A flexible cable spring hybrid driven hand exoskeleton

Abstract

This invention relates to a flexible cable and spring-driven hand exoskeleton, comprising flexible cables, a palm module, a thumb module, four finger modules, a guide module, and a drive module. The finger modules are connected by sliding springs, and each finger module includes multiple finger bone blocks, worn on the fingers via rings. The palm module connects to the finger modules and is secured to the hand with straps. Five flexible cables each drive one finger module. The cables pass sequentially through guide holes on the finger bones, through guide modules at the hand and arm, and connect to the drive module placed on the back of the body. Under the action of the drive module, the cables shorten, causing the springs of the five finger modules to bend. As the drive module slowly releases the cables, the five finger modules gradually extend under the elastic force of the springs. This invention combines flexible cables with sliding springs, ensuring flexibility while providing a large gripping force. The finger bone blocks are easy to install, remove, and replace.

Description

Technical Field

[0001] This invention relates to a hand exoskeleton, specifically a flexible cable and spring hybrid driven hand exoskeleton, belonging to the field of rehabilitation robots. Background Technology

[0002] Stroke is a common disease among the elderly, with a high disability rate. Assisting patients with repetitive finger flexion and extension exercises, aided by skilled therapists, can promote neurological recovery. However, this rehabilitation training requires specialized medical personnel, which is not only physically demanding but also financially burdensome for patients. Hand exoskeletons offer a new solution for rehabilitation training, compensating for the lack of specialized personnel, reducing the workload of physical therapists, and providing effective rehabilitation services.

[0003] Currently, common types of hand exoskeletons include rigid mechanical exoskeletons and flexible pneumatic exoskeletons. Rigid mechanical exoskeletons are relatively bulky, and the drive mechanism placed on the hand increases the burden on the hand and is inconvenient for daily wear. While flexible pneumatic exoskeletons are more flexible, the air pump is large, and ensuring airtightness and the limited force make it difficult to grasp objects.

[0004] In Chinese patent literature, the invention is titled "Reed-based Push-Pull Hand Exoskeleton" (CN 112641595 B). Although it reduces the use of rigid components and can provide greater tensile and bending forces, it cannot meet the bending of individual fingers, cannot perform thumb rehabilitation exercises, and the transmission device is located on the wrist, affecting the wearing experience. Summary of the Invention

[0005] The purpose of this invention is to address the aforementioned deficiencies in the existing technology by proposing a flexible cable-spring hybrid driven hand exoskeleton that is simple in structure, easy to assemble and disassemble, has a separate drive device from the hand device, good flexibility, and large bending force, suitable for daily rehabilitation and assisted grasping.

[0006] The present invention discloses a flexible cable and spring hybrid driven hand exoskeleton, comprising a flexible cable 1, a thumb module 2, a four-finger module 3, a palm module 4, a guide module 5, and a drive module 6. The flexible cable guiding devices 5-1 in the thumb module 2, four-finger module 3, and guide module are respectively connected to the palm module 4. A sliding spring structure is used between the phalanges of the thumb module 2 and four-finger module 3 to accommodate the flexion and extension movements of the finger joints. The palm module 4 connects and constrains the thumb module 2 and four-finger module 3, and is worn on the hand via straps 4-4. The thumb module 2 and four-finger module 3 respectively contain two and three phalanges, with finger rings on the phalanges. The finger rings have protrusions with guide holes. The flexible cable 1 passes through a ceramic eye in the guide hole of the phalange and enters the guide module 5, connecting to the drive module 6. One end of the flexible cable protrudes and engages with the guide hole of the finger ring at the distal end of the finger module, thereby transmitting the traction force of the flexible cable. Each finger module is driven by a motor, enabling both single-finger flexion and extension movements, as well as multiple fingers working together to perform grasping movements. The flexible cord 1 shortens in length under the action of the drive module 6, causing the five finger module springs to slide and bend. The drive module then reverses the drive to relax the flexible cord and allows the fingers to extend by relying on the rebound of the elastic springs.

[0007] The thumb module 2 consists of a distal phalanx seat 2-1, a proximal phalanx seat 2-2, a thumb-palm connecting seat 2-3, a thumb elastic spring, a thumb pin 2-7, a thumb phalanx cover 2-8, and a thumb eyelet 2-9. The thumb elastic spring includes a distal interphalangeal joint spring 2-4, a proximal interphalangeal joint spring 2-5, and a thumb-palm connecting spring 2-6. The thumb module 2 is slidably connected to the groove on the palm cover 4-2 via the thumb-palm connecting spring 2-6, giving the thumb module 2 three degrees of freedom relative to the palm.

[0008] For thumb module 2, the distal interphalangeal joint spring 2-4 has a hole at one end, which is connected to the distal phalanx seat 2-1 of the thumb via thumb pin 2-7. The other end has a groove, which slides on the cylindrical protrusion in the proximal phalanx seat 2-2 of the thumb. The proximal interphalangeal joint spring 2-5 is T-shaped, with a hole at one end, which is connected to the proximal phalanx 2-2 of the thumb via thumb pin 2-7. The other end slides within a certain range in the T-shaped groove of the thumb palm connecting seat 2-3. The thumb palm connecting spring 2-6 is also T-shaped, with a hole at one end, which is connected to the thumb palm connecting seat 2-3 via thumb pin 2-7 to form a rotating pair. The other end slides within a certain range in the T-shaped groove of the palm cover 4-2.

[0009] The four-finger module 3 has the same structure and connection method. It consists of four finger distal phalanx seat 3-1, four finger middle phalanx seat 3-2, and four finger proximal phalanx seat 3-3, four finger palm connecting seat 3-4, four finger elastic spring, four finger pin 3-8, four finger phalanx cover 3-9, and four finger porcelain eye 3-10. The four finger elastic spring includes four finger distal interphalangeal joint spring 3-5, four finger proximal interphalangeal joint spring 3-6, and four finger metacarpophalangeal joint spring 3-7. The thickness of the elastic spring used for each joint is different.

[0010] For the four-finger module 3, the distal interphalangeal joint spring 3-5 of the four fingers has a hole at one end, which is connected to the distal phalanx seat through the four-finger pin 3-8 and the four-finger phalanx cap 3-9. The other end has a groove and is slidably connected to the cylindrical protrusion of the middle phalanx seat 3-2 of the four fingers. The proximal interphalangeal joint spring 3-6 of the four fingers has one end connected to the middle phalanx seat 3-2 of the four fingers through the four-finger pin 3-8 and the four-finger phalanx cap 3-9. The other end is slidably connected to the cylindrical protrusion of the proximal phalanx seat 3-3 of the four fingers. The metacarpophalangeal joint spring 3-7 of the four fingers is T-shaped, with a hole at one end, which is connected to the proximal phalanx seat 3-3 of the four fingers through the four-finger pin 3-8. The other end is slidably connected to the four-finger palm connecting seat 3-4.

[0011] Taking the index finger as an example, the phalanx structure is explained. Each of the three phalanx rests has a ring for securing the finger. The ring on the distal phalanx rest 3-1 of the fourth finger is closed to prevent it from sliding on the finger. The middle phalanx rest 3-2 of the fourth finger has grooves on both sides. One side inserts a spring and the phalanx cover; the groove on the phalanx cover is wider than the groove on the spring, and the spring slides on a cylindrical protrusion inside the phalanx rest. The groove on the other side is used to insert a spring, which is connected by a pin. The spring grooves on both sides are not on the same plane to prevent interference between the two springs. The proximal phalanx rest 3-3 of the fourth finger adds a groove structure at its end to the middle phalanx rest 3-2, allowing a steel plate to be inserted between it and the palm cover 4-2 to fix the metacarpophalangeal joint to the palm, thus changing the training mode.

[0012] The hand module 4 consists of a hand shell 4-1, a hand cover 4-2, screws 4-3, and a hand strap 4-4. The hand shell 4-1 and the hand cover 4-2 are connected by screws 4-3. The hand cover 4-2 has four slots that are tangent to the cylindrical blocks on the four-finger hand connector 3-4 of the corresponding four-finger module 3, giving it both sliding and rotational degrees of freedom. The hand strap 4-4 is installed on the hand shell to secure the hand.

[0013] The guiding module consists of a flexible cable guiding device 5-1, a conduit 5-2, five guide plates 5-3, and an arm strap 5-4. Each of the five flexible cables 1 pulls a finger, with one end protruding and locking into a guide hole in the distal phalanx to transmit traction force and drive finger bending. The other end passes sequentially through a ceramic eye in the phalanx guide hole, through the flexible cable traction device 5-1, and through the guide plate 5-3 fixed to the arm via the arm strap 5-4, ultimately connecting to the drive module 6. The flexible cable guiding device 5-1 is mounted on the palm side of the hand shell 4-1 via a pin. The conduit 5-2 has caps at both ends; one end is mounted on the flexible cable guiding device 5-1, and the other end is mounted on the motor housing 6-1. The length between these two points remains constant during finger bending.

[0014] The drive unit consists of a motor housing 6-1, a motor cover 6-2, five linear motors 6-3, screws 6-4, and a flexible cable connecting block 6-5. The motor housing and the motor cover are connected together by four screws 6-4. The motor housing wall has holes for connecting conduit caps. There is a stop block inside the motor housing 6-1 for fixing the linear motors 5-3. One end of the flexible cable connecting block 6-5 is connected to the linear motors 6-3 through a threaded hole, and the other end has a small hole for connecting the flexible cable 1.

[0015] Compared with the prior art, the beneficial effects of this invention are as follows:

[0016] This invention employs a hybrid drive structure of flexible cable and spring. The elastic spring provides excellent flexibility, and the flexible cable drive allows the drive module to be placed on the back, reducing hand strain while generating greater gripping force to meet the patient's daily needs. The finger bone blocks are easy to assemble, disassemble, and replace. Each finger has its own motor drive, enabling individual control of the bending of any or multiple fingers. In the later stages of rehabilitation, the thickness of the elastic spring can be adjusted for hand training. The entire hand exoskeleton reduces the use of rigid components, making it lighter and more portable. Attached Figure Description

[0017] Figure 1 A schematic diagram of a wearable exoskeleton for the hand driven by a combination of flexible cable and spring.

[0018] Figure 2 A schematic diagram of the back-side structure of a flexible cable spring hybrid driven hand exoskeleton.

[0019] Figure 3 A schematic diagram of the palm-side structure of a flexible cable-spring hybrid driven hand exoskeleton.

[0020] Figure 4 A schematic diagram of a guide device for the arm of a hand exoskeleton driven by a hybrid cable and spring mechanism.

[0021] Figure 5A schematic diagram of the index finger module structure of a flexible cable spring hybrid driven hand exoskeleton.

[0022] Figure 6 A schematic diagram of the index finger module structure of a flexible cable spring hybrid driven hand exoskeleton.

[0023] Figure 7 A schematic diagram of the exploded structure of the index finger module of a flexible cable spring hybrid driven hand exoskeleton.

[0024] Figure 8 A half-section diagram of the phalangeal joint of the index finger module in a flexible cable-spring hybrid driven hand exoskeleton.

[0025] Figure 9 Exploded view of a flexible cable spring hybrid drive device for a hand exoskeleton

[0026] In the diagram: 1-flexible cord; 2-thumb module; 3-four-finger module; 4-palm module; 5-guide module; 6-drive module. Detailed Implementation

[0027] Combined with appendix Figure 1 Appendix Figure 2 Appendix Figure 3 Appendix Figure 4 The present invention will be further described in detail below:

[0028] This invention discloses a flexible cable and spring hybrid driven hand exoskeleton, comprising a flexible cable 1, a thumb module 2, four-finger modules 3, a palm module 4, a guide module 5, and a drive module 6. The finger modules utilize sliding springs at their joints to accommodate flexion and extension movements. The thumb module 2 and four-finger modules 3 have finger rings on their phalangeal supports, each ring having a protrusion and a guide hole. The flexible cable 1 passes through a ceramic eye in the guide hole of the phalanx and enters the flexible cable guide device 5-1, connecting to the drive module 6. One end of the flexible cable protrudes and engages with the guide hole of the distal phalanx finger ring, transmitting the cable's traction force. Each finger module is driven by a motor, enabling both individual finger flexion and extension movements, as well as coordinated grasping movements by multiple fingers. Under the action of the drive module 6, the flexible cable 1 shortens, causing the springs of the five finger modules to slide and bend. The drive device reverses this, releasing the flexible cable and allowing the fingers to extend due to the rebound of the elastic springs. When wearing the device, the fingers are threaded through the ring and the hand structure is fixed to the palm of the human hand through the palm strap 4-4. The guide plate 5-3 in the guide module is fixed to the human arm through the palm strap 5-4. The drive module is then carried on the back of the human body through the motor box strap to complete the wearing process.

[0029] Combined with appendix Figure 2 The present invention will be further described as follows:

[0030] The palm module 4 consists of a palm shell 4-1, a palm cover 4-2, screws 4-3, and a palm strap 4-4. The palm shell 4-1 and the palm cover 4-2 are connected by screws 4-3. The palm cover 4-2 has four slots, each of which is tangent to a cylindrical block on the corresponding four-finger palm connecting seat 3-4 of the four-finger module 3, giving it both sliding and rotational degrees of freedom. The palm strap 4-4 is fixed to the palm shell to secure the hand.

[0031] Combined with appendix Figure 3 Appendix Figure 4 The present invention will be further described as follows:

[0032] The guiding module consists of a flexible cable guiding device 5-1, a conduit 5-2, five guide plates 5-3, and an arm strap 5-4. Each of the five flexible cables 1 pulls a finger. One end of each cable 1 protrudes and engages with a guide hole in the distal phalanx, transmitting the traction force to bend the spring in the finger module. The other end passes sequentially through a ceramic eyelet in the phalanx guide hole, through the flexible cable traction device 5-1, and through the guide plate 5-3 fixed to the arm via the arm strap 5-4, ultimately connecting to the drive module 6.

[0033] The flexible cable traction device 5-1 is installed on the palm side of the hand shell 4-1 by a pin, and is at a certain height from the palm so as not to affect the thumb bending and grasping action. It has five parallel guide holes, which correspond to the flexible cables 1 that pull the five fingers in sequence. A section of tubing 5-2 is connected between the guide holes of the flexible cable traction device and the guide holes on the outer shell of the drive device to wrap the flexible cable. The tubing caps at both ends are stuck in the guide holes and glued in place. The tubing caps have small holes to allow the flexible cable 1 to pass through. The length between the two guide holes remains unchanged during the bending of the fingers.

[0034] Combined with appendix Figure 5 Appendix Figure 6 Appendix Figure 7 Appendix Figure 8 The present invention will be further described as follows:

[0035] Taking the thumb and index finger as examples, the structure of the finger module is explained. The thumb module 2 consists of a distal phalanx seat 2-1, a proximal phalanx seat 2-2, a thumb-palm connecting seat 2-3, a thumb elastic spring, a thumb pin 2-7, a thumb phalanx cover 2-8, and a thumb eyelet 2-9. The thumb elastic spring includes a distal interphalangeal joint spring 2-4, a proximal interphalangeal joint spring 2-5, and a thumb-palm connecting spring 2-6. One end of the distal interphalangeal joint spring has a hole and is connected to the distal phalanx seat 2-1 via the thumb pin 2-7. The other end has a groove and slides on the cylindrical protrusion in the proximal phalanx seat 2-2. The proximal interphalangeal joint spring 2-5 is T-shaped, with one end having a hole and being connected to the proximal phalanx seat 2-2 via the thumb pin 2-7. The other end slides within a certain range in the T-shaped groove of the thumb-palm connecting seat 2-3. The thumb-palm connecting spring 2-6 is T-shaped and slightly curved. One end has a hole and connects to the thumb-palm connecting seat 2-3 via the thumb pin 2-7, forming a rotating pair. The other end slides within a certain range in the T-shaped groove of the palm cover. Similar to the metacarpophalangeal joint spring, it is connected to the palm cover via the thumb-palm connecting spring 2-6.

[0036] The four-finger module 3 has the same structure and connection method, consisting of the distal phalanx seat 3-1, the middle phalanx seat 3-2, and the proximal phalanx seat 3-3 of the four fingers, the palm connecting seat 3-4 of the four fingers, and the four-finger elastic spring, the four-finger pin 3-8, the four-finger phalanx cover 3-9, and the four-finger porcelain eye 3-10; the four-finger elastic spring includes the distal interphalangeal joint spring 3-5, the proximal interphalangeal joint spring 3-6, and the metacarpophalangeal joint spring 3-7 of the four fingers, and the elastic spring with different thicknesses is used for each joint. The distal interphalangeal joint reed 3-5 of the four fingers has a hole at one end, which is connected to the distal phalanx seat 3-1 of the four fingers via a four-finger pin 3-8. The other end has a groove and slides on the cylindrical protrusion in the middle phalanx seat 3-2 of the four fingers. The proximal interphalangeal joint reed 3-6 of the four fingers has one end connected to the middle phalanx seat 3-2 of the four fingers via a four-finger pin 3-8. The other end has a groove and slides on the cylindrical protrusion in the proximal phalanx seat 3-3 of the four fingers. The metacarpophalangeal joint reed 3-7 of the four fingers is T-shaped, with a hole at one end, which is connected to the proximal phalanx seat 3-3 via a four-finger pin 3-8. The other end slides within a certain range in the T-shaped groove of the four-finger palm connector 3-4.

[0037] Taking the index finger as an example, the phalanx structure is explained. Each of the three phalanx rests has a ring for securing the finger. The ring on the distal phalanx rest 3-1 of the fourth finger is closed to prevent it from sliding on the finger. The middle phalanx rest 3-2 of the fourth finger has grooves on both sides. One side inserts a spring and the phalanx cover; the groove on the phalanx cover is wider than the groove on the spring, and the spring slides on a cylindrical protrusion inside the phalanx rest. The groove on the other side is used to insert a spring, which is connected by a pin. The spring grooves on both sides are not on the same plane to prevent interference between the two springs. The proximal phalanx rest 3-3 of the fourth finger adds a groove structure at its end to the middle phalanx rest 3-2, allowing a steel plate to be inserted between it and the palm cover 4-2 to fix the metacarpophalangeal joint to the palm, thus changing the training mode.

[0038] Combined with appendix Figure 9 The present invention will be further described as follows:

[0039] The drive module consists of a motor housing 6-1, a motor cover 6-2, five linear motors 6-3, screws 6-4, and a flexible cable connecting block 6-5. The motor housing and the motor cover are connected together by four screws 6-4. There are holes on the wall of the motor housing for connecting the conduit cap. There is a stop block inside the motor housing 6-1 for fixing the linear motors 5-3. One end of the flexible cable connecting block 6-5 is connected to the linear motors 6-3 through a threaded hole, and the other end has a small hole for connecting the flexible cable 1.

[0040] Finally, it should be noted that the above description is only a part of the preferred embodiments of the present invention. Any person skilled in the art can modify the above-described technical solutions or modify them into equivalent technical solutions. Therefore, any simple modifications or equivalent substitutions made based on the technical solutions of the present invention are within the scope of protection claimed by the present invention.

Claims

1. A flexible cable spring hybrid driven hand exoskeleton, comprising: The system comprises a flexible cord (1), a thumb module (2), a four-finger module (3), a palm module (4), a guide module (5), and a drive module (6). Sliding springs are used at the joints of the finger modules. These springs are of two types: end-grooved and T-shaped. The end-grooved springs slide within the thumb proximal phalanx seat (2-2), the middle four-finger phalanx seat (3-2), and the four-finger proximal phalanx seat (3-3) of the four-finger module (3). The T-shaped springs slide within the thumb-palm connecting seat (2-3) and the four-finger-palm connecting seat (3-4) of the four-finger module (3). The thumb module (2) has two phalanges, and the four-finger module (3) has three phalanges. These are worn on the fingers via finger rings. The phalanx covers are fixed to the phalanx seats using a slot and pin connection. Cylindrical protrusions on the phalanx seats limit the movement of the springs. The porcelain eye is glued and fixed in the guide hole on the phalanx seat to guide the direction of the flexible cable traction; the four-finger module (3) consists of the distal phalanx seat (3-1), the middle phalanx seat (3-2), and the proximal phalanx seat (3-3), the palm connecting seat (3-4), the four-finger elastic spring, the four-finger pin (3-8), the four-finger phalanx cover (3-9), and the four-finger porcelain eye (3-10). The cylindrical block on the palm connecting seat (3-4) is embedded in the groove on the palm cover (4-2) and is tangent to the groove; the four-finger elastic spring includes the distal interphalangeal joint spring (3-5), the proximal interphalangeal joint spring (3-6), and the metacarpophalangeal joint spring (3-7). -7) The shape and connection method of the four-finger distal interphalangeal joint reed (3-5) and the four-finger proximal interphalangeal joint reed (3-6) are the same as those of the thumb distal interphalangeal joint reed (2-4). The shape and connection method of the four-finger metacarpophalangeal joint reed (3-7) are the same as those of the thumb proximal interphalangeal joint reed (2-5). The three phalangeal seats of the four-finger module (3) all have finger rings for fixing the fingers. The finger ring of the distal phalangeal seat (3-1) of the four-finger is closed to prevent the finger ring from sliding on the finger. The middle phalangeal seat (3-2) of the four-finger has grooves on both sides. A reed and a phalangeal cover are inserted into one side. The groove of the phalangeal cover is wider than the groove of the reed. The reed slides on the cylindrical protrusion inside the phalangeal seat. The other side slot is used to insert a spring and connect them together with a pin. The spring slots on both sides are not on the same plane. The proximal phalanx seat (3-3) of the four fingers has an added slot structure at the end based on the middle phalanx seat (3-2) of the four fingers. A steel plate can be inserted between it and the palm cover (4-2) to fix the metacarpophalangeal joint to the palm. Five flexible cables (1) are arranged on the palm side, each driving a finger module. The flexible cables pass through the porcelain eye installed on the guide hole of the phalanx seat and then through the guide module (5) located at the hand and arm to connect with the drive module (6). The protrusion at one end of the flexible cord (1) can be locked onto the guide hole of the finger ring at the distal end of the finger module, thereby transmitting the traction force of the flexible cord; each finger module has a linear motor (6-3) for driving, which can complete the flexion and extension movements of a single finger, and multiple fingers can cooperate to complete the grasping movement; under the action of the drive module (6), the flexible cord (1) shortens along the length of the guide module (5), thereby driving the springs of the five finger modules to slide and bend, and the drive module (6) releases the flexible cord and the five finger modules extend under the action of the spring elasticity.

2. The flexible cable spring hybrid driven hand exoskeleton according to claim 1, characterized in that: The thumb module (2) consists of a distal phalanx seat (2-1), a proximal phalanx seat (2-2), a thumb-palm connecting seat (2-3), a thumb elastic spring, a thumb pin (2-7), a thumb phalanx cover (2-8), and a thumb eyelet (2-9). The thumb elastic spring includes a distal interphalangeal joint spring (2-4), a proximal interphalangeal joint spring (2-5), and a thumb-palm connecting spring (2-6). The distal interphalangeal joint elastic spring (2-4) is a slotted type, with a hole at one end for connection to the distal phalanx seat (2-1) via the thumb pin (2-7). In the first part, the other end has a groove that slides tangentially to the cylindrical protrusion in the thumb proximal phalanx seat (2-2). The thumb proximal interphalangeal joint spring (2-5) is T-shaped, with a hole at one end connected to the thumb proximal phalanx seat (2-2) through the thumb pin (2-7), and the other end slides in the T-shaped groove of the thumb palm connecting seat (2-3). The thumb palm connecting spring (2-6) is also T-shaped and has a certain curvature. One end has a hole that connects to the thumb palm connecting seat (2-3) through the thumb pin (2-7) to form a rotating pair, and the other end slides in the T-shaped groove on the palm cover (4-2).

3. The flexible cable spring hybrid driven hand exoskeleton according to claim 1, characterized in that: The guiding module consists of a flexible cable guide device (5-1), a conduit (5-2), five guide plates (5-3), and an arm strap (5-4). The flexible cable guide device (5-1) is installed on the palm side of the hand shell (4-1) by a pin. Both ends of the conduit (5-2) have conduit caps. One end is installed on the flexible cable guide device (5-1), and the other end passes through the guide plate (5-3) and is installed in the hole of the motor housing (6-1). The guide plate (5-3) is worn on the human arm by the arm strap. The distance between the two points remains unchanged during the bending of the fingers.

4. The flexible cable spring hybrid driven hand exoskeleton according to claim 1, characterized in that: Under the action of the drive module (6), the length of the flexible cable (1) shortens along the guide hole of the finger module under the constraint of the guide module (5). The protrusion on the flexible cable (1) transmits traction force to the finger module. The spring is subjected to force, slides and bends. The drive module (6) slowly relaxes the flexible cable and releases the stored elastic force in the spring to drive the finger to extend.

5. The flexible cable spring hybrid driven hand exoskeleton according to claim 1, characterized in that: The drive module consists of a motor housing (6-1), a motor cover (6-2), five linear motors (6-3), screws (6-4), a flexible cable connecting block (6-5), and a motor housing strap (6-6). The motor housing and the motor cover are connected together by four screws (6-4). The motor housing wall has holes for connecting conduit caps. A stop block is set inside the motor housing (6-1) for fixing the linear motors (6-3). One end of the flexible cable connecting block (6-5) is connected to the linear motor (6-3) through a threaded hole, and the other end has a small hole for connecting the flexible cable (1).

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