CN211244403U - Rehabilitation manipulator - Google Patents
Rehabilitation manipulator Download PDFInfo
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- CN211244403U CN211244403U CN201921602227.8U CN201921602227U CN211244403U CN 211244403 U CN211244403 U CN 211244403U CN 201921602227 U CN201921602227 U CN 201921602227U CN 211244403 U CN211244403 U CN 211244403U
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Abstract
The utility model relates to a hand joint rehabilitation apparatus technical field, concretely relates to rehabilitation manipulator. The rehabilitation training device comprises gloves, a rehabilitation training auxiliary assembly, a connecting assembly and a host; the gloves comprise palm sleeves and finger sleeves fixedly connected with the palm sleeves; a rehabilitation training auxiliary component is arranged corresponding to a finger sleeve; the rehabilitation training auxiliary assembly comprises at least two brackets, a corrugated pipe fixed between two adjacent brackets and a pressure sensor; the brackets are fixed on the finger sleeves and are arranged at intervals along the length direction of the finger sleeves; the pressure sensor is arranged at the tail end of the finger stall; the connecting assembly comprises a training driving air pipe and a first valve arranged on the training driving air pipe; the main machine comprises a controller and a training driving air pump electrically connected with the controller; the training driving air pump is communicated with the corrugated pipe through a training driving air pipe; the controller is electrically connected with the pressure sensor and the first valve. Prevent the finger sleeve from pressing the finger to cause pain and even injury.
Description
Technical Field
The utility model relates to a hand joint rehabilitation apparatus technical field, concretely relates to rehabilitation manipulator.
Background
According to the statistics of the world health organization, more than 3000 million patients with cerebral apoplexy are in the world, China approximately occupies 1/3, and cerebral apoplexy becomes the first factor of disability and death of the population in China. 70% of stroke patients suffer from disabilities of different degrees, which has great influence on normal life, and the upper limb disabilities, especially the hand disabilities, have larger influence, and the most basic daily activities include eating, dressing, drinking and the like, which need to be completed by hands, so the method is particularly important for the rehabilitation of hands. The clinical application proves that after limb surgery or during early rehabilitation and spontaneous recovery of cranial nerve injury, the continuous passive movement can compensate the deficiency of active movement of patients, increase the limb mobility of the patients and reduce corresponding complications. If the patient's finger can be assisted in moving, the speed of recovery of the patient's finger movement can be increased.
At present, appear a recovered hand of mechanical type on the market, recovered hand of mechanical type is including being used for wearing the gloves on patient's hand and installing the drive assembly on gloves, and recovered hand of mechanical type can be crooked and straighten to drive patient's hand, supplementary patient carries out the hand motion. When the bending angle of the mechanical rehabilitation hand is too large, the mechanical rehabilitation glove can press and restrain the tail end of the finger, so that pain and even injury can be caused.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a recovered manipulator to solve present mechanical type recovered gloves and produce oppression and suppression to the finger, cause the problem of pain probably producing the injury even.
The purpose of the utility model is realized through the following technical scheme:
the utility model provides a rehabilitation manipulator, which comprises a glove, a rehabilitation training auxiliary component, a connecting component and a host; the gloves comprise palm sleeves and finger sleeves fixedly connected with the palm sleeves, the palm sleeves are used for being sleeved on palms, the finger sleeves are used for wrapping distal bones of fingers, and the tail ends of the finger sleeves are closed; the rehabilitation training auxiliary component is arranged corresponding to the finger stall; the rehabilitation training auxiliary assembly comprises at least two brackets, a corrugated pipe fixed between two adjacent brackets and a pressure sensor; the brackets are fixed on the gloves and are arranged at intervals along the length direction of the finger sleeves; the pressure sensor is mounted in the tail end of the finger stall and used for corresponding finger tip arrangement; the connecting assembly comprises a training driving air pipe and a first valve arranged on the training driving air pipe, and the first valve is used for discharging gas in the training driving air pipe; the main machine comprises a controller and a training driving air pump electrically connected with the controller; the training driving air pump is communicated with the corrugated pipe through the training driving air pipe so as to drive the corrugated pipe to bend; the controller is electrically connected with the pressure sensor and the first valve.
In one embodiment, the number of the training driving air pumps is the same as that of the rehabilitation training auxiliary assemblies, and the training driving air pumps are communicated with the corrugated pipes of the rehabilitation training auxiliary assemblies in a one-to-one correspondence manner.
In one embodiment, the rehabilitation training aid assembly further comprises a pressing air bag mounted in the finger stall; the connecting assembly further comprises a pressing driving air pipe and a second valve arranged on the pressing driving air pipe, and the second valve is electrically connected with the controller and used for discharging air in the pressing driving air pipe; the host computer still include with controller electric connection's press the drive air pump, press the drive air pump through press the drive trachea with press the gasbag intercommunication, in order to order about press the gasbag and press the both sides of knuckle bone.
In one embodiment, the connection assembly includes a relay box fixed on a surface of the palm cover corresponding to the back of the hand, and the controller is electrically connected to the pressure sensor through the relay box.
In one embodiment, the connection assembly further comprises training air pipe joints arranged on the side surface, facing the finger stalls, of the relay box, and the number of the training air pipe joints is equal to that of the rehabilitation training assemblies; the number of the finger sleeves is not less than that of the rehabilitation training components; the training driving air pipe comprises an air pipe sheath, at least two first training air pipes penetrating through the air pipe sheath, and at least two second training air pipes communicated with the first training air pipes in a one-to-one correspondence manner; one ends of at least two first training air pipes are communicated with the training driving air pumps in a one-to-one correspondence mode, and the other ends of the at least two first training air pipes penetrate through the side face, away from the finger stall, of the relay box and are communicated with the training air pipe joints; one ends of at least two second training air pipes are communicated with the joints of the training air pipes in a one-to-one correspondence manner, and the other ends of the at least two second training air pipes are communicated with the corrugated pipes of the rehabilitation training components in a one-to-one correspondence manner; the first valves are at least two and are arranged on the at least two first training air pipes in a one-to-one correspondence mode.
In one embodiment, in one rehabilitation training auxiliary assembly, the number of the brackets is three or four; the rehabilitation training auxiliary assembly also comprises a connecting air pipe for communicating two adjacent corrugated pipes; the second training air pipe is communicated with one corrugated pipe, closest to the relay box, of the rehabilitation training auxiliary assembly.
In one embodiment, the support of the rehabilitation training aid assembly is divided into two first supports and one or two second supports, and the second supports are located between the two first supports; the first support comprises a first bottom plate and a first fixing plate vertically fixed on the first bottom plate, the first bottom plate is fixedly connected with the gloves, and the first fixing plate is fixedly connected with the corrugated pipe; the second bracket comprises a second bottom plate and two second fixing plates vertically fixed on the second bottom plate, and the second bottom plate is fixedly connected with the gloves; two the second fixed plate is followed the length direction interval arrangement of finger stall, the second fixed plate with bellows fixed connection, it is fixed in to connect the trachea installation the two of second support between the second fixed plate.
In one embodiment, an air cavity is arranged in the relay box; the connecting assembly further comprises pressing air pipe joints arranged on the side face, facing the finger stalls, of the relay box, the number of the pressing air pipe joints is equal to that of the rehabilitation training assemblies, and the pressing air pipe joints are communicated with the air cavity; the number of the finger sleeves is not less than that of the rehabilitation training components; the pressing driving air pipe comprises a first pressing air pipe and at least two second pressing air pipes; two ends of the first pressing air pipe are respectively communicated with the pressing driving air pump and the air cavity of the relay box; one ends of at least two second pressing air pipes are communicated with the pressing air pipe joints in a one-to-one correspondence manner, and the other ends of the at least two second pressing air pipes are communicated with the pressing air bags of the rehabilitation pressing assemblies in a one-to-one correspondence manner; the second valve is arranged on the first pressing air pipe.
In one embodiment, the number of the finger sleeves is not less than that of the rehabilitation training components; the connecting assembly further comprises a signal wire sheath, a first signal wire and a second signal wire, the first signal wire penetrates through the signal wire sheath, two ends of the first signal wire are respectively connected to the controller and the relay box, and the number of the first signal wires is equal to that of the rehabilitation training assemblies; the number of the second signal lines is equal to that of the first signal lines, one end of each of at least two of the second signal lines is connected to the pressure sensor of each of the rehabilitation training components in a one-to-one correspondence manner, and the other end of each of the at least two of the second signal lines is connected to the relay box.
In one embodiment, the surface of the glove corresponding to the palm is provided with a ventilation opening.
According to the above technical scheme, the utility model discloses an advantage lies in with positive effect: the support is arranged corresponding to the non-joint positions of the hand, such as the knuckle bones and the metacarpal bones, the corrugated pipe is arranged corresponding to the joint positions of the hand, such as the first joints and the second joints of the fingers, the controller is electrically connected with the training driving air pump, and the training driving air pump is communicated with the corrugated pipe of the rehabilitation training auxiliary assembly through the training driving air pipe to drive the corrugated pipe to be bent, so that the hand of a patient is driven. The first valve is arranged on the training driving air pipe and is electrically connected with the controller. Install pressure sensor in the end of finger stall, pressure sensor and controller electric connection, pressure sensor arranges corresponding to the fingertip, can detect the pressure of finger stall to the fingertip. From this, pressure sensor can transmit the pressure data that the fingertip receives to the controller, and the controller drives the air pump through closing the training or/and opens first valve, effectively prevents the bellows excessively to buckle, and then prevents that the finger stall from producing oppression and suppression and causing pain or even injury to the finger.
Drawings
For the purpose of illustration, the invention is described in detail with reference to the following preferred embodiments and the accompanying drawings.
Fig. 1 is a schematic structural view of a rehabilitation manipulator according to an embodiment of the present invention;
fig. 2 is a schematic view of an internal structure of the rehabilitation robot shown in fig. 1;
fig. 3 is a schematic cross-sectional view of the rehabilitation training auxiliary assembly of the rehabilitation manipulator according to the embodiment of the present invention.
Description of reference numerals: 1. a glove; 11. a palm cover; 12. finger cots; 2. a rehabilitation training aid assembly; 121. a terminal end; 122. a connecting end; 21. a first bracket; 211. a first fixing plate; 22. a second bracket; 221. a second fixing plate; 23. a bellows; 24. a pressure sensor; 25. pressing the air bag; 26. connecting an air pipe; 3. a connecting assembly; 31. training a driving air pipe; 311. a second training trachea; 32. pressing the driving air pipe; 321. a second pressing trachea; 33. a relay box; 34. a signal connection line; 341. a second signal line.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected. Either mechanically or electrically. Either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
The utility model provides a rehabilitation manipulator for the cover drives patient's hand and carries out rehabilitation training at patient's hand, and detects the pressure of patient's fingertip, leads to producing oppression and inhibition and causing pain or even injury to patient's finger because of the excessive bending of rehabilitation manipulator in order to prevent.
Referring to fig. 1, in the present embodiment, the rehabilitation manipulator includes a glove 1, a rehabilitation training assisting assembly 2 mounted on the glove 1, a connecting assembly 3 connected to the rehabilitation training assisting assembly 2, and a host computer (not shown) connected to the connecting assembly 3.
The glove 1 is intended to be fitted over the hand of a patient. A rehabilitation training aid 2 is arranged corresponding to a finger. The host computer drives the rehabilitation training auxiliary assembly 2 to bend and straighten through the connecting assembly, thereby driving the fingers.
The host comprises a shell, a controller, a training driving air pump electrically connected with the controller, and a pressing driving air pump electrically connected with the controller. The controller can control the power of the training drive air pump.
The controller, the training driving air pump and the pressing driving air pump are all installed in the shell. The quantity of training drive air pump equals with the quantity of rehabilitation training auxiliary assembly 2, specifically, training drive air pump quantity is five, and five training drive air pumps one-to-one connect in five rehabilitation training auxiliary assembly 2 to order about five rehabilitation training auxiliary assembly 2 crooked, each rehabilitation training auxiliary assembly 2 provides atmospheric pressure by the training drive air pump of difference, consequently can adopt different crooked range to each finger, and wherein, training drive air pump can produce the air supply that has certain pressure. The press driving air pump adopts one.
The glove 1 comprises a palm rest 11, finger stalls 12 fixedly connected to the palm rest 11, and a wrist rest (not shown) fixedly connected to the palm rest 11.
The palm sleeve 11 is used for being sleeved on the palm.
The finger glove 12 is intended to be worn over a finger. There are five finger stalls 12, one for each of the five fingers of the hand, although the number of finger stalls 12 may be suitably reduced, for example, three or four finger stalls 12 may be used for a glove 1.
In a glove 1, the length of each finger glove 12 is different and is adapted to the length of five human fingers. The two ends of the finger stall 12 in the length direction are a tail end 121 and a connecting end 122 respectively, and the tail end 121 and the connecting end 122 of the finger stall 12 correspond to the finger end and the finger base of a finger one by one.
Referring to fig. 1 and 3, the end 121 of the finger stall 12 is closed to completely wrap the distal bone portion of the finger, i.e. the portion from the fingertip to the first joint, so as to ensure that the finger stall 12 can still be stably sleeved on the finger when the rehabilitation training auxiliary assembly 2 is straightened, and prevent the finger stall 12 from falling off.
The wrist sleeve is in a circular ring shape or a semicircular ring shape. One end of the wrist sleeve is connected with the palm sleeve 11, and the other end of the wrist sleeve is suspended in the air and is adapted to the connecting mode of the wrist and the palm of a normal person so as to accord with the wearing habit.
The outer surface of the wrist sleeve is provided with the thread gluing, the wrist sleeve can be tightly connected with the wrist by tightening the thread gluing, the palm sleeve 11 is further tightly connected with the palm part, the displacement is not easy to occur, the finger sleeves 12 are tightly connected with the fingers, each joint of the fingers corresponds to the finger sleeves 12 more accurately, and meanwhile, the wrist sleeve can adapt to wrists with different thicknesses.
The front side of the glove 1 is provided with a ventilation opening. It is worth mentioning that the side of the glove 1 corresponding to the palm of the hand is the front side, and similarly, the side of the glove 1 corresponding to the back of the hand is the back side.
Specifically, the front of the palm cover 11 and the front of the finger covers 12 are provided with air vents, the air vents on the palm cover 11 and the air vents on the finger covers 12 are connected into a whole, and of course, the air vents can be arranged on the palm cover 11 or the finger covers 12. The ventilation of the glove 1 is greatly increased by the ventilation opening, and the comfort of the glove 1 is increased.
The number of the finger stalls 12 is not less than the number of the rehabilitation training aid members 2, and one rehabilitation training aid member 2 corresponds to one finger stall 12. Specifically, in a rehabilitation manipulator, the number of the finger stalls 12 is equal to the number of the rehabilitation training aid components 2, i.e., the number of the finger stalls 12 and the rehabilitation training aid components 2 is five.
Of course, the number of the finger sleeves 12 may be larger than the number of the rehabilitation training aid assemblies 2, and whether to install the rehabilitation training aid assemblies 2 on a certain finger sleeve 12 or not may be selected according to actual conditions.
Referring to fig. 2 and 3, the rehabilitation training assisting assembly 2 includes a pressing air bag 25, four brackets, a bellows 23 fixed between two adjacent brackets, a connecting air pipe 26 communicated with two adjacent bellows 23, and a pressure sensor 24.
Specifically, in a rehabilitation training aid assembly 2, four brackets are fixed to the back of the finger stall 12 and are arranged at intervals along the length direction of the finger stall 12.
In the rehabilitation training aid assembly 2 corresponding to the thumb, four supports are arranged in one-to-one correspondence to the distal phalanx, the proximal phalanx, the metacarpal bone, and the carpal bone of the finger. In the rehabilitation training auxiliary assembly 2 corresponding to the other four fingers, the four supports are arranged in one-to-one correspondence to the finger distal bones, the finger middle bones, the finger basal bones and the metacarpals.
The four brackets are divided into two first brackets 21 and two second brackets 22, and the two second brackets 22 are located between the two first brackets 21.
The first bracket 21 includes a first base plate (not shown) and a first fixing plate 211 vertically fixed to the first base plate.
The first bottom plate is fixedly connected with the back of the glove 1, and the first fixing plate 211 is fixedly connected with the corrugated pipe 23.
The second bracket 22 includes a second base plate (not shown) and two second fixing plates 221 vertically fixed to the second base plate.
The second bottom plate is fixedly connected with the glove 1. The two second fixing plates 221 are arranged at intervals along the length direction of the finger stall 12, and the second fixing plates 221 are fixedly connected with the corrugated tube 23.
The connecting air pipe 26 is installed in the second bracket 22, and specifically, both ends of the connecting air pipe 26 are respectively connected to the two second fixing plates 221 of the second bracket 22. Two ends of the connecting air pipe 26 are respectively communicated with the two adjacent corrugated pipes 23.
The number of the rehabilitation training auxiliary assemblies 2 is the same as that of the training driving air pumps, and the training driving air pumps are communicated with the corrugated pipes 23 of the rehabilitation training auxiliary assemblies 2 in a one-to-one correspondence manner. The corrugated pipe 23 is communicated with the training driving air pump, and the corrugated pipe 23 bends under the action of the training driving air pump.
Since the bellows 23 is fixed on the back of the glove by the bracket, the deformation of the bellows 23 is restricted to the glove, so that the bellows 23 is bent when the bellows 23 is inflated.
Characteristics of the bellows 23: the bellows 23 is elongated when the internal air pressure of the bellows 23 increases to a certain degree, and if one side of the bellows 23 is restrained so as not to be elongated at a certain ratio, the bellows 23 is bent. When the internal air pressure of the bellows 23 is reduced, the bellows 23 is gradually restored, i.e., the bellows 23 is straightened.
The three corrugated pipes 23 of the rehabilitation training auxiliary assembly 2 correspond to the first finger joints, the second finger joints and the joint connecting the metacarpal bones and the carpal bones one by one, and the three corrugated pipes 23 of the rehabilitation training auxiliary assembly 2 corresponding to the other four fingers correspond to the first finger joints, the second finger joints and the third finger joints one by one. Thus, when the glove 1 of the rehabilitation manipulator is worn on the hand, the curved shape of the bellows 23 is adapted to the curved shape of the hand.
The pressure sensor 24 is mounted in the end 121 of the finger glove 12 and is used in a corresponding fingertip arrangement to detect the pressure of the finger glove 12 against the fingertip when the bellows 23 is bent. The pressure sensor 24 is electrically connected to the controller to transmit pressure data to the controller.
The quantity of rehabilitation training auxiliary assembly 2 equals with the quantity of training drive air pump for rehabilitation training auxiliary assembly 2 on each finger stall 12 provides atmospheric pressure by the air supply of training drive air pump, can carry out accurate control to bellows 23 according to the pressure that each finger can bear.
The pressing air bags 25 are installed in the finger stalls 12, the pressing air bags 25 are communicated with the pressing drive air pump, and the pressing air bags 25 press both sides of the non-joint part of the finger under the drive of the pressing drive air pump. It is understood that the pressing air cells 25 are arranged in pairs, i.e., two pressing air cells 25 are grouped, and two pressing air cells 25 of the group of pressing air cells 25 are communicated.
The connection assembly 3 includes a training driving air tube 31, a first valve (not shown) provided on the training driving air tube 31, a pressing driving air tube 32 arranged in parallel with the training driving air tube 31, a second valve (not shown) provided on the pressing driving air tube 32, a signal connection line 34 arranged in parallel with the training driving air tube 31, a relay box 33 mounted on the back surface of the palm cover 11, and a training air tube joint (not shown) and a pressing air tube joint (not shown) provided on the side surface of the relay box 33 facing the finger cover.
The relay box 33 is electrically connected to the controller and the pressure sensor 24, in other words, the controller is electrically connected to the pressure sensor 24 through the relay box 33, the relay box 33 has a function of processing signals, and is beneficial for the pressure sensor 24 to stably transmit signals to the controller, and specifically, the relay box 33 can amplify, reduce noise and the like of the signals.
The relay box 33 is provided therein with an air chamber (not shown) communicating with the pressing air pipe joint.
The number of the training air pipe joints and the number of the pressing air pipe joints are equal to the number of the rehabilitation auxiliary training components. The number of training air pipe joints and the number of pressing air pipe joints are five, the five training air pipe joints and the five pressing air pipe joints are arranged corresponding to the five finger stalls one by one, namely the corresponding training air pipe joints and the pressing air pipe joints of the thumbs are arranged close to the finger stalls corresponding to the thumbs, and the pressing driving air pipe 32 and the training driving air pipe 31 are favorably arranged.
The training driving air tube 31 includes an air tube sheath (not shown), at least two first training air tubes (not shown) passing through the air tube sheath, and at least two second training air tubes 311 communicating with the at least two first training air tubes in a one-to-one correspondence.
The number of the first training air tubes is equal to the number of the second training air tubes 311, and is equal to the number of the rehabilitation training assisting assemblies 2. One end of each first training air pipe is communicated with each training driving air pump in a one-to-one correspondence mode, the other end of each first training air pipe penetrates through the side face, deviating from the finger stall, of the relay box 33, enters the interior of the relay box 33 and is communicated with each training air pipe connector in a one-to-one correspondence mode. The trachea sheath is sleeved on the first training tracheas.
One end of each second training air tube 311 is communicated with each training air tube joint in a one-to-one correspondence manner, and the other end of each second training air tube 311 is communicated with the corrugated tube 23 of each rehabilitation training auxiliary assembly 2 in a one-to-one correspondence manner. The relay box 33 plays a role of organizing the first training trachea.
The first valve is used for exhausting the gas in the training driving gas pipe 31, and the first valve is positioned in the shell of the main machine.
The number of the first valves is equal to the number of the training driving air pumps, and the first valves are arranged on the first training air pipes in a one-to-one correspondence mode. The first valve is electrically connected with the controller, and the controller controls the opening and closing of the first valve. It will be appreciated that a first valve is connected to the side of the first training air tube, and when the first valve is opened, the gas in the training driving air tube 31 is exhausted outwards, and when the first valve is closed, the gas in the training driving air tube 31 cannot be exhausted from the first valve.
The compression driving air tube 32 includes a first compression air tube (not shown) and at least two second compression air tubes 321.
Both ends of each first pressing air tube are respectively communicated with the pressing driving air pump and the air chamber of the relay box 33.
The number of the second compression air tubes 321 is equal to the number of the rehabilitation training assisting assemblies 2. One end of each second pressing air tube 321 is communicated with the pressing air tube joint in a one-to-one correspondence manner, and the other end of each second pressing air tube 321 is communicated with the pressing air bag 25 of each rehabilitation training assisting component 2 in a one-to-one correspondence manner. The relay box 33 plays a role of organizing the pressing driving air tube 32.
The second valve is used for discharging the gas in the push driving air pipe 32 and is installed on the first push air pipe, and the second valve is located in the housing of the main machine. It is understood that the second valve is connected to a side of the first push air pipe, and the controller controls the opening and closing of the second valve, so that when the second valve is opened, the gas in the push air pipe 32 is discharged outward, and when the second valve is closed, the gas in the push air pipe 32 cannot be discharged from the second valve.
Of course, the second valves may be provided on the second push air pipes 321, and in this case, the number of the second valves is equal to the number of the second push air pipes 321. The second valve is electrically connected with the controller, and the controller controls the second valve to be opened and closed.
The signal connection line 34 includes a line signal line sheath (not shown), at least two first signal lines (not shown) passing through the line signal line sheath, and the number of second signal lines 341 is the same as that of the first signal lines.
The number of the first signal lines is equal to the number of the rehabilitation training assisting assemblies 2. Both ends of the first signal line are connected to the controller and the relay box 33, respectively.
One end of each of the second signal lines 341 is connected to the plurality of pressure sensors 24 in one-to-one correspondence, and the other end of each of the second signal lines 341 is connected to the relay box 33.
Referring to fig. 1 to fig. 3, the working principle of the embodiment of the present application is as follows: the gloves 1 are sleeved on the hands of a patient, the controller drives the training driving compressed air pump to work, compressed air generated by the work of the training driving compressed air pump is transmitted to each corrugated pipe 23 of the rehabilitation training auxiliary assembly 2 through the training driving air pipe 31, and each corrugated pipe 23 is bent along with the compressed air, so that the fingers of the patient are bent. The pressure sensor 24 detects the pressure of the patient's fingertip and transmits pressure data to the controller through the relay box 33, and the controller prevents the bellows from being excessively bent by reducing the power of the training drive air pump or even closing the training drive air pump and opening the first valve, thereby preventing the finger stall 12 from pressing and restraining the fingertip to cause pain or even injury. Each rehabilitation training auxiliary component 2 is provided with air pressure by different training driving air pumps, the injury of the fingers of the patient is different, the born pressure is different, and the controller accurately controls the bending amplitude of each rehabilitation training auxiliary component 2 according to the pressure data transmitted by each pressure sensor, so that each finger is ensured to obtain corresponding proper auxiliary training.
The controller drives the pressing driving compressed air pump to work, compressed air generated by the pressing driving compressed air pump is transmitted to each pressing air bag 25 of the rehabilitation training auxiliary assembly 2 through the first pressing air pipe, the air cavity in the relay box 33 and the second pressing air pipe 321, each pressing air bag 25 expands along with the compressed air, and the controller controls the switch of the second valve to control the contraction of the pressing air bags 25, so that the pressing of the pressing air bags 25 on two sides of the non-joint part of the finger is realized, the blood circulation is promoted, and the rehabilitation is further improved.
It is worth mentioning that, in the design stage of the rehabilitation manipulator, the number of the supports and the bellows of the rehabilitation training auxiliary assembly can be flexibly designed according to the actual situation, for example, two supports and a bellows are designed on the finger sleeve corresponding to the index finger only for the first joint of the index finger, and the bellows is arranged corresponding to the first joint of the index finger and fixed between the two supports.
In other embodiments, not shown, a rehabilitation training aid comprises two supports and a bellows located between the two supports, and at this time, the bellows is arranged corresponding to the finger joints without connecting the trachea, and the rehabilitation training aid can perform rehabilitation training on a certain connecting joint of the hand.
In other embodiments, not shown, a rehabilitation training aid comprises two first supports and a second support, and in this case, taking the rehabilitation training aid corresponding to the index finger as an example, the second support and the two first supports are arranged in one-to-one correspondence with the middle finger segment bone, the end finger segment bone and the base finger segment bone, or the second support and the two first supports are arranged in one-to-one correspondence with the base finger segment bone, the middle finger segment bone and the metacarpal bone.
In other embodiments, which are not shown in the drawings, the number of the pressing drive air pumps, the number of the first pressing air pipes, the number of the second valves, and the number of the rehabilitation training aid assemblies are equal, for example, five rehabilitation training aid assemblies are provided, five pressing drive air pumps are communicated with the pressing air bags of the rehabilitation training aid assemblies in a one-to-one correspondence manner, at this time, five first pressing air pipes and five second valves are adopted, and five second valves are installed on five second pressing air pipes in a one-to-one correspondence manner. Therefore, each pressing driving air pump is matched with the second valve, and the pressing effect of each pressing air bag can be flexibly controlled.
In the description of the present specification, reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "example", "specific example", or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A rehabilitation manipulator, characterized by comprising:
the gloves comprise palm sleeves and finger sleeves fixedly connected with the palm sleeves, the palm sleeves are used for being sleeved on palms, the finger sleeves are used for wrapping distal bones of fingers, and the tail ends of the finger sleeves are closed;
the rehabilitation training auxiliary assembly is arranged corresponding to one finger stall; the rehabilitation training auxiliary assembly comprises at least two brackets, a corrugated pipe fixed between two adjacent brackets and a pressure sensor; the brackets are fixed on the gloves and are arranged at intervals along the length direction of the finger sleeves; the pressure sensor is mounted in the tail end of the finger stall and used for corresponding finger tip arrangement;
the connecting assembly comprises a training driving air pipe and a first valve arranged on the training driving air pipe, and the first valve is used for discharging gas in the training driving air pipe;
the main machine comprises a controller and a training driving air pump electrically connected with the controller; the training driving air pump is communicated with the corrugated pipe through the training driving air pipe so as to drive the corrugated pipe to bend; the controller is electrically connected with the pressure sensor and the first valve.
2. The rehabilitation manipulator according to claim 1, wherein the number of the training driving air pumps is the same as that of the rehabilitation training auxiliary assemblies, and the training driving air pumps are communicated with the bellows of the rehabilitation training auxiliary assemblies in a one-to-one correspondence manner.
3. The rehabilitation manipulator according to claim 2, wherein the rehabilitation training aid assembly further includes a compression balloon mounted in the finger glove;
the connecting assembly further comprises a pressing driving air pipe and a second valve arranged on the pressing driving air pipe, and the second valve is electrically connected with the controller and used for discharging air in the pressing driving air pipe;
the host computer still include with controller electric connection's press the drive air pump, press the drive air pump through press the drive trachea with press the gasbag intercommunication, in order to order about press the gasbag and press the both sides of knuckle bone.
4. The rehabilitation manipulator according to claim 3, wherein the connection assembly includes a relay box fixed on a surface of the palm cover corresponding to the back of the hand, and the controller is electrically connected to the pressure sensor through the relay box.
5. The rehabilitation manipulator according to claim 4, wherein the connecting assembly further comprises training air pipe joints arranged on the side, facing the finger stalls, of the relay box, and the number of the training air pipe joints is equal to that of the rehabilitation training auxiliary assemblies;
the number of the finger sleeves is not less than that of the rehabilitation training auxiliary assemblies;
the training driving air pipe comprises an air pipe sheath, at least two first training air pipes penetrating through the air pipe sheath, and at least two second training air pipes communicated with the first training air pipes in a one-to-one correspondence manner; one ends of at least two first training air pipes are communicated with the training driving air pumps in a one-to-one correspondence mode, and the other ends of the at least two first training air pipes penetrate through the side face, away from the finger stall, of the relay box and are communicated with the training air pipe joints; one ends of at least two second training air pipes are communicated with the joints of the training air pipes in a one-to-one correspondence manner, and the other ends of the at least two second training air pipes are communicated with the corrugated pipes of the rehabilitation training auxiliary assemblies in a one-to-one correspondence manner;
the first valves are at least two and are arranged on the at least two first training air pipes in a one-to-one correspondence mode.
6. The rehabilitation manipulator according to claim 5, characterized in that in one rehabilitation training aid assembly, the number of said supports is three or four;
the rehabilitation training auxiliary assembly also comprises a connecting air pipe for communicating two adjacent corrugated pipes; the second training air pipe is communicated with the corrugated pipe, closest to the relay box, of the rehabilitation training auxiliary assembly.
7. The rehabilitation manipulator according to claim 6, wherein the support of the rehabilitation training aid assembly is divided into two first supports and one or two second supports, the second supports being located between the two first supports;
the first support comprises a first bottom plate and a first fixing plate vertically fixed on the first bottom plate, the first bottom plate is fixedly connected with the gloves, and the first fixing plate is fixedly connected with the corrugated pipe;
the second bracket comprises a second bottom plate and two second fixing plates vertically fixed on the second bottom plate, and the second bottom plate is fixedly connected with the gloves; two the second fixed plate is followed the length direction interval arrangement of finger stall, the second fixed plate with bellows fixed connection, it is fixed in to connect the trachea installation the two of second support between the second fixed plate.
8. The rehabilitation manipulator according to claim 4, wherein an air cavity is provided in the relay box; the connecting assembly further comprises pressing air pipe joints arranged on the side face, facing the finger stalls, of the relay box, the number of the pressing air pipe joints is equal to that of the rehabilitation training auxiliary assemblies, and the pressing air pipe joints are communicated with the air cavity;
the number of the finger sleeves is not less than that of the rehabilitation training auxiliary assemblies;
the pressing driving air pipe comprises a first pressing air pipe and at least two second pressing air pipes; two ends of the first pressing air pipe are respectively communicated with the pressing driving air pump and the air cavity of the relay box; one ends of the at least two second pressing air pipes are communicated with the joints of the pressing air pipes in a one-to-one correspondence manner, and the other ends of the at least two second pressing air pipes are communicated with the pressing air bags of the rehabilitation training auxiliary assemblies in a one-to-one correspondence manner;
the second valve is arranged on the first pressing air pipe.
9. The rehabilitation manipulator according to claim 4, wherein the number of the finger stalls is not less than the number of the rehabilitation training aid components; the connection assembly further includes:
a signal wire sheath;
the first signal wires penetrate through the signal wire sheaths, two ends of each first signal wire are respectively connected to the controller and the relay box, and the number of the first signal wires is equal to that of the rehabilitation training auxiliary assemblies;
the number of the second signal lines is equal to that of the first signal lines, one end of each of at least two of the second signal lines is connected to the pressure sensor of each of the rehabilitation training auxiliary assemblies in a one-to-one correspondence manner, and the other end of each of the at least two of the second signal lines is connected to the relay box.
10. The rehabilitation manipulator according to claim 1, wherein a ventilation opening is provided on a surface of the glove corresponding to the palm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921602227.8U CN211244403U (en) | 2019-09-23 | 2019-09-23 | Rehabilitation manipulator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921602227.8U CN211244403U (en) | 2019-09-23 | 2019-09-23 | Rehabilitation manipulator |
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| CN211244403U true CN211244403U (en) | 2020-08-14 |
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| CN201921602227.8U Active CN211244403U (en) | 2019-09-23 | 2019-09-23 | Rehabilitation manipulator |
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| CN111920647A (en) * | 2020-09-09 | 2020-11-13 | 上海司羿智能科技有限公司 | Finger-separating gas circuit system, pneumatic finger rehabilitation training device and detection method |
| CN112603770A (en) * | 2020-09-16 | 2021-04-06 | 上海司羿智能科技有限公司 | Method and device for assisted hand training of patient |
| CN112891129A (en) * | 2020-12-30 | 2021-06-04 | 苏州瑞迈康健医疗科技有限公司 | Wearable manipulator driven by push rod cylinder |
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| CN114533497A (en) * | 2022-04-27 | 2022-05-27 | 中国科学技术大学 | Flexible rehabilitation glove and using method and life assisting method thereof |
| CN114588593A (en) * | 2022-03-22 | 2022-06-07 | 南通大学附属医院 | Burn patient postoperative hand pulling force tempers rehabilitation device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111920647A (en) * | 2020-09-09 | 2020-11-13 | 上海司羿智能科技有限公司 | Finger-separating gas circuit system, pneumatic finger rehabilitation training device and detection method |
| CN112603770A (en) * | 2020-09-16 | 2021-04-06 | 上海司羿智能科技有限公司 | Method and device for assisted hand training of patient |
| CN112891129A (en) * | 2020-12-30 | 2021-06-04 | 苏州瑞迈康健医疗科技有限公司 | Wearable manipulator driven by push rod cylinder |
| CN113069313A (en) * | 2021-03-19 | 2021-07-06 | 重庆医科大学附属第三医院(捷尔医院） | Auxiliary fistula strengthening instrument |
| CN113069313B (en) * | 2021-03-19 | 2024-01-23 | 重庆医科大学附属第三医院(捷尔医院） | Auxiliary fistula building instrument |
| CN113208869A (en) * | 2021-04-14 | 2021-08-06 | 深圳华鹊景医疗科技有限公司 | Hand rehabilitation training device and all-upper-limb rehabilitation robot |
| CN113143691A (en) * | 2021-04-27 | 2021-07-23 | 中国民航大学 | Sports training apparatus for hand muscle rehabilitation |
| CN113143691B (en) * | 2021-04-27 | 2023-03-17 | 中国民航大学 | Sports training apparatus for hand muscle rehabilitation |
| CN113662811A (en) * | 2021-09-01 | 2021-11-19 | 安徽工程大学 | Finger rehabilitation training device |
| CN114588593A (en) * | 2022-03-22 | 2022-06-07 | 南通大学附属医院 | Burn patient postoperative hand pulling force tempers rehabilitation device |
| CN114533497A (en) * | 2022-04-27 | 2022-05-27 | 中国科学技术大学 | Flexible rehabilitation glove and using method and life assisting method thereof |
| CN114533497B (en) * | 2022-04-27 | 2024-03-01 | 中国科学技术大学 | Flexible rehabilitation glove and use method and life assisting method thereof |
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