Wrist and hand exoskeleton robot

Abstract

The invention relates to the technical field of robots, and provides a wrist and hand exoskeleton robot which comprises a plurality of first driving mechanisms, and each first driving mechanism comprises a first driving assembly, a pair of first Bowden cables, a first motor, a second driving assembly, a pair of second Bowden cables and a second motor. Two ends of each first Bowden cable are respectively connected with the first driving assembly and the first motor; the first motor is used for driving the first driving assembly to move up and down; the second driving assembly is connected with the first driving assembly; the first end of each second Bowden cable is connected with the second driving assembly; the second motor is connected with the second end of the second Bowden cable and is used for driving the second driving assembly to swing left and right; when the first motor and the second motor operate at the same time, the fingers can be driven to do cooperative movement in the orthogonal direction. According to the wrist and hand exoskeleton robot, the fingers can move up and down, swing left and right and move cooperatively, and therefore automatic training of cooperative actions such as flexion and extension, adduction and abduction of the fingers is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular, to a wrist and hand exoskeleton robot. Background Art

[0002] With the continuous evolution of the global population age structure, movement dysfunction diseases represented by stroke and degenerative joint diseases show a significant growth trend. Such pathological states often lead to damage to the central nerve conduction pathway and degradation of the coordination of the peripheral musculoskeletal system. Patients face the severe challenge of losing their daily living ability due to the lack of motor control ability. The current clinical rehabilitation system mainly relies on repetitive movement training guided by physical therapists, and its core mechanism is to promote the plastic reconstruction of damaged nerve circuits through proprioceptive stimulation. However, due to the limited number of existing rehabilitation physicians, the needs of rehabilitation patients cannot be met. Based on this, it is urgent to provide an exoskeleton robot that can be used for rehabilitation training. Summary of the Invention

[0003] The present invention provides a wrist and hand exoskeleton robot to solve the defect that the number of existing rehabilitation physicians is limited and cannot meet the needs of rehabilitation patients.

[0004] The present invention provides a wrist and hand exoskeleton robot, including a plurality of first driving mechanisms. The plurality of first driving mechanisms are used to be strapped to the fingers of a user to drive the fingers to move. The first driving mechanism includes: a first driving component for being strapped to the fingers of the user; a pair of first Bowden wires, with the first end of each first Bowden wire connected to the first driving component; a first motor connected to the second end of the first Bowden wire, and the first motor is used to drive the first driving component to move up and down to drive the fingers to move up and down; a second driving component connected to the first driving component; a pair of second Bowden wires, with the first end of each second Bowden wire connected to the second driving component; a second motor connected to the second end of the second Bowden wire, and the second motor is used to drive the second driving component to swing left and right to drive the fingers to swing left and right; wherein, when the first motor and the second motor operate simultaneously, the first driving component and the second driving component can drive the fingers to perform coordinated movement in the orthogonal directions.

[0005] According to a wrist and hand exoskeleton robot provided by the present invention, the first driving component includes: a fixing block for being strapped to the fingers of the user, and the fixing block is provided with a first slide rail along the length direction of the finger; a first slider slidably connected to the first slide rail; a first swing rod connected to the first slider; a first joint connected to the first swing rod and the first Bowden wire.

[0006] According to a wrist and hand exoskeleton robot provided by the present invention, the first joint includes a first wire pulley, the first end of the first Bowden wire is wound around the first wire pulley, the first wire pulley is connected to the first swing rod, and the axis of the first wire pulley is perpendicular to the length direction of the finger; when the first motor rotates, it can drive the first wire pulley to rotate, and then drive the first swing rod to move up and down.

[0007] According to a wrist and hand exoskeleton robot provided by the present invention, the first joint further includes a first elastic member, and both ends of the first elastic member are respectively connected to the first wire pulley and the first swing rod.

[0008] According to a wrist and hand exoskeleton robot provided by the present invention, the first joint further includes a first housing, the first wire pulley is arranged in the first housing, the first housing is provided with a first opening, and the first swing rod passes through the first opening.

[0009] According to a wrist and hand exoskeleton robot provided by the present invention, the second driving assembly includes: a second swing rod connected to the first housing; a second joint connected to the second swing rod and the second Bowden wire; when the second motor rotates, it can drive the second joint to rotate, and then drive the second swing rod to swing left and right.

[0010] According to a wrist and hand exoskeleton robot provided by the present invention, the second joint includes: a second wire pulley, the first end of the second Bowden wire is wound around the second wire pulley, the second wire pulley is connected to the second swing rod, and the axes of the second wire pulley, the first wire pulley, and the length direction of the finger are perpendicular to each other in pairs; a second housing, the second wire pulley is arranged in the second housing, the second housing is provided with a second opening, and the second swing rod passes through the second opening.

[0011] According to a wrist and hand exoskeleton robot provided by the present invention, it further includes a first base for binding to the palm of a user, the first base is provided with a plurality of second slide rails in a direction perpendicular to the finger, and the number of the second slide rails matches the number of the first driving mechanisms; the first driving mechanism further includes: a second slider slidably connected to the second slide rail; a third swing rod, and both ends of the third swing rod are respectively connected to the second slider and the second joint.

[0012] A wrist and hand exoskeleton robot provided by the present invention further includes: a second base for binding to the wrist of a user, and a third slide rail is provided on the second base; a second driving mechanism, a first end of the second driving mechanism is slidably connected to the third slide rail, and a second end of the second driving mechanism is connected to the first base, and the second driving mechanism is used to drive the user's palm to move up and down, swing left and right, and perform circular motion.

[0013] A wrist and hand exoskeleton robot provided by the present invention further includes a plurality of third wire wheels, a second end of the first Bowden wire and a second end of the second Bowden wire are respectively wound around the third wire wheels, and the third wire wheels are connected to the first motor or the second motor.

[0014] The wrist and hand exoskeleton robot provided by the present invention can make the fingers move up and down by setting the first driving component, the first Bowden wire and the first motor; by setting the second driving component, the second Bowden wire and the second motor, the fingers can be made to swing left and right; when the first motor and the second motor operate simultaneously, the fingers can be made to perform circular motion, thereby realizing automatic training of finger flexion and extension and adduction and abduction; when adjacent first driving mechanisms act simultaneously, adjacent fingers can be made to cooperate with each other, realizing multi-dimensional training. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0016] Figure 1 is a schematic structural diagram of the wrist and hand exoskeleton robot provided by the present invention.

[0017] Figure 2 is Figure 1 a schematic structural diagram of the first driving mechanism shown in

[0018] Figure 3 is Figure 2 a schematic structural diagram of the first joint shown in

[0019] REFERENCE NUMERALS: 1, first driving mechanism; 2, second driving mechanism; 3, first base; 4, second base; 11, fixing block; 12, first slider; 13, first swing rod; 14, first joint; 15, second swing rod; 16, second joint; 17, third swing rod; 18, second slider; 41, third slide rail; 101. Second slide rail; 111. Strapping; 112. First slide rail; 141. First housing; 142. First wire wheel; 143. First Bowden wire; 144. First elastic member; 161. Second housing 1411. First opening; 1611. Second opening Detailed implementation mode

[0020] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without making creative efforts shall fall within the protection scope of the present invention

[0021] The following will be combined with Figures 1 - 3 Describe the wrist and hand exoskeleton robot of the present invention

[0022] As Figure 1 shown, in the embodiment of the present invention, the wrist and hand exoskeleton robot includes a plurality of first driving mechanisms 1, and the plurality of first driving mechanisms 1 are used to be strapped to the fingers of the user to drive the fingers to move. The first driving mechanism 1 includes: a first driving component, a pair of first Bowden wires 143, a first motor, a second driving component, a pair of second Bowden wires and a second motor

[0023] Specifically, the first driving component is used to be strapped to the fingers of the user, and the second driving component is connected to the first driving component so that the two become an integral body. The first end of each first Bowden wire 143 is connected to the first driving component, and the second end of each first Bowden wire 143 is connected to the first motor. When the first motor rotates, it can drive the first driving component to move up and down, thereby driving the fingers to move up and down. The first end of each second Bowden wire is connected to the second driving component, and the second end of each second Bowden wire is connected to the second motor. When the second motor rotates, it can drive the second driving component to swing left and right. The second driving component drives the first driving component to swing left and right, and then drives the fingers to swing left and right. When the first motor and the second motor run simultaneously, the fingers can move up and down and swing left and right, thereby realizing the circular motion of the fingers

[0024] In this embodiment, both the first motor and the second motor are rotary motors, which can rotate forward or backward. The first motor and the first driving component are connected by two first Bowden wires 143. For example, when the first motor rotates forward, it pulls the first first Bowden wire 143, and the first first Bowden wire 143 drives the first driving component to move upward; when the first motor rotates backward, it pulls the second first Bowden wire 143, and the second first Bowden wire 143 drives the first driving component to move downward

[0025] Accordingly, the second motor and the second driving assembly are also connected by two second Bowden wires. When the second motor rotates forward, it pulls the first second Bowden wire among the two second Bowden wires, and the first second Bowden wire drives the second driving assembly to swing to the left; when the first motor rotates in reverse, it pulls the second second Bowden wire, and the second second Bowden wire drives the second driving assembly to swing to the right.

[0026] It can be understood that each first driving mechanism 1 can drive one finger to perform rehabilitation exercises. When each finger wears the first driving mechanism 1, each finger can be driven to perform rehabilitation exercises. When controlling the first driving mechanisms 1 on two fingers to move simultaneously, the two fingers can cooperate with each other to perform actions such as picking up an object, rotating an object, and releasing an object, so as to realize the grasping and releasing functions of the hand.

[0027] The wrist and hand exoskeleton robot provided by the embodiment of the present invention can make the fingers move up and down by setting the first driving assembly, the first Bowden wire, and the first motor; by setting the second driving assembly, the second Bowden wire, and the second motor, the fingers can be made to swing left and right; when the first motor and the second motor run simultaneously, the fingers can perform circular motion, thereby realizing automatic training for finger flexion / extension and adduction / abduction; when adjacent first driving mechanisms act simultaneously, adjacent fingers can cooperate with each other to perform actions, realizing multi-dimensional training.

[0028] As Figure 2 shown, in the embodiment of the present invention, the first driving assembly includes: a fixed block 11, a first slider 12, a first swing rod 13, and a first joint 14.

[0029] Specifically, a strap 111 is provided on one side of the fixed block 11, and a first slide rail 112 is provided on the other side opposite to this side along the length direction of the finger. The first slider 12 is slidably connected to the first slide rail 112. Both ends of the first swing rod 13 are respectively connected to the first slider 12 and the first joint 14. The first joint 14 is connected to the first Bowden wire 143. When the first motor rotates, it drives the first joint 14 to rotate through the first Bowden wire 143. When the first joint 14 rotates, it drives the first swing rod 13 to move up and down. When the first swing rod 13 moves up and down, it can drive the first slider 12 to slide along the first slide rail 112, thereby driving the finger to move up and down.

[0030] Specifically, when the first slider 12 moves along the first slide rail 112 in a direction away from the finger tip, the finger moves downward; when the first slider 12 moves along the first slide rail 112 in a direction close to the finger tip, the finger moves upward.

[0031] As Figure 3As shown, in the embodiment of the present invention, the first joint 14 includes a first wire wheel 142. The first end of the first Bowden wire 143 is wound around the first wire wheel 142. The first wire wheel 142 is connected to the first swing rod 13. When the first motor rotates, it can drive the first wire wheel 142 to rotate through the first Bowden wire 143, and the first wire wheel 142 drives the first swing rod 13 to move up and down. In this embodiment, the axis of the first wire wheel 142 is perpendicular to the movement direction of the first slider 12. Thus, when the first wire wheel 142 rotates, it can drive the first swing rod 13 to move up and down.

[0032] Furthermore, the first joint 14 further includes a first elastic member 144. The two ends of the first elastic member 144 are respectively connected to the first wire wheel 142 and the first swing rod 13. When the first motor rotates, it can drive the first wire wheel 142 and the first elastic member 144 to rotate synchronously, and then drive the first swing rod 13 to move up and down. In this embodiment, the first elastic member 144 is used to buffer the movement of the first swing rod 13, so as to increase the flexibility of the exoskeleton robot during movement and avoid rigid movement from causing harm to the user's fingers.

[0033] As Figure 3 shown, the first joint 14 further includes a first housing 141. The first wire wheel 142 is disposed inside the first housing 141. The first housing 141 is provided with a first opening 1411, and the first swing rod 13 passes through the first opening 1411. In this embodiment, since the first swing rod 13 needs to move up and down, the size of the first opening 1411 in the vertical direction can be increased to avoid interfering with the movement of the first swing rod 13.

[0034] In the embodiment of the present invention, the second drive assembly includes: a second swing rod 15 and a second joint 16. The two ends of the second swing rod 15 are respectively connected to the first housing 141 and the second joint 16. The second joint 16 is connected to a second Bowden wire. When the second motor rotates, it can drive the second joint 16 to rotate through the second Bowden wire, and then drive the first housing 141 to swing left and right through the second swing rod 15, so that the finger swings left and right.

[0035] Furthermore, in the embodiment of the present invention, the structure of the second joint 16 is the same as that of the first joint 14. Specifically, the second joint 16 includes: a second housing 161 and a second wire wheel. The second wire wheel is disposed inside the second housing 161. The first end of the second Bowden wire is wound around the second wire wheel. The second wire wheel is connected to the second swing rod 15. The second housing 161 is provided with a second opening 1611, and the second swing rod 15 passes through the second opening 1611.

[0036] When the second motor rotates, it can drive the second wire wheel to rotate through the second Bowden wire, and the second wire wheel drives the second swing rod 15 to swing left and right. In this embodiment, the axis of the second wire wheel is perpendicular to the axis of the first wire wheel 142, so that when the second wire wheel rotates, it can drive the second swing rod 15 to swing left and right. In this embodiment, since the second swing rod 15 needs to swing left and right, the size of the second opening 1611 in the horizontal direction can be increased to avoid interfering with the movement of the second swing rod 15.

[0037] Further, the second joint 16 further includes a second elastic member, and the two ends of the second elastic member are respectively connected to the second wire wheel and the second swing rod 15. When the second motor rotates, it can drive the second wire wheel and the second elastic member to rotate synchronously, and then drive the second swing rod 15 to swing left and right. In this embodiment, the second elastic member is used to buffer the movement of the second swing rod 15 to increase the flexibility of the exoskeleton robot during movement and avoid rigid movement from hurting the user's fingers.

[0038] As Figure 1 shown, in the embodiment of the present invention, the wrist and hand exoskeleton robot further includes a first base 3 for binding to the user's palm, and the first base 3 is provided with a plurality of second slide rails 101. The first driving mechanism 1 further includes: a third swing rod 17 and a second slider 18. The two ends of the third swing rod 17 are respectively connected to the second slider 18 and the second joint 16, and the second slider 18 is slidably connected to the second slide rail 101.

[0039] Specifically, the extending direction of the second slide rail 101 is perpendicular to the finger. The third swing rod 17 is connected to the second housing 161 of the second joint 16. When the second slider 18 slides along the second slide rail 101, it can drive the second joint 16 and the first joint 14 to move as a whole, so as to adjust the position of the first driving mechanism 1 on the first base 3 and improve the comfort of the user after wearing. In this embodiment, the first base 3 is provided with a plurality of second slide rails 101, and the number of the second slide rails 101 matches the number of the first driving mechanisms 1 to integrate a plurality of first driving mechanisms 1 on the first base 3. In the embodiment as Figure 1 shown, a total of two second slide rails 101 are provided on the first base 3. Correspondingly, the number of the first driving mechanisms 1 is also two. The two first driving mechanisms 1 are used to be worn on the thumb and index finger of the human body to perform rehabilitation training on the thumb and index finger. Since the movements of the hand are mainly completed by the thumb and index finger, the rehabilitation training is mainly aimed at the thumb and index finger. When controlling the first driving mechanisms 1 on the thumb and index finger to move simultaneously, the thumb and index finger can cooperate with each other to perform actions such as picking up an object, rotating an object, and releasing an object, so as to realize the grasping and releasing functions of the hand.

[0040] As Figure 1As shown in the figure, two second slide rails 101 are provided on the first base 3. Among them, the first second slide rail 101 is located on the first base 3, and the first driving mechanism 1 connected to the second slide rail 101 is for wearing on the index finger of the user; the second second slide rail 101 is located on the side of the first base 3, and the first driving mechanism 1 connected to the second slide rail 101 is for wearing on the thumb of the user. It can be understood that when the length of the first second slide rail 101 is longer, the first driving mechanism 1 worn on the index finger can also be worn on the middle finger, ring finger and little finger of the user; in addition, by enlarging the size of the first base 3 and arranging multiple second slide rails 101 on the first base 3, a first driving mechanism 1 can also be set for each finger to perform rehabilitation training on all fingers. When the first driving mechanism 1 is worn on each finger, controlling multiple first driving mechanisms 1 to act simultaneously can realize the coordinated movement of multiple fingers, such as grasping an object in the palm and other actions.

[0041] As Figure 1 As shown in the figure, in the embodiment of the present invention, the wrist and hand exoskeleton robot further includes: a second base 4 and a second driving mechanism 2. The second base 4 is for binding to the wrist of the user. A third slide rail 41 is provided on the second base 4. The first end of the second driving mechanism 2 is slidably connected to the third slide rail 41, and the second end of the second driving mechanism 2 is connected to the first base 3. The second driving mechanism 2 is used to drive the palm of the user to move up and down, swing left and right, and perform circular motion.

[0042] Specifically, the structure of the second driving mechanism 2 is the same as that of the first driving mechanism 1. The second driving mechanism includes a third driving component, a pair of third Bowden wires and a third motor. When the third motor rotates, it can drive the third driving component to move up and down through the third Bowden wires. The third driving component is connected to the first base 3, and then drives the palm of the user to move up and down. The second driving mechanism further includes: a fourth driving component, a pair of fourth Bowden wires and a fourth motor. When the fourth motor rotates, it can drive the fourth driving component to swing left and right through the fourth Bowden wires. The fourth driving component is connected to the third driving component, and then drives the palm to swing left and right. When the third motor and the fourth motor run simultaneously, the third driving component and the fourth driving component can drive the palm of the user to move up and down and swing left and right at the same time to form a circular motion. When the second driving mechanism 2 and the first driving mechanism 1 act simultaneously, the coordinated movement of the wrist and fingers can be realized.

[0043] In the above-mentioned embodiment, the structure of the third driving component is the same as that of the first driving component, and the structure of the fourth driving component is the same as that of the second driving component, so it will not be elaborated here.

[0044] The wrist and hand exoskeleton robot provided by the embodiment of the present invention can make the fingers and palm of the user perform up and down movements, left and right swings, circular movements and coordinated movements by setting the first driving mechanism and the second driving mechanism, realizing automatic rehabilitation training.

[0045] Further, in the embodiment of the present invention, each motor is connected to the third wire wheel, and both ends of each Bowden wire are respectively connected to two wire wheels. When the motor rotates forward, it drives the third wire wheel to rotate. When the third wire wheel rotates, it causes one of the Bowden wires connected to it to be tightened, driving the first wire wheel 142 or the second wire wheel to rotate.

[0046] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wrist and hand exoskeleton robot, characterized in that, It includes a plurality of first driving mechanisms, and the plurality of first driving mechanisms are used to be strapped to the fingers of a user to drive the finger movement. The first driving mechanism includes: A first driving component, which is used to be strapped to the finger of a user; A pair of first Bowden cables, and the first end of each first Bowden cable is connected to the first driving component; A first motor, which is connected to the second end of the first Bowden cable. The first motor is used to drive the first driving component to move up and down to drive the finger to move up and down; A second driving component, which is connected to the first driving component; A pair of second Bowden cables, and the first end of each second Bowden cable is connected to the second driving component; A second motor, which is connected to the second end of the second Bowden cable. The second motor is used to drive the second driving component to swing left and right to drive the finger to swing left and right; Wherein, when the first motor and the second motor operate simultaneously, the first driving component and the second driving component can drive the finger to perform a collaborative movement in the orthogonal directions.

2. The wrist and hand exoskeleton robot according to claim 1, characterized in that, The first driving component includes: A fixed block, which is used to be strapped to the finger of a user. The fixed block is provided with a first slide rail along the length direction of the finger; A first slider, which is slidably connected to the first slide rail; A first swing rod, which is connected to the first slider; A first joint, which is connected to the first swing rod and the first Bowden cable.

3. The wrist and hand exoskeleton robot according to claim 2, wherein The first joint includes a first wire wheel. The first end of the first Bowden cable is wound around the first wire wheel. The first wire wheel is connected to the first swing rod, and the axis of the first wire wheel is perpendicular to the length direction of the finger; When the first motor rotates, it can drive the first wire wheel to rotate, and then drive the first swing rod to move up and down.

4. The wrist and hand exoskeleton robot according to claim 3, characterized in that The first joint further includes a first elastic member, and the two ends of the first elastic member are respectively connected to the first wire wheel and the first swing rod.

5. The wrist and hand exoskeleton robot according to claim 3, characterized in that, The first joint further includes a first housing. The first wire wheel is arranged in the first housing. The first housing is provided with a first opening, and the first swing rod passes through the first opening.

6. The wrist and hand exoskeleton robot according to claim 5, wherein, The second driving component includes: A second swing rod, which is connected to the first housing; A second joint, which is connected to the second swing rod and the second Bowden cable; When the second motor rotates, it can drive the second joint to rotate, and then drive the second swing rod to swing left and right.

7. The wrist and hand exoskeleton robot according to claim 6, wherein, The second joint includes: A second wire wheel. The first end of the second Bowden cable is wound around the second wire wheel. The second wire wheel is connected to the second swing rod. The axis of the second wire wheel, the axis of the first wire wheel, and the length direction of the finger are perpendicular to each other in pairs; A second housing. The second wire wheel is arranged in the second housing. The second housing is provided with a second opening, and the second swing rod passes through the second opening.

8. The wrist and hand exoskeleton robot according to claim 6, characterized in that, It further includes a first base, which is used to be strapped to the palm of a user. The first base is provided with a plurality of second slide rails along the direction perpendicular to the finger, and the number of the second slide rails matches the number of the first driving mechanisms; The first driving mechanism further includes: A second slider, which is slidably connected to the second slide rail; The third swing rod, with both ends of the third swing rod respectively connected to the second slider and the second joint.

9. The wrist and hand exoskeleton robot according to claim 8, characterized in that, Further comprising: A second base for binding to the user's wrist, and a third slide rail is provided on the second base; A second driving mechanism, with the first end of the second driving mechanism slidably connected to the third slide rail, and the second end of the second driving mechanism connected to the first base. The second driving mechanism is used to drive the user's palm to move up and down, swing left and right, and perform circular motion.

10. The wrist and hand exoskeleton robot according to claim 1, characterized in that, Further comprising a plurality of third wire wheels, with the second ends of the first Bowden wire and the second Bowden wire respectively wound around the third wire wheels, and the third wire wheels are connected to the first motor or the second motor.

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