CN207465244U - A kind of chain type multi-joint exoskeleton rehabilitation mechanical finger mechanism of flexible drive - Google Patents
A kind of chain type multi-joint exoskeleton rehabilitation mechanical finger mechanism of flexible drive Download PDFInfo
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- CN207465244U CN207465244U CN201721593408.XU CN201721593408U CN207465244U CN 207465244 U CN207465244 U CN 207465244U CN 201721593408 U CN201721593408 U CN 201721593408U CN 207465244 U CN207465244 U CN 207465244U
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Abstract
The utility model discloses a kind of chain type multi-joint exoskeleton rehabilitation mechanical finger mechanism of flexible drive, including：Finger tip part, part in finger, refer to root part, elastic metallic yarn and fixed seat, fixed seat upper end is hinged with third joint left end, third joint right end, which is arranged on, to be referred in root part and is hinged with referring to root part left end, refer to root part right end and be provided with sliding slot C, second joint left end, which is arranged on, to be referred in root part and is hinged with the sliding slot C of finger root part right end, second joint right end is arranged in finger in part and is hinged with the sliding slot B of part left end in finger, first joint left end is arranged in finger in part and is hinged with the sliding slot A of part right end in finger, first joint right end is arranged in finger tip part and is hinged with finger tip part.The utility model is compact-sized, and processing cost is low, and push-and-pull drag torque is big, has compact-sized, small, the characteristics of processing cost is low compared to mechanical linkage structure.
Description
Technical field
The utility model is related to robot technology and technical field of medical rehabilitation machinery more particularly to a kind of flexible drives
Chain type multi-joint exoskeleton rehabilitation mechanical finger mechanism.
Background technology
Robot technology is gradually applied to medical rehabilitation field industry, and exoskeleton rehabilitation manipulator mainly uses at present
Mechanical linkage simulation rehabilitation mechanical finger movement, finger structure is complicated, and with high costs, system rigidity is big, easily to finger
Cause secondary damage.Meanwhile mechanical linkage finger control system is complicated, finger motion angle is small, and mechanism ductility can not
It is complied fully with the characteristic during digital flexion, patients fingers wearing comfort is poor, it is impossible to fully meet medical rehabilitation field
Demand.
Utility model content
The utility model overcomes above-mentioned the deficiencies in the prior art, provides a kind of chain type multi-joint dermoskeleton of flexible drive
Bone rehabilitation mechanical finger mechanism.
Utility model technical solution：
A kind of chain type multi-joint exoskeleton rehabilitation mechanical finger mechanism of flexible drive, including：Finger tip part, first are closed
It saves, refers to middle part, second joint, refers to root part, third joint, elastic metallic yarn and fixed seat,
The fixed seat upper end is hinged with third joint left end, and third joint right end, which is arranged on, to be referred in root part and with referring to root
Part left end is hinged, and is referred to root part right end and is provided with sliding slot C, second joint left end, which is arranged on, to be referred in root part and with referring to the root part right side
The sliding slot C at end is hinged, and second joint right end is arranged in finger in part and is hinged with the sliding slot B of part left end in finger, and first closes
Section left end is arranged in finger in part and is hinged with the sliding slot A of part right end in finger, and the first joint right end is arranged on finger tip part
It is interior and be hinged with finger tip part；
The finger tip part, the first joint refer to middle part, second joint, refer to root part and third is intra-articular is both provided with
Hollow duct；
Described elastic metallic yarn one end sequentially pass through third joint, refer to root part, second joint, refer to middle part and first close
Hollow duct on section is connected with finger tip part.
Further, the elastic metallic yarn is to be fixedly connected with finger tip part.
The utility model has the advantages that the prior art：The mechanism of the utility model extends and human finger
Flexural property meets, and bending angle is big, and digital flexion process can be effectively compensated for by turning joint rotation and sliding slot slip
In mechanism extend so that exoskeleton-type manipulators in rehabilitation is more in line with human finger flexural property.Drive control is simple, effectively
Secondary damage is avoided, using flexible resilient wire as mechanism type of drive, simplifies finger actuation control, it can be better
Finger biometric mechanical characteristic is simulated, and elastic elastic metallic yarn is capable of the resistance of adaptive patients fingers, avoids
Rehabilitation institution is to the secondary damage of patients fingers.Compact-sized, processing cost is low, and push-and-pull drag torque is big, compared to mechanical linkage
Structure has compact-sized, small, the characteristics of processing cost is low；It is two-way with that can realize compared to soft machine rehabilitation hand
Action pushes the characteristics of drag torque is big.
Description of the drawings
Fig. 1 is the structure diagram of the utility model；
Fig. 2 is the utility model digital flexion status diagram.
Specific embodiment
The utility model is described in detail below with reference to attached drawing.
A kind of chain type multi-joint exoskeleton rehabilitation mechanical finger mechanism of flexible drive, including：Finger tip part 1, first closes
Section 2 refers to middle part 3, second joint 4, refers to root part 5, third joint 6, elastic metallic yarn 7 and fixed seat 8,
8 upper end of fixed seat is hinged with 6 left end of third joint, 6 right end of third joint be arranged on refer in root part 5 and with
Refer to 5 left end of root part to be hinged, refer to 5 right end of root part and be provided with sliding slot C, 4 left end of second joint be arranged on refer in root part 5 and with finger
The sliding slot C of 5 right end of root part is hinged, 4 right end of second joint be arranged in finger in part 3 and with the sliding slot B of 3 left end of part in finger
Hinged, 2 left end of the first joint is arranged in finger in part 3 and is hinged with the sliding slot A of 3 right end of part in finger, 2 right end of the first joint
It is arranged in finger tip part 1 and hinged with finger tip part 1；
The finger tip part 1, the first joint 2 refer to middle part 3, second joint 4, refer in root part 5 and third joint 6
It is provided with hollow duct 9；
Described 7 one end of elastic metallic yarn sequentially passes through third joint 6, refers to root part 5, second joint 4, refers to middle 3 and of part
Hollow duct 9 on first joint 2 is connected with finger tip part 1.
The elastic metallic yarn 7 is with finger tip part 1 to be fixedly connected.
The present apparatus is fixed on above gloves, is placed a digit into when patient performs physical exercise in gloves while is coordinated the present apparatus real
The effect now taken exercise and treated.
The utility model coats patients fingers as ectoskeleton half using chain type multi-joint mechanism and drives finger motion, reaches
To passive and initiative rehabilitation therapeutic effect, the utility model has simple in structure, and pushing drag torque is big, and processing cost is low,
The features such as mechanism ductility is good, can be complied fully with digital flexion characteristic, and finger wearing comfort is high.Meanwhile using elasticity
Wire 7 is used as mechanism type of drive, simplifies finger actuation control, can preferably simulate finger biometric mechanical characteristic, and
And it is capable of the resistance of adaptive patients fingers with flexible elastic metallic yarn 7, rehabilitation institution is avoided to the two of patients fingers
Secondary damage.
The exoskeleton-type rehabilitation mechanical finger mechanism of the flexible drive of single finger mainly include finger tip part 1, refer in zero
Part 3 refers to 7 seven root part 5, the first joint 2, second joint 4, third joint 6, elastic metallic yarn parts.Finger tip part 1 refers to
Middle part 3 refers to root part 5 and carries out hinge formula connection by each turning joint respectively, and sliding slot A, sliding slot B and sliding slot C are collectively constituted
Chain type multi-joint finger mechanism.Elastic metallic yarn 7 is passed through and by each part and intra-articular hollow duct 9 at the endpoint of right side
It is fixedly connected with finger tip part.Mechanical finger mechanism original state is flattened for finger, and mechanical finger mechanism is under limiting at this time
Straightened condition.When elastic metallic yarn 7 carries out thrust motion to the right, 7 right side endpoint of elastic metallic cord active force first
In on finger tip part 1, rotating torque is formed, finger tip part 1 is pushed to rotate down.At this point, elastic metallic yarn 7 is by original flat shape
State is changed into flexuosity, and continues to push to the right, successively to the first joint 2, refer to middle part 3, second joint 4, refer to root zero
Part 5,6 formed downward pressure so that each joint with refer in part 3, refer to root part 5 around corresponding interface B, C, D point progress
Rotation, ultimately forms the flexure operation of mechanical finger mechanism, and action state is as shown in Figure 2.This flexible drive manipulators in rehabilitation
Refer to mechanism and patients fingers are partly coated in a manner of ectoskeleton, patients fingers will be driven to do when mechanical finger mechanism carries out bending motion
Passive bending motion.When mechanical finger mechanism is in flexuosity, side-lining elastic metallic yarn 7 then will be so that mechanism be each to the left
A part is rotated backward with joint, so as to restore mechanical finger straightened condition, while patients fingers is driven to do passive unbending movement.
Bidirectional-movement is drawn by the pushing of elastic metallic yarn 7 so that mechanical finger mechanism forms bending, unbending movement, reaches patient
The purpose of finger passive rehabilitation.
Claims (2)
1. a kind of chain type multi-joint exoskeleton rehabilitation mechanical finger mechanism of flexible drive, including：Finger tip part (1), first are closed
Section (2) refers to middle part (3), second joint (4), refers to root part (5), third joint (6), elastic metallic yarn (7) and fixed seat
(8), which is characterized in that
Fixed seat (8) upper end and third joint (6) left end are hinged, and third joint (6) right end, which is arranged on, to be referred in root part (5)
And it is hinged with referring to root part (5) left end, refer to root part (5) right end and be provided with sliding slot C, second joint (4) left end, which is arranged on, refers to root zero
In part (5) and the sliding slot C with referring to root part (5) right end is hinged, second joint (4) right end be arranged in finger in part (3) and with
The sliding slot B of part (3) left end is hinged in finger, the first joint (2) left end be arranged in finger in part (3) and with part in finger (3)
The sliding slot A of right end is hinged, and the first joint (2) right end is arranged in finger tip part (1) and is hinged with finger tip part (1)；
The finger tip part (1), refers to middle part (3), second joint (4), refers to root part (5) and third joint the first joint (2)
(6) hollow duct (9) is both provided in；
Described elastic metallic yarn (7) one end sequentially passes through third joint (6), refers to root part (5), second joint (4), refers to middle part
(3) the hollow duct (9) and on the first joint (2) is connected with finger tip part (1).
2. a kind of chain type multi-joint exoskeleton rehabilitation mechanical finger mechanism of flexible drive according to claim 1, special
Sign is that the elastic metallic yarn (7) is with finger tip part (1) to be fixedly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721593408.XU CN207465244U (en) | 2017-11-24 | 2017-11-24 | A kind of chain type multi-joint exoskeleton rehabilitation mechanical finger mechanism of flexible drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721593408.XU CN207465244U (en) | 2017-11-24 | 2017-11-24 | A kind of chain type multi-joint exoskeleton rehabilitation mechanical finger mechanism of flexible drive |
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| Publication Number | Publication Date |
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| CN207465244U true CN207465244U (en) | 2018-06-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721593408.XU Active CN207465244U (en) | 2017-11-24 | 2017-11-24 | A kind of chain type multi-joint exoskeleton rehabilitation mechanical finger mechanism of flexible drive |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110315887A (en) * | 2019-08-16 | 2019-10-11 | 常州机电职业技术学院 | A kind of holding device assisting myasthenia gravis patients |
| CN110742777A (en) * | 2019-10-14 | 2020-02-04 | 北京大学 | Flexible structure driven by flexible wires, chain link and wearing device |
| CN112656641A (en) * | 2020-12-11 | 2021-04-16 | 天津大学 | Wearing formula outer limb finger of cerebral apoplexy patient |
| CN113332097A (en) * | 2021-06-04 | 2021-09-03 | 燕山大学 | Flexible four-finger rehabilitation robot capable of being driven by far end |
| CN113386165A (en) * | 2021-07-05 | 2021-09-14 | 北京航空航天大学 | Novel grabbing integrated three-finger rigid-flexible mixed dexterous hand |
-
2017
- 2017-11-24 CN CN201721593408.XU patent/CN207465244U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110315887A (en) * | 2019-08-16 | 2019-10-11 | 常州机电职业技术学院 | A kind of holding device assisting myasthenia gravis patients |
| CN110742777A (en) * | 2019-10-14 | 2020-02-04 | 北京大学 | Flexible structure driven by flexible wires, chain link and wearing device |
| CN112656641A (en) * | 2020-12-11 | 2021-04-16 | 天津大学 | Wearing formula outer limb finger of cerebral apoplexy patient |
| CN113332097A (en) * | 2021-06-04 | 2021-09-03 | 燕山大学 | Flexible four-finger rehabilitation robot capable of being driven by far end |
| CN113332097B (en) * | 2021-06-04 | 2022-10-25 | 燕山大学 | Flexible four-finger rehabilitation robot capable of being driven by far end |
| CN113386165A (en) * | 2021-07-05 | 2021-09-14 | 北京航空航天大学 | Novel grabbing integrated three-finger rigid-flexible mixed dexterous hand |
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| GR01 | Patent grant | ||
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190823 Address after: 150000 Harbin, Heilongjiang, Nangang District, prosperous street, No. 130 Patentee after: Dai Yong Address before: Room 2605, 368 Changjiang Road, Jingkai Nangang Concentrated Area, Harbin, Heilongjiang Province, 150090 Patentee before: Harbin million Rongyun Joint Technology Development Co. Ltd. |
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| TR01 | Transfer of patent right |
Effective date of registration: 20210224 Address after: No.1, floor 1-2, building 207-209, Yingbin community, Daoli District, Harbin City, Heilongjiang Province Patentee after: Harbin Rongzhi Aike Intelligent Technology Co.,Ltd. Address before: 130 Flourishing Street, Nangang District, Harbin City, Heilongjiang Province Patentee before: Yong Dai |