CN208301849U - A kind of exoskeleton-type rehabilitation mechanical finger - Google Patents
A kind of exoskeleton-type rehabilitation mechanical finger Download PDFInfo
- Publication number
- CN208301849U CN208301849U CN201720844738.5U CN201720844738U CN208301849U CN 208301849 U CN208301849 U CN 208301849U CN 201720844738 U CN201720844738 U CN 201720844738U CN 208301849 U CN208301849 U CN 208301849U
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- CN
- China
- Prior art keywords
- finger
- connecting rod
- stop plate
- nearly
- hinged
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
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Abstract
The utility model discloses a kind of exoskeleton-type rehabilitation mechanical finger, including rack, nearly finger stop plate, middle finger baffle, remote finger stop plate, closely refers to connecting rod, middle finger connecting rod, far refer to first connecting rod, far refer to second connecting rod, far refer to third connecting rod and driving member；The rear end of the nearly finger stop plate and the rack be hinged, front end and the rear end of the middle finger baffle are hinged, and the front end of the middle finger baffle and the rear end of the remote finger stop plate are hinged；Described nearly one end for the referring to connecting rod and driving member is hinged, the other end and the nearly finger panel hinge；One end of the middle finger connecting rod and nearly the fingers connecting rod be hinged, the other end and the middle finger panel hinge；Described remote one end for referring to third connecting rod and the nearly finger panel hinge, described remote one end for the referring to second connecting rod and remote other end for referring to third connecting rod is hinged, the other end and the middle finger panel hinge.The utility model structure is simple, light and handy, and price is human-oriented, easy to carry, can effectively realize the swing of finger, stretch and be bent training.
Description
Technical field
The utility model relates to rehabilitation appliances fields, relate in particular to a kind of exoskeleton-type rehabilitation mechanical finger.
Background technique
At present in China, because the reasons such as all kinds of accidents, hemiplegia, brain paralysis, polio cause the patient of hand disability big
Generally have 20,000,000 people, hand disability show as " hawk hooks pawl ", twitch spasm, can not normal extension or retraction, crawl it is powerless etc., sternly
Ghost image rings the viability and family burden of patient.
Currently, since ideal effect is often not achieved by operative treatment correction, moreover since operation spends larger, art
Rehabilitation is unobvious afterwards, and many patient's selections are into related recovery centre's progress rehabilitation correction and control without operative treatment
It treats.But because of the influence of the factors such as time, economy, Most patients all stay in recovery centre without condition for a long time and carry out rehabilitation
Corrective therapy, such training time is inadequate, and the rehabilitation for patient is extremely disadvantageous.
If can develop a kind of economic and practical, patient can be assisted to be in and voluntarily carry out the rehabilitation of rehabilitation training and set
Standby, there will be effects to solve the above problems.
Utility model content
It is simple, light and handy that the technical problem to be solved by the utility model is to provide a kind of structures, and price is human-oriented, convenient for taking
Band can effectively realize the swing of finger, stretch and be bent the exoskeleton-type rehabilitation mechanical finger of training.
In order to solve the above-mentioned technical problem, the utility model adopts the following technical solution: a kind of exoskeleton-type rehabilitation mechanical
Finger, including rack, nearly finger stop plate, middle finger baffle, remote finger stop plate, closely refer to connecting rod, middle finger connecting rod, far refer to first connecting rod, far refer to
Second connecting rod far refers to third connecting rod and driving member；
The rear end of the nearly finger stop plate and the rack be hinged, front end and the rear end of the middle finger baffle are hinged, it is described in
The front end of finger stop plate and the rear end of the remote finger stop plate are hinged；
Described nearly one end for the referring to connecting rod and driving member is hinged, the other end and the nearly finger panel hinge；The middle finger
One end of connecting rod and nearly the fingers connecting rod be hinged, the other end and the middle finger panel hinge；Described remote one end for referring to third connecting rod
With the nearly finger panel hinge, described remote one end for referring to second connecting rod and the remote other end for referring to third connecting rod are hinged, another
End and the middle finger panel hinge, described remote one end for referring to first connecting rod and remote the fingers second connecting rod hingedly, the other end and institute
State far finger panel hinge.
It further, further include guide rail, the guide rail is mounted on the rack, and the driving member is slidably connected described
On guide rail.
Further, the rear end of the nearly finger stop plate and the rack ball-joint, the guide rail are rotatably installed in the machine
On frame, and the rear end of the nearly finger stop plate and the center of the rack ball-joint are located on the pivot center of the guide rail.
It further, further include driving mechanism, the driving mechanism includes motor, threaded rod, driving sliding block and driving
Connecting rod, the both ends of the threaded rod are rotatably installed in respectively in the rack, and the motor passes through shaft coupling and the threaded rod
Connection, the driving sliding block is threadably coupled on the threaded rod, one end of the drive link and the driving sliding block hingedly,
The other end and the driving member are hinged.
It further, further include driving mechanism, the driving mechanism includes that motor, threaded rod, driving sliding block and V-arrangement connect
Bar, the both ends of the threaded rod are rotatably installed in respectively in the rack, and the motor is joined by shaft coupling and the threaded rod
It connecing, the driving sliding block is threadably coupled on the threaded rod, one end of the V-arrangement connecting rod and the driving sliding block ball-joint,
The other end and the driving member ball-joint.
Further, the bottom of the remote finger stop plate, the middle finger baffle, the nearly finger stop plate and the rack is all provided with
It is equipped with protective sponge.
Further, the guide rail is equipped with locking device.
Further, the guide rail is sliding slot.
Further, the top of the middle finger baffle has the first connecting rod stretched out towards the nearly finger stop plate, described
The other end of middle finger connecting rod and the free end of the first connecting rod are hinged, and the top of the remote finger stop plate has towards described close
The second connecting rod that finger stop plate stretches out, the remote other end for referring to first connecting rod and the free end of second connecting rod are hinged.
Further, strip groove is provided on the nearly finger stop plate, the middle finger baffle and the remote finger stop plate, it is described close
It is realized hingedly by hinge between finger stop plate and the middle finger baffle and between the middle finger baffle and the remote finger stop plate,
By passing through corresponding strip groove between the nearly finger stop plate, the middle finger baffle and the remote finger stop plate and the corresponding hinge
Bolt, which is realized, to be fixed.
The utility model has the following beneficial effects:
The utility model structure is simple, light and handy, is easy production, and price is human-oriented, easy to carry, freedom of movement, excellent performance,
It can effectively realize the swing of finger, stretch and be bent training, so as to allow patient just to can be carried out rehabilitation training at home, when
So also it is suitble to be trained in the case where hospital doctor instructs, carries out finger rehabilitation exercise convenient for patient, obtain to a certain extent extensive
It is multiple.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of an embodiment of the present invention.
Fig. 2 is the main view of an embodiment of the present invention.
Fig. 3 is the left view of Fig. 2.
The structural schematic diagram of another embodiment of Fig. 4 the utility model.
The label of each component in attached drawing are as follows: 10 racks, 101V shape plate, 01 nearly finger stop plate, 02 middle finger baffle, 021 first connect
Extension bar, 03 remote finger stop plate, 031 second connecting rod, 04 closely refer to that connecting rod, 05 middle finger connecting rod, 06 far refer to that first connecting rod, 07 far refer to second
Connecting rod, 08 far refer to that third connecting rod, 09 driving member, 010 guide rail, 011 motor, 012 threaded rod, 013 driving sliding block, 014 driving connect
Bar, 015 shaft coupling, 016 protective sponge, 017 strip groove, 018V shape connecting rod.
Specific embodiment
The utility model will be described in detail below with reference to the accompanying drawings and embodiments.It should be noted that not conflicting
In the case where, the features in the embodiments and the embodiments of the present application can be combined with each other.
Referring to figure 1, figure 2 and figure 3.
The utility model exoskeleton-type rehabilitation mechanical finger, including rack 10, nearly finger stop plate 01, middle finger baffle 02, far finger
Baffle 03, closely refer to connecting rod 04, middle finger connecting rod 05, far refer to first connecting rod 06, far finger second connecting rod 07, far finger third connecting rod 08 and
Driving member 09；
The rear end of the nearly finger stop plate 01 and the rack 10 be hinged, front end and the rear end of the middle finger baffle 02 are hinged,
The front end of the middle finger baffle 02 and the rear end of the remote finger stop plate 03 are hinged；
Described nearly one end for the referring to connecting rod 04 and driving member 09 is hinged, the other end and the nearly finger stop plate 01 are hinged；Institute
One end and nearly the fingers connecting rod 04 for stating middle finger connecting rod 05 be hinged, the other end and the middle finger baffle 02 hingedly；It is described remote to refer to the
One end of three-link 08 and the nearly finger stop plate 01 are hinged, described remote one end for referring to second connecting rod 07 and the remote finger third connecting rod
08 other end is hinged, the other end and the middle finger baffle 02 are hinged, described remote one end for referring to first connecting rod 06 and the remote finger
Second connecting rod 07 is hinged, the other end and the remote finger stop plate 03 are hinged.
When carrying out finger training, by the utility model exoskeleton-type rehabilitation mechanical finger in conjunction with finger, each of finger is enabled
Finger joint is corresponding with nearly finger stop plate, middle finger baffle, remote finger stop plate, and driving driving member moves forward or back, and closely refers to link rotatable in this way
And drive and closely refer to swung, while middle finger connecting rod acts and drives middle finger swung, far refer to third connecting rod, far refer to that second connects
Bar far refers to first connecting rod movement and drives and far refer to swung, so that finger be driven to swing up and down in perpendicular, realizes
Training is stretched and is bent in the swing of finger.
It in one embodiment, further include guide rail 010, the guide rail 010 is mounted in the rack 10, the driving member 09
It is slidably connected on the guide rail 010.It designs in this way, carries out straight reciprocating motion convenient for manipulation driving member, practicability is high.
In one embodiment, the rear end of the nearly finger stop plate 01 and 10 ball-joint of rack, the rotation of guide rail 010 peace
In the rack 10, and the rear end of the nearly finger stop plate 01 and the center of 10 ball-joint of rack are located at the guide rail
On 010 pivot center.It designs in this way, nearly finger stop plate and driving member can be made to realize synchronous left-right rotation, to adjust each gear
Plate position angle, and adapt to the finger angle of different people.
Motor driven, which can be used, in the utility model can also drive driving member using manual actuation or other modes driving
Movement.
Fig. 1,2 and 3 illustrate a kind of driving mechanism, including motor 011, threaded rod 012, driving sliding block 013 and driving connect
Bar 014, the both ends of the threaded rod 012 are rotatably installed in respectively in the rack 10, and the motor 011 passes through shaft coupling 015
Couple with the threaded rod 012, the driving sliding block 013 is threadably coupled on the threaded rod 012, the drive link 014
One end and the driving sliding block 013 is hinged, the other end and the driving member 09 hingedly.Sliding block and threaded rod is driven to form spiral
Pair, motor drive driving sliding block to move forward and backward by threaded rod, and sliding block is then driven to drive driving member sliding by drive link,
This driving mechanism structure is simple, is easy to implement, and easy to operate, practicability is high.This driving mechanism be suitable for except thumb with
Outer other four refer to.
Referring to fig. 4, since thumb is different from the angle that other four refer to, for the training for adapting to thumb, the rack 10
Upper to have a V shaped slab 101, the rear end of the nearly finger stop plate 01 and the V shaped slab 101 are hinged, and in order to adapt under this angle
Mechanical finger, be provided below another driving mechanism, including motor 011, threaded rod 012, driving sliding block 013 and V-arrangement connect
Bar 018, the both ends of the threaded rod 012 are rotatably installed in respectively in the rack 10, and the motor 011 passes through shaft coupling 015
Couple with the threaded rod 012, the driving sliding block 013 is threadably coupled on the threaded rod 012, the V-arrangement connecting rod 018
One end and 013 ball-joint of driving sliding block, the other end and 09 ball-joint of driving member.This structure equally can effective band
Dynamic driving member does reciprocating linear motion.
In one embodiment, the remote finger stop plate 03, the middle finger baffle 02, the nearly finger stop plate 01 and the rack
10 bottom is provided with protective sponge 016, to play a protective role.
In one embodiment, the L-shaped rod-like structure of the driving member 09.Longer section of driving member be slidably matched with guide rail,
It is outwardly and hinged with one end of closely finger connecting rod 04 compared with the free end of short section.It designs in this way, it is convenient to couple with corresponding component, and be driven
It is more efficient.
In one embodiment, the nearly finger connecting rod 04 is T-shaped, the nearly finger connecting rod 04 with its head both ends respectively with institute
It states driving member 09 and the nearly finger stop plate 01 is hinged, one end of the middle finger connecting rod 05 and described nearly remaining one end for referring to connecting rod 04
Portion is hinged.It designs in this way, it is convenient to couple with corresponding component, and be driven more efficient.
In one embodiment, the remote finger second connecting rod 07 is T-shaped, and the remote finger second connecting rod 07 is with its head both ends
It is hinged with the remote finger third connecting rod 08 and the middle finger baffle 02 respectively, described remote one end for referring to first connecting rod 06 and described remote
Refer to that the remaining one end of second connecting rod 07 is hinged.It designs in this way, it is convenient to couple with corresponding component, and be driven more efficient.
In one embodiment, the top of the middle finger baffle 02 has the first connection stretched out towards the nearly finger stop plate 01
Bar 021, the other end of the middle finger connecting rod 05 and the free end of the first connecting rod 021 are hinged, the remote finger stop plate 03
Top has the second connecting rod 031 stretched out towards the nearly finger stop plate 01, the remote other end for referring to first connecting rod 06 and institute
The free end for stating the second connecting rod 031 is hinged.It designs, convenient for connection, and is driven more efficient in this way.
In one embodiment, the guide rail 010 is sliding slot.Driving member is coupled more stable in this way.In specific implementation,
The guide rail 010 is equipped with locking device, and guide rail is rotated to proper angle, fixes it with rack by locking device.
In one embodiment, item is provided on the nearly finger stop plate 01, the middle finger baffle 02 and the remote finger stop plate 03
Shape slot 017, between the nearly finger stop plate 01 and the middle finger baffle 02 and the middle finger baffle 02 and the remote finger stop plate 03
Between hinged, the nearly finger stop plate 01, the middle finger baffle 02 and the remote finger stop plate 03 and corresponding institute are realized by hinge
It states and realizes fixation by passing through the bolt of corresponding strip groove 017 between hinge.It designs in this way, it can be appropriate by hinge installation site
Each baffle dimensions are adjusted, different human hand dimensions are adapted to.
The utility model can facilitate patient to carry out finger gymnastic and patient can be made to use this instrument for a period of time
Afterwards, the available recovery to a certain extent of finger function.By completing rehabilitation training in 45 minutes or more daily, can promote
The functional rehabilitation of finger muscles tissue, gradually restores finger tensile, makes to uphold and bends and stretches gradually normal, the hands such as alleviation " hawk hooks pawl "
Deformities.
It should be understood that example as described herein and embodiment are not intended to limit the utility model only for explanation, this
Field technical staff can make various modifications or variation according to it, within the spirit and principle of the utility model, made
Any modification, equivalent substitution, improvement and etc. should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of exoskeleton-type rehabilitation mechanical finger, it is characterised in that: including rack (10), nearly finger stop plate (01), middle finger baffle
(02), remote finger stop plate (03), closely refer to connecting rod (04), middle finger connecting rod (05), far refer to first connecting rod (06), far refer to second connecting rod
(07), far refer to third connecting rod (08) and driving member (09)；
The rear end of the nearly finger stop plate (01) and the rack (10) hinged, the rear end of front end and the middle finger baffle (02) is cut with scissors
It connects, the front end of the middle finger baffle (02) and the rear end of the remote finger stop plate (03) are hinged；
Described nearly one end for referring to connecting rod (04) and the driving member (09) hinged, the other end and the nearly finger stop plate (01) are hinged；
One end of the middle finger connecting rod (05) and nearly the fingers connecting rod (04) be hinged, the other end and the middle finger baffle (02) hingedly；Institute
State the one end for far referring to third connecting rod (08) and the nearly finger stop plate (01) hingedly, described remote one end for referring to second connecting rod (07) and institute
It states and far refers to the hinged other end of third connecting rod (08), the other end and the middle finger baffle (02) hingedly, the remote finger first connecting rod
(06) one end and remote the fingers second connecting rod (07) is hinged, the other end and the remote finger stop plate (03) hingedly.
2. exoskeleton-type rehabilitation mechanical finger as described in claim 1, it is characterised in that: it further include guide rail (010), it is described to lead
Rail (010) is mounted on the rack (10), and the driving member (09) is slidably connected on the guide rail (010).
3. exoskeleton-type rehabilitation mechanical finger as claimed in claim 2, it is characterised in that: the rear end of the nearly finger stop plate (01)
With the rack (10) ball-joint, the guide rail (010) is rotatably installed on the rack (10), and the nearly finger stop plate (01)
Rear end and the center of the rack (10) ball-joint be located on the pivot center of the guide rail (010).
4. the exoskeleton-type rehabilitation mechanical finger as described in claims 1 or 2 or 3, it is characterised in that: it further include driving mechanism,
The driving mechanism includes motor (011), threaded rod (012), driving sliding block (013) and drive link (014), the screw thread
The both ends of bar (012) are rotatably installed in respectively on the rack (10), the motor (011) by shaft coupling (015) with it is described
Threaded rod (012) connection, the driving sliding block (013) are threadably coupled on the threaded rod (012), the drive link
(014) one end and the driving sliding block (013) is hinged, the other end and the driving member (09) hingedly.
5. the exoskeleton-type rehabilitation mechanical finger as described in claims 1 or 2 or 3, it is characterised in that: it further include driving mechanism,
The driving mechanism includes motor (011), threaded rod (012), driving sliding block (013) and V-arrangement connecting rod (018), the screw thread
The both ends of bar (012) are rotatably installed in respectively on the rack (10), the motor (011) by shaft coupling (015) with it is described
Threaded rod (012) connection, the driving sliding block (013) are threadably coupled on the threaded rod (012), the V-arrangement connecting rod (018)
One end and driving sliding block (013) ball-joint, the other end and the driving member (09) ball-joint.
6. the exoskeleton-type rehabilitation mechanical finger as described in claims 1 or 2 or 3, it is characterised in that: the remote finger stop plate
(03), the bottom of the middle finger baffle (02), the nearly finger stop plate (01) and the rack (10) is provided with protective sponge
(016)。
7. exoskeleton-type rehabilitation mechanical finger as claimed in claim 2 or claim 3, it is characterised in that: the guide rail (010) is equipped with
Locking device.
8. exoskeleton-type rehabilitation mechanical finger as claimed in claim 2 or claim 3, it is characterised in that: the guide rail (010) is to slide
Slot.
9. the exoskeleton-type rehabilitation mechanical finger as described in claims 1 or 2 or 3, it is characterised in that: the middle finger baffle (02)
Top there is the first connecting rod (021) stretched out towards the nearly finger stop plate (01), the other end of the middle finger connecting rod (05)
Hinged with the free end of the first connecting rod (021), the top of the remote finger stop plate (03) has towards the nearly finger stop plate
(01) the second connecting rod (031) stretched out, the remote other end for referring to first connecting rod (06) and second connecting rod (031)
Free end is hinged.
10. the exoskeleton-type rehabilitation mechanical finger as described in claims 1 or 2 or 3, it is characterised in that: the nearly finger stop plate
(01), be provided with strip groove (017) on the middle finger baffle (02) and the remote finger stop plate (03), the nearly finger stop plate (01) with
It is realized by hinge between the middle finger baffle (02) and between the middle finger baffle (02) and the remote finger stop plate (03)
Hingedly, lead between the nearly finger stop plate (01), the middle finger baffle (02) and the remote finger stop plate (03) and the corresponding hinge
The bolt crossed across corresponding strip groove (017) realizes fixation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720844738.5U CN208301849U (en) | 2017-07-12 | 2017-07-12 | A kind of exoskeleton-type rehabilitation mechanical finger |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720844738.5U CN208301849U (en) | 2017-07-12 | 2017-07-12 | A kind of exoskeleton-type rehabilitation mechanical finger |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208301849U true CN208301849U (en) | 2019-01-01 |
Family
ID=64731200
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720844738.5U Withdrawn - After Issue CN208301849U (en) | 2017-07-12 | 2017-07-12 | A kind of exoskeleton-type rehabilitation mechanical finger |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208301849U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107174485A (en) * | 2017-07-12 | 2017-09-19 | 合肥工业大学 | A kind of exoskeleton-type rehabilitation mechanical finger |
| CN109498373A (en) * | 2019-01-17 | 2019-03-22 | 中山大学 | Wearable hand healing robot |
| WO2022095692A1 (en) * | 2020-11-03 | 2022-05-12 | 腾讯科技（深圳）有限公司 | Hand exoskeleton, medical equipment, and simulated grabbing system |
-
2017
- 2017-07-12 CN CN201720844738.5U patent/CN208301849U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107174485A (en) * | 2017-07-12 | 2017-09-19 | 合肥工业大学 | A kind of exoskeleton-type rehabilitation mechanical finger |
| CN107174485B (en) * | 2017-07-12 | 2023-03-14 | 合肥工业大学 | Exoskeleton type rehabilitation mechanical finger |
| CN109498373A (en) * | 2019-01-17 | 2019-03-22 | 中山大学 | Wearable hand healing robot |
| CN109498373B (en) * | 2019-01-17 | 2020-04-03 | 中山大学 | Wearable hand rehabilitation robot |
| WO2022095692A1 (en) * | 2020-11-03 | 2022-05-12 | 腾讯科技（深圳）有限公司 | Hand exoskeleton, medical equipment, and simulated grabbing system |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20190101 Effective date of abandoning: 20230314 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20190101 Effective date of abandoning: 20230314 |