CN203280687U - Wearable hand functional rehabilitation training mechanical arm - Google Patents
Wearable hand functional rehabilitation training mechanical arm Download PDFInfo
- Publication number
- CN203280687U CN203280687U CN2013202147410U CN201320214741U CN203280687U CN 203280687 U CN203280687 U CN 203280687U CN 2013202147410 U CN2013202147410 U CN 2013202147410U CN 201320214741 U CN201320214741 U CN 201320214741U CN 203280687 U CN203280687 U CN 203280687U
- Authority
- CN
- China
- Prior art keywords
- arc frame
- thumb
- air cylinder
- hole
- cylinder
- 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.)
- Withdrawn - After Issue
Links
Landscapes
- Rehabilitation Tools (AREA)
Abstract
The utility model discloses a wearable hand functional rehabilitation training mechanical arm. The wearable hand functional rehabilitation training mechanical arm comprises a mechanical arm fixing plate fixed on an arm, a thumb rehabilitation mechanism and a four-finger rehabilitation mechanism. The thumb rehabilitation mechanism comprises a cylinder driving system which provides power and a thumb fixing device which is connected with the cylinder driving system. The four-finger rehabilitation mechanism comprises a cylinder driving system which provides power and a four-finger fixing device which is connected with the cylinder driving system. According to the wearable hand functional rehabilitation training mechanical arm, a cross beam is used for enabling four fingers apart from a thumb to be fixed on the same cross beam, when the mechanical arm is used for conducting rehabilitation therapy, the four fingers move at the same time, in the finger bending process, radial tensile force does not need to be borne, the fingers can be prevented from being injured, the independently-arranged thumb rehabilitation mechanism is further combined, and more comprehensive rehabilitation therapy is achieved for a hand. In addition, the mode of cylinder driving is adopted so that the buffer function can be achieved for the movement of the hand, the phenomenon that the fingers are injured due to sudden movement is avoided, and the damage on the fingers due to the radial tensile force is also avoided.
Description
Technical field
This utility model relates to the healing robot technical field, is specifically related to a kind of healing hand function mechanical hand of Wearable.
Background technology
Theory of medicine with facts have proved, the patient of the limb function damage that causes for cardiovascular and cerebrovascular disease or nervous system, can recover by the training of some strength., because there has been the limb function disappearance in the patient, therefore need a kind of equipment to be used for the limbs of patient rehabilitation.Although at present Drug therapy is arranged, treat more singlely, and have side effect.Therefore, for the patient is passive or initiative rehabilitation, need a kind of apparatus for finger motion.But present image training robot is all the motion in some large joints of patient, not each important joint is in motion, the particularly motion of hand, and hand joint is more more flexible, therefore recover hand and be absolutely necessary, but most finger gymnastic apparatus is all ignored this point, and lacked the device of thumb rehabilitation, most of design adopts motor to drive, and motor drives and easily causes the hand injury.Have patent to adopt quadric chain tractive finger end, but it also can make finger bear radially pressure when driving the finger bending, easily the damage finger.
The utility model content
This utility model purpose is to provide a kind of Wearable healing hand function training mechanical hand, and it adopts air cylinder driven to play cushioning effect for hand exercise, prevents that motion damages finger suddenly, and avoids the damage of radial pull to finger.
In order to solve these problems of the prior art, the technical scheme that this utility model provides is:
A kind of Wearable healing hand function training mechanical hand, comprise the mechanical hand fixing head that is fixed on arm, be fixed on the actuating unit on the mechanical hand fixing head, it comprises thumb rehabilitation institution, four finger rehabilitation institution, the thumb fixture that described thumb rehabilitation system comprises to be provided the air cylinder driven of power system, with the air cylinder driven system, be connected, the four finger fixtures that four finger rehabilitation institution comprise to be provided the air cylinder driven of power system, with the air cylinder driven system, be connected.
For technique scheme, utility model people also has further optimization embodiment.
as optimization, the air cylinder driven system of four finger rehabilitation systems comprises cylinder, air cylinder base, for the clutch end that bends and stretches the cylinder that power is provided is connected with four finger fixtures, cylinder is fixed on the mechanical hand fixing head by air cylinder base, cylinder can rotate in the hole on air cylinder base, four finger fixtures comprise arc frame, push rod, crossbeam, holder, be arranged on crossbeam and be used for fixing the binder of four fingers, one end of arc frame is connected by pin with the end of the clutch end of cylinder, the other end of described arc frame is connected with an end of push rod, the other end of push rod is connected with the holder on crossbeam, push rod and holder can relatively rotate.
Further, also be provided with side position fixed mount, angular transducer in four finger rehabilitation systems, side position fixed mount is fixed on the mechanical hand fixing head by the bottom screw, side position fixed mount and angular transducer are positioned at the both sides of arc frame, the hole that the turning cylinder of angular transducer passes on arc frame is connected with the hole on the fixed mount of side position, and the rotating shaft of arc frame and angular transducer fixes.
Further, described push rod is provided with the fixing hole of diverse location, is fixed by screws in fixing hole between arc frame and push rod, and arc frame and push rod can relatively rotate, and in limited location hole, the both sides of fixing hole, spacing hole is used for regulating the hand exercise scope.
Further, described crossbeam is provided with the adjustment hole of diverse location, is fixed in adjustment hole by holder between push rod and crossbeam, is used for adapting to the hands of different sizes.
As optimization, the air cylinder driven system of thumb rehabilitation system comprises cylinder, air cylinder base, for the clutch end that bends and stretches the cylinder that power is provided is connected with the thumb fixture, cylinder is fixed on the mechanical hand fixing head by air cylinder base, cylinder can rotate in the hole on air cylinder base, the thumb fixture comprises arc frame, is used for the fixedly binder of thumb, and an end of arc frame is connected by pin with the end of the clutch end of cylinder, and the other end of described arc frame is connected with binder.
Further, also be provided with side position fixed mount, angular transducer in the thumb rehabilitation system, side position fixed mount is fixed on the mechanical hand fixing head by the bottom screw, side position fixed mount and angular transducer are positioned at the both sides of arc frame, the hole that the turning cylinder of angular transducer passes on arc frame is connected with the hole on the fixed mount of side position, and the rotating shaft of arc frame and angular transducer fixes.
, with respect to scheme of the prior art, the utility model has the advantages that:
1. this utility model adopts cylinder as power, air cylinder driven plays cushioning effect for hand exercise, prevent the injury that motion suddenly causes hand, in conjunction with angular transducer, thereby the hand range of movement is detected the controlled motion amplitude simultaneously, prevent from hand is caused secondary injury in rehabilitation;
2. this utility model adopts crossbeam that four fingers except thumb are fixed on same crossbeam, when mechanical hand carries out rehabilitation, four fingers move simultaneously, need not bear radial pull in the finger BENDING PROCESS, prevent the damage finger, in conjunction with the independent thumb rehabilitation system that arranges, hand is carried out rehabilitation more comprehensively again.
Description of drawings
Below in conjunction with drawings and Examples, this utility model is further described:
Fig. 1 is the overall structure schematic diagram of this utility model embodiment;
Wherein: 1. mechanical hand fixing head; 2. cylinder; 3. air cylinder base; 4. arc frame; 5. side position fixed mount; 6. angular transducer; 7. push rod; 8. crossbeam; 9. binder; 10. air cylinder base; 11. cylinder; 12. side position fixed mount; 13. arc frame; 14. angular transducer; 15. binder; 16. holder; 17. stop screw.
The specific embodiment
Below in conjunction with specific embodiment, such scheme is described further.Should be understood that these embodiment are not limited to limit scope of the present utility model for explanation this utility model.The implementation condition that adopts in embodiment can be done further adjustment according to the condition of concrete producer, and not marked implementation condition is generally the condition in normal experiment.
Embodiment:
the present embodiment has been described a kind of Wearable healing hand function training mechanical hand, its structure as shown in Figure 1, it comprises the mechanical hand fixing head 1 that is fixed on arm, thumb rehabilitation institution and four finger rehabilitation institution, mechanical hand fixing head 1 upside bit plane is used for fixedly hand frame for movement, bottom is that arcwall face is to adapt to the staff structure, be fixed in hands section by binder, the air cylinder driven of the power system that provides is provided described thumb rehabilitation system, the thumb fixture that is connected with the air cylinder driven system, the air cylinder driven of the power system that provides is provided in four finger rehabilitation institution, the four finger fixtures that are connected with the air cylinder driven system.
the air cylinder driven system of four finger rehabilitation systems comprises cylinder 2, air cylinder base 3, for the clutch end that bends and stretches the cylinder 2 that power is provided is connected with four finger fixtures, cylinder 2 is fixed on mechanical hand fixing head 1 by air cylinder base 3, cylinder 2 can rotate in the hole on air cylinder base 3, four finger fixtures comprise arc frame 4, push rod 7, crossbeam 8, holder 16, be arranged on crossbeam 8 and be used for fixing the binder 9 of four fingers, one end of arc frame 4 is connected by pin with the end of the clutch end of cylinder 2, be connected with an end of push rod 7 arc frame 4 of the other end of described arc frame 4 is provided with bidirectionally limited stop screw 17 with the connecting portion of push rod, prevent the mechanism blockage in motor process, the other end of push rod 7 is connected with the holder 16 on crossbeam 8, push rod 7 can relatively rotate with holder 16.Two ports are arranged on cylinder (2), and port, by controlling the flow direction adjusting cylinders direction of motion of gas, drives arc frame 4 motions, and arc frame 17 drives push rod 7, crossbeam 8 motions again, and then controls bending and stretching of hand four fingers.
Also be provided with side position fixed mount 5, angular transducer 6 in four finger rehabilitation systems, side position fixed mount 5 is fixed on mechanical hand fixing head 1 by the bottom screw, side position fixed mount 5 and angular transducer 6 are positioned at the both sides of arc frame 4, the hole that the turning cylinder of angular transducer 6 passes on arc frame 4 is connected with the hole on side position fixed mount 5, and arc frame 4 fixes with the rotating shaft of angular transducer 6.
Described push rod 7 is provided with the fixing hole of diverse location, is fixed by screws in fixing hole between arc frame 4 and push rod 7, and arc frame 4 can relatively rotate with push rod 7, and in limited location hole, the both sides of fixing hole, spacing hole is used for regulating the hand exercise scope.Described crossbeam 8 is provided with the adjustment hole of diverse location, is fixed in adjustment hole by holder 16 between push rod 7 and crossbeam 8, is used for adapting to the hands of different sizes.
The air cylinder driven system of thumb rehabilitation system comprises cylinder 11, air cylinder base 10, for the clutch end that bends and stretches the cylinder 11 that power is provided is connected with the thumb fixture, cylinder 11 is fixed on mechanical hand fixing head 1 by air cylinder base 10, cylinder 11 can rotate in the hole on air cylinder base 10, the thumb fixture comprises arc frame 13, is used for the fixedly binder 15 of thumb, one end of arc frame 13 is connected by pin with the end of the clutch end of cylinder 11, and the other end of described arc frame 13 is connected with binder 15.
Two ports are arranged on cylinder (11), and port, by controlling the flow direction adjusting cylinders direction of motion of gas, drives arc frame 13 motions, and then controls bending and stretching of hand thumb.
Also be provided with side position fixed mount 12, angular transducer 14 in the thumb rehabilitation system, side position fixed mount 12 is fixed on mechanical hand fixing head 1 by the bottom screw, side position fixed mount 12 and angular transducer 14 are positioned at the both sides of arc frame 13, the hole that the turning cylinder of angular transducer 14 passes on arc frame 13 is connected with the hole on side position fixed mount 12, and arc frame 13 fixes with the rotating shaft of angular transducer 14.
Above-mentioned example only is explanation technical conceive of the present utility model and characteristics, and its purpose is to allow the person skilled in the art can understand content of the present utility model and implement according to this, can not limit protection domain of the present utility model with this.All equivalent transformation or modifications of doing according to this utility model spirit, within all should being encompassed in protection domain of the present utility model.
Claims (7)
1. a Wearable healing hand function is trained mechanical hand, comprise the mechanical hand fixing head (1) that is fixed on arm, it is characterized in that, it comprises thumb rehabilitation institution, four finger rehabilitation institution, the thumb fixture that described thumb rehabilitation system comprises to be provided the air cylinder driven of power system, with the air cylinder driven system, be connected, the four finger fixtures that four finger rehabilitation institution comprise to be provided the air cylinder driven of power system, with the air cylinder driven system, be connected.
2. Wearable healing hand function according to claim 1 is trained mechanical hand, it is characterized in that, the air cylinder driven system of four finger rehabilitation systems comprises cylinder (2), air cylinder base (3), for the clutch end that bends and stretches the cylinder (2) that power is provided is connected with four finger fixtures, cylinder (2) is fixed on mechanical hand fixing head (1) by air cylinder base (3), cylinder (2) can rotate in the hole on air cylinder base (3), four finger fixtures comprise arc frame (4), push rod (7), crossbeam (8), holder (16), be arranged on crossbeam (8) and go up and be used for fixing the binder (9) of four fingers, one end of arc frame (4) is connected by pin with the end of the clutch end of cylinder (2), the other end of described arc frame (4) is connected with an end of push rod (7), the other end of push rod (7) is connected with the holder (16) on crossbeam (8), push rod (7) can relatively rotate with holder (16).
3. Wearable healing hand function according to claim 2 is trained mechanical hand, it is characterized in that, also be provided with side position fixed mount (5), angular transducer (6) in four finger rehabilitation systems, side position fixed mount (5) is fixed on mechanical hand fixing head (1) by the bottom screw, side position fixed mount (5) and angular transducer (6) are positioned at the both sides of arc frame (4), the hole that the turning cylinder of angular transducer (6) passes on arc frame (4) is connected with the hole on side position fixed mount (5), and arc frame (4) fixes with the rotating shaft of angular transducer (6).
4. Wearable healing hand function according to claim 2 is trained mechanical hand, it is characterized in that, described push rod (7) is provided with the fixing hole of diverse location, be fixed by screws in fixing hole between arc frame (4) and push rod (7), arc frame (4) can relatively rotate with push rod (7), and in limited location hole, the both sides of fixing hole, spacing hole is used for regulating the hand exercise scope.
5. according to claim 2 or 4 described Wearable healing hand functions are trained mechanical hands, it is characterized in that, described crossbeam (8) is provided with the adjustment hole of diverse location, is fixed in adjustment hole by holder (16) between push rod (7) and crossbeam (8), is used for adapting to the hands of different sizes.
6. Wearable healing hand function according to claim 1 is trained mechanical hand, it is characterized in that, the air cylinder driven system of thumb rehabilitation system comprises cylinder (11), air cylinder base (10), for the clutch end that bends and stretches the cylinder (11) that power is provided is connected with the thumb fixture, cylinder (11) is fixed on mechanical hand fixing head (1) by air cylinder base (10), cylinder (11) can rotate in the hole on air cylinder base (10), the thumb fixture comprises arc frame (13), be used for the fixedly binder of thumb (15), one end of arc frame (13) is connected by pin with the end of the clutch end of cylinder (11), the other end of described arc frame (13) is connected with binder (15).
7. Wearable healing hand function according to claim 6 is trained mechanical hand, it is characterized in that, also be provided with side position fixed mount (12) in the thumb rehabilitation system, angular transducer (14), side position fixed mount (12) is fixed on mechanical hand fixing head (1) by the bottom screw, side position fixed mount (12) and angular transducer (14) are positioned at the both sides of arc frame (13), the hole that the turning cylinder of angular transducer (14) passes on arc frame (13) is connected with the hole on side position fixed mount (12), arc frame (13) fixes with the rotating shaft of angular transducer (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013202147410U CN203280687U (en) | 2013-04-25 | 2013-04-25 | Wearable hand functional rehabilitation training mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013202147410U CN203280687U (en) | 2013-04-25 | 2013-04-25 | Wearable hand functional rehabilitation training mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203280687U true CN203280687U (en) | 2013-11-13 |
Family
ID=49537070
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013202147410U Withdrawn - After Issue CN203280687U (en) | 2013-04-25 | 2013-04-25 | Wearable hand functional rehabilitation training mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203280687U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103230333A (en) * | 2013-04-25 | 2013-08-07 | 西安交通大学苏州研究院 | Wearable hand function rehabilitation training manipulator |
| CN103767856A (en) * | 2014-01-24 | 2014-05-07 | 西安交通大学 | Wearing type five-finger recovery manipulator |
| CN104083269A (en) * | 2014-07-29 | 2014-10-08 | 四川旭康医疗电器有限公司 | Joint extension rehabilitation training system based on pain feedback control and achieving method of joint extension rehabilitation training system |
| CN106236515A (en) * | 2016-10-10 | 2016-12-21 | 邹彤昕 | A kind of autonomous training devices of arm |
-
2013
- 2013-04-25 CN CN2013202147410U patent/CN203280687U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103230333A (en) * | 2013-04-25 | 2013-08-07 | 西安交通大学苏州研究院 | Wearable hand function rehabilitation training manipulator |
| CN103767856A (en) * | 2014-01-24 | 2014-05-07 | 西安交通大学 | Wearing type five-finger recovery manipulator |
| CN103767856B (en) * | 2014-01-24 | 2016-02-24 | 西安交通大学 | A kind of Wearable five finger gymnastic mechanical hand |
| CN104083269A (en) * | 2014-07-29 | 2014-10-08 | 四川旭康医疗电器有限公司 | Joint extension rehabilitation training system based on pain feedback control and achieving method of joint extension rehabilitation training system |
| CN106236515A (en) * | 2016-10-10 | 2016-12-21 | 邹彤昕 | A kind of autonomous training devices of arm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103230333B (en) | Wearable hand function rehabilitation training manipulator | |
| CN101518491B (en) | Finger motor function rehabilitation robot | |
| CN203280687U (en) | Wearable hand functional rehabilitation training mechanical arm | |
| CN103536426B (en) | Pneumatic muscle-actuated wearable elbow joint rehabilitation training device | |
| CN102499857B (en) | Exoskeleton wearable upper limb rehabilitation robot | |
| US20210137767A1 (en) | Support rehabilitation training robot and operation method thereof | |
| CN110123584B (en) | Six-degree-of-freedom wearable flexible rope driven exoskeleton type upper limb rehabilitation training robot | |
| CN109907939B (en) | Finger movement rehabilitation training robot based on lasso driving and myoelectricity control | |
| CN110037892B (en) | Upper limb rehabilitation training device and method driven by shape memory alloy rope | |
| CN107019621A (en) | Upper limb rehabilitation robot | |
| CN105853146A (en) | Functional rehabilitation training device for hands | |
| CN104842345A (en) | Human-simulated mechanical arm based on hybrid driving of various artificial muscles | |
| CN113332097B (en) | Flexible four-finger rehabilitation robot capable of being driven by far end | |
| CN104887458B (en) | Human body upper limb function automatic auxiliary recovery apparatus | |
| CN106264982A (en) | Instrument is corrected in hand rehabilitation training | |
| CN106333827A (en) | Wearable four-finger rehabilitation training device | |
| CN206950325U (en) | One kind rope driving elbow wrist healing robot | |
| CN103948485A (en) | Exoskeleton-type upper limb rehabilitant robot | |
| CN103892990A (en) | Two-joint traction finger rehabilitation trainer | |
| CN103126852B (en) | Elbow joint function rehabilitation device | |
| WO2017116175A1 (en) | Passive and active driving device for strengthening muscle | |
| CN204744845U (en) | Hand function gripping draft rehabilitation training device | |
| CN107569363B (en) | A kind of wearable wrist recovery training Flexible Transmission ectoskeleton | |
| CN113967151B (en) | Active upper limb rehabilitation device based on gravity compensation | |
| CN205459684U (en) | Rehabilitation training robotic arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20131113 Effective date of abandoning: 20141231 |
|
| RGAV | Abandon patent right to avoid regrant |