CN212347104U

CN212347104U - Multi-degree-of-freedom wrist exercising rehabilitation device

Info

Publication number: CN212347104U
Application number: CN202020148309.6U
Authority: CN
Inventors: 叶云鹏; 孔繁强; 温昌勇; 高旗; 吕之晟; 周德强
Original assignee: Jiangnan University
Current assignee: Jiangnan University
Priority date: 2020-01-31
Filing date: 2020-01-31
Publication date: 2021-01-15
Anticipated expiration: 2030-01-31

Abstract

The utility model provides a multi freedom wrist exercise rehabilitation device belongs to medical instrument technical field. The wrist bending/dorsiflexion device comprises a transmission device, a rocker, a steering engine, a first stepping motor, a second stepping motor, a Y-shaped component, a belt wheel device and a bottom plate, wherein the rocker is linked with the first stepping motor and is used for realizing wrist bending/dorsiflexion; an output shaft of the steering engine is connected with the hand supporting plate through a rotating piece to rotate in a reciprocating manner, so that the hand supporting plate is driven to move, and inward/outward contraction of the wrist is realized; the belt wheel device is connected with an output shaft of the second stepping motor, the output shaft of the belt wheel device is movably connected with the Y-shaped component through a bearing, and the Y-shaped component is movably connected with the transmission device, so that the belt wheel device drives the transmission device to rotate back and forth within a certain angle range, and the wrist turning-in/turning-out is realized. The utility model provides a device, simple structure, with low costs and make things convenient for domestic installation combine three kinds of exercise motion modes together, reach better exercise effect.

Description

Multi-degree-of-freedom wrist exercising rehabilitation device

Technical Field

The utility model relates to the technical field of medical equipment, especially, relate to a multi freedom wrist is taken exercise rehabilitation device.

Background

The wrists of the human body are joints that are subject to sprains or injuries during activities, and with the increasing aging of the world, more and more stroke patients and mobility-impaired patients are present, and about one sixth of the population may have a risk of stroke in their lifetime, of which two thirds suffer from hand paralysis. A large number of elderly people with hemiplegia sequelae caused by stroke need rehabilitation training. Compared with the traditional physiotherapy and the physiotherapy of a physiotherapist, the robot-assisted therapy can provide long-term stable repeated training, so that the robot-assisted therapy has higher and higher practical value.

The existing hand rehabilitation robot mainly aims at the finger of a patient to perform rehabilitation treatment, and a professional robot for performing rehabilitation treatment on wrist movement is lacked. Although some upper limb medical instruments have the function of driving the wrist of the patient to move, the upper limb medical instruments mostly adopt an exoskeleton form, have complex structures and high cost, and cannot realize household use.

SUMMERY OF THE UTILITY MODEL

The utility model aims at overcoming the ectoskeleton formula hand rehabilitation training robot that exists among the prior art and being with high costs to can't realize the defect of housekeeping, provide a three degree of freedom wrist rehabilitation robot of simple structure, with low costs and make things convenient for domestic installation.

In order to solve the technical problem, the utility model discloses take following technical scheme: a multi-degree-of-freedom wrist exercising and rehabilitation device comprises a transmission device, a rocker and a first stepping motor, wherein the rocker is connected with the first stepping motor and circularly moves in a certain angle range, and simultaneously drives the transmission device to do the same movement to realize wrist palmar bending/dorsiflexion;

the steering engine is fixed inside the transmission device, an output shaft of the steering engine is connected with the hand supporting plate through a rotating piece, and the output shaft of the steering engine rotates in a reciprocating mode within a certain angle range to drive the hand supporting plate to move and be used for achieving inward contraction/outward contraction of a wrist;

the output shaft of the belt wheel device is movably connected with the Y-shaped component through a bearing, and the Y-shaped component is movably connected with the transmission device, so that the belt wheel device drives the transmission device to rotate back and forth within a certain angle range to realize inward turning/outward turning of the wrist;

and the bottom plate is positioned at the lowest part of the device and is used for supporting the whole device.

In one embodiment, the transmission includes a side plate, a back plate, and an upper plate;

in one embodiment, the side panels, back panel and upper panel are interconnected by corner connectors.

In one embodiment, the bearing is fixed to the back plate.

In one embodiment, a universal ball is connected below the hand rest plate, and the universal ball is in contact with the upper surface of the transmission device.

In one embodiment, the number of said gimbaled balls is at least two.

In one embodiment, the rocker is connected to the first stepper motor by a coupling.

In one embodiment, the rocker is provided with a roller which can be in contact with the bottom plate, so that the maximum moving range of the rocker is realized.

Compared with the prior art, the beneficial effects of the utility model are that:

1. lower price. At present, most of the rehabilitation devices on the market are more than 2k in price, and obviously belong to an overhigh state. And the utility model discloses utilized the mechanism of relative low price to reach the efficiency of training and recovered wrist, made the price descend by a wide margin, audience scope is wider.

2. More perfect rehabilitation exercise. Contrast market wrist rehabilitation device, the utility model discloses first with palm bent/back of the body bent, adduction/external receipts, enstrophe/turn up, three kinds of exercise motion modes combine together, reach better exercise effect.

3. A controllable range of motion. The user can adjust the range and the amplitude of the movement according to the preference and the physical condition of the user, and the method is more humanized.

4. Has the property of portability. The rehabilitation device on the market generally occupies space greatly, and the utility model discloses a small and exquisite mechanism has reached better effect, convenient dismantlement, and the transport of being convenient for needs the space little.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic structural view of the multi-degree-of-freedom wrist exercising and rehabilitation device of the present invention;

FIG. 2 is an exploded view of the multi-degree of freedom wrist exercising rehabilitation device of the present invention;

FIG. 3(a) is a schematic view of wrist palmar/dorsiflexion;

FIG. 3(b) is a schematic view of inward/outward wrist retraction;

FIG. 3(c) is a schematic illustration of the wrist varus/valgus.

Reference numerals: 1-bottom plate, 2-first step motor, 3-rolling wheel, 4-rocking rod, 5-side plate, 6-steering wheel, 7-hand supporting plate, 8-belt wheel device, 9-rotating piece, 10-universal ball, 11-corner code, 12-second step motor, 13-first coupling, 14-Y-shaped member, 15-second coupling, 16-back plate, 17-upper plate, 18-flange plate, 19 motor frame, 20-bearing, 21-rudder frame and transmission device-100.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely below, and it should be apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

The present invention will be further described with reference to the following specific embodiments and accompanying drawings. It is to be understood that the description of the embodiments herein is for purposes of illustration and explanation only and is not intended to limit the invention.

Referring to fig. 1 and 2, an embodiment of the present invention includes: the device comprises a bottom plate 1, a first stepping motor 2, rollers 3, a rocker 4, a side plate 5, a steering engine 6, a hand supporting plate 7, a belt wheel device 8, a rotating piece 9, 2 universal balls 10, an angle code 11, a second stepping motor 12, a first coupler 13, a Y-shaped member 14, a second coupler 15, a back plate 16, an upper plate 17, a flange 18, a motor frame 19, a bearing 20 and a rudder frame 21, wherein the bottom plate is used for supporting and fixing the whole device. The side plate 5, the back plate 16 and the upper plate 17 are mutually connected through an angle bracket 11 to form a transmission device 100; the rocker 4 is connected with the first stepping motor 2 through the second coupling 15, contacts with the side plate 5 through the roller 3, writes a control program, enables the rocker 4 to make a circulating motion in a fixed angle range, and simultaneously drives the hand supporting plate 7 on the side plate 5 and the upper plate 17 to make the same motion, as shown in fig. 3(a), realizes the palm/dorsiflexion of the wrist, and the palm/dorsiflexion angle is 60 degrees.

The steering engine 6 is fixed on the back plate 16 through the steering engine frame 21, the output shaft of the steering engine is connected with the hand supporting plate 7 through the rotating piece 9, two universal balls 10 are connected below the hand supporting plate 7, the output shaft of the steering engine 6 rotates in a reciprocating mode at a fixed angle to drive the hand supporting plate 7 to move, and as shown in fig. 3(b), inward folding/outward folding of the wrist is achieved, and the inward folding/outward folding angle is 30 degrees.

The upper plate 17 carries a Y-shaped member 14 and the output shaft of the pulley means 8 is connected to the Y-shaped member 14 by a bearing 20 fixed to the backplate, so that the upper plate 17 has only one degree of freedom, i.e. in the direction of wrist palmar/dorsiflexion. The pulley device 8 is connected to an output shaft of the second stepping motor 12, so that the pulley device 8 drives the transmission device 100 to rotate back and forth at a fixed angle, as shown in fig. 3(c), to realize the inward turning/outward turning of the wrist, where the inward turning/outward turning angle is 80 °.

The user selects the exercise posture, the angle mode, the speed mode and the like which are suitable for the user according to the hobby and different requirements on the comfort level, and then different exercise effects are achieved.

The utility model provides a pair of multi freedom wrist is tempered and is resumeed device, owing to adopt above-mentioned institutional advancement, can conveniently carry out wrist rehabilitation training at home at any time, at the switch-on, open the switch back, place the hand on the hand layer board, the hand layer board drives the wrist and carries out the reciprocating motion in the control range under the effect of motor, the user can be under the condition that oneself and other people do not exert artifical external force, accomplish three kinds of movements of the recovered in-process of wrist. The mechanism is simple in structure and easy to operate, and facilitates wrist rehabilitation training of people whose wrists cannot exert force at home.

The technical solution of the present invention has been described only with reference to a preferred embodiment, but to those skilled in the art, the idea of the embodiment of the present invention should be changed in the specific implementation and application scope, so that, in summary, the content of the present specification should not be understood as the limitation of the present invention, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

It should be noted that, in the embodiments of the present invention, unless explicitly stated or limited otherwise, the terms "disposed," "mounted," "connected," and the like are to be construed broadly, and for example, "fixed" may be fixedly connected, or detachably connected, or integrated; the connection can be mechanical connection or electrical connection; the connection may be direct or indirect via an intermediate medium, and may be a connection between two elements or an interaction relationship between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", 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 simplicity of description, and do not indicate or imply that the device or element being 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 "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Claims

1. The utility model provides a recovered device is tempered to multi freedom wrist which characterized in that includes:

the wrist bending/dorsiflexion device comprises a transmission device, a rocker and a first stepping motor, wherein the rocker is connected with the first stepping motor, circularly moves in a certain angle range, and simultaneously drives the transmission device to do the same movement, so that the wrist bending/dorsiflexion is realized;

2. The multiple degree of freedom wrist exercise rehabilitation device of claim 1, wherein the transmission comprises a side plate, a back plate, and an upper plate.

3. The multi-degree-of-freedom wrist exercise rehabilitation device according to claim 2, wherein the side plates, the back plate and the upper plate are connected to each other by corner connectors.

4. The multiple degree of freedom wrist exercise rehabilitation device of claim 2, wherein the bearing is fixed to the back plate.

5. The multi-degree-of-freedom wrist exercise rehabilitation device according to claim 1, wherein a universal ball is connected below the hand rest plate, and the universal ball is in contact with the upper surface of the transmission device.

6. The multiple degree of freedom wrist exercise rehabilitation device of claim 5, wherein the number of universal balls is at least two.

7. The multi-degree-of-freedom wrist exercise rehabilitation device according to claim 1, wherein the rocker is connected to the first stepping motor through a coupling.

8. The multi-degree-of-freedom wrist exercise rehabilitation device according to claim 1, wherein rollers are provided on the rocking bars, and the rollers are in contact with the side plates.