CN106333827B - Wearable four refer to device for healing and training - Google Patents
Wearable four refer to device for healing and training Download PDFInfo
- Publication number
- CN106333827B CN106333827B CN201610848735.9A CN201610848735A CN106333827B CN 106333827 B CN106333827 B CN 106333827B CN 201610848735 A CN201610848735 A CN 201610848735A CN 106333827 B CN106333827 B CN 106333827B
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- rod
- supporting rod
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- sliding block
- hand support
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- 238000012549 training Methods 0.000 title claims abstract description 27
- 230000035876 healing Effects 0.000 title claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims abstract description 58
- 230000007246 mechanism Effects 0.000 claims abstract description 38
- 241000905957 Channa melasoma Species 0.000 claims abstract description 26
- 230000009471 action Effects 0.000 claims abstract description 15
- 210000003811 finger Anatomy 0.000 abstract description 38
- 238000005452 bending Methods 0.000 abstract description 4
- 210000003813 thumb Anatomy 0.000 abstract description 4
- 230000001737 promoting effect Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 3
- 210000001145 finger joint Anatomy 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 208000000474 Poliomyelitis Diseases 0.000 description 1
- 208000005392 Spasm Diseases 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000036461 convulsion Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 230000035899 viability Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- 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
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/0102—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
- A61F5/013—Orthopaedic devices, e.g. splints, casts or braces specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations for the arms, hands or fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
- A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
- A61F5/10—Devices for correcting deformities of the 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
- A61H1/02—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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0157—Constructive details portable
-
- 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
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
- A61H2205/067—Fingers
Landscapes
- Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Rehabilitation Therapy (AREA)
- Physical Education & Sports Medicine (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Nursing (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention relates to a kind of wearable four to refer to device for healing and training, including hand support, and the four of the setting of hand support edge refers to rehabilitation institution；Four, which refer to rehabilitation institution, includes more than two articulations digitorum manus supporting rods, is hinged between articulations digitorum manus supporting rod, articulations digitorum manus supporting rod is also connect with bindiny mechanism；Link mechanism is connect with the power transmission sliding block in hand support, and power transmission sliding block slidingtype is arranged in hand support；Driving mechanism driving power transmission sliding block is located in hand support and moves, and it is in around articulated shaft rotational action to interlock between articulations digitorum manus supporting rod.Wait for being manually placed on the device for healing and training for rehabilitation personnel, imitate the wobbling actions such as the bending stretching, extension that people four refers to, the rehabilitation to patient's finger is played in turn, above-mentioned four refer to rehabilitation institution under the connection function of link mechanism, four fingers can be imitated and be located at swing in space, and then can ensure that the rehabilitation efficacy of four fingers and thumb, the robotic degree is high, has excellent promotional value in rehabilitation field.
Description
Technical field
The present invention relates to rehabilitation training equipment technical fields, and in particular to a kind of wearable four refer to device for healing and training.
Background technology
By the end of currently, China because the reasons such as all kinds of accidents, hemiplegia, brain paralysis, polio cause the trouble of hand disability
General 20,000,000 people of person, hand disability show as " hawk hook pawl ", twitch spasm, can not normal extension or retraction/crawl it is powerless etc..
Ideal effect is often not achieved by operative treatment correction, moreover larger, postoperative rehabilitation unobvious are spent in operation, it is many to suffer from
Person enters related recovery centre and carries out rehabilitation corrective therapy without operative treatment.In addition, the impaired disability rate of hand compared with
Height seriously affects the viability and family burden of patient, currently, patient generally uses special rehabilitation mechanical in recovery centre
It is resumed training, but the disadvantage is that the training time is inadequate, the doctor for carrying out related rehabilitation is insufficient, and increases patient family
Financial burden, a variety of factors are extremely disadvantageous for the rehabilitation of patient.
This applicant is applied on the same day entitled《Wearable rehabilitation training exoskeleton manipulator》In disclose one kind
It can be worn on the mechanical device of rehabilitation on hand, the action of the first, second link mechanism is driven by driving mechanism, to even
Dynamic four refer to the action of rehabilitation institution and thumb rehabilitation institution, and then achieve the purpose that rehabilitation training, to ensure four finger rehabilitation trainings
Effect, need four finger rehabilitation institution that can be swung in spatial dimension, the rehabilitation training effect of four fingers can be ensured, in reality
When design four refers to rehabilitation institution, there are larger technical barriers.
Invention content
The purpose of the present invention is：It provides a kind of wearable four and refers to device for healing and training, four fingering of rehabilitation can be driven
Row rehabilitation training campaign, it is ensured that the four of rehabilitation refer to rehabilitation efficacy.
To achieve the above object, the technical solution adopted by the present invention is：
A kind of wearable four refer to device for healing and training, include the hand support being bonded with user's the back of the hand, hand support
The four of edge setting refer to rehabilitation institution；
Described four, which refer to rehabilitation institution, includes more than two articulations digitorum manus supporting rods, is articulated and connected, refers between articulations digitorum manus supporting rod
Articular branches strut is also connect with bindiny mechanism；
Link mechanism is connect with the power transmission sliding block in hand support, and power transmission sliding block slidingtype is arranged in hand support；
Driving mechanism driving power transmission sliding block is located in hand support and moves, and between interlocking articulations digitorum manus supporting rod presentation around hinge
Spindle rotational action.
There is also following technical characteristics by the present invention：
The articulations digitorum manus supporting rod includes far referring to supporting rod and closely referring to supporting rod, is far referred between supporting rod and closely finger supporting rod
Articulated connection, driving mechanism driving power transmission sliding block, which is located in hand support, to be moved, and is interlocked far finger supporting rod and closely referred to supporting rod
In around articulated shaft rotational action.
Bar shaped slide opening is provided in the hand support, power transmission sliding block is arranged on blade fin, on the blade fin
It is provided with guiding slide opening, the guiding slide opening is arc-shaped, and power transmission sliding block, which is located at, is oriented to sliding in slide opening, and blade fin sliding is set
It sets on bar shaped slide opening, the driving mechanism connect with blade fin and drives blade fin past along bar shaped slide opening length direction
It is multiple mobile.
The link mechanism include with far refer to supporting rod outer wall is slidably connected first far refer to sliding block, first far finger sliding block and
Far refer to supporting rod to constitute along being slidably matched for supporting rod length direction is far referred to, one end of the first transmission rod is hingedly arranged first far
Refer on sliding block, one end of the other end of the first transmission rod and the second transmission rod is hinged and the articulated shaft at the first transmission rod both ends is flat
Row, the other end of the second transmission rod are connect with closely finger supporting rod, and described remote supporting rod one end adjacent with supporting rod is closely referred to that refer to is divided
It is not provided with the first, second connecting bracket, the articulated connection of the first, second connecting bracket and articulated shaft are hinged with the first transmission rod
Axis is parallel.
The link mechanism further includes first adjusting rod hinged with the first power transmission club body and articulated shaft and the first power transmission
The articulated shaft of bar is parallel, and one end of the first adjusting rod is provided with first connecting rod, the first connecting rod other end and the first connecting seat
Hinged and articulated shaft is parallel with the articulated shaft of the first adjusting rod, and the first connecting seat rotary type is arranged on hand support plate and rotates
Shaft core line is vertical with hand support plate face.
The nearly finger supporting rod outer wall is hingedly provided with the first drive link and the articulated shaft of articulated shaft and the first transmission rod is flat
The other end universal hinging of row, the first drive link is arranged on power transmission sliding block.
First adjusting rod is provided with square tube type chamber, the connecting pin shaft setting of the first connecting rod and the first adjusting rod
At flat column structure, first connecting rod is plugged in the square tube type tube chamber of the first adjusting rod, and the outer wall of the first adjusting rod is provided with
One adjusting bolt, first drive link are provided with square tube type chamber, and the square tube type chamber of the first drive link is plugged with the second adjusting rod,
The inserted terminal of second adjusting rod and the first drive link is arranged to flat column structure, the other end and the power transmission sliding block structure of the second adjusting rod
Coordinate at ball-joint, the outer wall of the first transmission is provided with the second adjusting bolt.
The driving mechanism includes the lead screw being arranged in rack, and lead screw constitutes lead screw screw mechanism, silk with driving nut
One end of bar is provided with driving motor, and driving motor drives lead screw rotation, slided in rack and be provided with driving strut, drive strut
It is connected with blade fin.
Being extended on the driving strut has adjustable plate, and the plate face of the adjustable plate is provided with adjusting nut, adjusts spiral shell
Setting adjusts lead screw in female, adjusts the bar length direction of lead screw vertically and lower end is connected with hand support.
Compared with the prior art, beneficial effects of the present invention are embodied in：Wait for that rehabilitation personnel's is manually placed at the rehabilitation training
In device, above-mentioned four actions for referring to rehabilitation institution are driven using driving mechanism, the swings such as bending stretching, extension to imitate the finger of people four
Action, and then the rehabilitation to patient's finger is played, above-mentioned four refer to rehabilitation institution under the connection function of link mechanism, energy
It enough imitates four fingers to swing in space, user can swing finger or so pose in use, whole without influencing
Use, do not influence finger joint and bend and stretch, reach user and think comfortably to train pose, preferably carry out finger joint rehabilitation training,
And then can ensure that the rehabilitation efficacy of four fingers and thumb, the robotic degree is high, has excellent push away in rehabilitation field
Wide value.
Description of the drawings
Fig. 1 is wearable four structural schematic diagrams for referring to device for healing and training；
Fig. 2 is the structural schematic diagram of four finger rehabilitation institution.
Specific implementation mode
The present invention is further described combined with Figure 1 and Figure 2,：
A kind of wearable four refer to device for healing and training, include four be arranged with hand support 10 and 10 edge of hand support
Refer to rehabilitation institution；
Described four, which refer to rehabilitation institution, includes more than two articulations digitorum manus supporting rods, is articulated and connected, refers between articulations digitorum manus supporting rod
Articular branches strut is also connect with bindiny mechanism；
Link mechanism is connect with the power transmission sliding block 30 in hand support 10, and 30 slidingtype of power transmission sliding block is arranged in hand support
On 10；
Driving mechanism driving power transmission sliding block 30, which is located in hand support 10, to be moved, and is interlocked and presented between articulations digitorum manus supporting rod
Around articulated shaft rotational action.
It waits for being manually placed on the manipulator for rehabilitation personnel, drives above-mentioned four to refer to the dynamic of rehabilitation institution using driving mechanism
Make, the wobbling actions such as bending stretching, extension to imitate the finger of people four, and then plays the rehabilitation to patient's finger, four above-mentioned fingers
Rehabilitation institution can imitate four fingers and be located at swing in space, and then can ensure that four fingers and thumb under the connection function of link mechanism
The rehabilitation efficacy of finger, the robotic degree is high, has excellent promotional value in rehabilitation field.
The joint that above-mentioned articulations digitorum manus supporting rod can refer to according to four be arranged remote articulations digitorum manus supporting rod, middle finger articular branches strut with
And nearly articulations digitorum manus supporting rod, remote articulations digitorum manus, middle articulations digitorum manus and the nearly articulations digitorum manus in four fingers for waiting for rehabilitation personnel are corresponded to respectively
It is arranged in above-mentioned supporting rod, to play the four effective supports referred to for treating rehabilitation personnel, driving mechanism drives power transmission sliding block
30 be located at it is mobile in hand support 10 during, to interlock above-mentioned remote articulations digitorum manus supporting rod, middle finger articular branches strut and
The respective connection articulated shaft rotation of spaced winding of nearly articulations digitorum manus supporting rod, and then realize the reconditioning referred to four.
As the preferred embodiment of the present invention, in fact, the articulations digitorum manus supporting rod includes far referring to supporting rod 21 and closely finger branch
Strut 22 far refers to and is articulated and connected between supporting rod 21 and closely finger supporting rod 22, and driving mechanism drives power transmission sliding block 30 to be located at hand
It is moved in support 10, and interlocks and far refer to supporting rod 21 and closely refer to supporting rod 22 in around articulated shaft rotational action；
In above-described embodiment, it is only necessary to which four to user can be realized with closely finger supporting rod 22 for setting far finger supporting rod 21
The support of finger.
Bar shaped slide opening is provided in the hand support 10, power transmission sliding block 30 is arranged on blade fin 12, the guiding
It is provided on slide plate 12 and is oriented to slide opening 121, the guiding slide opening 121 is arc-shaped, and the guiding slide opening 121 at this can be interruption
Formula is arranged on blade fin 12, and the circle of each section of guiding slide opening 121 is in and closely refers at supporting rod 22, power transmission sliding block 30
It is slidably arranged on bar shaped slide opening positioned at sliding, blade fin 12 in slide opening 121 is oriented to, the driving mechanism and blade fin 12
It connects and blade fin 12 is driven to be moved back and forth along bar shaped slide opening length direction.
In above-described embodiment, the driving power transmission sliding block 30 connect with blade fin 12 and drives blade fin 12 along item
Shape slide opening length direction moves back and forth, and is located at sliding in guiding slide opening 121, the guiding slide opening at this to interlock power transmission sliding block 30
121 be arcuate socket, so that the four corresponding power transmission sliding blocks of finger rehabilitation institution 30 are respectively positioned on and are oriented in slide opening 121, in gearing
In the process, four refer to the action that flexural oscillations are presented, and play the rehabilitation training referred to four, the center of circle of above-mentioned guiding slide opening 121 exists
Respectively refer at nearly articulations digitorum manus, so regardless of finger joint is swung, the amplitude of bending and stretching is not influenced, i.e., rehabilitation training is not influenced.
Above-mentioned far referring to supporting rod 21 and closely refer to supporting rod 22 is not proper sleeve structure, it is understood that is
The finger of one clamping groove plate, user is stuck in above-mentioned clamping groove plate, is consolidated patient's finger using thread gluing or elastic band etc.
It is fixed.
Further, to realize that the swing for far referring to supporting rod 21 and closely referring to supporting rod 22 that four refer to rehabilitation institution connects, institute
State link mechanism include with far refer to 21 outer wall of supporting rod is slidably connected first far refer to sliding block 211, first far refer to sliding block 211 and far
Refer to supporting rod 21 to constitute along being slidably matched for 21 length direction of supporting rod is far referred to, one end of the first transmission rod 212 is hingedly arranged
First far refers on sliding block 211, and one end of the other end of the first transmission rod 212 and the second transmission rod 213 is hinged and the first transmission rod
The articulated shaft at 212 both ends is parallel, and the other end of the second transmission rod 213 is connect with closely finger supporting rod 22, far refers to supporting rod to realize
21 and closely refer to the rotation connection of supporting rod 22, the remote supporting rod 21 that refers to is respectively arranged with closely adjacent one end of finger supporting rod 22
First, second connecting bracket 214,221, the articulated connection of the first, second connecting bracket 214,221 and articulated shaft and the first transmission rod
212 articulated shaft is parallel.
Further, it swings and rotates to realize that four fingers are located in spatial dimension, link mechanism further includes and the first power transmission
The first hinged adjusting rod 215 of 212 shaft of bar and articulated shaft is parallel with the articulated shaft of the first transmission rod 212, the first adjusting rod 215
One end be provided with first connecting rod 216,216 other end of the first connecting rod and the first connecting seat 217 is hinged and articulated shaft and the
The articulated shaft of one adjusting rod 215 is parallel, 217 rotary type of the first connecting seat be arranged on 10 plate of hand support and rotation axis core wire with
10 plate face of hand support is vertical.
Further, since four refer in practical rehabilitation, four refer to needs swings in space, for this purpose, described close
Finger 22 outer wall of supporting rod is hingedly provided with the first drive link 222 and articulated shaft is parallel with the articulated shaft of the first transmission rod 212, and first
The other end universal hinging of drive link 222 is arranged on power transmission sliding block 30, and the first drive link 222 is made in the driving of power transmission sliding block 30
Under, a series of connecting rod actions in gearing are located at the pendulum of hand support 10 so that far referring to supporting rod 21 and closely referring to supporting rod 22
Dynamic and local inclination state, and then imitate four actual acts referred to, it is ensured that rehabilitation efficacy.
To realize that first adjusting rod 215 is set to far referring to supporting rod 21 and closely referring to the fine tuning of 22 amplitude of fluctuation of supporting rod
It is equipped with square tube type chamber, the connecting pin shaft of the first connecting rod 216 and the first adjusting rod 215 is arranged to flat column structure, and first
Connecting rod 216 is plugged in the square tube type tube chamber of the first adjusting rod 215, and the outer wall of the first adjusting rod 215 is provided with the first adjusting spiral shell
Bolt 2151, first drive link 222 are provided with square tube type chamber, and the square tube type chamber of the first drive link 222 is plugged with the second adjusting
The inserted terminal of bar 218, the second adjusting rod 218 and the first drive link 222 is arranged to flat column structure, the second adjusting rod 218 it is another
One end constitutes ball-joint cooperation with power transmission sliding block 30, and the outer wall of the first drive link 222 is provided with the second adjusting bolt 2221.
Further, the driving mechanism includes the lead screw 31 being arranged in rack 40, and lead screw 31 is constituted with driving nut
One end of lead screw screw mechanism, lead screw 31 is provided with driving motor 32, and driving motor 32 drives lead screw 31 to rotate, sliding in rack 40
Dynamic to be provided with driving strut 311, driving strut 311 is connected with blade fin 12.Using the forward and reverse of driving motor 32, from
And it interlocks driving strut 311 and is located at the reciprocating movement in rack 40.
It compresses to ensure that the back of the hand of user can be bonded by hand support 10, is extended on the driving strut 311
There are adjustable plate 312, the plate face of the adjustable plate 312 to be provided with adjusting nut, be arranged in adjusting nut and adjust lead screw, adjust lead screw
Bar length direction it is vertical and lower end is connected with hand support 10, by screwing adjusting lead screw, so as to adjust hand support 10
It moves up and down, and then ensures the strong degree that hand support 10 is bonded with user's the back of the hand.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent requirements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiment being appreciated that.
Claims (6)
1. a kind of wearable four refer to device for healing and training, it is characterised in that：Including hand support (10), hand support (10) side
The four of edge setting refer to rehabilitation institution；
Described four, which refer to rehabilitation institution, includes more than two articulations digitorum manus supporting rods, is articulated and connected between articulations digitorum manus supporting rod, articulations digitorum manus
Supporting rod is also connect with bindiny mechanism；
Link mechanism is connect with the power transmission sliding block (30) in hand support (10), and power transmission sliding block (30) slidingtype is arranged in hand branch
It supports on (10)；
Driving mechanism driving power transmission sliding block (30) is located in hand support (10) and moves, and interlocks and present between articulations digitorum manus supporting rod
Around articulated shaft rotational action；
The articulations digitorum manus supporting rod includes far referring to supporting rod (21) and closely referring to supporting rod (22), far refers to supporting rod (21) and closely refers to branch
Hinged between strut (22), driving mechanism driving power transmission sliding block (30), which is located in hand support (10), to be moved, and is interlocked and far referred to branch
Strut (21) and closely refer to supporting rod (22) be in around articulated shaft rotational action；
Bar shaped slide opening is provided on the hand support (10), blade fin (12) is slidably arranged on bar shaped slide opening, described to lead
It is provided on slide plate (12) and is oriented to slide opening (121), power transmission sliding block (30) is arranged on blade fin (12) and is being oriented to slide opening
(121) sliding, the driving mechanism connect with blade fin (12) and drive blade fin (12) along bar shaped slide opening length in
Direction moves back and forth；
The link mechanism includes first far referring to sliding block (211) with far refer to that supporting rod (21) outer wall is slidably connected, the first remote finger
Sliding block (211) constitutes being slidably matched along far finger supporting rod (21) length direction, the first transmission rod with supporting rod (21) is far referred to
(212) one end is hingedly arranged far to be referred on sliding block (211) first, the other end and the second transmission rod of the first transmission rod (212)
(213) one end is hinged and the articulated shaft at the first transmission rod (212) both ends is parallel, the other end of the second transmission rod (213) with it is close
Refer to supporting rod (22) to be fixedly connected, the remote finger supporting rod (21) and closely finger supporting rod (22) are hinged；
2. according to claim 1 wearable four refer to device for healing and training, it is characterised in that：The link mechanism also wraps
Include the articulated shaft of first adjusting rod (215) hinged with the first transmission rod (212) shaft and articulated shaft and the first transmission rod (212)
Parallel, the other end of the first adjusting rod (215) is provided with first connecting rod (216), first connecting rod (216) other end and first
Connecting seat (217) is hinged and articulated shaft is parallel with the articulated shaft of the first adjusting rod (215), and the first connecting seat (217) rotary type is set
It sets on hand support (10) plate.
3. according to claim 2 wearable four refer to device for healing and training, it is characterised in that：The nearly finger supporting rod
(22) outer wall is hingedly provided with the first drive link (222) and articulated shaft is parallel with the articulated shaft of the first transmission rod (212), and first passes
The other end universal hinging of lever (222) is arranged on power transmission sliding block (30).
4. according to claim 3 wearable four refer to device for healing and training, it is characterised in that：First adjusting rod
(215) it is provided with square tube type chamber, the first connecting rod (216) and the connecting pin shaft of the first adjusting rod (215) are arranged to square column
Shape structure, first connecting rod (216) are plugged in the square tube type tube chamber of the first adjusting rod (215), the outer wall of the first adjusting rod (215)
It is provided with the first adjusting bolt (2151), first drive link (222) is provided with square tube type chamber, the first drive link (222)
Square tube type chamber is plugged with the second adjusting rod (218), and the second adjusting rod (218) and the inserted terminal of the first drive link (222) are arranged to
Flat column structure, the other end and the power transmission sliding block (30) of the second adjusting rod (218) constitute ball-joint cooperation, the first drive link
(222) outer wall is provided with the second adjusting bolt (2221).
5. according to claim 4 wearable four refer to device for healing and training, it is characterised in that：The driving mechanism includes
The lead screw (31) being arranged in rack (40), lead screw (31) constitute lead screw screw mechanism, one end of lead screw (31) with driving nut
It is provided with driving motor (32), driving motor (32) drives lead screw (31) to rotate, and is slided in rack (40) and is provided with driving strut
(311), the driving strut (311) is connected with blade fin (12).
6. according to claim 5 wearable four refer to device for healing and training, it is characterised in that：The driving strut
(311) being extended on has adjustable plate (312), the plate face of the adjustable plate (312) to be provided with adjusting nut, set in adjusting nut
Adjusting lead screw is set, the bar length direction of lead screw is adjusted vertically and lower end is connected with hand support (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610848735.9A CN106333827B (en) | 2016-09-23 | 2016-09-23 | Wearable four refer to device for healing and training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610848735.9A CN106333827B (en) | 2016-09-23 | 2016-09-23 | Wearable four refer to device for healing and training |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106333827A CN106333827A (en) | 2017-01-18 |
| CN106333827B true CN106333827B (en) | 2018-10-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610848735.9A Active CN106333827B (en) | 2016-09-23 | 2016-09-23 | Wearable four refer to device for healing and training |
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| CN (1) | CN106333827B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102017127892A1 (en) * | 2017-11-24 | 2019-05-29 | Ottobock Se & Co. Kgaa | Hand orthosis and system with a hand orthosis |
| CN107874886A (en) * | 2017-12-29 | 2018-04-06 | 付记乐 | A kind of easy adjusted type traction brace |
| CN108524196B (en) * | 2018-05-08 | 2024-04-09 | 合肥工业大学 | Hand function exercise driving device |
| CN108814898B (en) * | 2018-05-08 | 2023-10-31 | 合肥工业大学 | Hand function rehabilitation training system |
| CN110916884B (en) * | 2019-12-03 | 2021-07-13 | 重庆万州川东骨科医院有限公司 | Claw-shaped hand therapeutic device |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7862522B1 (en) * | 2005-08-08 | 2011-01-04 | David Barclay | Sensor glove |
| CN102579227B (en) * | 2012-02-28 | 2014-01-29 | 浙江大学 | Hand and wrist exoskeleton rehabilitation training device |
| CN102895091B (en) * | 2012-11-01 | 2014-05-28 | 上海理工大学 | Wearable portable power exoskeleton hand function rehabilitation training device |
| CN104306134A (en) * | 2014-10-15 | 2015-01-28 | 上海理工大学 | Portable multi-mode controlled hand function rehabilitation training device |
| CN105457236B (en) * | 2015-12-29 | 2017-12-01 | 中国科学院深圳先进技术研究院 | Rehabilitation training hand and recovery training method |
| CN206315259U (en) * | 2016-09-23 | 2017-07-11 | 合肥工业大学 | Wearable four refer to device for healing and training |
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| CN106333827A (en) | 2017-01-18 |
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