CN210250477U - Wearable hand rehabilitation robot - Google Patents
Wearable hand rehabilitation robot Download PDFInfo
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- CN210250477U CN210250477U CN201920705815.8U CN201920705815U CN210250477U CN 210250477 U CN210250477 U CN 210250477U CN 201920705815 U CN201920705815 U CN 201920705815U CN 210250477 U CN210250477 U CN 210250477U
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Abstract
The utility model relates to a medical rehabilitation training device, in particular to wearable hand rehabilitation robot. Including the base and set up the robot main part on the base, the robot main part includes the hand backplate and sets up the thumb part on the hand backplate, the forefinger part, the middle finger part, ring finger part and little finger part, five finger parts all include the backup pad, linear electric motor, the finger body and multistage push rod mechanism, wherein the tip of finger body coupling in the backup pad, linear electric motor sets up in the backup pad, multistage push rod mechanism articulates on the finger body, and with linear electric motor's output shaft, linear electric motor's linear motion passes through multistage push rod mechanism's transmission, turn into the rotation of each knuckle around its centre of gyration of the finger body, each knuckle covers in the finger top of wearing person, thereby it is synchronous motion to drive its finger. The utility model discloses compact structure, the degree of freedom is more, and every finger can carry out independent drive, can provide more diversified rehabilitation training action.
Description
Technical Field
The utility model relates to a medical rehabilitation training device, in particular to wearable hand rehabilitation robot.
Background
The hand function damage has great adverse effect on the daily life of the patient, the rehabilitation therapy of the patient with the hand function damage depends on one-to-one training of a rehabilitation therapist at present, and the consumed time and the labor are high. The equipment for hand rehabilitation can perform long-time periodic motion, has obvious advantages on improving the rehabilitation training efficiency, and provides a new mode for the hand function rehabilitation treatment.
The existing hand rehabilitation equipment has single function and insufficient freedom, mostly uses the integral hand motion as the main mode of training, can not carry out independent training for each finger and each joint of a patient, and has obvious defects in the rehabilitation effect. The degree of freedom of the rehabilitation equipment is improved, and the rehabilitation training device has important significance for improving the rehabilitation training effect.
SUMMERY OF THE UTILITY MODEL
To the problem, the utility model aims to provide a wearing formula hand rehabilitation robot can carry out independent drive to every finger joint all has certain activity degree, in order to satisfy the impaired patient's of hand function rehabilitation training demand.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a wearable hand rehabilitation robot, which comprises a base and a robot main body arranged on the base, the robot main body comprises a hand back plate, and a thumb part, an index finger part, a middle finger part, a ring finger part and a little finger part which are arranged on the hand back plate, the thumb part, the index finger part, the middle finger part, the ring finger part and the little finger part comprise a supporting plate, a linear motor, a finger body and a multi-stage push rod mechanism, wherein the finger body is connected with the end part of the supporting plate, the linear motor is arranged on the supporting plate, the multi-stage push rod mechanism is hinged on the finger body and connected with the output shaft of the linear motor, the linear motion of the linear motor is converted into the rotation of each knuckle of the finger body around the rotation center of the knuckle through the transmission of the multi-stage push rod mechanism, and each knuckle covers the upper part of the finger of a wearer so as to drive the finger to do synchronous motion.
The thumb part is installed on the side face of the hand back plate through screws, and the index finger part, the middle finger part, the ring finger part and the little finger part are uniformly distributed on the surface of the hand back plate.
The thumb part includes thumb backup pad, thumb linear electric motor, the thumb body and level four push rod mechanism, thumb linear electric motor passes through supporting seat behind the motor and installs in the thumb backup pad before supporting seat and the motor, the thumb body includes thumb knuckle connecting piece, the first knuckle of thumb and thumb second knuckle, and wherein the one end of the first knuckle of thumb is passed through thumb knuckle connecting piece and is connected with the thumb backup pad, and the other end is articulated with thumb second knuckle, level four push rod mechanism articulate on the thumb body, and with thumb linear electric motor's output is connected.
The four-stage push rod mechanism comprises a first thumb push rod, a second thumb push rod, a third thumb push rod and a fourth thumb push rod, wherein the second thumb push rod and the third thumb push rod are triangular, one end of the second thumb push rod is hinged to a thumb knuckle connecting piece, the second end of the second thumb push rod is hinged to one end of the first thumb push rod, the other end of the first thumb push rod is hinged to the output end of a thumb linear motor, the third end of the second thumb push rod is hinged to one end of the third thumb push rod, the upper portion of the first thumb knuckle is a triangular support, an angular point of the triangular support is hinged to the second end of the third thumb push rod, the third end of the third thumb push rod is hinged to one end of the fourth thumb push rod, and the other end of the fourth thumb push rod is hinged to the second thumb knuckle.
The index finger part comprises an index finger supporting plate, an index finger linear motor, an index finger body and a five-stage push rod mechanism, wherein the index finger body is connected to the end part of the index finger supporting plate, the index finger linear motor is arranged on the index finger supporting plate through an index finger motor rear supporting seat and an index finger motor front supporting seat, and the five-stage push rod mechanism is hinged on the index finger body and is connected with an output shaft of the index finger linear motor;
the middle finger part, the ring finger part and the little finger part have the same structure as the index finger part.
The forefinger body includes forefinger knuckle connecting piece, the first knuckle of forefinger, forefinger second knuckle and forefinger third knuckle, wherein the one end of the first knuckle of forefinger pass through the forefinger knuckle connecting piece with the forefinger backup pad is connected, the other end of the first knuckle of forefinger is articulated with the one end of forefinger second knuckle, the other end of forefinger second knuckle is articulated with the one end of forefinger third knuckle.
The five-stage push rod mechanism comprises a first index finger push rod, a second index finger push rod, a third index finger push rod, a fourth index finger push rod and a fifth index finger push rod, wherein the index finger second push rod and the index finger third push rod are in a triangular structure, one end of the index finger second push rod is hinged with the index finger knuckle connecting piece, the other two ends of the index finger second push rod are respectively hinged with one ends of the index finger first push rod and the third push rod, the other end of the first index finger push rod is hinged with the output end of the linear motor of the index finger, the upper part of the first knuckle of the index finger is a triangular bracket, the angular point of the third push rod is hinged with the second end of the third push rod of the index finger, the third end of the third push rod is hinged with one end of the fourth push rod of the index finger, the other end of the index finger fourth push rod is hinged with one end of the index finger fifth push rod, and the other end of the index finger fifth push rod is hinged with the index finger third knuckle.
The fifth push rod of the index finger is of an arc-shaped structure.
The handsheet comprises a cushion, a resin plate, a metal plate, a right side plate and a left side plate, wherein the cushion is connected to the resin plate through the protrusion on the surface, the cushion has a radian suitable for the hand of a wearer with the surface of the resin plate, the resin plate is installed on the metal plate, the right side plate is connected to the right side of the metal plate, the thumb part provides a mounting position, the right side plate is provided with an aerial plug connector as a signal input end of equipment, the left side plate is connected to the left side of the metal plate, and the left side plate is connected to the base.
And a seat hole for mounting the robot main body is reserved on the base.
The utility model discloses an advantage does with positive effect:
1. the utility model is similar to the palm of human body in appearance and is convenient to wear;
2. the utility model adopts soft materials, and is more comfortable and safe to wear;
3. each finger part of the utility model can be driven independently, thus providing more rehabilitation training modes;
4. the utility model discloses can cover the every knuckle of wearing person, can produce more complete finger action, improve the rehabilitation training effect.
Drawings
Fig. 1 is a schematic structural diagram of the present invention;
fig. 2 is a schematic structural view of the thumb part of the present invention;
FIG. 3 is a schematic structural view of the index finger portion of the present invention;
fig. 4 is a schematic structural diagram of the backboard of the present invention;
fig. 5 is an exploded view of the handsheet of the present invention;
fig. 6 is a schematic structural diagram of the base of the present invention.
In the figure: 01 is a robot main body, 02 is a base, 1 is a thumb part, 11 is a thumb supporting plate, 12 is a thumb motor rear supporting seat, 13 is a thumb linear motor, 14 is a thumb motor front supporting seat, 15 is a thumb motor output connecting piece, 16 is a thumb first push rod, 17 is a thumb second push rod, 18 is a thumb third push rod, 19 is a thumb fourth push rod, 101 is a thumb knuckle connecting piece, 102 is a thumb first knuckle, 103 is a thumb second knuckle, 2 is an index finger part, 21 is an index finger supporting plate, 22 is an index finger motor rear supporting seat, 23 is an index finger linear motor, 24 is an index finger motor front supporting seat, 25 is an index finger motor output connecting piece, 26 is an index finger first push rod, 27 is an index finger second push rod, 28 is an index finger third push rod, 29 is an index finger fourth push rod, 230 is an index finger fifth push rod, 201 is an index finger knuckle connecting piece, 202 is a first knuckle, 203 is the second knuckle of the index finger, 204 is the third knuckle of the index finger, 3 is the middle finger part, 4 is the ring finger part, 5 is the little finger part, 6 is the dorsal plate, 61 is the cushion, 62 is the resin plate, 63 is the metal plate, 64 is the right side plate, 65 is the left side plate, and 66 is the aviation plug.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in figure 1, the utility model provides a wearable hand rehabilitation robot, which comprises a base 02 and a robot main body 01 arranged on the base 02, wherein the robot main body 01 comprises a hand backboard 6, a thumb part 1, an index finger part 2, a middle finger part 3, a ring finger part 4 and a little finger part 5 which are arranged on the hand backboard 6, the thumb part 1, the index finger part 2, the middle finger part 3, the ring finger part 4 and the little finger part 5 all comprise a support plate, a linear motor, a finger body and a multi-stage push rod mechanism, wherein the finger body is connected at the end part of the support plate, the linear motor is arranged on the support plate, the multi-stage push rod mechanism is hinged on the finger body and connected with an output shaft of the linear motor, the linear motion of the linear motor is transmitted by the multi-stage push rod mechanism and is converted into the rotation of each finger section of the finger body around the rotation center, each finger section covers above the finger of a, thereby driving the fingers to move synchronously.
The thumb part 1 is arranged on the side surface of the backboard 6 through screws, and the index finger part 2, the middle finger part 3, the ring finger part 4 and the little finger part 5 are uniformly distributed on the surface of the backboard 6.
As shown in fig. 2, the thumb part 1 comprises a thumb support plate 11, a thumb linear motor 13, a thumb body and a four-stage pushing rod mechanism, wherein the thumb support plate 11 is mounted on the side surface of the backboard 6 and is a connection base for the rest of the components. The thumb linear motor 13 is installed on the thumb supporting plate 11 through the rear motor supporting seat 12 and the front motor supporting seat 14, the thumb body comprises a thumb knuckle connecting piece 101, a first thumb knuckle 102 and a second thumb knuckle 103, one end of the first thumb knuckle 102 is connected with the thumb supporting plate 11 through the thumb knuckle connecting piece 101, the other end of the first thumb knuckle 102 is hinged with the second thumb knuckle 103, and the four-stage push rod mechanism is hinged to the thumb body and connected with the output end of the thumb linear motor 13.
The four-stage push rod mechanism comprises a first thumb push rod 16, a second thumb push rod 17, a third thumb push rod 18 and a fourth thumb push rod 19, wherein the second thumb push rod 17 and the third thumb push rod 18 are triangular, one end of the second thumb push rod 17 is hinged to the thumb knuckle connecting piece 101, the second end of the second thumb push rod 17 is hinged to one end of the first thumb push rod 16, the other end of the first thumb push rod 16 is hinged to a thumb motor output connecting piece 14 arranged at the output end of the thumb linear motor 13, and the third end of the second thumb push rod 17 is hinged to one end of the third thumb push rod 18. The upper part of the first knuckle 102 of the thumb is a triangular bracket, the angular point of the triangular bracket is hinged with the second end of the third push rod 18 of the thumb, the third end of the third push rod 18 of the thumb is hinged with one end of the fourth push rod 19 of the thumb, and the other end of the fourth push rod 19 of the thumb is hinged with the second knuckle 103 of the thumb.
As shown in fig. 3, the index finger part 2 comprises an index finger support plate 21, an index finger linear motor 23, an index finger body and a five-stage push rod mechanism, wherein the index finger body is connected to the end of the index finger support plate 21, the index finger linear motor 23 is installed on the index finger support plate 21 through an index finger motor rear support seat 22 and an index finger motor front support seat 24, and the five-stage push rod mechanism is hinged on the index finger body and connected with an output shaft of the index finger linear motor 23.
The forefinger body comprises a forefinger knuckle connecting piece 201, a forefinger first knuckle 202, a forefinger second knuckle 203 and a forefinger third knuckle 204, wherein one end of the forefinger first knuckle 202 is connected with the forefinger supporting plate 21 through the forefinger knuckle connecting piece 201, the other end of the forefinger first knuckle 202 is hinged with one end of the forefinger second knuckle 203, and the other end of the forefinger second knuckle 203 is hinged with one end of the forefinger third knuckle 204.
The fifth-stage push rod mechanism comprises a first index finger push rod 26, a second index finger push rod 27, a third index finger push rod 28, a fourth index finger push rod 29 and a fifth index finger push rod 230, wherein the second index finger push rod 27 and the third index finger push rod 28 are of triangular structures, one end of the second index finger push rod 27 is hinged to the index finger knuckle connecting piece 201, the other two ends of the second index finger push rod 27 are hinged to one ends of the first index finger push rod 26 and the third index finger push rod 28 respectively, and the other end of the first index finger push rod 26 is hinged to an index finger motor output connecting piece 25 arranged at the output end of the linear motor 23. The upper part of the first knuckle 202 of the index finger is a triangular bracket, the angular point of which is hinged with the second end of the third push rod 28 of the index finger, the third end of the third push rod 28 is hinged with one end of the fourth push rod 29 of the index finger, the other end of the fourth push rod 29 of the index finger is hinged with one end of the fifth push rod 230 of the index finger, and the other end of the fifth push rod 230 of the index finger is hinged with the third knuckle 204 of the index finger. The index finger fifth push rod 230 has an arc-shaped structure.
The middle finger portion 3, ring finger portion 4 and little finger portion 5 are identical in structure to the index finger portion 2, and have only a difference in size.
As shown in fig. 4-5, the backboard 6 comprises a cushion 61, a resin plate 62, a metal plate 63, a right side plate 64 and a left side plate 65, wherein the cushion 61 is connected to the resin plate 62 by a protrusion on the surface, and the surfaces of the cushion 61 and the resin plate 62 have a curvature corresponding to the hand of the wearer, so as to better fit with the hand of the wearer and ensure the wearing comfort. The resin plate 62 is mounted on the metal plate 63 through bolts, and the metal plate 63 is made of aviation aluminum and has good strength and reliability. A right side plate 64 is attached to the right side of the metal plate 63 to provide a mounting position for the thumb part 1, an air-insertion connector 66 as a signal input terminal of the device is mounted on the right side plate 64, and a left side plate 65 is attached to the left side of the metal plate 63 for connection with the base 02.
As shown in fig. 6, a seat hole for mounting the robot main body 01 is provided in the base 02, and the left side plate 65 of the robot main body 01 is inserted into the seat hole of the base 02 by a pin to fix the position thereof.
The utility model discloses regard as the drive with each finger part linear electric motor, linear electric motor's linear motion is turned into each knuckle around its centre of rotation's rotation through the transmission of push rod at different levels, and each knuckle covers in wearer's finger top to it is synchronous motion to drive its finger. The aerial plug 66 is connected to the control end and introduces control signals to the linear motors of the various parts, thereby controlling the movement of the various finger parts.
The utility model is suitable for a need the patient of hand rehabilitation training, compact structure, the degree of freedom is more, and every finger can carry out independent drive, can cover every knuckle of wearer, can provide more diversified rehabilitation training action, satisfies the impaired patient's of hand function rehabilitation training demand.
The above description is only for the embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are all included in the protection scope of the present invention.
Claims (10)
1. The wearable hand rehabilitation robot is characterized by comprising a base (02) and a robot main body (01) arranged on the base (02), wherein the robot main body (01) comprises a hand back plate (6) and a thumb part (1), an index finger part (2), a middle finger part (3), a ring finger part (4) and a little finger part (5) which are arranged on the hand back plate (6), the thumb part (1), the index finger part (2), the middle finger part (3), the ring finger part (4) and the little finger part (5) respectively comprise a supporting plate, a linear motor, a finger body and a multi-stage push rod mechanism, wherein the finger body is connected to the end part of the supporting plate, the linear motor is arranged on the supporting plate, the multi-stage push rod mechanism is hinged on the finger body and connected with an output shaft of the linear motor, and the linear motion of the linear motor is transmitted by the multi-stage push rod mechanism, the finger sections are converted into the rotation of the finger body around the rotation center of the finger body, and the finger sections cover the fingers of the wearer, so that the fingers of the wearer are driven to move synchronously.
2. The wearable hand rehabilitation robot according to claim 1, wherein the thumb part (1) is mounted on the side of the backboard (6) by screws, and the index finger part (2), the middle finger part (3), the ring finger part (4) and the little finger part (5) are all distributed on the surface of the backboard (6).
3. The wearable hand rehabilitation robot according to claim 1, wherein the thumb part (1) comprises a thumb support plate (11), a thumb linear motor (13), a thumb body and a four-stage pushing rod mechanism, the thumb linear motor (13) is mounted on the thumb support plate (11) through a rear motor support base (12) and a front motor support base (14), the thumb body comprises a thumb knuckle connector (101), a first thumb knuckle (102) and a second thumb knuckle (103), one end of the first thumb knuckle (102) is connected with the thumb support plate (11) through the thumb knuckle connector (101), the other end of the first thumb knuckle is hinged with the second thumb knuckle (103), and the four-stage pushing rod mechanism is hinged on the thumb body and connected with an output end of the thumb linear motor (13).
4. The wearable hand rehabilitation robot according to claim 3, wherein the four-stage pushing rod mechanism comprises a first thumb pushing rod (16), a second thumb pushing rod (17), a third thumb pushing rod (18) and a fourth thumb pushing rod (19), wherein the second thumb pushing rod (17) and the third thumb pushing rod (18) are triangular, one end of the second thumb pushing rod (17) is hinged to the thumb knuckle connecting piece (101), the second end of the second thumb pushing rod (17) is hinged to one end of the first thumb pushing rod (16), the other end of the first thumb pushing rod (16) is hinged to the output end of the thumb linear motor (13), the third end of the second thumb pushing rod (17) is hinged to one end of the third thumb pushing rod (18), the upper part of the first thumb knuckle (102) is a triangular bracket, and the angular point of the triangular bracket is hinged to the second end of the third thumb pushing rod (18), the third end of the third thumb push rod (18) is hinged with one end of the fourth thumb push rod (19), and the other end of the fourth thumb push rod (19) is hinged with the second thumb knuckle (103).
5. The wearable hand rehabilitation robot according to claim 1, wherein the index finger part (2) comprises an index finger support plate (21), an index finger linear motor (23), an index finger body and a five-stage push rod mechanism, wherein the index finger body is connected to the end of the index finger support plate (21), the index finger linear motor (23) is mounted on the index finger support plate (21) through an index finger motor rear support seat (22) and an index finger motor front support seat (24), and the five-stage push rod mechanism is hinged on the index finger body and is connected with an output shaft of the index finger linear motor (23);
the middle finger part (3), the ring finger part (4) and the little finger part (5) have the same structure as the index finger part (2).
6. The wearable hand rehabilitation robot of claim 5, wherein the index finger body comprises an index finger knuckle connector (201), an index finger first knuckle (202), an index finger second knuckle (203) and an index finger third knuckle (204), wherein one end of the index finger first knuckle (202) is connected with the index finger support plate (21) through the index finger knuckle connector (201), the other end of the index finger first knuckle (202) is hinged with one end of the index finger second knuckle (203), and the other end of the index finger second knuckle (203) is hinged with one end of the index finger third knuckle (204).
7. The wearable hand rehabilitation robot according to claim 6, wherein the five-stage push rod mechanism comprises a first index finger push rod (26), a second index finger push rod (27), a third index finger push rod (28), a fourth index finger push rod (29) and a fifth index finger push rod (230), wherein the second index finger push rod (27) and the third index finger push rod (28) are in a triangular structure, one end of the second index finger push rod (27) is hinged to the index finger knuckle connector (201), the other two ends of the second index finger push rod (27) are respectively hinged to the first index finger push rod (26) and one end of the third index finger push rod (28), the other end of the first index finger push rod (26) is hinged to the output end of the linear motor (23), the upper portion of the first index finger knuckle (202) is a triangular bracket, and the corner point of the first index finger is hinged to the second end of the third index finger push rod (28), the third end of the third push rod (28) is hinged with one end of an index finger fourth push rod (29), the other end of the index finger fourth push rod (29) is hinged with one end of an index finger fifth push rod (230), and the other end of the index finger fifth push rod (230) is hinged with the index finger third knuckle (204).
8. The wearable hand rehabilitation robot of claim 7, wherein the index finger fifth push rod (230) is of an arc-shaped configuration.
9. The wearable hand rehabilitation robot according to claim 1, wherein the backboard (6) comprises a cushion (61), a resin plate (62), a metal plate (63), a right side plate (64), and a left side plate (65), wherein the cushion (61) is connected into the resin plate (62) by a protrusion of the surface, the cushion (61) and the surface of the resin plate (62) have an arc shape corresponding to the hand of the wearer, the resin plate (62) is mounted on the metal plate (63), the right side plate (64) is connected to the right side of the metal plate (63) to provide a mounting position for the thumb part (1), an aerial connector (66) as a signal input terminal of the device is mounted on the right side plate (64), and the left side plate (65) is connected to the left side of the metal plate (63) for connecting with the base (02).
10. The wearable hand rehabilitation robot according to claim 1, wherein a seat hole for mounting the robot main body (01) is left on the base (02).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920705815.8U CN210250477U (en) | 2019-05-17 | 2019-05-17 | Wearable hand rehabilitation robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920705815.8U CN210250477U (en) | 2019-05-17 | 2019-05-17 | Wearable hand rehabilitation robot |
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| CN210250477U true CN210250477U (en) | 2020-04-07 |
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| CN201920705815.8U Active CN210250477U (en) | 2019-05-17 | 2019-05-17 | Wearable hand rehabilitation robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111938987A (en) * | 2020-07-17 | 2020-11-17 | 哈尔滨理工大学 | Wearable exoskeleton for finger rehabilitation training |
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2019
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111938987A (en) * | 2020-07-17 | 2020-11-17 | 哈尔滨理工大学 | Wearable exoskeleton for finger rehabilitation training |
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