CN111317975A

CN111317975A - Finger rehabilitation mechanism

Info

Publication number: CN111317975A
Application number: CN202010130721.XA
Authority: CN
Inventors: 别东洋; 韩建达; 甄旭佳
Original assignee: Nankai University
Current assignee: Nankai University
Priority date: 2020-02-28
Filing date: 2020-02-28
Publication date: 2020-06-23
Anticipated expiration: 2040-02-28
Also published as: CN111317975B

Abstract

A finger rehabilitation mechanism comprises a flexible screw, a flexible deformation body and a motor; one end of the flexible screw is connected with the output end of the motor, a convex edge with an unthreaded hole is formed in the flexible deformation body bound with the finger, the thread section of the flexible screw is arranged in the unthreaded hole, the tail end of the flexible deformation body is provided with a fixing part with a limiting hole, the other end of the flexible screw is arranged in the limiting hole and is axially limited, and the flexible screw winds the limiting hole can rotate. The invention adopts the combination of the rotating flexible screw and the flexible deformation body, converts the rotating motion of the motor into the accurate control of linear motion through the screw, and realizes the bending action of the finger-like body by utilizing the self-adaptability of the flexible material. The invention is used for the rehabilitation of the finger with nerve damage.

Description

Finger rehabilitation mechanism

Technical Field

The invention relates to a rehabilitation mechanism, in particular to a rigid and flexible finger rehabilitation mechanism with controllable bidirectional motion.

Background

At present, an active training mechanism for the rehabilitation of a finger with a nerve damaged has two main forms of rigidity and pneumatic flexibility, the finger can be actively driven to bend and straighten in a rigid structure at the same time, but the rigid structure is too rigid, the active hand action of a patient cannot be adapted in a follow-up manner, and a sensing system and a control system in the rigid structure adopting a force control mode are too complex; and the pneumatic flexible rehabilitation structure is suitable for point-to-point process movement due to the impact effect of air pressure, and cannot meet the control of any point position of the finger in the rehabilitation process.

Disclosure of Invention

The invention provides a rigid and flexible finger rehabilitation mechanism with controllable bidirectional movement, aiming at overcoming the defects of the prior art. The finger rehabilitation mechanism adopts the combination of a rotary flexible screw and a flexible deformation body, converts the rotary motion of a motor into the accurate control of linear motion through the screw, and realizes the bending action of the finger-like body by utilizing the self-adaptability of a flexible material.

A finger rehabilitation mechanism comprises a flexible screw, a flexible deformation body and a motor; one end of the flexible screw is connected with the output end of the motor, a convex edge with an unthreaded hole is formed in the flexible deformation body bound with the finger, the thread section of the flexible screw is arranged in the unthreaded hole, the tail end of the flexible deformation body is provided with a fixing part with a limiting hole, the other end of the flexible screw is arranged in the limiting hole and is axially limited, and the flexible screw winds the limiting hole can rotate.

Compared with the prior art, the invention has the beneficial effects that:

the combination of a rotary flexible screw and a flexible deformation body is adopted, the rotary motion of a motor is converted into the accurate control of linear motion through the screw, and the bending action of the finger-like body is realized by utilizing the self-adaptability of a flexible material. Realizes the active and accurate control of the forward and reverse movement (bending and straightening of fingers) in the rehabilitation process. The invention has the accuracy of rigid rehabilitation and the safety of a flexible rehabilitation structure.

The technical scheme of the invention is further explained by combining the drawings and the embodiment:

drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a top view of the present invention;

fig. 3 is a sectional view taken along line H-H in fig. 2.

Detailed Description

Referring to fig. 1 to 3, the finger rehabilitation mechanism of the present embodiment includes a flexible screw 1, a flexible deformable body 2, and a motor 3; one end of a flexible screw rod 1 is connected with the output end of a motor 3, a convex rib 2-1 with a unthreaded hole 2-11 is arranged on a flexible deformation body 2 bound with a finger, a thread section of the flexible screw rod 1 is arranged in the unthreaded hole 2-11, a fixing part 2-2 with a limiting hole 2-21 is arranged at the tail end of the flexible deformation body 2, the other end of the flexible screw rod 1 is arranged in the limiting hole 2-21 and is axially limited, and the flexible screw rod 1 can rotate around the limiting hole 2-21.

As an example: the rib 2-1 and the flexible deformation body 2 are integrally cast, and preferably, the flexible screw rod 1 is made of nylon. The flexible deformation body 2 is made of rubber. The limiting holes 2-21 are stepped holes, the middle diameter is large, the two ends are small, and the other end of the flexible screw rod 1 is matched with the limiting holes.

In order to fix the finger, as shown in fig. 1 and 3, the flexible deformation body 2 is a circular arc-shaped plate. At this time, the recovered finger is fixed to the inner side of the circular arc plate.

Usually, the motor 3 is fixed on the arm, and is not rigidly fixed with the hand, and the wrist can move freely. The pitch of the flexible screw 1 is slightly changed when the flexible screw is bent, but the thread matching part is not influenced, and the convex rib 2-1 with the unthreaded hole at the finger end is a nut which is equivalent to rigidity and does not influence the rotation of the flexible screw 1. In order to bear the torque when the screw rotates and ensure the extension and contraction of the flexible screw in the length direction, a base 4 for binding an arm is arranged on the flexible deformable body 2, the base 4 is fixedly connected with the flexible deformable body 2, and the base 4 and the fixed part 2-2 are oppositely arranged. A base 4 for fixing the motor 3 is also provided on the motor 3 side.

As shown in fig. 1 and fig. 3, in order to improve the dynamic performance of the shafting, the output end of the motor 3 is connected with one end of the flexible screw 1 through the coupling 5. A coupling 5 is provided to ensure the reliability of the movement. The output end of the motor 3 is connected with a speed reducer 6 to regulate and control the output rotating speed. The coupling 5 is respectively connected with the flexible screw 1 and the speed reducer 6.

Principle of operation

The recovered finger is fixed with the inner side of the flexible deformable body 2, the rotary motion of the motor 3 is transmitted to the flexible screw 1 through the speed reducer 6 to the coupler 5 and the coupler 5, the rotation of the flexible screw 1 is converted into the linear motion between the flexible screw 1 and the axial fixing part 2-2 through the convex edges 2-1, due to the constraint effect of the unthreaded holes 2-11, the flexible screw 1 is limited by the fixing part 2-2 and can only freely rotate in the limiting holes 2-21, the linear motion of the flexible screw 1 between the convex edges 2-1 and the fixing part 2-2 is converted into the bending motion between the flexible screw 1 and the flexible deformable body 2, and when the distance of the flexible screw 1 between the convex edges 2-1 and the fixing part 2-2 is increased, the flexible deformable body 2 realizes the forward bending as shown in figure 3; when the motor 3 rotates reversely and the distance of the flexible screw 1 between the convex edge 2-1 and the fixed part 2-2 is shortened, the flexible deformation body 2 is driven to bend in the opposite direction. The precise bending control of the flexible deformation body 2 can be realized due to the precise and stable control of the rotation of the motor 3 and the spiral transmission; the flexible screw 1 and the flexible deformation body 2 are arranged in parallel, so that the rigidity requirement in the bending rehabilitation process can be ensured; meanwhile, the passive adaptation of the flexible deformation body 2 to the active motion of the rehabilitation target is utilized to realize the safety protection function of the treatment target of the active rehabilitation and the passive adaptation.

The number of the convex ribs 2-1 and the number of the threaded holes can be increased or decreased according to needs, three convex ribs 2-1 are adopted as shown in figure 3, and if the distance between the convex rib 2-1 and the fixed part 2-2 is long, the convex rib 2-1 can be added to limit the deformation of the flexible screw rod 1.

The present invention is not limited to the above embodiments, and those skilled in the art can make various changes and modifications without departing from the scope of the invention.

Claims

1. A finger rehabilitation mechanism is characterized in that: the device comprises a flexible screw (1), a flexible deformation body (2) and a motor (3);

one end of a flexible screw rod (1) is connected with the output end of a motor (3), a convex rib (2-1) with a unthreaded hole (2-11) is arranged on a flexible deformation body (2) bound with a finger, the thread section of the flexible screw rod (1) is arranged in the unthreaded hole (2-11), a fixing part (2-2) with a limiting hole (2-21) is arranged at the tail end of the flexible deformation body (2), the other end of the flexible screw rod (1) is arranged in the limiting hole (2-21) and is axially limited, and the flexible screw rod (1) can rotate around the limiting hole (2-21).

2. The finger rehabilitation mechanism according to claim 1, wherein: the flexible screw (1) is made of nylon.

3. The finger rehabilitation mechanism according to claim 2, wherein: the flexible deformation body (2) is made of rubber.

4. The finger rehabilitation mechanism according to claim 3, wherein: the finger rehabilitation mechanism further comprises a base (4) for binding the arm, the base (4) is fixedly connected with the flexible deformation body (2), and the base (4) and the fixing part (2-2) are arranged oppositely.

5. The finger rehabilitation mechanism according to claim 4, wherein: the flexible deformation body (2) is an arc-shaped plate.

6. The finger rehabilitation mechanism according to claim 5, wherein: the output end of the motor (3) is connected with one end of the flexible screw (1) through a coupler (5).

7. The finger rehabilitation mechanism according to claim 6, wherein: the finger rehabilitation mechanism further comprises a base (4) for fixing the motor (3).