CN205928626U - Preceding rotation of arm activity mechanism of mechanical ectoskeleton device of hand decompression - Google Patents
Preceding rotation of arm activity mechanism of mechanical ectoskeleton device of hand decompression Download PDFInfo
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- CN205928626U CN205928626U CN201620879928.6U CN201620879928U CN205928626U CN 205928626 U CN205928626 U CN 205928626U CN 201620879928 U CN201620879928 U CN 201620879928U CN 205928626 U CN205928626 U CN 205928626U
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Abstract
Preceding rotation of arm activity mechanism of mechanical ectoskeleton device of hand decompression, including a solid fixed cylinder of forearm and a preceding rotation of arm section of thick bamboo, the solid fixed cylinder front side of forearm inner wall is equipped with the twice annular groove, preceding rotation of arm section of thick bamboo rear portion is inserted and is established in the solid fixed cylinder of forearm, be equipped with on the preceding rotation of arm section of thick bamboo outer wall rotate spacing in the annular groove twice ring bead, preceding rotation of arm section of thick bamboo front end is connected with the palm through the wrist universal joint and lays a section of thick bamboo, the palm is laid bobbin base portion left side or right side and has been offered the thumb and stretch out the mouth. The mechanical ectoskeleton device of hand decompression is easily worn, is convenient for to twist reverse specially for the porter designs to help protecting arm and hand safety, fully alleviateed exerting oneself of porter's hand, and improved the weight of transport heavy object greatly, also improved the efficiency of transporting goods. In addition the utility model discloses still can be used to medical instrument, help patient's hand and wrist rehabilitation better more fully.
Description
Technical field
This utility model is related to a kind of decompressor for carrying heavy goods, more particularly, to a kind of hand decompression machinery dermoskeleton
The forearm rotary moveable mechanism of bone device.
Background technology
For the porter often transporting goods such as（Removal of home workman, builder）For, often grasped with hand
Goods, four in addition to thumb finger stress is especially big, long transport operation, and finger skeleton, wrist can be led to close
The damage of section, after older, hand is just substantially disabled.Not yet have in the market and be specially adapted for porter's pendant
The device for mitigating hand pressure worn.
Utility model content
This utility model in order to solve weak point of the prior art, provide a kind of compact conformation, highly reliable, be easy to
Wear, be easy to reverse, and contribute to protecting the forearm rotation of the mechanical ESD of hand decompression of arm and hand safety to live
Motivation structure.
For solving above-mentioned technical problem, this utility model adopts the following technical scheme that：The mechanical ESD of hand decompression
Forearm rotary moveable mechanism, including forearm fixed cylinder and forearm rotating cylinder, forearm fixed cylinder front inner wall is provided with twice annulus
Groove, forearm rotating cylinder rear portion is plugged in forearm fixed cylinder, and forearm rotation drum outer wall is provided with rotary spacing two in annular groove
Road annulus fin, forearm rotating cylinder front end is connected with palm by wrist universal joint and lays cylinder, palm lay a bottom left or
Right side offers thumb extending port.
Forearm fixed cylinder includes upper half cylinder and lower half cylinder, and the both sides of upper half cylinder and lower half cylinder are correspondingly provided with connection
Block, is fastenedly connected by interior six square bolts between the contiguous block on the contiguous block on upper half cylinder and lower half cylinder.
Wrist universal joint includes connecting cylinder, left engaging lug, right engaging lug, upper engaging lug and lower engaging lug, left engaging lug and
The rear side of right engaging lug is respectively fixedly connected with the left side and right side outer surface of forearm rotating cylinder front end, the left side of connecting cylinder and
Right side is passed through the first bearing pin rotation respectively and is connected, before upper engaging lug and lower engaging lug with the front side of left engaging lug and right engaging lug
Side is respectively fixedly connected with the upper side and lower side outer surface that palm lays a rear portion, the upper side and lower side of connecting cylinder respectively with upper
The rear side of engaging lug and lower engaging lug passes through the second bearing pin and rotates connection；Connecting cylinder bottom is provided with wrist rest seat, wrist rest
Four penetrating before and after being provided with wire guides of seat, four wire guides are arranged side by side in left-right direction.
Using technique scheme, the mechanical ESD of hand decompression also includes following technical characteristic：Palm lays cylinder
Top is connected with, by a set of single driving multi-bar linkage, the little finger of toe ectoskeleton group laid on front side of cylinder positioned at palm respectively side by side
Part, nameless ectoskeleton assembly, middle finger ectoskeleton assembly and forefinger ectoskeleton assembly；Little finger of toe ectoskeleton assembly, nameless dermoskeleton
Bone assembly, middle finger ectoskeleton assembly are identical with the construction of forefinger ectoskeleton assembly；Forefinger ectoskeleton assembly include from front to back according to
First articulations digitorum manus overcoat of secondary setting, the second articulations digitorum manus overcoat and the 3rd articulations digitorum manus overcoat, the power of single driving multi-bar linkage is defeated
Go out end to be connected with the first articulations digitorum manus overcoat top, the second articulations digitorum manus overcoat rear end extend in the first articulations digitorum manus overcoat, the second finger
The joint overcoat left and right sides is rotated upwardly and downwardly with the first articulations digitorum manus overcoat by the first riveting axle and is connected, the 3rd articulations digitorum manus overcoat rear end
It extend in the second articulations digitorum manus overcoat, the 3rd articulations digitorum manus overcoat left and right sides puts by outside the second riveting axle and the second articulations digitorum manus
Lower rotation connects, the 3rd articulations digitorum manus overcoat front end closure, is arranged with Anti-slip cover, Anti-slip cover outer surface outside the 3rd articulations digitorum manus overcoat
It is uniformly provided with anti-skid bulge；
Forearm rotating cylinder bottom is provided with installing rack, and installing rack lower surface is provided with minitype pneumatic tendon, little finger of toe ectoskeleton assembly,
3rd articulations digitorum manus overcoat of nameless ectoskeleton assembly, middle finger ectoskeleton assembly and forefinger ectoskeleton assembly respectively with minitype pneumatic
It is provided with a finger joint bending between tendon and pull fastening mechanism.
Described single driving multi-bar linkage includes imaginary axis driver mounting seat, rotary shaft drive mounting seat, connecting plate, ball
Nest bearing, imaginary axis driving cylinder, rotary shaft driving cylinder, L-type actuating arm, rear support arm, front support arm, the first drive rod,
Second drive rod and connecting rod；
The fixation of imaginary axis driver mounting seat bottom is located at palm and lays a top rear, and rotary shaft drive mounting seat sets
In imaginary axis driver mounting seat left lower, the fixation of ball-and-socket bearing is located at palm and lays on front side of a top, imaginary axis drive gas
Cylinder and rotary shaft driving cylinder are all arranged along the longitudinal direction, be rotatably connected to and vertically set in imaginary axis driver mounting seat
The first ball rod put, the first ball rod upper end is fixedly connected with imaginary axis driving cylinder bottom, rotary shaft drive mounting seat
Inside it is rotatably connected to and is horizontally disposed with the second ball rod, the left end of the second ball rod is fixedly connected with the right side of rotary shaft driving cylinder,
The piston rod front end of imaginary axis driving cylinder is hinged with L-type actuating arm upper end by the first spherical hinge, front support arm lower end base
It is provided with ball cup, ball cup is rotatably connected in ball-and-socket bearing, on the left of ball cup, be fixed with rocking bar, rotary shaft driving cylinder
Piston rod front end is hinged with rocking bar left end by the second spherical hinge, and front support arm lower end is hinged with rear support arm front end, front support
Hinged at arm upper end and the middle part drift angle of L-type actuating arm；
The fixation of connecting plate lower end is located at the first articulations digitorum manus overcoat top, the bottom hinge of the first drive rod lower end and connecting plate
Connect, the upper articulation of the second drive rod lower end and connecting plate, the length of the first drive rod is more than the length of the second drive rod, first
The upper end of drive rod is higher than the upper end of the second drive rod, connecting rod two ends respectively with the second drive rod upper end and the first drive rod top
Hinged, between connecting rod, the first drive rod, the second drive rod and connecting plate constitute parallelogram sturcutre, L-type actuating arm front end with
First drive rod upper end is hinged, and rear support arm front end is fixedly connected with connecting rod lower rearward side.
The finger joint bending being connected with forefinger ectoskeleton assembly pulls fastening mechanism to include bracing wire fix bar, the cross bar and drawing of making contact
Line, bracing wire fix bar level is located on rear side of the 3rd articulations digitorum manus overcoat internal upper part, and the 3rd articulations digitorum manus overcoat top rear is along front and back
To being provided with elongated hole, the top of the 3rd articulations digitorum manus overcoat, anterior and bottom outer surface are provided with the gathering sill with the insertion of elongated hole front end,
Cross bar level of making contact is located at the bottom in the second articulations digitorum manus overcoat, and cross bar of making contact is provided with guide groove, the first articulations digitorum manus overcoat inner bottom
Portion is provided with a front wire-passing tube, and palm lays wire-passing tube after an inner bottom part has been evenly arranged four in left-right direction, and forearm rotates
Cylinder bottom is provided with the cable-through hole on front side of minitype pneumatic tendon, and the front end of bracing wire is fixedly connected in bracing wire fix bar, bracing wire
Sequentially pass through elongated hole, gathering sill, the guide groove making contact on cross bar, rear wire-passing tube, one of front wire-passing tube from front to back and cross line
Hole, the rear end of bracing wire is fixedly connected on the clutch end of minitype pneumatic tendon；The top of the 3rd articulations digitorum manus outer casing inner wall and
Bottom is respectively equipped with a pressure transducer.
Palm is laid a top and is provided with four single cases driving multi-bar linkage to cover.
On the left of Anti-slip cover and right side is respectively equipped with a rectangle hole clipping, and the left side of the 3rd articulations digitorum manus outer casing outer wall and right side are divided
It is not provided with a fixture block, the thickness of fixture block is gradually increased from the front to the back, Anti-slip cover is set in and puts and homonymy outside the 3rd articulations digitorum manus
Fixture block and rectangle hole clipping be engaged by clamping.
The mechanical ESD of hand decompression uses dedicated for porter, and porter carries with power supply, control
Device and air pump, power supply is used for powering to controller, air pump and minitype pneumatic tendon, and air pump is to imaginary axis driving cylinder and rotary shaft
Driving cylinder provides power.
The mechanical ESD of hand decompression when using, handss by the fixing tube rear end of forearm sequentially pass through forearm fixed cylinder,
After forearm rotating cylinder, wrist universal joint, palm lay cylinder, thumb lays the thumb extending port on cylinder through palm, forefinger,
Correspondence extend into forefinger ectoskeleton assembly, middle finger ectoskeleton assembly, nameless ectoskeleton assembly respectively for middle finger, the third finger and little finger of toe
In little finger of toe ectoskeleton assembly, using binder, forearm fixed cylinder is fixed on forearm, because forearm rotating cylinder rear portion is plugged in
In forearm fixed cylinder, forearm rotation drum outer wall is provided with rotary spacing twice annulus fin in annular groove, when hand needs to revolve
When turning, forearm rotating cylinder and wrist universal joint, palm can be driven to lay a common rotation.
Little finger of toe ectoskeleton assembly, the construction of nameless ectoskeleton assembly, middle finger ectoskeleton assembly and forefinger ectoskeleton assembly
Identical, only length is different, to adapt to four fingers of people.Little finger of toe ectoskeleton assembly, nameless ectoskeleton assembly, middle finger
One structure identical list is respectively connected with ectoskeleton assembly and forefinger ectoskeleton assembly and drives multi-bar linkage.During carrying heavy goods,
Start four imaginary axis driving cylinders, the piston rod elongation of imaginary axis driving cylinder simultaneously, promote forward L-type actuating arm, L-type is driven
The middle part drift angle of swing arm is sentenced front support arm upper end and is rotated forward for fulcrum, L-type actuating arm front-end driven the first drive rod, and first
Under the constraint of rear support arm, the first drive rod front end can only rotate down drive rod, connecting rod, the first drive rod, the second driving
Constitute parallelogram sturcutre between bar and connecting plate to launch, the connecting plate of the first drive rod and the second drive rod front end is also downward
Rotate, that is, the first articulations digitorum manus overcoat rotates down.Meanwhile, minitype pneumatic tendon also starts, and pulls back bracing wire, before bracing wire
End pulls bracing wire fix bar, thus can be bent downwardly the 3rd articulations digitorum manus overcoat, the 3rd articulations digitorum manus overcoat just drives the second finger
Joint overcoat is also bent downwardly, certainly, with the first articulations digitorum manus overcoat, the second articulations digitorum manus overcoat and the 3rd articulations digitorum manus overcoat to
Lower bending, four fingers are also with bending.The outside sheathed Anti-slip cover of 3rd articulations digitorum manus overcoat is contacted with weight, Anti-slip cover appearance
The anti-skid bulge that face is uniformly arranged avoids slipping the safety it is ensured that carrying, the pressure sensing of setting in the 3rd articulations digitorum manus overcoat
After device detects Pressure maximum value, transmit a signal to controller, control order imaginary axis driving cylinder and minitype pneumatic flesh
Tendon stops.If desired little finger of toe ectoskeleton assembly, nameless ectoskeleton assembly, middle finger ectoskeleton assembly and forefinger dermoskeleton are moved left and right
During bone assembly, taking rotate forefinger ectoskeleton assembly as a example, start rotary shaft driving cylinder, the piston rod of rotary shaft driving cylinder is stretched
Contracting, drives ball cup and rear support arm to horizontally rotate in ball-and-socket bearing by rocking bar, and rear support arm drives first connecting rod and the
Two link rotatable, final drive forefinger ectoskeleton assembly left-right rotation.The 3rd articulations digitorum manus overcoat thus can be made to link closely weight
Correct position.Link closely after weight, four fingers are also suitably exerted oneself, improve the safe reliability of carrying heavy goods.
Wrist universal joint plays the effect that forearm is finely tuned up and down of complying with, and wrist universal joint adopts connecting cylinder, left connection
Ear, the attachment structure of right engaging lug, upper engaging lug and lower engaging lug, structure is simple and is easy to manufacture installation.Forearm fixed cylinder bag
Include upper half cylinder and lower half cylinder, be so easy to dismount forearm rotating cylinder in forearm fixed cylinder.When little finger of toe dermoskeleton after bending
When bone assembly, nameless ectoskeleton assembly, middle finger ectoskeleton assembly and forefinger ectoskeleton assembly need to launch, four handss can be passed through
Driving expansion, bracing wire simultaneously, imaginary axis driving cylinder also reset for the stretching, extension referring to.Finger joint bending pulls drawing of fastening mechanism employing
Line power comes from minitype pneumatic tendon, and the outside sheathed Anti-slip cover of the 3rd articulations digitorum manus overcoat also has protection and do not wear and tear to be wound on leads
To the effect of the bracing wire in groove, in addition, elongated hole, gathering sill, the guide groove made contact on cross bar, rear wire-passing tube, front wire-passing tube, wrist are propped up
On support seat, the wire guide of upper setting and cable-through hole, all play the effect of guiding bracing wire.Wherein connecting cylinder bottom is provided with wrist rest
Seat, makes wrist support, contributes to the effect making wrist comfortable and protecting wrist.
Single drive multi-bar linkage adopt with cylinder as power and spherical hinge plus multi-bar linkage mode it is achieved that finger
In three-dimensional activity.Using multi-bar linkage, structure is compacter simple, and range of activity is limited, does not interfere with and fluctuates.
The thickness of fixture block is gradually increased from the front to the back, and that is, the lateral surface of fixture block forms lozenges, is so easy to Anti-slip cover set
On set outside the 3rd articulations digitorum manus, and play good position-limiting action, to prevent Anti-slip cover from coming off.
In sum, the mechanical ESD of hand decompression is novel in design, structure simple, safe and reliable it is easy to manufacture, specially
Door designs for porter, contributes to protecting arm and hand safety, fully alleviates exerting oneself of porter's hand, and significantly carries
The high weight of carrying heavy goods, also improves the efficiency transported goods.In addition this utility model can be additionally used in medical apparatus and instruments, helps
In portion patient hand and wrist better and more comprehensively rehabilitation.
Brief description
Fig. 1 is that in the mechanical ESD of hand decompression, forefinger ectoskeleton assembly stereochemical structure in the expanded state is illustrated
Figure；
Fig. 2 is that in the mechanical ESD of hand decompression, forefinger ectoskeleton assembly stereochemical structure in the bent state is illustrated
Figure；
Fig. 3 is the planar structure schematic diagram under Fig. 2 state；
Fig. 4 is the structural representation of wrist universal joint in the mechanical ESD of hand decompression；
Fig. 5 is the plan cross-section structural representation of forefinger ectoskeleton assembly in the mechanical ESD of hand decompression；
Fig. 6 is the explosive view of forefinger ectoskeleton assembly.
Specific embodiment
As shown in figs 1 to 6, the mechanical ESD of hand decompression, including forearm fixed cylinder and forearm rotating cylinder 2, forearm
Fixed cylinder front inner wall is provided with twice annular groove 3, and forearm rotating cylinder 2 rear portion is plugged in forearm fixed cylinder, outside forearm rotating cylinder 2
Wall is provided with rotary spacing twice annulus fin 4 in annular groove 3, and forearm rotating cylinder 2 front end is connected with by wrist universal joint 5
Palm lays cylinder 6, and palm lays cylinder 6 bottom left or right side offers thumb extending port 7, and palm lays cylinder 6 top respectively
Single drive multi-bar linkage to be connected with side by side to lay the little finger of toe ectoskeleton assembly 8 of cylinder 6 front side, unknown positioned at palm by a set of
Refer to ectoskeleton assembly 9, middle finger ectoskeleton assembly 10 and forefinger ectoskeleton assembly 11.
Little finger of toe ectoskeleton assembly 8, nameless ectoskeleton assembly 9, middle finger ectoskeleton assembly 10 and forefinger ectoskeleton assembly 11
Construction identical；Forefinger ectoskeleton assembly 11 includes the first articulations digitorum manus overcoat 12, the second articulations digitorum manus setting gradually from front to back
Overcoat 13 and the 3rd articulations digitorum manus overcoat 14, single clutch end driving multi-bar linkage and the first articulations digitorum manus overcoat 12 top are even
Connect, the second articulations digitorum manus overcoat 13 rear end extend in the first articulations digitorum manus overcoat 12, and the second articulations digitorum manus overcoat 13 left and right sides is passed through
First riveting axle 15 is rotated upwardly and downwardly with the first articulations digitorum manus overcoat 12 and is connected, and the 3rd articulations digitorum manus overcoat 14 rear end extend into the second finger and closes
In section overcoat 13, the 3rd articulations digitorum manus overcoat 14 left and right sides is rotated upwardly and downwardly with the second articulations digitorum manus overcoat 13 by the second riveting axle 16
Connect, the 3rd articulations digitorum manus overcoat 14 front end blocks, and is arranged with Anti-slip cover 17, Anti-slip cover 17 appearance outside the 3rd articulations digitorum manus overcoat 14
Face is uniformly provided with anti-skid bulge 18.
Forearm rotating cylinder 2 bottom is provided with installing rack 19, and installing rack 19 lower surface is provided with minitype pneumatic tendon 20, little finger of toe dermoskeleton
Bone assembly 8, the 3rd articulations digitorum manus overcoat of nameless ectoskeleton assembly 9, middle finger ectoskeleton assembly 10 and forefinger ectoskeleton assembly 11
14 are provided with a finger joint bending respectively and minitype pneumatic tendon 20 between pulls fastening mechanism.
Single drive multi-bar linkage include imaginary axis driver mounting seat 21, rotary shaft drive mounting seat 22, connecting plate 23,
Ball-and-socket bearing 24, imaginary axis driving cylinder 25, rotary shaft driving cylinder 26, L-type actuating arm 27, rear support arm 28, front support arm
29th, the first drive rod 30, the second drive rod 31 and connecting rod 32.
The fixation of imaginary axis driver mounting seat 21 bottom is located at palm and lays cylinder 6 top rear, and rotary shaft drive is installed
Seat 22 is located at imaginary axis driver mounting seat 21 left lower, and ball-and-socket bearing 24 fixation is located at palm and lays on front side of cylinder 6 top, empty
Intend axle driving cylinder 25 and rotary shaft driving cylinder 26 is all arranged along the longitudinal direction, the company of rotation in imaginary axis driver mounting seat 21
It is connected to the first ball rod 33 being arranged in vertical, the first ball rod 33 upper end is fixing with imaginary axis driving cylinder 25 bottom even
Connect, be rotatably connected in rotary shaft drive mounting seat 22 and be horizontally disposed with the second ball rod 34, the left end of the second ball rod 34 with
It is fixedly connected on the right side of rotary shaft driving cylinder 26, the first spherical hinge 35 and L are passed through in the piston rod front end of imaginary axis driving cylinder 25
Type actuating arm 27 upper end is hinged, and front support arm 29 lower end base is provided with ball cup 36, and ball cup 36 is rotatably connected on ball-and-socket bearing
In 24, on the left of ball cup 36, it is fixed with rocking bar（In figure is not illustrated out）, the piston rod front end of rotary shaft driving cylinder 26 leads to
Cross the second spherical hinge 38 hinged with rocking bar left end, front support arm 29 lower end is hinged with rear support arm 28 front end, on front support arm 29
End with the middle part drift angle of L-type actuating arm 27 at hinged.
The fixation of connecting plate 23 lower end is located at the first articulations digitorum manus overcoat 12 top, the first drive rod 30 lower end and connecting plate 23
The upper articulation of lower hinge, the second drive rod 31 lower end and connecting plate 23, the length of the first drive rod 30 is more than the second driving
The length of bar 31, the upper end of the first drive rod 30 is higher than the upper end of the second drive rod 31, and connecting rod 32 two ends drive with second respectively
Bar 31 upper end and the first drive rod 30 upper articulation, between connecting rod 32, the first drive rod 30, the second drive rod 31 and connecting plate 23
Constitute parallelogram sturcutre, L-type actuating arm 27 front end is hinged with the first drive rod 30 upper end, rear support arm 28 front end and connecting rod
32 lower rearward side are fixedly connected.
The finger joint bending being connected with forefinger ectoskeleton assembly 11 pulls fastening mechanism to include bracing wire fix bar 39, cross bar of making contact
40 and bracing wire 41, bracing wire fix bar 39 level is located on rear side of the 3rd articulations digitorum manus overcoat 14 internal upper part, and the 3rd articulations digitorum manus overcoat 14 pushes up
It is provided with elongated hole 42 along the longitudinal direction, the top of the 3rd articulations digitorum manus overcoat 14, anterior and bottom outer surface are provided with and length on rear side of portion
The gathering sill 43 of hole 42 front end insertion, the bottom that cross bar 40 level of making contact is located in the second articulations digitorum manus overcoat 13, cross bar 40 of making contact
It is provided with guide groove 43, the first articulations digitorum manus overcoat 12 inner bottom part is provided with a front wire-passing tube 44, palm lays cylinder 6 inner bottom part along left and right
Direction be evenly arranged four after wire-passing tube 45, forearm rotating cylinder 2 bottom is provided with crosses line positioned at minitype pneumatic tendon 20 front side
Hole 46, the front end of bracing wire 41 is fixedly connected in bracing wire fix bar 39, and bracing wire 41 sequentially passes through elongated hole 42, gathering sill from front to back
43rd, make contact guide groove 43 on cross bar 40, rear wire-passing tube 45, one of before wire-passing tube 44 and cable-through hole 46, the rear end of bracing wire 41
It is fixedly connected on the clutch end of minitype pneumatic tendon 20；The upper and lower of the 3rd articulations digitorum manus overcoat 14 inwall sets respectively
There is a pressure transducer 47.
Forearm fixed cylinder includes upper half cylinder 1 and lower half cylinder 48, and upper half cylinder 1 is corresponding with the both sides of lower half cylinder 48 to be set
There is contiguous block 49, pass through interior six square bolts between the contiguous block 49 on contiguous block 49 and lower half cylinder 48 on upper half cylinder 1 tight
It is solidly connected.
Palm is laid cylinder 6 top and is provided with four single cases 50 driving multi-bar linkage to cover.
Wrist universal joint 5 includes connecting cylinder 51, left engaging lug 52, right engaging lug 53, upper engaging lug 54 and lower engaging lug 55,
The rear side of left engaging lug 52 and right engaging lug 53 is respectively fixedly connected with the left side of forearm rotating cylinder 2 front end and right side outer surface
On, the left side of connecting cylinder 51 and right side are passed through the first bearing pin 56 with the front side of left engaging lug 52 and right engaging lug 53 respectively and are rotated even
Connect, the front side of upper engaging lug 54 and lower engaging lug 55 is respectively fixedly connected with the upper side and lower side appearance laying cylinder 6 rear portion in palm
On face, the upper side and lower side of connecting cylinder 51 is rotated by the second bearing pin 57 with the rear side of upper engaging lug 54 and lower engaging lug 55 respectively
Connect；
Connecting cylinder 51 bottom is provided with wrist rest seat 58, four penetrating before and after being provided with wire guides of wrist rest seat 58
59, four wire guides 59 are arranged side by side in left-right direction, and bracing wire 41 is located in wire guide 59.
Anti-slip cover 17 left side and right side are respectively equipped with a rectangle hole clipping 60, the left side of the 3rd articulations digitorum manus overcoat 14 outer wall and
Right side is respectively equipped with a fixture block 61, and the thickness of fixture block 61 is gradually increased from the front to the back, and Anti-slip cover 17 is set in the 3rd articulations digitorum manus
On overcoat 14 and the fixture block 61 of homonymy is engaged by clamping with rectangle hole clipping 60.
The mechanical ESD of hand decompression uses dedicated for porter, and porter carries with power supply, control
Device and air pump（In figure is not illustrated out）, power supply is used for powering to controller, air pump and minitype pneumatic tendon 20, and air pump is to virtual
Axle driving cylinder 25 and rotary shaft driving cylinder 26 provide power.
The mechanical ESD of hand decompression when using, handss by the fixing tube rear end of forearm sequentially pass through forearm fixed cylinder,
After forearm rotating cylinder 2, wrist universal joint 5, palm lay cylinder 6, thumb lays the thumb extending port 7 on cylinder 6 through palm,
Correspondence extend into forefinger ectoskeleton assembly 11, middle finger ectoskeleton assembly 10, the third finger respectively for forefinger, middle finger, the third finger and little finger of toe
In ectoskeleton assembly 9 and little finger of toe ectoskeleton assembly 8, using binder, forearm fixed cylinder is fixed on forearm, due to forearm rotation
Cylinder 2 rear portions are plugged in forearm fixed cylinder, and it is convex that forearm rotating cylinder 2 outer wall is provided with rotary spacing twice annulus in annular groove 3
Rib 4, when hand needs rotation, can drive forearm rotating cylinder 2 and wrist universal joint 5, palm to lay cylinder 6 common rotation.
Little finger of toe ectoskeleton assembly 8, nameless ectoskeleton assembly 9, middle finger ectoskeleton assembly 10 and forefinger ectoskeleton assembly 11
Construction identical, only length is different, to adapt to four fingers of people.Little finger of toe ectoskeleton assembly 8, nameless ectoskeleton group
One structure identical list is respectively connected with part 9, middle finger ectoskeleton assembly 10 and forefinger ectoskeleton assembly 11 and drives multi-bar linkage.
During carrying heavy goods, start four imaginary axis driving cylinders 25, the piston rod elongation of imaginary axis driving cylinder 25 simultaneously, promote forward
L-type actuating arm 27, the middle part drift angle of L-type actuating arm 27 is sentenced front support arm 29 upper end and is rotated forward for fulcrum, L-type actuating arm 27
Front-end driven the first drive rod 30, under the constraint of rear support arm 28, the first drive rod 30 front end can only be to for the first drive rod 30
Lower rotation, constitutes parallelogram sturcutre and launches between connecting rod 32, the first drive rod 30, the second drive rod 31 and connecting plate 23,
The connecting plate 23 of the first drive rod 30 and the second drive rod 31 front end also rotates down, and that is, the first articulations digitorum manus overcoat 12 turns downwards
Dynamic.Meanwhile, minitype pneumatic tendon 20 also starts, and pulls back bracing wire 41, and bracing wire 41 front end pulls bracing wire fix bar 39, this
3rd articulations digitorum manus overcoat 14 can be bent downwardly by sample, and the 3rd articulations digitorum manus overcoat 14 just drives the second articulations digitorum manus overcoat 13 also downward
Bending, certainly, with being bent downwardly of the first articulations digitorum manus overcoat 12, the second articulations digitorum manus overcoat 13 and the 3rd articulations digitorum manus overcoat 14,
Four fingers are also with bending.The outside sheathed Anti-slip cover 17 of 3rd articulations digitorum manus overcoat 14 is contacted with weight, Anti-slip cover 17 appearance
The anti-skid bulge 18 that face is uniformly arranged avoids slipping the safety it is ensured that carrying, the pressure of setting in the 3rd articulations digitorum manus overcoat 14
After sensor 47 detects Pressure maximum value, transmit a signal to controller, control order imaginary axis driving cylinder 25 and micro-
Type pneumatic muscle 20 stops.If desired little finger of toe ectoskeleton assembly 8, nameless ectoskeleton assembly 9, middle finger ectoskeleton group are moved left and right
When part 10 and forefinger ectoskeleton assembly 11, taking rotate forefinger ectoskeleton assembly 11 as a example, start rotary shaft driving cylinder 26, rotation
The piston rod of axle driving cylinder 26 stretches, and drives ball cup 36 and rear support arm 28 level in ball-and-socket bearing 24 to turn by rocking bar
Dynamic, rear support arm 28 drives first connecting rod 32 and second connecting rod 32 to rotate, final drive forefinger ectoskeleton assembly 11 left-right rotation.
The 3rd articulations digitorum manus overcoat 14 thus can be made to link closely the correct position of weight.Link closely after weight, four fingers are also suitably exerted oneself,
Improve the safe reliability of carrying heavy goods.
Wrist universal joint 5 plays the effect that forearm is finely tuned up and down of complying with, and wrist universal joint 5 adopts connecting cylinder 51, a left side
Engaging lug 52, the attachment structure of right engaging lug 53, upper engaging lug 54 and lower engaging lug 55, structure is simple and is easy to manufacture installation.
Forearm fixed cylinder includes upper half cylinder 1 and lower half cylinder 48, is so easy to dismount forearm rotating cylinder 2 in forearm fixed cylinder.When
Little finger of toe ectoskeleton assembly 8 after bending, nameless ectoskeleton assembly 9, middle finger ectoskeleton assembly 10 and forefinger ectoskeleton assembly 11
When needing to launch, expansion can be driven by the stretching, extension of four fingers, bracing wire simultaneously 41, imaginary axis driving cylinder 25 also reset.
Finger joint bending pulls bracing wire 41 power that fastening mechanism adopts to come from minitype pneumatic tendon 20, outside the 3rd articulations digitorum manus overcoat 14
Sheathed Anti-slip cover 17 also has the effect protecting the bracing wire 41 being wound in gathering sill 43 of not wearing and tearing, in addition, elongated hole 42, gathering sill
43rd, make contact guide groove 43 on cross bar 40, rear wire-passing tube 45, front wire-passing tube 44, on wrist rest seat 58 upper setting wire guide 59
With cable-through hole 46, all play the effect of guiding bracing wire 41.Wherein connecting cylinder 51 bottom is provided with wrist rest seat 58, has made wrist
Support, contribute to the effect making wrist comfortable and protecting wrist.
Single drive multi-bar linkage adopt with cylinder as power and spherical hinge plus multi-bar linkage mode it is achieved that finger
In three-dimensional activity.Using multi-bar linkage, structure is compacter simple, and range of activity is limited, does not interfere with and fluctuates.
The thickness of fixture block 61 is gradually increased from the front to the back, and that is, the lateral surface of fixture block 61 forms lozenges, is so easy to anti-skidding
Set 17 is enclosed within the 3rd articulations digitorum manus overcoat 14, and plays good position-limiting action, to prevent Anti-slip cover 17 from coming off.
The present embodiment not makees any pro forma restriction, every foundation to shape of the present utility model, material, structure etc.
Any simple modification, equivalent variations and modification that technical spirit of the present utility model is made to above example, belong to this reality
Protection domain with new technique scheme.
Claims (3)
1. the mechanical ESD of hand decompression forearm rotary moveable mechanism it is characterised in that：Including forearm fixed cylinder and front
Arm rotating cylinder, forearm fixed cylinder front inner wall is provided with twice annular groove, and forearm rotating cylinder rear portion is plugged in forearm fixed cylinder, front
Arm rotation drum outer wall is provided with rotary spacing twice annulus fin in annular groove, and wrist universal joint is passed through in forearm rotating cylinder front end
It is connected with palm and lays cylinder, palm lays a bottom left or right side offers thumb extending port.
2. the mechanical ESD of hand according to claim 1 decompression forearm rotary moveable mechanism it is characterised in that：
Forearm fixed cylinder includes upper half cylinder and lower half cylinder, and the both sides of upper half cylinder and lower half cylinder are correspondingly provided with contiguous block, upper half
It is fastenedly connected by interior six square bolts between contiguous block on contiguous block on cylinder and lower half cylinder.
3. the forearm rotary moveable mechanism of hand decompression machinery ESD according to claim 1 and 2, its feature exists
In：Wrist universal joint includes connecting cylinder, left engaging lug, right engaging lug, upper engaging lug and lower engaging lug, left engaging lug and right connection
The rear side of ear is respectively fixedly connected with the left side and right side outer surface of forearm rotating cylinder front end, and the left side of connecting cylinder and right side are divided
Do not pass through the first bearing pin rotation with the front side of left engaging lug and right engaging lug to be connected, the front side of upper engaging lug and lower engaging lug is respectively
Be fixedly connected on palm and lay on the upper side and lower side outer surface at a rear portion, the upper side and lower side of connecting cylinder respectively with upper engaging lug
Pass through the second bearing pin with the rear side of lower engaging lug and rotate connection；Connecting cylinder bottom is provided with wrist rest seat, and wrist rest seat sets
Four penetrating wire guides before and after having, four wire guides are arranged side by side in left-right direction.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620879928.6U CN205928626U (en) | 2016-08-15 | 2016-08-15 | Preceding rotation of arm activity mechanism of mechanical ectoskeleton device of hand decompression |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620879928.6U CN205928626U (en) | 2016-08-15 | 2016-08-15 | Preceding rotation of arm activity mechanism of mechanical ectoskeleton device of hand decompression |
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| Publication Number | Publication Date |
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| CN205928626U true CN205928626U (en) | 2017-02-08 |
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| CN201620879928.6U Expired - Fee Related CN205928626U (en) | 2016-08-15 | 2016-08-15 | Preceding rotation of arm activity mechanism of mechanical ectoskeleton device of hand decompression |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106628806A (en) * | 2017-02-28 | 2017-05-10 | 深圳龙海特机器人科技有限公司 | Double-open wearing-type auxiliary carrying device |
-
2016
- 2016-08-15 CN CN201620879928.6U patent/CN205928626U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106628806A (en) * | 2017-02-28 | 2017-05-10 | 深圳龙海特机器人科技有限公司 | Double-open wearing-type auxiliary carrying device |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170208 Termination date: 20170815 |
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| CF01 | Termination of patent right due to non-payment of annual fee |