CN213406876U

CN213406876U - Hand-assisted rehabilitation robot based on man-machine master-slave motion mode

Info

Publication number: CN213406876U
Application number: CN202021440983.8U
Authority: CN
Inventors: 谭小苏; 罗庆勤; 蒋玉莲
Original assignee: Southwest Minzu University
Current assignee: Southwest Minzu University
Priority date: 2020-07-21
Filing date: 2020-07-21
Publication date: 2021-06-11
Anticipated expiration: 2030-07-21

Abstract

The utility model discloses a section is supplementary recovered robot of hand based on "man-machine principal and subordinate motion mode", belongs to the recovered technical field of hand. The hand auxiliary rehabilitation robot based on the man-machine master-slave motion mode comprises a top plate, a hand intake cavity and an attaching plate, wherein the top plate and the attaching plate are fixedly connected to the upper end and the lower end of the hand intake cavity respectively, and the upper end of the top plate is fixedly connected with a control box; the hand containing cavity comprises a placing ring which is fixedly connected outside the hand containing cavity; the finger adjusting mechanism is arranged in the hand holding cavity, and the massage mechanism is arranged in the top plate; the finger part adjusting mechanism comprises a first finger ring, a second finger ring and a third finger ring, and the first finger ring, the second finger ring and the third finger ring are sequentially and movably connected in the hand accommodating cavity from outside to inside; the utility model provides an among the prior art can't adjust and can't be to the problem of every knuckle abundant application of force according to finger length.

Description

Hand-assisted rehabilitation robot based on man-machine master-slave motion mode

Technical Field

The utility model relates to a recovered technical field of hand specifically is a hand assists recovered robot based on "man-machine principal and subordinate motion mode".

Background

Cerebrovascular disease is the third leading cause of human death, with over 200 million people dying from stroke each year; 120-150 million new patients with complete stroke in China annually die, 80-100 million people die, wherein survivors after stroke leave unilateral limb movement dysfunction, and the impaired limb movement function is manifested by the weakening of limb flexibility and muscle strength, so that the life quality of the patients is sharply reduced and the daily life activities are difficult to perform; in recent years, the development of rehabilitation robots is receiving more and more attention, and exoskeleton devices designed according to the principles of physical therapy and motion therapy for clinical and home rehabilitation and the like can help the limb muscles of patients to be exercised and nerve remodeled. In the rehabilitation sciences, hand rehabilitation plays a key and unique role in neuroplasticity, which provides the basis for the recovery of motor function after stroke and spinal cord injury. At the same time, hand rehabilitation is extremely challenging due to the complexity of the sensorimotor control required for hand function and the extensive restoration of operational capabilities.

The hand rehabilitation robot in the prior art can not be adjusted along with the length of fingers of a user, and can not fully apply force to each knuckle during rehabilitation massage, so that the rehabilitation effect is limited, and the flexibility of the hand of the user can not be well recovered; therefore, the utility model provides a hand assists rehabilitation robot based on "man-machine principal and subordinate motion mode" to solve above-mentioned problem.

SUMMERY OF THE UTILITY MODEL

1. The to-be-solved technical problem of the utility model

An object of the utility model is to provide a hand assists rehabilitation robot based on "man-machine principal and subordinate motion mode" to solve the problem that proposes among the above-mentioned background art:

(1) in the prior art, the finger length can not be adjusted and the force can not be fully applied to each knuckle.

2. Technical scheme

In order to achieve the above object, the utility model provides a following technical scheme:

the hand auxiliary rehabilitation robot based on the man-machine master-slave motion mode comprises a top plate, a hand intake cavity and an attaching plate, wherein the top plate and the attaching plate are fixedly connected to the upper end and the lower end of the hand intake cavity respectively, and the upper end of the top plate is fixedly connected with a control box; the hand containing cavity comprises a placing ring which is fixedly connected outside the hand containing cavity; the inside finger adjusting mechanism that is provided with of chamber is taken into to hand, the inside massage mechanism that is provided with of roof.

Preferably, digit adjusting mechanism includes first ring, second ring and third ring, first ring, second ring and third ring from the outside in proper order swing joint are brought the intracavity into to the hand.

Preferably, the upper wall surface of the second ring is fixedly connected with an adjusting rod, the upper wall surfaces of the first ring and the third ring are fixedly connected with adjusting chutes, and two ends of the adjusting rod are respectively connected in the adjusting chutes on the first ring and the third ring in a sliding manner.

Preferably, a support plate is fixedly connected inside the hand accommodating cavity, the support plate is arranged at a position close to the third finger ring, and a limit plate is fixedly connected to the upper end of the support plate; the interior of the limiting plate is connected with five adjusting blocks in a sliding mode, and the inner sides of the adjusting blocks are fixedly connected with the inner wall of the hand accommodating cavity through adjusting springs.

Preferably, the interior of the attaching plate is fixedly connected with a sponge layer, and the surface of the sponge layer is fixedly connected with an antifouling layer.

Preferably, the massage mechanism comprises a massage plate, five groups of movable grooves are formed in the massage plate, massage columns A are connected in the movable grooves in a sliding mode, and massage columns B are movably connected to the lower ends of the massage columns A through massage springs.

Preferably, massage post A both sides fixedly connected with slide B, sliding connection has slide A in the slide B, slide A fixed connection is at massage post B lateral wall, the equal swing joint of slide A and slide B is inboard at the activity inslot.

Preferably, the upper end of the massage column A is movably connected with a cam, the cam is fixedly connected to a transmission shaft, one end of the transmission shaft is fixedly connected with a driven wheel, and the other end of the transmission shaft is movably connected to the side wall of the inner cavity of the top plate.

Preferably, the driven wheel is connected with a transmission chain in a meshed manner, the other end of the transmission chain is connected with a driving wheel in a meshed manner, the driving wheel is fixedly connected to the tail end of the output end of the motor, and one side of the motor is fixedly connected to the side wall of the inner cavity of the top plate.

3. Advantageous effects

When the utility model is used, the hand to be massaged and recovered is put into the hand accommodating cavity, and the placing ring is made of rubber material, so that the hand of the user is more comfortable; then each finger of a user is placed into the corresponding finger ring, the tail end of the finger is aligned with the adjusting block and extends into the adjusting block, the adjusting rod slides in the adjusting sliding groove according to the corresponding extension of the finger length adjusting spring so as to adjust the distance among the three finger rings of the first finger ring, the second finger ring and the third finger ring, so that the finger adjusting device is suitable for the hand sizes of different users, and the comfort of the users is improved; after the hand is placed, start the motor in the roof, after the motor starts, drive the transmission of drive chain through the action wheel, drive chain drives from the driving wheel and rotates, from driving wheel drive transmission shaft rotation, the transmission shaft drives the cam rotation, and then intermittent type nature extrusion massage post A, massage post A drives massage post B intermittent type removal through massage spring, thereby massage user's hand through massage post B lower extreme, in the transmission of massage post A and massage post B, thereby slide A slides in slide B and maintains transmission's stability.

Drawings

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural view of the hand-holding cavity of the present invention;

FIG. 3 is a schematic view of the inner structure of the massage plate of the present invention;

fig. 4 is a schematic structural view of the massage pillar a and the massage pillar B of the present invention.

The reference numbers in the figures illustrate:

1. a top plate; 2. a hand-entry cavity; 3. attaching a plate; 4. a control box; 5. placing a ring; 6. A first ring; 7. a second finger ring; 8. a third ring; 9. a support plate; 10. a limiting plate; 11. An adjusting block; 12. adjusting the spring; 13. adjusting a rod; 14. adjusting the sliding chute; 15. a motor; 16. A driving wheel; 17. a massage plate; 18. a drive chain; 19. a drive shaft; 20. a driven wheel; 21. A cam; 22. a massage column A; 23. a massage spring; 24. a massage column B; 25. a sliding plate A; 26. and a sliding plate B.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Example 1:

referring to fig. 1-2, a hand-assisted rehabilitation robot based on a man-machine master-slave motion mode comprises a top plate 1, a hand-entering cavity 2 and a fitting plate 3, wherein the top plate 1 and the fitting plate 3 are fixedly connected to the upper end and the lower end of the hand-entering cavity 2 respectively, and the upper end of the top plate 1 is fixedly connected with a control box 4; the hand accommodating cavity 2 comprises a placing ring 5, and the placing ring 5 is fixedly connected outside the hand accommodating cavity 2; the finger adjusting mechanism is arranged in the hand holding cavity 2, and the massage mechanism is arranged in the top plate 1;

the finger adjusting mechanism comprises a first finger ring 6, a second finger ring 7 and a third finger ring 8, and the first finger ring 6, the second finger ring 7 and the third finger ring 8 are sequentially and movably connected in the hand accommodating cavity 2 from outside to inside;

an adjusting rod 13 is fixedly connected to the upper wall surface of the second finger ring 7, adjusting chutes 14 are fixedly connected to the upper wall surfaces of the first finger ring 6 and the third finger ring 8, and two ends of the adjusting rod 13 are respectively connected to the inside of the adjusting chutes 14 on the first finger ring 6 and the third finger ring 8 in a sliding manner;

a support plate 9 is fixedly connected inside the hand accommodating cavity 2, the support plate 9 is arranged at a position close to the third finger ring 8, and a limit plate 10 is fixedly connected to the upper end of the support plate 9; five adjusting blocks 11 are connected inside the limiting plate 10 in a sliding mode, and the inner sides of the adjusting blocks 11 are fixedly connected with the inner wall of the hand accommodating cavity 2 through adjusting springs 12;

a sponge layer is fixedly connected inside the attaching plate 3, and an antifouling layer is fixedly connected on the surface of the sponge layer;

when the utility model is used, the hand to be massaged and recovered is firstly put into the hand accommodating cavity 2, and the placing ring 5 is made of rubber material, so that the hand of the user is more comfortable; then each finger of a user is placed into the corresponding finger ring, the tail end of the finger is aligned with the adjusting block 11 and extends into the adjusting block, the adjusting rod 13 slides in the adjusting chute 14 according to the corresponding extension of the finger length adjusting spring 12 so as to adjust the distance among the three finger rings of the first finger ring 6, the second finger ring 7 and the third finger ring 8, so that the finger ring is suitable for the hand sizes of different users, and the comfort of the users is improved.

Example 2:

as in fig. 3-4, the basis for the combination with example 1 is different:

the massage mechanism comprises a massage plate 17, five groups of movable grooves are formed in the massage plate 17, massage columns A22 are connected in the movable grooves in a sliding mode, and the lower ends of the massage columns A22 are movably connected with massage columns B24 through massage springs 23;

the two sides of the massage column A22 are fixedly connected with a sliding plate B26, the sliding plate B26 is internally and slidably connected with a sliding plate A25, the sliding plate A25 is fixedly connected with the side wall of the massage column B24, and the sliding plate A25 and the sliding plate B26 are movably connected with the inner side of the movable groove;

the upper end of the massage column A22 is movably connected with a cam 21, the cam 21 is fixedly connected on a transmission shaft 19, one end of the transmission shaft 19 is fixedly connected with a driven wheel 20, and the other end of the transmission shaft 19 is movably connected with the side wall of the inner cavity of the top plate 1;

a transmission chain 18 is meshed and connected with the outer part of the driven wheel 20, a driving wheel 16 is meshed and connected with the other end of the inner part of the transmission chain 18, the driving wheel 16 is fixedly connected at the tail end of the output end of the motor 15, and one side of the motor 15 is fixedly connected with the side wall of the inner cavity of the top plate 1;

after the hand is placed, the motor 15 in the top plate 1 is started, after the motor 15 is started, the driving wheel 16 drives the transmission chain 18 to transmit, the transmission chain 18 drives the driven wheel 20 to rotate, the driven wheel 20 drives the transmission shaft 19 to rotate, the transmission shaft 19 drives the cam 21 to rotate, and then the massage column A22 is intermittently extruded, the massage column A22 drives the massage column B24 to intermittently move through the massage spring 23, so that the hand of a user is massaged through the lower end of the massage column B24, and in the transmission process of the massage column A22 and the massage column B24, the sliding plate A25 slides in the sliding plate B26, so that the stability of the transmission process is maintained.

The above description is only the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can substitute or change the technical solution and the improvement concept of the present invention within the technical scope disclosed in the present invention.

Claims

1. The hand auxiliary rehabilitation robot based on the man-machine master-slave motion mode comprises a top plate (1), a hand intake cavity (2) and a fitting plate (3), wherein the top plate (1) and the fitting plate (3) are fixedly connected to the upper end and the lower end of the hand intake cavity (2) respectively, and the upper end of the top plate (1) is fixedly connected with a control box (4); the method is characterized in that: the hand containing cavity (2) comprises a placing ring (5), and the placing ring (5) is fixedly connected to the outside of the hand containing cavity (2); the inside finger adjusting mechanism that is provided with of chamber (2) is taken into to hand, roof (1) inside is provided with massage mechanism.

2. The hand-assisted rehabilitation robot based on the man-machine master-slave motion mode as claimed in claim 1, wherein: finger adjusting mechanism includes first ring (6), second ring (7) and third ring (8), first ring (6), second ring (7) and third ring (8) are by outer to interior swing joint in proper order in chamber (2) is brought into to the hand.

3. The hand-assisted rehabilitation robot based on the man-machine master-slave motion mode as claimed in claim 2, wherein: wall fixedly connected with adjusts pole (13) on second ring (7), wall fixedly connected with adjusts spout (14) on first ring (6) and third ring (8), adjust pole (13) both ends difference sliding connection in adjusting spout (14) on first ring (6) and third ring (8).

4. The hand-assisted rehabilitation robot based on the man-machine master-slave motion mode as claimed in claim 3, wherein: a support plate (9) is fixedly connected inside the hand accommodating cavity (2), the support plate (9) is arranged at a position close to the third finger ring (8), and a limit plate (10) is fixedly connected at the upper end of the support plate (9); the internal sliding connection of limiting plate (10) has five regulating blocks (11), regulating block (11) inboard is incorporated into chamber (2) inner wall fixed connection through regulating spring (12) and hand.

5. The hand-assisted rehabilitation robot based on the man-machine master-slave motion mode as claimed in claim 4, wherein: the interior fixedly connected with sponge layer of rigging board (3), sponge layer surface fixedly connected with antifouling layer.

6. The hand-assisted rehabilitation robot based on the man-machine master-slave motion mode as claimed in claim 5, wherein: the massage mechanism comprises a massage plate (17), five groups of movable grooves are formed in the massage plate (17), massage columns A (22) are connected in the movable grooves in a sliding mode, and massage columns B (24) are movably connected to the lower ends of the massage columns A (22) through massage springs (23).

7. The hand-assisted rehabilitation robot based on the man-machine master-slave motion mode as claimed in claim 6, wherein: massage post A (22) both sides fixedly connected with slide B (26), sliding connection has slide A (25) in slide B (26), slide A (25) fixed connection is at massage post B (24) lateral wall, the equal swing joint of slide A (25) and slide B (26) is inboard at the activity inslot.

8. The hand-assisted rehabilitation robot based on the man-machine master-slave motion mode as claimed in claim 7, wherein: massage post A (22) upper end swing joint has cam (21), cam (21) fixed connection is on transmission shaft (19), transmission shaft (19) one end fixed connection has from driving wheel (20), transmission shaft (19) other end swing joint is at roof (1) inner chamber body lateral wall.

9. The hand-assisted rehabilitation robot based on the man-machine master-slave motion mode as claimed in claim 8, wherein: the external meshing of driven wheel (20) is connected with drive chain (18), the inside other end meshing of drive chain (18) is connected with action wheel (16), action wheel (16) fixed connection is in the output terminal department of motor (15), motor (15) one side fixed connection is in roof (1) inner cavity body lateral wall.