CN208823349U - A kind of practical wearable exoskeleton rehabilitation mechanical finger - Google Patents
A kind of practical wearable exoskeleton rehabilitation mechanical finger Download PDFInfo
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- CN208823349U CN208823349U CN201820681451.XU CN201820681451U CN208823349U CN 208823349 U CN208823349 U CN 208823349U CN 201820681451 U CN201820681451 U CN 201820681451U CN 208823349 U CN208823349 U CN 208823349U
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Abstract
The utility model discloses a kind of practical wearable exoskeleton rehabilitation mechanical fingers, including rack, proximal phalanx baffle, middle phalanx baffle, distal phalanx baffle, closely refers to connecting rod, middle finger connecting rod, far refers to first connecting rod, far refers to second connecting rod, far refers to third connecting rod and actuator, the rear end of the proximal phalanx baffle and the rack are hinged, and the proximal phalanx baffle, the middle phalanx baffle and the distal phalanx baffle are separated from each other.Compared with prior art, proximal phalanx baffle, middle phalanx baffle, distal phalanx baffle are not hinged and connected the utility model, but be separated from each other, it is only realized and is interlocked by respective link.In use, each phalanges of finger can be connect by bandage with each phalanges baffle, and in rehabilitation training, patient hand joint axis of rotation is overlapped such patient with the joint of manpower, avoids the sliding phenomenon for finger and mechanical finger occur in use process.
Description
Technical field
The utility model relates to rehabilitation training equipment fields, relate in particular to a kind of practical wearable ectoskeleton health
Multiple mechanical finger.
Background technique
At present in China, because the reasons such as all kinds of accidents, hemiplegia, brain paralysis, polio cause the patient of hand disability big
Generally having 20,000,000, the hand organ one of important as human body has the function of can not be substituted in production and living, study and work,
However it is damaged since wound and cerebral apoplexy etc. can not resist factor to can frequently result in hand movement function.China's patients with cerebral apoplexy is more than
7000000.Wherein having 85% in the patient headed by old group, there are hemiplegia (hemiplegia) symptoms.Cerebral apoplexy is fearful with its
Disability rate bring huge economy and medical pressure to society, and look after patients with cerebral apoplexy for a long time and also brought to relatives family members
Heavy mental burden.Currently, patients with cerebral apoplexy can not be eradicated using drug, thus it is more and more in medical field
Doctor turned one's attention to rehabilitation.
In each joint of human body, the freedom degree of hand is more, and structure is also the most complicated, so the design of hand ectoskeleton
Also relatively difficult.It is found by being retrieved to existing technical literature, the domestic research to hand ectoskeleton training structure is also in rising
Step section.Chinese Patent Application No. are as follows: 201710566714.2 patent of invention discloses a kind of exoskeleton-type manipulators in rehabilitation.
Although the device can realize the bending stretching routine of finger.But there is also following problems: 1. manipulators may be in training
During secondary injury is caused to manpower；2. it is very poor for various sizes of hand-type adaptability, during finger movement
It can not realize interior receipts abduction exercise；3. when hand does rehabilitation exercise and trouble refer to matched adjacent two connecting rod between swing hinge can not throw
The interphalangeal joint that shadow refers to trouble；4. thumb training drive mechanism connecting rod number is more or power transmission effect is bad, it is unfavorable for space
The transmitting of power and movement.
Utility model content
The technical problem to be solved by the utility model is to provide one kind being capable of practical wearable exoskeleton rehabilitation machine
Tool finger.
In order to solve the above-mentioned technical problem, the utility model adopts the following technical solution: a kind of practical wearable outer
Bone rehabilitation mechanical finger, including rack, proximal phalanx baffle, middle phalanx baffle, distal phalanx baffle, closely refer to connecting rod, in
Refer to connecting rod, far refer to first connecting rod, far refer to second connecting rod, far referring to third connecting rod and actuator, after the proximal phalanx baffle
End is hinged with the rack, and the proximal phalanx baffle, the middle phalanx baffle and the distal phalanx baffle are separated from each other；
Described nearly one end for the referring to connecting rod and actuator is hinged, the other end and the proximal phalanx panel hinge；It is described
One end of middle finger connecting rod and nearly the fingers connecting rod be hinged, the other end and the middle phalanx panel hinge；The remote finger third connects
One end of bar and the proximal phalanx panel hinge, described remote one end for referring to second connecting rod are another with the remote finger third connecting rod
Hold the hinged, other end and the middle phalanx panel hinge, described remote one end for referring to first connecting rod and the remote finger second connecting rod
Hingedly, the other end and the distal phalanx panel hinge.
It further, further include driving mechanism, the driving mechanism includes screw rod, spiral shell block, the first drive rod and the second biography
Lever, the screw rod are rotatably installed in the rack, and the spiral shell block is threadedly engaged with screw rod composition, and described first passes
One end of lever and the spiral shell block are hinged, one end ball-joint of the other end and second drive rod, second drive rod
The other end and the actuator are hinged.
It further, further include driving mechanism, the driving mechanism includes screw rod, spiral shell block and spiral shell block connecting rod, the spiral shell
Bar is rotatably installed in the rack, and the spiral shell block is threadedly engaged with screw rod composition, one end of the spiral shell block connecting rod and institute
It is hinged to state hinged spiral shell block, the other end and the actuator.
It further, further include guide rail, the guide rail is mounted on the rack, and the actuator is slidably connected at described
On guide rail.
Further, the rear end of the proximal phalanx baffle and the rack ball-joint, the guide rail are rotatably installed in institute
It states in rack, and the centre of sphere phase of the rear end of the pivot center of the guide rail and the proximal phalanx baffle and the rack ball-joint
It hands over.
Further, the locking device for being locked in the guide rail in the rack is provided on the guide rail.
Further, the rack is cambered surface with the one side towards hand.
Further, it is respectively provided on the proximal phalanx baffle, the middle phalanx baffle and the distal phalanx baffle
There is bandage.
Further, the two sides of the proximal phalanx baffle, the middle phalanx baffle and the distal phalanx baffle are equal
It is provided with strip groove, for connecting bandage.
The beneficial effects of the utility model are embodied in:
Compared with prior art, proximal phalanx baffle, middle phalanx baffle, distal phalanx baffle are not hinges to the utility model
It connects connected, but is separated from each other, only pass through respective link and realize and interlock.In use, each phalanges of finger can pass through
Bandage is connect with each phalanges baffle, and such patient is in rehabilitation training, the pass of patient hand joint axis of rotation and manpower
Section is overlapped, and avoids the sliding phenomenon for finger and mechanical finger occur in use process.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of an embodiment of the present invention.
Fig. 2 is the structural schematic diagram of an embodiment of the present invention.
The label of each component in attached drawing are as follows: 11 racks, 12 proximal phalanx baffles, 13 middle phalanx baffles, 14 distal phalanxes
Baffle, 15 closely refer to that connecting rod, 16 middle finger connecting rods, 17 far refer to that first connecting rod, 18 far refer to that second connecting rod, 19 far refer to that third connecting rod, 20 are driven
Moving part, 21 guide rails, 22 protective sponges, 23 bandages, 24 strip grooves, 25 motors, 26 screw rods, 27 spiral shell blocks, 28 shaft couplings, 29 first pass
Lever, 30 second drive rods, 31 spiral shell block connecting rods, 32 spring bearings.
Specific embodiment
The utility model will be described in detail below with reference to the accompanying drawings and embodiments.It should be noted that not conflicting
In the case where, the features in the embodiments and the embodiments of the present application can be combined with each other.
Referring to Fig. 1.
The practical wearable exoskeleton rehabilitation mechanical finger of the utility model, including rack 11, proximal phalanx baffle 12,
Middle phalanx baffle 13, distal phalanx baffle 14 closely refer to connecting rod 15, middle finger connecting rod 16, far refer to first connecting rod 17, far referring to that second connects
Bar 18 far refers to third connecting rod 19 and actuator 20, and the rear end of the proximal phalanx baffle 12 and the rack 11 are hinged, described
Proximal phalanx baffle 12, the middle phalanx baffle 13 and the distal phalanx baffle 14 are separated from each other；
Described nearly one end for the referring to connecting rod 15 and actuator 20 is hinged, the other end and the proximal phalanx baffle 12 are cut with scissors
It connects；One end of the middle finger connecting rod 16 and nearly the fingers connecting rod 15 is hinged, the other end and the middle phalanx baffle 13 hingedly；Institute
State and far refer to that one end of third connecting rod 19 and the proximal phalanx baffle 12 are hinged, described remote one end for referring to second connecting rod 18 with it is described
Far refer to that the hinged other end of third connecting rod 19, the other end and the middle phalanx baffle 13 are hinged, the remote finger first connecting rod 17
One end and remote the fingers second connecting rod 18 is hinged, the other end and the distal phalanx baffle 14 hingedly.
Compared with prior art, proximal phalanx baffle, middle phalanx baffle, distal phalanx baffle are not hinges to the utility model
It connects connected, but is separated from each other, only pass through respective link and realize and interlock.In use, each phalanges of finger can pass through
Bandage is connect with each phalanges baffle, and such patient is in rehabilitation training, the pass of patient hand joint axis of rotation and manpower
Section is overlapped, and avoids the sliding phenomenon for finger and mechanical finger occur in use process.
It in one embodiment, further include driving mechanism, the driving mechanism includes screw rod 26, spiral shell block 27, the first drive rod
29 and second drive rod 30, the screw rod 26 be rotatably installed in the rack 11, the spiral shell block 27 is constituted with the screw rod 26
It is threadedly engaged, one end of first drive rod 29 and the spiral shell block 27 are hinged, the other end and second drive rod 30
One end ball-joint, the other end of second drive rod 30 and the actuator 20 are hinged.201710566714.2 invention it is special
Benefit applies in disclosed exoskeleton-type manipulators in rehabilitation that the first drive link of thumb and the second drive link of thumb are crosses
Hingedly, and it is also provided with thumb third drive link, and the present invention does above-mentioned design, and to adapt to the instruction of thumb
Practice, but structure is simpler, stress is more preferable, and installation is more convenient.
In one embodiment, referring to fig. 2, further include driving mechanism, the driving mechanism include screw rod 26, spiral shell block 27 and
Spiral shell block connecting rod 31, the screw rod 26 are rotatably installed in the rack 11, and the spiral shell block 27 constitutes screw thread with the screw rod 26 and matches
It closes, one end of the spiral shell block connecting rod 31 and spiral shell block 27 is hinged, the other end and the actuator 20 are hinged.This driving mechanism
Suitable for remaining four finger gone out except thumb.
In one embodiment, the driving mechanism further includes motor 25, and the motor 25 passes through shaft coupling 28 and the spiral shell
Bar 26 connects.Motor 25 drives screw rod 26 to rotate, more convenient.It is of course also possible to use manual actuation or other modes are driven
It moves to drive.
In one embodiment, the screw rod 26 is rotatably installed in the rack 11 by spring bearing 32.Stability is high.
It in one embodiment, further include guide rail 21, the guide rail 21 is mounted in the rack 11, and the actuator 20 is sliding
It is dynamic to be connected on the guide rail 21.It designs in this way, carries out straight reciprocating motion convenient for manipulation actuator, practicability is high.
In one embodiment, the rear end of the proximal phalanx baffle 12 and 11 ball-joint of rack, 21 turns of the guide rail
It is dynamic to be mounted in the rack 11, and the rear end of the pivot center of the guide rail 21 and the proximal phalanx baffle 12 and the machine
The centre of sphere of 11 ball-joint of frame intersects.It designs in this way, proximal phalanx baffle and actuator can be made to realize synchronous left-right rotation, thus
Each baffle position angle is adjusted, and adapts to the finger angle of different people.
In one embodiment, the lock for being locked in the guide rail 21 in the rack 11 is provided on the guide rail 21
Determine device.It designs, when not needing guide rail rotation, can be fixed, locking device can be any energy such as pin shaft in this way
Enough components that two components are fixed together.
In one embodiment, the rack 11 is cambered surface with the one side towards hand.Design and hand compatible degree in this way
It is higher.
In one embodiment, the proximal phalanx baffle 12, the middle phalanx baffle 13 and the distal phalanx baffle
Bandage 23 is provided on 14.It designs in this way, facilitates and tie up each baffle on finger.In specific implementation, the proximal phalanx gear
The two sides of plate 12, the middle phalanx baffle 13 and the distal phalanx baffle 14 are provided with strip groove 24, for connecting bandage
23；The bandage 23 is preferably elastic bands, and comfort level is higher, can adjust fixation according to the length and width of patient's finger joint
Range, to adapt to different manpowers.
In one embodiment, the distal phalanx baffle 14, the middle phalanx baffle 13, the proximal phalanx baffle 12
And the position contacted in the rack 11 with hand is provided with protective sponge 22.To play a protective role.
In one embodiment, the T-shaped and described nearly finger connecting rod 15 of the remote finger second connecting rod 18 is T-shaped, to form three
A end, for hinged with other components.
The present invention can make patient in use for some time, and the function of hand obtains recovery to a certain extent.Pass through
The rehabilitation exercise training for completing 30~45 minutes daily, enables to the functional rehabilitation of hand muscle and nerve, thus finger
Bending, stretching, extension, it is interior receive, abduction exercise function gradually restores normally, to alleviate a series of states of deformities of hand.
It should be understood that example as described herein and embodiment are not intended to limit the utility model only for explanation, this
Field technical staff can make various modifications or variation according to it, within the spirit and principle of the utility model, made
Any modification, equivalent substitution, improvement and etc. should be included within the scope of protection of this utility model.
Claims (9)
1. a kind of practical wearable exoskeleton rehabilitation mechanical finger, including rack, proximal phalanx baffle, middle phalanx gear
Plate, distal phalanx baffle, closely refer to connecting rod, middle finger connecting rod, far refer to first connecting rod, far refer to second connecting rod, far refer to third connecting rod and
Actuator, the rear end of the proximal phalanx baffle and the rack are hinged, it is characterised in that: the proximal phalanx baffle, described
Middle phalanx baffle and the distal phalanx baffle are separated from each other；
Described nearly one end for the referring to connecting rod and actuator is hinged, the other end and the proximal phalanx panel hinge；The middle finger
One end of connecting rod and nearly the fingers connecting rod be hinged, the other end and the middle phalanx panel hinge；The remote finger third connecting rod
One end and the proximal phalanx panel hinge, described remote one end for referring to second connecting rod and the remote other end for referring to third connecting rod are cut with scissors
Connect, the other end and the middle phalanx panel hinge, described remote one end for referring to first connecting rod and remote the fingers second connecting rod hingedly,
The other end and the distal phalanx panel hinge.
2. practical wearable exoskeleton rehabilitation mechanical finger as described in claim 1, it is characterised in that: further include driving
Mechanism, the driving mechanism include screw rod, spiral shell block, the first drive rod and the second drive rod, and the screw rod is rotatably installed in described
In rack, the spiral shell block is threadedly engaged with screw rod composition, and one end of first drive rod and the spiral shell block are hinged, separately
One end ball-joint of one end and second drive rod, the other end and the actuator of second drive rod are hinged.
3. practical wearable exoskeleton rehabilitation mechanical finger as described in claim 1, it is characterised in that: further include driving
Mechanism, the driving mechanism include screw rod, spiral shell block and spiral shell block connecting rod, and the screw rod is rotatably installed in the rack, described
Spiral shell block and the screw rod composition are threadedly engaged, one end of the spiral shell block connecting rod and spiral shell block is hinged, the other end and the driving
Part is hinged.
4. the practical wearable exoskeleton rehabilitation mechanical finger as described in claims 1 or 2 or 3, it is characterised in that: also wrap
Guide rail is included, the guide rail is mounted on the rack, and the actuator is slidably connected on the guide rail.
5. practical wearable exoskeleton rehabilitation mechanical finger as claimed in claim 4, it is characterised in that: the nearly section refers to
The rear end of bone baffle and the rack ball-joint, the guide rail is rotatably installed in the rack, and the rotation axis of the guide rail
Intersect with the centre of sphere of the rack ball-joint rear end of line and the proximal phalanx baffle.
6. practical wearable exoskeleton rehabilitation mechanical finger as claimed in claim 5, it is characterised in that: on the guide rail
It is provided with the locking device for being locked in the guide rail in the rack.
7. the practical wearable exoskeleton rehabilitation mechanical finger as described in claims 1 or 2 or 3, it is characterised in that: described
Rack is cambered surface with the one side towards hand.
8. the practical wearable exoskeleton rehabilitation mechanical finger as described in claims 1 or 2 or 3, it is characterised in that: described
Bandage is provided on proximal phalanx baffle, the middle phalanx baffle and the distal phalanx baffle.
9. practical wearable exoskeleton rehabilitation mechanical finger as claimed in claim 8, it is characterised in that: the nearly section refers to
The two sides of bone baffle, the middle phalanx baffle and the distal phalanx baffle are provided with strip groove, for connecting bandage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820681451.XU CN208823349U (en) | 2018-05-08 | 2018-05-08 | A kind of practical wearable exoskeleton rehabilitation mechanical finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820681451.XU CN208823349U (en) | 2018-05-08 | 2018-05-08 | A kind of practical wearable exoskeleton rehabilitation mechanical finger |
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| CN208823349U true CN208823349U (en) | 2019-05-07 |
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| CN201820681451.XU Active CN208823349U (en) | 2018-05-08 | 2018-05-08 | A kind of practical wearable exoskeleton rehabilitation mechanical finger |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110812119A (en) * | 2019-11-28 | 2020-02-21 | 中国科学院自动化研究所 | Hand exoskeleton mechanism and robot |
| CN111631904A (en) * | 2020-05-28 | 2020-09-08 | 河海大学常州校区 | Half wearing formula palm rehabilitation ectoskeleton |
| CN111938987A (en) * | 2020-07-17 | 2020-11-17 | 哈尔滨理工大学 | Wearable exoskeleton for finger rehabilitation training |
-
2018
- 2018-05-08 CN CN201820681451.XU patent/CN208823349U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110812119A (en) * | 2019-11-28 | 2020-02-21 | 中国科学院自动化研究所 | Hand exoskeleton mechanism and robot |
| CN111631904A (en) * | 2020-05-28 | 2020-09-08 | 河海大学常州校区 | Half wearing formula palm rehabilitation ectoskeleton |
| CN111631904B (en) * | 2020-05-28 | 2022-06-17 | 河海大学常州校区 | Half wearing formula palm rehabilitation ectoskeleton |
| CN111938987A (en) * | 2020-07-17 | 2020-11-17 | 哈尔滨理工大学 | Wearable exoskeleton for finger rehabilitation training |
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