M355709 五、新型說明： 【新型所屬之技術領域】 現代人因為重大交通意外或是其他慢性病引起的腦部受傷、腦血管 阻塞（俗稱中風）或脊髓損傷等問題，使得病人失去原有的自主運動 (voluntary movement)能力，這些病患在接受醫師緊急治療後，其後遺 症通常是會造成偏癱、四肢行動不便或是長期臥病在床，其曰常生活的 活動都需要旁人從巾協助’這些病患在病情穩定後都需要長期接受物理 治療與職能治療的復健，以慢慢地恢復原有的自主運動能力。 中風（stroke)患者通常會發生單側肢體肌肉無力（weakness)、肌肉痙攣 (Spastlc)或是肌肉收縮失調（incoordination)等運動障礙。依嚴重程度 可區分為半邊不完全癱瘓（hemiparesis)，表示患側手腳較健側為軟弱無 力但疋仍可以移動，和半邊完全癱瘓（hemiplegia)，患者連患侧手指 頭都無法移動。 中風病人的恢復機制在學理上是基於二種不同的假設，一種是認為 在對稱的大腦中，若其中的一小部份受傷，則可由對稱側未受損的大腦 經由不同的路徑下傳作動命令到運動神經元，另外一種假設是認為大腦 受到損害轉近部份可轉代失去的魏，下傳作動命令來完成原有的 動作’復健治療就是要對神經系統產生誘發（faci脑〇n)。其中復健方法 有很多不同的方式，由物理治療師以徒手的方絲誘發原有的自主能 力’或是以辅助機構做一些反覆式的被動運動（哪池^ 饮咖脱）’或是以功能性電刺激（functional electrical stimulation)的方法。 【先前技術】 3 M355709 在物理治療的過程中，所有的動作都是具有重複性，且整個治療期 間病人是每天都有排技療的時間，相對的-個物理治療師每天所要 面對的是不同病症的患者，需要料不同病人有不_雜與施力的 大小，這樣的治療模式是—件相當力的工作，若走治療師本身 的姿勢不對也會造成本身的運祕害，在治療的過程只能—個治療師 對-位病患施於治療。在個全民健保實施後日益增加的病人數目對 治療師也造成相當大的負擔，實際上在每—個治療的過程卜只在 一開始是治軌評估其·，蚊要絲的方式，之倾是重複不斯 也帶項病患做出&些規劃的運動路徑，引導病患能平順地完成這些動 作並不需要花費那麼多的人力於整個療程上，這次發明希望以機器 手臂來完成麵重複性高_作’而且機时料姻執行不會有太 大的差異性料地完摘需要的飾路徑，且辭精魏畫過的 助力或阻力，且能容易麵程式來調整不同的運動雜規晝與出力大 小具有相當尚的彈性，因此不會受限於醫師的體力問題，以提升整 個復健治療的品質。 【新型内容】 因此本創作手部關節復健機，結合固定箱機構(10)、手腕傳動機構 (2〇)、手肘傳動部分(30)、主體驅動機構(4〇)及控制箱機構(5〇)，可將需 復健的手部關節放置於此，翻復健的目的，本創作具有以下的優點： L可自行復健，無須遠赴醫院治療 2, 可依照患者手部長度調整本創作之固定桿，使用範圍大 3. 可針對手腕或手肘進行復健 4 M355709 4.可依照醫生建議調整機器運轉速度 【實施方式】 一種手部關節復健機(請參閱第一圖），係包含固定箱機構(10)、手 腕傳動機構(20)、手肘傳動機構(30)、主體驅動機構(40)及控制箱機構(50) 組合而成其中； 固定箱機構(10)(請參考第三圖”係包含固定底座(101)、固定座上 蓋(102)、正反轉馬達(1〇3、104)、固定螺絲(105、106、107、108、109、 110)、固定L座(111、112、113、114、115、116)所組合而成，其中該 固疋 L 座(111、112、in、114、115、116)以固定螺絲(1〇5、10ό、107、 108、109、110)與固定座上蓋(102)連結，其中固定L座(115、116)與固 定螺絲(105、106)可依照使用者之手臂粗細調整其鎖定距離，兩顆正反 轉馬達(103、104)裝置於該機構内部用以產生正反向旋轉； 手腕傳動機構(20)(請參考第四圖），係包含上手腕傳動片（201)、下 手腕傳動片(202)、手腕傳動桿(2〇3、2〇4)所組合而成，其中手腕傳動 杯(2〇3、2〇4)分別與上手腕傳動片⑽）、下手腕傳動#卿)銷接成平行 機構’且下手腕傳動片(2〇2)與固定箱機構⑽中之正反轉馬達(㈣連結 (請參考第-_第三圖），用以帶動該平行機構運動，且上手腕傳動片 _與主體驅動機構(4G)連結，用以使主體驅動機構(4〇)轉動； 手財傳動機構(30)(請參考第五圖），係包含上手財傳動片⑽）、下 手肘傳崎搬⑽及手財傳動桿⑽)所組合而成，其中手肘傳動桿卿 分別與上手肘傳動片⑽）、下手肘傳動片(搬)銷接成平行機構，且下 手肘傳卿0咖定箱機_)中之正反轉馬達_連結(請來考第 M355709 -圖與第二圖），用以帶動該平行機構運動，且上手肘傳動祁叫與主 體驅動機構(40)連結’用以使主體驅動機構⑽)轉動； 主體驅賴構(40)(請參閱第二圖），係由手腕固定桿(4n、412)、關 節插銷(417、418)銜接可動式手肘固定架(、)和蚊式手財固定 架(4〇7、概）’巾間再插人罐_(42卜似），可依每個人的手財長 度不同來作調整’由關節插銷(仍、42嶋接手臂固定桿(他、4〇6)， 用以支撐手部，並由固定片（423、424、425、426、427、428、429、430) 和固定螺絲(43卜 432、433、434、435、436、437、438、439、440、 44卜442'443、444、445、446)去連接手臂固定桿(405、4〇6)及底座固 疋桿(401、402、403、404)，如此可將手腕固定桿(411、412)、可動式 手肘固疋架(409、410)和固定式手肘固定架(4〇7、408)和手臂固定桿 (405、406)支撐於固定箱機構(戰請參閱第一圖)上，並在手腕固定桿 (411、412)、可動式手肘固定架(4〇9、410)和固定式手肘固定架(4〇7、408) 及手臂固定桿(405、406)上放置手扶布(413、414、415、416)，使復健 者可以舒適的將手放置其上； 控制箱機構(50)(請參考第六圖）’係包含電源開關(5〇1)、電源燈 (502)、緊急開關燈(5〇3)、速度微調開關(5〇4)、角度微調開關(5〇5)、緊 急開關(506)所組合而成，其中藉由電源開關(5〇1)開啟或關閉電源，用 以驅動正反轉馬達(1〇3、1〇4)，並利用速度微調開關(5〇4)及角度微調開 關(505)控制該正反轉馬達(1〇3、104)，以提供關節插銷(417、418、419、 42〇)轉動以提供所需的仰角大小及擺動速度，使手腕或手肘部分做需要 的往復動作； 6 M355709 藉由上述機構之組合(請參考第七圖)利用兩顆正反轉馬達⑽、綱) «來控制轉向，配合上手腕傳動片(观）、下手腕傳動片(观）、手腕 傳動桿(2〇3、2〇4)與上手肘傳動片_、下手肘傳動片(狗以及手財 傳動桿(3〇3) ’當馬達轉動時，可將力量傳遞到手腕或者手肘，並利用 速度微調開關(504)及角度微調開關(505)控制該正反轉馬達(1〇3、 104) ’以提供目節_(417、418、419、樣)轉動赌供所需的仰角大 小及擺動速度’使手腕或手肘達到復健的目的。 【圖式簡單說明】 第一圖：係為本創作之爆炸圖 第二圖：係為本創作之主體驅動機構爆炸圖 第三圖：係為本創作之固定箱機構炸爆炸圖 第四圖：係為本創作之手腕傳動機構爆炸圖 第五圖：係為本創作之手肘傳動機構爆炸圖 第六圖：係為本創作之控制箱機構 第七圖：係為本創作之完成圖 【主要元件符號說明】 (10)固定箱機構 (101)固定底座 （102)固定座上蓋 (103、104)正反轉馬達（105、106、107、1〇8、109、110)固定螺絲 (m、112、113、114、115、116)固定[座 (20)手腕傳動機構 (201)上手腕傳動片 （202)下手腕傳動片 7 M355709 (203、204)手腕傳動桿 (30)手肘傳動機構 (301)上手肘傳動片 （302)下手肘傳動片 (303)手肘傳動桿 (40)主體驅動機構 (4(Π、402、403、404)底座固定桿 - (4〇5、406)手臂固定桿 （407、408)固定式手肘固定架M355709 V. New description: [New technical field] Modern people suffer from brain injury, cerebrovascular obstruction (commonly known as stroke) or spinal cord injury caused by major traffic accidents or other chronic diseases, causing patients to lose their original voluntary movement. (voluntary movement) ability, after the emergency treatment of these patients, the sequelae usually cause hemiplegia, inconvenience to limbs or long-term illness in bed, and their usual activities require others to help from these patients. After the condition is stable, it is necessary to receive rehabilitation for physical therapy and functional treatment for a long time, so as to slowly restore the original autonomous exercise ability. Patients with stroke usually develop dyskinesia such as weakness, weakness, spastlc, or incoordination. According to the severity, it can be divided into hemiparesis, which means that the affected side is weaker than the healthy side, but the sputum can still move, and the hemiplegia is half-finished. The patient can't move even the affected side of the finger. The recovery mechanism of stroke patients is theoretically based on two different hypotheses. One is that in a symmetrical brain, if a small part of it is injured, it can be transmitted through different paths by the symmetry-side undamaged brain. Command to the motor neuron, another hypothesis is that the brain is damaged and transferred to the part of the Wei that can be lost, and the next action is to complete the original action. 'Rehabilitation treatment is to induce the nervous system (faci cerebral palsy) n). There are many different ways of rehabilitation methods. The physical therapist induces the original autonomy with the bare-handed square wire' or does some repetitive passive movement with the auxiliary mechanism (which pool ^ drinking coffee)' A method of functional electrical stimulation. [Prior Art] 3 M355709 In the process of physical therapy, all the actions are repetitive, and the patient has a time of physiotherapy every day during the whole treatment period. The relative physiotherapist faces every day. Patients with different diseases need to have different sizes of patients, such as the size of the force, the treatment mode is a very powerful work, if the posture of the therapist itself is wrong, it will also cause its own secrets, in the treatment The process can only be applied to a patient by a therapist. The increasing number of patients after the implementation of universal health insurance also imposes a considerable burden on the therapist. In fact, in each process of treatment, it is only at the beginning to assess the way of the disease. It is the repeated movements of the patients who have made the disease and the planning of the patients, and it is not necessary to spend so much manpower on the whole course of treatment. This invention hopes to complete the face with the robotic arm. Repetitive high _ _ 'and the implementation of the machine will not have too much difference to finish the required decorative path, and refine the power or resistance painted by Wei, and can easily adjust the different movements The size of the ammunition is quite flexible with the size of the output, so it is not limited by the physical problems of the physician to improve the quality of the entire rehabilitation treatment. [New content] Therefore, the original hand joint rehabilitation machine combines a fixed box mechanism (10), a wrist transmission mechanism (2〇), an elbow transmission portion (30), a main body driving mechanism (4〇), and a control box mechanism ( 5〇), you can place the hand joints that need to be rehabilitated here, and rebuild the purpose of the health. This creation has the following advantages: L can rejuvenate by itself, without going to hospital for treatment 2, can be adjusted according to the length of the patient's hand The fixed rod of this creation has a large range of use. 3. It can be used for rehabilitation on the wrist or elbow. 4 M355709 4. Adjust the running speed of the machine according to the doctor's advice. [Embodiment] A hand joint rehabilitation machine (please refer to the first figure) The utility model comprises a fixed box mechanism (10), a wrist transmission mechanism (20), an elbow transmission mechanism (30), a main body driving mechanism (40) and a control box mechanism (50); wherein the fixed box mechanism (10) Please refer to the third figure for the fixed base (101), the upper cover (102), the positive and negative motor (1〇3, 104), the fixing screws (105, 106, 107, 108, 109, 110), fixed L-seat (111, 112, 113, 114, 115, 116) is combined, wherein the solid L-seat (111, 112) , in, 114, 115, 116) are fixed to the fixed cover (102) by fixing screws (1〇5, 10ό, 107, 108, 109, 110), wherein the fixed L seat (115, 116) and the fixing screw (105) 106) The locking distance can be adjusted according to the thickness of the user's arm. Two positive and negative motors (103, 104) are arranged inside the mechanism for generating forward and reverse rotation; wrist transmission mechanism (20) (please refer to the fourth Figure), which consists of a combination of the upper wrist drive (201), the lower wrist drive (202), and the wrist drive (2〇3, 2〇4), of which the wrist drive cup (2〇3, 2〇4) ) respectively, with the upper wrist drive piece (10)), the lower wrist drive #qing) pinned into a parallel mechanism 'and the lower wrist drive piece (2〇2) and the fixed box mechanism (10) of the positive and negative motor ((4) connection (please refer to -_3rd diagram) for driving the parallel mechanism, and the upper wrist drive piece _ is coupled with the main body drive mechanism (4G) for rotating the main body drive mechanism (4〇); the hand drive mechanism (30) ( Please refer to the fifth figure), which consists of the upper hand transmission (10), the lower elbow, and the handcuffs (10). Separately with the upper elbow transmission piece (10)), the lower elbow transmission piece (moving) pin into a parallel mechanism, and the lower elbow transmission 0 0 coffee box machine _) positive and negative motor _ link (please come to test M355709 - map And the second figure) for driving the parallel mechanism, and the upper elbow transmission squeak is coupled with the main body driving mechanism (40) for rotating the main body driving mechanism (10); the main body drive structure (40) (please refer to 2)), the wrist fixed rod (4n, 412), the joint bolt (417, 418) connected to the movable elbow holder (,) and the mosquito-type hand-fixing bracket (4〇7, general) Inserting a can _ (42 like), can be adjusted according to the length of each person's hand. 'The joint bolt (still, 42 手臂 arm fixed rod (he, 4 〇 6), used to support the hand, and By fixing pieces (423, 424, 425, 426, 427, 428, 429, 430) and fixing screws (43, 432, 433, 434, 435, 436, 437, 438, 439, 440, 44, 442'443, 444, 445, 446) to connect the arm fixing rods (405, 4〇6) and the base fixing rods (401, 402, 403, 404), so that the wrist fixing rods (411, 412) and the movable elbows can be fixed. Truss (4 09, 410) and the fixed elbow holder (4〇7, 408) and the arm fixing rods (405, 406) are supported on the fixed box mechanism (see the first figure for the war), and the wrist fixing rod (411, 412), movable elbow holder (4〇9, 410) and fixed elbow holder (4〇7, 408) and arm fixing rods (405, 406) are placed on the hand cloth (413, 414, 415) 416), so that the rehabilitation person can comfortably put his hand on it; control box mechanism (50) (please refer to the sixth figure) 'includes power switch (5〇1), power light (502), emergency switch light (5〇3), speed fine-tuning switch (5〇4), angle fine-tuning switch (5〇5), emergency switch (506) are combined, in which the power switch (5〇1) is used to turn the power on or off. To drive the forward and reverse motor (1〇3, 1〇4), and use the speed fine-tuning switch (5〇4) and the angle fine-tuning switch (505) to control the positive-reverse motor (1〇3, 104) to provide the joint The pins (417, 418, 419, 42〇) are rotated to provide the desired elevation angle and swing speed to allow the wrist or elbow portion to perform the desired reciprocating motion; 6 M355709 by the combination of the above mechanisms (please refer to Figure 7) use Positive and negative motor (10), class) «To control steering, with the wrist drive piece (view), the lower wrist drive piece (view), the wrist drive rod (2〇3, 2〇4) and the upper elbow drive piece _, Lower elbow drive piece (dog and handcuffs drive rod (3〇3) 'When the motor rotates, it can transmit the force to the wrist or elbow, and use the speed fine adjustment switch (504) and the angle fine adjustment switch (505) to control the positive Reverse motor (1〇3, 104) 'to provide the eyepiece _ (417, 418, 419, sample) to rotate the gamble for the required elevation angle and swing speed 'to achieve the purpose of rehabilitation of the wrist or elbow. [Simple description of the diagram] The first picture: the second picture of the explosion of the creation of this creation: the third picture of the explosion of the main drive mechanism of the creation: the fourth picture of the explosion of the fixed box mechanism of the creation: The fifth figure of the explosion diagram of the wrist transmission mechanism of this creation: the sixth figure of the explosion diagram of the elbow transmission mechanism of this creation: the seventh figure of the control box mechanism of the creation: the completion diagram of the creation Component symbol description] (10) Fixed box mechanism (101) Fixed base (102) Fixed seat upper cover (103, 104) Positive and negative motor (105, 106, 107, 1〇8, 109, 110) fixing screws (m, 112, 113, 114, 115, 116) fixed [seat (20) wrist drive mechanism (201) wrist drive plate (202) lower wrist drive plate 7 M355709 (203, 204) wrist drive lever (30) elbow transmission mechanism (301) Upper elbow transmission piece (302) Lower elbow transmission piece (303) Elbow transmission rod (40) Main body drive mechanism (4 (Π, 402, 403, 404) base fixing rod - (4〇5, 406) arm Fixed rod (407, 408) fixed elbow holder
(409、410)可動式手肘固定架（411、412)手腕固定桿 (413、414、415、416)手扶布（417、418)關節插銷 (419、420)關節插銷 （42卜422)調整插銷 (423、424、425、426、427、428、429、430)固定片 (431、432、433、434、435、436、437、438、439、440、441、442、 443、444、445、446)固定螺絲(409, 410) movable elbow holder (411, 412) wrist fixing rod (413, 414, 415, 416) hand cloth (417, 418) joint bolt (419, 420) joint bolt (42 422) Adjusting the pin (423, 424, 425, 426, 427, 428, 429, 430) fixing pieces (431, 432, 433, 434, 435, 436, 437, 438, 439, 440, 441, 442, 443, 444, 445, 446) fixing screws
(50)控制箱機構 (501)電源開關 (5〇3)緊急開關燈 (505)角度微調開關 (502)電源燈 (504)速度微調開關 (506)緊急開關 8(50) Control box mechanism (501) Power switch (5〇3) Emergency switch light (505) Angle fine-tuning switch (502) Power light (504) Speed fine-tuning switch (506) Emergency switch 8