CN2746905Y - Exercising means for automatically restoring fingers - Google Patents
Exercising means for automatically restoring fingers Download PDFInfo
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- CN2746905Y CN2746905Y CN 200420063435 CN200420063435U CN2746905Y CN 2746905 Y CN2746905 Y CN 2746905Y CN 200420063435 CN200420063435 CN 200420063435 CN 200420063435 U CN200420063435 U CN 200420063435U CN 2746905 Y CN2746905 Y CN 2746905Y
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Abstract
The utility model relates to an exercising means for automatically restoring fingers, which is used for conducting rehabilitation training for a patient the sport function of the finger of which is required to restore. The utility model belongs to the medical health care apparatus. The utility model principally comprises a control panel, a driving device, a position detecting device, an execution rod group, a complete machine bracket, an execution rod socket, a power source, an arm fixing strap, a mechanism bottom board, a n arm bolster plate, a controlling system and a casing. The execution rod groups of the key components and parts of the exercising means for automatically restoring fingers are frame type structures. The frame type structure is composed of a three-stage connection in series four-rod mechanism which is made up by two suites of same structures and which can simulate the flexion and extension sports of the fingers and which is arranged in parallel, and a suite of pulling finger devices and a long shaft pressure finger device. Each suite of three-stage connection in series four-rod mechanism comprises ten generalization rod components and nine hinged joints evenly. The utility model has simple structure, beautiful liberality, convenient operation and low cost. The utility model can cause the patients to carry out the rehabilitation training autonomously.
Description
Technical field
The automatic recovery training appliance for recovery of a kind of finger is used for the patient that finger motion function remains to be recovered and carries out rehabilitation training, belongs to medical health apparatus.
Background technology
Theory of medicine and facts have proved, the patient of limb injury must carry out effective limbs and train to recover its function in order to prevent muscle " the useless property use " atrophy.Because there has been dysfunction in patient itself, can not independently finish training; In order to allow it independently carry out rehabilitation training, make that a kind of to help its medical health apparatus that recovers motor function be necessary.Around this problem, Harbin Engineering University had applied for relevant patent, but because of all adopting gentle rope traction, fingertip location is adjusted time-consuming, and structure is compact inadequately, and the training aids volume is bigger.
Summary of the invention
This utility model utilizes three grades of series connection quadric chains, has realized the mechanical bionic movement of normal person's finger.Simple in structure, processing technology is good, and cost is low, is equipped with intelligentized controller, has very high rehabilitation training effect.
The automatic recovery training appliance for recovery of a kind of finger, it comprises control panel, driving device, position detecting device, execution bar group, complete machine support, carries out pole socket, power supply, arm fixing band, organization soleplate, arm backing plate, control system and housing.
Execution bar group as the automatic recovery training appliance for recovery critical component of finger is a kind of tower structure, and is identical and lead and refer to that device and a major axis shape end finger device form by being fixed on two of organization soleplate lower surface both sides three grades of polyphone four-bar mechanisms carrying out the parallel installation of pole socket and a cover by two nested structures; It is vertical affixed with the rectangle stalk spare of three grades of polyphones of two covers four-bar mechanism ends respectively to lead the two ends that refer to device, and the two ends of end finger device vertically are inserted into respectively in the dead eyes on the rod member at three grades of polyphones of two covers four-bar mechanism middle part.Because three grades of polyphones of two covers four-bar mechanisms all are to be fixed on by two following pin joints in the first order (near the power source end) quadric chain to carry out on the pole socket, so three grades of polyphones of two covers four-bar mechanisms must have sub-fraction vertically to pass on the organization soleplate, be positioned at two rectangle open-works of execution pole socket inboard.
With three grades of polyphones of cover four-bar mechanism is example, and its formation is described.Three grades of polyphones of one cover four-bar mechanisms are made up of 10 broad sense rod members (straight-bar, curved bar, rectangular block, gore all can) and 9 pin joints; " polyphone " is meant public rod member and common node in the mechanism.First order four-bar mechanism (corresponding with the back of the hand position during rehabilitation training) has a common straight-bar and two public pin joints with second level four-bar mechanism (the first-hand dactylus with finger during rehabilitation training is corresponding); The second level and third level four-bar mechanism (the second-hand's dactylus with finger during rehabilitation training is corresponding) have a triangle common bar (above three pin joints are arranged, one of them is public); And the finger tip (third knuckle) of finger when rehabilitation training, just in time be arranged in terminal rectangle rod member (above two pin joints are arranged) affixed lead the curved plates downside that refers to device.
Driving device is made up of servomotor, toggle and the synchronizing shaft of band decelerator.Servomotor is the power source of whole system, installs by the riser level on the organization soleplate upper surface.The axis of synchronizing shaft and servo motor shaft line parallel, and in order to ensure two cover three grades of polyphones four-bar mechanisms synchronization action under the drive of a power source, the two ends of synchronizing shaft are inserted into respectively in the hole of outboard beam upper end in the first order quadric chain, reciprocal end with the toggle in an end of synchronizing shaft and the driving device links to each other simultaneously, to obtain the source of driving force.And the other end of toggle is packed on the spindle nose of servomotor, is used for converting the rotation of servomotor to drag execution bar group reciprocating motion.Position detecting device is made up of position sensor and rocking bar.Position sensor also is to install its axis and servo motor shaft line parallel by another piece riser level on the organization soleplate upper surface.One end of rocking bar and the spindle nose of position sensor install, and the other end links to each other with the hinges of toggle reciprocating motion end in the driving device; Purpose is, records corner, the rotating speed of servomotor by the information indirect that obtains this hinges reciprocally swinging, and controls the foundation of servomotor rotating, stroke and movement velocity as single-chip computer control system.
Control system is installed in a side of organization soleplate upper surface, mainly comprises the AVR8535 single-chip microcomputer, interface circuit 5, AC/DC source of stable pressure, pwm driver.Control panel is installed in a side of housing, be equipped with on it regulate the speed, push button and display lamp, light-emitting diode display and the on and off switch of power, position, and link to each other with attaching plug with control system with lead.Regulate corresponding push button and can distinguish setting speed instruction, torque command, range of movement instruction, be sent to single-chip microcomputer through interface circuit and handle.According to give instruction, single-chip microcomputer is sent out pwm signal and given pwm driver, and is big or small so that the size of control driving moment by current sampling interface circuit feedback drive current.
The assembly of organization soleplate upside covers in the housing.The organization soleplate lower surface is laid one deck arm backing plate, and two arm fixing bands are equipped with at the middle part, and a complete machine support is respectively adorned at two ends.
During use, the patient can put on special gloves voluntarily or by other people, and the palm of the hand places below the arm backing plate down; And the end of special gloves is connected in by attachment screw and leads on the curved plates that refers to device, and fixes with the arm fixing band after patient's hands adjusted to the most comfortable position.Regulate the speed, power, set positions push button is to minimum position, then attaching plug is inserted on the civil power AC220V socket, press on and off switch, the rehabilitation device began to drive patient's finger by setting value and carried out back and forth curved rehabilitation training of stretching this moment, and the patient can regulate the speed at any time in the training process, the position of power, set positions push button to be to adapt to different patients' needs.Display lamp is bright, and the expression system is in running order, otherwise lamp goes out.Numerical value shown in the light-emitting diode display is for coming and going the frequency of training value.
This utility model is simple in structure, and is elegant in appearance, easy to operate, with low cost, can independently carry out rehabilitation training for the patient.
Description of drawings
Fig. 1 points automatic recovery training appliance for recovery structural representation figure
Fig. 2 points automatic recovery training appliance for recovery motion sketch map
Three grades of polyphones of Fig. 3 four-bar mechanism sketch map
Fig. 4 points automatic recovery training appliance for recovery control system block diagram
Fig. 5 points automatic recovery training appliance for recovery control panel figure
The specific embodiment
Provide preferred implementation of the present utility model below, and be illustrated in conjunction with the accompanying drawings.
As shown in Figure 1, the automatic recovery training appliance for recovery of a kind of finger, it comprises control panel 1, driving device 2, position detecting device 3, carries out bar group 4, complete machine support 5, carries out pole socket 6, power supply 7, arm fixing band 8, organization soleplate 9, arm backing plate 10, control system 11 and housing 12.
As Fig. 3, shown in Figure 1, are a kind of tower structures as the execution bar group 4 of pointing automatic recovery training appliance for recovery critical component.It is identical and lead and refer to that device 44 and a major axis shape end finger device 43 form by being fixed on two of organization soleplate 9 lower surface both sides three grades of polyphone four-bar mechanisms 41,42 carrying out pole socket 6 parallel installations and a cover by two nested structures.Lead and refer to that device 44 comprises curved plates 4405 and attachment screw 4401,4402,4403,4404.Curved plates 4405 is the bending plates that come out by normal person's finger tips track fitting, top interval has 4 elongated slots, 4 attachment screws 4401,4402,4403,4404 that can connect the special gloves finger tip are housed, and by they moving in elongated slot, the relative position that adapts to finger tip changes; Curved on its two ends, link to each other with terminal rectangle rod member 4104,4204 by screw, the front and back position of mobile bent plate is to adapt to the length of different patient's fingers.And the two ends of end finger device 43 vertically are inserted into respectively in the dead eyes on the rod member 4102,4202 at three grades of polyphones of two covers four-bar mechanism middle part.Because three grades of polyphones of two covers four-bar mechanisms the 41, the 42nd, be fixed on by two following pin joints in the first order (near the power source end) quadric chain 4101,4108,4109,4110 and 4201,4208,4209,4210 and carry out on the pole socket 6, so three grades of polyphones of two covers four-bar mechanisms 41,42 must some need vertically pass on the organization soleplate 9, be positioned at two rectangle open-works of execution pole socket 6 inboards.
Be example with three grades of polyphones of cover four-bar mechanisms 41 below, illustrate that it constitutes and how to drive each joint in the finger to do curvature movement.Three grades of polyphones of one cover four-bar mechanisms 41 are made up of 10 broad sense rod members (straight-bar, curved bar, rectangular block, gore all can) and 9 pin joints; " series connection " is meant public rod member and common node in the mechanism.First order four-bar mechanism 4101,4108,4109,4110 (corresponding with the back of the hand position during rehabilitation training) has a common straight-bar 4108 and two public pin joints with second level four-bar mechanism 4102,4106,4107,4108 (first knuckle with finger during rehabilitation training is corresponding); The second level and third level four-bar mechanism 4103,4104,4105,4106 (second knuckle with finger during rehabilitation training is corresponding) have a triangle common bar 4106 (above three pin joints are arranged, one of them is public); And the finger tip (third knuckle) of finger when rehabilitation training, just in time be arranged in terminal rectangle rod member 4104 (above two pin joints are arranged) affixed lead the downside that refers to device 44 curved plates 4405.
As shown in Figure 3, during work, in driving device 2 under the drive of servomotor 21, connecting rod 23 promotes rod member 4110 and rotates around its end fixed hinge dead axle, and promotion rod member 4109 moves forward and rod member 4108 rotates around its end fixed hinge dead axle, and rod member 4108 promotes the second level again, third level four-bar mechanism is whole curved down; When rod member 4102 turns over 45 ° of maximum angles (position locking mechanism is arranged, do not draw among the figure), rod member 4108 continues to promote rod members 4107 and moves, and forces triangle rod member 4106 around the lower end hinge axis; Next, promotion third level four-bar mechanism is whole curved down.Guarantee during mechanism design that rod member 4103 is 0～90 ° with respect to the angle range of rod member 4102; When rod member 4103 reached the hard-over position, rod member 4106 continued to promote rod member 4105, and promoted rod member 4104 around its end hinge axis; Equally, guarantee that rod member 4104 is 0～45 ° with respect to the angle range of rod member 4103 during mechanism design; When rod member 4104 arrived the hard-over position, whole BENDING PROCESS finished.When the toggle return, each joint beginning of finger is stretched successively.End finger device 43 can help under patient's the first segment finger curved in rehabilitation training, and can roll on the finger face, prevents scratch.
As shown in Figure 2, driving device 2 is made up of servomotor 21, toggle 22,23 and the synchronizing shaft 24 of band decelerator.Servomotor 21 is power sources of whole system, installs by the riser level on organization soleplate 9 upper surfaces; The axis of synchronizing shaft 24 is parallel with servomotor 21 axis.In order to ensure two cover three grades of polyphones four-bar mechanisms 41,42 synchronization action under the drive of a power source, the two ends of synchronizing shaft 24 are inserted into respectively in the hole of outboard beam 4110,4210 upper ends in the first order quadric chain, reciprocal end with the toggle 22,23 in an end of synchronizing shaft 24 and the driving device 2 links to each other simultaneously, to obtain power resources; And the other end of toggle 22,23 is packed on the spindle nose of servomotor, is used for converting the rotation of servomotor 21 to drag 4 motions of execution bar group reciprocating motion.Position detecting device 3 is made up of position sensor 31 and rocking bar 32,33.Position sensor 31 also is to install by another piece riser level on organization soleplate 9 upper surfaces; One end of rocking bar 32,33 and the spindle nose of position sensor 31 install, and the other end links to each other with the hinges that the toggle 22,23 in the driving device 2 is back and forth held; Purpose is, records corner, the rotating speed of servomotor 21 by the information indirect that obtains this hinges reciprocally swinging, and controls the foundation of servomotors 21 rotatings, stroke and movement velocity as single-chip computer control system 11.
As shown in Figure 1, control system 11 is installed in a side of organization soleplate 9 upper surfaces.And for example shown in Figure 4, it mainly comprises AVR8535 single-chip microcomputer 1101, interface circuit 1103,1104,1105, AC/DC source of stable pressure 1106, pwm driver 1102.As shown in Figure 1, control panel 1 is installed in a side of housing 12.And for example shown in Figure 6, be equipped with on it regulate the speed, push button 101,102,103,104 and display lamp 106, light-emitting diode display 105 and the on and off switch 107 of power, position, and link to each other with power supply 7 with control system 11 with lead.Regulate corresponding push button and can distinguish setting speed instruction, torque command, range of movement instruction, being sent to single-chip microcomputer 1101 through interface circuit 1103,1104,1105 handles, according to give instruction, 1101 pwm signals of single-chip microcomputer are given pwm driver 1102, and are big or small so that the size of control driving moment by current sampling interface circuit feedback drive current.
As shown in Figure 1, the assembly of organization soleplate 9 upsides covers in the housing 12.Organization soleplate 9 lower surfaces are laid one deck arm backing plate 10, and two arm fixing bands 8 are equipped with at the middle part, and a complete machine support 5 is respectively adorned at two ends.
As shown in Figure 2, during use, the patient can put on special gloves voluntarily or by other people, the palm of the hand place down arm backing plate 10 below; And the special gloves finger tip is connected in to lead by attachment screw 4401,4402,4403,4404 and refers on the device 44, and fixes with two arm fixing bands 8 after patient's hands adjusted to the most comfortable position.Regulate the speed, power, set positions push button 101,102,103,104 is to minimum position, then attaching plug 7 is inserted on the civil power AC220V socket, press on and off switch 107, the rehabilitation device began to drive patient's finger by setting value and carried out back and forth curved rehabilitation training of stretching this moment, and the patient can regulate the speed at any time in the training process, the position of power, set positions push button to be to adapt to different patients' needs.Display lamp 106 is bright, and the expression system is in running order, otherwise lamp goes out.Numerical value shown in the light-emitting diode display 105 is for coming and going the frequency of training value.
This utility model is simple in structure, and is elegant in appearance, easy to operate, with low cost, can independently carry out rehabilitation training for the patient.
Claims (2)
1. the automatic recovery training appliance for recovery of finger is characterized in that it comprises control panel (1), driving device (2), position detecting device (3), carries out bar group (4), complete machine support (5), carries out pole socket (6), power supply (7), arm fixing band (8), organization soleplate (9), arm backing plate (10), control system (11) and housing (12); Wherein, carrying out bar group (4) is a kind of tower structure, identical and lead and refer to device (44) and a major axis shape end finger device (43) composition by two nested structures by being fixed on two of organization soleplate (9) lower surface both sides three grades of polyphone four-bar mechanisms (41,42) carrying out the parallel installation of pole socket (6) and a cover; Lead finger device (44) and comprise curved plates (4405) and attachment screw (4401,4402,4403,4404), has 4 elongated slots at interval above the curved plates (4405), 4 attachment screws (4401,4402,4403,4404) that can connect the special gloves finger tip are housed; And the two ends of end finger device (43) vertically are inserted into respectively in the dead eyes on the rod member (4102,4202) at three grades of polyphones of two covers four-bar mechanism middle part; Driving device (2) is made up of servomotor (21), toggle (22,23) and the synchronizing shaft (24) of band decelerator; Servomotor (21) is the power source of whole system, installs by the riser level on organization soleplate (9) upper surface; The axis of synchronizing shaft (24) is parallel with servomotor (21) axis, and the two ends of synchronizing shaft (24) are inserted into outboard beam (4110 in the first order quadric chain respectively, 4210) in Shang Duan the hole, simultaneously with an end of synchronizing shaft (24) and the toggle (22 in the driving device (2), 23) reciprocal end links to each other, and the other end of toggle (22,23) is packed on the spindle nose of servomotor (21); Position detecting device (3) is made up of position sensor (31) and rocking bar (32,33); Position sensor (31) also is to install by another piece riser level on organization soleplate (9) upper surface; The spindle nose of one end of rocking bar (32,33) and position sensor (31) is connected, and the toggle (22,23) in the other end and the driving device (2) the back and forth hinges of end links to each other; Control system (11) is installed in a side of organization soleplate (9) upper surface; The assembly of organization soleplate (9) upside covers in the housing (12); Control panel (1) is installed in a side of housing (12), and links to each other with power supply (7) with control system (11) with lead; Organization soleplate (9) lower surface is laid one deck arm backing plate (10), and two arm fixing bands (8) are equipped with at the middle part, and a complete machine support (5) is respectively adorned at two ends.
2. the automatic recovery training appliance for recovery of finger as claimed in claim 1, three grades of polyphones of the two covers four-bar mechanism (41 that it is characterized in that it, 42) have identical connected mode and structure, all be by first order quadric chain (4101 near the power source end, 4108,4109,4110) and (4201,4208,4209,4210) two following pin joints are fixed on and carry out on the pole socket (6) in, go up, be positioned at and carry out two inboard rectangle open-works of pole socket (6) so two cover three grades of polyphones four-bar mechanisms (41,42) must have sub-fraction need vertically pass organization soleplate (9); Wherein cover three grades of polyphones four-bar mechanism (41) is made up of 10 broad sense rod members and 9 pin joints; First order four-bar mechanism (4101,4108,4109,4110) has a common straight-bar (4108) and two public pin joints with second level four-bar mechanism (4102,4106,4107,4108); The second level and third level four-bar mechanism (4103,4104,4105,4106) have a triangle common bar (4106), and three pin joints are arranged above, and one of them is public; And above have the terminal rectangle rod member (4104) of two pin joints to go up an affixed end that leads the curved plates (4405) that refers to device (44).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420063435 CN2746905Y (en) | 2004-09-17 | 2004-09-17 | Exercising means for automatically restoring fingers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420063435 CN2746905Y (en) | 2004-09-17 | 2004-09-17 | Exercising means for automatically restoring fingers |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2746905Y true CN2746905Y (en) | 2005-12-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200420063435 Expired - Fee Related CN2746905Y (en) | 2004-09-17 | 2004-09-17 | Exercising means for automatically restoring fingers |
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| Country | Link |
|---|---|
| CN (1) | CN2746905Y (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102319162A (en) * | 2011-07-29 | 2012-01-18 | 北京航空航天大学 | Exoskeletal thumb moving function rehabilitation robot |
| CN102940559A (en) * | 2012-12-07 | 2013-02-27 | 付风生 | Mechanical hand of upper limb rehabilitation training robot |
| CN103231365A (en) * | 2013-05-07 | 2013-08-07 | 哈尔滨工业大学 | Back type exoskeleton finger joint circuitous mechanism |
| CN103892990A (en) * | 2014-04-21 | 2014-07-02 | 安阳工学院 | Two-joint traction finger rehabilitation trainer |
| CN105997426A (en) * | 2016-05-05 | 2016-10-12 | 安阳神方康复机器人有限公司 | Universal rehabilitation training hand device for left hand and right hand |
| CN107997861A (en) * | 2016-10-27 | 2018-05-08 | 韩国机器人和融合研究院 | The nervous system disease and disease of the musculoskeletal system hand convalescence device |
-
2004
- 2004-09-17 CN CN 200420063435 patent/CN2746905Y/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN102940559A (en) * | 2012-12-07 | 2013-02-27 | 付风生 | Mechanical hand of upper limb rehabilitation training robot |
| CN103231365A (en) * | 2013-05-07 | 2013-08-07 | 哈尔滨工业大学 | Back type exoskeleton finger joint circuitous mechanism |
| CN103231365B (en) * | 2013-05-07 | 2014-12-31 | 哈尔滨工业大学 | Back type exoskeleton finger joint circuitous mechanism |
| CN103892990A (en) * | 2014-04-21 | 2014-07-02 | 安阳工学院 | Two-joint traction finger rehabilitation trainer |
| CN103892990B (en) * | 2014-04-21 | 2015-12-02 | 安阳工学院 | A kind of two joint traction finger recovering training device |
| CN105997426A (en) * | 2016-05-05 | 2016-10-12 | 安阳神方康复机器人有限公司 | Universal rehabilitation training hand device for left hand and right hand |
| CN107997861A (en) * | 2016-10-27 | 2018-05-08 | 韩国机器人和融合研究院 | The nervous system disease and disease of the musculoskeletal system hand convalescence device |
| CN107997861B (en) * | 2016-10-27 | 2021-08-10 | 韩国机器人和融合研究院 | Hand rehabilitation device for nervous system diseases and musculoskeletal system diseases |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| 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 |