KR20180045561A - Hand rehabilitation robot - Google Patents

Abstract

The present invention provides a robot for hand rehabilitation, comprising: a base frame coupled with a power transmission shaft at one side thereof to be axially rotated; a driving generation unit connected to the power transmission shaft while being installed on the base frame and generating a rotational force to rotate the power transmission shaft; a main mounting unit for fixing and supporting four fingers except a thumb of a patient; a pair of main link units having one end connected to the base frame by a pin to be rotated and the other end connected to the main mounting unit by a pin to be rotated; and a four-finger motion control unit installed on the base frame and adjusting whether to transfer the rotational force of the power transmission shaft to one end of the main link units. The main link units include a first link bar fixed and coupled to the main mounting unit, a second link bar having one end connected and coupled to one end of the first link bar by a pin to be rotated and the other end connected and coupled to the base frame by a pin to be rotated, and a third link bar having one end connected and coupled to the other end of the first link bar by a pin to be rotated, in a state of being staggered with the second link bar, and the other end rotated by receiving the rotational force of the power transmission shaft by the four-finger motion control unit.

Description

{Hand rehabilitation robot}

The present invention relates to a hand rehabilitation robot that enables rehabilitation such as maintenance of restoration of motor function by training the thumb and four fingers of a patient or a disabled person.

Generally, the upper extremity rehabilitation robot apparatus is a device utilizing robotic technology for rehabilitation such as maintenance of the motion function of a patient whose upper body is damaged or paralyzed.

The upper limb rehabilitation robotic device is useful for iterative training, adjustment of the amount of training and time, quantification of the progress and elapse of the training, and it is possible to standardize the rehabilitation training and alleviate the physical burden of the therapist. Is increasing. In recent years, an upper limb rehabilitation robot apparatus having various forms and functions is used.

In particular, a rehabilitation robot that helps the hand rehabilitation exercise uses a robot that moves only four fingers by attaching a tool to only four fingers except for the thumb to reduce the convenience of research and mechanical complexity, , Or each robot that moves the thumb and four fingers simultaneously is applied.

However, conventionally, it is difficult to enable selective movement of the thumb and four fingers, and a motor for moving the thumb separately along with a motor for moving the four fingers is required, There is a problem that it takes a lot of manufacturing cost and it is difficult to perform selective exercise for four fingers and thumb. In addition, there is a problem that it is difficult to realize a minimum connection structure for movement of the four fingers.

Such a conventional hand rehabilitation robot is disclosed in Korean Patent Registration No. 10-1191555 (Oct. 10, 2012).

It is an object of the present invention to provide a hand rehabilitation robot that enables each rehabilitation movement of a finger by using one motor, and enables movement of a finger part with a minimum connection structure.

The present invention relates to a motorcycle comprising a base frame coupled to a power transmission shaft so as to be rotatable on one side thereof, a drive generating unit connected to the power transmission shaft in a state of being installed on the base frame and generating a rotational force to rotate the power transmission shaft, A pair of main link portions, one end of which is rotatably connected to the base frame by a pin, and the other end of which is rotatably connected to the main seating portion by a pin, And a four-finger motion control unit installed in the base frame for controlling whether to transmit the rotational force of the power transmission shaft to one end of the main link unit, wherein the main link unit includes a first link bar fixedly coupled to the main seating unit, , One end of which is rotatably connected to one end of the first link bar by a pin and the other end of which is rotatable with respect to the base frame A second link bar connected to the second link bar by a pin, the other end of the first link bar being rotatably connected to the other end of the first link bar in a state of being staggered with the second link bar, And a third link bar rotatably receiving the rotational force of the transmission shaft.

The drive generating unit may include a drive motor coupled to the base frame and generating a rotational force, a speed reducer connected to the drive motor and configured to decelerate the rotational speed of the rotational force generated by the drive motor, A torque sensor for measuring a torque applied to the speed reducer, a main power transmission belt for connecting the output shaft of the speed reducer and one end of the power transmission shaft to transmit a rotational force output from the speed reducer to the power transmission shaft, And a control unit for controlling the rotational force of the driving motor in accordance with the torque measured in the driving motor.

The main seating part includes a main finger support frame having a rectangular frame structure, one end of which is rotatably connected to the other end of the main link, and four sliding bars arranged in parallel to each other, A main finger seating part in which the four fingers except for the thumb are seated on the one side and the main finger seating part is connected to each of the main finger seating parts, And a main finger fixing band for fixing each of the fingers that are seated and placed on the finger seating portion.

The four-finger drive control unit includes a four-finger drive pulley rotatably connected to the base frame, a four-finger drive pulley having a second engagement thread formed on an inner circumferential surface of the four-finger drive pulley, A four-finger drive belt for connecting the transmission shaft and the four-finger drive pulley to transmit rotational force of the power transmission shaft to the four-finger drive pulley, one end of which is inserted into the four-finger drive pulley through the first engagement thread, And a four-finger drive gear for transmitting the rotational force of the four-finger drive pulley to the other end of the main link portion, the four-finger drive gear being engaged with the first engagement thread portion and the second engagement thread portion at the same time, Finger drive control bar formed thereon.

In addition, it is preferable that a thumb connecting frame connected to the base frame, a thumb mounting part for fixing the thumb of the patient, one end rotatably connected to the thumb connecting frame by a pin, And a thumb motion control unit connected to the thumb connecting frame for controlling whether to transmit the rotational force of the power transmitting shaft to one end of the thumb link unit.

The thumb link portion may include a fourth link bar rotatably connected to the thumb receiving portion, one end of which is rotatably connected to one end of the fourth link bar by a pin and the other end of which is rotatably connected to the thumb connecting frame, A fourth link bar rotatably connected to the other end of the fourth link bar by a pin, and the other end of the fourth link bar rotatably receiving the rotational force of the thumb power transmission shaft by the thumb motion control unit And a sixth link bar rotatably coupled to the thumb connecting frame.

A ring gear is axially rotatably connected to one side of the thumb connection frame so as to be perpendicular to an output shaft of the speed reducer, and the thumb motion control part is configured such that one end thereof is axially movable at the end of the power transmission shaft And the other end is rotatably connected to the thumb connecting frame, and the one end of the outer circumferential surface is axially movably connected to the power transmitting shaft, A thumb drive control bar on which a thumb drive pinion gear is formed for transmitting the thumb wheel to the ring gear, a thumb drive control bar on which a thumb drive pinion gear is formed for transmitting the ring gear to the ring gear, And may include a drive belt.

In the hand rehabilitation robot according to the present invention, the rotational force generated in the driving generating portion is transmitted to the power transmission shaft of the base frame, and the four-finger motion control portion is mounted on the main seating portion while adjusting the transmission of rotational force to the main link portion Wherein the thumb movement control unit controls whether or not to rehabilitate the thumb that is seated on the thumb seating unit while controlling whether or not the rotational force is transmitted to the thumb link unit, The main fingertip is connected to the base frame in a rotatable simple structure through the link bar, the second link bar, and the third link bar, thereby enabling movement with respect to four fingers in one freedom.

1 is a perspective view of a hand rehabilitation robot according to an embodiment of the present invention.
FIG. 2 is a perspective view showing the four-finger adjustment handle portion removed in FIG. 1. FIG.
FIG. 3 is a perspective view of the main link portion of FIG. 1 with the third link bar portion removed.
FIG. 4 is a perspective view of the hand rehabilitation robot shown in FIG. 1 in which the thumb connecting frame, the thumb placing part, the thumb linking part, and the thumb movement controlling part are separated.
5 is a side view of the hand rehabilitation robot shown in Fig.
FIG. 6 is a perspective view of a thumb connecting frame, a thumb receiving unit, a thumb link unit, and a thumb movement control unit separated from the hand rehabilitation robot shown in FIG. 1;
7 is a side view of the hand rehabilitation robot shown in Fig.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to the preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings.

FIG. 1 is a perspective view of a hand rehabilitation robot according to an embodiment of the present invention. FIG. 2 is a perspective view of the hand rehabilitation robot of FIG. 1, FIG. 4 is a perspective view of the hand rehabilitation robot shown in FIG. 1 in which the thumb connecting frame, the thumb receiving portion, the thumb link portion, and the thumb and finger movement controlling portion are separated. FIG. 6 is a perspective view of a thumb connecting frame, a thumb mounting part, a thumb link and a thumb movement control part separated from the hand rehabilitation robot shown in FIG. 1, FIG. 7 is a perspective view of the hand rehabilitation robot shown in FIG. Side view. 1 to 7, the hand rehabilitation robot of one embodiment includes a base frame 100, a drive generating unit 200, a main seating unit 300, a main link unit 400, a four finger movement control unit 500 A thumb connecting frame 600, a thumb receiving unit 700, a thumb link unit 800, and a thumb and finger movement control unit 900.

The base frame 100 includes a driving unit 200, a main seating unit 300, a main link unit 400, a four finger motion control unit 500, a thumb connecting frame 600, 700, a thumb link unit 800, and a thumb motion controller 900. [ The base frame 100 is disposed at a place where the patient is rehabilitated. The base frame 100 may include a pair of vertical plates 100 disposed to face each other and spaced apart from each other and a connecting rod 120 connecting the pair of vertical plates 100 with each other.

A power transmission shaft 130 is rotatably mounted on a base end of the base frame 100, more specifically, at a front end of the base frame 100, . At this time, a pulley 131 may be coupled to an end of the power transmitting shaft 130.

The tension of the main drive transmission belt 240 of the drive generating part 200 and the drive belt 520 of the four finger motion control part 500 is maintained in each of the vertical plates 110 of the base frame 100 The idler 150 can be rotatably connected.

The driving force generating unit 200 generates a rotational force to rotate the power transmitting shaft 130 formed on the base frame 100. That is, the driving force generating unit 200 rotates the power transmitting shaft 130 and rotates the thumb link unit 800 in response to a driving force for four-finger movement due to the rotation of the main link unit 400 Thereby providing a driving force for the movement of the thumb by the user. The drive generating unit 200 is coupled to the base frame 100 and is connected to the power transmitting shaft 130 to transmit a rotational force to the power transmitting shaft 130. The driving unit 200 includes a driving motor 210, a speed reducer 220, a torque sensor 230, a main power transmission belt 240, and a controller 250.

The driving motor 210 is supplied with power from the outside to generate rotational force. The driving motor 210 is fixedly coupled to the vertical plate 110 disposed on one side of the base frame 100.

The speed reducer 220 is installed to be connected to the driving motor 210 so that the rotational speed of the rotational force generated by the driving motor 210 is decelerated. That is, the speed reducer 220 is fixedly coupled to the link 120 of the base frame 100 to be connected to the drive shaft of the drive motor 210. The output shaft of the speed reducer 220 is disposed rotatably through the vertical plate 110 disposed on the other side of the base frame 100. A pulley 221 is coupled to an end of the output shaft of the speed reducer 220 to transmit rotational power to the power transmitting shaft 130 through the main power transmitting belt 240.

The torque sensor 230 measures the torque applied when the patient's finger is moved. That is, the torque sensor 230 is transmitted from the speed reducer 220 to the main link unit 400 and the thumb link unit 800 through the power transmission shaft 130, The torque applied to the thumb in accordance with the rigidity is measured during the spreading or folding motion. The torque sensor 230 is connected to the outside of the output shaft of the speed reducer 220 in an inserted state. The torque sensor 230 is electrically connected to the controller 250 through a cable and transmits the torque measured by the torque sensor 230 to the controller 250.

The main power transmission belt 240 transmits rotational force output through the output shaft of the speed reducer 220 to the power transmission shaft 130. The main power transmission belt 240 is installed to connect the output shaft end of the speed reducer 220 and one end of the power transmission shaft 130.

The control unit 250 controls the rotational force of the driving motor 210 according to the torque measured by the torque sensor 230. That is, the control unit 250 adjusts the rotational force of the driving motor 210 according to the torque applied according to the rigidity at the time of the spreading or folding motion of the four fingers or the thumb of the patient, . The controller 250 electrically connects the torque sensor 230 to the driving motor 210 through a cable.

The main seating part 300 is a frame part that fixes and supports the remaining four fingers except the thumb of the patient. The main seating part 300 is rotatably connected to the front end of the base frame 100 through a main link part 400 to be described later. The main seating part 300 includes a main finger supporting frame 310, a main finger seating part 320 and a main finger fixing band 330.

The main finger support frame 310 is a frame formed to have a rectangular frame structure. The main finger support frame 310 supports the main finger support part 320 so as to be slidable in the front-rear direction. The other end of the main link unit 400 is rotatably connected to one side of the main finger support frame 310 to be connected to the base frame 100.

In addition, four sliding bars 311 are arranged on the inner side of the main finger support frame 310 so as to be spaced apart from each other. The main finger seating part 320 is inserted into the outside of the sliding bar 311 so that the main finger seating part 320 is slidably movable in the front and rear direction.

The main fingertip 320 is configured to support the four fingers except for the thumb. The main finger seating part 320 is formed in a block shape having a through hole (not shown) so as to be slidably inserted outside the sliding bar 311 of the main finger support frame 310. A main finger seating groove 321 is formed concavely on one side surface of the main finger seating unit 320, more specifically, on the bottom surface thereof to stably arrange the remaining four fingers except for the thumb. In addition, a band mounting groove 322 may be formed on one side of the main finger mount 320 so as to connect the main finger fixing band 330.

The main finger fixing band 330 is disposed on the main finger seating groove 321 of the main finger seating unit 320 so that four fingers other than the patient's thumb are in contact with each other, . The main finger fixing band 330 is connected to the band mounting groove 322 formed in each of the main finger seating parts 320 and is fixed while being wrapped around the finger.

The main link unit 400 is a member for rotatably connecting the main finger seating unit 300 to the base frame 100. One end of the main link unit 400 is rotatably connected to the vertical plate 110 of the base frame 100 by a pin 440. The other end of the main link part 400 is rotatably connected to one side of the main finger support frame 310 of the main seating part 300 by a pin 440. The main link unit 400 includes a pair of main link support frames 310 for supporting the main finger support frame 310 in a stable manner, 110 and the main finger support frame 310, respectively. The main link unit 400 includes a first link bar 410, a second link bar 420, and a third link bar 430.

The first link bar 410 connects the other end of the second link bar 420 and the other end of the third link bar 430 to the main finger support frame 310 of the main seating part 300 It is a bar member. The first link bars 410 are fixedly coupled to both sides of the main finger support frame 310 of the main seating part 300.

One end of the second link bar 420 is rotatably connected to one end of the first link bar 410 by a pin 440. The other end of the second link bar 420 is coupled to the base frame 100 And is rotatably connected to the vertical plate 110 of the main body 110 through a pin 400.

The third link bar 430 is a bar member staggered from the second link bar 420. One end of the third link bar 430 is rotatably connected to the other end of the first link bar 410 by a pin 440 and the other end of the third link bar 430 is connected to the base frame 420. [ (110) of the main body (100). At this time, the other end of the third link bar 430 is selectively connected to the first engaging threaded portion (not shown) so as to selectively receive the rotational force of the power transmitting shaft 130 according to the movement of the four- 431 are formed through.

The main link unit 400 is connected to the main finger support frame 310 of the main finger mount 300 through the first link bar 410, the second link bar 420, and the third link bar 430, Is rotatably connected to the base frame 100 to enable movement with respect to four fingers in one freedom.

The four-finger motion controller 500 controls whether or not the rotational force of the power transmission shaft 130 is transmitted to one end of the main link unit 400. That is, the four-finger motion controller 500 transmits the rotational force of the power transmission shaft 130 to the main link unit 400 to rotate the main finger support frame 310 of the main seat 300 Thereby allowing rehabilitation of the four fingers resting on the main finger rest 320 of the main rest part 300. [ Alternatively, the four-finger motion controller 500 may rotate the main finger support frame 310 of the main seating part 300 so that the rotational force of the power transmission shaft 130 is not transmitted to the main link part 400, The rehabilitation motion of the four fingers rested on the main finger rest 320 of the main rest part 300 is maintained in a stopped state. The four finger motion control unit 500 includes a four finger drive pulley 510, a four finger drive belt 520, and a four finger drive control bar 530.

The four-finger drive pulley 510 is a pulley rotated by receiving the rotational force of the power transmission shaft 130 through the four-finger drive belt 520. The four-finger drive pulley 510 is disposed at one side of the vertical plate 110 of the base frame 100, more specifically, at a position corresponding to one end of the third link bar 430 of the main link unit 400 Rotatable connection. The second engaging threaded portion 511 is formed on the inner circumferential surface of the four-finger drive pulley 510.

The four-finger drive belt 520 allows the rotational force of the power transmission shaft 130 to be transmitted to the four-finger drive pulley 510. The four-finger drive belt 520 connects the pulley 140 of the power transmission shaft 130 and the four-finger drive pulley 510.

The four-finger drive control bar 530 is a bar member that adjusts the rotational force of the four-finger drive pulley 510 to selectively transmit the rotational force of the four-finger drive pulley 510 to the third link bar 430 of the main link unit 400 . One end of the four-finger drive control bar 530 is connected to the second engaging threaded portion 511 of the four-finger drive pulley 510 through the first engaging threaded portion 431 of the third link bar 430 ).

A four-finger drive gear 531 is inserted and formed in a fixed state on one side of the outer surface of the four-finger drive control bar 530. The four-finger drive gear 531 moves the four-finger drive control bar 530 in the direction of the vertical plate 110 of the base frame 100 while moving the first engaging threaded portion 431 and the second Finger drive pulley 510 is transmitted to the third link bar 430 of the main link part 400 while the third link bar 430 Is rotated. On the other hand, when the four-finger drive control bar 530 is moved so that the four-finger drive gear 531 is not screwed into the first and second engagement threaded portions 431 and 511 at the same time, The rotational force of the four-finger drive pulley 510 is not transmitted to the third link bar 430 of the main link unit 400. [ Here, the four-finger drive control bar 530 may be provided with a four-finger control handle 532 for facilitating the user's gripping.

The thumb connecting frame 600 is a frame that is coupled to the base frame 100 in a state where one end of the thumb link unit 800 is rotatably connected. The thumb connection frame 600 includes a gear box portion 610 and a thumb support plate 620.

The gear box portion 610 is a member having a tubular structure fixedly coupled to the vertical plate 110 of the base frame 100. A ring gear 611 is installed on one side of the gear box 610 so as to be axially rotatable in a state of being vertically disposed on the power transmission shaft 130. At this time, the shaft end of the ring gear 611 protrudes outside the gear box portion 610, and a pulley 612 may be coupled to the shaft end portion of the ring gear 611. Here, the ring gear 611 is rotated by receiving a rotational force when the thumb drive pinion gear 911 of the thumb motion control unit 900 is fitted. In this way, the thumb drive control bar 910 of the thumb movement control unit 900 is slidably connected to the gear box unit 610 and the thumb drive control bar 910 is moved in accordance with the movement of the thumb drive control bar 910, So that the gear 911 and the ring gear 611 can be engaged with each other.

The thumb support plate 620 is a plate portion fixedly coupled to one side of the gear box portion 610. The thumb support plate 620 rotatably supports one end of the thumb link portion 800. A plurality of idlers 621 may be rotatably connected to the thumb support plate 620 to stably maintain the tension of the thumb drive belt 920 of the thumb movement controller 900.

The thumb placement unit 700 is a block member that fixes and supports the thumb of the patient. The thumb receiving unit 700 is rotatably connected to the other end of the thumb link unit 800 to be described later. A thumb receiving groove 710 is formed on one side surface of the thumb receiving part 700 so that the thumb can be stably placed. A thumb fixing band 720 for fixing the thumb placed in the thumb receiving groove 710 in a wrapped state is connected to the thumb receiving part 700.

The thumb link unit 800 is a member for rotatably connecting the thumb receiving unit 700 to the thumb holding plate 620 of the thumb connecting frame 600. That is, one end of the thumb link unit 800 is rotatably connected to the thumb support plate 620 of the thumb connection frame 600 by a pin 840, and the other end of the thumb link unit 800 is attached to the thumb And is rotatably connected to the other side of the unit 700. One end of the thumb link unit 800 is rotated by receiving the rotational force of the power transmitting shaft 130 according to the operation of the thumb motion controller 900 to be described later. Here, the thumb link unit 800 includes a fourth link bar 810, a fifth link bar 820, and a sixth link bar 830.

The fourth link bar 810 is a bar member connected to the other side of the thumb receiving unit 700. The fifth link bar 820 and the sixth link bar 830 are rotatably connected to both ends of the fourth link bar 810 by pins 840.

One end of the fifth link bar 820 is rotatably connected to one end of the fourth link bar 810 by a pin 840 and the other end of the fifth link bar 820 is connected to the thumb connecting frame 600 are rotatably connected to one side of the thumb support plate 620 by a pin 840.

The sixth link bar 830 is a bar member disposed in parallel with the fifth link bar 820. One end of the sixth link bar 830 is rotatably connected to the other end of the fourth link bar 810 by a pin 840. The other end of the sixth link bar 830 is connected to a thumb And is rotatably connected to the thumb support plate 620 of the thumb connection frame 600 by a pin 840 so as to selectively receive the rotational force of the power transmission shaft 130 according to the movement of the control unit 900. A pin 840 connected to the other end of the sixth link bar 830 is coupled to a pulley 831 to receive the rotational force of the power transmission shaft 130 stably.

The thumb motion controller 900 controls whether the rotational force of the power transmission shaft 130 is transmitted to the one end of the thumb link unit 800. [ That is, the thumb motion controller 900 may transmit the rotational force of the power transmission shaft 130 to the thumb link unit 800 so that the thumb link unit 800 may move the thumb support plate 800 of the thumb connection frame 600, Thereby permitting rehabilitation of the thumb placed in the thumb placing part 700 while rotating the thumb 620 relative to the thumb. Alternatively, the thumb-motion control unit 900 may prevent the rotational force of the power transmission shaft 130 from being transmitted to the thumb link unit 800 so that the thumb link unit 800 is not rotated, So that the rehabilitation movement of the thumb placed on the finger 700 is maintained in the stopped state. The thumb movement controller 900 includes a thumb drive control bar 910 and a thumb drive belt 920.

The thumb drive control bar 910 is a rod member that adjusts the rotational force of the power transmission shaft 130 so that the user can selectively transmit the rotational force of the power transmission shaft 130 to the ring gear 611 of the thumb connection frame 600. One end of the thumb drive control bar 910 is connected to one end of the power transmission shaft 130 so as to be movable in the axial direction. More specifically, one end of the thumb drive control bar 910 and one end of the power transmission shaft 130 are screwed together so that the thumb drive control shaft When the bar 910 is rotated in the clockwise direction, the thumb drive control bar 910 moves so as to extend in the direction opposite to the power transmission shaft 130. The other end of the thumb drive control bar 910 is rotatably connected to one side wall portion of the gear box portion 610 of the thumb connecting frame 600. Here, the thumb drive control bar 910 may be provided with a thumb adjusting handle 912 to facilitate gripping by the user.

A thumb drive pinion gear 911 is inserted and formed in a fixed state on one side of the outer surface of the thumb drive control bar 910. The thumb drive pinion gear 911 moves the thumb drive control bar 910 in the direction opposite to the power transmission shaft 130 while fitting the thumb drive control pin 910 to the ring gear 611 of the gear box portion 610 So that the rotational force of the power transmission shaft 130 is transmitted to the ring gear 611 to rotate the thumb link unit 800. On the other hand, when the thumb drive gear 910 is moved so that the thumb drive pinion gear 911 and the ring gear 611 are not misaligned, the rotational force of the power transmission shaft 130 is transmitted to the ring gear 611, The thumb link unit 700 is not rotated.

The thumb drive belt 920 allows the rotational force of the ring gear 611 to be transmitted to the pulley 831 coupled to the pin 840 of the sixth link bar 830. The thumb drive belt 920 connects the pulley 612 of the ring gear 611 and the pulley 831 of the sixth link bar 830.

The operation of the hand rehabilitation robot of this embodiment will be described with reference to FIGS. 1 to 7. FIG.

These hand rehabilitation robots can be used in three modes, allowing only four fingers to be rehabilitated except for the thumb, allowing only the thumb to be rehabilitated, or allowing the thumb and the remaining four fingers to be simultaneously rehabilitated .

At this time, the thumb drive control bar 910 of the thumb motion controller 900 is moved to move the thumb drive pinion gear 911 And the ring gear 611 provided in the gear box portion 610 are arranged in a non-aligned manner. The fourth finger drive control bar 530 of the four finger movement control unit 500 is moved so that the four finger drive gears 531 are engaged with the first engaging threaded portion 431 of the third link bar 430, Finger drive pulley 510. The second engaging threaded portion 511 of the four- Then, the rotational force transmitted to the power transmitting shaft 130 after being generated in the driving generating unit 200 is transmitted only to the main link unit 400, and is not transmitted to the thumb link unit 800 , And only the four fingers except the thumb are rehabilitated.

That is, when the drive motor 210 of the drive generation unit 200 is operated to generate a rotational force, a rotational force is transmitted to the power transmission shaft 130 through the speed reducer 220 and the main power transmission belt 240 do. At this time, the rotational force transmitted to the power transmission shaft 130 is transmitted to the four-finger drive pulley 510 through the four-finger drive belt 520, and the rotational force of the four- Is transmitted to the third link bar 430 of the main link unit 400 by the four-finger drive gear 531 of the drive control bar 530.

When the main finger support frame 310 of the main seating part 300 connected to the main link part 400 is rotated and the main finger supporting frame 310 is rotated, Or the folding operation is repeatedly performed so that the rehabilitation exercise is performed.

The thumb drive control bar 910 of the thumb motion control unit 900 is moved so that the thumb drive pinion gear 911 and the gear And the ring gear 611 provided in the box portion 610 is disposed in alignment. The fourth finger drive control bar 530 of the four finger movement control unit 500 is moved so that the four finger drive gears 531 are engaged with the first engaging threaded portion 431 of the third link bar 430, Finger drive pulley 510 so as not to be simultaneously inserted and fastened to the second engaging threaded portion 511 of the four- Then, the rotational force transmitted to the power transmitting shaft 130 after being generated by the driving generating unit 200 is transmitted only to the thumb link unit 800 and is not transmitted to the main link unit 400 , Allowing only the thumb to rehabilitate.

That is, when the drive motor 210 of the drive generation unit 200 is operated to generate a rotational force, a rotational force is transmitted to the power transmission shaft 130 through the speed reducer 220 and the main power transmission belt 240 do. At this time, the rotational force transmitted to the power transmission shaft 130 is transmitted to the thumb control bar 910, and the rotational force of the thumb control bar 910 is transmitted through the thumb drive pinion gear 911, The ring gear 611 of the ring gear 610 is rotated. Then, the thumb drive belt 920 rotates the thumb link unit 800 while transmitting the rotational force of the ring gear 611 to the pulley 831 of the sixth link bar 830.

Then, as the thumb seating unit 700 connected to the thumb link unit 800 rotates, the thumb or finger folding operation is repeatedly performed on the thumb fixedly placed on the thumb seating groove 710, .

Finger drive control bar 530 of the four-finger motion control unit 500 is moved so that the four-finger drive gear 531 is moved The thumb driving pinion gear 911 is inserted into the first engaging threaded portion 431 of the third link bar 430 and the second engaging threaded portion 511 of the four finger drive pulley 510, And the ring gear 611 provided in the gear box portion 610 are disposed in a fitting manner. Then, as described above, rotation of the main seating portion 300 by rotation of the main link portion 400 and rotation of the thumb seating portion 700 by rotation of the thumb link portion 800 are simultaneously performed And perform rehabilitation for the thumb and the remaining four fingers.

The hand rehabilitation robot according to an embodiment of the present invention is configured such that the rotational force generated in the driving generation unit 200 is transmitted to the power transmission shaft 130 of the base frame 100, The main link unit 400 controls whether or not the four fingers that are seated on the main seating unit 300 are rehabilitated while controlling whether the rotational force is transmitted to the main link unit 400. The main link unit 400 controls the first link bar 410 The main finger seating unit 300 is connected to the base frame 100 via a second link bar 420 and a third link bar 430 in a simple structure so as to be rotatable, Enable movement.

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

100: Base frame 110: Vertical plate
120: Connecting rod 130: Power transmission shaft
200: drive generating unit 210: drive motor
220: Reducer 230: Torque sensor
240: main power transmission belt 250:
300: main seating part 310: main finger support frame
320: main finger rest 330: main finger rest
400: main link portion 410: first link bar
420: second link bar 430: third link bar
431: first latching screw part 500: four finger movement control part
510: Four finger drive pulley 511: Second engaging thread
520: Four finger drive belt 530: Four finger drive control bar
531: four-finger drive gear 600: thumb connection frame
610: gear box part 611: ring gear
620: a thumb support plate 700: a thumb seat
800: thumb link portion 810: fourth link bar
820: fifth link bar 830: sixth link bar
900: thumb motion controller 910: thumb drive control bar
911: thumb drive pinion gear 920: thumb drive belt

Claims (7)

A base frame coupled to the power transmitting shaft so as to be rotatable on one side;
A drive generating unit connected to the power transmitting shaft in a state where the power generating unit is installed on the base frame and generating a rotational force to rotate the power transmitting shaft;
A main seating part for fixing the four fingers except the thumb of the patient;
A pair of main link portions, one end of which is rotatably connected to the base frame by a pin, and the other end of which is rotatably connected to the main seating portion by a pin; And
And a four-finger motion control unit installed in the base frame for controlling whether to transmit the rotational force of the power transmission shaft to one end of the main link unit,
The main link unit includes:
A first link bar fixedly coupled to the main seating portion,
A second link bar having one end rotatably connected to one end of the first link bar by a pin and the other end rotatably connected to the base frame by a pin,
A first link bar rotatably connected to the other end of the first link bar in a state of being staggered with the second link bar and the other end being rotated by the rotational force of the power transmission shaft, Hand rehabilitation robot including 3 link bars. The method according to claim 1,
Wherein the drive generating unit comprises:
A driving motor coupled to the base frame and generating a rotational force,
A speed reducer connected to the driving motor and configured to decelerate the rotational speed of the rotational force generated by the driving motor,
A torque sensor connected to the speed reducer and measuring a torque applied to the speed reducer,
A main power transmission belt connecting an output shaft of the speed reducer and one end of the power transmission shaft to transmit a rotational force output from the speed reducer to the power transmission shaft,
And a control unit for controlling the rotational force of the driving motor according to the torque measured by the torque sensor. The method according to claim 1,
The main-
A main finger support frame having a quadrangular frame structure, one end of which is rotatably connected to the other end of the main link, and four sliding bars arranged in parallel and spaced apart from each other,
A main finger seating part on one side of which the four fingers other than the thumb are seated and placed,
And a main finger fixing band which is connected to each of the main finger fixing parts and fixes each of the fingers that are seated on the main finger fixing part. The method according to claim 1,
A first engaging thread portion is formed at the other end of the main link portion,
Wherein the four-finger motion control unit comprises:
A four-finger drive pulley rotatably connected to the base frame and having a second engaging thread formed on an inner circumferential surface thereof,
A four-finger drive belt connecting the power transmission shaft and the four-finger drive pulley to transmit rotational force of the power transmission shaft to the four-finger drive pulley,
Finger drive pulley through one end of the first engaging threaded portion and being screwed to the first engaging threaded portion and the second engaging threaded portion simultaneously while being pushed by the base frame at one side of the outer side, And a four-finger drive control bar having a four-finger drive gear for transmitting the rotational force of the drive pulley to the other end of the main link. The method according to claim 1,
A thumb connecting frame connected to the base frame,
A thumb placing part for fixing the thumb of the patient,
A thumb link portion having one end rotatably connected to the thumb connecting frame by a pin and the other end rotatably connected to the thumb receiving portion,
And a thumb movement control unit connected to the thumb connection frame and configured to control whether to transmit the rotational force of the power transmission shaft to one end of the thumb link unit. The method of claim 5,
The thumb link portion includes:
A fourth link bar rotatably connected to the thumb seat,
A fifth link bar having one end rotatably connected to one end of the fourth link bar by a pin and the other end rotatably connected to the thumb link frame by a pin,
The thumb link mechanism is rotatably connected to the other end of the fourth link bar by a pin and the other end is rotatably connected to the thumb link frame to rotate by receiving the rotational force of the thumb power transmission shaft, Hand rehabilitation robot including 6 link bars. The method of claim 5,
A ring gear is axially rotatably connected to one side of the thumb connecting frame so as to be disposed perpendicular to an output shaft of the speed reducer,
Wherein the thumb motion controller comprises:
And the other end is rotatably connected to the thumb connecting frame in a state in which one end thereof is connected to the end portion of the power transmitting shaft so as to be movable in the axial direction and the other end is axially moved in a state connected to the power transmitting shaft, A thumb drive control bar provided with a thumb drive pinion gear for transmitting the rotational force of the power transmission shaft to the ring gear when fitted to the ring gear,
And a thumb drive belt connecting the ring gear and a pin portion of one end of the thumb link portion to transmit rotational force of the ring gear to one end of the thumb link portion.

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