399773.6U Expired - Fee Related CN205734891U (en) | 2016-05-04 | 2016-05-04 | Hand ectoskeleton is equipped |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205734891U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114248283A (en) * | 2021-12-30 | 2022-03-29 | 湖南农业大学 | Exoskeleton maintenance robot hand with Bluetooth sensing function |
-
2016
- 2016-05-04 CN CN201620399773.6U patent/CN205734891U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114248283A (en) * | 2021-12-30 | 2022-03-29 | 湖南农业大学 | Exoskeleton maintenance robot hand with Bluetooth sensing function |
| CN114248283B (en) * | 2021-12-30 | 2024-05-24 | 湖南农业大学 | Exoskeleton maintenance robot with Bluetooth perception function |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161130 Termination date: 20210504 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |