CN209122798U - A kind of multivariant wrist rehabilitation institution - Google Patents
A kind of multivariant wrist rehabilitation institution Download PDFInfo
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- CN209122798U CN209122798U CN201821682418.5U CN201821682418U CN209122798U CN 209122798 U CN209122798 U CN 209122798U CN 201821682418 U CN201821682418 U CN 201821682418U CN 209122798 U CN209122798 U CN 209122798U
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- wrist
- multivariant
- finger
- bracket
- rehabilitation institution
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Abstract
The utility model provides a kind of multivariant wrist rehabilitation institution, comprising: wrist spins upside down the front end that partial turn is connected to rack, and wrist spins upside down part and does vertical circular-rotation；Flip portion is rotationally connected with wrist and spins upside down part inside and outside wrist, and wrist spins upside down part and does horizontal circular-rotation；Wrist rotary motion partial turn is connected to flip portion inside and outside wrist, always the axis perpendicular to flip portion inside and outside wrist and wrist spin upside down the axis of part to the axis of wrist rotary motion part, and axis of the wrist rotary motion part along wrist rotary motion part does revolution rotation.A kind of multivariant wrist rehabilitation institution provided by the utility model, patient is only needed to grasp finger grip portion, quickly patient hand can be connected with wrist rehabilitation institution by finger fixed part, and provided by three-level rotational structure and the motor patterns such as turn up, spin upside down and rotate in patients wrist, play the role of wrist rehabilitation.
Description
Technical field
The utility model relates to a kind of wrist rehabilitation institution, and in particular, to a kind of multivariant wrist rehabilitation institution.
Background technique
Patients with cerebral apoplexy or the postoperative most effective restoration methods of limb injury patient are exactly rehabilitation training at present, and wrist
Rehabilitation training is a link very crucial in limbs of patient rehabilitation exercise.
The rehabilitation institution for having some multiple degrees of freedoms to carry out patients wrist's movement on the market at present occurs, such as Chinese practical new
Type patent CN201711146236.6 discloses a kind of wrist device for healing and training comprising bracket, pallet, handle, connecting rod,
Rotating seat, flexible pole socket, telescopic rod and rotating shaft holder；Bracket supports pallet, the first runner assembly of setting below pallet, and first
Runner assembly connection expansion link seat；Under the connection of the first runner assembly, stretching pole socket, telescopic rod, rotating seat can be around first rotating shaft
Rotation；Telescopic rod can inside flexible pole socket stretching motion；Telescopic rod one end connection rotating seat one end, rotating seat it is another
End is connected by the second turning discreteness with one end of connecting rod, and the other end of connecting rod is fixedly connected with handle；In the second rotation
Under component connection, connecting rod, handle can be rotated around the second shaft；First rotating shaft parallel vertical axis, first rotating shaft with second turn
Axis shape forms an angle.The mechanism can be realized the rotation of wrist multiple degrees of freedom, provide a variety of different wrist rehabilitation instructions for user
Practice.
But above-mentioned patent is had the disadvantage that and is carried out wrist rehabilitation by the way of pure mechanic structure, for myasthenia
Especially zero muscular strength patient of cerebral apoplexy initial stage is not applicable, is suitable for the training of rehabilitation later period Myodynamia recovery.The utility model is using electricity
The mode of machine cooperation retarder drives the mode in each joint of wrist to carry out rehabilitation, is not only suitable for zero muscular strength patient, can also pass through
The Myodynamia recovery training in rehabilitation later period is realized in the torque closed-loop control of each joint spindle motor, is suitable for passive, active and resistance etc.
Rehabilitation modality.
Utility model content
For the defects in the prior art, the purpose of the utility model is to provide a kind of multivariant wrist rehabilitation institution
So that patient obtains effective multiple degrees of freedom wrist rehabilitation training during rehabilitation exercise.
To achieve the above object, the utility model provides a kind of multivariant wrist rehabilitation institution, comprising: rack, institute
Stating multivariant wrist rehabilitation institution further includes that wrist spins upside down part, flip portion and wrist rotary motion inside and outside wrist
Part,
It includes the first rotating electric machine, the first retarder and the first bracket, first rotation that the wrist, which spins upside down part,
Rotating motor is mounted on the front end of rack, and first rotating electric machine drives first bracket edge by first retarder
Y-axis rotation；
Flip portion includes that the second rotating electric machine, the second retarder, the second bracket and two are mutual in 90 ° inside and outside the wrist
Occlusion bevel gear constitute bevel gear set, second rotating electric machine is mounted on first bracket lower surface, described
Second rotating electric machine drives the bevel gear set to rotate by second retarder, and the bevel gear set drives described first
Second bracket above bracket is rotated along Z axis；
Wrist rotary motion part includes third rotating electric machine, third retarder and third bracket, the third rotation
Rotating motor is mounted on second bracket, and the third rotating electric machine drives the third bracket by the third retarder
It is rotated along X-axis,
Rotary shaft and the hand of the rotary shaft of wrist rotary motion part by flip portion inside and outside the wrist
Wrist spins upside down the coincidence point of the rotary shaft of part, and with above and below the rotary shaft and the wrist of flip portion inside and outside the wrist
Flip portion is vertical.
Further, the multivariant wrist rehabilitation institution further include:
Finger grip portion, the finger grip portion are installed on the third bracket；
Finger fixed part, the finger fixed part is installed in the finger grip portion, and the finger is fixed
Part is located at the outside of the finger grip portion.
Further, the gap for fixed finger is equipped between the finger grip portion and the finger fixed part.
Further, the finger fixed part is a U-shaped frame, and the side of the finger fixed part is parallel to the hand
Refer to the axis of grip portions.
Further, the finger grip portion includes a shaft and holds column, and the gripping column sleeve turns mounted in described
It outside axis, is rotatablely connected with the shaft, connect with the third bracket, and finger slot there are four being set on the grippings column.
Further, joint motions when being stirred inside and outside flip portion inside and outside the wrist, kinematic axis and patients wrist
Axis is coaxial, and the inside and outside overturning range of the wrist for providing -45 °~+45 ° of patient；
The wrist spins upside down part, and articulating shaft when kinematic axis is spun upside down with patients wrist is mutually concentric,
And the wrist for providing -60 °~+60 ° of patient spins upside down range；
Wrist rotary motion part, kinematic axis and articulating shaft when patients wrist's rotary motion are mutually concentric,
And provide -45 °~+120 ° of patient of wrist rotating range.
Further, the multivariant wrist rehabilitation institution further include: wrist fixed part, the wrist fixed part
Divide and is installed on the third bracket.
Further, the multivariant wrist rehabilitation institution further include: forearm placement part, the forearm placement section
Divide and is mounted on the rack side.
Further, the forearm placement part is a U-type groove.
Compared with prior art, the utility model have it is following the utility model has the advantages that
A kind of multivariant wrist rehabilitation institution provided by the utility model only needs patient to grasp finger grip portion,
Quickly patient hand can be connected with wrist rehabilitation institution by finger fixed part, and provided by three-level rotational structure
It the motor patterns such as turns up, spin upside down and rotates in patients wrist, play the role of wrist rehabilitation.The utility model structure letter
Single, it is convenient to operate, and has good wrist recovery effect.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other spies of the utility model
Sign, objects and advantages will become more apparent upon:
Fig. 1 is a kind of structural representation of an embodiment of multivariant wrist rehabilitation institution provided by the utility model
Figure；
Fig. 2 is the motion mode schematic diagram of flip portion inside and outside wrist in the utility model；
Fig. 3 is the motion mode schematic diagram that wrist spins upside down part in the utility model；
Fig. 4 is the motion mode schematic diagram of wrist rotary motion part in the utility model；
Fig. 5 is a kind of installation diagram of multivariant wrist rehabilitation institution provided by the utility model；
Fig. 6 is a kind of use schematic diagram of multivariant wrist rehabilitation institution provided by the utility model.
In figure: 00 is rack, and 01 is finger grip portion, and 02 is wrist fixed part, and 03 is finger fixed part, and 04 is
Flip portion inside and outside wrist, 41 be the second rotating electric machine, and 42 be the second retarder, and 43 be the second bracket, and 05 turns over up and down for wrist
Transfer part point, 51 be the first rotating electric machine, and 52 be the first retarder, and 53 be the first bracket, and 06 is wrist rotary motion part, and 61 are
Third rotating electric machine, 62 be third retarder, 63 be third bracket, 07 be forearm placement part.
Specific embodiment
The utility model is described in detail combined with specific embodiments below.Following embodiment will be helpful to this field
Technical staff further understands the utility model, but does not limit the utility model in any form.It should be pointed out that ability
For the those of ordinary skill in domain, without departing from the concept of the premise utility, various modifications and improvements can be made.
These are all within the protection scope of the present invention.
Referring to Fig.1 shown in-Fig. 5, Fig. 1 is a kind of multivariant wrist rehabilitation institution of the utility model, comprising: rack
00, multivariant wrist rehabilitation institution further include wrist spin upside down part 05, flip portion 04 and wrist rotation inside and outside wrist
Turn motion parts 06,
It includes the first rotating electric machine 51, the first retarder 52 and the first bracket 53, the first rotation that wrist, which spins upside down part 05,
Rotating motor 51 is mounted on 00 front end of rack, and the first rotating electric machine 51 drives the first bracket 53 to turn along Y-axis by the first retarder 52
It is dynamic；
Flip portion 04 includes that the second rotating electric machine 41, the second retarder 42, the second bracket 43 and two are mutual inside and outside wrist
In the bevel gear set 44 that the bevel gear of 90 ° of occlusions is constituted, the second rotating electric machine 41 is mounted on 53 lower surface of the first bracket, the
Two rotating electric machines 41 drive bevel gear set 44 to rotate by the second retarder 42, and bevel gear set 44 drives above the first bracket 53
The second bracket 43 along Z axis rotate；
Wrist rotary motion part 06 includes third rotating electric machine 61, third retarder 62 and third bracket 63, third rotation
Rotating motor 61 is mounted on the second bracket 43, and third rotating electric machine 61 drives third bracket 63 along X-axis by third retarder 62
Rotation,
The rotary shaft of wrist rotary motion part 06 is turned over up and down by the rotary shaft and wrist of flip portion 04 inside and outside wrist
The coincidence point of the rotary shaft of transfer part point 05, and spin upside down part 05 with the rotary shaft of flip portion 04 and wrist inside and outside wrist and hang down
Directly.
Specifically, three motion parts of the utility model use series system, first above and below wrist referring to shown in Fig. 6
Flip portion 05 is first movable joint axis, spins upside down articulating shaft with patients wrist and coincides, second joint shaft
It is to overturn articulating shaft inside and outside flip portion 04, with patients wrist inside and outside wrist to coincide, spins upside down portion with patients wrist
Componental movement joint shaft is perpendicular, and third joint shaft is wrist rotary motion part 06, mutually be overlapped with patients wrist's rotary joint axis
It closes, the movable joint axis for spinning upside down flip portion 04 inside and outside part 05 and wrist with wrist is perpendicular.Patient is doing rehabilitation fortune
When dynamic, it can be flip portion 04, wrist inside and outside wrist and spin upside down part 05 and the independently moving of wrist rotary motion part 06,
It is also possible to these three motor patterns, cooperation linkage, is also possible to the coordinated movement of various economic factors together of these three motor patterns between any two.
The motion source of flip portion 04 can use DC stepper motor, direct current permanent magnet motor, brush DC inside and outside wrist
One of motor, direct current torque motor, AC servo motor, the side that motor pattern can be directly driven using rotating electric machine
Formula, can also be using one in RV retarder, planetary reduction gear, harmonic speed reducer, gear reduction unit, worm type of reduction gearing etc.
Kind；Wrist spin upside down part 05 motion source can using DC stepper motor, direct current permanent magnet motor, DC brushless motor,
One of direct current torque motor, AC servo motor, motor pattern can be in such a way that rotating electric machine directly drive, can also
Using one of RV retarder, planetary reduction gear, harmonic speed reducer, gear reduction unit, worm type of reduction gearing etc.；Wrist
The motion source of rotary motion part 06 can use DC stepper motor, direct current permanent magnet motor, DC brushless motor, direct current torque
One of motor, AC servo motor, motor pattern can also use RV in such a way that rotating electric machine directly drives
One of retarder, planetary reduction gear, harmonic speed reducer, gear reduction unit, worm type of reduction gearing etc..
Referring to Fig.1 shown in-Fig. 5, based on any of the above embodiments, multivariant wrist rehabilitation institution is also wrapped
It includes:
Finger grip portion 01, finger grip portion 01 are installed on third bracket 63；
Finger fixed part 03, finger fixed part 03 are installed in finger grip portion 01, and finger fixed part 03
Positioned at the outside of finger grip portion 01.
Referring to Fig.1, shown in Fig. 4 and Fig. 6, based on any of the above embodiments, finger grip portion 01 and finger are solid
Determine to be equipped with the gap interted for finger between part 03.
Shown in referring to FIG. 1, FIG. 2 and FIG. 4, based on any of the above embodiments, finger grip portion 01 includes one
Shaft and gripping column, hold column sleeve outside shaft, are rotatablely connected with shaft, connect with third bracket 63, and hold and set on column
There are four refer to slot, and hold column on open there are four refer to slot.
Specifically, finger grip portion 01 hold column provide patient grasp function, and with 03 phase of finger fixed part
Cooperation mutually fixes patient hand point with mechanism；Finger fixed part 03 is used for when patient grasps finger grip portion 01,
By way of bandage by the index finger of patient, the third finger, middle finger or little finger together or in which it is several be fixed, finally play
The effect that patient hand mutually fixes with wrist rehabilitation institution.Four finger slots on column are held, index finger, middle finger, unknown is capable of fixing
Finger and little finger, facilitate patient to hold.
Based on any of the above embodiments, it is -60 °~+60 °, wrist that wrist, which spins upside down 05 slewing area of part,
The slewing area of inside and outside flip portion 04 is -45 °~+45 °, the slewing area of wrist rotary motion part 06 is -45 °~+
120°。
Based on any of the above embodiments, it turns up in flip portion 04 inside and outside wrist, kinematic axis and patients wrist
Articulating shaft when dynamic is coaxial, and the inside and outside overturning range of the wrist for providing -45 °~+45 ° of patient；
Wrist spins upside down part 05, and articulating shaft when kinematic axis is spun upside down with patients wrist is mutually concentric, and
- 60 °~+60 ° of patient of wrist is provided and spins upside down range；
Wrist rotary motion part 06, kinematic axis and articulating shaft when patients wrist's rotary motion are mutually concentric, and
- 45 °~+120 ° of patient of wrist rotating range is provided.
Referring to Fig.1 shown in-Fig. 2, based on any of the above embodiments, multivariant wrist rehabilitation institution is also wrapped
Include: wrist fixed part 02, wrist fixed part 02 are installed on inside and outside wrist in flip portion 04.
Specifically, wrist fixed part 02 is used to the wrist of patient being fixed on wrist rotary motion part 06；Wrist
Fixed part 02 and finger fixed part 03 can use velcro, magic tape, can also be inserted and be buckled using bandage, nylon tape
Mode finger and wrist rehabilitation institution are mutually fixed.
Shown in referring to FIG. 1, FIG. 2 and FIG. 4, based on any of the above embodiments, multivariant wrist rehabilitation institution
Further include: forearm placement part 07, forearm placement part 07 are mounted on 00 side of rack.
Shown in referring to FIG. 1, FIG. 2 and FIG. 4, forearm placement part 07 is a U-type groove.
Specifically, forearm placement part 07 keeps wrist more stable light when doing various movements for placing forearm.
In the present embodiment, wrist spin upside down part 05, flip portion 04 and wrist rotary motion part inside and outside wrist
Motor mechanism in 06 can drive patients wrist to be acted accordingly, it is helped to form muscle memory, accelerate rehabilitation.
Specific embodiment of the utility model is described above.It is to be appreciated that the utility model not office
It is limited to above-mentioned particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims,
This has no effect on the substantive content of the utility model.
Claims (10)
1. a kind of multivariant wrist rehabilitation institution, comprising: rack (00), it is characterised in that: the multivariant wrist
Rehabilitation institution further includes that wrist spins upside down part (05), flip portion (04) and wrist rotary motion part inside and outside wrist
(06),
It includes the first rotating electric machine (51), the first retarder (52) and the first bracket that the wrist, which spins upside down part (05),
(53), first rotating electric machine (51) is mounted on the rack (00) front end, and first rotating electric machine (51) passes through described
First retarder (52) drives first bracket (53) to rotate along Y-axis；
Flip portion (04) includes the second rotating electric machine (41), the second retarder (42), the second bracket (43) inside and outside the wrist
The bevel gear set (44) mutually constituted in the bevel gear of 90 ° of occlusion with two, second rotating electric machine (41) are mounted on described
On first bracket (53) lower surface, second rotating electric machine (41) drives the bevel gear by second retarder (42)
Group (44) rotation, the bevel gear set (44) drive second bracket (43) above first bracket (53) along Z axis
Rotation；
Wrist rotary motion part (06) includes third rotating electric machine (61), third retarder (62) and third bracket
(63), the third rotating electric machine (61) is mounted on second bracket (43), and the third rotating electric machine (61) passes through institute
Stating third retarder (62) drives the third bracket (63) to rotate along X-axis,
The rotary shaft of wrist rotary motion part (06) passes through the rotary shaft of flip portion (04) and institute inside and outside the wrist
State wrist spin upside down part (05) rotary shaft coincidence point, and with the rotary shaft of flip portion (04) inside and outside the wrist and
It is vertical that the wrist spins upside down part (05).
2. a kind of multivariant wrist rehabilitation institution according to claim 1, it is characterised in that: described multivariant
Wrist rehabilitation institution further include:
Finger grip portion (01), the finger grip portion (01) are installed on the third bracket (63)；
Finger fixed part (03), the finger fixed part (03) are installed on the finger grip portion (01), and described
Finger fixed part (03) is located at the outside of the finger grip portion (01).
3. a kind of multivariant wrist rehabilitation institution according to claim 2, it is characterised in that: the finger grips
Divide between (01) and the finger fixed part (03) gap being equipped with for fixed finger.
4. a kind of multivariant wrist rehabilitation institution according to claim 3, it is characterised in that: the finger fixed part
Dividing (03) is a U-shaped frame, and the side of the finger fixed part (03) is parallel to the axis of the finger grip portion (01).
5. a kind of multivariant wrist rehabilitation institution according to claim 4, it is characterised in that: the finger grips
Point (01) includes a shaft and holds column, and the grippings column sleeve is outside the shaft, and shaft rotation connection, with institute
State third bracket (63) connection, and set on the grippings column there are four finger slot.
6. a kind of multivariant wrist rehabilitation institution according to claim 1, it is characterised in that: the wrist is turned over up and down
Transfer part point (05) slewing area is -60 °~+60 °, inside and outside the wrist slewing area of flip portion (04) be -45 °~+
45 °, the slewing area of wrist rotary motion part (06) is -45 °~+120 °.
7. a kind of multivariant wrist rehabilitation institution according to claim 1, it is characterised in that: turn up in the wrist
(04) is divided in transfer part, and articulating shaft when stirring inside and outside kinematic axis and patients wrist is coaxial, and provides patient -45 °~+45 °
Wrist inside and outside overturn range；
The wrist spins upside down part (05), and articulating shaft when kinematic axis is spun upside down with patients wrist is mutually concentric,
And the wrist for providing -60 °~+60 ° of patient spins upside down range；
Wrist rotary motion part (06), kinematic axis and articulating shaft when patients wrist's rotary motion are mutually concentric,
And provide -45 °~+120 ° of patient of wrist rotating range.
8. a kind of multivariant wrist rehabilitation institution according to claim 1-7, it is characterised in that: described more
The wrist rehabilitation institution of freedom degree further include: wrist fixed part (02), the wrist fixed part (02) are installed on described
On three brackets (63).
9. a kind of multivariant wrist rehabilitation institution according to claim 1-7, it is characterised in that: described more
The wrist rehabilitation institution of freedom degree further include: forearm placement part (07), the forearm placement part (07) are mounted on the machine
Frame (00) side.
10. a kind of multivariant wrist rehabilitation institution according to claim 9, it is characterised in that: the forearm is placed
Partially (07) is a U-type groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821682418.5U CN209122798U (en) | 2018-10-17 | 2018-10-17 | A kind of multivariant wrist rehabilitation institution |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821682418.5U CN209122798U (en) | 2018-10-17 | 2018-10-17 | A kind of multivariant wrist rehabilitation institution |
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| Publication Number | Publication Date |
|---|---|
| CN209122798U true CN209122798U (en) | 2019-07-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821682418.5U Active CN209122798U (en) | 2018-10-17 | 2018-10-17 | A kind of multivariant wrist rehabilitation institution |
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| CN (1) | CN209122798U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109276410A (en) * | 2018-10-17 | 2019-01-29 | 苏州帝维达生物科技有限公司 | A kind of multivariant wrist rehabilitation institution |
-
2018
- 2018-10-17 CN CN201821682418.5U patent/CN209122798U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109276410A (en) * | 2018-10-17 | 2019-01-29 | 苏州帝维达生物科技有限公司 | A kind of multivariant wrist rehabilitation institution |
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