CN209220844U - Portable finger rehabilitation exercise mechanism - Google Patents

Abstract

The utility model discloses portable finger rehabilitation exercise mechanisms, including control module, execution module and shell；The shell includes mounting seat and upper cover, and the control module includes PCB control panel, optoelectronic switch, menu interface and button；The execution module includes traction component and driving assembly；The driving component includes motor and shaft；The traction component includes suffering limb gloves, bracket；For controlling bending finger, rate of bending and the bending angle of patient, this training institution is equipped with follower model and Passive Mode, can achieve the purpose that finger rehabilitation exercise with multimode.

Description

Portable finger rehabilitation exercise mechanism

Technical field

The utility model relates to portable finger rehabilitation exercise mechanisms.

Background technique

As the high development of medical instrument and the effect in clinical medicine are increasingly significant, the output value of external medical instrument Have been approached medicine company；As economic growth, scientific and technological progress, people's material life improve, hygiene and health cause is rapidly developed, people couple The demand of health care greatly improves, and is especially paid attention to using the health care technology of physical method；" entry to WTO " gives middle traditional Chinese medical science Instrument industry is treated to bring and also brings unprecedented opportunity while " challenge ", make we from this can strength one's very own, it is flat Deng participation world economy competition.In short, medical apparatus industry has been used as a new growth engines to be presented in ours In front.

Exoskeleton robot technology is to have merged sensing, control, information, and provide a kind of wearable machinery for operator The complex art of mechanism.Application as exoskeleton robot in field of medical rehabilitation, the master of wound finger gymnastic exoskeleton hand Wanting task is that auxiliary patients with hand injury carries out postoperative rehabilitation training, according to modern evidence-based medicine EBM (Evidence Based Medicine, EBM) and continuous passive motion (Continuous Passive Motion, CPM) theory, patient can be made to the greatest extent It gets well in time that may be short.Existing rehabilitation training mechanism, mode is single, and wearing is uncomfortable, generally can not be fine Adaptation patient demand, reach good training effect.Currently, the research for wound finger gymnastic exoskeleton hand has become One hot spot direction of biomedical engineering and robot subject.

Utility model content

The purpose of the utility model is to overcome in place of the deficiencies in the prior art, portable finger rehabilitation exercise machine is provided Structure, solves in above-mentioned background technique that traumatic patient postoperative rehabilitation mode is single, wear comfort is insufficient, ineffective etc. Problem.

The technical scheme adopted by the utility model to solve the technical problem is as follows: providing portable finger rehabilitation exercise machine Structure, including control module, execution module and shell；

The shell includes mounting seat and upper cover；

The control module includes PCB control panel, optoelectronic switch, lenticular lenses, menu interface and button, the PCB control Plate, optoelectronic switch and lenticular lenses are set on pedestal and are electrically connected with execution module, and the menu interface and button are set to upper cover The execution module action message on surface, lenticular lenses acquisition is transferred to PCB control panel, the PCB control panel root by optoelectronic switch According to the operation control execution module movement of menu interface；

The execution module includes traction component and driving assembly；The driving component includes motor and shaft, the electricity Machine is fixed on pedestal by motor fixing frame, connect with the shaft, for controlling the shaft rotation；The traction component packet Include suffering limb gloves, bracket；The suffering limb gloves are fixed on cap upper surface, including centre of the palm portion and outwardly extending around centre of the palm portion Finger sleeve, the finger sleeve extending direction are consistent with five finger direction of human body；The number of holders is 4, is curved arc, One end passes through upper cover and is fixedly connected with shaft, and the top of the finger sleeve of the other end and index finger, middle finger, ring finger and little finger turns Dynamic connection；Driving power indicates through control module, and drive shaft is rotated along certain angle and speed, and supporting band is made to start fingerstall cylinder Movement carries out finger rehabilitation exercise.

It further include sensor glove in one preferred embodiment of the utility model, the sensor glove embeds bending sensor, Control module is sent to for detecting the real-time bending degree of each finger and being converted into electric signal.

In one preferred embodiment of the utility model, the bending sensor is set at the finger of sensor glove, quantity It is 1 to 5, is connect by wirelessly or non-wirelessly mode with control module electric signal.

In one preferred embodiment of the utility model, one end of the bracket and finger sleeve connection is provided with pin hole, institute The top for stating finger sleeve is provided with pin hole, and the two is rotatablely connected by bolt.

In one preferred embodiment of the utility model, the shaft is special-shaped axis, and the bracket is connected with the rotating shaft one end The compatible profiled holes of special-shaped axis are provided with, are socketed on shaft by profiled holes.The outside of the little finger of toe and index finger bracket difference It is provided with stop nut.The driving component further includes retarder and shaft coupling, and the shaft coupling is used to connect motor and shaft, The retarder is set between motor and shaft coupling.

In one preferred embodiment of the utility model, the lenticular lenses include light transmitting sheet and shielding plate, in the light transmitting sheet Several loopholes are evenly distributed with, a loophole compatible with shape in light transmitting sheet is disposed on the shielding plate, it is described Lenticular lenses quantity is 2, is respectively arranged on the inside of stop nut, and the optoelectronic switch quantity is 2, cooperation lenticular lenses control bracket Rotation and stopping.

In one preferred embodiment of the utility model, the PCB control panel be built-in with MCU, CPU, AVR, PIC, DSP, One of ARM, FPGA, CPLD processor.

In one preferred embodiment of the utility model, the finger sleeve lower edge is placed with several sewing holes, passes through seam The finger position of hole and suffering limb gloves of threading sutures.

The technical program compared with the background art, it has the following advantages:

1. the optional control model of user includes follower model, Passive Mode, the follower model is that execution module drives trouble Limb finger follows movement, and the movement that follows is that suffering limb digital flexion angle follows sensor glove to embed crooked sensory in real time Device bending angle detected；The Passive Mode is that execution module drives suffering limb finger to do compulsory exercise, the compulsory exercise Bending angle, rate of bending to be selected according to user do respective curved movement.

2. the bending angle signal of different fingers corresponds to the signal of each button, PCB control panel receives corresponding bending Angle signal will be regarded as the signal of corresponding button, thus realize the operation to menu interface, it is easy to operate, it is convenient and efficient.

3. each bracket can select the bracket of different length according to the hand-type of different patients, so that suffering limb finger gymnastic moves rail Mark is bonded the grasping track of suffering limb finger, and suitability is strong.

4. stent ends and each finger sleeve cooperate, finger sleeve, which is covered, realizes finger bracket on suffering limb finger fingertip Traction to suffering limb finger, the finger sleeve and elastomeric glove are sewed, and elastomeric glove is worn on suffering limb palm, so that finger-stall Cylinder is more bonded with suffering limb finger fingertip, and elastomeric glove also plays buffer protection function, avoids between finger sleeve and suffering limb finger Hard link, to realize the protection to patient's suffering limb finger.

Detailed description of the invention

Fig. 1 is the utility model schematic perspective view.

Fig. 2 is the utility model schematic diagram of internal structure.

Fig. 3 is the utility model internal structure top view.

Fig. 4 is the utility model internal structure left view.

Fig. 5 is supporting structure schematic diagram.

Fig. 6 is sensor glove schematic diagram.

Fig. 7 is execution module upper cover schematic diagram.

Fig. 8 is control module upper cover schematic diagram.

Fig. 9 is finger tube-in-tube structure schematic diagram.

Figure 10 is light transmitting sheet structural schematic diagram.

Figure 11 is anti-dazzling screen structural schematic diagram.

Figure 12 is one work flow diagram of embodiment.

Figure 13 is two motor message conveying flow figure of embodiment.

Specific embodiment

The content of the utility model is illustrated with reference to the accompanying drawings and examples:

Embodiment 1

Please refer to Fig. 1-5,7-12, the portable finger rehabilitation exercise mechanism of the present embodiment, including control module, execution module With shell 3；

The shell 3 includes mounting seat 31 and upper cover 32；The upper cover 32 divides for control module upper cover 34 and executes mould Block upper cover 33；The shell 3 is photosensitive resin material, and the baseboard material is Chinese fir board.The shell 3 there are mounting hole, press 14 hole of button, power outlet, 13 hole of menu interface and cable through hole.The mounting hole, each two of 3 front and back of shell, shell 3 is logical Mounting hole is crossed to be fixedly connected with the bottom plate.Execution module upper cover 33 is set there are four 22 mouthfuls of bracket.

The control module includes PCB control panel 11, optoelectronic switch 12, lenticular lenses, menu interface 13 and button 14；It is described PCB control panel 11 and optoelectronic switch 12 are set on pedestal 31 and are electrically connected with execution module, and the PCB control panel 11 and photoelectricity are opened 12 are closed to be set in pedestal 31 and the cavity of the encirclement formation of execution module upper cover 33；The menu interface 13 and button 14 are set to The execution module action message on 32 surface of upper cover, lenticular lenses acquisition is transferred to PCB control panel 11, the PCB by optoelectronic switch Control panel 11 controls execution module movement according to the operation of menu interface 13；

The menu interface 13 and button 14 are set to 34 surface of control module upper cover, are moved by control execution module, To control bending finger, rate of bending and the bending angle of patient；

The execution module includes traction component and driving assembly；

The driving component includes motor 23 and shaft, and the motor 23 is fixed on pedestal 31 by 23 fixed frame of motor, It is connect with the shaft, for controlling the shaft rotation；The motor 23 is set to pedestal 31 and control module upper cover 34 is wrapped It encloses in the cavity to be formed, the execution module upper cover 33 is equipped with relief hole with 34 joint of control module upper cover, and shaft is passed through and allowed Extend in the cavity that position hole is formed to execution module upper cover 33 with pedestal 31.The shaft is special-shaped axis 24, the bracket 22 with One end of shaft connection is provided with the compatible profiled holes of special-shaped axis 24, is socketed on shaft by profiled holes.The abnormal shape axis 24 Both ends cooperate with bearing block built-in bearing respectively, and bearing block is bolted on bottom plate.The little finger of toe and index finger bracket 22 Outside is respectively arranged with stop nut, and the stop nut is equipped with a loophole, and the control module further includes circular grating Piece, optoelectronic switch 12, the lenticular lenses quantity are two, are respectively arranged on the inside of the stop nut in shaft, the optoelectronic switch 12 quantity are two, and the optoelectronic switch 12 controls turning for shaft by the mutual alignment of the loophole on stop nut and lenticular lenses Dynamic and stopping.The lenticular lenses are divided into light transmitting sheet 15 and shielding plate 16, are evenly distributed with several loopholes in the light transmitting sheet 15, Be disposed on the shielding plate 16 loophole compatible with shape in light transmitting sheet 15, the lenticular lenses and light transmitting sheet 15 with The rotation of special-shaped axis 24 and rotate, the optoelectronic switch 12 detects the light transmission state of two lenticular lenses respectively, and lenticular lenses are with special-shaped axis In 24 rotation processes, one arteries and veins of 12 light transmission of optoelectronic switch and generation when lenticular lenses loophole enters the detection slot of optoelectronic switch 12 Signal is rushed to PCB control panel 11, lenticular lenses will generate the pulse of given pace with optoelectronic switch 12 in special-shaped 24 rotation process of axis Signal is sent to PCB control panel 11, and PCB control panel 11 calculates the velocity of rotation and rotation width of special-shaped axis 24 by pulse signal Degree, only one loophole of anti-dazzling screen surface, when loophole enters the detection slot of optoelectronic switch 12, optoelectronic switch 12 sends one A pulse to PCB control panel 11, PCB control panel 11 judges the position of special-shaped axis 24 by this pulse signal.The driving component It further include retarder 25 and shaft coupling 26, the shaft coupling 26 is set to relief hole, described to subtract for connecting motor 23 and shaft Fast device 25 is set between motor 23 and shaft coupling 26.

The traction component includes suffering limb gloves 21, bracket 22；The suffering limb gloves 21 are fixed on 32 upper surface of upper cover, packet Include centre of the palm portion and around the outwardly extending finger sleeve 28 in centre of the palm portion, 28 extending direction of finger sleeve and five finger direction of human body Unanimously；22 quantity of bracket is 4, is curved arc, and one end passes through upper cover 32 and is fixedly connected with shaft, the other end and food Finger, middle finger, the third finger, little finger of toe finger sleeve 28 top rotation connection；Driving power indicates through control module, drive shaft It is rotated along certain angle and speed, makes bracket 22 that finger sleeve 28 be driven to move, carry out finger rehabilitation exercise.

In the present embodiment, the top setting of one end, the finger sleeve 28 that the bracket 22 is connect with finger sleeve 28 There is pin hole 29, the two is rotatablely connected by bolt.The bracket 22 is four, respectively with little finger sleeve, nameless sleeve, in Fingerstall cylinder, the cooperation of index finger sleeve, four finger sleeves 28 can turn an angle rotating around four brackets 22.The finger sleeve 28 lower edges are placed with several sewing holes 27, are sutured, can flexibly be replaced by the finger position of sewing hole 27 and suffering limb gloves 21 Finger sleeve 28.The other end of the bracket 22 is equipped with profiled holes, removably connect, can pass through with shaft and finger sleeve 28 The bracket 22 of different length is replaced to be adapted to the patient of not homochirality, so that suffering limb finger gymnastic motion profile is bonded suffering limb finger Grasping track.The bracket 22 and four finger sleeves 28 are photosensitive resin material, and suffering limb gloves 21 are elastic silks and satins material, Bearing block, special-shaped axis 24, shaft coupling 26,23 fixed frame of motor are aluminum alloy materials.

In the present embodiment, the PCB control panel 11 is built-in in MCU, CPU, AVR, PIC, DSP, ARM, FPGA, CPLD A kind of processor.The 11 built-in power conversion module of PCB control panel, the power conversion module is by the power outlet in shell DC power supply needed for the 220V alternating current that conveying is come in is converted to the present embodiment.

In the present embodiment, suffering limb finger rehabilitation exercise mode is Passive Mode, i.e., is controlled by menu interface 13 and button 14 Suffering limb gloves 21 processed move.The menu interface 13 is OLED, and 14 quantity of button is 4, is respectively arranged in control module 34 surface of lid, in menu item selection procedure, thumb, index finger, middle finger, the bending angle signal of the third finger and button one, Button two, button three, the signal of button four are corresponding, and user realizes the operation to the present embodiment by selection menu item.

Concrete operations mode are as follows: power on first, after power outlet closes the switch, system initialization, PCB control panel 11 23 driver of motor of execution module is sent a command to, the reversion of 23 driver driving motor 23 of motor, PCB control panel 11 is in motor Constantly detect whether optoelectronic switch 12 has generation pulse during 23 reversions, the explanation when detecting the pulse of optoelectronic switch 12 Execution module returns initial position, and PCB control panel 11 sends halt instruction, and motor 23 stops operating.

User selects required control model by the menu interface 13 of OLED, when user selects Passive Mode, PCB The parameter for the angle and amplitude that control panel 11 is inputted according to user sends command adapted thereto to execution module, and final control effect makes The finger for obtaining suffering limb gloves 21 does rehabilitation exercise by certain angle and speed.

Embodiment 2

Please refer to Fig. 1-6,7-11,13, embodiment 2 the difference from embodiment 1 is that: the present embodiment further includes sensor glove 4, the sensor glove 4 embeds bending sensor, sends for detecting the real-time bending degree of each finger and being converted into electric signal To control module.The bending sensor is set at the finger of sensor glove 4, passes through wirelessly or non-wirelessly mode and control module Electric signal connection.

In the present embodiment, sensor glove 4 is worn on healthy palm, and bending sensor quantity is 5, detects five respectively and is good for The analog signal of the bending angle of health finger, analog signal are transmitted to the PCB control panel 11 of control module by wired mode. Bending sensor in the sensor glove 4 passes through Aviation Connector and 11 wired connection of PCB control panel.The execution module upper cover 33 are equipped with communication interface seat, and the nut check of Aviation Connector male connector is in execution module upper cover 33.Aviation Connector male connector lead connects PCB control panel 11 is connect, female connects bending sensor.

When user selects follower model, PCB control panel 11 receives the bending signal of 4 bending sensor of sensor glove, choosing Take one of bending angle signal as main signal, other bending angle signals calculate sensor glove 4 as correction signal Digital flexion angle, PCB control panel 11 send a command to execution module and suffering limb finger are driven to do bending motion, move transmittance process See Figure 13, pulse signal of constantly detection optoelectronic switch 12 of PCB control panel 11, is believed by the pulse of optoelectronic switch 12 during this The bending angle that execution module drives suffering limb finger to do bending motion number is calculated, PCB control panel 11 is curved according to suffering limb finger The deviation of 4 digital flexion angle of bent angle and sensor glove, which constantly changes PCB control panel 11 and is sent to the movement of execution module, to be referred to It enables and kinematic parameter controls the bending angle of suffering limb finger, this process is dynamic control process, final control effect makes The bending angle of suffering limb finger is approximately equal with 4 digital flexion angle of sensor glove, so that it is strong to realize that suffering limb finger approximation follows The rehabilitation efficacy of health finger.

The above, only the utility model preferred embodiment, therefore, it cannot be limited according to, and the utility model is implemented It is practical new to should still belong to this for range, i.e., equivalent changes and modifications made according to the scope of the patent of the utility model and the content of the manual In the range of type covers.

Claims (7)

1. portable finger rehabilitation exercise mechanism, it is characterised in that: including control module, execution module and shell；

The shell includes mounting seat and upper cover；

The control module includes PCB control panel, optoelectronic switch, lenticular lenses, menu interface and button, the PCB control panel, light Electric switch and lenticular lenses are set on pedestal and are electrically connected with execution module, and the menu interface and button are set to upper lid surface, The execution module action message of lenticular lenses acquisition is transferred to PCB control panel by optoelectronic switch, and the PCB control panel is according to menu The operation control execution module movement at interface；

The execution module includes traction component and driving assembly；The driving component includes motor and shaft, and the motor is logical It crosses motor fixing frame and is fixed on pedestal, connect with the shaft, for controlling the shaft rotation；The traction component packet Include suffering limb gloves, bracket；The suffering limb gloves are fixed on cap upper surface, including centre of the palm portion and outwardly extending around centre of the palm portion Finger sleeve, the finger sleeve extending direction are consistent with five finger direction of human body；The number of holders is 4, is curved arc, One end passes through upper cover and is fixedly connected with shaft, and the top of the finger sleeve of the other end and index finger, middle finger, ring finger and little finger turns Dynamic connection；It is indicated through control module, external driving power drive shaft is rotated along certain angle and speed, and supporting band is made to start The movement of fingerstall cylinder, carries out finger rehabilitation exercise.

2. portable finger rehabilitation exercise mechanism according to claim 1, it is characterised in that: it further include sensor glove, it is described Sensor glove embeds bending sensor, is sent to control mould for detecting the real-time bending degree of each finger and being converted into electric signal Block.

3. portable finger rehabilitation exercise mechanism according to claim 2, it is characterised in that: the bending sensor is set to At the finger of sensor glove, quantity is 1 to 5, is connect by wirelessly or non-wirelessly mode with control module electric signal.

4. portable finger rehabilitation exercise mechanism according to claim 1 or 2, it is characterised in that: the bracket and finger-stall One end of cylinder connection is provided with pin hole, and the top of the finger sleeve is provided with pin hole, and the two is rotatablely connected by bolt.

5. portable finger rehabilitation exercise mechanism according to claim 1 or 2, it is characterised in that: the lenticular lenses include saturating Mating plate and shielding plate are evenly distributed with several loopholes in the light transmitting sheet, one and light transmitting sheet are disposed on the shielding plate The compatible loophole of upper shape, the lenticular lenses quantity are 2, are respectively arranged on the inside of stop nut, the optoelectronic switch number Amount is 2, the rotation and stopping of cooperation lenticular lenses control bracket.

6. portable finger rehabilitation exercise mechanism according to claim 1 or 2, it is characterised in that: built in the PCB control panel There are one of MCU, CPU, AVR, PIC, DSP, ARM, FPGA, CPLD processor.

7. portable finger rehabilitation exercise mechanism according to claim 1 or 2, it is characterised in that: the finger sleeve is following Edge is placed with several sewing holes, is sutured by the finger position of sewing hole and suffering limb gloves.