CN110123575A - A kind of intelligence finger rehabilitation training robot - Google Patents
A kind of intelligence finger rehabilitation training robot Download PDFInfo
- Publication number
- CN110123575A CN110123575A CN201910369116.5A CN201910369116A CN110123575A CN 110123575 A CN110123575 A CN 110123575A CN 201910369116 A CN201910369116 A CN 201910369116A CN 110123575 A CN110123575 A CN 110123575A
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- plate
- fingerstall
- rehabilitation training
- ring
- connecting rods
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- 238000012549 training Methods 0.000 title claims abstract description 34
- 230000000694 effects Effects 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims description 22
- 238000009434 installation Methods 0.000 claims description 13
- 238000005192 partition Methods 0.000 claims description 13
- 239000000463 material Substances 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 2
- 241000905957 Channa melasoma Species 0.000 abstract description 4
- 206010023230 Joint stiffness Diseases 0.000 abstract description 3
- 239000003990 capacitor Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 239000000428 dust Substances 0.000 description 3
- 230000005674 electromagnetic induction Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005057 finger movement Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
- 210000000707 wrist 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
- 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
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of intelligent finger rehabilitation training robots, a kind of intelligence finger rehabilitation training robot, including No.1 connecting rod: being provided through No.1 shaft inside one end of the No.1 connecting rod, No. two connecting rods are provided on the outside of the No.1 shaft, the inside of No. two connecting rods is provided through No. two shafts, No. three connecting rods are provided on the outside of No. two shafts, one end of No. three connecting rods is provided with fingerstall, and the inside of the fingerstall, which is emptied, is provided with finger slot.A kind of intelligent finger rehabilitation training robot of the present invention, equipment can be allowed to adapt to the people of different rugosity fingers, finger can be bonded with fingerstall perfection simultaneously, finger will not be felt well because of fixedly too tight or too loose by fingerstall, it can allow stiff joint being capable of activity, achieve the purpose that temper articulations digitorum manus, this finger rehabilitation training robot will bring better prospect of the application.
Description
Technical field
The present invention relates to rehabilitation training field, in particular to a kind of intelligent finger rehabilitation training robot.
Background technique
In the latest 20 years, with deepening continuously both at home and abroad to joint recovering research, robot assisted rehabilitation technique is being closed
It playing an important role further in section rehabilitation, most clinical datas prove, under conditions of identical training strength, robot assisted
Therapy at least has rehabilitation efficacy same with routine treatment；Traditional finger rehabilitation training robot has some disadvantages, first
The fixed place of finger tip is not perfect, and finger tip cannot be ideally bonded with equipment, is easy to generate finger tip when being trained
Friction, leads to the generation of skin trauma, and secondly connection is not flexible at previous equipment articulations digitorum manus, can not be with the bending with finger
And be bent, the training effect to finger is not very well, training quota to be not achieved, to solve the above-mentioned problems, we have proposed this
Kind finger rehabilitation training robot.
Summary of the invention
The main purpose of the present invention is to provide a kind of intelligent finger rehabilitation training robots, can effectively solve background skill
The problems in art.
To achieve the above object, the technical scheme adopted by the invention is as follows:
A kind of intelligence finger rehabilitation training robot, including No.1 connecting rod: running through inside one end of the No.1 connecting rod and set
It is equipped with No.1 shaft, No. two connecting rods are provided on the outside of the No.1 shaft, the inside of No. two connecting rods is through setting
There are No. two shafts, No. three connecting rods are provided on the outside of No. two shafts, one end of No. three connecting rods is provided with fingerstall,
The inside of the fingerstall, which is emptied, is provided with finger slot, and the front end of the fingerstall is provided with partition grooves, is provided on the outside of the fingerstall
Rubber band is arranged in the inside of fixing groove, the fixing groove；The internal activity of one end of the No.1 shaft and No.1 connecting rod connects
Connect, No. two connecting rods are flexibly connected with No.1 shaft, and the quantity of No. two connecting rods is two groups, No. two shafts with
No. two connecting rods are flexibly connected, and one end of No. three connecting rods is flexibly connected with No. two shafts；The No.1 connecting rod it is another
One end is provided with conductive bar, and one end of the conductive bar is connected with the output shaft for the micromotor being mounted in control cabinet, in institute
The control terminal for stating micromotor is equipped with controller, and the upper end of the control cabinet is provided with hook surface velcro, the control cabinet
Lower end is provided with hair side velcro, and one end of the control cabinet is provided with conducting wire；The micromotor include bottom plate, motor casing,
Top plate, transmission ring, the plate outer side is provided with fixed plate, is integrally formed between the fixed plate and the bottom plate, described solid
Mounting groove is provided in fixed board, the dead plate upper end is welded with slide plate, is provided with the motor casing on the inside of the slide plate, described
First sliding groove is provided in motor shell side wall, the first sliding groove upper end is provided with second sliding slot, the motor casing inner wall installation
There is magnetic pole, be connected by screw between the magnetic pole and the motor casing, mounting ring, the peace are provided among the motor casing
It is provided with connecting column on the outside of dress ring, is integrally formed between the connecting column and the mounting ring, is wound on the outside of the connecting column
Coil, described connecting column one end are provided with limit plate, are integrally formed between the limit plate and the connecting column, the motor casing
Upper end is provided with the top plate, is connected by screw between the top plate and the motor casing, and installation is provided in the top plate
Plate is connected by screw between the mounting plate and the top plate, is welded with fixed block on the outside of the mounting plate, on the top plate
End is welded with baffle ring, and connection ring is provided in the mounting ring, the transmission ring, the transmission ring are provided in the connection ring
It is inside provided with drive shaft, is provided with installation key in the drive shaft.
Preferably, one end outer surface of the fingerstall is fixedly connected with the other end outer surface of No. three connecting rods, the finger
The material of set is rubber material, and the finger slot is fixedly connected with the inside of fingerstall, and the front end of the partition grooves and fingerstall is fixed to be connected
It connects.
Preferably, the fixing groove is fixedly connected with the outer surface of fingerstall, and the inside of the rubber band and fixing groove is fixed
Connection, the partition grooves, fixing groove are mutually perpendicular to.
Preferably, the other end outer surface of the No.1 connecting rod is fixedly connected with one end outer surface of conductive bar, described
The other end outer surface of conductive bar is fixedly connected with the output shaft of micromotor, the lower end outer surface of the hook surface velcro and control
The upper end outer surface of case processed is fixedly connected, the fixed company in the upper end outer surface of the hair side velcro and the lower end outer surface of control cabinet
It connecing, the hook surface velcro, the quantity of hair side velcro are two groups, and one end of the conducting wire is connect with controller, and described one
The input port of number shaft and the output port of controller are electrically connected.
Preferably: the fixed plate quantity is four, is evenly distributed in the surrounding of the bottom plate.So set, utilizing
Bolt and the mounting groove are cooperated, can reinforce the stability of the fixed plate by four fixed plates.
Preferably: be slidably connected between the slide plate and the first sliding groove, the fixed block and the second sliding slot it
Between be slidably connected, grafting between the fixed block and the slide plate.So set, the slide plate can be inserted into the fixed block
In, the outside of the motor casing is tightly attached to using the slide plate, can make the motor casing by the top plate and the bottom plate it
Between it is more stable.
Preferably: the number of magnetic poles is ten, is evenly distributed in the motor casing inner surface, the limit plate quantity
It is ten, the distance between the limit plate and the magnetic pole are 1mm.So set, giving the magnetic using electromagnetic induction principle
Pole, which is powered, cooperates the coil, so that the mounting ring starts turning.
Preferably: interference connects between the connection ring and the mounting ring.So set, the mounting ring band can be made
The connection ring is moved to rotate together.
Preferably: interference connects between the transmission ring and the connection ring, on the inside of the drive shaft and the transmission ring
Between interference connection.So set, using the transmission ring drive shaft can be passed to by kinetic energy is significantly more efficient, energy is improved
Conversion ratio.
Preferably: being integrally formed between the installation key and the drive shaft, the spacing of the baffle ring and the drive shaft
From for 1mm.So set, being facilitated using the installation key will need the device driven to be mounted on the outside of the drive shaft, utilize
The fixed block can prevent dust from entering in device, influence the service life of device.
Compared with prior art, the invention has the following beneficial effects:
1, then intelligent finger rehabilitation training robot of the invention is wound on by finger tip to be put into fingerstall using rubber band
In fixing groove, rubber band is changed according to the finger tip of different rugosity and is wrapped in the circle number in fixing groove, the circle number of the thinner winding of finger
More, such partition grooves can be tied tight closure by rubber band, and until fingerstall is bonded completely with finger tip, this design can allow and set
The standby people for adapting to different rugosity fingers, while finger can be bonded with fingerstall perfection, finger will not be fixed because of by fingerstall
Ground is too tight or too loose and does not feel well, and No.1 connecting rod, No. two connecting rods, No. three connecting rods are used to the mesh of shaft connection
Be to enable a device to the movement by No.1 connecting rod, No. two connecting rods, No. three connecting rods with diarthrodial bending
With stretch, allow stiff joint can activity, achieve the purpose that take exercise articulations digitorum manus, more practical, the effect used is opposite
It is more preferable in traditional approach.
2, the micromotor in the present invention is slidably connected between slide plate and first sliding groove, between fixed block and second sliding slot
It is slidably connected, slide plate can be inserted into fixed block by grafting between fixed block and slide plate, be tightly attached to the outer of motor casing using slide plate
Side can make motor casing will be more stable between top plate and bottom plate, guarantee the stability of device energy conversion process；
3, the micromotor in the present invention will be facilitated using installation key to need the device driven to be mounted on the outside of drive shaft, using admittedly
Determining block can prevent dust from entering in device, influence the service life of device.
Detailed description of the invention
Fig. 1 is a kind of overall structure diagram of intelligent finger rehabilitation training robot of the present invention；
Fig. 2 is a kind of partial structural diagram of intelligent finger rehabilitation training robot of the present invention；
Fig. 3 is a kind of No.1 connecting rod of intelligent finger rehabilitation training robot of the present invention, No.1 shaft, No. two connecting rod connections
Schematic diagram；
Fig. 4 is a kind of fingerstall of intelligent finger rehabilitation training robot of the present invention, the company for referring to slot, partition grooves, fixing groove, rubber band
Connect schematic diagram；
Fig. 5 is the schematic perspective view of micromotor in the present invention；
Fig. 6 is the top view of micromotor in the present invention；
Fig. 7 is the bottom view of micromotor in the present invention；
Fig. 8 is the schematic diagram of internal structure of micromotor in the present invention；
Fig. 9 is the connection ring cross-sectional view of micromotor in the present invention；
Figure 10 is the circuit diagram of controller in the present invention.
In figure: 1, No.1 connecting rod；2, No.1 shaft；3, No. two connecting rods；4, No. two shafts；5, No. three connecting rods；6,
Fingerstall；7, refer to slot；8, partition grooves；9, fixing groove；10, rubber band；11, conductive bar；12, control cabinet；13, hook surface velcro；14,
Hair side velcro；15, conducting wire；16, bottom plate；17, fixed plate；18, mounting groove；19, slide plate；20, motor casing；21, first sliding groove；
22, second sliding slot；23, magnetic pole；24, mounting ring；25, connecting column；26, coil；27, limit plate；28, top plate；29, mounting plate；
30, fixed block；31, baffle ring；32, connection ring；33, transmission ring；34, drive shaft；35, micromotor；36, controller.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
As Figure 1-10 shows, a kind of intelligent finger rehabilitation training robot of the invention, including No.1 connecting rod 1: No.1
No.1 shaft 2 is provided through inside one end of connecting rod 1, the outside of No.1 shaft 2 is provided with No. two connecting rods 3, No. two companies
The inside of extension bar 3 is provided through No. two shafts 4, and the outside of No. two shafts 4 is provided with No. three connecting rods 5, No. three connecting rods 5
One end is provided with fingerstall 6, and the inside of fingerstall 6, which is emptied to be provided with, refers to slot 7, and the front end of fingerstall 6 is provided with partition grooves 8, fingerstall 6 it is outer
Side is provided with fixing groove 9, and rubber band 10 is arranged in the inside of fixing groove 9；The No.1 shaft 2 and one end of No.1 connecting rod 1
Internal activity connection, the movement of No. two connecting rods 3 can be driven by No.1 shaft 2, and No. two connecting rods 3 and No.1 shaft 2 are living
Dynamic connection can drive finger movement by No. two connecting rods 3, and the quantity of No. two connecting rods 3 is two groups, No. two shafts 4 and two
Number connecting rod 3 is flexibly connected, and can drive the movement of No. three connecting rods 5 by No. two shafts 4, one end of No. three connecting rods 5 with
No. two shafts 4 are flexibly connected；One end outer surface of fingerstall 6 is fixedly connected with the other end outer surface of No. three connecting rods 5, passes through finger
Set 6 can fix finger tip, and the material of fingerstall 6 is rubber material, refer to that slot 7 and the inside of fingerstall 6 are fixedly connected, by referring to that slot 7 can
To place finger tip, partition grooves 8 are fixedly connected with the front end of fingerstall 6；Fixing groove 9 is fixedly connected with the outer surface of fingerstall 6, by solid
Determining slot 9 can wind rubber band 10, and rubber band 10 is fixedly connected with the inside of fixing groove 9, can be tightened and be referred to by rubber band 10
Set 6, partition grooves 8, fixing groove 9 are mutually perpendicular to；The other end of No.1 connecting rod 1 is provided with conductive bar 11, the conductive bar 11
One end is connected with the output shaft for the micromotor 35 being mounted in control cabinet 12, is equipped in the control terminal of the micromotor 35
Controller 36, in the present invention, the controller 36 is acted by internal preset control program, control micromotor 35, thus
Realize the intelligent control of robot.The upper end of control cabinet 12 is provided with hook surface velcro 13, the lower end of control cabinet 12 is provided with
Hair side velcro 14, one end of control cabinet 12 are provided with conducting wire 15；The other end outer surface of No.1 connecting rod 1 and conductive bar 11
One end outer surface is fixedly connected, and the other end outer surface of conductive bar 11 is fixedly connected with the output shaft of micromotor 35, passes through control
Device 36 processed can control micromotor 35 and then drive conductive bar 11, lower end outer surface and the control cabinet 12 of hook surface velcro 13
Upper end outer surface is fixedly connected, and the upper end outer surface of hair side velcro 14 is fixedly connected with the lower end outer surface of control cabinet 12, is led to
Cross hook surface velcro 13, hair side velcro 14 can fix wrist, hook surface velcro 13, the quantity of hair side velcro 14 are two
One end of group, conducting wire 15 is connect with controller 36, can will transmit signal by conducting wire 15, the input port of No.1 shaft 2 with
The output port of controller 36 is electrically connected.
Working principle: the present invention is a kind of intelligent finger rehabilitation training robot, in use, user passes through hook surface magic
Patch 13, hair side velcro 14 fix hand, prevent hand from sliding, then finger tip is put into fingerstall 6, then by rubber band 10
It is wound in fixing groove 9, rubber band 10 is adjusted according to the finger tip of different rugosity and is wrapped in the circle number in fixing groove 9, finger more carefully twines
Around circle number it is more, such partition grooves 8 can be tied tight closure by rubber band 10, this until fingerstall 6 is bonded completely with finger tip
Design can allow equipment to adapt to the people of different rugosity fingers, while can be bonded finger with 6 perfection of fingerstall, allow people finger not
It can not feel well because of fixedly too tight or too loose by fingerstall 6, when opening equipment, control signal is incoming by conducting wire 15
In controller 36 (control signal here can be by extraneous online input, can also be by preset procedure auto-control, this
The present control mode in this field), signal is changed into motion command by controller 36, enable a device to by No.1 connecting rod 1,
The movement of 3, No. three connecting rods 5 of No. two connecting rods with it is diarthrodial bending and stretch, allow stiff joint can activity,
Achieve the purpose that temper articulations digitorum manus, traditional finger rehabilitation training robot has been surmounted on prospect of the application, it is more practical.
In the present invention, the micromotor 35 includes bottom plate 16, motor casing 20, top plate 28, transmission ring 33,16 outside of bottom plate
It is provided with fixed plate 17, is integrally formed between fixed plate 17 and bottom plate 16, mounting groove 18, fixed plate 17 are provided in fixed plate 17
Upper end is welded with slide plate 19, and motor casing 20 is provided on the inside of slide plate 19, is provided with first sliding groove 21 in 20 side wall of motor casing, and first
Sliding slot 21, which acts on, is to make slide plate 19 to slide, and 21 upper end of first sliding groove is provided with second sliding slot 22, and the effect of second sliding slot 22 is
Slide fixed block 30,20 inner wall of motor casing is equipped with magnetic pole 23, is connected by screw between magnetic pole 23 and motor casing 20, motor
It is provided with mounting ring 24 among shell 20, connecting column 25 is provided on the outside of mounting ring 24, one between connecting column 25 and mounting ring 24
Molding, is wound with coil 26 on the outside of connecting column 25, and 25 one end of connecting column is provided with limit plate 27, limit plate 27 and connecting column 25 it
Between be integrally formed, 20 upper end of motor casing is provided with top plate 28, is connected by screw between top plate 28 and motor casing 20, in top plate 28
It is provided with mounting plate 29, the effect of mounting plate 29 is to install fixed block 30, be connected by screw between mounting plate 29 and top plate 28,
Fixed block 30 is welded on the outside of mounting plate 29,28 upper end of top plate is welded with baffle ring 31, connection ring 32 is provided in mounting ring 24, even
It connects the effect of ring 32 to be that transmission ring 33 is installed, is provided with transmission ring 33 in connection ring 32, drive shaft 34 is provided in transmission ring 33,
Installation key is provided in drive shaft 34.
When the micromotor 35 works, finger rehabilitation training device is mounted on outside drive shaft 34 by installation key first
Side is then powered to device, and using electromagnetic induction principle, magnetic pole 23 and coil 26 cooperate, and starts turning mounting ring 24,
To drive the transmission ring 33 for being mounted on 32 inside of connection ring to rotate together, 34 turns of drive shaft then are driven using transmission ring 33
It is dynamic, realize the conversion of electric power to kinetic energy.
17 quantity of fixed plate is four, is evenly distributed in the surrounding of bottom plate 16, and 17 quantity of fixed plate is four,
The even surrounding for being distributed in bottom plate 16 is cooperated bolt and mounting groove 18 using four fixed plates 17, can reinforce fixed plate 17
Stability is slidably connected between slide plate 19 and first sliding groove 21, is slidably connected between fixed block 30 and second sliding slot 22, fixed block
Slide plate 19 can be inserted into fixed block 30, the outside of motor casing 20 is tightly attached to using slide plate 19 by grafting between 30 and slide plate 19,
It can make motor casing 20 will be more stable between top plate 28 and bottom plate 16,23 quantity of magnetic pole is ten, is evenly distributed in electricity
20 inner surface of casing, 27 quantity of limit plate are ten, and the distance between limit plate 27 and magnetic pole 23 are 1mm, utilize electromagnetic induction
Principle is powered to magnetic pole 23 and cooperates coil 26, so that mounting ring 24 starts turning, interference connects between connection ring 32 and mounting ring 24
It connects, can make mounting ring 24 that connection ring 32 be driven to rotate together, interference connects between transmission ring 33 and connection ring 32, drive shaft 34
Interference is connect between the inside of transmission ring 33, can be passed to drive shaft 34 for kinetic energy is significantly more efficient using transmission ring 33, be mentioned
High energy conversion rate, using transmission ring 33 can make drive shaft 34 rotate while, reduce drive shaft 34 revolving speed, installation key with
It is integrally formed between drive shaft 34, distance is 1mm between baffle ring 31 and drive shaft 34, and being facilitated using installation key will need to drive
Device is mounted on 34 outside of drive shaft, can prevent dust from entering in device using fixed block 30, influence the service life of device.
Referring to Figure 10, in the present invention, the controller 36 includes the chip IC of model 1209B, and the of the chip IC
One pin is separately connected one end of one end of capacitor C2, the cathode of diode D3, the cathode of diode D4 and resistance R2；Resistance R2
The other end be separately connected one end of the second pin of chip IC, one end of resistance R3 and resistance R5；The other end of resistance R3 point
Not Lian Jie the third pin of chip IC and the collector of triode D6, the base stage of triode D6 be separately connected capacitor C3 one end and
The other end of resistance R5；The other end of capacitor C3 is separately connected one end of resistance R4, the 4th pin of chip IC and resistance R1's
One end；The other end of resistance R4 be separately connected one end of fuse FU, the anode of diode D5, chip IC the 5th pin and three
The emitter of pole pipe D6；The other end of resistance R1 is separately connected the cathode and diode of the other end of fuse FU, diode D2
The cathode of D1, the positive connection signal input terminal V1 of diode D1；6th pin of chip IC be separately connected capacitor C1 one end,
The anode of signal output end V2, the anode of diode D3 and diode D4；The other end of the anode connection capacitor C1 of diode D2,
The other end of the cathode connection capacitor C2 of diode D5.
It should be noted that above embodiments are only to illustrate technical solution of the present invention rather than restriction technologies scheme, although
The invention is described in detail with reference to the preferred embodiments by applicant, those skilled in the art should understand that, those are right
The modification or equivalent replacement that technical solution of the present invention carries out, cannot be detached from the objective and range of the technical program, should all cover
In scope of the invention as claimed.
Claims (10)
1. a kind of intelligence finger rehabilitation training robot, including No.1 connecting rod (1), it is characterised in that: the No.1 connecting rod
(1) it is provided through inside one end No.1 shaft (2), No. two connecting rods (3) is provided on the outside of the No.1 shaft (2),
The inside of No. two connecting rods (3) is provided through No. two shafts (4), is provided with No. three on the outside of No. two shafts (4)
One end of connecting rod (5), No. three connecting rods (5) is provided with fingerstall (6), and the inside of the fingerstall (6), which is emptied, is provided with finger
The front end of slot (7), the fingerstall (6) is provided with partition grooves (8), is provided with fixing groove (9) on the outside of the fingerstall (6), described
Rubber band (10) are arranged in the inside of fixing groove (9)；The internal activity of one end of the No.1 shaft (2) and No.1 connecting rod (1)
Connection, No. two connecting rods (3) are flexibly connected with No.1 shaft (2), and the quantity of No. two connecting rods (3) is two groups, institute
It states No. two shafts (4) to be flexibly connected with No. two connecting rods (3), one end of No. three connecting rods (5) and No. two shaft (4) activities
Connection；The other end of the No.1 connecting rod (1) is provided with conductive bar (11), one end of the conductive bar (11) and is mounted on control
The output shaft of micromotor (35) in case (12) processed is connected, and is equipped with controller in the control terminal of the micromotor (35)
(36), the upper end of the control cabinet (12) is provided with hook surface velcro (13), and the lower end of the control cabinet (12) is provided with hair side
One end of velcro (14), the control cabinet (12) is provided with conducting wire (15)；The micromotor (35) includes bottom plate (16), electricity
Casing (20), top plate (28), transmission ring (33), bottom plate (16) outside are provided with fixed plate (17), the fixed plate (17)
It is integrally formed, is provided with mounting groove (18) in the fixed plate (17), on the fixed plate (17) between the bottom plate (16)
End is welded with slide plate (19), is provided with the motor casing (20) on the inside of the slide plate (19), is set in motor casing (20) side wall
It is equipped with first sliding groove (21), first sliding groove (21) upper end is provided with second sliding slot (22), motor casing (20) the inner wall peace
It equipped with magnetic pole (23), is connected by screw between the magnetic pole (23) and the motor casing (20), the motor casing (20) is intermediate
It is provided with mounting ring (24), is provided with connecting column (25) on the outside of the mounting ring (24), the connecting column (25) and the installation
Ring is integrally formed between (24), is wound with coil (26) on the outside of the connecting column (25), described connecting column (25) one end is provided with
Limit plate (27) is integrally formed between the limit plate (27) and the connecting column (25), motor casing (20) the upper end setting
Have the top plate (28), be connected by screw between the top plate (28) and the motor casing (20), is set in the top plate (28)
It is equipped with mounting plate (29), is connected by screw between the mounting plate (29) and the top plate (28), the mounting plate (29) is outside
Side is welded with fixed block (30), and top plate (28) upper end is welded with baffle ring (31), is provided with connection in the mounting ring (24)
Ring (32), the connection ring (32) is interior to be provided with the transmission ring (33), is provided with drive shaft (34) in the transmission ring (33),
Installation key (35) are provided in the drive shaft (34).
2. a kind of intelligent finger rehabilitation training robot according to claim 1, it is characterised in that: the fingerstall (6)
One end outer surface is fixedly connected with the other end outer surface of No. three connecting rods (5), and the material of the fingerstall (6) is rubber material,
Finger slot (7) is fixedly connected with the inside of fingerstall (6), and the partition grooves (8) are fixedly connected with the front end of fingerstall (6).
3. a kind of intelligent finger rehabilitation training robot according to claim 2, it is characterised in that: the fixing groove (9)
It is fixedly connected with the outer surface of fingerstall (6), the rubber band (10) is fixedly connected with the inside of fixing groove (9), the partition grooves
(8), fixing groove (9) is mutually perpendicular to.
4. a kind of intelligent finger rehabilitation training robot according to claim 3, it is characterised in that: the fixed plate (17)
Quantity is four, is evenly distributed in the surrounding of the bottom plate (16).
5. a kind of intelligence finger rehabilitation training robot according to claim 4 any one, it is characterised in that: described one
The other end outer surface of number connecting rod (1) is fixedly connected with one end outer surface of conductive bar (11), the conductive bar (11) it is another
One end outer surface is fixedly connected with the output shaft of micromotor (35), the lower end outer surface of the hook surface velcro (13) and control
The upper end outer surface of case (12) is fixedly connected, the hair side velcro 14) upper end outer surface and control cabinet (12) lower end outside
Surface is fixedly connected, the hook surface velcro (13), hair side velcro (14) quantity be two groups, the one of the conducting wire (15)
End is connect with controller (36), and the input port of the No.1 shaft (2) and the output port of controller (36) are electrically connected.
6. a kind of intelligent finger rehabilitation training robot according to claim 5, it is characterised in that: the slide plate (19) with
It is slidably connected between the first sliding groove (21), is slidably connected between the fixed block (30) and the second sliding slot (22), institute
State grafting between fixed block (30) and the slide plate (19).
7. a kind of intelligent finger rehabilitation training robot according to claim 6, it is characterised in that: magnetic pole (23) number
Amount is ten, is evenly distributed in the motor casing (20) inner surface, and limit plate (27) quantity is ten, the limit plate
It (27) is 1mm with the distance between the magnetic pole (23).
8. a kind of intelligent finger rehabilitation training robot according to claim 7, it is characterised in that: the connection ring (32)
Interference is connect between the mounting ring (24).
9. a kind of intelligent finger rehabilitation training robot according to claim 8, it is characterised in that: the transmission ring (33)
Interference is connect between the connection ring (32), and interference is connect between the drive shaft (34) and the transmission ring (33) inside.
10. a kind of intelligent finger rehabilitation training robot according to claim 9, it is characterised in that: the installation key
(35) it is integrally formed between the drive shaft (34), distance is 1mm between the baffle ring (31) and the drive shaft (34).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910369116.5A CN110123575B (en) | 2019-05-05 | 2019-05-05 | Intelligent finger rehabilitation training robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910369116.5A CN110123575B (en) | 2019-05-05 | 2019-05-05 | Intelligent finger rehabilitation training robot |
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| CN110123575A true CN110123575A (en) | 2019-08-16 |
| CN110123575B CN110123575B (en) | 2021-03-30 |
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| CN110123575B (en) | 2021-03-30 |
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