Exoskeleton motion assisting glove

Abstract

An exoskeleton motion assisting glove, comprising a hand back shell (1), a gearbox body (4) and finger assemblies (5). Each finger assembly (5) uses a connecting rod structure, and the design of two connecting rods and a plurality of rotating shafts enables the bending and straightening of each finger; and the variation of the rotation of each second rotating shaft (14) can adapt to a change in the distance between a corresponding fingertip and a corresponding third rotating shaft (25) during bending and straightening. When fingers are driven, fewer joint parts need to be moved, and the simple connecting rods reduce power losses. In addition, the design of finger fixing fasteners (17) and finger fixing straps (18) can better fix the connecting rods to the fingers with a simple structure, thereby achieving low costs and a more reliable operation, and facilitating miniaturization and weight reduction.

Description

Exoskeleton assisted motion glove TECHNICAL FIELD

[0001] The present application relates to the technical field of assistive devices, in particular to an exoskeleton assisted motion glove. BACKGROUND

[0002] Hand movement dysfunction is common in patients with stroke, Parkinson's disease, spinal cord injury, etc., which seriously affects the quality of life of patients. The existing equipment is mostly a multi-joint finger driving mode to realize the bending and straightening of the fingers. This scheme is difficult to achieve simple finger structure and lower cost advantage. TECHNICAL PROBLEM

[0003] The purpose of the present application is to provide an exoskeleton assisted motion glove to overcome the problems in the prior art. TECHNICAL SOLUTION

[0004] In order to achieve the above purpose, the present application provides the following technical scheme:

[0005] An exoskeleton assisted motion glove, comprising a back of hand shell, a gearbox and a finger assembly, the back of hand shell is connected through the gearbox and the finger assembly;

[0006] A motor is arranged between the gearbox and the back of hand shell, one side of the motor extends to the inside of the back of hand shell, and the other side extends to the inside of the gearbox;

[0007] The finger assembly comprises a first connecting rod, a second connecting rod and a finger fixing band, the second connecting rod is located between the first connecting rod and the finger fixing band, the first connecting rod and the second connecting rod are movably connected through a second rotating shaft, and the finger fixing band and the second connecting rod are movably connected through a first rotating shaft.

[0008] Further, the gearbox is movably connected with the finger assembly through a rotating rod, one end of the rotating rod extends to the inside of the gearbox and is movably connected with the gearbox, and the other end of the rotating rod is connected with the finger assembly.

[0009] Further, the inside of the gearbox is provided with a reduction gear, and the output end of the motor is connected with the reduction gear.

[0010] Further, the third rotating shaft is located in the inside of the reduction gear, and the third rotating shaft is connected with the rotating rod.

[0011] Further, one side of the finger fixing band is provided with a finger fixing buckle, and the other side is provided with a locking buckle, the finger fixing band is connected with the first rotating shaft through the finger fixing buckle, and the locking buckle is connected with the finger fixing band buckle.

[0012] Further, an elastic structure is arranged between the connecting portions of the first connecting rod and the second connecting rod. Advantages

[0013] Compared with the prior art, the application provides an exoskeleton auxiliary sports glove, which comprises a back of hand shell, a gearbox body and a finger assembly. The finger assembly adopts a connecting rod structure, the design of two connecting rods and multiple rotating shafts realizes the bending and straightening actions of the fingers, and the rotation change amount of the second rotating shaft can adapt to the distance change between the front end of the finger and the driving of the third rotating shaft in the bending and straightening conditions. Only a small number of joint parts need to be moved when the finger is driven, and the simple connecting rod reduces power loss. In addition, the design of the finger fixing buckle and the finger fixing belt can fix the connecting rod on the finger with a simple structure, which is low in cost, reliable in operation, and beneficial to miniaturization and light weight. BRIEF DESCRIPTION OF DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description are only a part of the embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the provided drawings.

[0015] Figure 1 is a schematic diagram of the overall structure of the device of the present application;

[0016] Figure 2 is a structural diagram of the gearbox and finger assembly of the present application;

[0017] Figure 3 is a schematic diagram of the internal structure of the gearbox of the present application. Best mode of the present application

[0018] 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 only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0019] Embodiment 1

[0020] The present application provides an exoskeleton auxiliary sports glove, which comprises a back of hand shell 1, a gearbox body 4 and a finger assembly 5. The gearbox body 4 is located between the back of hand shell 1 and the finger assembly 5, the back of hand shell 1 is connected through the gearbox body 4 and the finger assembly 5, and the gearbox body 4 and the back of hand shell 1 are fixedly connected.

[0021] The gearbox body 4 comprises an upper shell 41 and a lower shell 42, and the upper shell 41 and the lower shell 42 are threadedly connected through a first screw 43.

[0022] The motor 11 is arranged between the gearbox body 4 and the back-of-hand shell 1, and extends to the interior of the back-of-hand shell 1 on one side and to the interior of the gearbox body 4 on the other side;

[0023] The interior of the gearbox body 4 is provided with a reduction gear, the output end of the motor 11 is connected with the reduction gear, the motor 11 is a reduction motor, the motor 11 and the reduction gear are connected to form a transmission, the third rotating shaft 25 is located in the interior of the reduction gear, and the third rotating shaft 25 is movably connected with the reduction gear.

[0024] The finger assembly 5 comprises a first connecting rod 13, a second connecting rod 15 and a finger fixing band 18, the second connecting rod 15 is located between the first connecting rod 13 and the finger fixing band 18, the first connecting rod 13 and the second connecting rod 15 are movably connected through a second rotating shaft 14, the finger fixing band 18 and the second connecting rod 15 are movably connected through a first rotating shaft 16, and the connecting positions of the first connecting rod 13 and the second connecting rod 15 are fixedly connected with an elastic structure 20.

[0025] The finger assembly 5 and the gearbox body 4 are movably connected through a rotating rod 27, one end of the rotating rod 27 is movably connected in the interior of the gearbox body 4 through the third rotating shaft 25, the other end of the rotating rod 27 is located in the interior of the finger assembly 5 and is screw-connected with the first connecting rod 13.

[0026] The mutual connection between the first connecting rod 13, the second connecting rod 15 and the second rotating shaft 14 and the third rotating shaft 25 realizes the bending and straightening actions of the fingers, and the rotating change amount of the second rotating shaft 14 can adapt to the distance change of the front end of the fingers and the third rotating shaft 25 under the bending and straightening conditions.

[0027] One side of the finger fixing band 18 is provided with a finger fixing buckle 17, and the other side is provided with a locking buckle 19, the finger fixing band 18 is connected with the first rotating shaft 16 through the finger fixing buckle 17, and the locking buckle 19 is buckle-connected with the finger fixing band 18.

[0028] When the fingers are bent, the transmission structure formed by the reduction gear on the third rotating shaft 25 and the motor outputs a torque force to drive the first connecting rod 13 to rotate, the driving force is applied to the second connecting rod 15 through the first connecting rod 13 to form a bending motion, and the elastic structure 20 on the second rotating shaft 14 applies a certain torque force to the second connecting rod 15 to promote the fingers to complete the bending action, and the same principle is also applicable when the fingers are straightened.

[0029] In use, the fingertips are fixed through the locking buckle 19 and the finger fixing buckle 17 by passing through the finger fixing band 18, the back-of-hand shell 1 is fixed on the back of the hand through the connecting body, and the fingers can be straightened or bent to assist the movement. Embodiment of the application

[0030] Embodiment 2

[0031] The application provides an exoskeleton auxiliary movement glove, which comprises a back of hand shell 1, a gearbox body 4 and a finger assembly 5, the gearbox body 4 is located between the back of hand shell 1 and the finger assembly 5, the back of hand shell 1 is connected through the gearbox body 4 and the finger assembly 5, and the gearbox body 4 and the back of hand shell 1 are fixedly connected.

[0032] The gearbox body 4 comprises an upper shell 41 and a lower shell 42, and the upper shell 41 and the lower shell 42 are threadedly connected through a first screw 43.

[0033] A motor 11 is arranged between the gearbox body 4 and the back of hand shell 1, one side of the motor 11 extends to the inside of the back of hand shell 1, and the other side extends to the inside of the gearbox body 4.

[0034] The inside of the gearbox body 4 is provided with a reduction gear, the reduction gear is a motor gear 22 and a rocker gear 26, the output end of the motor 11 is connected with the motor gear 22, the motor gear 22 and the rocker gear 26 are meshedly connected, the inside of the rocker gear 26 is provided with a third rotating shaft 25, the rocker gear 26 is movably connected in the inside of the gearbox body 4 through the third rotating shaft 25 at the center, and the third rotating shaft 25 is movably connected with the rocker gear 26. The motor 11 is a reduction motor, the motor 11, the motor gear 22 and the rocker gear 26 are connected with each other to form a gearbox.

[0035] The finger assembly 5 comprises a first connecting rod 13, a second connecting rod 15 and a finger fixing band 18, the second connecting rod 15 is located between the first connecting rod 13 and the finger fixing band 18, the first connecting rod 13 and the second connecting rod 15 are movably connected through a second rotating shaft 14, the finger fixing band 18 and the second connecting rod 15 are movably connected through a first rotating shaft 16, and the first connecting rod 13 and the second connecting rod 15 are fixedly connected with an elastic structure 20 between the connecting positions of the first connecting rod 13 and the second connecting rod 15, and the inside of the elastic structure 20 is provided with a spring.

[0036] The finger assembly 5 and the gearbox body 4 are movably connected through a rotating rod 27 between the two, one end of the rotating rod 27 is movably connected in the inside of the gearbox body 4 through the third rotating shaft 25, and the other end of the rotating rod 27 is threadedly connected with the first connecting rod 13 of the finger assembly 5 through a second screw 12.

[0037] The mutual connection between the first connecting rod 13, the second connecting rod 15 and the second rotating shaft 14 and the third rotating shaft 25 realizes the bending and straightening actions of the fingers, and the rotation change amount of the second rotating shaft 14 can adapt to the distance change of the front end of the finger and the third rotating shaft 25 under the bending and straightening conditions.

[0038] One side of the finger fixing bandage 18 is provided with a finger fixing buckle 17, and the other side is provided with a locking buckle 19. The finger fixing bandage 18 is connected through the finger fixing buckle 17 and the first rotating shaft 16, and the locking buckle 19 and the finger fixing bandage 18 are buckled.

[0039] When the finger is bent, the rocker arm gear 26 on the third rotating shaft 25 and the motor 11 and the motor gear 22 are connected to form a transmission. The motor 11 is a speed reducer. The motor 11 drives the motor gear 22 to rotate, and the motor gear 22 drives the rocker arm gear 16 to drive. Thus, the third rotating shaft 25 can drive the first connecting rod 13 to rotate through the torque force output by the transmission, and the driving force is applied to the second connecting rod 15 through the first connecting rod 13, forming a bending motion. The inside of the elastic structure 20 at the connection of the first connecting rod 13 and the second connecting rod 15 is provided with a spring, which can apply a certain torque to the second connecting rod 15 to facilitate the bending of the finger. The design of the spring can make the bending angle of the finger larger. When the finger is straightened, the same principle applies.

[0040] In use, the fingertips are fixed through the locking buckle 19 and the finger fixing buckle 17 of the finger fixing bandage 18, the back of the hand shell 1 and the cloth wrapped around the palm are fixedly connected, and the back of the hand shell is further fixed on the back of the hand. The fingers can be straightened or bent to assist movement.

[0041] Embodiment 3

[0042] The application provides an exoskeleton auxiliary motion glove, which comprises a back of hand shell 1, a transmission case 4 and a finger assembly 5. The transmission case 4 is located between the back of hand shell 1 and the finger assembly 5. The back of hand shell 1 is connected through the transmission case 4 and the finger assembly 5. The transmission case 4 and the back of hand shell 1 are fixedly connected.

[0043] The transmission case 4 comprises an upper shell 41 and a lower shell 42. The upper shell 41 and the lower shell 42 are threadedly connected through a first screw 43.

[0044] The transmission case 4 and the back of hand shell 1 are provided with a motor 11. One side of the motor 11 extends to the inside of the back of hand shell 1, and the other side extends to the inside of the transmission case 4.

[0045] The inside of the gearbox body 4 is provided with reduction gears, which are motor gear 22, 90-degree gear 24 and rocker gear 26. The output end of the motor 11 is connected with the motor gear 22, the motor gear 22 is meshingly connected with one side of the 90-degree gear 24, the other side of the 90-degree gear 24 is meshingly connected with the rocker gear 26, the 90-degree gear 24 is movably connected with the gearbox body 4 through the fourth rotating shaft 23 at the center, the rocker gear 26 is movably connected with the gearbox body 4 through the third rotating shaft 25 at the center, and the third rotating shaft 25 is movably connected with the rocker gear 26. The motor 11 is a reduction motor, and the motor 11, the motor gear 22, the 90-degree gear 24 and the rocker gear 26 are connected with each other to form a gearbox.

[0046] The finger assembly 5 comprises a first connecting rod 13, a second connecting rod 15 and a finger fixing band 18, the second connecting rod 15 is located between the first connecting rod 13 and the finger fixing band 18, the first connecting rod 13 and the second connecting rod 15 are movably connected through the second rotating shaft 14, the finger fixing band 18 and the second connecting rod 15 are movably connected through the first rotating shaft 16, and the connecting position between the first connecting rod 13 and the second connecting rod 15 is fixedly connected with an elastic structure 20.

[0047] The finger assembly 5 and the gearbox body 4 are movably connected through a rotating rod 27, one end of the rotating rod 27 is movably connected with the inside of the gearbox body 4 through the third rotating shaft 25, and the other end of the rotating rod 27 is located at the position of the first connecting rod 13 of the finger assembly 5 which is threadedly connected with the second screw 12.

[0048] The mutual connection between the first connecting rod 13, the second connecting rod 15, the second rotating shaft 14 and the third rotating shaft 25 realizes the bending and straightening actions of the fingers, and the rotation change amount of the second rotating shaft 14 can adapt to the distance change of the front end of the fingers and the third rotating shaft 25 in the bending and straightening conditions.

[0049] One side of the finger fixing band 18 is provided with a finger fixing buckle 17, and the other side is provided with a locking buckle 19, the finger fixing band 18 is connected with the first rotating shaft 16 through the finger fixing buckle 17, and the locking buckle 19 is buckle-connected with the finger fixing band 18.

[0050] When the fingers are bent, the first connecting rod 13 and the second connecting rod 15 form an elastic structure as a whole, the motor 11, the motor gear 22, the 90-degree gear and the rocker gear 26 are connected to form a gearbox, the motor 11 is a reduction motor, the motor 11 provides driving force for the gearbox, so that the third rotating shaft 25 can drive the first connecting rod 13 to rotate through the torque force output by the gearbox, the driving force is applied to the second connecting rod 15 through the first connecting rod 13, and the bending movement is formed, and the same principle is also applicable when the fingers are straightened.

[0051] In use, the finger tip is fixed through the finger fixing band 18 by the locking buckle 19 and the finger fixing buckle 17, the back of the hand shell 1 is fixed on the back of the hand through the connecting body, and the finger can be straightened or bent to assist movement.

[0052] The application provides an exoskeleton auxiliary movement glove, which comprises a back of the hand shell, a gearbox body and a finger assembly; the finger assembly of the application adopts a connecting rod structure, the design of two connecting rods and multiple rotating shafts realizes the bending and straightening actions of the finger, and the rotating change amount of the second rotating shaft can adapt to the distance change between the front end of the finger and the driving third rotating shaft in the bending and straightening conditions; only a small joint part needs to be moved during the driving of the finger, and the simple connecting rod reduces power loss; in addition, the design of the finger fixing buckle and the finger fixing band can well fix the connecting rod on the finger with a simple structure, is low in cost, more reliable in operation, and beneficial to miniaturization and light weight.

[0053] The above description of disclosed embodiments enables one of ordinary skill in the art to make or use the application. Various modifications to these embodiments will be readily apparent to those of ordinary skill in the art, and the generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Accordingly, the application is not to be restricted based on the embodiments set forth in this description, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An exoskeleton-assisted motion glove, characterized by, Including the back of the hand shell (1), gearbox (4) and finger assembly (5), the back of the hand shell (1) is connected through gearbox (4) and finger assembly (5); The motor (11) is provided between the gearbox (4) and the back of the hand shell (1), one side of the motor (11) extends to the inside of the back of the hand shell (1), and the other side extends to the inside of the gearbox (4); The finger assembly (5) includes a first connecting rod (13), a second connecting rod (15) and a finger fixing band (18), the second connecting rod (15) is located between the first connecting rod (13) and the finger fixing band (18), the first connecting rod (13) and the second connecting rod (15) are movably connected through a second shaft (14), and the finger fixing band (18) and the second connecting rod (15) are movably connected through a first shaft (16).

2. An exoskeleton-assisted motion glove according to claim 1, characterized in that, The gearbox (4) is movably connected with the finger assembly (5) through a rotating rod (27), one end of the rotating rod (27) extends to the inside of the gearbox (4) and is movably connected with the gearbox (4), and the other end of the rotating rod (27) is connected with the finger assembly (5).

3. The exoskeleton-assisted athletic glove of claim 1, wherein, The inside of the gearbox (4) is provided with a speed reducing gear, and the output end of the motor (11) is connected with the speed reducing gear.

4. The exoskeleton-assisted athletic glove of claim 3, wherein, The third shaft (25) is located in the inside of the speed reducing gear, and the third shaft (25) is connected with the rotating rod (27).

5. The exoskeleton-assisted athletic glove of claim 1, wherein, One side of the finger fixing band (18) is provided with a finger fixing buckle (17), and the other side is provided with a locking buckle (19), the finger fixing band (18) is connected with the first shaft (16) through the finger fixing buckle (17), and the locking buckle (19) is buckled with the finger fixing band (18).

6. The exoskeleton-assisted athletic glove of claim 1, wherein, The elastic structure (20) is provided between the connecting portions of the first connecting rod (13) and the second connecting rod (15).

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