CN209933407U - Thumb movement mechanism for exoskeleton hand rehabilitation robot - Google Patents
Thumb movement mechanism for exoskeleton hand rehabilitation robot Download PDFInfo
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- CN209933407U CN209933407U CN201920524684.3U CN201920524684U CN209933407U CN 209933407 U CN209933407 U CN 209933407U CN 201920524684 U CN201920524684 U CN 201920524684U CN 209933407 U CN209933407 U CN 209933407U
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- thumb
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- hinged
- movement mechanism
- connecting rod
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- 210000003813 thumb Anatomy 0.000 title claims abstract description 153
- 210000003811 finger Anatomy 0.000 claims abstract description 36
- 238000005452 bending Methods 0.000 claims abstract description 16
- 210000000236 metacarpal bone Anatomy 0.000 claims abstract description 7
- 230000000694 effects Effects 0.000 abstract description 4
- 230000002349 favourable effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 210000002435 tendon Anatomy 0.000 description 2
- 230000008733 trauma Effects 0.000 description 2
- 206010016654 Fibrosis Diseases 0.000 description 1
- 210000003484 anatomy Anatomy 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 230000004761 fibrosis Effects 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 210000004932 little finger Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
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Abstract
The utility model provides a thumb movement mechanism for exoskeleton hand rehabilitation robot, which comprises a thumb torsion unit and a thumb bending and stretching unit, wherein the thumb torsion unit comprises a rocker slider mechanism consisting of a first linear driver (24) and a rod piece, a lifting rod is hinged on a rocker (27) of the rocker slider mechanism, and the tail end of the lifting rod is provided with a ring which is used for being sleeved on a part of a thumb proximal joint (41) close to a thumb metacarpal bone; the thumb flexion and extension unit comprises a second linear actuator (34) arranged along the thumb extension direction and a movable bow formed by mutually hinged rod pieces, the front end of the movable bow is hinged with a finger clip (38) used for clamping and fixing on the thumb distant joint (42), and the rear end of the movable bow is connected with a movable seat on the thumb area of the fixing plate (1). The utility model provides a thumb motion can realize the training of the whole actions of thumb to be favorable to guaranteeing that the thumb obtains good recovered effect.
Description
Technical Field
The utility model relates to the technical field of medical equipment, especially, relate to a thumb motion for recovered robot of ectoskeleton hand.
Background
The human hand is an organ with a very fine anatomical structure and very easy trauma, and clinically, after a hand trauma operation, a patient's finger needs to be fixed in a certain position for 3-4 weeks, so that blood stasis deposited around tendons in joints is often caused to form fibrosis, and the adhesion of the finger joints and the tendons is directly caused, so that the function of the hand of the patient is influenced to a great extent.
The exoskeleton hand rehabilitation robot is wearable equipment for helping a patient to perform hand passive rehabilitation training, but aiming at training of a thumb, the conventional exoskeleton hand rehabilitation robot can only achieve flexion and extension actions generally, but is difficult to achieve combined actions of torsion and flexion and extension, which influences the final rehabilitation effect of the thumb, so that how to improve the exoskeleton hand rehabilitation robot to achieve training of all actions of the thumb becomes a technical problem to be solved urgently by technical personnel in the field.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides a thumb motion for ectoskeleton hand rehabilitation robot, this thumb motion can realize the training of the whole actions of thumb to be favorable to guaranteeing that the thumb obtains good recovered effect.
In order to achieve the above object, the utility model provides a following technical scheme:
a thumb movement mechanism for an exoskeleton hand rehabilitation robot including a fixation plate covering a metacarpal area of a single hand, the thumb movement mechanism comprising:
the thumb torsion unit comprises a rocker sliding block mechanism consisting of a first linear driver and a rod piece, the first linear driver is transversely placed in the four-finger area of the fixed plate, a rocker of the rocker sliding block mechanism is hinged with a lifting rod, and the tail end of the lifting rod is provided with a ring which is sleeved on the part of the proximal joint of the thumb, close to the metacarpal bone of the thumb;
the thumb bending and stretching unit comprises a second linear actuator arranged along the thumb forward stretching direction and a movable bow formed by rod pieces hinged with each other, the front end of the movable bow is hinged with a finger clip used for being clamped on the thumb distal joint, the rear end of the movable bow is connected with a movable seat on the thumb area of the fixing plate, the second linear actuator is installed on the movable seat, and the movable seat is used for enabling the thumb bending and stretching unit to have the freedom degree in the thumb twisting direction relative to the fixing plate.
Preferably, in the above thumb movement mechanism, a pivot is provided in a thumb area of the fixed plate, and the movable seat in the thumb flexion and extension unit is a rotating block mounted on the pivot.
Preferably, in the above thumb movement mechanism, the thumb area of the fixing plate is provided with an arc-shaped guide groove extending around the metacarpal bone of the thumb in a bending manner, and the movable seat in the thumb bending and extending unit is a sliding block matched with the guide groove.
Preferably, in the thumb movement mechanism, the front end of the sliding block is provided with a mounting seat connected with the tail end of the second linear driver, the side surface of the sliding block is provided with a limit pin penetrating through an arc-shaped guide hole, and the arc-shaped guide hole is communicated with the arc-shaped guide groove.
Preferably, in the thumb movement mechanism, the lifting rod includes a first ball-end connecting rod and a hoe-shaped hanging block, a ball end of the first ball-end connecting rod is hinged to the finger ring, the other end of the first ball-end connecting rod is fixedly connected to a head of the hanging block, and a handle portion of the hanging block is hinged to the rocker.
Preferably, in the above thumb movement mechanism, the hanging block is replaced by a second ball-end connecting rod, a ball end of the second ball-end connecting rod is hinged to the rocker, and the first ball-end connecting rod is connected to the second ball-end connecting rod through a first headless screw.
Preferably, in the above thumb movement mechanism, the thumb movement mechanism further includes a third ball-end connecting rod and a fourth ball-end connecting rod, a ball end of the third ball-end connecting rod is hinged to the first headless screw, a ball end of the fourth ball-end connecting rod is hinged to the first web area of the fixing plate, and the third ball-end connecting rod is connected to the fourth ball-end connecting rod through a second headless screw.
Preferably, in the above thumb movement mechanism, the movable bow includes a driven rod and a fifth ball-end connecting rod at the front end, the ball end of the fifth ball-end connecting rod is hinged to the finger clip, and the other end of the fifth ball-end connecting rod is connected to the driven rod through a third headless screw.
Preferably, in the above thumb movement mechanism, the finger ring is composed of a quarter-ring arc plate and a tightening belt passing through the arc plate, and the lifting rod is hinged to the arc plate.
Preferably, in the above thumb movement mechanism, the thumb movement mechanism further comprises a soft rubber finger sleeve sleeved on the thumb, the soft rubber finger sleeve comprises a first sleeve section corresponding to the proximal joint of the thumb and a second sleeve section corresponding to the distal joint of the thumb, the first sleeve section and the second sleeve section are connected into a whole by a soft rib, the surface of the second sleeve section is provided with a plurality of bulges, and the finger clip is provided with a plurality of holes matched and connected with the bulges.
According to the technical scheme, the utility model provides an among the thumb motion for ectoskeleton hand rehabilitation robot, except being provided with the thumb and bending and stretching the unit, still be provided with the thumb and twist reverse the unit, the thumb twists reverse the unit and includes the rocker slider mechanism that comprises first linear actuator and member, and first linear actuator is violently put in the four fingers district of fixed plate, can drive the rocker swing, and the rocker is connected with the ring of cover on the position that the thumb proximal joint is close to the thumb metacarpal through carrying the pull rod to it twists reverse to drive the thumb. The thumb flexion and extension unit comprises a second linear driver and a movable bow, wherein the second linear driver is arranged along the thumb extension direction, the movable bow is composed of rod pieces hinged with each other, the front end of the movable bow is hinged with a finger clip clamped on the far knuckle of the thumb, the rear end of the movable bow is connected with a movable seat on a thumb area of the fixing plate, the movable seat is used for enabling the thumb flexion and extension unit to have the freedom degree of the thumb torsion direction relative to the fixing plate, when the thumb is twisted by the first linear driver through a finger ring, the thumb drives the movable bow and the movable seat to move together through the finger clip so as to adapt to the torsion action of the thumb, and meanwhile, the second linear driver can enable the thumb to extend and bend through the movable bow. To sum up, the utility model provides a thumb motion can realize the training of the whole actions of thumb to be favorable to guaranteeing that the thumb obtains good recovered effect.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic view of a thumb movement mechanism for an exoskeleton hand rehabilitation robot according to a first embodiment of the present invention;
fig. 2 is a schematic view of another perspective of the thumb movement mechanism provided in accordance with an embodiment of the present invention;
fig. 3 is a diagram illustrating a thumb extending state of the thumb movement mechanism according to an embodiment of the present invention;
fig. 4 is a view illustrating a state of thumb bending of the thumb movement mechanism according to an embodiment of the present invention;
fig. 5 is a schematic view of a thumb movement mechanism for an exoskeleton hand rehabilitation robot according to a second embodiment of the present invention;
fig. 6 is a schematic view of another view angle of the thumb movement mechanism provided in the second embodiment of the present invention;
fig. 7 is a partial structural schematic view of a thumb movement mechanism provided in the second embodiment of the present invention;
fig. 8 is a schematic diagram of a thumb movement mechanism for an exoskeleton hand rehabilitation robot according to a third embodiment of the present invention.
Labeled as:
1. a fixing plate;
21. a fixed support; 22. fixing a bracket; 23. a fixed support; 24. a linear actuator; 25. pulling the pull rod; 26. a hanging block; 27. a rocker; 28. an arc plate; 29. a ball head connecting rod;
31. rotating the block; 32. a pivot; 33. an auxiliary lever; 34. a linear actuator; 35. a driving lever; 36. a driven lever; 37. a ball head connecting rod; 38. finger clipping; 39. a soft rubber finger sleeve;
41. proximal thumb joint; 42. the distal thumb joint;
51. a guide seat; 52. a slider; 53. fixing a bracket; 54. a longitudinal pull rod; 55. a spacing pin; 56. a mounting seat;
61-63 and a ball head connecting rod.
Detailed Description
For the sake of understanding, the present invention will be further described with reference to the accompanying drawings.
Example one
Referring to fig. 1 and 2, fig. 1 is a schematic view of a thumb movement mechanism for an exoskeleton hand rehabilitation robot according to an embodiment of the present invention, and fig. 2 is a schematic view of another perspective view of the thumb movement mechanism according to an embodiment of the present invention, the exoskeleton hand rehabilitation robot includes a fixing plate 1, the fixing plate 1 includes a four-finger area and a thumb area, and covers a metacarpal area of a single hand during use. To facilitate the illustration of the various states of use of the thumb movement mechanism, the lever members are shown simulating the knuckles of a human hand, such as the proximal thumb joint 41 and the distal thumb joint 42 shown.
The thumb movement mechanism provided by the first embodiment comprises a thumb torsion unit and a thumb bending and stretching unit, wherein the thumb torsion unit comprises a rocker slider mechanism consisting of a linear driver 24 and a rod piece, the linear driver 24 is transversely placed in the four-finger area of the fixed plate 1, a rocker 27 of the rocker slider mechanism is hinged with a lifting rod, and the tail end of the lifting rod is provided with a finger ring which is sleeved on the part of the thumb proximal joint 41 close to the metacarpal bone of the thumb; the thumb flexion and extension unit comprises a linear actuator 34 arranged along the thumb extension direction and a movable bow formed by mutually hinged rod pieces, the front end of the movable bow is hinged with a finger clip 38 for clamping on the thumb distal joint 42, the rear end of the movable bow is connected with a movable seat on the thumb area of the fixing plate 1, the linear actuator 34 is arranged on the movable seat, and the movable seat is used for enabling the thumb flexion and extension unit to have freedom degree in the thumb twisting direction relative to the fixing plate 1.
As shown in fig. 2, the rocker slider mechanism in the thumb turn unit is configured by using a linear actuator 24 transversely placed on the four-finger area of the fixed plate 1 as a frame and a slider, specifically, the fixed plate 1 is provided with a fixed support 21 at a position on the four-finger area near the little finger side, a fixed support 23 at a position on the four-finger area near the index finger side, and a fixed bracket 22 is provided at a position between the fixed support 21 and the fixed support 23, one end of the linear actuator 24 is mounted on the fixed support 21 and fixed by the fixed support 22, the front end of the linear actuator 24 is hinged with a pull rod 25, the other end of the pull rod 25 is hinged with a rocker 27, and the rocker 27 is hinged on the fixed support 23, so that the linear actuator 24, the pull rod 25 and the rocker 27 constitute a rocker slider mechanism.
In the first embodiment, the thumb area of the fixing plate 1 is provided with a pivot 32, and the movable seat in the thumb bending and stretching unit is a rotating block 31 mounted on the pivot 32, as shown in fig. 1. The movable bow is composed of a driving rod 35, a driven rod 36, a ball head connecting rod 37 and an auxiliary rod 33, wherein the ball end of the ball head connecting rod 37 is hinged with a finger clamp 38, the other end of the ball head connecting rod 37 is connected with the driven rod 36 through a headless screw, and the length of the movable bow is adjustable. The rear end of the auxiliary lever 33 is fixed to the rotary block 31 by means of screws, and the linear actuator 34 is installed on the rotary block 31 for actuating the active lever 35. The thumb extension state of the thumb flexion and extension unit is shown in fig. 3, and the thumb flexion state is shown in fig. 4.
In the first embodiment, the lifting rod comprises a ball-end connecting rod 29 and a hoe-shaped hanging block 26, wherein the ball-end of the ball-end connecting rod 29 is hinged with the finger ring, the other end of the ball-end connecting rod is fixedly connected with the head of the hanging block 26, and the handle of the hanging block 26 is hinged with the rocker 27. The linear driver 24 makes the rocker 27 swing, and the rocker 27 drives the ring to move through the lifting rod, thereby realizing the twisting action of the thumb. During the twisting movement of the thumb, the thumb drives the rotating block 31 to rotate around the pivot 32 through the finger clip 38 and the movable bow.
Example two
Referring to fig. 5 to 7, fig. 5 is a schematic view of a thumb movement mechanism for an exoskeleton hand rehabilitation robot according to a second embodiment of the present invention, fig. 6 is a schematic view of another viewing angle of the thumb movement mechanism according to the second embodiment of the present invention, and fig. 7 is a schematic view of a partial structure of the thumb movement mechanism according to the second embodiment of the present invention.
In the second embodiment, a movable seat different from the first embodiment is designed, and the matching of the thumb bending and stretching unit to the thumb twisting motion can also be realized, in the second embodiment, a guide seat 51 is arranged in the thumb area of the fixing plate 1, an arc-shaped guide groove extending around the thumb metacarpal bone in a bending way is formed in the guide seat 51, the movable seat in the thumb bending and stretching unit is a sliding block 52 matched with the guide groove, and the linear driver 34 and the auxiliary rod 33 are both installed on the sliding block 52. As shown in fig. 7, the front end of the sliding block 52 is provided with a mounting seat 56 connected with the tail end of the linear actuator 34, the side surface of the sliding block 52 is provided with a limit pin 55 inserted into the arc-shaped guide hole, and the arc-shaped guide hole is communicated with the arc-shaped guide groove.
It should be noted that, compared with the first embodiment, the design of the joint of the linear actuator 34, the active rod 35 and the auxiliary rod 33 is changed in the second embodiment, and in order to realize the movement of the movable arch, in the second embodiment, the linear actuator 34 is provided with the fixed bracket 53, and the fixed bracket 53 is connected with the active rod 35 through the longitudinal pull rod 54, as shown in fig. 5 and 6.
EXAMPLE III
In the third embodiment, a lifting rod different from the first embodiment is designed, referring to fig. 2 and 8, the hanging block 26 in the first embodiment is replaced by a ball-end connecting rod 61, the ball end of the ball-end connecting rod 61 is hinged with a rocker 27, and the ball-end connecting rod 29 is connected with the ball-end connecting rod 61 through a headless screw, so that the length of the lifting rod is adjustable.
In order to control the twisting action of the thumb more stably, in the third embodiment, a ball connecting rod 62 and a ball connecting rod 63 are arranged, the ball end of the ball connecting rod 62 is hinged with headless screws between the ball connecting rod 29 and the ball connecting rod 61, the ball end of the ball connecting rod 63 is hinged with a jaw area of the fixing plate 1, and the ball connecting rod 62 is connected with the ball connecting rod 63 through headless screws, so that the length of the ball connecting rod is adjustable.
In the above embodiments, the finger ring may be composed of a quarter-ring arc plate 28 and a tightening band passing through the arc plate 28, and the lifting rod is hinged with the arc plate 28.
In a specific practical application, in order to better fix the thumb to the thumb movement mechanism, a soft rubber finger sleeve 39 covering the thumb may be provided, as shown in fig. 1, in this embodiment, the soft rubber finger sleeve 39 includes a first sleeve section corresponding to the proximal joint 41 of the thumb and a second sleeve section corresponding to the distal joint 42 of the thumb, in the figure, the second sleeve section is covered by the finger clip 38, the second sleeve section and the first sleeve section are connected into a whole by a soft rib, the surface of the second sleeve section has a plurality of protrusions, and the finger clip 38 has a plurality of holes in matching connection with the protrusions. In other embodiments, the clip body of the finger clip 38 (the portion covering the second section of the soft rubber finger sleeve 39) may be removed, and only the portion hinged to the ball-end link 37 is retained, and the portion is bonded to the second section of the soft rubber finger sleeve 39, so that the second section replaces the original clip body portion of the finger clip 38.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to the embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A thumb movement mechanism for an exoskeleton hand rehabilitation robot comprising a fixation plate (1) covering the metacarpal area of a single hand, comprising:
the thumb torsion unit comprises a rocker sliding block mechanism consisting of a first linear driver (24) and a rod piece, the first linear driver (24) is transversely placed in four finger areas of the fixed plate (1), a rocker (27) of the rocker sliding block mechanism is hinged with a lifting rod, and the tail end of the lifting rod is provided with a ring which is sleeved on a part of a thumb proximal joint (41) close to a metacarpal bone of a thumb;
the thumb bending and stretching unit comprises a second linear actuator (34) arranged along the thumb stretching direction and a movable bow formed by rod pieces hinged with each other, the front end of the movable bow is hinged with a finger clip (38) used for being clamped on a thumb remote joint (42), the rear end of the movable bow is connected with a movable seat on the thumb area of the fixing plate (1), the second linear actuator (34) is installed on the movable seat, and the movable seat is used for enabling the thumb bending and stretching unit to have the freedom degree in the thumb twisting direction relative to the fixing plate (1).
2. The thumb movement mechanism according to claim 1, characterized in that the thumb area of the fixed plate (1) is provided with a pivot (32), and the movable seat in the thumb flexion-extension unit is a rotating block (31) mounted on the pivot (32).
3. The thumb movement mechanism according to claim 1, characterized in that the thumb area of the fixing plate (1) is provided with an arc-shaped guide groove extending around the metacarpal bone of the thumb in a bending way, and the movable seat in the thumb bending and extending unit is a sliding block (52) matched with the guide groove.
4. The thumb movement mechanism of claim 3, wherein the front end of the sliding block (52) is provided with a mounting seat (56) connected with the tail end of the second linear actuator (34), and the side surface of the sliding block (52) is provided with a limit pin (55) inserted into an arc-shaped guide hole, and the arc-shaped guide hole is communicated with the arc-shaped guide groove.
5. The thumb movement mechanism of claim 1, wherein the lifting bar comprises a first ball-end link (29) and a hoe-shaped hanger (26), the ball-end of the first ball-end link (29) is hinged to the finger ring, the other end of the first ball-end link is fixedly connected to the head of the hanger (26), and the handle of the hanger (26) is hinged to the rocker (27).
6. The thumb movement mechanism of claim 5, wherein the hanger piece (26) is replaced by a second ball-end link (61), the ball end of the second ball-end link (61) being hinged to the rocker (27), the first ball-end link (29) being connected to the second ball-end link (61) by a first headless screw.
7. The thumb movement mechanism according to claim 6, further comprising a third ball-end connecting rod (62) and a fourth ball-end connecting rod (63), wherein a ball end of the third ball-end connecting rod (62) is hinged with the first headless screw, a ball end of the fourth ball-end connecting rod (63) is hinged with a first web area of the fixing plate (1), and the third ball-end connecting rod (62) and the fourth ball-end connecting rod (63) are connected through a second headless screw.
8. The thumb movement mechanism according to any one of claims 1 to 7, characterized in that the movable bow comprises a follower bar (36) and a fifth ball-end link (37) at the front end, the ball end of the fifth ball-end link (37) being hinged to the finger grip (38) and the other end being connected to the follower bar (36) by a third headless screw.
9. The thumb movement mechanism of claim 8, wherein the finger ring is composed of a quarter-ring arc plate (28) and a tightening band passing through the arc plate (28), and the lifting bar is hinged to the arc plate (28).
10. The thumb movement mechanism of claim 9, further comprising a soft rubber sleeve (39) fitted over the thumb, wherein the soft rubber sleeve (39) comprises a first sleeve section corresponding to the proximal joint (41) of the thumb and a second sleeve section corresponding to the distal joint (42) of the thumb, the first sleeve section and the second sleeve section are connected into a whole by a soft rib, the surface of the second sleeve section has a plurality of protrusions, and the finger clip (38) has a plurality of holes connected with the protrusions in a matching manner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920524684.3U CN209933407U (en) | 2019-04-17 | 2019-04-17 | Thumb movement mechanism for exoskeleton hand rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920524684.3U CN209933407U (en) | 2019-04-17 | 2019-04-17 | Thumb movement mechanism for exoskeleton hand rehabilitation robot |
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| Publication Number | Publication Date |
|---|---|
| CN209933407U true CN209933407U (en) | 2020-01-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920524684.3U Withdrawn - After Issue CN209933407U (en) | 2019-04-17 | 2019-04-17 | Thumb movement mechanism for exoskeleton hand rehabilitation robot |
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| Country | Link |
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| CN (1) | CN209933407U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109893401A (en) * | 2019-04-17 | 2019-06-18 | 北京因时机器人科技有限公司 | A kind of thumb movement mechanism for ectoskeleton hand healing robot |
-
2019
- 2019-04-17 CN CN201920524684.3U patent/CN209933407U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109893401A (en) * | 2019-04-17 | 2019-06-18 | 北京因时机器人科技有限公司 | A kind of thumb movement mechanism for ectoskeleton hand healing robot |
| CN109893401B (en) * | 2019-04-17 | 2024-04-16 | 北京因时机器人科技有限公司 | Thumb movement mechanism for exoskeleton hand rehabilitation robot |
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