CN105997426B - The rehabilitation training terminal device of second self general - Google Patents
The rehabilitation training terminal device of second self general Download PDFInfo
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- CN105997426B CN105997426B CN201610291528.8A CN201610291528A CN105997426B CN 105997426 B CN105997426 B CN 105997426B CN 201610291528 A CN201610291528 A CN 201610291528A CN 105997426 B CN105997426 B CN 105997426B
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- sliding block
- rehabilitation training
- terminal device
- push rod
- hand
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- 238000012549 training Methods 0.000 title claims abstract description 41
- 210000003811 finger Anatomy 0.000 claims abstract description 41
- 210000003813 thumb Anatomy 0.000 claims abstract description 35
- 230000003287 optical effect Effects 0.000 claims abstract description 20
- 210000004935 right thumb Anatomy 0.000 claims abstract description 6
- 210000004936 left thumb Anatomy 0.000 claims abstract description 4
- 210000000707 wrist Anatomy 0.000 claims description 8
- 239000004816 latex Substances 0.000 claims description 6
- 229920000126 latex Polymers 0.000 claims description 6
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical group [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 3
- 229910052802 copper Inorganic materials 0.000 claims description 3
- 239000010949 copper Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 9
- 230000007246 mechanism Effects 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 abstract 1
- 230000006870 function Effects 0.000 description 8
- 230000000694 effects Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 210000003414 extremity Anatomy 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 241000905957 Channa melasoma Species 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000002478 hand joint Anatomy 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000009711 regulatory function Effects 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
- 208000019553 vascular disease Diseases 0.000 description 1
- 230000035899 viability Effects 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/006—Apparatus for applying pressure or blows for compressive stressing of a part of the skeletal structure, e.g. for preventing or alleviating osteoporosis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
- A61H15/0078—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains power-driven
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0192—Specific means for adjusting dimensions
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rheumatology (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention relates to medical rehabilitation exercising device,More particularly to a kind of rehabilitation training terminal device of second self general,Mainly it is made up of two linkage rod slide block mechanisms,A piece turn-screw and the driven gear of driving gear transmission cooperate and connected,Feed screw nut is provided with turn-screw,Feed screw nut is fixedly connected with feed screw nut seat,Feed screw nut seat and the back of the hand backup plate support are rotatablely connected by short connecting rod so as to drive the flexor of the back of the hand backup part,Pressure finger bracket is located on the anterior sliding block being oriented on optical axis of the back of the hand backup plate,Sliding block is connected with power seat by double link,The back of the hand backup plate pivot and double link pivot it is inconsistent caused by semidiameter promote sliding block in the movable of the back of the hand backup part front end,So as to reach four finger flexors,The movable drive T-shaped connecting plate movement of sliding block,T-shaped connecting plate then realizes the rehabilitation training of thumb using the rotary motion of groove cooperation drive left and right thumb push rod.Function of the present invention is complete, simple and practical.
Description
Technical field
The invention is related to a kind of medical rehabilitation exercising device, particularly relates to a kind of rehabilitation training of second self general
Terminal device.
Background technology
At present, the limbs disturbance caused by the hemiplegia of cranial vascular disease initiation, industrial injury, operation, has a strong impact on
The daily life of patient, in order to solve the medical condition of patient, recover work and the viability of patient, present people are increasingly
Receive the medical mode using recovery exercising robot progress rehabilitation training, but upper limbs image training robot lacks for human body at present
The training of arm end, independent hand exercise functions of the equipments are not complete, easily come off after bundling finger, do not reach rehabilitation training effect
Fruit.The training philosophy of hand, which is practiced to stretch not practice, bends, and is set out based on this principle, to develop the hand exercise machine of rehabilitation efficacy
People, in the patent of application number 201510652991.6, because manipulator interchange process is cumbersome, four refer to without squeezing effect, thumb pole
It is easy to fall off, but this is highly important in actual use.
The content of the invention
Instant invention overcomes hand rehabilitation equipment hand in the prior art fix it is unstable, easy to fall off, use dumb, hand
The problem of the deficiencies of portion's rehabilitation training function, propose a kind of right-hand man that can meet different people, improve patient hand's fine movement
The rehabilitation training terminal device of the second self general of rehabilitation training.
The technical solution of the present invention is to provide a kind of rehabilitation training hand of the second self general with following structure
Device, including power seat and servomotor, wherein servomotor are arranged on the inside of power seat, are installed in one end of servomotor
There is encoder, the driving gear being connected with servomotor is provided with the rear end face of power seat, set in the side of driving gear
The driven gear coordinated with driving gear is equipped with, the front end of the power seat is provided with the back of the hand backup plate, and the back of the hand backup plate is with moving
The outside of power seat front end two is be hinged, and the side of servomotor is additionally provided with a turn-screw, the driving wire inside power seat
Thick stick is cooperated with driven gear and connected, and feed screw nut is provided with turn-screw, screw mandrel spiral shell is provided with outside feed screw nut
Female seat, a short connecting rod is hinged on the feed screw nut seat, the other end and the back of the hand backup plate of the short connecting rod are hinged, described the back of the hand
The anterior left and right of backup plate is each to set a guiding optical axis, it is described be oriented to optical axis be located at the back of the hand backup plate top former and later two bearings it
Between, sliding block is set on two anterior guiding optical axises of the back of the hand backup plate, the both ends of the sliding block have been respectively articulated with long connecting rod, the length
The other end of connecting rod is hinged on power seat top, is set at left and right sides of the top of sliding block installation pressure finger bracket, the sliding block
There is guide rail, the both sides of the pressure finger bracket are in the guide rail of sliding block, and the pressure finger bracket is in the guide rail of sliding block on energy
Lower regulation, leaf spring is provided between the pressure finger bracket and sliding block, the lower end of the pressure finger bracket both sides is equipped with elongated hole, institute
State in the elongated hole of pressure finger bracket and be fixed with friction wheel support, friction pulley, the friction pulley are provided with the friction wheel support
It is in the lower section of the back of the hand backup plate.
The centre of the sliding block is fixedly connected with the riser of T-shaped connecting plate, and the both ends of the transverse slat of T-shaped connecting plate are connected to
Thumb push rod, one end that thumb push rod is connected with T-shaped connecting plate are provided with elongated hole, and the left end of the transverse slat of T-shaped connecting plate is slidably connected
In the elongated hole of left thumb push rod, the right-hand member of the transverse slat of T-shaped connecting plate is slidably connected in the elongated hole of right thumb push rod, left and right
The middle part of thumb push rod is rotatably connected on the back of the hand backup plate, and the front end of thumb push rod is provided with thumbstall.
Be respectively equipped with circular hole at the both ends of the transverse slat of the T-shaped connecting plate, the circular hole on T-shaped connecting plate by connecting rod with
The elongated hole of thumb push rod is slidably connected, and the centre of the thumb push rod is provided with circular hole, and the circular hole on thumb push rod passes through connecting rod
It is connected with the circular hole in the back of the hand backup part.
Guide rail optical axis is had on the feed screw nut, feed screw nut's seat is slidably connected on guide rail optical axis.
The latex mattress with projection is enclosed with the friction pulley.
The side of turn-screw is provided with Hall support and Hall element in the power seat.
The bottom of the power seat is connected with wrist shield, and bandage connecting hole is provided with wrist shield.
The pressure finger bracket is the integral support of gantry frame type or is split type pressure finger bracket, the split type pressure
Finger bracket includes the pressure finger bracket of both sides and the connecting plate of centre.
The sliding block is copper shoe.
Compared with prior art, the rehabilitation training terminal device of second self general of the present invention has advantages below：1st, this hair
The rehabilitation training terminal device design structure of bright second self general is simple, is mainly made up of, passes through two linkage rod slide block mechanisms
The movement and rotation of short connecting rod realize that wrist joint is bent and stretched, four articulations digitorum manus are bent and stretched, thumb joint is bent and stretched, and function is very comprehensive, fit
Different phase patient is closed to use；2nd, patient hand is unfolded completely by way of extruding is bulldozed four fingers, stretching thumb, overcome
The hand of existing equipment fixes the deficiencies of unstable, easy to fall off, using dumb, hand rehabilitation training function, perfect patient
The demand of hand fine movement rehabilitation training；3rd, the rehabilitation training terminal device of second self general of the invention, there is finger length
Degree regulation, palm thickness regulatory function, the needs of can meeting in terms of the different sick limb sizes of different patients；4th, right-hand man of the invention
General rehabilitation training terminal device, it is possible to achieve replacement of the manipulator to patient's left hand and the right hand recovers to take exercise, and overcomes
Current most of manipulators in rehabilitation can only realize the reconditioning of unilateral sick limb, or change the problem of part is cumbersome, significantly
Treatment cost has been saved, and has improved the applicability of healing robot, design is very reasonable；5th, second self general of the invention
Rehabilitation training terminal device, by friction pulley and latex mattress to four squeeze functions referred to, four fingers can not only be fixed well,
And also function to massage effect；6th, the rehabilitation training terminal device of second self general of the invention noise in motion process is small,
Rehabilitation torque is big, effectively realizes the flexible rehabilitation exercise of patient's hand joint, is rehabilitation and the production and living ability of patient
Recovery provide strong guarantee.
Brief description of the drawings
Fig. 1 is the overlooking the structure diagram of the rehabilitation training terminal device of second self general of the present invention；
Fig. 2 is one of present invention looks up structural representation of rehabilitation training terminal device of second self general of the present invention；
Fig. 3 is the two of the present invention looks up structural representation of the rehabilitation training terminal device of second self general of the present invention.
Embodiment
Label 1 is servomotor in brief description of the drawings；2 be encoder；3 be driving gear；4 be driven gear；5 be leading screw spiral shell
It is female secondary；6 be guide rail optical axis；7 be feed screw nut seat；8 be Hall support；9 be power seat；10 be short connecting rod；11 be thumb push rod；
12 be bearing；13 be guiding optical axis；14 be bearing；15 be leaf spring；16 be sliding block；17 be connecting plate；18 be pressure finger bracket；19
For T-shaped connecting plate；20 be long connecting rod；21 be the back of the hand backup plate；22 be friction pulley；23 be friction wheel support；24 be latex mattress；25
Wrist shield；26 be thumbstall.
The rehabilitation training terminal device to second self general of the present invention is made into one with reference to the accompanying drawings and detailed description
Walk explanation：
Embodiment one：As shown in Fig. 1-2, in the present embodiment, the rehabilitation training terminal device of second self general includes power
Seat 9 and servomotor 1, wherein servomotor 1 are arranged on the inside of power seat 9, and encoder is provided with one end of servomotor 1
2, the driving gear 3 being connected with servomotor 1 is provided with the rear end face of power seat 9, is provided with the side of driving gear 3
The driven gear 4 coordinated with driving gear 3, the front end of the power seat 9 are provided with the back of the hand backup plate 21, the back of the hand backup plate 21 with
The outside of 9 front end of power seat two is be hinged, and a screw pair 5 is additionally provided with the side of the inside servomotor 1 of power seat 9, described
Turn-screw in screw pair 5 cooperates with driven gear 4 to be connected, outside the feed screw nut in the screw pair 5
Feed screw nut's seat 7 is provided with, guide rail optical axis 6 is had on the feed screw nut, feed screw nut's seat 7, which is slidably connected at, leads
On rail optical axis 6, a short connecting rod 10, the other end and the back of the hand backup plate 21 of the short connecting rod 10 are hinged on the feed screw nut seat 7
Be hinged, the anterior left and right of the back of the hand backup plate 21 is each to set a guiding optical axis 13, and the guiding optical axis 13 is located at the back of the hand backup plate 21
Between the bearing 12 and bearing 14 on top, sliding block 16, the sliding block are set on two anterior guiding optical axises 13 of the back of the hand backup plate 21
16 both ends have been respectively articulated with long connecting rod 20, and the other end of the long connecting rod 20 is hinged on the top of power seat 9, in the upper of sliding block 16
Portion's installation pressure finger bracket 18, the left and right sides of the sliding block 16 are provided with guide rail, and the both sides of the pressure finger bracket 18 are in cunning
In the guide rail of block 16, the pressure finger bracket 18 can slide up and down in the guide rail of sliding block 16, described to press finger bracket 18 and slide
Leaf spring 15 is provided between block 16, allows pressure finger bracket 18 to have the trend and dynamics for leaving sliding block 16 forever, thus allows and press finger
Friction wheel support 23 and friction pulley 22 that the lower end of support 18 is set have the trend and dynamics of pressure finger, 18 liang of the finger bracket of pressure
The lower end of side is equipped with elongated hole, is fixed with friction wheel support 23 in the elongated hole of the pressure finger bracket 18, friction wheel support 23 can
Arbitrarily to slide and lock in elongated hole, the front and rear regulation of friction wheel support 23 can be allowed to adapt to palm and finger different length
Rehabilitation training demand, friction pulley 22 is provided with the friction wheel support 23, the friction pulley 22 is in the back of the hand backup plate 21
Lower section.
The pressure finger bracket 18 is split type pressure finger bracket, and the split type pressure finger bracket includes the pressure hand of both sides
Refer to support and the connecting plate 17 of centre.
In specifically application process, it can make it that the action of manipulator and function on are more flat from servomotor 1
Surely, noise is small, especially suitable for the motion-promotion force source of arm machinery, and uses encoder 2 can be with significantly more efficient control servo
The startup or stopping of motor 1, after the startup of servomotor 1, drive driven gear 4 to rotate by driving gear 3, passed so as to bring
Dynamic leading screw is operated, and is driven feed screw nut seat 7 to carry out moving forward and backward motion after turn-screw operating, is then driven short connecting rod 10
The flexor of the back of the hand backup plate 21 is realized in the actions such as sliding rotary, completes dorsiflexion, the flexing rehabilitation training of wrist articulations digitorum manus, four refer to
Bend and stretch training in joint.
The side of turn-screw is provided with Hall support 8 and Hall element in the power seat 9, using spacing Hall element
Afterwards, the displacement of moving object can be gone out according to pulse signal biographies sense, so that system monitoring manipulator moves in safe range,
The patient's of significantly more efficient protection is safe to use.
The bottom of the power seat is connected with wrist shield 25, and bandage connecting hole is provided with wrist shield 25, this
Being reliably connected for this rehabilitation arm mechanical structure and human synovial can more be facilitated, meet the design concept of ergonomics,
There is provided for patient and more easily wear Curing circumstance.
The sliding block 16 is copper shoe.
Embodiment two：As shown in figure 3, the present embodiment and embodiment one are essentially identical, difference is, the sliding block 16
Centre be fixedly connected with the riser of T-shaped connecting plate 19, the both ends of the transverse slat of T-shaped connecting plate 19 are connected to thumb push rod 11,
One end that thumb push rod 11 is connected with T-shaped connecting plate 19 is provided with elongated hole, and the left end of the transverse slat of T-shaped connecting plate 19 is slidably connected at a left side
In the elongated hole of thumb push rod 11, the right-hand member of the transverse slat of T-shaped connecting plate 19 is slidably connected in the elongated hole of right thumb push rod 11, left,
The middle part of right thumb push rod 11 is rotatably connected on the back of the hand backup plate 21, and the front end of thumb push rod 11 is provided with thumbstall 26.
So sliding block 16 just drives T-shaped connecting plate 19 movable when being moved forward and backward on being oriented to optical axis 13, T-shaped connecting plate
19 drive the rotary motion centered on middle part of thumb push rod 11 respectively, so as to drive thumb to bend and stretch rehabilitation training.Thumb pushes away
Bar 11 move principle be：Because T-shaped connecting plate 19 is fixedly connected with sliding block 16, the anteroposterior position on optical axis 13 is oriented to of sliding block 16
Move, and the power resources that sliding block 16 moves forward and backward semidiameter caused by the different rotary center of long connecting rod 20 and the back of the hand backup plate 21
It is caused, that is, the dorsiflexion of the back of the hand backup plate 21 drive long connecting rod 20 promote sliding block 16 move forward, the flexing of the back of the hand backup plate 21 drive length
Connecting rod 20 promotes sliding block 16 to be moved rearwards, and is that groove connects between T-shaped connecting plate 19 and thumb push rod 11, such T-shaped connecting plate 19
Move forward and backward the rotary motion for just driving thumb push rod 11, while two symmetrical thumb push rods 11 are installed in left and right, facilitate
Patient the replacing rehabilitation to patient's left hand and the right hand, is more convenient for the rehabilitation of patient to use during medical rehabilitation,
The structure of thumbstall 25 is provided with the front end of thumb push rod 11, is to spread and pave the thumb of patient and four fingering rows out, draws
Thumb is opened up, strengthens the rehabilitation training of thumb.
The latex mattress 24 with projection is enclosed with the friction pulley 22, is referred to by friction pulley 22 and latex mattress 24 to four
Squeeze function, four fingers are not only fixed well and can play massage effect.
Embodiment three：The present embodiment and embodiment two are essentially identical, and difference is, the horizontal stroke of the T-shaped connecting plate 19
It is respectively equipped with circular hole at the both ends of plate, the elongated hole that the circular hole on T-shaped connecting plate 19 passes through connecting rod and thumb push rod 11 is slided and connected
Connect, the centre of the thumb push rod 11 is provided with circular hole, the circular hole on thumb push rod 11 pass through connecting rod with the back of the hand backup plate 21
Circular hole is rotatablely connected.
The preferred embodiments of the disclosure is described in detail above in conjunction with accompanying drawing, but the present invention is not limited to
Described embodiment.To those skilled in the art, it is right without departing from the principles and spirit of the present invention
This embodiment carries out a variety of changes, modification, replacement and deformation and still fallen within protection scope of the present invention.
Claims (9)
1. a kind of rehabilitation training terminal device of second self general, including power seat and servomotor, wherein servomotor are set
In the inside of power seat, encoder is installed in one end of servomotor, is provided with the rear end face of power seat and servo electricity
The driving gear of machine connection, the driven gear coordinated with driving gear is provided with the side of driving gear, it is characterised in that：Institute
The front end for stating power seat is provided with the back of the hand backup plate, and the back of the hand backup plate and the outside of power seat front end two are be hinged, inside power seat
The side of servomotor is additionally provided with a turn-screw, and the turn-screw cooperates with driven gear and connected, is being driven
Feed screw nut is provided with leading screw, feed screw nut's seat is provided with outside feed screw nut, is hinged on the feed screw nut seat one short
Connecting rod, the other end and the back of the hand backup plate of the short connecting rod are hinged, and the anterior left and right of the back of the hand backup plate is each to set a guiding optical axis,
The guiding optical axis is located between former and later two bearings on the back of the hand backup plate top, is set on two anterior guiding optical axises of the back of the hand backup plate
Sliding block is put, the both ends of the sliding block have been respectively articulated with long connecting rod, and the other end of the long connecting rod is hinged on power seat top, in cunning
The top installation pressure finger bracket of block, the left and right sides of the sliding block are provided with guide rail, and the both sides of the pressure finger bracket are in cunning
In the guide rail of block, the pressure finger bracket can be adjusted up and down in the guide rail of sliding block, be set between the pressure finger bracket and sliding block
There is leaf spring, the lower end of the pressure finger bracket both sides is equipped with elongated hole, friction pulley is fixed with the elongated hole of the pressure finger bracket
Support, friction pulley is provided with the friction wheel support, the friction pulley is in the lower section of the back of the hand backup plate.
2. the rehabilitation training terminal device of second self general according to claim 1, it is characterised in that in the sliding block
Between be fixedly connected with the riser of T-shaped connecting plate, the both ends of the transverse slat of T-shaped connecting plate are connected to thumb push rod, thumb push rod and T
One end of shape connecting plate connection is provided with elongated hole, and the left end of the transverse slat of T-shaped connecting plate is slidably connected in the elongated hole of left thumb push rod,
The right-hand member of the transverse slat of T-shaped connecting plate is slidably connected in the elongated hole of right thumb push rod, the middle part company of rotation of left and right thumb push rod
It is connected on the back of the hand backup plate, the front end of thumb push rod is provided with thumbstall.
3. the rehabilitation training terminal device of second self general according to claim 2, it is characterised in that the T-shaped connection
It is respectively equipped with circular hole at the both ends of the transverse slat of plate, the circular hole on T-shaped connecting plate passes through connecting rod and the elongated hole of thumb push rod slides
Connection, the centre of the thumb push rod are provided with circular hole, and the circular hole on thumb push rod passes through the circular hole in connecting rod and the back of the hand backup part
Connection.
4. the rehabilitation training terminal device of second self general according to claim 1, it is characterised in that the feed screw nut
On have guide rail optical axis, feed screw nut's seat is slidably connected on guide rail optical axis.
5. the rehabilitation training terminal device of second self general according to claim 1, it is characterised in that on the friction pulley
It is enclosed with the latex mattress with projection.
6. the rehabilitation training terminal device of second self general according to claim 1, it is characterised in that in the power seat
The side of turn-screw is provided with Hall support and Hall element.
7. the rehabilitation training terminal device of second self general according to claim 1, it is characterised in that the power seat
Bottom is connected with wrist shield, and bandage connecting hole is provided with wrist shield.
8. the rehabilitation training terminal device of second self general according to claim 1, it is characterised in that the pressure finger branch
Frame is the integral support of gantry frame type or is split type pressure finger bracket, and the split type pressure finger bracket includes the pressure of both sides
Finger bracket and the connecting plate of centre.
9. the rehabilitation training terminal device of second self general according to claim 1, it is characterised in that the sliding block is copper
Sliding block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610291528.8A CN105997426B (en) | 2016-05-05 | 2016-05-05 | The rehabilitation training terminal device of second self general |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610291528.8A CN105997426B (en) | 2016-05-05 | 2016-05-05 | The rehabilitation training terminal device of second self general |
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| Publication Number | Publication Date |
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| CN105997426A CN105997426A (en) | 2016-10-12 |
| CN105997426B true CN105997426B (en) | 2018-04-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610291528.8A Active CN105997426B (en) | 2016-05-05 | 2016-05-05 | The rehabilitation training terminal device of second self general |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| BE1027919B1 (en) * | 2020-09-08 | 2021-07-29 | H&Zedical Zhengzhou Intelligent Rehabilitation Equipment Co Ltd | Rehabilitation training device for the left and right hand |
| BE1027920B1 (en) * | 2020-09-08 | 2021-07-29 | H&Zedical Zhengzhou Intelligent Rehabilitation Equipment Co Ltd | Hand rehabilitation exercise device |
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| KR102338936B1 (en) * | 2016-10-27 | 2021-12-10 | 한국로봇융합연구원 | hand rehabilitation apparatus for neurological disease and nuscular skeletal disease |
| CN106618959B (en) * | 2016-12-20 | 2023-02-28 | 厦门大显科技有限公司 | Finger function rehabilitation instrument |
| CN107413017A (en) * | 2017-09-07 | 2017-12-01 | 新泰市中医院 | A kind of apoplexia rehabilitation trainer |
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| CN110522602A (en) * | 2019-08-28 | 2019-12-03 | 上海理工大学 | Second self general the five fingers device for healing and training |
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| CN2746905Y (en) * | 2004-09-17 | 2005-12-21 | 哈尔滨工程大学 | Exercising means for automatically restoring fingers |
| KR101546882B1 (en) * | 2013-09-06 | 2015-08-24 | 동의대학교 산학협력단 | Wearable excercise device for upper limb rehabilitation |
| CN203724417U (en) * | 2014-01-15 | 2014-07-23 | 安阳工学院 | Hand rehabilitation training device |
| CN105250116B (en) * | 2015-10-10 | 2017-02-22 | 付风生 | Upper limb rehabilitation training robot manipulator |
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|---|---|---|---|---|
| BE1027919B1 (en) * | 2020-09-08 | 2021-07-29 | H&Zedical Zhengzhou Intelligent Rehabilitation Equipment Co Ltd | Rehabilitation training device for the left and right hand |
| BE1027920B1 (en) * | 2020-09-08 | 2021-07-29 | H&Zedical Zhengzhou Intelligent Rehabilitation Equipment Co Ltd | Hand rehabilitation exercise device |
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| CN105997426A (en) | 2016-10-12 |
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