CN116098786B

CN116098786B - Multifunctional hand rehabilitation training device

Info

Publication number: CN116098786B
Application number: CN202310022481.5A
Authority: CN
Inventors: 宋端树; 张善超; 崔天琦; 吕常清; 朱桐
Original assignee: Jiangsu Normal University
Current assignee: Jiangsu Normal University
Priority date: 2023-01-07
Filing date: 2023-01-07
Publication date: 2025-08-01
Anticipated expiration: 2043-01-07
Also published as: CN116098786A

Abstract

The invention discloses a multifunctional hand rehabilitation training device which comprises a rectangular base, a multifunctional handle, a first semicircular assembly, a second semicircular assembly and a sliding base, wherein the sliding base is embedded in the rectangular base in a sliding mode, the second semicircular assembly is connected with the sliding base, the first semicircular assembly is connected with the second semicircular assembly in a sliding mode, and the bottom end of the multifunctional handle is connected with the first semicircular assembly. The invention integrates five rehabilitation training modes, can realize the pronation/supination, the supination and the supination/supination training of the arms of a patient, the ulnar/radial bending training of the wrists, the grasping and swinging of fingers, the lifting training and the strength training, can lead the patient to carry out comprehensive and effective daily rehabilitation training, has simple structure, small volume and low cost, greatly reduces the limitation of the use environment, and can be used in a treatment room/hospital and also in a home environment.

Description

Multifunctional hand rehabilitation training device

Technical Field

The invention relates to a rehabilitation training device, in particular to a multifunctional hand rehabilitation training device.

Background

‌ Among various limb dysfunctions, the hand dysfunctions have great influence on life, and the life self-care ability of patients is seriously influenced. The upper limb rehabilitation device can assist the old and the patient with dyskinesia to perform rehabilitation training, prevent muscular atrophy and recover the arm movement capability of the patient. Aiming at the problems that most medical rehabilitation devices are large in volume, the medical rehabilitation devices are inconvenient to move when applied to hospitals, and multiple degrees of freedom cannot be realized. In order to realize the household and portability of the rehabilitation robot, the desktop hand rehabilitation device becomes a design trend.

Patent CN 107469290A discloses a deformable handle for hand rehabilitation, the device comprises a cylindrical main body, a diameter adjusting mechanism, a handle base and a rehabilitation data acquisition system. The invention adopts an active rehabilitation training mode, and the distance between the arc-shaped shell and the center rod can be changed by changing the pose of the four connecting rods, so that the diameter of the handle is changed to meet the training requirements of patients with different hand dysfunctions.

Patent CN 109875841A discloses a wrist rehabilitation device, which is provided with a forearm supporting unit, a wrist varus-valgus unit and a wrist compound unit, wherein a forearm supporting base of the forearm supporting unit is fixedly connected with a connecting supporting block of the wrist valgus unit, and a large gear of the wrist valgus unit is connected with a left supporting arm and a right supporting arm in the wrist compound unit.

Therefore, the existing hand rehabilitation device has the problems of single rehabilitation training structure, certain limitation on training parts, insufficient training degree, poor rehabilitation effect, complex structure, low adaptation degree of different scenes and the like.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides the multifunctional hand rehabilitation training device which has the advantages of simple structure, small volume, rich rehabilitation training function and small limitation of use environment.

The multifunctional hand rehabilitation training device comprises a rectangular base, a multifunctional handle, a first semicircular annular component, a second semicircular annular component and a sliding base, wherein rectangular grooves are formed in the upper surface of the rectangular base, linear rack guide rails are arranged on the groove walls of two long sides of the rectangular grooves, two second driving motor gears are respectively arranged on two opposite sides of the sliding base corresponding to the two long sides of the rectangular grooves, the sliding base is arranged in the rectangular grooves of the rectangular base, the second driving motor gears are meshed with the linear rack guide rails, the bottom surface of the middle position of the second semicircular annular component is connected with the center of the upper top surface of the sliding base, a guide groove is formed in the circumferential direction of the inner circle surface of the second semicircular annular component, a first driving motor gear is arranged in the middle of the guide rail, the outer circle surface of the first semicircular annular component is attached to the inner circle surface of the second semicircular annular component, the annular rack guide rails are meshed with the first driving motor gears in the guide grooves, the multifunctional handle comprises a handle head, a handle base and a handle connecting shell, the handle bottom end is connected with the inner side of the handle connecting shell, the handle bottom end of the handle is connected with the inner side of the handle connecting end of the handle connecting with the inner side of the handle connecting base, and the bottom end of the inner side of the handle connecting with the inner side of the handle connecting end of the handle connecting with the hollow handle connecting end of the handle connecting with the inner side of the handle connecting end of the hollow handle connecting base.

Further, two guide grooves are formed in the circumferential direction of the inner circle surface of the second semicircular annular component and are respectively located at the edge of the inner circle surface of the second semicircular annular component, and a first driving motor gear is respectively arranged in the middle of each guide rail.

Further, two annular rack guide rails are arranged in the circumferential direction of the outer circular surface of the first semicircular annular component, and the positions of the two annular rack guide rails respectively correspond to the positions of two guide grooves arranged in the circumferential direction of the inner circular surface of the second semicircular annular component.

The two guide grooves and the two annular rack guide rails are arranged, so that the first semicircular assembly is more stable in rotation and is not easy to shake.

Further, limiting blocks are respectively arranged at the two end parts of the annular rack guide rail.

Further, four spring columns which are uniformly and symmetrically arranged are arranged below the hemispherical shaft structure in the handle base, and the top ends of the four spring columns are propped against the bottom surface of the hemispherical shaft structure.

Furthermore, the balancing weight is arranged in the rectangular base, the rubber pad is arranged on the bottom surface of the rectangular base, and the balancing weight and the rubber pad are beneficial to stabilizing the whole device, so that stability is improved, and overturning is prevented.

Furthermore, the side face of the rectangular base is provided with a switch key and a rehabilitation training mode selection key, the switch key and the rehabilitation training mode selection key are connected with a driving motor gear and a driving motor, the switch key is used for controlling the switch of the whole device, and the rehabilitation training mode selection key is used for selecting a corresponding rehabilitation training mode.

Compared with the prior art, the invention integrates five rehabilitation training modes, can realize the pronation/supination, the supination/supination training, the ulnar/radial bending training, the finger grasping and swinging, the lifting training and the strength training of the arm of a patient, can lead the patient to carry out comprehensive and effective daily rehabilitation training, has simple structure, small volume and low cost, greatly reduces the limitation of the use environment, and can be used in a treatment room/hospital and a home environment.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the present invention;

FIG. 2 is a schematic diagram of an assembly of the present invention;

FIG. 3 is a cross-sectional view of the multi-functional handle structure of the present invention;

FIG. 4 is a schematic view of the internal structure of the handle base of the present invention;

FIG. 5 is a schematic view of a grip push-pull training mode of the present invention;

FIG. 6 is a schematic diagram of a forearm rotation training pattern in accordance with the invention;

FIG. 7 is a schematic diagram of a finger grip swing training mode according to the present invention

FIG. 8 is a schematic diagram of a finger grip pull training mode according to the present invention

FIG. 9 is a schematic diagram of a finger grip rotation training mode of the present invention;

The multifunctional hand shank comprises 1-1 parts of a multifunctional hand shank, 1-2 parts of a hand shank head, 1-3 parts of a hand shank holding rod, 1-4 parts of a hand shank base, 1-5 parts of a first driving motor, 1-6 parts of a connecting shell, 1-7 parts of a screw rod, 1-8 parts of a threaded sliding block, 1-9 parts of a second driving motor, 1-10 parts of a spring column, 2 parts of a first semicircular ring-shaped component, 2-1 parts of an annular rack guide rail, 3 parts of a second semicircular ring-shaped component, 3-1 parts of a first driving motor gear, 4 parts of a sliding base, 4-1 parts of a second driving motor gear, 5 parts of a rectangular base, 5-1 parts of a linear rack guide rail, 5-2 parts of a rehabilitation training mode selection key, 5-3 parts of a switching key.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

As shown in fig. 1 to 9, the invention provides a technical scheme that the multifunctional electric bicycle comprises a rectangular base 5, a multifunctional handle 1, a first semicircular ring assembly 2, a second semicircular ring assembly 3 and a sliding base 4.

As shown in FIG. 2, a rectangular groove is formed in the upper surface of the rectangular base 5, linear rack guide rails 5-1 are arranged on the groove walls of two long sides of the rectangular groove, two opposite sides of the sliding base 4 corresponding to the two long sides of the rectangular groove are respectively provided with a second driving motor gear 4-1, the sliding base 4 is arranged in the rectangular groove of the rectangular base 5, the second driving motor gear 4-1 is meshed with the linear rack guide rails 5-1, the second driving motor gear 4-1 rotates, and the sliding base 4 is driven to slide back and forth in the rectangular groove through gear rack transmission, wherein the length of the rectangular groove is the sliding distance of the sliding base 4.

The bottom surface of the middle position of the second semicircular assembly 3 is connected with the center position of the upper top surface of the sliding base 4, a guide groove is formed in the circumferential direction of the inner circular surface of the second semicircular assembly 3, a first driving motor gear 3-1 is arranged in the middle of each guide rail, an annular rack guide rail 2-1 is arranged in the circumferential direction of the outer circular surface of each first semicircular assembly 2, the outer circular surface of each first semicircular assembly 2 is attached to the inner circular surface of each second semicircular assembly 3, each annular rack guide rail 2-1 is embedded in each guide groove and meshed with each first driving motor gear 3-1, the first driving motor gear 3-1 rotates and drives the first semicircular assemblies 2 to do reciprocating rotation along the guide grooves through gear rack transmission, and in order to ensure that the annular rack guide rails 2-1 cannot derail, limiting blocks are respectively arranged at the two end positions of each annular rack guide rail 2-1, and when the annular rack guide rails 2-1 rotate, the limiting blocks touch the first driving motor gears 3-1, and at the moment, the limiting blocks do not continue to rotate after the annular rack guide rails 2-1 touch the first driving motor gears 3-1.

As shown in fig. 3 and 4, the multifunctional handle 1 comprises a handle head 1-1, a handle holding rod 1-2, a handle base 1-4 and a connecting shell 1-6, wherein the interior of the handle holding rod 1-2 is hollow, a second driving motor 1-9 is arranged at the bottom end of the interior of the handle holding rod 1-2, an output shaft of the second driving motor 1-9 is connected with a screw rod 1-7, a threaded sliding block 1-8 is meshed on the screw rod 1-7, the connecting shell 1-6 is positioned in the interior of the handle holding rod 1-2, the bottom end of the connecting shell is connected with the threaded sliding block 1-8, the second driving motor 1-9 works to drive the screw rod 1-7 to rotate, and the screw rod 1-7 rotates to drive the threaded sliding block 1-8 and the connecting shell 1-6 to vertically lift together; the top end of the connecting shell 1-6 is provided with a first driving motor 1-5, the bottom end of the handle head 1-1 is connected with the bottom end of the handle head 1-1, the first driving motor 1-5 works to drive the handle head 1-1 to rotate, the bottom end outside the handle holding rod 1-2 is connected with the handle base 1-4 through a hemispherical shaft structure 1-3, four spring columns 1-10 which are uniformly and symmetrically arranged are arranged below the hemispherical shaft structure 1-3 in the handle base 1-4, the top ends of the four spring columns 1-10 are propped against the bottom surface of the hemispherical shaft structure 1-3, the handle holding rod 1-2 is supported to be in a vertical state, when the handle holding rod 1-2 is stirred, the handle holding rod 1-2 can be obliquely pressed against the spring column 1-10 in an inclined direction, when the force for stirring the handle holding rod 1-2 is eliminated, the elastic force of the spring columns 1-10 is acted, the spring-loaded post 1-10 will rebound to return the handle grip 1-2 to the initial vertical position, so that the handle grip 1-2 will return automatically, and the bottom end of the handle base 1-4 is connected with the top surface of the middle position of the first semi-circular ring assembly 2. The side face of the rectangular base 5 is provided with a switch key 5-3 and a rehabilitation training mode selection key 5-2, and the switch key 5-3 and the rehabilitation training mode selection key 5-2 are connected with a driving motor gear and a driving motor.

The invention integrates five rehabilitation training modes and can drive a patient to carry out grasping push-pull training, forearm rotation training, grasping swing training, grasping lifting training and grasping rotation training.

As shown in FIG. 5, a user grips the handle grip lever 1-2 by hand, the second driving motor gear 4-1 works to drive the sliding base 4 and the handle grip lever 1-2 to slide back and forth in the rectangular groove of the rectangular base 5 so as to perform gripping and pushing training, as shown in FIG. 6, the first driving motor gear 3-1 works to drive the first semicircular ring-shaped component 2 and the handle grip lever 1-2 to perform reciprocating rotation training on the front arm, as shown in FIG. 7, the user grips the handle grip lever 1-2 by hand, then swings the handle grip lever 1-2 in any direction of front, back, left and right, the spring post 1-10 in the corresponding direction is pressed, at the moment, the spring post 1-10 can give a reaction force to the handle grip lever 1-2 to try to push the handle grip lever 1-2 back to the original position so as to perform gripping and pushing training, as shown in FIG. 8, the user grips the handle head 1-1 by hand, the second driving motor 1-9 works to rotate the handle 1-6 to drive the handle head 1-1 by hand, as shown in FIG. 8, and drives the handle head 1-1 to perform lifting training by hand, and the handle head 1-9 rotates to perform the lifting training by hand. The user can select different rehabilitation training modes through switching the rehabilitation training mode selection key 5-2, and preferably, the rehabilitation training mode can also be selected by the screen terminal through a mode of connecting the screen terminal.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the invention, but any minor modifications, equivalents, and improvements made to the above embodiments according to the technical principles of the present invention should be included in the scope of the technical solutions of the present invention.

Claims

1. A multifunctional hand rehabilitation training device, comprising a rectangular base (5) and a multifunctional handle (1), characterized in that it also comprises a first semicircular ring component (2), a second semicircular ring component (3) and a sliding base (4);

A rectangular groove is provided on the upper surface of the rectangular base (5), and linear rack guide rails (5-1) are provided on the groove walls of the two long sides of the rectangular groove. A second drive motor gear (4-1) is provided on two opposite sides of the sliding base (4) corresponding to the two long sides of the rectangular groove. The sliding base (4) is arranged in the rectangular groove of the rectangular base (5), and the second drive motor gear (4-1) is meshed with the linear rack guide rail (5-1).

The bottom surface at the middle position of the second semicircular ring component (3) is connected to the center position of the upper top surface of the sliding base (4); the inner circular surface of the second semicircular ring component (3) is provided with a guide groove in the circumferential direction; the middle part of the guide rail is provided with a first drive motor gear (3-1); the outer circular surface of the first semicircular ring component (2) is provided with an annular rack guide rail (2-1) in the circumferential direction; the outer circular surface of the first semicircular ring component (2) is fitted with the inner circular surface of the second semicircular ring component (3); the annular rack guide rail (2-1) is embedded in the guide groove and meshes with the first drive motor gear (3-1);

The multifunctional handle (1) comprises a handle head (1-1), a handle grip (1-2), a handle base (1-4) and a connecting shell (1-6). The handle grip (1-2) is hollow inside. A second drive motor (1-9) is provided at the bottom end of the handle grip (1-2). The output shaft of the second drive motor (1-9) is connected to a lead screw (1-7). A threaded slider (1-8) is engaged on the lead screw (1-7). The connecting shell (1-6) is located inside the handle grip (1-2) and its bottom end is connected to the threaded slider (1-8). A first drive motor (1-5) is provided at the top end of the connecting shell (1-6). The bottom end of the handle head (1-1) is connected to the bottom end of the handle head (1-1). The bottom end of the outside of the handle grip (1-2) is connected to the handle base (1-4) via a hemispherical shaft structure (1-3). The bottom end of the handle base (1-4) is connected to the top surface of the middle position of the first semicircular ring component (2).

2. A multifunctional hand rehabilitation training device according to claim 1, characterized in that: two guide grooves are provided in the circumferential direction of the inner surface of the second semicircular ring component (3), respectively located at the edge of the inner surface of the second semicircular ring component (3), and a first drive motor gear (3-1) is provided in the middle of each guide rail.

3. A multifunctional hand rehabilitation training device according to claim 1, characterized in that: two annular rack guide rails (2-1) are provided in the circumferential direction of the outer surface of the first semicircular ring component (2), and the positions of the two annular rack guide rails (2-1) respectively correspond to the positions of two guide grooves provided in the circumferential direction of the inner surface of the second semicircular ring component (3).

4. The multifunctional hand rehabilitation training device according to claim 1, characterized in that: limit blocks are respectively provided at the two end positions of the annular rack guide rail (2-1).

5. A multifunctional hand rehabilitation training device according to claim 1, characterized in that: four spring columns (1-10) are evenly and symmetrically arranged below the hemispherical shaft structure (1-3) in the handle base (1-4), and the top ends of the four spring columns (1-10) all abut against the bottom surface of the hemispherical shaft structure (1-3).

6. The multifunctional hand rehabilitation training device according to claim 1, characterized in that a counterweight block is provided inside the rectangular base (5).

7. The multifunctional hand rehabilitation training device according to claim 1, characterized in that a rubber pad is provided on the bottom surface of the rectangular base (5).

8. A multifunctional hand rehabilitation training device according to claim 1, characterized in that: a power key (5-3) and a rehabilitation training mode selection key (5-2) are provided on the side of the rectangular base (5), and the power key (5-3) and the rehabilitation training mode selection key (5-2) are both connected to the drive motor gear and the drive motor.