Twisting string driving device and twisting string driving finger rehabilitation equipment

Abstract

The utility model discloses a twisted string drive device and twisted string drive finger rehabilitation equipment, wherein the twisted string drive device comprises a base plate, a drive assembly, cables and a branching structure, the drive assembly is installed on the base plate, the ends of the two cables are both connected to the drive assembly, the branching structure is provided with a branching port, and the branching port is connected with the drive assembly. The branching port comprises a wire inlet and two wire outlets which are communicated with each other. The ends, away from the driving assembly, of the two cables penetrate in from the wire inlet and penetrate out from the two wire outlets respectively. The string twisting driving device is applied to the string twisting driving finger rehabilitation equipment. The device has the advantages of being simple in structure, high in flexibility and good in universality.

Description

Technical Field

[0001] The utility model relates to the technical field of motor drive, in particular to a string twisting drive device and string twisting drive finger rehabilitation equipment. Background Art

[0002] Twist-string drive is a new type of motor drive technology that uses the twisting of a rope to achieve mechanical motion. This technology is commonly used in robotics and other automated systems, and its design draws inspiration from the movement mechanisms of some natural organisms. However, existing twist-string drive devices are relatively complex, resulting in large and expensive drive structures. Furthermore, the distance between the motor shaft and the load is fixed, making them less versatile.

[0003] In view of this, the purpose of this utility model is to provide a new technical solution to solve the existing technical problems. Utility Model Content

[0004] In order to overcome the deficiencies of the prior art, the utility model provides a torsion string driving device, which solves the problems of the prior art torsion string driving device having a complex structure and poor versatility.

[0005] The technical solution adopted by the utility model to solve its technical problems is:

[0006] A torsion string drive device includes a base plate, a drive assembly, a cable and a branching structure, wherein the drive assembly is mounted on the base plate, the ends of the two cables are connected to the drive assembly, and the branching structure is provided with a branching port, which includes an input port and two output ports that are interconnected, and the ends of the two cables away from the drive assembly enter the input port and exit from the two output ports respectively.

[0007] In the above structure, the driving assembly includes a mounting shell and a driving motor. The mounting shell is fixedly arranged on the base plate, and the driving motor is installed in the mounting shell. The output shaft of the driving motor is fixedly connected to a wire pulling sleeve, and one end of the cable away from the branching structure is fixedly connected to the wire pulling sleeve, and the wire pulling sleeve is rotatably connected to the mounting shell.

[0008] In the above structure, the mounting shell includes an upper shell and a lower shell, the upper shell is detachably covered on the lower shell, and mounting positions that are adapted to the size of the drive motor are opened in the upper shell and the lower shell, and the drive motor is installed in the mounting positions.

[0009] In the above structure, a rotating position connected to the installation position is provided between the upper shell and the lower shell, the wire pulling sleeve is arranged at the rotating position, and a rotating bearing is provided on the outer peripheral side of the wire pulling sleeve, and the wire pulling sleeve is rotatably connected to the installation shell through the rotating bearing.

[0010] In the above structure, fixing ears are provided on opposite sides of the lower shell, fixing screws are provided on the fixing ears, and the fixing screws are threadedly connected to the bottom plate.

[0011] In the above structure, it also includes a protective sleeve, which is sleeved on the outer peripheral side of the cable, a pipe fixing block is fixedly connected to the bottom plate, and pipe joints are fixedly connected to both ends of the protective sleeve. One end of the protective sleeve is connected to the pipe fixing block through the pipe joint, and the other end is connected to the line inlet of the branching structure through the pipe joint.

[0012] In the above structure, the pipe joint is an inverted cone joint, and the inverted cone joints at both ends are respectively threadedly connected to the pipe fixing block and the branching structure.

[0013] In the above structure, the protective sleeve is a Teflon tube.

[0014] Based on the above-mentioned twisted string driving device, the utility model further provides:

[0015] A twisted string driven finger rehabilitation device includes multiple sets of twisted string drive devices, a flexible wearable device, and an elbow fixation strap. The flexible wearable device is provided with multiple finger joint anchor points. The base plates of the multiple sets of twisted string drive devices are fixedly mounted on the elbow fixation strap. The branching structure is provided with multiple sets of branching ports. One end of the cable passing through the outlet is connected to the finger joint anchor point on the flexible wearable device. When the drive assembly is working, the two cables connected thereto generate tension to pull the fingers to bend.

[0016] The beneficial effects of the present invention are as follows: the twisted string drive device of the present invention separates the drive assembly from the load by providing a branching structure. The length of the cable passing through the branching structure can be set according to actual needs, so that the distance between the drive assembly and the load can be flexibly adjusted according to actual needs. The branching structure can also comb and shape the cable, ensuring the neatness of the cable even in the case of remote driving. The overall structure is simple and easy to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0018] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0019] Figure 2 This is a schematic diagram of the disassembly of the drive assembly structure of the utility model;

[0020] Figure 3 This is a schematic diagram of the branch line structure of the utility model.

[0021] Figure numerals: 1. Base plate; 11. Pipe fixing block; 2. Driving assembly; 21. Driving motor; 211. Wire pulling sleeve; 212. Rotating bearing; 22. Mounting shell; 221. Upper shell; 222. Lower shell; 223. Mounting position; 224. Rotating position; 225. Fixing ear; 3. Cable; 4. Protective sleeve; 41. Pipe joint; 5. Branching structure; 51. Branching port; 511. Line inlet; 512. Line outlet. DETAILED DESCRIPTION

[0022] The following is combined with Figure 1-3 The utility model is further described.

[0023] The following will clearly and completely describe the concept, specific structure and technical effects of the present invention in combination with the embodiments and drawings, so as to fully understand the purpose, characteristics and effects of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, other embodiments obtained by technical personnel in this field without creative work are within the scope of protection of the present invention. In addition, all the connection / connection relationships involved in the patent do not refer to the direct connection of components, but refer to the fact that a better connection structure can be formed by adding or reducing connection accessories according to the specific implementation situation. The various technical features in the creation of the present invention can be combined interactively without conflicting with each other.

[0024] Reference Figures 1 to 3 The present invention provides a torsion string drive device, comprising a base plate 1, a drive assembly 2, a cable 3 and a branching structure 5. The drive assembly 2 is mounted on the base plate 1. The two cables 3 are arranged in parallel, and one end is connected to the drive assembly 2, and the other end passes through the branching structure 5 for connection to the load. The drive assembly 2 is used to drive the two cables 3 to entangle with each other. When the two cables 3 rotate, they become a double helix structure. The more turns the drive assembly 2 drives to rotate, the shorter the length of the cable 3 will be, thereby providing linear displacement and tension to the load in the axial direction of the drive assembly 2. The branching structure 5 is used to comb and separate the two cables 3. A branching port 51 is provided on the branching structure 5. The branching port 51 includes an inlet 511 and two outlets 512 that are interconnected. The ends of the two cables 3 away from the drive assembly 2 pass through the inlet 511 of the branching structure 5, and then pass through the two outlets 512 respectively. The two cables 3 passing through the outlet 512 are connected to the load.

[0025] Furthermore, the drive assembly 2 includes a mounting shell 22 and a drive motor 21. The mounting shell 22 is fixedly connected to the base plate 1. The drive motor 21 is arranged in the mounting shell 22. The output shaft of the drive motor 21 is fixedly connected to the pull wire sleeve 211. The end of the cable 3 away from the branch structure 5 is fixed to the pull wire sleeve 211, and the pull wire sleeve 211 is rotatably connected in the mounting shell 22.

[0026] Reference Figure 1 and Figure 2 Specifically, the mounting housing 22 includes an upper housing 221 and a lower housing 222. The upper housing 221 is detachably mounted on the lower housing 222. A mounting position 223 is formed between the upper housing 221 and the lower housing 222, and the drive motor 21 is mounted in the mounting position 223. The mounting housing 22 protects the drive motor 21, and the output shaft of the drive motor 21 is located within the mounting housing 22, effectively reducing the possibility of danger caused by accidental contact of the user while the drive motor 21 is rotating.

[0027] Furthermore, a rotation position 224 is provided between the upper housing 221 and the lower housing 222. The rotation position 224 is connected to the mounting position 223, and the cable sleeve 211 is rotatably mounted on the mounting position 223. In this embodiment, a rotation bearing 212 is provided on the outer periphery of the cable sleeve 211, and the cable sleeve 211 is rotatably connected to the mounting housing 22 via the rotation bearing 212. The provision of the rotation bearing 212 helps ensure smooth rotation of the cable sleeve 211.

[0028] Furthermore, fixing ears 225 are provided on opposite sides of the lower shell 222, and fixing screws are provided on the fixing ears 225. The fixing screws are threadedly connected to the bottom plate 1 to achieve the connection and fixation of the mounting shell 22 and the bottom plate 1. The mounting shell 22 is connected by fixing screws, which is convenient for installation and removal.

[0029] Furthermore, the torsion string drive device also includes a protective sleeve 4, which is sleeved on the outer peripheral side of the cable 3, and a tube fixing block 11 is fixedly connected to the bottom. Both ends of the protective sleeve 4 are connected to pipe joints 41. The end of the protective sleeve 4 close to the drive assembly 2 is connected to the fixing block through the pipe joint 41, and the other end is connected to the line inlet 511 of the branching structure 5 through the pipe joint 41. The cable 3 is arranged on the outer peripheral side of the cable 3 to protect the cable 3, which can effectively avoid the possibility of foreign objects being entangled with the cable 3 when the cable 3 is wound, and can reduce the wear of the cable 3. Trapping the cable 3 with the protective sleeve 4 allows the torsion string drive device to have more adaptability in all directions and is suitable for multi-directional remote control. In this embodiment, the protective sleeve 4 is a Teflon tube. The protective sleeve 4 is arranged in a hard Teflon tube, which is conducive to the transmission of mechanical force.

[0030] Furthermore, the pipe joint 41 is an inverted cone joint, and the inverted cone joints at both ends of the protective sleeve 4 are threadedly connected to the pipe fixing block 11 and the branching structure 5 respectively.

[0031] Based on the above-mentioned twisted string drive device, the utility model also provides a twisted string drive finger rehabilitation device, which can be used in the rehabilitation treatment of finger flexibility.

[0032] The twisting string driven finger rehabilitation device is provided with multiple groups of twisting string driving devices, and also includes a flexible wearable (not shown in the figure) and an elbow fixing belt (not shown in the figure). The base plates 1 of the multiple groups of twisting string driving devices are fixedly connected to the elbow fixing belt, and the elbow fixing belt is the same as being worn on the user's elbow. The flexible wearable is used to be worn on the palm of the user, and the flexible wearable is provided with multiple finger joint anchor points. The branching structure 5 is provided with multiple groups of branching ports 51, and the branching ports 51 are provided in a one-to-one correspondence with the driving components 2. Specifically, the two cables 3 connected from one driving motor 21 are connected to a branching port 51, that is, the two cables 3 pass through the branching structure 5 from the inlet 511 of the branching port 51, and pass out from the two outlets 512 corresponding to the inlet 511 respectively, and one end of the cable 3 passing through the outlet 512 is connected to the finger joint anchor point. When the driving motor 21 is working, the two cables 3 connected thereto are wound together to generate tension, which can pull the corresponding fingers to perform bending movements, thereby achieving rehabilitation treatment for finger flexibility.

[0033] In this embodiment, four groups of string twisting driving devices are provided, and the four groups of string twisting driving devices are respectively connected to the knuckle anchor points on the index finger, middle finger, ring finger and little finger to drive the bending of the fingers.

[0034] In some embodiments, the flexible wearable is mainly made of flexible materials based on the shape of the human palm. Its shape is similar to that of a glove and has a certain degree of flexibility to ensure that it can fit closely to the human body when used, and can disperse stress to ensure wearing comfort.

[0035] Furthermore, the protective sleeve 4 surrounding the cable 3 effectively prevents contact between the cable 3 and the skin, ensuring safety during use. The elbow strap can be constructed using a Velcro or other similar structure for easier donning. The drive motor 21 can be a high-speed, low-torque micromotor, further reducing the size, weight, and cost of the device while ensuring functionality.

[0036] The twisted string driven finger rehabilitation device of the present invention has the advantages of simple structure, comfortable wearing, high safety performance, and easy wearing and taking off. The transmission path of the cable 3 in the twisted string driving device can be adjusted according to the needs of the user. The twisted string driving device is highly flexible and has relatively few joint restrictions on the wearer.

[0037] The above is a specific description of the preferred implementation of the present invention, but the invention of the present invention is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A twisted string driving device, characterized in that: It includes a base plate, a drive component, cables and a branching structure. The drive component is installed on the base plate. The ends of the two cables are connected to the drive component. The branching structure is provided with a branching port. The branching port includes an input port and two output ports that are interconnected. The ends of the two cables away from the drive component enter from the input port and exit from the two output ports respectively.

2. The torsion string driving device according to claim 1, characterized in that: The driving assembly includes a mounting shell and a driving motor. The mounting shell is fixedly arranged on the base plate. The driving motor is installed in the mounting shell. The output shaft of the driving motor is fixedly connected to a wire pulling sleeve. One end of the cable away from the branching structure is fixedly connected to the wire pulling sleeve. The wire pulling sleeve is rotatably connected to the mounting shell.

3. The torsion string driving device according to claim 2, characterized in that: The installation shell includes an upper shell and a lower shell. The upper shell is detachably covered on the lower shell. Installation positions that are adapted to the size of the drive motor are opened in the upper shell and the lower shell, and the drive motor is installed in the installation positions.

4. The torsion string driving device according to claim 3, characterized in that: A rotation position connected to the installation position is provided between the upper shell and the lower shell. The wire pulling sleeve is arranged at the rotation position, and a rotating bearing is provided on the outer peripheral side of the wire pulling sleeve. The wire pulling sleeve is rotatably connected to the installation shell through the rotating bearing.

5. The torsion string driving device according to claim 3, characterized in that: The lower shell is provided with fixing ears on opposite sides. The fixing ears are provided with fixing screws, and the fixing screws are threadedly connected to the bottom plate.

6. The torsion string driving device according to claim 1, characterized in that: It also includes a protective sleeve, which is sleeved on the outer peripheral side of the cable, a pipe fixing block is fixedly connected to the bottom plate, and pipe joints are fixedly connected to both ends of the protective sleeve. One end of the protective sleeve is connected to the pipe fixing block through the pipe joint, and the other end is connected to the line inlet of the branching structure through the pipe joint.

7. The torsion string driving device according to claim 6, characterized in that: The pipe joint is an inverted cone joint, and the inverted cone joints at both ends are respectively threadedly connected to the pipe fixing block and the branching structure.

8. The torsion string driving device according to claim 6, characterized in that: The protective sleeve is a Teflon tube.

9. A string-twisting driving finger rehabilitation device based on the string-twisting driving device according to any one of claims 1 to 8, characterized in that: The invention comprises a plurality of groups of torsion string drive devices, a flexible wearable object and an elbow fixing belt. The flexible wearable object is provided with a plurality of finger joint anchor points. The bottom plates of the plurality of groups of torsion string drive devices are fixedly provided on the elbow fixing belt. The branching structure is provided with a plurality of groups of branching ports. One end of the cable passing through the outlet is connected to the finger joint anchor point on the flexible wearable object. When the drive assembly is working, the two cables connected thereto generate tension to pull the fingers to bend.

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