CN208405940U - Wrist joint function image training robot - Google Patents
Wrist joint function image training robot Download PDFInfo
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- CN208405940U CN208405940U CN201820842891.9U CN201820842891U CN208405940U CN 208405940 U CN208405940 U CN 208405940U CN 201820842891 U CN201820842891 U CN 201820842891U CN 208405940 U CN208405940 U CN 208405940U
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- wrist joint
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- image training
- training robot
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Abstract
The utility model discloses a kind of wrist joint function image training robots, including hoistable platform, the display screen being arranged on hoistable platform and PC host and it can realize the coarse functional movement device of left/right hand wrist joint rehabilitation training, coarse functional movement device includes sequentially connected forearm telecontrol equipment, wrist joint swings up and down device and wrist joint rotates left and right device, wherein, wrist joint left rotation and right rotation device swings up and down device with wrist joint and is detachably connected.The utility model structure is simple, easy to operate, quick, and rehabilitation training mode is more, can carry out rehabilitation training to finger, wrist-joint, and rehabilitation efficacy is good.
Description
Technical field
The utility model relates to a kind of wrist joint function image training robots.
Background technique
Hand is the most dexterous body part of the mankind, as the wrist joint that hand is connected with body, very strong flexibility is needed
Both hands portion is assisted to realize its function.Wrist joint is made of 8 block-shaped different and irregular carpal bones: scaphoid, semilunar bone, three
Angle bone, beans bone, large multangular bone, lesser trapezium bone, capitatum and hamate bone.Their interlacing contacts each other, there is ligament interconnection,
Movable amplitude etc..Wrist joint association is made of radius end, ulna end and two rows of carpal bones, radioulna end joint
To be made of the C-shaped groove of ulna and radius, optimal joint contact and stability are present approximately in front of wrist rotation and supination,
Oar is partially and ruler is inclined, neutral position of palmar flexion and dorsiflex (neutral position of three freedom of movement is in same position).Any angle deviating
Or the pressure in scope of activities end can all cause many carpal problems, such as scope of activities to be restricted, wrist instability
Fixed, wrist pain and grip decrease etc..Many damages can all lead to wrist joint pain, such as: wrist joint myotenositis is sprained,
Carpal tunnel syndrome arthritis wrist ganglion fracture of the scaphoid bone etc..
Mostly based on patient's passive exercise, training mode is single for existing finger, wrist portion rehabilitation appliances, cannot be trouble
Person provides active training platform, and existing finger, wrist joint rehabilitation equipment lack patient's training exercise data detection, Wu Fazhun
Finger in patient's training process, the state change that wrist joint is trained really are grasped so that training effect optimizes.
Summary of the invention
In order to solve the above-mentioned technical problem, it is simple to provide a kind of structure for the utility model, easy to operate, quick, rehabilitation instruction
White silk mode is more, and the wrist joint function image training robot of rehabilitation training can be carried out to finger, wrist-joint.
The utility model is achieved through the following technical solutions:
Wrist joint function image training robot, including hoistable platform, setting hoistable platform on display screen and PC host and
The coarse functional movement device of left/right hand wrist joint rehabilitation training can be achieved, coarse functional movement device includes being sequentially connected
Forearm telecontrol equipment, wrist joint swings up and down device and wrist joint and rotates left and right device, wherein wrist joint rotates left and right device
Device is swung up and down with wrist joint to be detachably connected.
Further, the forearm telecontrol equipment includes forearm rotating electric machine, shaft coupling, gear and forearm holder, forearm holder
Gear ring base on be provided with arc-shaped rack, forearm rotating electric machine by shaft coupling drive wheel and rack engagement to driving before
Fupport arm rotation.
Further, the forearm telecontrol equipment further includes the idler wheel convenient for forearm holder rotation.
Further, the forearm telecontrol equipment further includes angular transducer, and the shaft coupling is driven by geared system
Angular transducer rotation.
Further, it includes two groups of pendulous devices that the wrist joint, which swings up and down device, and two groups of pendulous device intervals are symmetrical
Be set on the forearm telecontrol equipment, each group of pendulous device include ruler partially/the inclined motor of oar, gear reducer, shaft coupling, cone tooth
Wheel and side-sway arm, side-sway arm upper end are connect with bevel gear, and lower end rotates left and right device with the wrist joint and is detachably connected, ruler
The inclined motor via reducer of partially/oar, shaft coupling band dynamic bevel gear engagement are so that driving side swing arm is swung up and down.
Further, it further includes angular transducer that the wrist joint, which swings up and down device, and the shaft coupling is filled by gear
Angle setting degree sensor rotation.
Further, it includes that arc-shaped rail and arc-shaped rail are slidably connected that the wrist joint, which rotates left and right device,
Pulley bracket and the handle being set on pulley bracket, linear guide is provided on pulley bracket, and handle and linear guide are sliding
Dynamic connection.
Further, it further includes angular transducer that the wrist joint, which rotates left and right device, and the arc-shaped rail is provided with
Rack gear, rack and pinion engagement is to drive angular transducer to rotate.
Further, it is provided with arch support on the setting hoistable platform, the display screen and PC host are set to arch
Shape pedestal upper end.
The utility model is the utility model has the advantages that 1, the utility model can realize left hand or right finger, wrist joint rehabilitation training.
2, the utility model rehabilitation training mode is more, and can main Passive Mode combine, rehabilitation training effect is good.
3, the detectable training exercise data of the utility model is accurate to grasp finger in patient's training process, wrist joint instruction
Experienced state change is so that training effect optimizes.
Detailed description of the invention
Fig. 1 is the utility model wrist joint function image training robot structural schematic diagram；
Fig. 2 is the coarse functional movement apparatus structure schematic diagram one of the utility model wrist joint function image training robot；
Fig. 3 is the coarse functional movement apparatus structure schematic diagram two of the utility model wrist joint function image training robot；
Fig. 4 is the coarse functional movement apparatus structure schematic diagram three of the utility model wrist joint function image training robot；
Fig. 5 is the fine image training robot schematic diagram of the utility model wrist joint function image training robot combination wrist joint；
Fig. 6 is the fine image training robot working state schematic representation of Fig. 5 wrist joint；
Fig. 7 is the fine functional movement apparatus structure schematic diagram of the fine image training robot of wrist joint.
Wherein, 1- platform, 2- display screen and PC host, the coarse functional movement device of 3-, 31- forearm telecontrol equipment, 311-
Forearm rotating electric machine, 312- shaft coupling, 313- gear, 314- forearm holder, 315- arc-shaped rack, 316- idler wheel, 317- angle
Sensor, 32- wrist joint swing up and down device, 321- ruler partially/the inclined motor of oar, 322- speed reducer, 323- shaft coupling, 324- cone
Gear, 325- side-sway arm, 326- screw, 33- wrist joint left rotation and right rotation device, 331- arc-shaped rail, 332- pulley bracket,
333- handle, 334- angular transducer, the fine functional movement device of 4-, 41- operational instrument, 42- shaft coupling, 43- damper,
44- shaft coupling, 45- angular transducer, 5- arch support, the fine bracket of 6-, 7- optical axis, 8- rubber head screw.
Specific embodiment
As shown in Fig. 1 to 7, wrist joint function image training robot, including the display screen on lifting platform 1, setting platform 1
With PC host 2 and it can realize the coarse functional movement device 3 of left/right hand wrist joint rehabilitation training, coarse functional movement device
3 include sequentially connected forearm telecontrol equipment 31, wrist joint swings up and down device 32 and wrist joint rotates left and right device 33,
In, wrist joint left rotation and right rotation device 33 swings up and down device 32 with wrist joint by screw 326 and is detachably connected.This is practical new
Type can realize left/right hand finger, wrist rehabilitation training, and health by coarse functional movement device 3 or fine functional movement device 4
Multiple training effect is good.
In the present embodiment, forearm telecontrol equipment 31 includes forearm rotating electric machine 311, shaft coupling 312, gear 313, forearm
Support 314, idler wheel 316 and angular transducer 317 are provided with arc-shaped rack 315, forearm rotation on the gear ring base of forearm holder 314
Motor 311 engages that forearm holder 314 is driven to rotate with rack gear 315 with moving gear 313 by shaft coupling 312, and idler wheel 316 is set
It there are three setting, is more steadily rotated convenient for forearm holder 314, shaft coupling 312 drives 317 turns of angular transducer by geared system
It is dynamic.Being engaged by gear 313 with rack gear 315 drives forearm telecontrol equipment 31, wrist joint to swing up and down device 32 and a wrist joint left side
Dextrorotation rotary device 33 realize together forearm rotation before/supination, while idler wheel 316 effect under forearm holder 314 put in track
Dynamic, movement is more stable, rehabilitation training effect is better.
In the present embodiment, it includes two groups of pendulous devices and angular transducer 326, two groups of pendulum that wrist joint, which swings up and down device 32,
Dynamic device interval is symmetrically disposed on forearm telecontrol equipment 31, each group of pendulous device include ruler partially/the inclined motor 321 of oar, subtract
Fast machine 322, shaft coupling 323, bevel gear 324 and side-sway arm 325,325 upper end of side-sway arm are connect with bevel gear 324, and lower end is logical
Cross screw 326 and wrist joint and rotate left and right device 33 and be detachably connected, ruler partially/the inclined motor 321 of oar passes through speed reducer 322, shaft coupling
Device 323 is with the engagement of dynamic bevel gear 324 to which driving side swing arm 325 is swung up and down.It is driven on side-sway arm 325 by bevel gear 324
Lower swing, movement is more stable, rehabilitation training effect is better.Shaft coupling 323 drives angular transducer 326 by geared system
Rotation.
In the present embodiment, it includes that arc-shaped rail 331 and arc-shaped rail 331 slide that wrist joint, which rotates left and right device 33,
The pulley bracket 332 of connection, the handle 333 being set on pulley bracket 332 and angular transducer 334, on pulley bracket 332
It is provided with linear guide, handle 333 is slidably connected with linear guide.By holding handle 333 with moving pulley bracket 332 in circular arc
It is slided in shape guide rail 331, movement is more stable, and rehabilitation training effect is better.Arc-shaped rail 331 is provided with rack gear, rack gear
It engages that angular transducer 334 is driven to rotate with gear.
Coarse functional movement device 3 includes three groups of movements
1, before the realization of forearm telecontrol equipment 31 forearm revolves/and supination: this movement is passive movement, palm when held handle
333, arm is placed on above forearm holder 314, is fixed.Forearm rotating electric machine 311 rotates, and movement is transmitted by shaft coupling 312
To gear 313, gear 313 is engaged with rack gear 315, to drive forearm holder 314 and subsequent handle 333 leftward or rightward
It swings, finally realizes arm left-right rotation.Gear 313 is engaged with rack gear 315, and gear 313 transmits motion to rack gear 315, tooth
Item 315 and gear ring base link together, and gear ring base is fixed in the track of a similar arc track by three idler wheels 316, from
And swing forearm holder 314 in track, before generation forearm rotation/supination.
2, wrist joint swing up and down device 32 realize ruler partially/oar moves partially: this movement is passive movement, palm when held handle
333, arm is placed on above forearm holder 314, is fixed.Ruler partially/the inclined motor 321 of oar rotates, movement is passed by bevel gear 324
It is delivered to side-sway arm 325, is eventually transferred to handle 333, therefore handle 333 can generate swing upwardly or downwardly, and then band is started
Wrist is swung up and down.
3, wrist joint rotates left and right device 33 and realizes palmar flexion/dorsiflex campaign: this movement is active movement, palm when held handle
333, arm is placed on above forearm holder 314, is fixed.Arm is motionless, and palm when held handle 333 swings, and swinging track is logical
Cross the restriction of arc-shaped rail 331.
The utility model is realized before rotation and supination, oar be inclined and ruler partially, in the activity of three telecontrol equipments of palmar flexion and dorsiflex
The heart intersects above a point (neutral position of i.e. three freedom of movement and our bone neutral position are in same position), with me
Skeleton be to comply fully with, thus the rehabilitation training effect being optimal.
In the present embodiment, as shown in Fig. 4 to 7, fine functional movement device 4, fine functional movement are additionally provided on platform 1
Device 4 includes 41, two shaft couplings of sequentially connected operational instrument, damper 43 and angular transducer 45, and operational instrument 41 is logical
It crosses one of shaft coupling 42 to connect with 43 one end of damper, 43 other end of damper passes through another shaft coupling 44 and angle
Sensor 45 connects, and operational instrument 41 includes one of switching tools 411, knob tool 412, shank tool 413.
In the present embodiment, operational instrument 41 is provided with U-type groove and can pass through screw locking.The setting is so that operational instrument 41
Fast quick-detach is realized with shaft coupling 42.
In the present embodiment, arch support 5 is provided on platform 1, display screen and PC host 2 are set on arch support 5
End, fine functional movement device 4 are slidably connected to slide in or out with the optical axis 7 being set on platform 1 by fine bracket 6
Arch support 5.Fine functional movement device 4 is dismounted by rubber head screw 8.
Fine functional movement device 4 moves
When using fine functional movement device 4, screw 326 is first unclamped, wrist joint is rotated left and right into device 33 from side-sway arm
It is removed on 325, and then unclamps after fine functional movement device 4 is removed arch support 5 to appropriate location by rubber head screw 8 and fasten
Rubber head screw 8 finally comes into effect fine functional movement device 4 and moves, and fine functional movement device 4 moves: by switching work
Tool 41, knob tool 42, which with shank tool 43 simulates finger respectively and pinches similar key, holds similar handle with the object of bottle cap with palm
Object rotary motion.Damper 43 is used to adjust rotational resistance, adjusting training difficulty, it is ensured that training effect.
Usage mode: arm is placed on 314 faces on the forearm holder of coarse functional movement device 3, fixes, and finger is pinched/held
Firmly training tool (switch, knob and shank tool), then starts to train.
Coarse functional movement device and fine functional movement device are related in the utility model angular transducer 317,
326,334,45 are used to measure rotation angle, then transfer signals to single-chip microcontroller and are handled, the type that single-chip microcontroller will be handled well
Host computer number is passed to for game interaction, at the same angular transducer can also real-time monitoring wrist joint activity point of view, it is accurate to slap
Hold finger in patient's training process, property optimizes training effect to the state change of wrist joint training to ensure safety.
The utility model can configure electrical stimulation device and use.
Technical solution provided by utility model embodiment is described in detail above, it is used herein specifically a
Example is expounded the principle and embodiment of the utility model embodiment, and the explanation of above embodiments is only applicable to help
Understand the principle of the utility model embodiment；At the same time, for those skilled in the art is implemented according to the utility model
Example, there will be changes in terms of specific embodiments and scope of application, in conclusion the content of the present specification should not be construed as
Limitation to utility model.
Claims (9)
1. wrist joint function image training robot, it is characterised in that: including the display screen and PC on hoistable platform, setting hoistable platform
Host and the coarse functional movement device that can realize left/right hand wrist joint rehabilitation training, coarse functional movement device include
Sequentially connected forearm telecontrol equipment, wrist joint swing up and down device and wrist joint rotates left and right device, wherein wrist joint or so
Rotating device swings up and down device with wrist joint and is detachably connected.
2. wrist joint function image training robot according to claim 1, it is characterised in that: the forearm telecontrol equipment includes
Forearm rotating electric machine, shaft coupling, gear and forearm holder are provided with arc-shaped rack, forearm electric rotating on the gear ring base of forearm holder
Machine drives wheel and rack engagement to drive forearm holder to rotate by shaft coupling.
3. wrist joint function image training robot according to claim 2, it is characterised in that: the forearm telecontrol equipment also wraps
Include the idler wheel convenient for forearm holder rotation.
4. wrist joint function image training robot according to claim 2, it is characterised in that: the forearm telecontrol equipment also wraps
Angular transducer is included, the shaft coupling drives angular transducer to rotate by geared system.
5. wrist joint function image training robot according to claim 1, it is characterised in that: the wrist joint swings up and down dress
It sets including two groups of pendulous devices, two groups of pendulous device intervals are symmetrically disposed on the forearm telecontrol equipment, each group of swing dress
Set include ruler partially/the inclined motor of oar, gear reducer, shaft coupling, bevel gear and side-sway arm, side-sway arm upper end connect with bevel gear,
Lower end and the wrist joint rotate left and right device and are detachably connected, ruler partially/the inclined motor via reducer of oar, shaft coupling band mantle tooth
Wheel engagement swings up and down to driving side swing arm.
6. wrist joint function image training robot according to claim 5, it is characterised in that: the wrist joint swings up and down dress
Setting further includes angular transducer, and the shaft coupling is rotated by geared system angular transducer.
7. wrist joint function image training robot according to claim 1, it is characterised in that: the wrist joint rotates left and right dress
It sets including arc-shaped rail, the pulley bracket being slidably connected with arc-shaped rail and the handle being set on pulley bracket, it is sliding
Linear guide is provided on wheel support, handle is slidably connected with linear guide.
8. wrist joint function image training robot according to claim 7, it is characterised in that: the wrist joint rotates left and right dress
Setting further includes angular transducer, and the arc-shaped rail is provided with rack gear, and rack and pinion engagement is to drive angular transducer
Rotation.
9. wrist joint function image training robot according to claim 1, it is characterised in that: set on the setting hoistable platform
It is equipped with arch support, the display screen and PC host are set to arch support upper end.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820842891.9U CN208405940U (en) | 2018-05-31 | 2018-05-31 | Wrist joint function image training robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820842891.9U CN208405940U (en) | 2018-05-31 | 2018-05-31 | Wrist joint function image training robot |
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| CN208405940U true CN208405940U (en) | 2019-01-22 |
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| CN201820842891.9U Active CN208405940U (en) | 2018-05-31 | 2018-05-31 | Wrist joint function image training robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109820691A (en) * | 2019-03-19 | 2019-05-31 | 青岛科技大学 | A kind of wrist head of swingable adjustable-speed |
| CN110101545A (en) * | 2019-06-05 | 2019-08-09 | 广州医科大学附属第二医院 | A kind of Hemodialysis fistula training device |
| CN110384602A (en) * | 2019-07-26 | 2019-10-29 | 上海术理智能科技有限公司 | Upper-limbs rehabilitation training robot |
| CN110812813A (en) * | 2019-10-08 | 2020-02-21 | 陈深圳 | Intelligent training equipment for arm wrestling |
| CN110974606A (en) * | 2019-12-06 | 2020-04-10 | 江苏理工学院 | Hand rehabilitation training device and control system |
| JP2021083765A (en) * | 2019-11-28 | 2021-06-03 | アベテクノシステム株式会社 | Joint driving device |
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2018
- 2018-05-31 CN CN201820842891.9U patent/CN208405940U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109820691A (en) * | 2019-03-19 | 2019-05-31 | 青岛科技大学 | A kind of wrist head of swingable adjustable-speed |
| CN109820691B (en) * | 2019-03-19 | 2024-04-02 | 青岛科技大学 | Wrist moving device capable of swinging and adjusting speed |
| CN110101545A (en) * | 2019-06-05 | 2019-08-09 | 广州医科大学附属第二医院 | A kind of Hemodialysis fistula training device |
| CN110101545B (en) * | 2019-06-05 | 2021-06-22 | 广州医科大学附属第二医院 | Hemodialysis internal fistula trainer |
| CN110384602A (en) * | 2019-07-26 | 2019-10-29 | 上海术理智能科技有限公司 | Upper-limbs rehabilitation training robot |
| CN110812813A (en) * | 2019-10-08 | 2020-02-21 | 陈深圳 | Intelligent training equipment for arm wrestling |
| CN110812813B (en) * | 2019-10-08 | 2021-03-05 | 陈深圳 | Intelligent training equipment for arm wrestling |
| JP2021083765A (en) * | 2019-11-28 | 2021-06-03 | アベテクノシステム株式会社 | Joint driving device |
| CN110974606A (en) * | 2019-12-06 | 2020-04-10 | 江苏理工学院 | Hand rehabilitation training device and control system |
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