CN115517908B - Finger wrist rehabilitation training robot - Google Patents
Finger wrist rehabilitation training robot Download PDFInfo
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- CN115517908B CN115517908B CN202210660538.XA CN202210660538A CN115517908B CN 115517908 B CN115517908 B CN 115517908B CN 202210660538 A CN202210660538 A CN 202210660538A CN 115517908 B CN115517908 B CN 115517908B
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- 210000000707 wrist Anatomy 0.000 title claims abstract description 66
- 238000012549 training Methods 0.000 title claims abstract description 36
- 210000003811 finger Anatomy 0.000 claims description 201
- 238000005452 bending Methods 0.000 claims description 43
- 230000007246 mechanism Effects 0.000 claims description 27
- 210000003813 thumb Anatomy 0.000 claims description 19
- 230000033001 locomotion Effects 0.000 claims description 16
- 210000004932 little finger Anatomy 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 5
- 210000001145 finger joint Anatomy 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 3
- 210000001364 upper extremity Anatomy 0.000 abstract description 6
- 208000027418 Wounds and injury Diseases 0.000 description 12
- 244000060701 Kaempferia pandurata Species 0.000 description 7
- 235000016390 Uvaria chamae Nutrition 0.000 description 7
- 230000009471 action Effects 0.000 description 6
- 238000013519 translation Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 241000203475 Neopanax arboreus Species 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 230000009351 contact transmission Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 230000008733 trauma Effects 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
- A61H1/02—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
-
- 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
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- 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)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a finger wrist rehabilitation training robot which comprises a mounting bottom plate, an arm adjusting module connected with the mounting bottom plate, a wrist adjusting module connected with the arm adjusting module and a hand adjusting module connected with the wrist adjusting module, wherein the arm adjusting module is connected with the arm adjusting module; the hand adjusting module comprises a plurality of driving motors and ropes wound at the output ends of the driving motors, wherein the ropes are connected with joints of the five fingers in one-to-one correspondence, so that the driving motors drive the five fingers to move through traction ropes, and the driving motors are fixed on the mounting bottom plate. The invention can realize the rehabilitation training of the whole upper limb part, the hand adjusting module controls the five fingers to move through the traction rope, replaces the original connecting rod connecting structure, can extend the rope at will, does not need to be arranged at the finger part, can be arranged on a relatively open mounting bottom plate, thereby simplifying the structure of the finger part and having higher flexibility of rope traction.
Description
Technical Field
The invention relates to the technical field of medical rehabilitation instruments, in particular to a finger wrist rehabilitation training robot.
Background
In the rehabilitation training of the finger wrist rehabilitation training robot for the upper limb function recovery of the upper limb paralyzed patient caused by the reasons of middle wind, cerebral trauma and the like, compared with the traditional manual auxiliary rehabilitation mode of a rehabilitation engineer, the finger wrist rehabilitation training robot has the advantages of being capable of accurately reproducing rehabilitation actions, being capable of easily realizing continuous passive rehabilitation, combining active and passive rehabilitation training and the like. The key point of the upper limb rehabilitation training is that the rehabilitation training of the finger part is focused, so that the prior art is mostly focused on the research and development of the finger rehabilitation robot, little attention is paid to the joint adjustment of the wrist, secondly, the finger rehabilitation robot in the prior art mainly depends on a connecting rod structure to realize the bending adjustment of the joint, the connecting rod structure needs a power source to be in direct contact transmission with the connecting rod, the flexibility of the connecting rod is lower, the parts of the finger part are more, the structure is too compact, the weight is too large, the operation difficulty is higher, the movement of each joint needs the accurate coordination between the power sources to realize the linkage, in fact, when the actions such as grasping, opening and the like are carried out, each joint on each finger is mutually linked, if the linkage effect is poor, the actions cannot be smoothly executed, and therefore, the finger rehabilitation training robot which can realize the integral adjustment of the upper limb, simplify the connecting structure of the finger part and improve the finger part adjustment flexibility needs to be designed.
Disclosure of Invention
In order to solve the technical problems that in the prior art, a finger wrist rehabilitation training robot mainly depends on a connecting rod structure to realize bending adjustment of joints, the connecting rod structure needs a power source to be in direct contact with the connecting rod for transmission, and the connecting rod is low in flexibility, so that parts of finger parts are more, the structure is too compact, the weight is too large, and the operation difficulty is high, the invention provides the finger wrist rehabilitation training robot to solve the problems.
The technical scheme adopted for solving the technical problems is as follows: a finger wrist rehabilitation training robot comprises a mounting bottom plate, an arm adjusting module connected with the mounting bottom plate, a wrist adjusting module connected with the arm adjusting module and a hand adjusting module connected with the wrist adjusting module; the hand adjusting module comprises a plurality of driving motors and ropes wound at the output ends of the driving motors, wherein the ropes are connected with joints of the five fingers in one-to-one correspondence, so that the driving motors drive the five fingers to move through traction ropes, and the driving motors are fixed on the mounting bottom plate.
Further, the hand adjusting module comprises a palm plate connected with the wrist adjusting module and five finger adjusting modules respectively connected with the palm plate; each finger part adjusting module comprises a plurality of joint finger sleeves corresponding to the number of finger joints and a finger bending adjusting mechanism in sliding connection with two adjacent joint finger sleeves; each finger bending adjusting mechanism comprises two sliding seats and a hinge shaft hinged with the two sliding seats at the same time, the ropes on the driving motor corresponding to the finger bending adjusting mechanism are wound on the hinge shaft in a one-to-one correspondence manner, and the two sliding seats are respectively connected with two adjacent joint finger sleeves in a sliding manner.
Further, the five finger adjusting modules are respectively a thumb adjusting module, an index finger adjusting module, a middle finger adjusting module, a ring finger adjusting module and a little finger adjusting module; four groups of first connecting components which are respectively connected with the index finger adjusting module, the middle finger adjusting module, the ring finger adjusting module and the little finger adjusting module are arranged on the palm plate.
Each group of first connecting components comprises an upper adjusting frame, a lower adjusting frame, an arc-shaped rack, a driving gear and a driving shaft, wherein the arc-shaped rack is connected with a joint finger sleeve close to a palm plate, the driving gear and the driving shaft are both rotationally connected with the upper adjusting frame and the lower adjusting frame, the driving gear is in transmission connection with the driving shaft, the arc-shaped rack is meshed with the driving gear, and a rope on a driving motor corresponding to the first connecting components is wound on the driving shaft.
Further, each group of the first connecting components further comprises a finger expanding block, an inclined chute and a thrust sliding block, the upper and lower adjusting frames are connected with the finger expanding blocks, the finger expanding blocks are rotationally connected with the palm plate, the rotating plane of the finger expanding blocks is parallel to the plane of the palm plate, the thrust sliding blocks are in sliding connection with the finger expanding blocks, a reset spring is arranged between the thrust sliding blocks and the finger expanding blocks, one end of a rope is fixed on the thrust sliding blocks, and the other end of the rope penetrates through the reset spring to be connected with a corresponding driving motor; the connecting lines between the two ends of the length direction of the inclined chute and the rotation center of the finger expansion block are not on the same straight line.
Further, the palm plate is also provided with a second connecting component, the second connecting component comprises a first front swing rod and a back swing rod, a first upper swing rod, a second left swing rod and a second right swing rod which are connected in turn in a rotating way, the first front swing rod and the back swing rod are connected with the palm plate in a rotating way and rotate in the plane of the palm plate, the thumb adjusting module is characterized in that joint finger sleeves, which are close to the first left and right swing rods, are in sliding connection with the first left and right swing rods, and locking screws are arranged at rotation connection positions of the palm plate, the first front and rear swing rods, the first upper and lower swing rods and the first left and right swing rods.
Further, the arm adjusting module comprises an arm fixing frame, a large arm sleeve and an arm overturning ring, the arm fixing frame is fixed on the mounting bottom plate, the large arm sleeve is fixedly connected with the arm fixing frame, a first rotating motor is fixed on the large arm sleeve, a rotating shaft of the first rotating motor is parallel to the extending direction of the arm, the arm overturning ring is driven to rotate by the first rotating motor, an annular sliding groove in sliding fit with the large arm sleeve is formed in the arm overturning ring, the central shaft of the annular sliding groove is coaxial with the rotation center of the arm overturning ring, and the arm overturning ring is connected with the wrist adjusting module so that the first rotating motor drives the wrist adjusting module to rotate.
Further, in each finger adjusting module, a rope connected with the hinge shaft and a rope connected with the driving shaft are wound on an output shaft of the same driving motor together.
Further, four ropes connected with the thrust sliding blocks in the four groups of first connecting assemblies are wound on the output shaft of the same driving motor together.
Further, the wrist adjusting module comprises a horizontal swing rod, a second upper swing rod, a second lower swing rod and a second left swing rod which are connected in sequence in a rotating mode, the horizontal swing rod is fixedly connected with the arm overturning ring, a first driving mechanism for driving the second upper swing rod and the second lower swing rod to swing up and down is arranged on the horizontal swing rod, a second driving mechanism for driving the second left swing rod and the second left swing rod to swing left and right is arranged on the second upper swing rod and the second lower swing rod, and the second left swing rod are connected with the hand adjusting module.
Further, the lifting frame drives the mounting bottom plate to do lifting motion.
The beneficial effects of the invention are as follows:
(1) The finger wrist rehabilitation training robot is provided with the arm adjusting module, the wrist adjusting module and the hand adjusting module, so that rehabilitation training of the whole upper limb part can be realized, the hand adjusting module controls five-finger movement through the traction rope to replace an original connecting rod connecting structure, the rope can be extended randomly, the driving motor does not need to be arranged at the finger part and can be arranged on a relatively open mounting bottom plate, the structure of the finger part is simplified, and the flexibility of rope traction is higher.
(2) According to the finger wrist rehabilitation training robot, the finger bending adjusting mechanisms are arranged between the adjacent joints on each finger, the rope is wound on the hinge shaft of each finger bending adjusting mechanism, and the adjacent joints rotate relatively through the bidirectional rotation of the corresponding driving motor, so that the finger wrist rehabilitation training robot is simple in structure and convenient to operate.
(3) According to the finger wrist rehabilitation training robot, bending of the root of the finger is achieved through the cooperation of the arc-shaped racks and the driving gear, compared with direct hinging through the hinging shaft, the arc-shaped racks are adopted for transition, so that the space between the finger and the palm can be enlarged, and the space is reserved for expanding the finger.
(4) According to the finger wrist rehabilitation training robot, each joint in each finger part adjusting module can be connected with the same driving motor, so that mutual linkage is realized, and the actions such as grasping, opening and the like are smooth.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a perspective view of a specific embodiment of a finger wrist rehabilitation training robot according to the present invention;
FIG. 2 is a front view of a specific embodiment of a finger wrist rehabilitation training robot according to the present invention;
FIG. 3 is a sectional view taken along E-E of FIG. 2;
FIG. 4 is a perspective view (from the left) of the hand adjustment module of the present invention;
FIG. 5 is an enlarged view of FIG. 4 at a;
FIG. 6 is a perspective view (from the right) of the hand adjustment module of the present invention;
FIG. 7 is an enlarged view at b of FIG. 6;
FIG. 8 is a top view of a hand adjustment module of the present invention;
FIG. 9 is a front view of a hand adjustment module of the present invention;
FIG. 10 is a cross-sectional view taken along line A-A of FIG. 8;
FIG. 11 is a B-B cross-sectional view of FIG. 8;
FIG. 12 is a D-D sectional view of FIG. 9;
fig. 13 is a perspective view of an arm adjustment module and a wrist adjustment module (arm mount not shown) in the present invention;
fig. 14 is a perspective view of an arm adjustment module and a wrist adjustment module (arm mount not shown) in the present invention;
FIG. 15 is a cross-sectional view in the F-F direction of FIG. 2;
Fig. 16 is a schematic view of a crane in accordance with the present invention.
In the figure, 1, a mounting baseplate, 2, an arm adjusting module, 201, an arm fixing frame, 202, a big arm sleeve, 203, an arm overturning ring 2031, an annular chute, 204, a first rotating motor, 205, a backboard, 3, a wrist adjusting module, 301, a horizontal swinging rod, 302, a second upper and lower swinging rod, 303, a second left and right swinging rod, 304, a first driving mechanism, 305, a second driving mechanism, 4, a hand adjusting module, 401, a palm plate, 402, a thumb adjusting module, 403, an index finger adjusting module, 404, a middle finger adjusting module, 405, a ring finger adjusting module, 406, a little finger adjusting module, 5, a finger bending adjusting mechanism, 501, a hinge shaft, 502, a sliding seat, 6, a locking screw, 7, a binding band hole, 8, a joint finger sleeve, 9, driving motor, 10, first coupling assembling, 1001, upper and lower regulating frame, 1002, arc rack, 1003, driving gear, 1004, driving shaft, 1005, belt, 1006, rack slide rail, 1007, finger expanding block, 1008, inclined chute, 1009, thrust slider, 10091, bump, 10092, guide pillar, 1010, first rotating shaft, 1011, return spring, 1012, limit post, 1013, translational chute, 11, inter-finger bending wire, 12, finger bending wire, 14, expanding wire, 15, second coupling assembling, 1501, first front and rear swing rod, 1502, first upper and lower swing rod, 1503, first left and right swing rod, 1504, second rotating shaft, 16, lifting frame 1601, lifting post, 1602, second rotating motor, 1603, rotating screw rod.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
As shown in fig. 1-3, a finger wrist rehabilitation training robot comprises a mounting base plate 1, an arm adjusting module 2, a wrist adjusting module 3 and a hand adjusting module 4, wherein the arm adjusting module 2 is connected with the mounting base plate 1, the wrist adjusting module 3 is connected with the arm adjusting module 2, the hand adjusting module 4 is connected with the wrist adjusting module 3, the arm adjusting module 2 is used for fixing an arm and adjusting the state of the arm, the arm adjusting module 2 can drive the wrist adjusting module 3 and the hand adjusting module 4 to move together, the wrist adjusting module 3 is used for adjusting the movement of the wrist, and the wrist adjusting module 3 can drive the hand adjusting module 4 to move together, and the hand adjusting module 4 is used for adjusting the movement of each finger joint. The hand adjusting module 4 comprises a plurality of driving motors 9 and ropes wound at the output ends of the driving motors 9, wherein the ropes are connected with all joints of the five fingers in a one-to-one correspondence mode, so that the driving motors 9 drive the five fingers to move through traction ropes, and the driving motors 9 are fixed on the mounting base plate 1. The five fingers are five fingers, and as the joints of the finger parts are more and the distances between the joints are shorter, the invention adopts the rope to drive the joint parts to move, compared with the traditional connecting rod structure, the rope has small occupied space and better flexibility, can be bent and turned and extended at will, and the driving motor 9 can be arranged on the installation base 1 with larger space, thereby reducing the bearing of the hand adjusting module 4.
The terms "up and down", "left and right", "front and rear", which represent the movement directions in the present invention, refer to the movement of each adjustment module in the direction of parallel gravity, the movement along the left and right sides of the palm, and the movement along the front and rear directions of the palm, respectively, when the palm core of the finger wrist rehabilitation training robot is downward.
Example 1
A finger wrist rehabilitation training robot comprises a mounting bottom plate 1, an arm adjusting module 2, a wrist adjusting module 3 and a hand adjusting module 4.
The hand adjusting module 4 comprises a palm plate 401 connected with the wrist adjusting module 3 and five finger adjusting modules respectively connected with the palm plate 401; the finger part adjusting module can realize bending and expansion of finger root parts and bending of finger parts, wherein the finger root refers to joint parts between fingers, the finger part refers to joint parts inside the fingers, and the expansion of the finger root refers to mutual approaching or mutual separating between adjacent fingers.
For the bending between the fingers, this can be achieved by the following structure: each finger part adjusting module comprises a plurality of joint finger sleeves 8 corresponding to the number of finger joints and a finger bending adjusting mechanism 5 in sliding connection with two adjacent joint finger sleeves 8; each finger bending adjustment mechanism 5 comprises two sliding seats 502 and a hinge shaft 501 hinged with the two sliding seats 502 at the same time, the ropes on the driving motor 9 corresponding to the finger bending adjustment mechanism 5 are wound on the hinge shaft 501 in a one-to-one correspondence manner, and the two sliding seats 502 are respectively and slidably connected with the two adjacent joint finger sleeves 8. Each joint dactylotheca 8 cover is on a finger joint, and joint dactylotheca 8 is half open structure, and two corresponding limits of joint dactylotheca 8 are equipped with bandage hole 7, and after the dactylotheca is in joint dactylotheca 8, utilize the bandage to fix the finger on joint dactylotheca 8, and slide holder 502 can be when initially placing the finger, adjusts the distance between the adjacent joint dactylotheca 8 according to the length of finger, after the regulation is accomplished, utilizes locking screw 6 to fix slide holder 502 and joint dactylotheca 8. As shown in fig. 4, 5,6 and 8, the back of the palm is attached to the palm plate 401, the back of the finger is attached to the knuckle finger stall 8, the finger bending adjustment mechanism 5 is arranged above the back of the finger, and the five finger adjusting modules are respectively a thumb adjusting module 402, an index finger adjusting module 403, a middle finger adjusting module 404, a ring finger adjusting module 405 and a little finger adjusting module 406, wherein the thumb adjusting module 402 has only one joint, so that the thumb adjusting module 402 is provided with two knuckle finger stalls 8 and one finger bending adjustment mechanism 5, and the index finger adjusting module 403, the middle finger adjusting module 404, the ring finger adjusting module 405 and the little finger adjusting module 406 all have two joints, so that three knuckle finger stalls 8 and two finger bending adjustment mechanisms 5 are all arranged. The two ends of the rope are fixed on the output shaft of the driving motor 9, the middle part of the rope is wound on the hinge shaft 501, and the fingers are upwards lifted when the driving motor 9 rotates forwards, and are downwards bent when the driving motor 9 rotates backwards.
The rope on each hinge shaft 501 can be connected with different driving motors 9, at this time, the movement of each joint is independent, in fact, when the finger makes bending movement, each joint is necessarily linked, and the hand adjusting module 4 in this embodiment is used for realizing the training of stretching, grasping and the like of the finger, and each joint in the same finger needs to be slowly bent or straightened in the process of stretching and grasping the finger. Therefore, the finger bending adjusting mechanism 5 on the same finger adjusting module in the embodiment is connected with the same driving motor 9, and when the driving motor 9 rotates, all the ropes on the finger adjusting module are driven to move at the same time, so that the finger adjusting module drives the corresponding finger to complete continuous motion of straightening to bending, and no clamping and joint pulling phenomenon exists.
For bending adjustment of the finger root, the index finger adjustment module 403, the middle finger adjustment module 404, the ring finger adjustment module 405 and the little finger adjustment module 406 all adopt the same structure, and because the difference between the positions and the bending angles of the thumb and other fingers is large, the bending structure of the finger root of the big finger adjustment module 402 is different from that of the other four finger adjustment modules, and the bending modes of the finger root of the index finger adjustment module 403, the middle finger adjustment module 404, the ring finger adjustment module 405 and the little finger adjustment module 406 are described below: as shown in fig. 5 and fig. 7-11, four groups of first connecting components 10 are installed on the palm plate 401, each group of first connecting components 10 comprises an upper adjusting frame 1001, a lower adjusting frame 1001, an arc-shaped rack 1002, a driving gear 1003 and a driving shaft 1004, the arc-shaped rack 1002 is connected with a joint finger sleeve 8 close to the palm plate 401, the driving gear 1003 and the driving shaft 1004 are both rotationally connected with the upper adjusting frame 1001 and the lower adjusting frame 1001, the driving gear 1003 is in transmission connection with the driving shaft 1004, the arc-shaped rack 1002 is meshed with the driving gear 1003, and a rope on a driving motor 9 corresponding to the first connecting components 10 is wound on the driving shaft 1004.
Taking the index finger adjusting module 403 shown in fig. 4 and fig. 5 as an example, the tooth portion of the arc-shaped rack 1002 is located at the inner side of the circumference of the arc-shaped rack 1002, the front end of the arc-shaped rack 1002 is fixedly connected with the joint finger sleeve 8 of the index finger adjusting module 403, the driving gear 1003 and the driving shaft 1004 are arranged on the upper and lower adjusting frames 1001 and are driven by the belt 1005, the upper and lower adjusting frames 1001 are internally fixed with the rack slide rail 1006, the arc-shaped rack 1002 is limited in the rack slide rail 1006, and when one end of a rope connected with the driving shaft 1004 is pulled, the driving shaft 1004 is driven to rotate, so that the driving gear 1003 rotates, and the arc-shaped rack 1002 is driven to move along the rack slide rail 1006. Because the palm is basically immobilized at the finger root, the bending amplitude of the joint dactylotheca 8 relative to the palm plate 401 is larger, and the movement stroke of the arc-shaped rack 1002 is larger relative to the hinge shaft 501 at the inter-finger bending adjustment position, so that the large-angle bending of the joint dactylotheca 8 relative to the palm plate 401 can be satisfied.
When the rope wound on the hinge shaft 501 is the inter-finger bending rope 11, the rope wound on the driving shaft 1004 is the inter-finger bending rope 12, and when the gripping operation is performed, the inter-finger joint and the inter-finger joint need to bend together, so that the two inter-finger bending ropes 11 and the one inter-finger bending rope 12 in the index finger adjusting module 403 are wound on the same driving motor 9, three ropes are wound on the output shaft of the driving motor 9, similarly, three ropes are also wound on the driving motor 9 connected with the middle finger adjusting module 404, the ring finger adjusting module 405 and the little finger adjusting module 406 respectively, and three ropes are wound on the four driving motors 9 from left to right in fig. 3, which correspond to the little finger adjusting module 406, the ring finger adjusting module 405, the middle finger adjusting module 404 and the index finger adjusting module 403 respectively.
In order to realize expansion and convergence among the index finger adjusting module 403, the middle finger adjusting module 404, the ring finger adjusting module 405 and the little finger adjusting module 406, taking the index finger adjusting module 403 as an example, the first connecting component 10 in this embodiment further comprises a finger expanding block 1007, an inclined chute 1008 and a thrust slider 1009, the upper and lower adjusting frames 1001 are connected with the finger expanding block 1007 through a rotating shaft, when in initial installation, the positions of the upper and lower adjusting frames 1001 can be adjusted according to individual requirements, after the adjustment is completed, the upper and lower adjusting frames 1001 are fixed with the finger expanding block 1007 to inhibit rotation thereof, the finger expanding block 1007 is connected with the palm 401 in a rotating way, the rotating plane of the finger expanding block 1007 is parallel to the plane of the palm 401, the thrust slider 1009 is connected with the finger expanding block 1007 in a sliding way, a reset spring 1011 is arranged between the thrust slider 1009 and the finger expanding block 1007, one end of a rope is fixed on the thrust slider 1009, and the other end of the rope passes through the reset spring 1011 and is connected with a corresponding driving motor 9; the two ends of the inclined chute 1008 in the longitudinal direction are not in the same line with the rotation center of the finger expansion block 1007.
As shown in fig. 7, 10 and 12, the front part of the finger expanding block 1007 is rotatably connected with the palm plate 401 through a first rotating shaft 1010, the rear part of the finger expanding block 1007 is in a rectangular frame structure, two sides of the rectangular frame structure are provided with translation sliding grooves 1013, a thrust sliding block 1009 is clamped in the rectangular frame structure, two sides of the thrust sliding block 10091 are matched with the translation sliding grooves 1013, the inclined sliding groove 1008 is fixed on the palm plate 401 and is positioned below the thrust sliding block 1009, the thrust sliding block 1009 is downwards extended with a guide pillar 10092, the guide pillar 10092 is inserted in the inclined sliding groove 1008, the inclined sliding groove 1008 is in a waist-round structure, and gradually inclines towards the center of the palm plate 401 from front to back, when the guide pillar 10092 is positioned at the forefront end of the inclined sliding groove 1008, the translation sliding groove 1013 extends in the front-back direction, at the moment, the index finger adjusting module 403 integrally extends in the front-back direction, when the index finger adjusting module 1011 is retracted, the guide pillar 10092 gradually moves towards the rear of the inclined sliding groove 1008, and the finger expanding block 1007 rotates around the first rotating shaft 1010 under the action of the thrust sliding block 1009 until the guide pillar 10092 reaches the rear end of the inclined sliding groove 1008, the index finger adjusting module 403 is parallel to the outer side of the inclined sliding groove 403.
The first connection assembly 10 of the middle finger adjustment module 404, the ring finger adjustment module 405, and the little finger adjustment module 406 is substantially the same as the index finger adjustment module 403, and only the inclination angle of the inclined chute 1008 is slightly different, and the description thereof will not be repeated. With the cord connected to the pushing force slider 1009 being the expanding cord 14, since the index finger adjusting module 403, the middle finger adjusting module 404, the ring finger adjusting module 405 and the little finger adjusting module 406 are simultaneously opened or closed when the grasping and opening operations are performed, the present embodiment preferably connects the four expanding cords 14 connected to the four pushing force sliders 1009 to the same driving motor 9, that is, to the sixth driving motor 9 in fig. 3.
A plurality of fixing buckles through which the cords pass can be provided on the connecting paths of the inter-finger bending cords 11, the finger bending cords 12 and the expanding cords 14, so that the respective cords are not interfered with each other and are orderly arranged.
The invention is focused on the bending and straightening training of the finger part, and does not need to carry out pen holding or clamping operation, so that a non-automatic adjustable structure is adopted for lateral expansion or closing of the thumb adjusting module 402, and the specific structure is as follows: the palm plate 401 is further provided with a second connecting component 15, the second connecting component 15 comprises a first front swing rod 1501, a first upper swing rod 1502, a first lower swing rod 1503, a first front swing rod 1501, a first lower swing rod 1502, a first left swing rod 1503, a first front swing rod 1501, a second rear swing rod 1501, a first upper swing rod 1503, a second upper swing rod 1502, a second upper swing rod 1503, a second left swing rod 1503 and a second lower swing rod 1502, wherein the first front swing rod 1501 and the second front swing rod 1501 are sequentially connected in a rotating mode, the second front swing rod 1501 and the second rear swing rod 1501 are rotated in a plane where the palm plate 401 is located, the joint finger sleeve 8, which is close to the first left swing rod 1503, of the thumb adjusting module 402 is in sliding connection with the first left swing rod 1503, and locking screws 6 are arranged at rotating joints of the palm plate 401 and the first front swing rod 1501 and the first upper swing rod 1502 and the second left swing rod 1503.
As shown in fig. 5, a second rotating shaft 1504 is fixed on the palm plate 401, one end of the first front and rear swing rod 1501 is rotatably sleeved on the second rotating shaft 1504, one end of the first upper and lower swing rod 1502 is rotatably sleeved on the other end of the first front and rear swing rod 1501, one end of the first left and right swing rod 1503 is rotatably sleeved on the other end of the first upper and lower swing rod 1502, the other end of the first left and right swing rod 1503 is fixed with the joint finger sleeve 8, the first front and rear swing rod 1501 and the first left and right swing rod 1503 are both arranged along a horizontal plane, the first left and right swing rod 1503 mainly extends along the left and right directions, the first upper and lower swing rod 1502 is arranged along a vertical plane, when the front end of the first left and right swing rod 1503 swings around the first upper and lower swing rod 1502, the included angle between the distal end of the thumb adjusting module 402 and the palm plate 401 (the included angle between the thumb adjusting module 402 and the palm plate 401 from the view point of fig. 8), that is the first left and right swing rod 1501 extends along the horizontal plane, and the thumb adjusting module 402 can swing around the first thumb plate 401 when the first front end of the thumb plate 401 swings around the horizontal plane, and the thumb plate 401 can swing around the first front and the thumb plate 401. The second connection assembly 15 is mainly used for adjusting the thumb to a proper and comfortable position, and the adjacent rotating connection parts in the second connection assembly 15 are locked by the locking screw 6 after the position adjustment is completed.
Arm adjusting module 2
The arm adjusting module 2 comprises an arm fixing frame 201, a large arm sleeve 202 and an arm overturning ring 203, wherein the arm fixing frame 201 is fixed on the mounting bottom plate 1, the large arm sleeve 202 is fixedly connected with the arm fixing frame 201, a first rotating motor 204 is fixed on the large arm sleeve 202, the rotating shaft of the first rotating motor 204 is parallel to the extending direction of an arm, the arm overturning ring 203 is driven to rotate by the first rotating motor 204, an annular sliding groove 2031 in sliding fit with the large arm sleeve 202 is formed in the arm overturning ring 203, the central shaft of the annular sliding groove 2031 is coaxial with the rotation center of the arm overturning ring 203, and the arm overturning ring 203 is connected with the wrist adjusting module 3 so that the first rotating motor 204 drives the wrist adjusting module 3 to rotate.
As shown in fig. 13 and 14, the arm fixing frame 201 is used for lifting the large arm sleeve 202, the large arm sleeve 202 is used for sleeving a large arm, strap holes 7 are formed in two opposite end faces of the large arm sleeve 202, the large arm can be fixed in the large arm sleeve 202 through straps, the large arm sleeve 202 is fixed on the back plate 205 and is in sliding fit with the arm overturning ring 203 through the back plate 205, the back plate 205 is fixed with the arm fixing frame 201, the back face of the arm is attached to the back plate 205, the rear end of the arm is fixed by the large arm sleeve 202, the front end of the arm is fixed by the hand adjusting module 4, a driving gear is fixed at the output end of the first rotating motor 204, annular teeth meshed with the driving gear and annular grooves in sliding fit with the back plate 205 are fixed in the arm overturning ring 203, and the inner circumferential face of the arm overturning ring 203 is limited by the U-shaped sliding block structure on the back plate 205, so that the arm overturning ring 203 rotates under the condition that the center is unchanged. When the first rotary motor 204 is started, the ring teeth are in meshing motion with respect to the drive gear, thereby rotating the arm-overturning ring 203 around the center of the ring teeth. Adjustment of the arm adjustment module 2 may bring about adjustment of the wrist.
Wrist adjustment module 3
In this embodiment, the wrist adjusting module 3 includes a horizontal swing link 301, a second up-down swing link 302, and a second left-right swing link 303 that are sequentially connected in a rotating manner, where the horizontal swing link 301 is fixedly connected to the arm overturning ring 203, a first driving mechanism 304 that drives the second up-down swing link 302 to swing up and down is disposed on the horizontal swing link 301, and a second driving mechanism 305 that drives the second left-right swing link 303 to swing left and right is disposed on the second up-down swing link 302, and the second left-right swing link 303 is connected to the hand adjusting module 4.
As shown in fig. 13 and 14, the horizontal swing link 301 extends in the front-rear direction, the horizontal swing link 301 is slidably engaged with the arm tilting ring 203, and a locking screw 6 is provided on the sliding engagement surface, so that the length of the horizontal swing link 301 can be adjusted at the time of initial use, and thereafter, the horizontal swing link 301 is locked by the locking screw 6. The second upper and lower swing rods 302 rotate in a vertical plane, the second left and right swing rods 303 rotate in a horizontal plane, the driving mode of the first driving mechanism 304 and the second driving mechanism 305 is the same as that of the arm adjusting module 2, namely, the transmission of motion is realized by utilizing a gear meshing mode, and as shown in fig. 15, two gears meshed with each other are arranged at the joint of the horizontal swing rods 301 and the second upper and lower swing rods 302.
Only the finger bending adjustment mechanism 5 of the wrist adjustment module 3 needs to be connected to the drive motor 9, so that only one inter-finger bending wire 11 is wound in the fifth drive motor 9 in fig. 3.
In summary, under the condition that the arm adjusting module 2 and the wrist adjusting module 3 can jointly fix the arm, the arm is adjusted in three degrees of freedom, which are respectively: inside-out turning of the wrist (i.e., rotation about the length of the wrist), up-and-down adjustment of the wrist, bending of the wrist toward the palm or back of the hand.
Example two
In the first embodiment, when the expanding cord 14 is released, the thrust slider 1009 moves forward under the action of the return spring 1011, the thrust slider 1009 stops only by the limitation of the inclined chute 1008 to the guide post 10092, the size of the inclined chute 1008 changes after long-term use, and the thrust slider 1009 stops instantaneously, and the shearing force applied to the guide post 10092 is larger, therefore, as shown in fig. 12, the limiting post 1012 is mounted on the finger expanding block 1007, the limiting post 1012 is located in front of the thrust slider 1009, and when the guide post 10092 moves to the front end of the inclined chute 1008, the thrust slider 1009 abuts against the limiting post 1012, thereby sharing the stress of the guide post 10092.
Example III
On the basis of the above embodiment, the present embodiment further includes a lifting frame 16 that drives the mounting base plate 1 to move up and down. As shown in fig. 16, the lifting frame 16 includes a lifting column 1601, a second rotating motor 1602 and a rotating screw 1603, the lifting column 1601 is fixedly and slidably connected with the mounting base 1, and the mounting base 1 moves in a vertical direction relative to the lifting column 1601, the rotating screw 1603 is rotatably connected with the lifting column 1601 through bearings at both ends, and the second rotating motor 1602 drives the rotating screw 1603 to rotate, thereby driving the mounting base 1 to lift. The height of the invention can be adjusted according to different heights of users.
In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "inner", "outer", "axial", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the term "connected" should be interpreted broadly, and for example, it may be a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In this specification, a schematic representation of the terms does not necessarily refer to the same embodiment. Furthermore, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments.
With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.
Claims (8)
1. A finger wrist rehabilitation training robot which is characterized in that: the hand adjusting device comprises a mounting bottom plate, an arm adjusting module connected with the mounting bottom plate, a wrist adjusting module connected with the arm adjusting module and a hand adjusting module connected with the wrist adjusting module;
The hand adjusting module comprises a plurality of driving motors and ropes wound at the output ends of the driving motors, wherein the ropes are connected with all joints of the five fingers in a one-to-one correspondence mode, so that the driving motors drive the five fingers to move through traction ropes, and the driving motors are fixed on the mounting bottom plate; the hand adjusting module comprises a palm plate connected with the wrist adjusting module and five finger adjusting modules connected with the palm plate respectively;
Each finger part adjusting module comprises a plurality of joint finger sleeves corresponding to the number of finger joints and a finger bending adjusting mechanism in sliding connection with two adjacent joint finger sleeves; each finger bending adjusting mechanism comprises two sliding seats and a hinge shaft hinged with the two sliding seats at the same time, ropes on driving motors corresponding to the finger bending adjusting mechanisms are wound on the hinge shafts in a one-to-one correspondence manner, and the two sliding seats are respectively connected with two adjacent joint finger sleeves in a sliding manner; the five finger part adjusting modules are respectively a thumb adjusting module, an index finger adjusting module, a middle finger adjusting module, a ring finger adjusting module and a little finger adjusting module;
Four groups of first connecting components which are respectively connected with the index finger adjusting module, the middle finger adjusting module, the ring finger adjusting module and the little finger adjusting module are arranged on the palm plate;
Each group of first connecting components comprises an upper adjusting frame, a lower adjusting frame, an arc-shaped rack, a driving gear and a driving shaft, wherein the arc-shaped rack is connected with a joint finger sleeve close to a palm plate, the driving gear and the driving shaft are both rotationally connected with the upper adjusting frame and the lower adjusting frame, the driving gear is in transmission connection with the driving shaft, the arc-shaped rack is meshed with the driving gear, and a rope on a driving motor corresponding to the first connecting components is wound on the driving shaft.
2. The finger wrist rehabilitation training robot according to claim 1, wherein: each group of the first connecting components further comprises a finger expanding block, an inclined sliding groove and a thrust sliding block, the upper adjusting frame and the lower adjusting frame are connected with the finger expanding blocks, the finger expanding blocks are rotationally connected with the palm plate, the rotating plane of the finger expanding blocks is parallel to the plane of the palm plate, the thrust sliding blocks are in sliding connection with the finger expanding blocks, a reset spring is arranged between the thrust sliding blocks and the finger expanding blocks, one end of a rope is fixed on the thrust sliding blocks, and the other end of the rope penetrates through the reset spring to be connected with a corresponding driving motor;
The connecting lines between the two ends of the length direction of the inclined chute and the rotation center of the finger expansion block are not on the same straight line.
3. The finger wrist rehabilitation training robot according to claim 2, wherein: the palm plate is also provided with a second connecting component which comprises a first front swing rod, a second upper swing rod, a second lower swing rod, a first left swing rod and a second right swing rod which are connected in turn in a rotating way, the first front swing rod and the second swing rod are connected with the palm plate in a rotating way and rotate in the plane of the palm plate, the thumb adjusting module is characterized in that joint finger sleeves, which are close to the first left and right swing rods, are in sliding connection with the first left and right swing rods, and locking screws are arranged at rotation connection positions of the palm plate, the first front and rear swing rods, the first upper and lower swing rods and the first left and right swing rods.
4. The finger wrist rehabilitation training robot according to claim 1, wherein: the arm adjusting module comprises an arm fixing frame, a large arm sleeve and an arm overturning ring, wherein the arm fixing frame is fixed on a mounting bottom plate, the large arm sleeve is fixedly connected with the arm fixing frame, a first rotating motor is fixed on the large arm sleeve, a rotating shaft of the first rotating motor is parallel to the extending direction of an arm, the arm overturning ring is driven to rotate by the first rotating motor, an annular sliding groove in sliding fit with the large arm sleeve is formed in the arm overturning ring, the central shaft of the annular sliding groove is coaxial with the rotation center of the arm overturning ring, and the arm overturning ring is connected with the wrist adjusting module so that the first rotating motor drives the wrist adjusting module to rotate.
5. A finger wrist rehabilitation training robot according to claim 3, wherein: in each finger adjusting module, a rope connected with the hinge shaft and a rope connected with the driving shaft are wound on an output shaft of the same driving motor together.
6. The finger wrist rehabilitation training robot according to claim 2, wherein: four ropes connected with the thrust sliding blocks in the four groups of first connecting components are wound on an output shaft of the same driving motor together.
7. The finger wrist rehabilitation training robot according to claim 6, wherein: the wrist adjusting module comprises a horizontal swing rod, a second upper swing rod, a second lower swing rod and a second left swing rod which are connected in sequence in a rotating mode, the horizontal swing rod is fixedly connected with the arm overturning ring, a first driving mechanism for driving the second upper swing rod and the second lower swing rod to swing up and down is arranged on the horizontal swing rod, a second driving mechanism for driving the second left swing rod and the second left swing rod to swing left and right is arranged on the second upper swing rod and the second lower swing rod, and the second left swing rod are connected with the hand adjusting module.
8. The finger wrist rehabilitation training robot according to claim 6, wherein: the lifting frame drives the installation bottom plate to do lifting motion.
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| CN115517908A (en) | 2022-12-27 |
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