CN101518491A - Finger motor function rehabilitation robot - Google Patents
Finger motor function rehabilitation robot Download PDFInfo
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- CN101518491A CN101518491A CN200910081170A CN200910081170A CN101518491A CN 101518491 A CN101518491 A CN 101518491A CN 200910081170 A CN200910081170 A CN 200910081170A CN 200910081170 A CN200910081170 A CN 200910081170A CN 101518491 A CN101518491 A CN 101518491A
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Abstract
The invention relates to a finger motor function rehabilitation robot comprising an executing part and a driving part which are connected by steel wire rope outer sleeves (5a, 5b, 5c and 5d), wherein the executing part is divided into a palm bone joint module (2), a near-end joint module (3) and a far-end joint module (4); and the driving part is divided into four independent driving modules (1a, 1b, 1c and 1d) to drive the executing part. Because the whole system realizes far distance and variable distance transmission though steel wire ropes, the hands of people can arbitrarily move in a certain range in a rehabilitation process. The invention has the advantages that each joint of fingers is singly driven in a bidirectional mode; the robot has mechanical position-limiting function and can regulate the maximal rotating range of each finger joint to satisfy the requirement of different motion ranges of a patient in different rehabilitation periods; and the robot is suitable for hands with different sizes to wear in a certain range, and the hands can arbitrarily move in a certain range.
Description
Technical field:
Finger motion function rehabilitation robot of the present invention relates to a kind of equipment that the dyskinesia patient is carried out rehabilitation training, particularly a kind of robot device that the motion function rehabilitation training is carried out in finger dyskinesia patient's finger joint.
Technical background:
Hands is one of most important structure of human body, and it all seems to the mankind's function and outward appearance and be important.Particularly the motor capacity of hands is human daily life and the smooth basic guarantee of work.Yet, joint, skeleton, tendon, the nerve of hands are easy to sustain damage in life and work, general impaired treatment all needs pointing long braking, but braking can cause the adhesion of finger-joint and tendon and the atrophy of muscle because joint tendon congestion forms fibre modification for a long time.In addition, the hemiplegia that causes of cardiovascular disease such as joint disease, apoplexy also can cause the spasm atrophy of finger-joint tendon fibrosis and muscle, ligament.These situations all can make the patient lose some motor functions, cause the hand exercise dysfunction.
Rehabilitation science shows that early stage athletic rehabilitation treatment helps patient's rehabilitation, by multiple limb motion, can set up new neural channel, and the patient can recapture the motor function of having lost.Athletic rehabilitation mainly is meant and progressively recovers the motor function of limbs by the active exercise of limbs and passive exercise.
Present athletic rehabilitation treatment is undertaken by the rehabilitation therapist in hospital, and the rehabilitation therapist points the application of force to the patient, allows the patient point and recovers strength and range of movement.Yet there are a lot of problems in present athletic rehabilitation treatment.At first, rehabilitation course is that rehabilitation therapist and patient are man-to-man, the medical expense costliness, and efficient is low.Secondly, the rehabilitation training process duration is long and machinery is uninteresting, and the patient lacks the initiative and the enthusiasm of rehabilitation training, and rehabilitation training is difficult to adhere to.Once more, present rehabilitation training depends on rehabilitation therapist's experience and subjective judgment, and accurately the objective record of Control Training parameter and shortage rehabilitation course is difficult to the accurate evaluation to rehabilitation efficacy, is unfavorable for the improvement of therapeutic scheme.
Along with the development of robotics, rehabilitation medicine, in order to improve traditional rehabilitation means and to improve the rehabilitation effect, the healing robot technology is arisen at the historic moment.Healing robot carries out real-time monitoring record treatment data to training process, and can carry out the medical treatment test and appraisal owing to can carry out high-precision repeating motion, therefore can the recovering aid therapist simultaneously a plurality of patients be treated efficiently.In addition, it is technical that virtual reality technology is incorporated into healing robot, uninteresting therapeutic process can be become the treatment recreation with image, sound and force feedback, makes rehabilitation training be full of interest, improve the initiative of patient, thereby further improve therapeutic effect rehabilitation training.
Summary of the invention:
The object of the present invention is to provide a kind of finger motion function rehabilitation robot of Worn type, can satisfy and remove the thumb requirement of four degree of freedom of other fingers in addition, and can realize that the patient is passive and initiatively wait rehabilitation modality, virtual reality technology is joined in the rehabilitation system, increase the interest of rehabilitation training, improve the initiative of patient rehabilitation training.
A kind of finger motion function rehabilitation robot of the present invention, its technical scheme is: described robot is made up of operating part and drive part.Wherein, operating part can be divided into distal joint module (1 degree of freedom), near-end joint module (1 degree of freedom) and metacarpal bone joint module (2DOF) three parts; Drive part then be divided into four independently driver module realize three modules of operating part independent bi-directional drive of totally four degree of freedom is realized the bending of finger and stretches the action of abduction and interior receipts.Because whole system realizes remote, displacement from transmission by steel wire rope, therefore staff can move arbitrarily within the specific limits in rehabilitation course.Lax in order to prevent the steel wire rope between operating part and the drive part, two parts connect by the bigger steel wire rope overcoat of hardness, and steel wire penetrating steel wire rope overcoat is realized transmission.
A kind of finger motion function rehabilitation robot of the present invention is characterized in that: this robot is made up of operating part and drive part two large divisions, and above-mentioned two parts connect by steel wire rope overcoat 5a, 5b, 5c, 5d;
Wherein, operating part is divided into metacarpal bone joint module 2, near-end joint module 3 and distal joint module 4 three parts; Drive part then is divided into four, and independently driver module 1a, 1b, 1c, 1d realize the driving to operating part;
Described metacarpal bone joint module 2 mainly is made of proximal phalanx pedestal 201, metacarpal bone pedestal 202, rotating basis 208, front-slider 203, rear slider 204,205, sectional wheel 206, horizontal wheels 209, pulley 207, steel wire rope 6a01,6a02,6b01,6b02, steel wire rope overcoat fixed block 210,216, stop screw 211,212 and limited block 213;
Described near-end joint module 3 mainly is made of rear slider 304,305, front-slider 301, sectional wheel 302, pulley 303, steel wire rope 6c01,6c02, steel wire rope overcoat fixed block 309, stop screw 306,307 and limited block 308;
Described distal joint module 4 mainly is made of middle phalanx pedestal 407, distal phalanx pedestal 401, front-slider 401, rear slider 405,406, sectional wheel 404, pulley 403, steel wire rope 6d01,6d02, steel wire rope overcoat fixed block 416, stop screw 412,413 and limited block 414;
Four modules of described drive part are identical; Wherein, driver module A1a mainly is made up of motor 1a01, fixed mount 1a03,1a04, reducing gear, tensioner 1a12, drive shaft 1a10, drivewheel 1a09, steel wire rope 6a01,6a02 and steel wire rope overcoat fixed block 1a11;
In metacarpal bone joint module 2, proximal phalanx pedestal 201 and metacarpal bone pedestal 202 are separately fixed on the proximal phalanx and metacarpal bone of finger; Rotating basis 208 is connected on the metacarpal bone pedestal 202, can carry out rotating around bearing; Horizontal wheels 209 connects firmly on rotating basis 208; Steel wire rope overcoat fixed block 210 is connected on the metacarpal bone pedestal 202; One end of steel wire rope 6a01 and steel wire rope (6a02) is fixed on the horizontal wheels 209; Rear slider 203 is connected on the rotating basis 208, constitutes a moving sets; Steel wire rope overcoat fixed block 216 is connected on the rear slider 204,205; Front-slider 203 is connected on the proximal phalanx pedestal 201, constitutes another moving sets; Simultaneously, front-slider 203 connects firmly on sectional wheel 206; Sectional wheel 206 is installed on the rear slider 204,205, constitutes a revolute pair; The end of steel wire rope 6b01 and steel wire rope 6b02 is fixed on the sectional wheel 206;
In near-end joint module 3, front-slider 301 connects firmly on sectional wheel 302; Sectional wheel 302 is installed on the rear slider 304,305, constitutes a revolute pair; The end of steel wire rope 6c01 and steel wire rope 6c02 is fixed on the sectional wheel 302; Rear slider 304,305 is connected on the proximal phalanx pedestal 201 in the metacarpal bone joint module 2, constitutes a moving sets; Steel wire rope overcoat fixed block 309 is connected on the rear slider 304,305;
In distal joint module 4, middle phalanx pedestal 407 and distal phalanx pedestal 401 are separately fixed on the middle phalanx and distal phalanx of finger by thread gluing; Front-slider 402 is connected on the distal phalanx pedestal 401, constitutes a moving sets; Front-slider 402 connects firmly on sectional wheel 404; Sectional wheel 404 is installed on the rear slider 405,406, constitutes a revolute pair; Steel wire rope overcoat fixed block 416 is connected on the rear slider 405,406; The end of steel wire rope 6d01 and steel wire rope 6d02 is fixed on the sectional wheel 404; Middle phalanx pedestal 407 is connected on the front-slider 301 in the near-end joint module 3, forms a moving sets;
In driver module A1a, motor 1a01 is fixed on the fixed mount 1a03; Reducing gear is connected 1a10 on motor 1a01 and the drive shaft; Two steel wire ropes in the reducing gear are by tensioner 1a12 tensioning; Drivewheel 1a09 is connected 1a10 on the drive shaft; The end of steel wire rope 6a01 and steel wire rope 6a02 is connected on the drivewheel 1a09; Steel wire rope overcoat fixed block 1a11 is connected on the rear slider 1a04.
Wherein, the structure of described each driver module is identical and relatively independent.
Wherein, be processed with a plurality of through holes on the described sectional wheel, be used for installing corresponding stop screw.
Wherein, described stop screw can be connected on the different through holes on the sectional wheel, to change the sectional wheel hard-over.
Wherein, be processed with square hole on the described rear slider 205,305,406, be used for installing corresponding limited block.Wherein, the tensioner among the described driver module A1a is made up of tensioning nut 1a1201, screw 1a1202 and nut 1a1203.
The advantage of finger motion function rehabilitation robot of the present invention is: (1) is compared with existing hand rehabilitation equipment, can carry out independent bi-directional drive to each joint of finger; (2) have mechanical position limitation, the maximum rotation scope that can regulate each finger-joint is in different rehabilitation demand to the different motion scope during stage to satisfy the patient, and can adapt to the patient of different motion ability; (3) staff that adapts to different size is within the specific limits worn, and hand can move arbitrarily within the specific limits.
Description of drawings:
Fig. 1 is the overall system view of finger motion function rehabilitation robot of the present invention;
Fig. 2 (a) is the bending of this healing robot realization staff (b) and stretches;
Fig. 3 is the explosive view of driver module;
Fig. 4 is the ratio wheel of driver module and the structure chart of tensioner thereof;
Fig. 5 (a) is the structure chart of the drivewheel of driver module (b);
Fig. 6 (a) is the structure chart and the explosive view of metacarpal bone joint module (b);
Fig. 7 is the structure chart of horizontal wheels;
Fig. 8 (a) is the mechanism map of sectional wheel (b);
Fig. 9 (a) is the structure chart and the explosive view of near-end joint module (b);
Figure 10 is the structure chart and the explosive view of distal joint module.
Among the figure: 1. drive part 1a. driver module A 1a01. motor
1a02. encoder 1a03. fixed mount 1a04. fixed mount 1a0401. counter sink
1a05. helical gear 1a06. ratio wheel 1a0601. through hole 1a0602. through hole
1a0603. screwed hole 1a0604. through hole 1a0605. screwed hole 1a0606. through hole
1a0607. screwed hole 1a07. reducing gear steel wire rope 1a08. reducing gear steel wire rope 1a09. drivewheel
1a0901. through hole 1a0902. through hole 1a0903. screwed hole 1a0904. screwed hole
1a0905. screwed hole 1a0906. wire casing 1a0907. wire casing 1a10. drive shaft
1a11. steel wire rope overcoat fixed block 1a1101. screwed hole 1a1102. through hole
1a12. tensioner 1a1201. tensioning nut 1a1202. screw 1a1203. nut
1a1204. through hole 1b. driver module B 1c. driver module C 1d. driver module D
2. metacarpal bone joint module 201. proximal phalanx pedestals 202. metacarpal bone pedestals 20201. bearings
20202. through hole 203. front-sliders 20301. chutes 204. rear sliders
20401. chute 205. rear sliders 20501. chutes 20502. square holes
206. sectional wheel 20601. through holes 20602. through holes 20603. wire casings
20604. wire casing 20605. axis holes 20606. screwed holes 207. pulleys
208. rotating basis 209. horizontal wheels 20901. through holes 20902. through holes
20903. wire casing 20904. wire casings 210. steel wire rope overcoat fixed blocks 211. stop screws
212. 214. 215. bronze medal posts of stop screw 213. limited blocks
216. steel wire rope overcoat fixed block 217. axle sleeves 218. truckles 219. bronze medal pins
220. truckle 221. thread gluing braces 222. thread gluing braces
3. near-end joint module 301. front-sliders 30101. chutes 302. sectional wheels
303. pulley 304. rear sliders 30401. chutes 305. rear sliders
30501. chute 306. stop screws 307. stop screws 308. limited blocks
309. steel wire rope overcoat fixed block
4. distal joint module 401. distal phalanx pedestals 40101. chutes 402. front-sliders
403. pulley 404. sectional wheels 405. rear slider a 40501. chutes
406. rear slider b 40601. chutes 407. middle phalanx pedestals 408. bronze medal pins
409. truckle 410. truckles 411. thread gluing braces 412. stop screws
413. stop screw 414. limited blocks 415. thread gluing braces 416. steel wire rope overcoat fixed blocks
5a steel wire rope overcoat 5b steel wire rope overcoat 5c steel wire rope overcoat 5d steel wire rope overcoat
5a01. steel wire rope overcoat 5a02. steel wire rope overcoat 5b01. steel wire rope overcoat 5b02. steel wire rope overcoat
5c01. steel wire rope overcoat 5c02. steel wire rope overcoat 5d01. steel wire rope overcoat 5d02. steel wire rope overcoat
6a01. steel wire rope 6a02. steel wire rope 6b01. steel wire rope 6b02. steel wire rope
6c01. steel wire rope 6c02. steel wire rope 6d01. steel wire rope 6d02. steel wire rope
The specific embodiment:
Below in conjunction with accompanying drawing invention is further described in detail.
The present invention is a kind of finger motion function rehabilitation robot, can carry out the motion function rehabilitation training to removing thumb other fingers in addition.Shown in Figure 1 is the system diagram of whole healing robot, can be divided into drive part 1 and operating part, and operating part can be divided into metacarpal bone joint module 2 (2DOF), near-end joint module 3 (1 degree of freedom) and distal joint module 4 (1 degree of freedom) three parts; Drive part then is divided into four identical driver module 1a, 1b, 1c, 1d, realizes three modules of operating part independent bi-directional drive of totally four degree of freedom is realized the bending of finger and stretches (as Fig. 2), the action of abduction and interior receipts.Because whole system realizes remote, displacement from transmission by steel wire rope, therefore staff can move arbitrarily within the specific limits in rehabilitation course.Lax in order to prevent the steel wire rope between operating part and the drive part, two parts connect by the bigger steel wire rope overcoat of hardness, and steel wire penetrating steel wire rope overcoat is realized transmission.
At the rehabilitation training initial stage, because patient's autonomic movement ability is very weak, the present invention drives patient's hand and realizes bending and stretch the passive rehabilitation training of abduction and interior receipts; Behind the passive rehabilitation training that carries out a period of time, the patient has had certain autonomic movement ability just can carry out the active exercise rehabilitation training to the patient.So-called active exercise rehabilitation training is meant that the patient points freely-movable, the present invention carries out servo-actuated, by host computer virtual environment and the present invention are coupled together, patient's finger is carried out force feedback, uninteresting rehabilitation training is become rehabilitation training recreation with autonomy and interest by the present invention.
In driver module 1A of the present invention, as shown in Figure 3, it is 25W that encoder 1a02 power is housed, and direct current generator 1a01 is fixed on the fixed mount 1a03 by screw; The helical gear 1a05 of reducing gear is fixed on the output shaft of motor 1a01, and by two reducing gear steel wire rope 1a07,1a08 and ratio wheel 1a06 connect into reducing gear, the end of steel wire rope 1a07 finally is fixed on the tensioning nut 1a1201 of tensioner 1a12 by through hole 1a1204 on the tensioner and knotting by the through hole 1a0601 of ratio wheel 1a06 shown in Fig. 4 (a), the end of steel wire rope 1a08 finally is fixed on the tensioning nut 1a1201 of tensioner 1a12 by through hole 1a1204 on the tensioner and knotting by the through hole 1a0601 of ratio wheel 1a06, and at screwed hole 1a0603, the last mounting screw of 1a0605 is to guarantee the fixing of steel wire rope; Tensioner is screw 1a1202 to be fixed on through hole 1a0602, the 1a0606 of ratio wheel 1a06 by nut 1a1203, reaches the effect of tensioning by the screw-in amount of regulating tensioning nut 1a1201 and screw 1a1202; Ratio wheel 1a06 is fixed on the drive shaft 1a10 by the jackscrew that is installed on the screwed hole 1a0607; Drive shaft 1a10 then is connected on fixed mount 1a03 and the 1a04 by two bearings; Drivewheel 1a09 is fixed on the drive shaft 1a10 by the jackscrew that is installed on the screwed hole 1a0905.As shown in Figure 5, drivewheel 1a09 gets on the bus, and independently wire casing 1a0906,1a0907 are used for placing respectively steel wire rope 6a02 and 6a01 and play effect to the steel wire rope guiding twice; The end of steel wire rope 6a02 passes the through hole 1a0901 on the wire casing 1a0906, and by the screw that is installed on the screwed hole 1a0903 steel wire rope 6a02 is fixed on the through hole 1a0901, and the other end is then by deriving from drivewheel 1a09 as shown in Figure 3; In like manner, the end of steel wire rope 6a01 passes the through hole 1a0902 on the wire casing 1a0907, and by the screw that is installed on the screwed hole 1a0904 steel wire rope 6a01 is fixed on the through hole 1a0902, and the other end is then by deriving from drivewheel 1a09 as shown in Figure 3.Steel wire rope overcoat fixed block 1a11 is fixed on the fixed mount 1a04 by screwed hole 1a1101 and counter sink 1a0401, and steel wire rope overcoat 5a01 and 5a02 are fixed on the through hole 1a1102 on the steel wire rope overcoat fixed block 1a11; For guaranteeing steel wire rope from the parallel derivation of drivewheel 1a09, the position of through hole 1a1102 is corresponding from the derivation position of drivewheel 1a09 with steel wire rope 6a01 and 6a02; Steel wire rope 6a01 and 6a02 are respectively by the metacarpal bone joint module 2 in steel wire rope overcoat 5a01 and the 5a02 arrival operating part.Because driver module all is identical, other 3 modules no longer describe in detail, and the two steel wire rope 6b01 of driver module B1b and 6b02 arrive metacarpal bone joint module 2 in the operating part by steel wire rope overcoat 5b01 and 5b02 respectively; The two steel wire rope 6c01 of driver module C1c and 6c02 arrive near-end joint module 3 in the operating part by steel wire rope overcoat 5c01 and 5c02 respectively; The two steel wire rope 6d01 of driver module D1d and 6d02 arrive distal joint module 4 in the operating part by steel wire rope overcoat 5d01 and 5d02 respectively.
In metacarpal bone joint module 2 of the present invention, as shown in Figure 6, utilize thread gluing metacarpal bone pedestal 202 to be fixed on patient's the metacarpal bone by the thread gluing brace 221 that is fixed on the metacarpal bone pedestal 202; Through hole 20202 on the metacarpal bone pedestal 202 is used for connecting steel wire rope overcoat fixed block 210; The end of steel wire rope overcoat 5a01 and 5a02 is connected on the driver module A1a, and the other end then is fixed on the steel wire rope overcoat fixed block 210; The bearing 20201 that is fixed on the metacarpal bone pedestal 202 is used for connecting rotating basis 208, and it is horizontally rotated on metacarpal bone pedestal 202; Horizontal wheels 209 is fixed on by screw and connects on the rotating basis 208; Horizontal wheels 209 be processed with twice independently wire casing 20903 and 20904 be used for guiding respectively two steel wire rope 6a01 and the 6a02 that derives and pass steel wire rope overcoat 5a01 and 5a02 from driver module A1a; Through hole 20902 and 20901 knottings that the end of steel wire rope 6a01 and 6a02 passes respectively on the wire casing are fixed on the horizontal wheels 209, and pass through to adjust the steel wire rope of drivewheel 1a09 among the driver module A1a with the steel wire rope tensioning.Like this, driver module A1a just can drive horizontal wheels 209 and realize the abduction of finger and the action of interior receipts.
In metacarpal bone joint module 2 of the present invention, utilize thread gluing proximal phalanx pedestal 201 to be fixed on patient's the proximal phalanx by the thread gluing brace 222 that is fixed on the proximal phalanx pedestal 201; Utilize copper pin 219 proximal phalanx pedestal 201 and front-slider 203 to be coupled together, form a moving sets, and front-slider 203 is fixed on the sectional wheel 206 by the chute on the front-slider 203 20301.Sectional wheel 206 is fixed on sectional wheel 206 on the axle 214 that passes axis hole 20605 by the jackscrew that is installed on the screwed hole 20607, and by bearing and axle sleeve 217 sectional wheel 206 is installed and to be positioned on rear slider 205 and 204, sectional wheel 206 rotates relative to rear slider 204 and 205 with front-slider 203 like this; Utilize screw with rear slider 205 and 204 and copper post 215 and steel wire rope overcoat fixed block 216 link together, become an integral body; And be connected on the rotating basis 208 by the chute 20501 and 20401 on two truckles 220 and slide block 205 and 204, form another moving sets.The end of steel wire rope overcoat 5b01 and 5b02 is connected on the driver module B1b, and the other end then is fixed on the steel wire rope overcoat fixed block 216.Be processed with on the sectional wheel 206 twice independently wire casing 20603 and 20604 be used for guiding respectively from driver module B1b and derive two steel wire rope 6b01 and 6b02; Pulley 207 is used for changing the transmission direction of steel wire rope 6b01 with convenient structural design; Passing through hole 20601 and 20602 knottings that the end of the steel wire rope 6a01 of steel wire rope overcoat 5b01 and 5b02 and 6a02 passes respectively on the wire casing is fixed on the sectional wheel 206, and pass through to adjust the steel wire rope of drivewheel among the driver module B1b with the steel wire rope tensioning, like this, driver module B1b just can drive sectional wheel 206 and realize forward and reverse rotation in metacarpal bone joint.The screwed hole 20606 of processing on sectional wheel 206 is used for installing stop screw 211 and 212; Limited block 213 is installed in the square hole 20502 on the rear slider 205, be processed with a plurality of screwed holes 20606 on the sectional wheel 206, by changing stop screw 211 and 212 relative installation, just can adjust the angle range of sectional wheel 206, and then regulate the range of movement in patient joint.
Near-end joint module 3 among the present invention and distal joint module 4 structures and metacarpal bone joint module 2 structural similarities, in the near-end joint module 3 among the present invention, as shown in Figure 9, front-slider 301 is fixed on the sectional wheel 302; Sectional wheel 302 is installed on rear slider 304 and 305; Chute 30101 and the copper pin 408 in the distal joint module 4 by front-slider 301 link together front-slider 301 and middle phalanx pedestal 407, form moving sets; By the chute 30401,30501 of rear slider 304,305 and the truckle 218 in the metacarpal bone joint module 2 rear slider 304,305 and proximal phalanx pedestal 201 are coupled together, form another moving sets.The end of steel wire rope overcoat 5c01 and 5c02 is connected on the driver module C1c, and the other end then is fixed on the steel wire rope overcoat fixed block 309; Steel wire rope 6c01 and 6c02 from driver module C1c derives pass steel wire rope overcoat 5c01 and 5c02 and are fixed on the sectional wheel 302; Pulley 303 is used for changing the transmission direction of steel wire rope 6c01 with convenient structural design.Steel wire rope by adjusting drivewheel among the driver module C1c is with the steel wire rope tensioning, and like this, driver module C1c just can drive sectional wheel 302 and realize forward and reverse rotation in near-end joints.Limited block 308 is installed on the rear slider 305, by changing the relative installation of stop screw 306 and 307, just can adjust the angle range of sectional wheel 302, and then regulates the range of movement in patient joint.
In the distal joint module 4 of the present invention, as shown in figure 10, utilize thread gluing middle phalanx pedestal 407 to be fixed on patient's the middle phalanx by the thread gluing brace 415 that is fixed on the middle phalanx pedestal 407; Utilize thread gluing distal phalanx pedestal 401 to be fixed on patient's the distal phalanx by the thread gluing brace 411 that is fixed on the distal phalanx pedestal 401.Front-slider 402 is connected front-slider 402 on the distal phalanx pedestal 401 by the chute 40101 on superincumbent truckle 410 and the distal phalanx pedestal 401 is installed, and forms a moving sets; Front-slider 402 is connected on the sectional wheel 404; Sectional wheel 404 is installed on the rear slider 405,406; Chute 40501,40601 and truckle 409 by rear slider 405,406 couple together rear slider 405,406 and middle phalanx pedestal 407, form another moving sets.The end of steel wire rope overcoat 5d01 and 5d02 is connected on the driver module D1d, and the other end then is fixed on the steel wire rope overcoat fixed block 416; Steel wire rope 6d01 and 6d02 from driver module D1d derives pass steel wire rope overcoat 5d01 and 5d02 and are fixed on the sectional wheel 404; Pulley 403 is used for changing the transmission direction of steel wire rope 6d01 with convenient structural design.Steel wire rope by adjusting drivewheel among the driver module D1d is with the steel wire rope tensioning, and like this, driver module D1d just can drive forward and reverse rotation that sectional wheel 404 is realized distal joint.Limited block 414 is installed on the rear slider 406, by changing the relative installation of stop screw 412 and 413, just can adjust the angle range of sectional wheel 404, and then regulates the range of movement in patient joint.
Driver module B1b, driver module C1c, driver module D1d coordinative role just can realize bending of pointing and the action of stretching.
Claims (6)
1, a kind of finger motion function rehabilitation robot is characterized in that: this robot is made up of operating part and drive part two large divisions, and above-mentioned two parts connect by steel wire rope overcoat (5a, 5b, 5c, 5d);
Wherein, operating part is divided into metacarpal bone joint module (2), near-end joint module (3) and distal joint module (4) three parts; Drive part then be divided into four independently driver module (1a, 1b, 1c, 1d) realize driving to operating part;
Described metacarpal bone joint module (2) mainly is made of proximal phalanx pedestal (201), metacarpal bone pedestal (202), rotating basis (208), front-slider (203), rear slider (204,205), sectional wheel (206), horizontal wheels (209), pulley (207), steel wire rope (6a01,6a02,6b01,6b02), steel wire rope overcoat fixed block (210,216), stop screw (211,212) and limited block (213);
Described near-end joint module (3) mainly is made of rear slider (304,305), front-slider (301), sectional wheel (302), pulley (303), steel wire rope (6c01,6c02), steel wire rope overcoat fixed block (309), stop screw (306,307) and limited block (308);
Described distal joint module (4) mainly is made of middle phalanx pedestal (407), distal phalanx pedestal (401), front-slider (401), rear slider (405,406), sectional wheel (404), pulley (403), steel wire rope (6d01,6d02), steel wire rope overcoat fixed block (416), stop screw (412,413) and limited block (414);
Four modules of described drive part are identical; Wherein, driver module A (1a) mainly is made up of motor (1a01), fixed mount (1a03,1a04), reducing gear, tensioner (1a12), drive shaft (1a10), drivewheel (1a09), steel wire rope (6a01,6a02) and steel wire rope overcoat fixed block (1a11);
In metacarpal bone joint module (2), proximal phalanx pedestal (201) and metacarpal bone pedestal (202) are separately fixed on the proximal phalanx and metacarpal bone of finger; Rotating basis (208) is connected on the metacarpal bone pedestal (202), can carry out rotating around bearing; Horizontal wheels (209) connects firmly on rotating basis (208); Steel wire rope overcoat fixed block (210) is connected on the metacarpal bone pedestal (202); One end of steel wire rope (6a01) and steel wire rope (6a02) is fixed on the horizontal wheels (209); Rear slider (203) is connected on the rotating basis (208), constitutes a moving sets; Steel wire rope overcoat fixed block (216) is connected on the rear slider (204,205); Front-slider (203) is connected on the proximal phalanx pedestal (201), constitutes another moving sets; Simultaneously, front-slider (203) connects firmly on sectional wheel (206); Sectional wheel (206) is installed on the rear slider (204,205), constitutes a revolute pair; One end of steel wire rope (6b01) and steel wire rope (6b02) is fixed on the sectional wheel (206);
In near-end joint module (3), front-slider (301) connects firmly on sectional wheel (302); Sectional wheel (302) is installed on the rear slider (304,305), constitutes a revolute pair; One end of steel wire rope (6c01) and steel wire rope (6c02) is fixed on the sectional wheel (302); Rear slider (304,305) is connected on the proximal phalanx pedestal (201) in the metacarpal bone joint module (2), constitutes a moving sets; Steel wire rope overcoat fixed block (309) is connected on the rear slider (304,305);
In distal joint module (4), middle phalanx pedestal (407) and distal phalanx pedestal (401) are separately fixed on the middle phalanx and distal phalanx of finger by thread gluing; Front-slider (402) is connected on the distal phalanx pedestal (401), constitutes a moving sets; Front-slider (402) connects firmly on sectional wheel (404); Sectional wheel (404) is installed on the rear slider (405,406), constitutes a revolute pair; Steel wire rope overcoat fixed block (416) is connected on the rear slider (405,406); One end of steel wire rope (6d01) and steel wire rope (6d02) is fixed on the sectional wheel (404); Middle phalanx pedestal (407) is connected on the front-slider (301) in the near-end joint module (3), forms a moving sets;
In driver module A (1a), motor (1a01) is fixed on the fixed mount (1a03); Reducing gear is connected on motor (1a01) and the drive shaft (1a10); Two steel wire ropes in the reducing gear are by tensioner (1a12) tensioning; Drivewheel (1a09) is connected (1a10) on the drive shaft; One end of steel wire rope (6a01) and steel wire rope (6a02) is connected on the drivewheel (1a09); Steel wire rope overcoat fixed block (1a11) is connected on the rear slider (1a04).
2, finger motion function rehabilitation robot according to claim 1 is characterized in that: the structure of described each driver module is identical and relatively independent.
3, finger motion function rehabilitation robot according to claim 1 is characterized in that: be processed with a plurality of through holes on the described sectional wheel, be used for installing corresponding stop screw.
4, finger motion function rehabilitation robot according to claim 3 is characterized in that: described stop screw is connected on the different through holes on the sectional wheel, to change the sectional wheel hard-over.
5, finger motion function rehabilitation robot according to claim 1 is characterized in that: described rear slider is processed with square hole on (205,305,406), is used for installing corresponding limited block.
6, finger motion function rehabilitation robot according to claim 1 is characterized in that: the tensioner among the described driver module A (1a) is made up of tensioning nut (1a1201), screw (1a1202) and nut (1a1203).
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| CN2009100811706A CN101518491B (en) | 2009-04-03 | 2009-04-03 | Finger motor function rehabilitation robot |
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| CN2009100811706A CN101518491B (en) | 2009-04-03 | 2009-04-03 | Finger motor function rehabilitation robot |
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