CN108143590A - A kind of novel and multifunctional finger rehabilitation training robot - Google Patents
A kind of novel and multifunctional finger rehabilitation training robot Download PDFInfo
- Publication number
- CN108143590A CN108143590A CN201810139080.7A CN201810139080A CN108143590A CN 108143590 A CN108143590 A CN 108143590A CN 201810139080 A CN201810139080 A CN 201810139080A CN 108143590 A CN108143590 A CN 108143590A
- Authority
- CN
- China
- Prior art keywords
- fixed
- sliding block
- plate
- finger
- wrist
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000012549 training Methods 0.000 title claims abstract description 41
- 230000007246 mechanism Effects 0.000 claims abstract description 94
- 230000009471 action Effects 0.000 claims abstract description 5
- 210000003811 finger Anatomy 0.000 claims description 97
- 210000000707 wrist Anatomy 0.000 claims description 47
- 210000003813 thumb Anatomy 0.000 claims description 25
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 230000005057 finger movement Effects 0.000 claims 1
- 230000033001 locomotion Effects 0.000 description 13
- 208000006011 Stroke Diseases 0.000 description 6
- 206010008190 Cerebrovascular accident Diseases 0.000 description 5
- 230000006378 damage Effects 0.000 description 4
- 210000002310 elbow joint Anatomy 0.000 description 4
- 230000007659 motor function Effects 0.000 description 4
- 210000003857 wrist joint Anatomy 0.000 description 4
- 210000005224 forefinger Anatomy 0.000 description 3
- 210000004932 little finger Anatomy 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 210000004556 brain Anatomy 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 210000001145 finger joint Anatomy 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 210000005036 nerve Anatomy 0.000 description 2
- 230000001769 paralizing effect Effects 0.000 description 2
- 230000008054 signal transmission Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 208000012880 Finger injury Diseases 0.000 description 1
- 208000011092 Hand injury Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 238000001467 acupuncture Methods 0.000 description 1
- 230000000386 athletic effect Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000003447 ipsilateral effect Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 210000000811 metacarpophalangeal joint Anatomy 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 210000002569 neuron Anatomy 0.000 description 1
- 238000011002 quantification Methods 0.000 description 1
- 230000006798 recombination Effects 0.000 description 1
- 238000005215 recombination Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000000472 traumatic effect Effects 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/16—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for hands or fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0192—Specific means for adjusting dimensions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
Landscapes
- Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of novel and multifunctional finger rehabilitation training robots, wherein finger mobile mechanism includes support plate, slide bar, the first sliding block and straight line driving mechanism, the both ends of slide bar are fixed in support plate, first sliding block is slideably positioned on slide bar, straight line driving mechanism to drive the first sliding block slide；Sensor fixation plate is fixed on the first sliding block, there are two the opposite pressure sensors in position for setting on sensor fixation plate, it is connected between pressure sensor by connecting shaft, it is slided in connecting shaft and is provided with the second sliding block, the both sides of second sliding block are both provided with spring, and spring stop is provided between spring and pressure sensor；Controller is connected with pressure sensor, and controller controls the action of straight line driving mechanism to receive pressure signal.The present invention carries out finger rehabilitation exercise actively and passively, is adapted to the hand-type of different patients and elbow length, easy to operate, using flexible can meet the needs of different degrees of Rehabilitation training according to patient's needs.
Description
Technical field
The present invention relates to the field of medical instrument technology, more particularly to a kind of novel and multifunctional finger rehabilitation exercise machine
People.
Background technology
Cerebral apoplexy, also referred to as apoplexy are one of principal diseases for endangering human health in the world, have incidence height, disable
Rate height and the high feature of the death rate.The hemiplegic patient side extremity motor function as caused by apoplexy is lost, and is brought to daily life
Very big inconvenience.And the probability of hemiplegia is more than 50 percent because of caused by apoplexy every year, according to incompletely statistics, China is existing
Patients with Stroke up to more than 6,000,000.Although existing medical level can cure the paralytic of 60-70%, mostly
There are upper limb or lower extremity motor function defects by several survival patients.Hand is human lives and is engaged in the fine of social productive labor
Tool, but since its intrinsic nerve, blood vessel, small muscle are crisscross, the treatment difficulty of hand injury is caused to increase, and treat week
Time phase is long.Finger function obstacle is one of performance that the height after apoplexy is disabled, and often shows as ipsilateral upper limb finger and is unable to grip,
It traumatic flexion-extension dysfunction or even completely loses.Therefore paralytic's finger rehabilitation exercise is particularly important.
According to scientific research, the repeating motion of finger-joint generates inherent and external stimulus, is conducive to the recombination of brain, repeats
, positive practice and training promote the plasticity of nerve, so as to change cynapse and nerve cell or even entire big brain area
Domain, to restore the motor function lost.Current athletic rehabilitation treatment mainly passes through the side such as rehabilitation therapist's acupuncture, massage
Method helps patient to restore motor function by some easy medical instruments.First, this cause rehabilitation training to manpower and
The requirement of material resources is higher, and expensive medical expense causes patient heavy financial burden；Secondly, rehabilitation efficacy mainly according to
By the experience and subjective judgement of medical teacher, lack the evaluation of objective quantification；Finally, in rehabilitation training, lack comfortable branch
Support structure, this causes hemiplegic limb to be easy to cause secondary injury in training.At present, many mechanisms are carrying out finger gymnastic
The design studies of training device, (patent application is public for the finger rehabilitation training device of Shandong Hai Tian intelligence engineerings Co., Ltd invention
Cloth CN107334603A) it is driven by motive drive source, the remote finger tip joint drive part of finger is driven to push to finger
Posterior joint is controlled, so as to drive the preceding joint of the nearly finger tip joint drive part action control finger of finger, so as to fulfill people
The passive exercise of finger, the structure of device is simpler, preferably operates, but only passive exercise, is unsatisfactory for rehabilitation training
Training mode, in addition lack auxiliary support mechanism, secondary damage easily caused in rehabilitation training；Harbin industry is big
Invented a kind of exoskeleton robot (patent application publication CN107432816A) of thumb functional rehabilitation, is led using plane
Linkage drives the interphalangeal joint of thumb and metacarpophalangeal joints to make buckling or stretching routine, and adjustment mechanism is carried on the back directly and thumb by the palm
The articulatio intercarpea of finger realizes the heart the interior receipts or abduction exercise of articulatio intercarpea, using direct current generator as power source.The robot
The fully proper motion of simulation finger-joint, but single finger can be only trained, rehabilitation efficacy is restricted.
Invention content
The object of the present invention is to provide a kind of novel finger rehabilitation training robot, the hand for fully simulating patient is grabbed naturally
Action is taken to repeat the movement in each joint of finger, according to patient's needs, finger rehabilitation exercise actively and passively can be carried out, is fitted
Hand-type and different elbow length with different patients, easy to operate, using flexible, so as to meet different degrees of patient's health
The demand that refreshment is practiced.
To achieve the above object, the present invention provides following schemes：
The invention discloses a kind of novel and multifunctional finger rehabilitation training robot, including：
Cantilever support mechanism, the cantilever support mechanism is supporting arm and wrist；
Finger mobile mechanism, the finger mobile mechanism include support plate, slide bar, the first sliding block and straight line driving mechanism,
The both ends of the slide bar are respectively fixed in a support plate, and first sliding block is slideably positioned on the slide bar, described
Straight line driving mechanism is driving first sliding block to slide；
Pressure sensing mechanism, the pressure sensing mechanism include sensor fixation plate, and the sensor fixation plate is fixed on
On first sliding block, there are two the opposite pressure sensor in position, the pressure sensings for setting on the sensor fixation plate
It is connected between device by connecting shaft, is slided in the connecting shaft and be provided with the second sliding block, the both sides of second sliding block are respectively provided with
There is spring, the spring pocket is set in the connecting shaft, and spring stop is provided between the spring and the pressure sensor；
Fixed structure, the fixed structure is finger is fixed on second sliding block；And
Controller, the controller are connected with the pressure sensor, and the controller is controlled to receive pressure signal
Make the action of the straight line driving mechanism.
Preferably, the finger mobile mechanism is multiple, refers to mobile mechanism and two including four groups are set laterally side by side four
The longitudinally disposed thumb mobile mechanism of group, the thumb mobile mechanism are symmetrically disposed on two of four finger mobile mechanisms described in four groups
Side.
Preferably, the straight line driving mechanism includes motor, shaft coupling, leading screw and leading screw nut, and the motor passes through connection
Axis device is connected with the leading screw, and the both ends of the leading screw are rotatablely connected respectively with a bearing block, and the bearing block is set to described
In support plate, the leading screw nut is connect with the threads of lead screw, and the leading screw nut is fixedly connected with first sliding block.
Preferably, the fixed structure includes the first fixing piece and the second fixing piece, and first fixing piece is to fixation
Finger, second fixing piece are fixed on second sliding block, and first fixing piece being capable of phase with second fixing piece
Mutual magnetic attraction.
Preferably, linear bearing is provided on first sliding block, first sliding block passes through the linear bearing and institute
Slide bar is stated to be connected.
Preferably, the cantilever support mechanism includes wrist fixed plate and elbow rest plate.
Preferably, wrist sheath, Wrist support plate and belt washer knob, the wrist are provided in the wrist fixed plate
Support plate is to support the wrist sheath, and the both sides of the wrist sheath are protruding rotation axis, and the rotation axis is successively
Across the Wrist support plate and the wrist fixed plate, the belt washer knob is threadedly coupled with the rotation axis, the band
Washer knob is the rotation axis, the Wrist support plate and the wrist fixed plate mutually to be locked.
Preferably, the elbow rest plate lower part is provided with rear telescopic rod and rear rotary shaft, the elbow rest plate and institute
It states rear telescopic rod to be sequentially fixed in the rear rotary shaft, the elbow rest plate is fixedly connected with the rear rotary shaft, described
The first turning set is arranged in rotary shaft afterwards, the rear rotary shaft is rotatablely connected with first turning set.
Preferably, the wrist fixed plate is fixed in ancon fixed plate, and the ancon fixed plate, which is fixed on support, fixes
On plate, set fluted on the side wall of the support fixed plate, the ancon fixed plate is inserted into the groove, and the ancon is consolidated
For fixed board with the support fixed plate by the way that knob plunger is supported to be fixed to each other, the ancon fixed plate lower part is provided with preceding rotation
Axis is arranged with the second turning set in the preceding rotary shaft, and the preceding rotary shaft is rotatablely connected with second turning set, and described the
Fixed handle is provided on the outside of two turning sets, the fixed handle is to mutually solid by the rotary shaft and second turning set
It is fixed.
Preferably, first turning set is connected with second turning set by front stretching bar, on the front stretching bar
It is provided with knob, the knob is limiting the collapsing length of the front stretching bar.
The present invention achieves following technique effect relative to the prior art：
The present invention provides a kind of multi-functional finger rehabilitation training robots for being combined with each other and being formed by various mechanism, use
When, when pressure sensor senses the direction of motion of finger, by pressure signal transmission to controller, controller control finger moves
The power direction of motivation structure output, so as to the movement of assisted finger.When the locomitivity deficiency of finger, it can also pass through controller
Finger mobile mechanism is controlled, so as to drive finger motion, gradually cultivates the locomitivity of finger, it is thus possible to actively and passively
Carry out finger rehabilitation exercise；
The cantilever support mechanism setting of the present invention is flexible, can be with according to height, wrist joint and the elbow for needing adjustment elbow joint
The angle and wrist joint in joint and the distance of elbow joint, so as to be adapted to the hand-type of different patients and different elbow length, behaviour
Facilitate, using flexible, meet the needs of different degrees of Rehabilitation training；
The present invention can allow patient to carry out the training of right-hand man, meet the needs of different patients, use is more flexible；
In the present invention, finger finger tip and the mobile mechanism of people are connect by magnetism, when the pressure of pressure sensor is more than
The value of setting, straight line driving mechanism will stop driving；Finger is automatically detached from finger mobile mechanism and hand is released, and prevents
Only secondary damage ensures safety of the patient in rehabilitation training.
Description of the drawings
It in order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the novel and multifunctional finger rehabilitation training robot axonometric drawing of the present invention；
Fig. 2 is the novel and multifunctional finger rehabilitation training robot cantilever support mechanism axonometric drawing of the present invention；
Fig. 3 refers to mobile mechanism's axonometric drawing for the novel and multifunctional finger rehabilitation training robot four of the present invention；
Fig. 4 is the novel and multifunctional finger rehabilitation training robot thumb mobile mechanism axonometric drawing of the present invention；
Fig. 5 is the novel and multifunctional finger rehabilitation training robot pressure sensing mechanism axonometric drawing of the present invention；
Fig. 6 is the novel and multifunctional finger rehabilitation training robot pressure sensing mechanism sectional view of the present invention；
Reference sign：1st, fixed plate；2nd, thumb mobile mechanism；3rd, pressure sensing mechanism；4th, four refer to mobile mechanism；5、
Forefinger fixed plate；6th, middle finger fixed plate；7th, nameless fixed plate；8th, finger tip fixes ball；9th, little finger fixed plate；10th, thumb is solid
Fixed pole ball；11st, tightening knob；12nd, thumb fixing plate；13rd, cantilever support mechanism；14th, elbow rest plate；15th, rear telescopic rod；
16th, rear rotary shaft；17th, front stretching bar；18th, knob；19th, preceding rotary shaft；20th, fixed plate is supported；21st, knob plunger is supported；22、
Ancon fixed plate；23rd, wrist fixed plate；24th, belt washer knob；25th, wrist sheath；26th, rotation axis；27th, Wrist support plate；
28th, fixed handle；29th, support-side bearing seat；30th, side support plate is supported；31st, leading screw；32nd, the first sliding block；33rd, leading screw nut；
34th, fixed side support plate；35th, fixed side bearing seat；36th, shaft coupling；37th, motor fixing plate；38th, motor；39th, slide bar；40th, block
Spring；41st, linear bearing；42nd, thumb support side support plate；43rd, thumb fixes side support plate；44th, thumb motor fixing plate；45、
Sensor fixation plate；46th, pressure sensor；47th, spring stop；48th, spring；49th, the second sliding block；50th, connecting shaft.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of novel and multifunctional finger rehabilitation training robot, to solve the above-mentioned prior art
, allow patient and trained difficulty and training type adjusted according to own situation, so as to meet
The demand of different degrees of patient exercise.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, it is below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is described in further detail.
As shown in figures 1 to 6, this example provides a kind of novel and multifunctional finger rehabilitation training robot, including fixed plate 1 with
And it is set to cantilever support mechanism 13, finger mobile mechanism, pressure sensing mechanism 3, fixed structure and control in fixed plate 1
Device.Wherein, cantilever support mechanism 13 is supporting arm and wrist；Finger mobile mechanism is a kind of actuating unit, to actively
It draws finger or after the movement of finger is sensed, is carried out together with finger under the traction of finger and under the auxiliary of external impetus
To movement；The signal and is transferred to controller, is sent out by controller by pressure sensing mechanism 3 to the direction of motion of finger sensing
Go out instruction, the power direction of control finger mobile mechanism output.
It is each that finger mobile mechanism includes support plate, slide bar 39, the first sliding block 32 and straight line driving mechanism, the both ends of slide bar 39
It is fixed in a support plate, the first sliding block 32 is slideably positioned on slide bar 39, and straight line driving mechanism is driving the first sliding block
32 slide.In the present embodiment, straight line driving mechanism is preferably screw slider mechanism, can be accurate by the revolution for controlling motor 38
The displacement distance of finger is controlled, prevents finger secondary injury.The straight line driving mechanism can also be other common straight line drivings
Structure, such as hydraulic drive mechanism etc..
Screw slider mechanism includes motor 38, shaft coupling 36, leading screw 31 and leading screw nut 33, and motor 38 passes through shaft coupling 36
It is connected with leading screw 31, the both ends of leading screw 31 are rotatablely connected respectively with a bearing block, and bearing block is set in support plate, leading screw nut
33 are threadedly coupled with leading screw 31, and leading screw nut 33 is fixedly connected with the first sliding block 32.
In order to reduce the frictional force between the first sliding block 32 and slide bar 39, prolong the service life, the present embodiment selects straight line to lead
Linear bearing 41 is fixed with by clamp spring 40 on rail mechanism, i.e. the first sliding block 32, the first sliding block 32 by the linear bearing 41 with
Slide bar 39 is connected.
As seen in figs. 5-6, pressure sensing mechanism 3 includes sensor fixation plate 45, and sensor fixation plate 45 is fixed on first
On sliding block 32, on sensor fixation plate 45 setting lead between pressure sensor 46 there are two the opposite pressure sensor 46 in position
It crosses connecting shaft 50 to be connected, is slided in connecting shaft 50 and be provided with the second sliding block 49, the both sides of the second sliding block 49 are both provided with spring 48,
Spring 48 is sheathed in connecting shaft 50.In order to uniformly transfer the elastic force of spring 48 to pressure sensor 46, in spring 48 and pressure
Spring stop 47 is provided between force snesor 46, the power that spring 48 is used to buffer and will act on the second sliding block 49 is transmitted to
On pressure sensor 46.
During assembling, two groups of spring stops 47 are fixed on two groups of pressure sensors, 46 upside, while by 49 sets of the second sliding block
In connecting shaft 50.Then spring 48 is installed, then mounted two groups of spring stops 47 are pacified respectively in 49 both sides of the second sliding block
On 50 left and right sides of connecting shaft.Two groups of pressure sensors 46 are finally separately fixed at 45 or so position of sensor fixation plate
It puts.
Diversified forms may be used finger is fixed on the second sliding block 49 in fixed structure, such as fingerstall, refer to folder
Deng.In the present embodiment, fixed structure is preferably a pair of mutually magnetic attraction and to be contacted, and also can be more than certain in relative tension
The component being separated from each other during one critical value, i.e. the first fixing piece and the second fixing piece, so as to avoid finger injuries.Wherein, first
Fixing piece is a kind of fingerstall, refers to folder or other components for fixed finger.Second fixing piece is fixed on the second sliding block for one end
On 49, the other end is to the component that attracts each other with the first fixing piece.
Controller is electrically connected with pressure sensor 46 and motor 38.When pressure sensor 46 senses the movement of finger
During direction, by pressure signal transmission to controller, controller controls the rotation direction of motor 38, so as to the movement of assisted finger.
When the locomitivity deficiency of finger, it can also control the rotation of motor 38, so as to drive finger motion, gradually train by controller
Support the locomitivity of finger.
Above structure is only illustrated the principle of finger rehabilitation exercise actively and passively, in order to improve rehabilitation training
Effect can make the five fingers or ten fingers while training.
As shown in Figure 1, finger mobile mechanism is multigroup, refer to mobile mechanism 4 and two including four groups are set laterally side by side four
The longitudinally disposed thumb mobile mechanism 2 of group, thumb mobile mechanism 2 are symmetrically disposed on the both sides of four group of four finger mobile mechanism 4.Accordingly
, there is corresponding pressure sensing mechanism 3 in each finger mobile mechanism.
As shown in figure 3, the support plate in four finger mobile mechanisms 4 is divided into fixed side support plate 34 and support side support plate 30,
Four group four refers to mobile mechanism 4 and shares fixed 34, support side support plates 30 of side support plate and 38 fixed plate of motor
371.Four groups of fixed side bearing seats 35 and four groups of support-side bearing seats 29 are connected by screw are fixed on fixed side support plate respectively
34 in support side support plate 30, and the fixed side bearing seat 35 and support-side bearing seat 29 that assemble are separately mounted to leading screw 31
Affixed side and support-side are used to support and fix leading screw 31.Before fixed side bearing seat 35 is installed, first leading screw nut 33 is pacified
On leading screw 31, then the first sliding block 32 with leading screw nut 33 is connected by screw and is installed together, it then will with clamp spring 40
Linear bearing 41 is mounted on the first sliding block 32, finally linear bearing 41 is passed through to be mounted on support side support plate 30 slide bar 39
On, the first sliding block 32 is moved with while leading screw 31 moves along slide bar 39.Motor 38 is fixed on motor fixing plate 37, peace
The motor 38 installed is linked together with leading screw 31 by shaft coupling 36, and motor 38, which drives, directly drives leading screw 31 to rotate.
As shown in figure 4, it is two groups that thumb mobile mechanism 2, which is divided to, referring to mobile mechanism 4 with four, difference lies in each group of thumbs
Referring to mobile mechanism 2, there is individual thumb motor fixing plate 44, thumb to fix side support plate 43 and thumb support side support plate 42.
Second fixing piece includes fixed plate 1 and the finger tip being set in fixed plate 1 fixes ball 8.Specifically, thumb fixing plate
12nd, forefinger fixed plate 5, middle finger fixed plate 6, nameless fixed plate 7 and little finger fixed plate 9 are fixed successively by tightening knob 11
On the second sliding block 49 in each pressure sensing mechanism 3, ball 8 is separately fixed at forefinger fixed plate 5, middle finger is fixed for finger tip fixation
In plate 6, nameless fixed plate 7 and little finger fixed plate 9, while thumb fixed link ball 10 is fixed on thumb fixing plate 12.Hand
Refer to finger tip by the first fixing piece with finger tip fixation ball 8 to be connected, finger is made to refer to mobile mechanism with thumb mobile mechanism 2 and four
4 movement is moved forward and backward.
As shown in Fig. 2, cantilever support mechanism 13 includes wrist fixed plate 23 and elbow rest plate 14, cantilever support mechanism 13
Refer to behind mobile mechanism 4 positioned at four, for fixing and supporting the arm of patient and wrist, patient is contributed to keep hand and arm
Correct and comfortable posture.
Wrist sheath 25, Wrist support plate 27 and belt washer knob 24, Wrist support plate are provided in wrist fixed plate 23
27 to support wrist sheath 25, and the both sides of wrist sheath 25 are protruding rotation axis 26, and rotation axis 26 sequentially passes through wrist
Support plate 27 and wrist fixed plate 23, belt washer knob 24 are threadedly coupled with rotation axis 26, and belt washer knob 24 will be will rotate
Axis 26, Wrist support plate 27 are mutually locked with wrist fixed plate 23.Wrist sheath 25 and Wrist support plate 27 support patient jointly
Wrist, to protect the safety of patient's wrist.
Wrist fixed plate 23 is fixed in ancon fixed plate 22, and ancon fixed plate 22 is fixed in support fixed plate 20.Branch
Support fixed plate 20 side wall on set it is fluted, ancon fixed plate 22 be inserted into groove in, ancon fixed plate 22 with support fixed plate
20 by supporting knob plunger 21 to be fixed to each other, and setting support knob plunger 21 is for the ease of the dismounting of cantilever support mechanism 13
And assembling.
14 lower part of elbow rest plate is provided with rear telescopic rod 15, after elbow rest plate 14 and rear telescopic rod 15 are sequentially fixed at
In rotary shaft 16, elbow rest plate 14 is connected by screw with rear rotary shaft 16.The first turning set is arranged in rotary shaft 16 afterwards,
16 and first turning set of rotary shaft is rotatablely connected afterwards.22 lower part of ancon fixed plate is provided with preceding rotary shaft 19, in preceding rotary shaft 19
It is arranged with the second turning set, preceding 19 and second turning set of rotary shaft rotation connection.Fixed handle is provided on the outside of second turning set
28, handle 28 is fixed rotary shaft and the second turning set to be fixed to each other.
First turning set and the second turning set are connected by front stretching bar 17, and knob 18 is provided on front stretching bar 17, are revolved
Button 18 is limiting the collapsing length of front stretching bar 17.
It in this way, can be with according to height, the angle of wrist joint and elbow joint and the wrist joint and elbow for needing adjustment elbow joint
The distance in joint, so as to be adapted to the hand-type of different patients and different elbow length, easy to operate, using flexible meets different
The demand of degree Rehabilitation training.
It should be noted that quantity of the present embodiment to finger mobile mechanism and matched pressure sensing mechanism 3
It has been carried out with arrangement form for example, other arrangement forms also can be selected in those skilled in the art, as long as can be according to patient's need
Carry out finger rehabilitation exercise actively and passively；The present embodiment to the structure of cantilever support mechanism 13 illustrate
Bright, to meet the needs of different degrees of Rehabilitation is trained, the cantilever support of other forms also can be selected in those skilled in the art
Mechanism 13, as long as cantilever support can be realized.
It applies specific case in this specification to be expounded the principle of the present invention and embodiment, above example
Explanation be merely used to help understand the present invention method and its core concept；Meanwhile for those of ordinary skill in the art,
Thought according to the present invention, in specific embodiments and applications there will be changes.In conclusion in this specification
Appearance should not be construed as limiting the invention.
Claims (10)
1. a kind of novel and multifunctional finger rehabilitation training robot, which is characterized in that including：
Cantilever support mechanism, the cantilever support mechanism is supporting arm and wrist；
Finger mobile mechanism, the finger mobile mechanism includes support plate, slide bar, the first sliding block and straight line driving mechanism, described
The both ends of slide bar are respectively fixed in a support plate, and first sliding block is slideably positioned on the slide bar, the straight line
Driving mechanism is driving first sliding block to slide；
Pressure sensing mechanism, the pressure sensing mechanism include sensor fixation plate, and the sensor fixation plate is fixed on described
On first sliding block, on the sensor fixation plate setting there are two the opposite pressure sensor in position, the pressure sensor it
Between be connected by connecting shaft, in the connecting shaft slide be provided with the second sliding block, the both sides of second sliding block are both provided with bullet
Spring, the spring pocket are set in the connecting shaft, and spring stop is provided between the spring and the pressure sensor；
Fixed structure, the fixed structure is finger is fixed on second sliding block；And
Controller, the controller are connected with the pressure sensor, and the controller controls institute to receive pressure signal
State the action of straight line driving mechanism.
2. novel and multifunctional finger rehabilitation training robot according to claim 1, which is characterized in that the finger movement
Mechanism is multiple, refers to mobile mechanism and two groups of longitudinally disposed thumb mobile mechanisms, institute including four groups are set laterally side by side four
State the both sides that thumb mobile mechanism is symmetrically disposed on four finger mobile mechanisms described in four groups.
3. novel and multifunctional finger rehabilitation training robot according to claim 1, which is characterized in that the linear drives
Mechanism includes motor, shaft coupling, leading screw and leading screw nut, and the motor is connected by shaft coupling with the leading screw, the leading screw
Both ends be rotatablely connected respectively with a bearing block, the bearing block is set in the support plate, the leading screw nut with it is described
Threads of lead screw connects, and the leading screw nut is fixedly connected with first sliding block.
4. novel and multifunctional finger rehabilitation training robot according to claim 1, which is characterized in that the fixed structure
Including the first fixing piece and the second fixing piece, first fixing piece is fixed on institute to fixed finger, second fixing piece
It states on the second sliding block, first fixing piece being capable of mutual magnetic attraction with second fixing piece.
5. novel and multifunctional finger rehabilitation training robot according to claim 1, which is characterized in that first sliding block
On be provided with linear bearing, first sliding block is connected by the linear bearing with the slide bar.
6. novel and multifunctional finger rehabilitation training robot according to claim 1, which is characterized in that the cantilever support
Mechanism includes wrist fixed plate and elbow rest plate.
7. novel and multifunctional finger rehabilitation training robot according to claim 6, which is characterized in that the wrist is fixed
Wrist sheath, Wrist support plate and belt washer knob are provided on plate, the Wrist support plate to support the wrist sheath,
The both sides of the wrist sheath are protruding rotation axis, and the rotation axis sequentially passes through the Wrist support plate and the wrist
Fixed plate, the belt washer knob are threadedly coupled with the rotation axis, and the belt washer knob is to by the rotation axis, described
Wrist support plate is mutually locked with the wrist fixed plate.
8. novel and multifunctional finger rehabilitation training robot according to claim 6, which is characterized in that the elbow rest
Plate lower part is provided with rear telescopic rod and rear rotary shaft, and the elbow rest plate and the rear telescopic rod are sequentially fixed at the rear rotation
In shaft, the elbow rest plate is fixedly connected with the rear rotary shaft, and the first turning set, institute are arranged in the rear rotary shaft
Rear rotary shaft is stated to be rotatablely connected with first turning set.
9. novel and multifunctional finger rehabilitation training robot according to claim 8, which is characterized in that the wrist is fixed
Plate is fixed in ancon fixed plate, and the ancon fixed plate is fixed in support fixed plate, on the side wall of the support fixed plate
Set fluted, the ancon fixed plate is inserted into the groove, and the ancon fixed plate passes through branch with the support fixed plate
Support knob plunger is fixed to each other, and the ancon fixed plate lower part is provided with preceding rotary shaft, and second is arranged in the preceding rotary shaft
Turning set, the preceding rotary shaft are rotatablely connected with second turning set, and fixed handle is provided on the outside of second turning set,
The fixed handle is the rotary shaft and second turning set to be fixed to each other.
10. novel and multifunctional finger rehabilitation training robot according to claim 9, which is characterized in that described first turn
Dynamic set is connected with second turning set by front stretching bar, is provided with knob on the front stretching bar, and the knob is limiting
Make the collapsing length of the front stretching bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810139080.7A CN108143590A (en) | 2018-02-11 | 2018-02-11 | A kind of novel and multifunctional finger rehabilitation training robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810139080.7A CN108143590A (en) | 2018-02-11 | 2018-02-11 | A kind of novel and multifunctional finger rehabilitation training robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108143590A true CN108143590A (en) | 2018-06-12 |
Family
ID=62457378
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810139080.7A Pending CN108143590A (en) | 2018-02-11 | 2018-02-11 | A kind of novel and multifunctional finger rehabilitation training robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108143590A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109394478A (en) * | 2018-12-11 | 2019-03-01 | 上海金矢机器人科技有限公司 | A kind of rehabilitation training robot for function of hand |
| CN110151493A (en) * | 2019-06-24 | 2019-08-23 | 深圳睿瀚医疗科技有限公司 | The five fingers linkage grasps manipulator |
| CN115137365A (en) * | 2022-09-05 | 2022-10-04 | 中国科学院合肥物质科学研究院 | Elbow joint torque measuring device |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201612307U (en) * | 2010-03-16 | 2010-10-27 | 李春 | Elbow bracket |
| CN103110499A (en) * | 2012-11-29 | 2013-05-22 | 东华大学 | Wrist joint rehabilitation training device |
| CN103750979A (en) * | 2014-01-14 | 2014-04-30 | 安阳工学院 | Wrist and finger rehabilitation trainer |
| KR101500483B1 (en) * | 2014-04-17 | 2015-03-19 | (주)노아텍 | Rehabilitation System And Method For Finger |
| CN106618959A (en) * | 2016-12-20 | 2017-05-10 | 厦门大显科技有限公司 | Finger function rehabilitation instrument |
| CN107280916A (en) * | 2017-07-28 | 2017-10-24 | 苏州好博医疗器械有限公司 | One kind refers to wrist type joint recovering device |
| CN206809654U (en) * | 2017-04-27 | 2017-12-29 | 黄先伟 | Finger rehabilitation exercise instrument and system |
| CN208611269U (en) * | 2018-02-11 | 2019-03-19 | 上海金矢机器人科技有限公司 | A kind of novel and multifunctional finger rehabilitation training robot |
-
2018
- 2018-02-11 CN CN201810139080.7A patent/CN108143590A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201612307U (en) * | 2010-03-16 | 2010-10-27 | 李春 | Elbow bracket |
| CN103110499A (en) * | 2012-11-29 | 2013-05-22 | 东华大学 | Wrist joint rehabilitation training device |
| CN103750979A (en) * | 2014-01-14 | 2014-04-30 | 安阳工学院 | Wrist and finger rehabilitation trainer |
| KR101500483B1 (en) * | 2014-04-17 | 2015-03-19 | (주)노아텍 | Rehabilitation System And Method For Finger |
| CN106618959A (en) * | 2016-12-20 | 2017-05-10 | 厦门大显科技有限公司 | Finger function rehabilitation instrument |
| CN206809654U (en) * | 2017-04-27 | 2017-12-29 | 黄先伟 | Finger rehabilitation exercise instrument and system |
| CN107280916A (en) * | 2017-07-28 | 2017-10-24 | 苏州好博医疗器械有限公司 | One kind refers to wrist type joint recovering device |
| CN208611269U (en) * | 2018-02-11 | 2019-03-19 | 上海金矢机器人科技有限公司 | A kind of novel and multifunctional finger rehabilitation training robot |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109394478A (en) * | 2018-12-11 | 2019-03-01 | 上海金矢机器人科技有限公司 | A kind of rehabilitation training robot for function of hand |
| CN109394478B (en) * | 2018-12-11 | 2023-12-15 | 上海金矢机器人科技有限公司 | Hand function rehabilitation training robot |
| CN110151493A (en) * | 2019-06-24 | 2019-08-23 | 深圳睿瀚医疗科技有限公司 | The five fingers linkage grasps manipulator |
| CN110151493B (en) * | 2019-06-24 | 2024-01-19 | 深圳睿瀚医疗科技有限公司 | Five-finger linkage grasping manipulator |
| CN115137365A (en) * | 2022-09-05 | 2022-10-04 | 中国科学院合肥物质科学研究院 | Elbow joint torque measuring device |
| CN115137365B (en) * | 2022-09-05 | 2022-12-06 | 中国科学院合肥物质科学研究院 | Elbow joint torque measuring device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102327173B (en) | Wearable exoskeleton lower limb rehabilitation robot | |
| CN108743215B (en) | Rehabilitation training system based on flexible rehabilitation gloves | |
| CN103519970B (en) | Micro-intelligent exoskeleton finger recovery robot | |
| CN102113949B (en) | Exoskeleton-wearable rehabilitation robot | |
| CN101357097B (en) | Five freedom degree ectoskeleton type upper limb rehabilitation robot | |
| CN106983634A (en) | A kind of exoskeleton finger functional rehabilitation device based on multistage continuous structure | |
| CN105726263A (en) | Wearable hand exoskeleton rehabilitation training robot | |
| CN112426328B (en) | Intelligent flexible hand function rehabilitation glove based on shape memory alloy | |
| CN104970949A (en) | Wearable type pneumatic muscle and knuckle active/passive rehabilitation training device | |
| CN107233190B (en) | A kind of multiple degrees of freedom thumb device for healing and training for hemiplegic patient | |
| CN110711110A (en) | Push-down under-actuated finger rehabilitation training device | |
| CN110037890B (en) | Hand function rehabilitation exoskeleton robot based on double four-bar mechanism | |
| CN109394475B (en) | Five-finger rehabilitation manipulator capable of autonomously adjusting and disassembling finger spacing | |
| CN113332097B (en) | Flexible four-finger rehabilitation robot capable of being driven by far end | |
| CN108143590A (en) | A kind of novel and multifunctional finger rehabilitation training robot | |
| CN108743227A (en) | A kind of flexible exoskeleton wrist functional rehabilitation device based on spring leaf driving | |
| CN109223447A (en) | A kind of upper limb healing of right and left mutually changing and movable auxiliary device | |
| CN105496725A (en) | Three-degree-of-freedom thumb rehabilitation training mechanism | |
| CN110353940A (en) | A kind of hand ectoskeleton based on mirror image synchronization simulation control | |
| CN109771222A (en) | A kind of finger gymnastic robot with interior receipts outreach function | |
| CN209092054U (en) | It is a kind of based on bracing wire driving and mirror image synchronization simulation can autonomous rehabilitation training hand ectoskeleton | |
| Cheng et al. | Design of an upper limb rehabilitation robot based on medical theory | |
| CN206063381U (en) | A kind of ectoskeleton drive lacking is all referring to training rehabilitation device | |
| CN214318519U (en) | Rigid-flexible exoskeleton glove device based on line driving | |
| CN110251364A (en) | A kind of upper-limbs rehabilitation training robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |