CN114699284A

CN114699284A - Wire-driven soft glove

Info

Publication number: CN114699284A
Application number: CN202210470158.XA
Authority: CN
Inventors: 胡星星; 王灿雷; 郑豪杰; 李菁; 刘永波
Original assignee: Pharos Shanghai Medical Technology Co ltd
Current assignee: Pharos Shanghai Medical Technology Co ltd
Priority date: 2022-04-28
Filing date: 2022-04-28
Publication date: 2022-07-05
Also published as: WO2023207737A1

Abstract

The embodiment of the invention provides a wire-driven soft glove, and relates to the field of medical instruments. The wire-drive soft glove comprises a glove body and a plurality of fingertip caps, the finger back line passing block is provided with line passing holes, each finger part is provided with a line passing pipe, the joint of the first finger back and the second finger back is an arc surface when the finger part is in a bending state, the circle center of the line passing hole of the line passing block passing the finger back and the perpendicular line of the plane of the first finger back are first perpendicular lines, the circle center of the line passing hole of the line passing block passing the finger back and the perpendicular line of the plane of the second finger back are second perpendicular lines, the first perpendicular lines and the second perpendicular lines form an intersection point, the line connecting the circle center of the line passing hole of the line passing block passing the finger back on the first finger back and the circle center of the line passing hole of the line passing block passing the finger back on the second finger back and the arc surface form a tangent point, and the length of the line between the intersection point and the tangent point is larger than or equal to the length of the line connecting the highest point of the intersection point and the arc surface.

Description

Wire-driven soft glove

Technical Field

The invention relates to the field of medical instruments, in particular to a wire-driven soft glove.

Background

At present, the line driving soft glove is often applied to hand rehabilitation training, the line driving soft glove is worn on a hand, and a fingertip and a finger cap of the line driving soft glove and a finger back line block of the line driving soft glove are driven to move together through an external driving piece, so that finger fist making and finger straightening rehabilitation training are realized.

The problem that the hand straightening effect is not good exists in the use of line drive software gloves among the prior art.

Disclosure of Invention

The invention provides a wire-drive soft glove which can relieve the problem that the straightening effect of a hand of the wire-drive soft glove is not good in the using process.

Embodiments of the invention may be implemented as follows:

an embodiment of the present invention provides a wire-drive soft glove, which includes:

the glove comprises a glove body, wherein the glove body is provided with a palm part and a plurality of finger parts, the palm part is simultaneously connected with the plurality of finger parts, and the finger parts are provided with fingertips, a first finger back and a second finger back which are sequentially connected;

a plurality of fingertip caps provided in correspondence with the fingertips;

the finger back line passing blocks are distributed on each finger part, at least two finger back line passing blocks are arranged at intervals along the length direction of the finger part, and line passing holes are formed in the finger back line passing blocks;

each finger part is provided with the wire passing pipe, the wire passing pipes extend along the length direction of the finger part, and the wire passing pipes penetrate through the wire passing holes and are connected with the finger tip caps;

wherein, when the finger portion is in a bending state, the first finger back and the second finger back are arranged at an included angle, the joint of the first finger back and the second finger back is an arc surface, one finger back over line block is positioned on the plane where the first finger back is positioned, the circle center of the line passing hole passing the line block passing the finger back and the perpendicular line of the plane where the first finger back is positioned are first perpendicular lines, the other finger back over line block is positioned on the plane where the second finger back is positioned, the circle center of the line passing hole passing the line block passing the finger back and the perpendicular line of the plane where the second finger back is positioned are second perpendicular lines, an intersection point exists between the first perpendicular line and the second perpendicular lines, a tangent point exists between the circle center of the line passing hole passing the line block passing the finger back on the first finger back and a tangent line between the circle center of the line hole passing the finger back on the second finger back and the arc surface, the length of a connecting line between the intersection point and the tangent point is greater than or equal to the length of a connecting line between the intersection point and the highest point of the cambered surface.

Optionally, the line driver soft glove further comprises a back support, the back support is arranged on the palm portion, and the back support is connected with all the line passing pipes to form an integral structure.

Optionally, the hand back support includes a fixed support and a movable support, the movable support is connected with the fixed support in a lockable manner, the movable support is connected with the wire passing pipes of the finger parts corresponding to the thumb, and the fixed support is connected with the remaining all the wire passing pipes.

Optionally, one end of the fixed support, which is close to the movable support, is provided with a plurality of locking holes, one end of the movable support, which is close to the fixed support, is provided with a pin, and the pin is detachably connected with any one of the locking holes.

Optionally, the thread drive soft glove further comprises a back support block, the back support block is disposed on the palm portion, and the back support block is connected with all the thread passing pipes.

Optionally, the line driving soft glove further comprises a plurality of back support block slideways, the back support block slideways are arranged on the palm portion, and each back support block slideway is connected with the line passing pipe.

Optionally, the wire-driven soft glove further comprises a driving cable, the driving cable is arranged on the glove body, one end of the driving cable penetrates through the wire passing pipe to be connected with the fingertip finger cap, and the other end of the driving cable is used for being connected with the driving piece.

Optionally, a calculation formula of a connection line length between the intersection point and the tangent point is:

wherein EF is the length of a connecting line between the intersection point and the tangent point; h is the length of the first perpendicular line or the second perpendicular line; d is the diameter of the human finger; s is the length of a connecting line passing through the circle center of the line passing hole of the finger back line passing block on the first finger back and the circle center of the line passing hole of the finger back line passing block on the second finger back; and alpha is the maximum angle of the finger joint flexion.

Optionally, a calculation formula of a connection line length between the intersection point and the highest point of the arc surface is as follows:

wherein EC is the length of a connecting line between the intersection point and the highest point of the cambered surface; d is the diameter of the human finger; s is the length of the connecting line passing through the center of the line passing hole of the line passing block on the finger back of the first finger and the center of the line passing hole of the line passing block on the finger back of the second finger; and alpha is the maximum angle of the finger joint flexion.

Optionally, the length of the first perpendicular line is the same as the length of the second perpendicular line, and a calculation formula of the first perpendicular line or the second perpendicular line is as follows:

wherein h is the height of the first perpendicular line or the second perpendicular line; d is the diameter of the human finger; s is the length of the connecting line passing through the center of the line passing hole of the line passing block on the finger back of the first finger and the center of the line passing hole of the line passing block on the finger back of the second finger; alpha is the maximum angle of finger joint buckling.

The wire-drive soft glove provided by the embodiment of the invention has the beneficial effects of:

the wire-drive soft glove comprises a glove body, a plurality of finger-tip finger caps, a plurality of finger-back wire passing blocks and a plurality of wire passing pipes, wherein the glove body is provided with a palm part and a plurality of finger parts, the palm part is simultaneously connected with the finger parts, the finger parts are provided with fingertips, a first finger back and a second finger back which are sequentially connected, the plurality of finger-tip finger caps are correspondingly arranged on the fingertips, at least two finger-back wire passing blocks are uniformly distributed on each finger part, the at least two finger-back wire passing blocks are arranged at intervals along the length direction of the finger parts, the finger-back wire passing blocks are provided with wire passing holes, each finger part is provided with a wire passing pipe, the wire passing pipes extend along the length direction of the finger parts, the wire passing pipes penetrate the wire passing holes and are connected with the finger-tip finger caps, wherein when the finger parts are in a bending state, the first finger back and the second finger back are arranged at an included angle, the connection part of the first finger back and the second finger back is an arc surface, one finger-back wire passing block is positioned on the plane where the first finger back is positioned, and the perpendicular line between the circle center of the wire passing hole of the wire passing block passing through the back of the finger and the plane where the first back of the finger is located is a first perpendicular line, the other wire passing block passing through the back of the finger is located on the plane where the second back of the finger is located, the perpendicular line between the circle center of the wire passing hole of the wire passing block passing through the back of the finger and the plane where the second back of the finger is located is a second perpendicular line, the first perpendicular line and the second perpendicular line have an intersection point, a tangent point exists between the connection line of the circle center of the wire passing hole of the wire passing block passing through the back of the finger on the first back of the finger and the circle center of the wire passing hole of the wire passing block passing through the back of the finger on the second back of the finger and the cambered surface, and the length of the connection line between the intersection point and the tangent point is greater than or equal to the length of the connection line between the intersection point and the highest point of the cambered surface. The highest point of the cambered surface is the highest point when the fingers are bent, and the length of a connecting line between the intersection point and the tangent point is greater than or equal to the length of a connecting line between the intersection point and the highest point of the cambered surface, so that the minimum distance of the first perpendicular line or the second perpendicular line, namely the minimum height of the finger back line passing block can be obtained. When the wire-driving soft glove is used, the back stretching bending moment generated by stretching the wire-driving soft glove is equal to the product of the height of the finger back wire passing block and the tension, and under the condition that the tension is not changed, the tension of the wire-driving soft glove can be increased by increasing the height of the finger back wire passing block, so that the stretching effect of the wire-driving soft glove is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic structural diagram of a first view angle of a wire-driven soft glove provided in this embodiment;

fig. 2 is a schematic structural diagram of a second view angle of the wire-driven soft glove provided in this embodiment;

fig. 3 is a simplified diagram of the finger portion provided in the present embodiment.

Icon: 10-glove body; 11-finger portion; 111-fingertip; 112-first dorsum phalanx; 113-second dorsum phalanx; 12-palm portion; 20-fingertip caps; 30-finger back line-passing block; 31-a wire through hole; 40-a wire passing pipe; 50-hand back support; 51-a fixed support; 511-keyhole; 52-a movable support; 521-a pin; 70-a back of hand support block; 80-back of hand support block slide; 90-drive clues; 100-wire drive soft gloves.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. indicate an orientation or a positional relationship based on that shown in the drawings or that the product of the present invention is used as it is, this is only for convenience of description and simplification of the description, and it does not indicate or imply that the device or the element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.

Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.

The problem that the hand straightening effect is not good exists in the wire-drive soft glove in the related art in the use process.

Referring to fig. 1-3, the present embodiment provides a wire-driven soft glove 100, which can effectively improve the above-mentioned technical problems, and can alleviate the problem of poor hand straightening effect of the wire-driven soft glove 100 during the use process.

Referring to fig. 1, the wire-driving soft glove 100 includes a glove body 10, a plurality of fingertip caps 20, a plurality of dorsal finger line blocks 30, and a plurality of line-passing tubes 40, the glove body 10 has a palm portion 12 and a plurality of finger portions 11, the palm portion 12 is connected to the plurality of finger portions 11 at the same time, the finger portions 11 have sequentially connected fingertips 111, a first dorsal finger 112, and a second dorsal finger 113, the plurality of fingertip caps 20 are correspondingly disposed on the fingertips 111, each finger portion 11 is distributed with at least two dorsal finger line blocks 30, the at least two dorsal finger line blocks 30 are disposed at intervals along the length direction of the finger portion 11, the dorsal finger line blocks 30 are provided with line-passing holes 31, each finger portion 11 is provided with a line-passing tube 40, and the line-passing tubes 40 extend along the length direction of the finger portion 11, and the line-passing tubes 40 pass through the line-passing holes 31 and are connected to the fingertip caps 20.

Fig. 2 shows a schematic structural view of the wire-drive soft glove 100 in a bent state, and fig. 3 shows a simplified structure of the finger part 11 by the link rotating mechanism when the wire-drive soft glove 100 is in a bent state. The structure of the finger part 11 in the bent state will be described in detail below.

Referring to fig. 2 and 3, A, B, G indicates the finger back line block 30. In this embodiment, three dorsal finger line-passing blocks 30 are distributed on each finger portion 11, one dorsal finger line-passing block 30 is disposed on the first dorsal finger 112, one dorsal finger line-passing block 30 is disposed on the second dorsal finger 113, and the remaining one dorsal finger line-passing block 30 is disposed on the second dorsal finger 113 near the palm portion 12.

When the finger part 11 is in a bending state, the first finger back 112 and the second finger back 113 are arranged at an included angle, and the joint of the first finger back 112 and the second finger back 113 is a cambered surface, one finger back line passing block 30 is positioned on the plane of the first finger back 112, and the perpendicular line between the center of the wire passing hole 31 of the over-finger back wire passing block 30 and the plane where the first finger back 112 is located is the first perpendicular line, the other over-finger back wire passing block 30 is located on the plane where the second finger back 113 is located, and the perpendicular line between the center of the line passing hole 31 of the line passing block 30 passing through the back of the finger and the plane where the second finger back 113 is located is a second perpendicular line, the first perpendicular line and the second perpendicular line have an intersection point, a tangent point exists between the line connecting the center of the line passing hole 31 of the line passing block 30 on the back of the finger on the first finger back 112 and the center of the line passing hole 31 of the line passing block 30 on the back of the finger on the second finger back 113 and the arc surface, and the length of the connecting line between the intersection point and the tangent point is greater than or equal to the length of the connecting line between the intersection point and the highest point of the arc surface.

Specifically, A, B, G in fig. 3 respectively represents the back finger line-passing block 30, BE1 represents a first perpendicular line, AE2 represents a second perpendicular line, E represents an intersection point of the first perpendicular line and the second perpendicular line, F represents a tangent point, C represents the highest point of the arc surface, i.e., the highest point of the bending of the finger, h represents the height of the back finger line-passing block 30 from the plane thereof, and D represents the diameter of the human finger.

It should be noted that in the present embodiment, the heights of each finger back line block 30 and the plane on which the finger back line block is located are all equal. Specifically, the length of the first perpendicular line is equal to the length of the second perpendicular line, i.e., the height of each dorsal finger line block 30 is the same.

Furthermore, in this embodiment, the wire-passing tube 40 is a flexible tube, the driving force of the wire-driving soft glove 100 during the straightening process of the finger will force the wire-passing tube 40 to deform so as to approach the stretching force transmitted by the line AB, and in order to avoid that the wire-passing tube 40 presses the highest point of the finger during the straightening process, the length of the connecting line between the intersection point and the tangent point should be greater than or equal to the length of the connecting line between the intersection point and the highest point of the arc surface, and finally the height range of the wire-passing block 30 on the back of the finger can be obtained.

In this embodiment, the calculation formula of the connection line length between the intersection point and the tangent point is:

wherein EF is the length of a connecting line between the intersection point and the tangent point; h is the length of the first perpendicular line or the second perpendicular line; d is the diameter of the human finger; s is the length of the connecting line between the center of the line passing hole 31 of the finger back line passing block 30 on the first finger back 112 and the center of the line passing hole 31 of the finger back line passing block 30 on the second finger back 113; and alpha is the maximum angle of the finger joint flexion.

The calculation formula of the connecting line length between the intersection point and the highest point of the cambered surface is as follows:

wherein EC is the length of a connecting line between the intersection point and the highest point of the cambered surface; d is the diameter of the human finger; s is the length of the connecting line between the center of the line passing hole 31 of the finger back line passing block 30 on the first finger back 112 and the center of the line passing hole 31 of the finger back line passing block 30 on the second finger back 113; and alpha is the maximum angle of the finger joint flexion.

According to the formula and the length of the connecting line between the intersection point and the tangent point which is more than or equal to the length of the connecting line between the intersection point and the highest point of the cambered surface, the calculation formula of the first perpendicular line or the second perpendicular line can be obtained as follows:

wherein h is the height of the first perpendicular line or the second perpendicular line; d is the diameter of the human finger; s is the length of the connecting line between the center of the line passing hole 31 of the finger back line passing block 30 on the first finger back 112 and the center of the line passing hole 31 of the finger back line passing block 30 on the second finger back 113; and alpha is the maximum angle of the finger joint flexion.

During use of the wire-driven soft glove 100, the stretching force thereof generates a bending moment of the back stretching equal to the product of the height of the finger back wire-passing block 30 and the stretching force. Under the condition that the pulling force is not changed, the height of the finger back thread passing block 30 is increased, the pulling force of the thread driving soft glove 100 can be increased, and therefore the pulling effect of the thread driving soft glove 100 is improved.

With reference to fig. 1, the line driving soft glove 100 further includes a back support 50, the back support 50 is disposed on the palm portion 12, and the back support 50 is connected to all the line passing tubes 40 to form an integral structure.

Specifically, the hand back support 50 connects all the wire conduits 40 into a whole, so as to connect the finger tip caps 20 of all the finger parts 11 and the finger back wire passing blocks 30 into a whole, thereby forming a rigid body with certain rigidity, and being capable of relieving the phenomenon that the finger parts 11 of the wire-driving soft glove 100 are subjected to force line deviation during hard paralysis and back stretching, so as to reduce the driving force and influence the back stretching effect of the wire-driving soft glove 100.

It should be further noted that the back support 50 includes a fixed support 51 and a movable support 52, the movable support 52 is connected to the fixed support 51 in a lockable manner, the movable support 52 is connected to the wire guide 40 of the finger portion 11 corresponding to the thumb, and the fixed support 51 is connected to all the other wire guides 40.

Specifically, the fixed bracket 51 and the movable bracket 52 are fixed to the glove body 10 by means of a suture or an adhesive.

A plurality of lock holes 511 are arranged at one end of the fixed bracket 51 close to the movable bracket 52, a pin 521 is arranged at one end of the movable bracket 52 close to the fixed bracket 51, and the pin 521 is detachably connected with any one of the lock holes 511.

Specifically, θ in fig. 1 represents the angle between the thumb and the index finger.

It should be noted that, the thumb palm is one of the three functions of the human hand, and the training of the thumb palm function can be realized by adjusting the angle between the thumb and the index finger. The pin 521 of the movable bracket 52 is locked in any one of the lock holes 511 of the fixed bracket 51 through a spring or a leaf spring, so that the angle between the thumb and the forefinger can be adjusted.

In addition, the thread drive soft glove 100 further comprises a back support block 70, the back support block 70 is disposed on the palm portion 12, and the back support block 70 is connected to all the thread passing tubes 40.

The wire drive soft glove 100 further comprises a plurality of back support block slideways 80, the back support block slideways 80 are arranged on the palm portion 12, each back support block slideway 80 is connected with a wire passing pipe 40, and the wire passing pipes 40 slide on the back support blocks 70 through the back support block slideways 80, so that bending and straightening of fingers are realized.

More, the wire-driving soft glove 100 further comprises a driving cable 90, the driving cable 90 is disposed on the glove body 10, one end of the driving cable 90 penetrates through the wire conduit 40 to be connected with the fingertip cap 20, and the other end of the driving cable 90 is used for being connected with the driving member. The driving thread 90 drives the thread-driving soft glove 100 to perform bending and straightening actions under the driving force provided by the driving member.

It should be noted that, in the present embodiment, the hardness value of the wire guide 40 ranges from 40 degrees to 60 degrees. The wire conduit 40 can be made of a material with high wear resistance, such as teflon tube.

Because the fingers of the hard paralysis person have certain bending degree, the line driving soft glove 100 is difficult to wear, the line passing pipe 40 with certain rigidity can force the line driving soft glove 100 to bend naturally when the line driving soft glove is worn, so that the hard paralysis person can wear the line driving soft glove conveniently, meanwhile, the line passing block 30 on the back of the fingers, the line passing pipe 40, the finger tip 111 finger stall, the back of the hand bracket 50 and the back of the hand supporting block slideway 80 can form a whole body with certain rigid connection, the line driving soft glove 100 has good supporting effect on the line driving soft glove 100, and the situation that the wearing is inconvenient or the finger line driving force deviates to the outer side of the fingers due to the fact that the finger part 11 of the line driving soft glove 100 is weak in rigidity between the fingers can not occur cross winding.

It should be further noted that, a connecting line between two ends of the overactive support is defined as a first connecting line, in order to provide a proper rigidity between the thumb and the four fingers and facilitate the fitting action between the thumb and the four fingers, an angle formed between the first connecting line and the wire passing tube arranged on the index finger is in a range of 10 degrees to 60 degrees.

The wire-driven soft glove 100 provided by the embodiment has at least the following advantages:

the hand back support 50 connects all the wire passing tubes 40 into a whole, so that the fingertip caps 20 of all the finger parts 11 and the finger back wire passing blocks 30 are connected into a whole, a rigid body with certain rigidity is formed, the phenomenon that the force lines of the finger parts 11 of the wire-driving soft glove 100 deviate when the hard paralysis is stretched back can be relieved, the driving force is reduced, and the stretching effect of the wire-driving soft glove 100 is influenced.

The harness value of the wire guide 40 ranges from 40 degrees to 60 degrees. The wire conduit 40 may be made of a material with high wear resistance, such as teflon. Because the fingers of the hard paralysis personnel have certain bending degree and are difficult to wear the line driving soft glove 100, the line passing pipe 40 with certain rigidity can force the line driving soft glove 100 to be bent naturally when being worn, so as to be beneficial to the hard paralysis personnel to wear, meanwhile, the line passing block 30 at the back of the fingers, the line passing pipe 40, the finger tip 111 finger stall, the hand back bracket 50 and the hand back supporting block slideway 80 can form a whole body with certain rigid connection, the whole body has better supporting function for the line driving soft glove 100, and the situations that the wearing is inconvenient or the finger line driving force deviates to the outer side of the fingers because of the cross winding of the fingers 11 of the line driving soft glove 100 due to the weak rigidity of the fingers can be avoided between the fingers.

In summary, the embodiment of the present invention provides a wire-driving soft glove 100, the wire-driving soft glove 100 includes a glove body 10, a plurality of fingertip caps 20, a plurality of dorsal finger string passing blocks 30, and a plurality of string passing pipes 40, the glove body 10 has a palm portion 12 and a plurality of finger portions 11, the palm portion 12 is connected to the plurality of finger portions 11 at the same time, the finger portions 11 have fingertips 111, a first dorsal finger 112, and a second dorsal finger 113 connected in sequence, the plurality of fingertip caps 20 are correspondingly disposed on the fingertips 111, each finger portion 11 is distributed with at least two dorsal finger string passing blocks 30, the at least two dorsal finger string passing blocks 30 are disposed at intervals along the length direction of the finger portion 11, the dorsal finger blocks 30 are provided with string passing holes 31, each finger portion 11 is provided with a string passing pipe 40, the string passing pipe 40 extends along the length direction of the finger portion 11, the string passing pipe 40 penetrates through the string passing holes 31 and is connected to the fingertip caps 20, when the finger part 11 is in a bending state, the first finger back 112 and the second finger back 113 are arranged at an included angle, and the joint of the first finger back 112 and the second finger back 113 is a cambered surface, one finger back line passing block 30 is positioned on the plane of the first finger back 112, and the perpendicular line between the center of the wire passing hole 31 of the over-finger back wire passing block 30 and the plane where the first finger back 112 is located is the first perpendicular line, the other over-finger back wire passing block 30 is located on the plane where the second finger back 113 is located, and the perpendicular line between the center of the line passing hole 31 of the line passing block 30 passing through the back of the finger and the plane where the second finger back 113 is located is a second perpendicular line, the first perpendicular line and the second perpendicular line have an intersection point, a tangent point exists between the line connecting the center of the line passing hole 31 of the line passing block 30 on the back of the finger on the first finger back 112 and the center of the line passing hole 31 of the line passing block 30 on the back of the finger on the second finger back 113 and the arc surface, and the length of the connecting line between the intersection point and the tangent point is greater than or equal to the length of the connecting line between the intersection point and the highest point of the arc surface. The highest point of the arc surface is the highest point when the finger is bent, and the length of the connecting line between the intersection point and the tangent point is greater than or equal to the length of the connecting line between the intersection point and the highest point of the arc surface, so that the minimum distance of the first perpendicular line or the second perpendicular line, namely the minimum height of the finger back line passing block 30 can be obtained. When the wire-driving soft glove 100 is used, the back stretching bending moment generated by stretching the wire-driving soft glove 100 is equal to the product of the height of the finger back wire passing block 30 and the tension, and under the condition that the tension is not changed, the tension of the wire-driving soft glove 100 can be increased by increasing the height of the finger back wire passing block 30, so that the stretching effect of the wire-driving soft glove 100 is improved.

The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. A wire-driven soft glove, comprising:

the glove comprises a glove body (10), wherein the glove body (10) is provided with a palm part (12) and a plurality of finger parts (11), the palm part (12) is connected with the plurality of finger parts (11) at the same time, and the finger parts (11) are provided with fingertips (111), a first finger back (112) and a second finger back (113) which are connected in sequence;

a plurality of fingertip caps (20), wherein the plurality of fingertip caps (20) are correspondingly arranged on the fingertips (111);

the finger back line passing blocks (30) are distributed on each finger part (11), at least two finger back line passing blocks (30) are distributed on each finger part (11), the at least two finger back line passing blocks (30) are arranged at intervals along the length direction of the finger part (11), and each finger back line passing block (30) is provided with a line passing hole (31);

the finger parts (11) are provided with the wire passing pipes (40), the wire passing pipes (40) extend along the length direction of the finger parts (11), and the wire passing pipes (40) penetrate through the wire passing holes (31) and are connected with the fingertip finger caps (20);

wherein, work as when finger portion (11) is in the bending condition, first back of the finger (112) with second back of the finger (113) is the contained angle setting, just first back of the finger (112) with the junction of second back of the finger (113) is the cambered surface, one back of the finger crosses line block (30) and is located the plane at first back of the finger (112) place, and crosses back of the finger cross line block (30) the centre of a circle of crossing line hole (31) with the perpendicular line of the plane at first back of the finger (112) place is first perpendicular line, another back of the finger crosses line block (30) and is located the plane at second back of the finger (113) place, and crosses back of the finger cross line block (30) the centre of a circle of crossing line hole (31) with the perpendicular line of the plane at second back of the finger (113) place is the second perpendicular line, first perpendicular line and second perpendicular line have the crossing point, cross the point of the centre of a circle of the line block (30) on first back of the finger (112) and second back of the finger hole (113) and second perpendicular line (113) and back of the centre of the circle of the finger hole (113) and second perpendicular line (113) are second perpendicular line, first perpendicular line, cross point, cross the point that exists, cross the back of the finger (112) and cross the back of the finger (31) and cross the finger (113) and cross the point, cross the point that crosses ) A tangent point exists between a connecting line of the circle centers of the wire passing holes (31) of the finger back wire passing blocks (30) and the cambered surface, and the length of a connecting line between the intersection point and the tangent point is larger than or equal to the length of a connecting line between the intersection point and the highest point of the cambered surface.

2. The wire drive soft glove according to claim 1, wherein the wire drive soft glove (100) further comprises a back support (50), the back support (50) is disposed on the palm portion (12), and the back support (50) is connected with all the wire conduits (40) to form an integral structure.

3. The thread drive soft glove according to claim 2, wherein the dorsal support (50) comprises a fixed support (51) and a movable support (52), the movable support (52) is lockably connected with the fixed support (51), the movable support (52) is connected with the thread passing tube (40) of the finger part (11) corresponding to the thumb, and the fixed support (51) is connected with all the other thread passing tubes (40).

4. The wire-drive soft glove according to claim 3, wherein a plurality of locking holes (511) are formed in one end, close to the movable bracket (52), of the fixed bracket (51), a pin (521) is formed in one end, close to the fixed bracket (51), of the movable bracket (52), and the pin (521) is detachably connected with any one of the locking holes (511).

5. The thread drive soft glove according to claim 1, wherein the thread drive soft glove (100) further comprises a back support block (70), the back support block (70) is disposed on the palm portion (12), and the back support block (70) is connected with all the thread passing tubes (40).

6. The line driving soft glove according to claim 5, wherein the line driving soft glove (100) further comprises a plurality of back support block slides (80), the plurality of back support block slides (80) are disposed on the palm portion (12), and each back support block slide (80) is connected with the thread passing tube (40).

7. The wire-drive soft glove according to claim 1, wherein the wire-drive soft glove (100) further comprises a drive cable (90), the drive cable (90) is disposed on the glove body (10), one end of the drive cable (90) penetrates through the wire conduit (40) and is connected with the fingertip and finger cap (20), and the other end of the drive cable (90) is used for being connected with a driving member.

8. The wire drive soft glove of claim 1, wherein the length of the connecting line between the intersection point and the tangent point is calculated by the formula:

wherein EF is the length of a connecting line between the intersection point and the tangent point; h is the length of the first perpendicular line or the second perpendicular line; d is the diameter of the human finger; s is the length of the connecting line of the circle center of the wire passing hole (31) of the wire passing block (30) on the back of the finger (30) on the first finger back (112) and the circle center of the wire passing hole (31) of the wire passing block (30) on the back of the finger (113); and alpha is the maximum angle of the finger joint flexion.

9. The wire drive soft glove of claim 1, wherein the calculation formula of the length of the connecting line between the intersection and the highest point of the arc surface is as follows:

wherein EC is the length of a connecting line between the intersection point and the highest point of the cambered surface; d is the diameter of the human finger; s is the length of the connecting line of the circle center of the line passing hole (31) of the line passing block (30) on the finger back (112) and the circle center of the line passing hole (31) of the line passing block (30) on the finger back (113); and alpha is the maximum angle of the finger joint flexion.

10. The line driving soft glove of claim 9, wherein the length of the first perpendicular line is the same as the length of the second perpendicular line, and the calculation formula of the first perpendicular line or the second perpendicular line is:

wherein h is the height of the first perpendicular line or the second perpendicular line; d is the diameter of the human finger; s is the length of the connecting line of the circle center of the wire passing hole (31) of the wire passing block (30) on the back of the finger (30) on the first finger back (112) and the circle center of the wire passing hole (31) of the wire passing block (30) on the back of the finger (113); and alpha is the maximum angle of the finger joint flexion.