CN208877180U - The fine functional training robot of wrist joint - Google Patents
The fine functional training robot of wrist joint Download PDFInfo
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- CN208877180U CN208877180U CN201820842894.2U CN201820842894U CN208877180U CN 208877180 U CN208877180 U CN 208877180U CN 201820842894 U CN201820842894 U CN 201820842894U CN 208877180 U CN208877180 U CN 208877180U
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- wrist joint
- fine functional
- shaft coupling
- training robot
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Abstract
The utility model discloses a kind of fine functional training robots of wrist joint, including hoistable platform, the display screen being arranged on hoistable platform and PC host and it can realize the fine functional movement device of left/right hand wrist joint rehabilitation training, the fine functional movement device includes sequentially connected operational instrument, shaft coupling and damper, operational instrument is connected by shaft coupling with damper, wherein, operational instrument includes one of switching tools, knob tool, shank tool.The utility model structure is simple, easy to operate, quick, 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 fine functional training robots of wrist joint.
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, can be right
Finger, wrist-joint carry out the fine functional training robot of wrist joint of rehabilitation training.
The utility model is achieved through the following technical solutions:
The fine functional training robot of wrist joint, including the display screen and PC host, Yi Jike on platform, setting platform
Realize the fine functional movement device and support arm apparatus of the rehabilitation training of left/right hand wrist joint, the fine functional movement dress
It sets including sequentially connected operational instrument, shaft coupling and damper, operational instrument is connected by shaft coupling with damper, wherein
Operational instrument includes one of switching tools, knob tool, shank tool.
Further, the fine functional movement device further includes angular transducer, angular transducer by shaft coupling with
The damper connection.
Further, the operational instrument is provided with U-type groove and can pass through screw locking.
Further, the fine functional movement device is set on fine bracket, fine frame bottom be set to it is flat
Optical axis on platform is slidably connected.
Further, arch support is provided on the platform, the display screen and PC host are set on arch support,
The fine bracket can slide in or out arch support.
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.
By switching tools, knob tool simulated respectively with shank tool finger pinch similar key held with the object of bottle cap with palm it is similar
The rotary motion of the object of handle.Damper is used to adjust rotational resistance, adjusting training difficulty, it is ensured that training effect.
2, 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 fine functional training robot working state schematic representation of the utility model wrist joint；
Fig. 2 is the fine functional movement apparatus structure schematic diagram of the fine functional training robot of the utility model wrist joint；
Fig. 3 be the fine functional training robot of the utility model wrist joint platform on be provided with coarse functional movement device
Structural schematic diagram；
Fig. 4 is coarse functional movement working state of device figure；
Fig. 5 is the coarse functional movement apparatus structure schematic diagram one of the fine functional training robot of the utility model wrist joint；
Fig. 6 is the coarse functional movement apparatus structure schematic diagram two of the fine functional training robot of the utility model wrist joint；
Fig. 7 is the coarse functional movement apparatus structure schematic diagram three of the fine functional training robot of the utility model 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, the fine functional training robot of wrist joint, including aobvious on lifting platform 1, setting platform
Display screen and PC host 2 and the fine functional movement device 4 and support arm dress that can realize left/right hand wrist joint rehabilitation training
It sets, the utility model arm is placed in support arm apparatus, realizes left/right hand finger, hand by fine functional movement device 4
Wrist rehabilitation training, and rehabilitation training effect is good.
In the present embodiment, fine functional movement device 4 includes 41, two shaft couplings of sequentially connected operational instrument, damping
Device 43 and angular transducer 45, operational instrument 41 are connect by one of shaft coupling 42 with 43 one end of damper, damper 43
The other end is connect by another shaft coupling 44 with angular transducer 45, and operational instrument 41 includes switching tools 411, knob tool
412, one of shank tool 413.
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 above support arm apparatus, is fixed, finger pinch/hold training tool (switch,
Knob and shank tool), then start to train.
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 by fine bracket 6
Arch support 5.Fine functional movement device 4 is dismounted by rubber head screw 8.
Support arm apparatus can be the coarse functional movement device 3 being set on platform 1, coarse functional movement device 3
Device 32 is swung up and down including sequentially connected forearm telecontrol equipment 31, wrist joint and wrist joint rotates left and right device 33, wherein
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.
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 swung in track,
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.
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 (5)
1. the fine functional training robot of wrist joint, it is characterised in that: including platform, the display screen being arranged on platform and PC master
Machine and the fine functional movement device and support arm apparatus that can realize left/right hand wrist joint rehabilitation training, the fine function
Energy telecontrol equipment includes sequentially connected operational instrument, shaft coupling and damper, and operational instrument is connected by shaft coupling and damper
It connects, wherein operational instrument includes one of switching tools, knob tool, shank tool.
2. the fine functional training robot of wrist joint according to claim 1, it is characterised in that: the fine functional movement
Device further includes angular transducer, and angular transducer is connect by shaft coupling with the damper.
3. the fine functional training robot of wrist joint according to claim 1, it is characterised in that: the operational instrument setting
There is U-type groove and screw locking can be passed through.
4. the fine functional training robot of wrist joint according to claim 1, it is characterised in that: the fine functional movement
Device is set on fine bracket, and fine frame bottom is slidably connected with the optical axis being set on platform.
5. the fine functional training robot of wrist joint according to claim 4, it is characterised in that: be provided on the platform
Arch support, the display screen and PC host are set on arch support, and the fine bracket can slide in or out arch support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820842894.2U CN208877180U (en) | 2018-05-31 | 2018-05-31 | The fine functional training robot of wrist joint |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820842894.2U CN208877180U (en) | 2018-05-31 | 2018-05-31 | The fine functional training robot of wrist joint |
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| CN208877180U true CN208877180U (en) | 2019-05-21 |
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| CN201820842894.2U Active CN208877180U (en) | 2018-05-31 | 2018-05-31 | The fine functional training robot of wrist joint |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113975093A (en) * | 2021-11-02 | 2022-01-28 | 洛阳轴承研究所有限公司 | Wrist rotation rehabilitation device and upper limb rehabilitation exoskeleton |
-
2018
- 2018-05-31 CN CN201820842894.2U patent/CN208877180U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113975093A (en) * | 2021-11-02 | 2022-01-28 | 洛阳轴承研究所有限公司 | Wrist rotation rehabilitation device and upper limb rehabilitation exoskeleton |
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