Single-freedom rehabilitation mechanical hand driving device

A driving device and manipulator technology, applied in the field of medical robots, can solve problems such as rope drive tension, rope friction, deformed rope, etc., and achieve the effects of overcoming tension problems, avoiding injuries, and reducing weight

Inactive Publication Date: 2017-01-04
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The present invention adopts rope drive to solve the existing rehabilitation finger driving device, and the rope tension problem caused by rope friction, deformation, etc. exists in the rope drive, and then provides a single-degree-of-freedom rehabilitation manipulator driving device
[0008] The single-degree-of-freedom rehabilitation manipulator driving device of the present invention fully simulates the natural movement of human fingers, avoids additional damage to traumatized fingers during the rehabilitation process, and solves the tension problem caused by rope driving

Method used

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  • Single-freedom rehabilitation mechanical hand driving device
  • Single-freedom rehabilitation mechanical hand driving device
  • Single-freedom rehabilitation mechanical hand driving device

Examples

Experimental program
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specific Embodiment approach 1

[0027] Specific implementation mode one: as Figure 1-7 As shown, the driving device of the single-degree-of-freedom rehabilitation manipulator in this embodiment includes a driving device 1, a first connecting rod 2, a second connecting rod 3, a third connecting rod 5, a locking slot 4 and a driving rod 7; The driving device 1 includes a driving motor 9 and a motor base 10, the motor base 10 is fixed on the contact base 8, the driving motor 9 is installed on the motor base 10, the first link 2 is provided with a synchronous toothed belt mechanism, and the synchronous teeth The shaped belt mechanism includes a first joint shaft 11, a second joint shaft 15, a first synchronous pulley 12, a second synchronous pulley 16 and a synchronous belt 14, and one end of the first link 2 is fixedly connected to the motor base 10, The output shaft of the driving motor 9 passes through one end of the first connecting rod 2 and is fixedly connected to the first joint shaft 11, the first synch...

specific Embodiment approach 2

[0028] Specific implementation mode two: as figure 2 As shown, the bottom end surface of the contact base 8 in this embodiment is provided with a soft, extensible sponge material. With such a design, it can adapt to the size of different patients' hands. Other components and connections are the same as those in the first embodiment.

specific Embodiment approach 3

[0029] Specific implementation mode three: as figure 1 and figure 2 As shown, the driving rod 7 in this embodiment is an S-shaped driving rod. With such a design, the S-shape can drive the fingers to perform flexion and extension movements, as well as adduction and abduction movements. Other compositions and connections are the same as those in Embodiment 1 or 2.

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Abstract

The invention provides a single-freedom rehabilitation mechanical hand driving device, and relates to a mechanical hand driving device. The single-freedom rehabilitation mechanical hand driving device solves the problems that the existing rehabilitation finger driving device uses rope driving; the rope friction and deformation exist in the rope driving; the rope tension is caused. An output shaft of a driving motor passes through one end of the first section of connecting rod to be fixedly connected with a first joint shaft; a synchronous belt is arranged on a first synchronous belt wheel and a second synchronous belt wheel; a gear is fixedly arranged on the other end of the first section of connecting rod through a first convex sleeve; the upper part of the second section of connecting rod is rotationally connected with the other end of the first section of connecting rod through a second joint shaft; a third joint shaft is arranged at the lower part of the second section of connecting rod; a half gear is fixedly sleeved on the third joint shaft; the gear and the half gear are mutually engaged; the second convex sleeve and the upper end of the third section of connecting rod are sleeved on the third joint shaft; a locking clamp groove is positioned in a position of being rotationally connected with the third section of connecting rod through a pin shaft; one end of the driving rod passes through the fixing block to be arranged in a through hole in a penetrating way. The single-freedom rehabilitation mechanical hand driving device is used for driving a mechanical hand.

Description

technical field [0001] The invention relates to a driving device for a manipulator, in particular to a driving device for exoskeleton finger joints, and belongs to the field of medical robots. Background technique [0002] As another application of robotics in the medical field, rehabilitation robots are the product of the close combination of rehabilitation theory and robotics. At present, it has become a research hotspot in the field of robotics. Rehabilitation manipulator is an important branch of rehabilitation robot. Its main task is to provide auxiliary rehabilitation training for hand trauma patients. It can excellently complete the complicated work of traditional physical therapists and help patients recover the normal motor function of their traumatized fingers faster. [0003] The finger drive device is an important part of the structural design of the rehabilitation manipulator. In order to avoid additional damage to the traumatized finger during the rehabilitati...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/12
CPCB25J9/12
Inventor 付宜利张福海牟洋杨磊王鹏
Owner HARBIN INST OF TECH
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