CN206285240U - A kind of finger rehabilitation device for being equipped on rehabilitation wheelchair - Google Patents
A kind of finger rehabilitation device for being equipped on rehabilitation wheelchair Download PDFInfo
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- CN206285240U CN206285240U CN201620946419.0U CN201620946419U CN206285240U CN 206285240 U CN206285240 U CN 206285240U CN 201620946419 U CN201620946419 U CN 201620946419U CN 206285240 U CN206285240 U CN 206285240U
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- finger
- base plate
- ectoskeleton
- knuckle
- finger base
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Abstract
The utility model discloses a kind of finger rehabilitation device for being equipped on rehabilitation wheelchair, including finger grip ectoskeleton structure and motor driving structure, finger grip ectoskeleton structure includes that three refer to grasping ectoskeleton, arm backing plate and side motor plate；Motor driving structure includes five steel wire ropes, five motors and corresponding pulleys, and three refer to finger base plate of the grasping ectoskeleton comprising each finger joint；Five motors are all fixed on arm backing plate, and each motor is connected by steel wire rope with the finger base plate of corresponding finger joint respectively.The utility model is mountable on rehabilitation wheelchair, helps patient to carry out finger gymnastic treatment；And simple structure, compact, it is easily repaired and carries, it is adapted to patient's routine use.
Description
Technical field
The utility model belongs to rehabilitation medical instrument field, and in particular to a kind of finger gymnastic for being equipped on rehabilitation wheelchair
Device, be particularly well-suited to because the diseases such as headstroke and caused by finger movement function lose patient.
Background technology
Hand is one of important outside limbs of human body.The carrying out of completion and the work of daily life major part things, all needs
Finger is wanted to go to complete.But in life, the tendon of staff is highly prone to the injury of foreign object.On the other hand, progressively stepped in China
Enter in the society of aging, cause the patient of the illnesss such as hemiplegia increasing because of angiocardiopathies such as headstrokes.These
Illness can make patient lose the mobility of finger, and the life to patient brings inconvenience.
Modern rehabilitation is it has been proved that by repeated limb motion, can make human body rebuild new motion god
Through passage, patient is set to recover the mobility of a part limbs lost.Finger gymnastic apparatus on the market is often tied at present
Structure is complicated, volume is larger, machine parts'precise rapid wear, and involves great expense, is difficult to repair；They do not account for patient and exist mostly in addition
Inconvenience during wearable device, i.e., lost mobility and set using rehabilitation in wearing with the position such as wrist that palm is connected because same
The sense of discomfort of fatiguability sense and arm when standby.
In daily life, finger is in relaxation state or nothingness, all can be in rolling up state, five naturally
What frequency of use was higher in finger is thumb, forefinger and middle finger.The normal use of this three fingers can complete most of day
The action for often being reached required for hand in life.The grasping of forefinger and middle finger is general two kinds of force mechanisms, forefinger typically only
Plant force mechanism.The action of forefinger and middle finger is：Metacarpophalangeal joints rotation urging, other finger-joints do not exert a force；Metacarpophalangeal joints,
One interphalangeal joint, the second interphalangeal joint, three finger-joints are while rotation urging.The action of forefinger is：Forefinger metacarpophalangeal joints and
Forefinger interphalangeal joint is while rotation urging.
The content of the invention
The purpose of this utility model is, there is provided a kind of simple structure, wearing use comfortable and cheap finger health
Apparatus for coating, to meet the finger gymnastic demand of most of patients for having finger motion function obstacle because of diseases such as apoplexy.
The technical solution of the utility model is, a kind of finger rehabilitation device for being equipped on rehabilitation wheelchair, it is characterised in that：
It includes finger grip ectoskeleton structure and motor driving structure；Described finger grip ectoskeleton structure includes that three refer to that grasping is outer
Bone, arm backing plate and side motor plate, arm backing plate top connection three refer to grasping ectoskeleton, arm backing plate side connecting side motor
Plate；Described motor driving structure includes five steel wire ropes, five motors and corresponding pulleys, and each motor is exported by motor
Axle connect a helical gear, the steel wire rope being wrapped on helical gear by pulley be connected to three fingers grasp ectoskeleton in set wear
In cord hole；Described arm backing plate or so is respectively fixed with wearing ring；The motor is all fixed on the motor plate of side；
Three described fingers grasp ectoskeleton includes that index finger grasp ectoskeleton, middle finger grasp ectoskeleton and thumb grip dermoskeleton
Bone；Index finger grasp ectoskeleton, middle finger grasping ectoskeleton structure are identical, and are installed on arm backing plate side by side；Index finger grasp dermoskeleton
The structure that bone or middle finger grasp ectoskeleton is connected on arm backing plate by straight pin by scalable finger base plate, third knuckle
Finger base plate is connected with scalable finger base plate, and second knuckle finger base plate is connected by rivet with third knuckle finger base plate,
First knuckle finger base plate is connected by rivet with second knuckle finger base plate, and the bottom of first knuckle finger base plate and the 3rd refers to
The bottom for saving finger base plate is respectively equipped with lacing hole, the both sides of second knuckle finger base plate and the both sides of third knuckle finger base plate
It is respectively equipped with wearing hole；The structure of thumb grip ectoskeleton is to be connected to arm backing plate by straight pin by scalable finger base plate
On, second knuckle finger base plate is connected to by scalable finger base plate by straight pin, and first knuckle finger base plate passes through rivet
It is connected with second knuckle finger base plate, lacing hole is mounted in the bottom of first knuckle finger base plate, the two of first knuckle finger base plate
Side and being respectively provided on two sides with for second knuckle finger base plate dress hole.
A kind of finger rehabilitation device for being equipped on rehabilitation wheelchair of the present utility model, its design principle and feature are：
（1）On the premise of in view of patient using this mechanic effect, design is referred to using three in finger grip structure, made
Structure of the present utility model is as simple as possible.
（2）Because under the premise of demand of the daily life to finger is met, forefinger and middle finger have two kinds of force mechanisms, thumb mostly
Finger has a kind of force mechanism.The utility model has two point of applications on forefinger and middle finger, one in third knuckle, one
First knuckle：When mainly being exerted a force in third knuckle, finger movement is acted when there was only metacarpophalangeal joints rotation urging with normal finger
It is identical；When mainly being exerted a force in first knuckle, finger movement is identical with the rotation urging action simultaneously of the joint of normal finger three.This reality
There is a point of application in thumb with new, in the first knuckle of thumb：When being exerted a force in first knuckle, thumb movements and normal thumb
Refer to that two joint rotation urging action simultaneously is identical.
（3）Because also movable in view of most its wrist of patient and elbow that finger movement ability is lost because of reasons such as hemiplegias
Inconvenience, the utility model with the addition of the arm backing plate that can be fixed on apparatus on the objects such as wheelchair.And by the utility model
Mechanical structure is all fixed on arm backing plate.
（4）Motor is referred to grasping each finger-joint in ectoskeleton is connected with three with steel wire rope in the utility model, to realize
Long-distance transmission.
The beneficial effects of the utility model are：
（1）Mechanical structure in the utility model is all fixed on arm backing plate so that the utility model compact, easily
In carrying.
（2）The utility model drive mechanism is simple, assembles quick on the whole, and modification is easy in face of different patients, and respectively
Part is commonly used, and overall cost is cheap, and the everyday home for being adapted to general patient is used.
（3）By dressing ring can be installed on rehabilitation wheelchair arm backing plate by the utility model, help patient to carry out hand
Refer to rehabilitation, it is easy to use.
Brief description of the drawings
Fig. 1 is the utility model overall structure figure.
Fig. 2 is the overall structure figure of another angles of Fig. 1.
Fig. 3 is scalable finger base arrangement figure of the present utility model.
Fig. 4 is of the present utility model three forefingers and middle finger structure chart for referring to grasping ectoskeleton.
Fig. 5 is the schematic diagram of forefinger of the present utility model threaded hole of steel corresponding with middle finger.
Fig. 6 is the of the present utility model three thumb structure charts for referring to grasping ectoskeleton.
Fig. 7 is motor plate structure chart in side of the present utility model.
Fig. 8 is motor A of the present utility model correspondence threaded hole of steel schematic diagrames.
In figure, 101 is wearing ring A, and 102 is wearing ring B, and 103 is wearing ring C, and 104 is wearing ring D, and 201 is thumb
Sideline, 202 is straight pin A, and 203 is arm base plate, and 204 is side motor plate, and 205 is palm sideline, and 301 is inner side base plate, 302
It is outermost side floor panels, 303 is cylindrical hole, and 401 is rivet A, and 402 is rivet B, and 403 is rivet C, and 404 is rivet D, and 405 is wearing
Hole A, 406 is curve, and 407 is wearing hole B, and 408 is third knuckle finger base plate A, and 409 is lacing hole A, and 410 is steel wire rope A,
411 is sideline, and 412 is scalable finger base plate A, and 413 is straight pin B, and 414 is steel wire rope C, and 415 is steel wire rope D, and 416 is steel
Cord B, 417 is second knuckle finger base plate A, and 418 is lacing hole B, and 419 is wearing hole C, and 420 is first knuckle finger base plate
B；501 is hole A, and 502 is pulley A, and 503 is hole B, and 504 is pulley B, and 505 is hole D, and 506 is pulley D, and 507 is hole C, and 508 are
Pulley C；601 is scalable finger base plate B, and 602 is second knuckle finger base plate B, and 603 is straight pin C, and 604 is wearing hole D,
605 is rivet E, and 606 is rivet F, and 607 is wearing hole E, and 608 is first knuckle finger base plate C, and 609 is lacing hole C, and 610 are
Steel wire rope E, 611 is pulley E, and 612 is hole E；701 motor A, 702 is motor B, and 703 is motor C, and 704 is motor D, and 705 is electricity
Machine E, 706 is hole F, and 707 is pulley F, and 708 is hole G, and 709 is pulley G, and 710 is hole H, and 711 is pulley H, and 712 is hole I, 713
It is pulley I, 714 is hole J, and 715 is pulley J, and 716 is motor output shaft, and 717 is helical gear.
Specific embodiment
The utility model is described further below in conjunction with accompanying drawing.
As shown in Figures 1 and 2, wearing ring B（102）With wearing ring D（104）It is fixed on arm base plate vertically（203）Downside
Near side motor plate（204）Edge.It is easy to be fixed on this apparatus on the handrail of wheelchair and other items.Wearing ring A（101）, wear
Wear ring B（102）, wearing ring C（103）With wearing ring D（104）Between can intert nylon stick or cloth etc. and strengthen this apparatus and consolidate
It is fixed.
As shown in figure 3, inner side base plate（301）Can be with outermost side floor panels（302）Inside laminating, outermost side floor panels（302）Side connects
There is cylindrical hole（303）, this three part is combined into scalable finger base plate together.
As shown in Fig. 2 when patient dresses this apparatus, forearm downside can be with arm base plate（203）Laminating.Grabbed in hand
When holding action, forefinger, middle finger, the third finger, little finger of toe, four metacarpophalangeal joints of finger can be connected to one in the correspondence position of palm
Straight palmmprint border, palm sideline（205）Fitted with this palmmprint border.Thumb sideline（201）It is commonly called as with the people by thumb
" lifeline " laminating.Arm outside and side motor plate（204）Laminating.Arm base plate（203）It is hollow structure, arm base plate
Opening surface and side motor plate（204）Side overlap.
As shown in figure 4, because when forefinger does grasp motion, with the interphalangeal joint of forefinger first downside on the downside of forefinger metacarpophalangeal joints
Between plan range shorten, thus use straight pin B（413）By scalable finger base plate A（412）With palm sideline（205）It is connected.
Forefinger ditch line, sideline together with it can be formed when forefinger does grasp motion on the downside of palm connecting place（411）Fitted with this road ditch line.
The inner side base plate of scalable finger base plate and third knuckle finger base plate A（408）It is connected, dresses hole B（407）In can penetrate it is ultra-thin
Nylon stick, so as to by the 3rd joint finger base plate A（408）Fitted with forefinger third knuckle downside.In the interphalangeal joint of forefinger first
When bending is to close to ninety degrees, the ditch line that this joint downside occurs reaches maximum, curve（406）It is close in this bar ditch line outside.When
When the interphalangeal joint of forefinger first and the interphalangeal joint of forefinger second bend all to make grasp motion, forefinger second knuckle downside
Width close to minimum, second knuckle finger base plate A（417）Fitted with forefinger second knuckle downside, and second knuckle finger bottom
Plate A（417）Width just close to this minimum widith.Wearing hole A（405）In can penetrate ultra-thin nylon stick, be easy to second knuckle
Finger base plate A（417）Fitted with forefinger second knuckle.Rivet D（404）With rivet C（403）Between being fitted in the finger of forefinger first respectively
Joint both sides, make second knuckle finger base plate A（417）With third knuckle finger base plate A（408）It is associated.First knuckle finger
Base plate B（420）Forefinger first knuckle downside is fitted in, hole C is dressed（419）In can penetrate ultra-thin nylon stick, be easy to first knuckle
Finger base plate B（420）Fitted with forefinger first knuckle.Rivet B（402）With rivet A（401）Between being fitted in the finger of forefinger second respectively
Joint both sides, make first knuckle finger base plate B（420）With second knuckle finger base plate A（417）It is associated.First knuckle finger
Base plate B（420）Downside is fixed with lacing hole B near the second interphalangeal joint of forefinger direction（418）, lacing hole B（418）With steel wire rope
B（416）It is connected.Third knuckle finger base plate A（408）Downside is near scalable finger base plate A（412）Direction is fixed with lacing hole
A（409）, lacing hole A（409）With steel wire rope A（410）It is connected.
The mechanical structure and each joint fit system that middle finger grasps ectoskeleton are identical with index finger grasp ectoskeleton.Steel wire rope D
（415）It is connected with the lacing hole on finger base plate under middle finger first knuckle, steel wire rope C（414）With finger under middle finger third knuckle
Lacing hole on base plate is connected.
As shown in figure 5, steel wire rope A（410）From hole A（501）Penetrate, steel wire rope A（410）With hole A in hole（501）Wall
The position that is in contact is provided with pulley A（502）To reduce friction.Steel wire rope B（416）From hole B（503）Penetrate, steel wire rope B（416）
With hole B in hole（503）The wall position that is in contact pulley B is installed（504）To reduce friction.Steel wire rope C（414）From hole C
（507）Penetrate, steel wire rope C（414）With hole C in hole（507）The wall position that is in contact pulley C is installed（508）Rubbed with reducing
Wipe.Steel wire rope D（415）From hole D（505）Penetrate, steel wire rope D（415）With hole D in hole（505）Wall be in contact position installation
There is pulley D（506）To reduce friction.
As shown in Figure 2 and Figure 6, when thumb does grasp motion, thumb metacarpophalangeal joints downside is commonly called as with thumb other people
Distance Shortened between " lifeline ", thus use straight pin（202）By scalable finger base plate（601）With arm base plate（203）Connection
In thumb sideline（201）.Scalable finger base plate B（601）Inner side base plate pass through straight pin C（603）With second knuckle finger
Base plate B（602）It is connected, second knuckle finger base plate B（602）Fitted with thumb second knuckle downside, dress hole D（604）In can
Ultra-thin nylon stick is penetrated, is easy to second knuckle finger base plate B（602）Fitted with thumb second knuckle.Rivet E（605）With rivet F
（606）Forefinger interphalangeal joint both sides are fitted in respectively, make first knuckle finger base plate C（608）With second knuckle finger base plate B
（602）It is associated.First knuckle finger base plate C（608）Fitted with thumb first knuckle downside, dress hole E（607）In can penetrate
Ultra-thin nylon stick, is easy to first knuckle finger base plate C（608）Fitted with thumb first knuckle.First knuckle finger base plate C
（608）Downside is fixed with lacing hole C near thumb interphalangeal joint direction（609）, lacing hole C（609）With steel wire rope E（610）Phase
Even.
As shown in figure 8, steel wire rope A（410）From hole J（714）Pass, steel wire rope A（410）With hole J in hole（714）Wall
The position that is in contact is provided with pulley J（715）To reduce friction.Helical gear（717）It is fixed on motor A（701）Motor output shaft
（716）On, and keep and motor output shaft（716）Coaxial line.Steel wire rope A（410）Helical gear is looped around after punched out（717）'s
In groove.Remaining four motor pulls the mode of steel wire rope similar to motor A.
As shown in fig. 7, steel wire rope B（416）From hole I（712）Pass, steel wire rope B（416）With hole I in hole（712）Wall
The position that is in contact is provided with pulley I（713）To reduce friction, steel wire rope B（416）It is looped around after punched out and motor B（702）'s
In the groove of the connected helical gear of output.Steel wire rope C（414）From hole H（710）Pass, steel wire rope C（414）With hole H in hole
（710）The wall position that is in contact pulley H is installed（711）To reduce friction, steel wire rope C（414）It is looped around after punched out and electricity
Machine C（703）The connected helical gear of output groove in.Steel wire rope D（415）From hole G（708）Pass, steel wire rope D（415）
With hole G in hole（708）The wall position that is in contact pulley G is installed（709）To reduce friction, steel wire rope D（415）Ring after punched out
It is wound on and motor D（704）The connected helical gear of output groove in.Steel wire rope E（610）From hole F（706）Pass, steel wire rope E
（610）With hole F in hole（706）The wall position that is in contact pulley F is installed（707）To reduce friction, steel wire rope E（610）Wear
It is looped around after portalling and motor E（705）The connected helical gear of output groove in.
As motor A（701）Do primary pivot, motor B（702）When auxiliary is rotated：Forefinger action only has the palm with normal forefinger
Action during articulations digitorum manus rotation urging is identical, while steel wire rope A（410）It is appropriate to shrink a part to hole B（503）It is interior, so as to it
Outer wires rope does not influence the action of other fingers.As motor A（701）With motor B（702）Coordinated with different rotating speeds respectively and rotated
When：Finger movement is identical with the rotation urging action simultaneously of the joint of normal finger three.Motor C（703）With motor D（704）To middle finger
The control mode of action and motor A（701）With motor B（702）Control mode to forefinger action is identical.As motor E（705）Turn
When dynamic：Thumb movements are identical with the rotation urging action simultaneously of normal thumb two joint.Rotated by the cooperation between five motors, can
Forefinger, middle finger and the thumb of the patient of wearing this apparatus is set to make various grasp motions on the basis of rolling up naturally.
After motor stops force rotation, because wire line thimble is wound on helical gear, steel wire rope torque is more than in motor
The moment of resistance, and other resistance very littles that steel wire rope is subject to, thus finger before finger can be returned to easily rolls up naturally
State.
Claims (1)
1. a kind of finger rehabilitation device for being equipped on rehabilitation wheelchair, it is characterised in that：It includes finger grip ectoskeleton structure
And motor driving structure；Described finger grip ectoskeleton structure includes that three refer to grasping ectoskeleton, arm backing plate and side motor plate,
Arm backing plate top connection three refers to grasping ectoskeleton, arm backing plate side connecting side motor plate；Described motor driving structure bag
Five steel wire ropes, five motors and corresponding pulley are included, each motor connects a helical gear, is wrapped in by motor output shaft
Steel wire rope on helical gear is connected to three fingers and grasps on the lacing hole set in ectoskeleton by pulley；Described arm backing plate or so
It is respectively fixed with wearing ring；The motor is all fixed on the motor plate of side；
Three described fingers grasp ectoskeleton includes that index finger grasp ectoskeleton, middle finger grasp ectoskeleton and thumb grip ectoskeleton；Food
Refer to that grasping ectoskeleton, middle finger grasping ectoskeleton structure are identical, and be installed on arm backing plate side by side；Index finger grasp ectoskeleton or in
Refer to that the structure for grasping ectoskeleton is connected on arm backing plate by straight pin by scalable finger base plate, third knuckle finger bottom
Plate is connected with scalable finger base plate, and second knuckle finger base plate is connected by rivet with third knuckle finger base plate, and first refers to
Section finger base plate is connected by rivet with second knuckle finger base plate, the bottom of first knuckle finger base plate and third knuckle finger
The bottom of base plate is respectively equipped with lacing hole, and the both sides of second knuckle finger base plate and the both sides of third knuckle finger base plate set respectively
There is wearing hole；The structure of thumb grip ectoskeleton is connected on arm backing plate by straight pin by scalable finger base plate, the
Two finger joint finger base plates are connected to by scalable finger base plate by straight pin, and first knuckle finger base plate passes through rivet and second
Finger joint finger base plate is connected, and lacing hole is mounted in the bottom of first knuckle finger base plate, the both sides of first knuckle finger base plate and the
Hole is dressed in being respectively provided on two sides with for two finger joint finger base plates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620946419.0U CN206285240U (en) | 2016-08-26 | 2016-08-26 | A kind of finger rehabilitation device for being equipped on rehabilitation wheelchair |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620946419.0U CN206285240U (en) | 2016-08-26 | 2016-08-26 | A kind of finger rehabilitation device for being equipped on rehabilitation wheelchair |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206285240U true CN206285240U (en) | 2017-06-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620946419.0U Expired - Fee Related CN206285240U (en) | 2016-08-26 | 2016-08-26 | A kind of finger rehabilitation device for being equipped on rehabilitation wheelchair |
Country Status (1)
| Country | Link |
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| CN (1) | CN206285240U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106236504A (en) * | 2016-08-26 | 2016-12-21 | 南昌大学 | A kind of finger rehabilitation device being equipped on rehabilitation wheelchair |
| CN107137207A (en) * | 2017-07-03 | 2017-09-08 | 哈尔滨工业大学 | Drive lacking lower limb assistance exoskeleton robot based on rope pulley mechanism |
| CN109454627A (en) * | 2018-09-27 | 2019-03-12 | 南昌大学 | A kind of multiple degrees of freedom software finger gymnastic robot |
-
2016
- 2016-08-26 CN CN201620946419.0U patent/CN206285240U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106236504A (en) * | 2016-08-26 | 2016-12-21 | 南昌大学 | A kind of finger rehabilitation device being equipped on rehabilitation wheelchair |
| CN106236504B (en) * | 2016-08-26 | 2018-10-19 | 南昌大学 | A kind of finger rehabilitation device being equipped on rehabilitation wheelchair |
| CN107137207A (en) * | 2017-07-03 | 2017-09-08 | 哈尔滨工业大学 | Drive lacking lower limb assistance exoskeleton robot based on rope pulley mechanism |
| CN107137207B (en) * | 2017-07-03 | 2019-05-17 | 哈尔滨工业大学 | Based on rope-pulley mechanism drive lacking lower limb assistance exoskeleton robot |
| CN109454627A (en) * | 2018-09-27 | 2019-03-12 | 南昌大学 | A kind of multiple degrees of freedom software finger gymnastic robot |
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