CN211067796U - Upper limb rehabilitation robot and finger and wrist training device thereof - Google Patents
Upper limb rehabilitation robot and finger and wrist training device thereof Download PDFInfo
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- CN211067796U CN211067796U CN201920958215.2U CN201920958215U CN211067796U CN 211067796 U CN211067796 U CN 211067796U CN 201920958215 U CN201920958215 U CN 201920958215U CN 211067796 U CN211067796 U CN 211067796U
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Abstract
The utility model relates to the technical field of medical rehabilitation instruments, in particular to an upper limb rehabilitation robot and a finger wrist training device thereof, wherein the finger wrist training device comprises a base plate and a bracket for supporting an arm, the bracket is arranged on the base plate, the base plate is provided with a mandrel which is arranged on an extension line of the bracket, a finger training manipulator for fixing a hand and driving the finger to perform rehabilitation motion is arranged above the mandrel, the mandrel is connected with a driving motor for driving the finger training manipulator to rotate along the horizontal direction by taking the mandrel as an axis, the finger wrist training device of the utility model can realize the buckling, stretching rehabilitation training motion of a wrist joint and the bending/stretching, grabbing/stretching rehabilitation training motion of the finger, has wide application range and strong universality, can be arranged on a platform type upper limb rehabilitation training robot on the market, therefore, the integrated rehabilitation exercise of the upper limbs of the shoulder, elbow, wrist and finger joints can be realized, various training modes can be realized, and the integrated training effect of the upper limbs can be effectively enhanced.
Description
Technical Field
The utility model relates to a medical treatment rehabilitation apparatus technical field especially relates to a finger wrist trainer, still relates to an upper limbs rehabilitation robot who contains above-mentioned finger wrist trainer.
Background
Among the prior art, a device for upper limbs rehabilitation training is mostly shoulder joint and elbow joint's integrative trainer, like the hand rest that patent "upper limbs rehabilitation training machine and hand rest" (CN206063379U) disclosed, including the base connecting plate, set up in handle on the base connecting plate and the hand layer board that is used for placing the arm, the hand layer board with base connecting plate rotatable coupling, such upper limbs trainer lacks wrist joint training part and finger training part, is unfavorable for the rehabilitation of patient's upper limbs.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to prior art current situation, provide a finger wrist trainer to and contain above-mentioned finger wrist trainer's upper limbs rehabilitation robot, the utility model discloses a finger wrist trainer can be used to the bucking of wrist joint/extends rehabilitation training, the bucking of finger/extends, gripping/opens rehabilitation training, the utility model discloses an upper limbs rehabilitation robot can further strengthen the training effect of upper limbs integration.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
one of the purposes of the utility model is to provide a finger wrist trainer, including the base plate and be used for the bracket of bearing arm, on the base plate was located to the bracket, its characterized in that, the base plate on be equipped with the dabber, on the extension of bracket was located to the dabber, the dabber top was equipped with and was used for fixed hand and can drive the finger and carry out the finger training manipulator of recovered motion, the dabber is connected with and is used for driving the finger training manipulator and uses the dabber to carry out pivoted driving motor as the axle center along the horizontal direction.
As the utility model discloses a preferred embodiment, dabber and finger training manipulator between be equipped with the mount pad, the mount pad is connected with the dabber including the installation department that is used for placing finger training manipulator, the bottom of installation department, the installation department outwards extends and forms the guide part that is used for carrying out the direction to the rotation of finger training manipulator, the base plate offer and be used for carrying out spacing guide's arc track to the rotation of guide part, the one end that the installation department was kept away from to the guide part slides and locates in the arc track.
As a preferred embodiment of the utility model, the guide part include the rotor arm that sets up along the horizontal direction and the slide arm that sets up along vertical direction, the one end that the installation department was kept away from to the rotor arm is located to the slide arm, the lower extreme of slide arm stretches into in the arc track and the movable sleeve is equipped with the supporting wheel.
As a preferred embodiment of the present invention, the mandrel sleeve is provided with a first synchronizing wheel, the output shaft sleeve of the driving motor is provided with a second synchronizing wheel, and the first synchronizing wheel and the second synchronizing wheel are connected through a synchronizing belt.
As a preferred embodiment of the utility model, finger training manipulator include palm back base, palm back base is connected with and is used for driving four fingers and bend/stretch four and indicate training mechanism, be equipped with actuating mechanism on the palm back base, actuating mechanism includes the lead screw that sets up along length direction and slides and locate the drive slider on the lead screw, the upper end of drive slider articulates there is the steering drive subassembly that is used for driving four fingers training mechanism and bends/stretch, steering drive subassembly includes the rotatable steering panel of locating on the palm back base, the steering panel is articulated mutually with four finger training mechanism, and be equipped with between steering panel and the drive slider and be used for driving steering panel pivoted push-and-pull rod.
As a preferred embodiment of the utility model, four indicate training mechanism include first fixing base and second fixing base, palm back of the body base and first fixing base between be equipped with and be used for driving first fixing base and use palm finger joint turning center to be rotary motion's first parallel four-bar components as the center, be equipped with between first fixing base and the second fixing base and be used for driving the second fixing base and use the interphalangeal joint turning center to be rotary motion's second parallel four-bar components as the center, the deflector is articulated mutually with first parallel four-bar components.
As a preferred embodiment of the utility model, the drive slider still be connected with and be used for driving the thumb and carry out inside and outside wobbling thumb training mechanism, the outside extension of side of drive slider forms and is used for driving thumb training mechanism and carries out inside and outside wobbling actuating arm, the actuating arm be to the L type structure of drive slider the place ahead extension.
As a preferred embodiment of the utility model, thumb training mechanism include the swinging arms, the swinging arms including be used for driving the inside and outside wobbling swing section of thumb and be used for driving swing section wobbling rotation section, rotation section and palm back of the body base rotatable coupling, palm back of the body base on rotatable coupling be used for driving the rotation section for palm back of the body base pivoted rotation curved bar, the one end of rotating the curved bar is articulated with the rotation section, the other end and actuating arm rotatable coupling.
Another object of the present invention is to provide an upper limb rehabilitation robot, which is characterized in that it comprises any one of the above finger and wrist training devices.
The beneficial effects of the utility model reside in that:
the utility model discloses in, it rotates to drive the dabber through driving motor driving band to drive finger training manipulator and use the dabber to rotate as the axle center, and then drive the hand and use wrist joint rotation center to rotate as the axle center, realize the bucking of wrist joint, extend the rehabilitation training motion, on the other hand can drive the finger through finger training manipulator and bend/stretch, the rehabilitation training motion such as gripping, the utility model discloses application scope is extensive, and the commonality is strong, and the mountable is on the platform formula upper limbs rehabilitation training robot on the market to realize shoulder, elbow, wrist, finger joint's upper limbs integration rehabilitation motion, and can realize multiple training mode, can effectively strengthen the training effect of upper limbs integration.
Drawings
Fig. 1 is a schematic structural view of the finger and wrist training device of the present invention.
Fig. 2 is a schematic structural diagram of the finger training manipulator of the present invention.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings and embodiments:
example 1
Please refer to fig. 1, the utility model discloses a finger wrist training device, including base plate 1 and the bracket 2 that is used for the bearing arm, on base plate 1 was located to bracket 2, be equipped with the dabber on base plate 1, on the extension of bracket 2 was located to the dabber, the dabber top was equipped with and was used for fixed hand and can drive the finger and carry out the finger training manipulator 5 of recovered motion, and the dabber is connected with and is used for driving finger training manipulator 5 and uses the dabber to carry out pivoted driving motor 61 along the horizontal direction as the axle center.
In the utility model, the mandrel is arranged on the extension line of the bracket 2, the finger training mechanical arm 5 of the utility model can be applied with finger training mechanical arms 5 with different structures according to the training requirement, when in use, the finger training mechanical arm 5 is arranged on the mandrel, simultaneously, after the finger training mechanical arm 5 is fixed with the hand of the human body, the wrist joint of the human body is correspondingly arranged on the mandrel, in the wearing process, the arm is arranged on the bracket 2, the wrist joint is correspondingly arranged above the mandrel, the palm back, the fingers and the corresponding position of the finger training mechanical arm 5 are fixed, in the wrist joint motion process, the motion circle center of the finger training mechanical arm 5 is coincided with the human wrist joint rotation center, in the rehabilitation training process, the driving motor 61 drives the movable mandrel to rotate, thereby driving the finger training mechanical arm 5 to rotate by taking the mandrel as the axis center, and further driving the hand to rotate by taking the wrist joint rotation center as, the wrist joint rehabilitation training device has the advantages that the flexion and extension rehabilitation training motions of the wrist joint are realized, the wrist rehabilitation treatment effect of a patient is effectively improved, the wrist joint rehabilitation training device is applied to an upper limb rehabilitation robot, the normal upper limb motion action of a human body can be better fitted, and the upper limb training effect is effectively improved; on the other hand, can drive the finger through finger training manipulator 5 and bend/stretch, grab/open the rehabilitation training motion such as, the utility model discloses simple structure, application scope is extensive, and the commonality is strong, and the mountable is on the platform formula upper limbs rehabilitation robot on the market, extends to wrist, finger joint with current upper limbs integration notion from shoulder joint, elbow joint, realizes shoulder, elbow, wrist, finger joint's upper limbs integration motion, effectively strengthens the training effect of upper limbs integration.
The utility model discloses can realize multiple training mode, if solitary wrist is bent/is stretched the training, solitary finger is bent/is stretched, gripping/opens training or wrist, the rehabilitation training of mutually supporting of finger (for example the wrist is bent/is stretched certain angle, carries out the training of finger again), be favorable to providing the pertinence rehabilitation training for patient's various rehabilitation training demands, the multiple training mode of a product reduces the burden of patient or patient family members simultaneously.
As a specific implementation mode, be equipped with mount pad 4 between dabber and the finger training manipulator 5, mount pad 4 is including the installation department 41 that is used for placing finger training manipulator 5, the bottom of installation department 41 is connected with the dabber, installation department 41 outwards extends and forms the guide part 42 that is used for leading finger training manipulator 5's rotation, base plate 1 offers and is used for carrying out spacing arc track 11 that leads to guide part 42's rotation, the one end that installation department 41 was kept away from to guide part 42 slides and locates in arc track 11, mutually support through guide part 42 and arc track 11, further increase the stability that finger training manipulator 5 rotated the in-process, and carry on spacingly to finger training manipulator 5's rotation, more accord with human wrist motion characteristics, effectively avoid the improper secondary damage that causes of recovered training in-process motion.
As a specific implementation manner of the utility model, guide portion 42 includes rotor arm 421 that sets up along the horizontal direction and the sliding arm 422 that sets up along vertical direction, rotor arm 421 is located to sliding arm 422 and is kept away from the one end of installation department 41, sliding arm 422's lower extreme stretches into arc track 11 in and the movable sleeve is equipped with supporting wheel 423, supporting wheel 423 can locate tubulose or the spherical structure on the movable arm for the movable sleeve, supporting wheel 423 can follow arc track 11 and roll in finger training manipulator 5's motion process, it is smooth and easy to ensure that supporting wheel 423 slides in arc track 11, guarantee finger training manipulator 5's motion smoothness nature.
The mandrel is sleeved with a first synchronizing wheel, the output shaft of the driving motor 61 is sleeved with a second synchronizing wheel 62, the first synchronizing wheel is connected with the second synchronizing wheel 62 through a synchronizing belt 63, in the using process, the output shaft of the driving motor 61 rotates to drive the first synchronizing wheel to rotate, the second synchronizing wheel 62 is driven to rotate through the synchronizing belt 63, the mounting base 4 on the mandrel is further driven to rotate, and the rotation of the finger training manipulator 5 on the mounting base 4 is achieved.
Referring to fig. 2, as a specific embodiment of the present invention, the finger training manipulator 5 includes a palm back base 52, in this embodiment, the palm back base 52 and the installation portion 41 are fixed to each other by screws, the palm back base 52 is connected with a four-finger training mechanism 51 for driving four fingers to bend/stretch, a driving mechanism 53 is disposed on the palm back base 52, the driving mechanism 53 includes a lead screw 532 disposed along a length direction and a driving slider 533 slidably disposed on the lead screw 532, an upper end of the driving slider 533 is hinged to a steering transmission assembly for driving the four-finger training mechanism 51 to bend/stretch, the steering transmission assembly includes a steering plate 534 rotatably disposed on the palm back base 52, the steering plate 534 is hinged to the four-finger training mechanism 51, and a push-pull rod 535 for driving the steering plate 534 to rotate is disposed between the steering plate 534 and the driving slider 533.
In this embodiment, the screw 532 is connected with a driving member 531 for driving the driving slider 533 to slide along the screw 532, the driving member 531 is a motor, the motor and the screw 532 are driven by a gear, in the use process, the motor drives the screw 532 to move, so that the driving slider 533 slides back and forth along the screw 532, the push-pull rod 535 is driven to move back and forth in a linkage manner, the steering plate 534 is driven to rotate, the four-finger training mechanism 51 is driven to bend/stretch, and the driving manner is simple and stable.
As a specific embodiment of the present invention, the four-finger training mechanism 51 includes a first fixing seat 511 and a second fixing seat 513, a first parallel four-bar assembly 512 for driving the first fixing seat 511 to rotate around the metacarpophalangeal joint rotation center is disposed between the palmar-dorsal base 52 and the first fixing seat 511, a second parallel four-bar assembly 514 for driving the second fixing seat 513 to rotate around the interphalangeal joint rotation center is disposed between the first fixing seat 511 and the second fixing seat 513, and the steering plate 534 is hinged to the first parallel four-bar assembly 512.
In this embodiment, the index finger, the middle finger, the ring finger, and the little finger are fixed together by the first fixing seat 511 and the second fixing seat 513, and are driven by the first parallel four-bar assembly 512 and the second parallel four-bar assembly 514 disposed on the first fixing seat 511 and the second fixing seat 513 to perform a bending/stretching or gripping/opening motion.
As a specific embodiment of the present invention, the first parallel four-bar assembly 512 includes a bending bar, the bending bar includes a driving section 5121 and a transmission section 5122, an included angle is formed between the driving section 5121 and the transmission section 5122, one end of the transmission section 5122 away from the driving section 5121 extends outwards to form an engaging end of a tooth-shaped structure, the second parallel four-bar assembly 514 has a transmission bar 5141 with a tooth-shaped end, the engaging end and the transmission bar 5141 are respectively hinged to the first fixing base 511 and engaged with each other, one end of the driving section 5121 away from the transmission section 5122 is hinged to the steering plate 534, during use, the forward and backward movement of the driving sliding block 533 drives the push-pull rod 535 to push and pull the steering plate 534, so that the steering plate 534 rotates around the hinge position of the steering plate 534 and the palm-back base 52, thereby driving the driving section 5121 to rotate and realizing the flexion/extension or gripping/stretching rehabilitation movement of the four-finger training mechanism 51.
Compared with a parallel four-bar structure completely consisting of straight bars, the parallel four-bar structure adopting the bending bars can effectively reduce the height of the exoskeleton unit in the vertical direction and reduce the overall height direction size of the mechanism under the condition of ensuring the consistency of the motion centers, and the product structure is simpler and more compact and can rotate more flexibly.
As a specific implementation manner, the drive slider 533 is still connected with and is used for driving the thumb to carry out inside and outside wobbling thumb training mechanism 54, the outside extension of side of drive slider 533 forms and is used for driving thumb training mechanism 54 to carry out inside and outside wobbling actuating arm 5331, can drive the simultaneous movement of four finger training mechanism 51 and thumb training mechanism 54 through same drive slider 533, moreover, the steam generator is simple in structure, can realize the rehabilitation training of human hand five-finger linkage gripping action, better human hand gripping motion of simulation, the training effect is better, the actuating arm 5331 is the L type structure of extending to drive slider 533 the place ahead, ensure that lead screw 532 can rearmounted installation and have appropriate length, guarantee the stroke of drive slider 533, the overall arrangement design is more reasonable.
The utility model discloses in, drive through actuating mechanism 53 and rotate curved bar 543 and use its junction with palm back of the body base 52 to rotate as the axle center, the rotation section 542 of linkage swinging arms uses its junction with palm back of the body base 52 to rotate as the axle center to drive the swing inside and outside 541 of swing section, realize the recovered motion of thumb, the utility model discloses a thumb training mechanism 54 adopts the setting of rotating curved bar 543, realizes the lever, and combines the swinging arms, and the training of fitting finger movement track mode, simple structure, light in weight can combine four to indicate training mechanism 51 to carry out the gripping rehabilitation training of staff, constitutes five fingers gripping training, for four fingers gripping training, the normal human hand gripping motion of simulation that can be better, training effect is better.
Example 2
An upper limb rehabilitation robot comprising the finger and wrist training device of embodiment 1.
Of course, the above illustration is only a preferred embodiment of the present invention, and the scope of the present invention is not limited thereto, so all equivalent changes made in the principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The utility model provides a finger wrist trainer, includes the base plate and is used for the bracket of bearing arm, on the base plate was located to the bracket, its characterized in that, the base plate on be equipped with the dabber, on the extension of bracket was located to the dabber, the dabber top was equipped with and is used for fixed hand and can drives the finger and carry out the finger training manipulator of rehabilitation motion, the dabber is connected with and is used for driving the finger training manipulator and uses the dabber to carry out pivoted driving motor as the axle center along the horizontal direction.
2. The device for training the wrist of the finger according to claim 1, wherein a mounting seat is arranged between the mandrel and the finger training manipulator, the mounting seat comprises a mounting portion for placing the finger training manipulator, the bottom of the mounting portion is connected with the mandrel, the mounting portion extends outwards to form a guide portion for guiding the rotation of the finger training manipulator, the base plate is provided with an arc-shaped track for limiting and guiding the rotation of the guide portion, and one end of the guide portion, which is far away from the mounting portion, is slidably arranged in the arc-shaped track.
3. The device for training the wrist of a user according to claim 2, wherein the guide portion comprises a rotating arm arranged in a horizontal direction and a sliding arm arranged in a vertical direction, the sliding arm is arranged at one end of the rotating arm far away from the mounting portion, and the lower end of the sliding arm extends into the arc-shaped track and is movably sleeved with the supporting wheel.
4. The device for training the wrist of a user according to claim 2, wherein the spindle is sleeved with a first synchronizing wheel, the output shaft of the driving motor is sleeved with a second synchronizing wheel, and the first synchronizing wheel and the second synchronizing wheel are connected through a synchronizing belt.
5. The device for training the wrist of a user according to claim 1, wherein the finger training manipulator comprises a palm back base, the palm back base is connected with a four-finger training mechanism for driving the four fingers to bend/stretch, the palm back base is provided with a driving mechanism, the driving mechanism comprises a lead screw arranged along the length direction and a driving slider arranged on the lead screw in a sliding manner, the upper end of the driving slider is hinged with a steering transmission assembly for driving the four-finger training mechanism to bend/stretch, the steering transmission assembly comprises a steering plate rotatably arranged on the palm back base, the steering plate is hinged with the four-finger training mechanism, and a push-pull rod for driving the steering plate to rotate is arranged between the steering plate and the driving slider.
6. The device for training the wrist of a user according to claim 5, wherein the four-finger training mechanism comprises a first fixing seat and a second fixing seat, a first parallel four-bar assembly for driving the first fixing seat to rotate around the center of rotation of the metacarpophalangeal joint is arranged between the palm back base and the first fixing seat, a second parallel four-bar assembly for driving the second fixing seat to rotate around the center of rotation of the interphalangeal joint is arranged between the first fixing seat and the second fixing seat, and the steering plate is hinged to the first parallel four-bar assembly.
7. The finger wrist training device according to claim 5, wherein the driving slider is further connected to a thumb training mechanism for driving the thumb to swing inward and outward, the side edge of the driving slider extends outward to form a driving arm for driving the thumb training mechanism to swing inward and outward, and the driving arm is L-shaped extending forward of the driving slider.
8. The device for training the wrist of a user according to claim 7, wherein the thumb training mechanism comprises a swinging rod, the swinging rod comprises a swinging section for driving the thumb to swing in and out and a rotating section for driving the swinging section to swing, the rotating section is rotatably connected with the dorsum palmae base, the dorsum palmae base is rotatably connected with a rotating curved rod for driving the rotating section to rotate relative to the dorsum palmae base, one end of the rotating curved rod is hinged with the rotating section, and the other end of the rotating curved rod is rotatably connected with the driving arm.
9. An upper limb rehabilitation robot comprising the finger and wrist training device according to any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920958215.2U CN211067796U (en) | 2019-06-24 | 2019-06-24 | Upper limb rehabilitation robot and finger and wrist training device thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920958215.2U CN211067796U (en) | 2019-06-24 | 2019-06-24 | Upper limb rehabilitation robot and finger and wrist training device thereof |
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| CN211067796U true CN211067796U (en) | 2020-07-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920958215.2U Active CN211067796U (en) | 2019-06-24 | 2019-06-24 | Upper limb rehabilitation robot and finger and wrist training device thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113069314A (en) * | 2021-03-23 | 2021-07-06 | 常州机电职业技术学院 | Wearable upper limb rehabilitation training device |
| CN115517908A (en) * | 2022-06-13 | 2022-12-27 | 燕山大学 | Finger and wrist rehabilitation training robot |
-
2019
- 2019-06-24 CN CN201920958215.2U patent/CN211067796U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113069314A (en) * | 2021-03-23 | 2021-07-06 | 常州机电职业技术学院 | Wearable upper limb rehabilitation training device |
| CN115517908A (en) * | 2022-06-13 | 2022-12-27 | 燕山大学 | Finger and wrist rehabilitation training robot |
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