CN2726584Y - Intelligent hands rehabilitation training device - Google Patents
Intelligent hands rehabilitation training device Download PDFInfo
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- CN2726584Y CN2726584Y CN 200420019014 CN200420019014U CN2726584Y CN 2726584 Y CN2726584 Y CN 2726584Y CN 200420019014 CN200420019014 CN 200420019014 CN 200420019014 U CN200420019014 U CN 200420019014U CN 2726584 Y CN2726584 Y CN 2726584Y
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Abstract
The utility model relates to an intelligent hand rehabilitation training device, which is used for carrying out rehabilitation training for the patient, the motion function of the finger of which is required to be restored. The utility model, which belongs to the medical health care apparatus, comprises a controlling system, a motor driver, five flexible cables, five pairs of driving flexible shafts and five sets of finger motion mechanisms. The flexion and extension sports of the fingers are settled by users. The bending and the stretching motions of the fingers are set by the user and are controlled and displayed by a computer. The utility model has simple structure, convenient operation and low cost, and can be used for the patients to carry out the rehabilitation training autonomously.
Description
Technical field
A kind of intelligent hand recovery training appliance for recovery is used for the patient that finger motion function remains to be recovered and carries out rehabilitation training.Belong to medical health apparatus.
Background technology
Theory of medicine and facts have proved, the patient of limb injury must carry out the limbs training, prevents muscle " the useless property used " atrophy, recovers its function.Because there has been dysfunction in the patient, can not independently finish training, so a job is generally implemented by nurse or other people.In order to allow the patient independently carry out rehabilitation training, the machinery of making a kind of movable finger is necessary.Although to this existing relevant patent application, also be necessary the technology in this field is improved and replenished at present, particularly computer technology applied to wherein.
Summary of the invention
A kind of intelligent hand recovery training appliance for recovery, it comprises that control system, driving device, five gentle ropes, five pairs of driving snakes overlap identical finger motion mechanism with five.Wherein driving device comprises pick off, servomotor, speed reducing gear pair, driving shaft and is packed in drum on the driving shaft; Pick off and servomotor coaxial line are installed, and are used to record the corner of servomotor, rotating speed is controlled servomotor rotating, stroke and movement velocity as computer control system foundation.The axis of servomotor is parallel with the axis of driving shaft, and the drivewheel in the speed reducing gear pair is packed on the spindle nose of servomotor, and driven pulley is packed on the spindle nose of driving shaft.Every cover finger motion mechanism all is made up of quadric chain and two reverse wheels of being hinged on the base plate.The outermost curved bar of quadric chain is bent downwardly, and non-hinged end links to each other with the finger-stall finger tip.Because the five fingers are different in size, the radian difference of curved bar: length refers to that corresponding radian is big, and the radian of brachydactylia correspondence is little.Five gentle ropes are walked around drum respectively, pass earlier five pairs of driving snakes separately, more respectively after the identical reverse wheels commutation in the five pairs of positions, are cemented in respectively on the identical hinges in five positions in the five cover quadric chains, form five groups of independent gentle rope closed loops.
During use, the centre of the palm places below the base plate down, and adjusts the state of five cover finger tractors, make that the five fingers insert in the finger-stall after, hands can full extension be opened on base plate.This moment energized, direct current generator press design direction and is rotated, finger tip will be done to draw under the drive of adapter and move, pick off picks up relevant information, and sends computer to and desired location compares.If finger tip arrives desired location, computer will send instruction and make the direct current generator counter-rotating.So repeatedly, finish flexor.
Control system comprises AVR8535 single-chip microcomputer, interface circuit, AC220V D.C. regulated power supply, PWM amplifier, light-emitting diode display etc.
This utility model is simple in structure, and is easy to operate, with low cost, can independently carry out rehabilitation training for the patient.
Description of drawings
Fig. 1 intelligence hand recovery training appliance for recovery drive mechanism launches sketch map
A cover finger motion structural scheme of mechanism in Fig. 2 intelligence hand recovery training appliance for recovery
A kind of assembling form sketch map of Fig. 3 intelligence hand recovery training appliance for recovery
Fig. 4 intelligence hand recovery training appliance for recovery control system block diagram
The specific embodiment
Provide preferred design of the present utility model below, and be illustrated in conjunction with the accompanying drawings.
As shown in Figure 1, a kind of intelligent hand recovery training appliance for recovery, it comprises control system 1, driving device 2, five gentle ropes 271,272,273,274,275, the five pairs of driving snakes 301 and the identical finger motion mechanism 4,5,6,7,8 of 302,303 and 304,305 and 306,307 and 308,309 and 310, five covers.Wherein driving device 2 is made up of pick off 20, servomotor 21, speed reducing gear pair 22,23, driving shaft 29 and the drum 24,25,26,27,28 that is packed on the driving shaft 29; Pick off 20 is installed with servomotor 21 coaxial lines, is used to record the corner of servomotor 21, rotating speed is controlled servomotor 21 rotatings, stroke and movement velocity as computer control system 1 foundation.The axis of servomotor 21 is parallel with the axis of driving shaft 29, and the drivewheel 22 in the speed reducing gear pair 22,23 is packed on servomotor 21 spindle noses, and driven pulley 23 is packed on the spindle nose of driving shaft 29; Five cover finger motion mechanisms 4,5,6,7,8 form (501,506 in the 5th cover as shown in Figure 2) by being hinged on the cover of five on the base 9 quadric chain (502,505,509 in the 5th cover as shown in Figure 2) respectively with five pairs of identical reverse wheels in position.The outermost curved bar of quadric chain (as shown in Figure 2,509 in the 5th cover) is bent downwardly, and its non-hinged end (510 in the 5th cover as shown in Figure 2) links to each other with the finger-stall point of right hand forefinger.Because the five fingers are different in size, the radian difference of each curved bar: length refers to that corresponding curved bar radian is big, and the curved bar radian of brachydactylia correspondence is little.Five gentle ropes 271,272,273,274,275 are walked around wheel hub 24,25,26,27,28 respectively, pass separately and five pairs of driving snakes 301 and 302,303 and 304,305 and 306,307 and 308,309 and 310 earlier, identical reverse wheel is (as shown in Figure 2 through the five pairs of positions respectively again, in the 5th cover 501,506) after the commutation, be cemented in the identical hinges in five five positions of cover in the quadric chains respectively (as shown in Figure 2, in the 5th cover 503) on, form five groups of independent gentle rope closed loops.
During use, the centre of the palm places below the base 9 down, and adjusts the state of the five fingers motion, make that the five fingers insert in the finger-stall after, hands can full extension be opened on base 9.This moment energized, servomotor 21 is pressed design direction and is rotated, and finger tip will do to draw in motion down in the drive of the non-hinged end of curved bar (only mark among Fig. 1, promptly 510), pick off 20 picks up the relevant information that servomotor 21 rotates, and sends control system 1 and desired location comparison to.If finger tip arrives desired location, control system 1 will be sent instruction and make servomotor 21 counter-rotatings.So repeatedly, finish flexor.
Fig. 3 illustrates a kind of assembling sketch map of intelligent hand recovery training appliance for recovery. Finger motion mechanism 4,5,6,7,8 are installed on the base plate 9, by suspension rod 10 with base plate 9 be hung in can rotating crossbeam 11 on, the column 12 of supporting traverse 11 is packed on the casing of driving device 2, control device 1 also is contained in the casing.
Fig. 4 illustrates the control system block diagram of intelligent hand recovery training appliance for recovery.This device adopts single-chip microcomputer 101 controls, D.C. regulated power supply 106 power supplies by AC220, by stroke instruction 103, speed command 104 and torque command 105 given control signals, after process PWM amplifier 102 amplifies, driving servomotor 21 rotates, and measure feedback by position, speed and the moment of pick off 20 and 108 pairs of motor output shafts of current sensor, and show by light-emitting diode display 107, thereby constitute closed-loop control system.
This utility model is simple in structure, and is easy to operate, with low cost, can independently carry out rehabilitation training for the patient.
Claims (1)
1. intelligent hand recovery training appliance for recovery, it comprises control system (1), driving device (2), five gentle ropes (271,272,273,274,275), five pairs of driving snakes (301,302,303,304,305,306,307,308,309,310) with the identical finger motion mechanism (4,5 of five covers, 6,7,8); It is characterized in that: driving device (2) is made up of pick off (20), servomotor (21), speed reducing gear pair (22,23), driving shaft (29) and the drum (24,25,26,27,28) that is packed on the driving shaft (29); Pick off (20) is installed with servomotor (21) coaxial line; The axis of servomotor (21) is parallel with the axis of driving shaft (29), and the drivewheel (22) in the speed reducing gear pair (22,23) is packed on servomotor (21) spindle nose, and driven pulley (23) is packed on the spindle nose of driving shaft (29); On the base plate (9) five overlaps quadric chain, two reverse wheels are formed by being hinged on respectively in five cover finger motion mechanisms (4,5,6,7,8); Outermost five curved bars of quadric chain are bent downwardly, and non-hinged end links to each other with the finger-stall finger tip; Because the five fingers are different in size, the radian difference of each curved bar: length refers to that corresponding curved bar radian is big, and the curved bar radian of brachydactylia correspondence is little; Five gentle ropes (271,272,273,274,275) walk around drum (24,25,26,27 respectively, 28), pass earlier five pairs of driving snakes (301,302,303 separately, 304,305,306,307,308,309,310), after the identical reverse wheels commutation in the five pairs of positions, be cemented in respectively respectively again in the five cover quadric chains on the identical hinges in five positions, form five groups of independent gentle rope closed loops.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420019014 CN2726584Y (en) | 2004-05-27 | 2004-05-27 | Intelligent hands rehabilitation training device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420019014 CN2726584Y (en) | 2004-05-27 | 2004-05-27 | Intelligent hands rehabilitation training device |
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| CN2726584Y true CN2726584Y (en) | 2005-09-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200420019014 Expired - Fee Related CN2726584Y (en) | 2004-05-27 | 2004-05-27 | Intelligent hands rehabilitation training device |
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| CN (1) | CN2726584Y (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101785737A (en) * | 2010-03-16 | 2010-07-28 | 上海大学 | Finger rehabilitation training robot |
| CN102018611A (en) * | 2010-12-31 | 2011-04-20 | 厦门市第二医院 | Rehabilitation training therapeutic instrument for hand of hemiplegic patient |
| CN102284177A (en) * | 2011-08-08 | 2011-12-21 | 东南大学 | Active and passive rehabilitation training mechanism for hands |
| CN102319162A (en) * | 2011-07-29 | 2012-01-18 | 北京航空航天大学 | Exoskeletal thumb moving function rehabilitation robot |
| CN103845184A (en) * | 2014-01-26 | 2014-06-11 | 清华大学 | Rope-driven exoskeleton type upper-limb rehabilitation robot system |
| CN105963926A (en) * | 2016-04-29 | 2016-09-28 | 中国科学院苏州生物医学工程技术研究所 | Multi-mode fusion hand function rehabilitation training and intelligent evaluation system |
| CN106236504A (en) * | 2016-08-26 | 2016-12-21 | 南昌大学 | A kind of finger rehabilitation device being equipped on rehabilitation wheelchair |
| CN106580537A (en) * | 2016-11-22 | 2017-04-26 | 成都迅德科技有限公司 | Medical orthosis |
| CN109106558A (en) * | 2018-09-07 | 2019-01-01 | 南京伟思医疗科技股份有限公司 | A kind of flexible joint exoskeleton robot and its control method |
| CN109730904A (en) * | 2019-02-19 | 2019-05-10 | 刘坤 | A kind of wearable walk-aiding exoskeleton of having a rest |
| WO2023207739A1 (en) * | 2022-04-28 | 2023-11-02 | 法罗适(上海)医疗技术有限公司 | Wire-driven glove |
-
2004
- 2004-05-27 CN CN 200420019014 patent/CN2726584Y/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101785737A (en) * | 2010-03-16 | 2010-07-28 | 上海大学 | Finger rehabilitation training robot |
| CN101785737B (en) * | 2010-03-16 | 2012-05-23 | 上海大学 | Finger rehabilitation training robot |
| CN102018611A (en) * | 2010-12-31 | 2011-04-20 | 厦门市第二医院 | Rehabilitation training therapeutic instrument for hand of hemiplegic patient |
| CN102018611B (en) * | 2010-12-31 | 2012-10-10 | 厦门市第二医院 | Rehabilitation training therapeutic instrument for hand of hemiplegic patient |
| CN102319162A (en) * | 2011-07-29 | 2012-01-18 | 北京航空航天大学 | Exoskeletal thumb moving function rehabilitation robot |
| CN102319162B (en) * | 2011-07-29 | 2013-02-20 | 北京航空航天大学 | Exoskeletal thumb moving function rehabilitation robot |
| CN102284177A (en) * | 2011-08-08 | 2011-12-21 | 东南大学 | Active and passive rehabilitation training mechanism for hands |
| CN102284177B (en) * | 2011-08-08 | 2013-06-26 | 东南大学 | Active and passive rehabilitation training mechanism for hands |
| CN103845184A (en) * | 2014-01-26 | 2014-06-11 | 清华大学 | Rope-driven exoskeleton type upper-limb rehabilitation robot system |
| CN105963926A (en) * | 2016-04-29 | 2016-09-28 | 中国科学院苏州生物医学工程技术研究所 | Multi-mode fusion hand function rehabilitation training and intelligent evaluation system |
| CN106236504A (en) * | 2016-08-26 | 2016-12-21 | 南昌大学 | A kind of finger rehabilitation device being equipped on rehabilitation wheelchair |
| CN106236504B (en) * | 2016-08-26 | 2018-10-19 | 南昌大学 | A kind of finger rehabilitation device being equipped on rehabilitation wheelchair |
| CN106580537A (en) * | 2016-11-22 | 2017-04-26 | 成都迅德科技有限公司 | Medical orthosis |
| CN109106558A (en) * | 2018-09-07 | 2019-01-01 | 南京伟思医疗科技股份有限公司 | A kind of flexible joint exoskeleton robot and its control method |
| CN109730904A (en) * | 2019-02-19 | 2019-05-10 | 刘坤 | A kind of wearable walk-aiding exoskeleton of having a rest |
| CN109730904B (en) * | 2019-02-19 | 2021-02-02 | 吉林大学 | Wearable external skeleton for resting and walking aid |
| WO2023207739A1 (en) * | 2022-04-28 | 2023-11-02 | 法罗适(上海)医疗技术有限公司 | Wire-driven glove |
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| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |