Fixing device

Abstract

A fixing device is used for fixing exoskeleton equipment to a preset part and comprises a mounting seat used for being in butt joint with the preset part, and the mounting seat is configured to be capable of moving in the preset direction of the preset part; the bandage is mounted on the mounting seat, a wearing space for accommodating a preset part is formed between the bandage and the mounting seat, and the size of the wearing space is adjustable; the binding direction of the binding band is perpendicular to the preset direction. And the fixing piece is connected to the mounting seat, and the fixing piece is configured to be capable of fixing the mounting seat to a preset part after the position of the mounting seat is adjusted. According to the fixing device, the mounting base is fixed to the preset part through the binding band and the fixing piece together, and the stability of binding the mounting base to the preset part is not affected while the force applied to the preset part by the binding band is properly reduced; and the size of the wearing space is adjustable, and the mounting seat can move along the preset direction of the preset part, so that the fixing device can adapt to the preset parts with different sizes.

Description

TECHNICAL FIELD

[0001] The utility model relates to exoskeleton device technical field especially relates to a fixing device. BACKGROUND

[0002] In some scenarios, exoskeleton devices are often used to capture human motion information. For example, the exoskeleton device has a five-finger mechanism that is adapted to the five fingers of a human hand. After wearing, the five fingers of the person correspond to the five-finger mechanism of the exoskeleton device. When the person's fingers move, the corresponding sensor on the exoskeleton device will capture the operation angle of the human fingers, realizing the capture of human motion information by the exoskeleton device.

[0003] When wearing an exoskeleton device, it is often necessary to fix the exoskeleton device to a predetermined part of the human body by a fixing device. However, for different people, the size of the predetermined part may also be different. When the predetermined part is not adapted to the fixing device, not only is it uncomfortable to wear, but it may also affect the capture accuracy of the entire device on human motion information. SUMMARY

[0004] Therefore, the utility model provides a fixing device.

[0005] The fixing device provided by the utility model is used for fixing an exoskeleton device to a predetermined part, and the fixing device comprises:

[0006] A mounting seat is used for interfacing with the predetermined part, and the mounting seat is configured to be movable along a predetermined direction of the predetermined part;

[0007] A binding belt is mounted on the mounting seat, a wearing space for accommodating the predetermined part is formed between the binding belt and the mounting seat, and the size of the wearing space is adjustable; in response to the mounting seat being interfaced with the predetermined part, the binding direction of the binding belt is perpendicular to the predetermined direction; and

[0008] A fixing member is connected to the mounting seat, and the fixing member is configured to fix the mounting seat to the predetermined part after the position of the mounting seat is adjusted.

[0009] In some embodiments, one end of the fixing member is fixed to the mounting seat, and the other end is configured to be detachably connected to the predetermined part.

[0010] In some embodiments, the fixing member comprises a first magic tape, and the fixing member is bonded to the predetermined part through the first magic tape.

[0011] In some embodiments, the fixing member further comprises an elastic band, and the first magic tape is connected to the mounting seat through the elastic band.

[0012] In some embodiments, a guiding band is further included, which is arranged along the preset direction and fixed to the preset part; and the mounting base is in sliding fit with the guiding band.

[0013] In some embodiments, the guiding band is bonded to the preset part by a second magic tape; and / or the guiding band is an elastic band.

[0014] In some embodiments, the fixing member includes an elastic pressing member connected to the mounting base, which has a first state and a second state; when the elastic pressing member is in the first state, the elastic pressing member is pressed against the guiding band to prevent the mounting base from moving relative to the guiding band; when the elastic pressing member is in the second state, the elastic pressing member is separated from the guiding band to allow the mounting base to move relative to the preset part; the elastic pressing member is configured to be switched from the first state to the second state under an external force and to be reset from the second state to the first state without the external force.

[0015] In some embodiments, a non-slip part is arranged on the side of the elastic pressing member facing the guiding band.

[0016] In some embodiments, the mounting base is formed with a mounting hole, the bandage includes a first end portion, a second end portion and a connecting portion connecting the first end portion and the second end portion, the first end portion is fixed to the mounting base, the connecting portion and the mounting base form the wearing space, and the second end portion is arranged through the mounting hole and detachably connected to the connecting portion.

[0017] In some embodiments, the mounting base is provided with a matching portion for abutting connection with the preset part; and / or the preset part is a finger; and / or the preset direction is the length direction of the preset part.

[0018] As can be seen from the above technical solutions, the fixing device provided by the present application fixes the mounting base to the preset part by the bandage and the fixing member, which appropriately reduces the force applied by the bandage to the preset part without affecting the stability of the mounting base bound to the preset part; and moreover, the size of the wearing space is adjustable and the mounting base can move along the preset direction of the preset part, so that the fixing device can adapt to preset parts of different sizes. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiment description will be briefly introduced. Obviously, the drawings described in the following embodiment are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative labor.

[0020] Figure 1 is a three-dimensional structure schematic diagram of the fixing device according to an embodiment of the present application;

[0021] Figure 2 is a three-dimensional structure schematic diagram of the fixing device according to another embodiment of the present application;

[0022] Figure 3 is Figure 2 is a sectional view along the line A-A in the figure;

[0023] Figure 4 is a three-dimensional structure schematic diagram of the fixing device according to still another embodiment of the present application;

[0024] Figure 5 is a three-dimensional structure schematic diagram of the exoskeleton device according to an embodiment of the present application.

[0025] The figure mark explanation: 10, fixing device; 20, exoskeleton device; 30, preset part; 100, mounting seat; 110, matching part; 120, connecting rod mounting position; 130, mounting hole; 140, first pressing plate; 150, second pressing plate; 160, bottom plate; 170, mounting seat body; 180, avoiding passage; 190, tendon rope mounting position; 200, binding belt; 220, first end part; 230, second end part; 240, connecting part; 210, wearing space; 300, fixing piece; 310, elastic band; 320, elastic pressing piece; 321, anti-skid part; 330, first magic tape; 400, guide belt; 500, finger sleeve. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are some embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0027] As Figure 5As shown, the present application provides a fixing device 10, which can be hinged with a connecting rod 21 in an exoskeleton device 20, and can be bound to a preset part 30 of a human body, so that the fixing device 10 can fix the exoskeleton device 20 to the preset part 30 of the human body. Figure 5 In the embodiment, the preset part 30 is a finger, and the exoskeleton device 20 can collect motion information of the finger or drive the finger to move. It should be noted that in other embodiments, the preset part 30 can also be an arm or a leg, and the exoskeleton device 20 can collect motion information of the arm or the leg or drive the arm or the leg to move.

[0028] In the following, the preset part 30 is taken as an example of a finger, and as shown in Figure 1 In some embodiments, the fixing device 10 includes a mounting seat 100, a binding belt 200, and a fixing member 300. The mounting seat 100 is used to be connected with the finger, and the mounting seat 100 is configured to be movable along a preset direction X of the finger. The binding belt 200 is installed on the mounting seat 100, and a wearing space 210 for accommodating the finger is formed between the binding belt 200 and the mounting seat 100. The size of the wearing space 210 is adjustable, and the binding direction of the binding belt 200 is perpendicular to the preset direction X in response to the mounting seat 100 being connected with the finger. The fixing member 300 is connected with the mounting seat 100, and the fixing member 300 is configured to fix the mounting seat 100 to the finger after the position of the mounting seat 100 is adjusted.

[0029] The fixing device 10 described above has at least the following beneficial effects: the fixing device 10 fixes the mounting seat 100 to the finger through the binding belt 200 and the fixing member 300, which appropriately reduces the force applied to the finger by the binding belt 200 while not affecting the stability of the mounting seat 100 being bound to the finger. Moreover, because the size of the wearing space 210 is adjustable and the mounting seat 100 is movable along the preset direction X, the fixing device 10 can adapt to fingers of different sizes.

[0030] In some embodiments, as shown in Figure 1 The mounting seat 100 is formed with a matching part 110 for being connected with the finger in a fit manner. The matching part 110 is a groove, and the shape of the groove is adapted to the finger to accommodate the finger, so that the mounting seat 100 is fixed to the finger without causing uncomfortable pressure to the finger, thereby improving the user experience.

[0031] Optionally, as shown in Figure 1 The mounting seat 100 is further formed with a connecting rod mounting position 120 for being hinged with the connecting rod 21 in the exoskeleton device 20, so that the mounting seat 100 can fix the exoskeleton device 20 to the finger.

[0032] In some implementations, such as Figure 1 and Figure 5 As shown, the mounting base 100 also has a tendon cord mounting position 190 for the tendon cord 22 to pass through, and the exoskeleton device 20 can also collect finger movement information through the tendon cord 22.

[0033] In some implementations, such as Figure 1 As shown, the mounting base 100 has a mounting hole 130, and the strap 200 includes a first end 220, a second end 230, and a connecting portion 240 connecting the first end 220 and the second end 230. The first end 220 is fixed to the mounting base 100, and a wearing space 210 is formed between the connecting portion 240 and the mounting base 100. The second end 230 passes through the mounting hole 130 and is detachably connected to the connecting portion 240 so that the size of the wearing space 210 is adjustable.

[0034] The finger is inserted into the wearing space 210, and the mounting base 100 is secured to the finger by the strap 200. Since the size of the wearing space 210 is adjustable, the mounting base 100 can be secured to fingers of different sizes by the strap 200, thereby increasing the applicability of the fixing device 10.

[0035] Optional, such as Figure 1 As shown, the first end 220 can be first bonded to the mounting base 100, and then the first end 220 is fixed to the mounting base 100 by the first pressure plate 140 to improve the stability of the first end 220 fixed to the mounting base 100. It should be noted that the first pressure plate 140 can be fixed to the mounting base 100 by bolts or by snap-fitting or other means, so that the first end 220 is sandwiched between the first pressure plate 140 and the mounting base 100.

[0036] Furthermore, such as Figure 1 As shown, the first end 220 and the mounting hole 130 are located on opposite sides of the mounting base 100. The first end 220 and the second end 230 are respectively fixedly connected to the connecting portion 240. The second end 230 can also be detachably connected to the connecting portion 240 after passing through the mounting hole 130. For example, one of the connecting portion 240 and the second end 230 is provided with a hook and loop fastener, and the other is provided with a loop fastener. The hook and loop fasteners cooperate to allow the connecting portion 240 and the second end 230 to be detachably connected. It should be noted that the hook and loop fasteners provided on the connecting portion 240 need to be arranged along the length direction of the connecting portion 240 so that the second end 230 can be detachably connected to the connecting portion 240 at different positions along the length direction of the connecting portion 240, thereby making the size of the wearing space 210 adjustable.

[0037] In some implementations, such as Figure 1As shown, one end of the fixing member 300 is fixed to the mounting base 100, and the other end is detachably connected to the finger, so that the mounting base 100 can be moved along the preset direction X, and the fixing member 300 is fixed to different positions on the finger. When the fixing member 300 is connected to the finger, the fixing member 300 can also fix the mounting base 100 to the finger, that is, the bandage 200 and the fixing member 300 can jointly fix the mounting base 100 to the finger, while appropriately reducing the pressure applied by the bandage 200 to the finger, without affecting the firmness of the mounting base 100 bound to the finger, so as to improve the user experience.

[0038] Optionally, as shown in FIG. 1, the fixing member 300 can be fixed to the mounting base 100 through the second pressing plate 150. For example, the second pressing plate 150 is fixed to the mounting base 100 through bolts, or is installed on the mounting base 100 through clamping or other means, so that one end of the fixing member 300 is clamped between the second pressing plate 150 and the mounting base 100. Figure 1

[0039] Optionally, the preset direction X is the length direction of the finger, that is, the mounting base 100 can be moved along the length direction of the finger, so as to adjust the position of the mounting base 100 on the finger, so that when the fixing device 10 is installed on the finger, it does not interfere with the movement of the exoskeleton device 20.

[0040] Optionally, the fixing member 300 includes a first magic tape 330, and the fixing member 300 is attached to the finger through the first magic tape 330. For example, the first magic tape 330 includes a magic tape hook surface and a magic tape fuzzy surface, one of the magic tape hook surface and the magic tape fuzzy surface is fixed to the fixing member 300, and the other of the magic tape hook surface and the magic tape fuzzy surface is fixed to the finger, so that the fixing member 300 is detachably connected to the finger. It should be noted that the magic tape hook surface or the magic tape fuzzy surface arranged on the finger needs to be arranged along the length direction of the finger, so that the fixing member 300 can be detachably connected to the finger at different positions in the length direction of the finger, so as to adjust the position of the fixing device 10 on the finger.

[0041] For example, as shown in FIG. 1, the fixing member 300 includes a first magic tape 330, and the fixing member 300 is attached to the finger through the first magic tape 330. Figure 1 and Figure 4 ​As shown, the finger can be worn with a finger sleeve 500, and the fixing member 300 is detachably connected with the finger sleeve 500 through the first magic tape 330. One of the magic tape hook surface and the magic tape hair surface is fixed to the fixing member 300, and the other one is fixed to the finger sleeve 500. Alternatively, the first magic tape 330 can include a magic tape hook surface, and the finger sleeve 500 itself contains dense fibers or fluff, etc., which can be directly hooked by the magic tape hook surface. Since the finger sleeve 500 is worn on the finger, i.e. the finger sleeve 500 is located between the finger and the mounting base 100, the strap 200 and the fixing member 300, it can prevent the finger from appearing the marks, further improving the user experience. It should be noted that the finger sleeve 500 can be part of a glove, i.e. the user can wear a glove.

[0042] In some embodiments, as shown in Figure 1 As shown, the fixing member 300 further includes an elastic band 310, and the first magic tape 330 is connected with the mounting base 100 through the elastic band 310. For example, one end of the elastic band 310 is clamped between the second pressing plate 150 and the mounting base 100, and the other end of the elastic band 310 is provided with a magic tape hook surface or a magic tape hair surface. By connecting the elastic band 310 with the mounting base 100, it is convenient for the first magic tape 330 to swing up and down relative to the mounting base 100 for bonding or dismounting.

[0043] In some embodiments, as shown in Figure 2 As shown, the fixing device 10 further includes a guide band 400, which is arranged along the preset direction X, i.e. the guide band 400 is arranged along the length direction of the finger, and the guide band 400 is fixed to the finger, while the mounting base 100 is slidingly fitted with the guide band 400, and the user can move the mounting base 100 to change the position of the mounting base 100 on the finger.

[0044] Optionally, the guide band 400 is an elastic band, and the guide band 400 is fixed to the finger, while the mounting base 100 is slidingly fitted with the middle part of the guide band 400.

[0045] Optionally, the guide band 400 is bonded with the finger through a second magic tape, for example, the second magic tape includes a magic tape hook surface and a magic tape hair surface, one of which is arranged on the guide band 400, and the other is arranged on the finger.

[0046] For another example, as shown in Figure 4 As shown, when the finger is worn with a finger sleeve 500, the guide band 400 is fixed to the finger sleeve 500, i.e. one of the magic tape hook surface and the magic tape hair surface is arranged on the guide band 400, and the other is arranged on the finger sleeve 500, thereby facilitating the installation and fixation of the guide band 400. Alternatively, the second magic tape can include a magic tape hook surface, and the finger sleeve 500 itself contains dense fibers or fluff, etc., which can be directly hooked by the magic tape hook surface.

[0047] Optionally, the fixing member 300 comprises an elastic pressing member 320 connected with the mounting base 100, and the guide belt 400 is arranged between the mounting base 100 and the elastic pressing member 320. The elastic pressing member 320 has a first state and a second state. When the elastic pressing member 320 is in the first state, the elastic pressing member 320 can press the guide belt 400 onto the mounting base 100 to prevent the mounting base 100 from moving relative to the guide belt 400. When the elastic pressing member 320 is in the second state, the elastic pressing member 320 is separated from the guide belt 400, so that the mounting base 100 can move relative to the preset position. The elastic pressing member 320 can be switched from the first state to the second state under the action of an external force, and can be reset from the second state to the first state without the action of the external force.

[0048] When it is needed to move the mounting base 100, the user can pull the free end of the elastic pressing member 320 to separate the elastic pressing member 320 from the guide belt 400, so that the mounting base 100 can slide relative to the guide belt 400. When the mounting base 100 is moved to a proper position of the preset position, the user can remove the external force applied to the free end of the elastic pressing member 320, so that the elastic pressing member 320 presses the guide belt 400 onto the mounting base 100, so that the guide belt 400 fixes the mounting base 100 in the proper position.

[0049] Specifically, as shown in Figure 2 and Figure 3 The mounting base 100 comprises a bottom plate 160 and a mounting base body 170. The mounting base body 170 can be fixed to the bottom plate 160 by bolts or can be installed on the bottom plate 160 by clamping or the like. An avoiding channel 180 is formed between the bottom plate 160 and the mounting base body 170 to facilitate the movement of the elastic pressing member 320. One end of the elastic pressing member 320 extends into the avoiding channel 180 and is fixedly connected with the mounting base body 170, and the other end of the elastic pressing member 320 extends out of the avoiding channel 180 to be used by the user to apply an external force. The guide belt 400 is arranged between the elastic pressing member 320 and the bottom plate 160. When the elastic pressing member 320 is in the first state, the elastic pressing member 320 presses the guide belt 400 onto the bottom plate 160, so that the entire mounting base 100 cannot slide relative to the guide belt 400. When the elastic pressing member 320 is in the second state, the elastic pressing member 320 is separated from the guide belt 400, so that the entire mounting base 100 can slide relative to the guide belt 400.

[0050] Optionally, the side of the elastic pressing member 320 facing the guide belt 400 is provided with an anti-skid part 321. When the elastic pressing member 320 is in the first state, the anti-skid part 321 can press the guide belt 400 more stably onto the bottom plate 160.

[0051] The above merely describes a specific implementation of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present application, which should be encompassed in the protection scope of the present application.

Claims

1. A fixing device for fixing an exoskeleton device to a preset location, characterized in that, The fixing device comprises: a mounting base configured to be coupled with the preset part and to be movable along a preset direction of the preset part; a strap mounted on the mounting base, a wearing space for accommodating the preset part being formed between the strap and the mounting base, the wearing space being adjustable in size, and a binding direction of the strap being perpendicular to the preset direction in response to the mounting base being coupled with the preset part; and a fixing member connected to the mounting base, the fixing member being configured to fix the mounting base to the preset part after a position of the mounting base is adjusted.

2. The fixture of claim 1, wherein One end of the fixing member is fixed to the mounting base, and the other end is configured to be detachably connected with the preset part.

3. The fixture of claim 2, wherein The fixing member comprises a first magic tape, and the fixing member is attached to the preset part through the first magic tape.

4. The fixture of claim 3, wherein The fixing member further comprises an elastic band, and the first magic tape is connected to the mounting base through the elastic band.

5. The fixture of claim 1, wherein Further comprising a guide band, the guide band is arranged along the preset direction and is fixed to the preset part, and the mounting base is in sliding fit with the guide band.

6. The fixture of claim 5, wherein The guide band is attached to the preset part through a second magic tape, and / or the guide band is an elastic band.

7. The fixture of claim 5, wherein The fixing member comprises an elastic compression member connected to the mounting base, the elastic compression member having a first state and a second state, the elastic compression member being compressed on the guide band to prevent the mounting base from moving relative to the guide band when the elastic compression member is in the first state, and the elastic compression member being separated from the guide band to allow the mounting base to move relative to the preset part when the elastic compression member is in the second state. The elastic compression member is configured to switch from the first state to the second state under the action of an external force and to reset from the second state to the first state without the action of the external force.

8. The fixture of claim 7, wherein A side of the elastic compression member facing the guide band is provided with an anti-slip part.

9. The fixture of any one of claims 1 to 8, wherein, The mounting base is formed with a mounting hole, the strap comprises a first end portion, a second end portion, and a connecting portion connecting the first end portion and the second end portion, the first end portion being fixed to the mounting base, the connecting portion and the mounting base forming the wearing space therebetween, and the second end portion being detachably connected with the connecting portion through the mounting hole.

10. The fixture of any one of claims 1 to 8, wherein, The mounting base is provided with a matching part for snugly coupling with the preset part, and / or the preset part is a finger, and / or the preset direction is a length direction of the preset part.

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