CN109394478B - Hand function rehabilitation training robot - Google Patents
Hand function rehabilitation training robot Download PDFInfo
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- CN109394478B CN109394478B CN201811508039.9A CN201811508039A CN109394478B CN 109394478 B CN109394478 B CN 109394478B CN 201811508039 A CN201811508039 A CN 201811508039A CN 109394478 B CN109394478 B CN 109394478B
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- 238000012549 training Methods 0.000 title claims abstract description 51
- 210000000707 wrist Anatomy 0.000 claims abstract description 105
- 230000007246 mechanism Effects 0.000 claims abstract description 72
- 210000003811 finger Anatomy 0.000 claims abstract description 64
- 210000003813 thumb Anatomy 0.000 claims abstract description 56
- 230000005540 biological transmission Effects 0.000 claims abstract description 27
- 230000001681 protective effect Effects 0.000 claims description 12
- 230000000712 assembly Effects 0.000 claims description 2
- 238000000429 assembly Methods 0.000 claims description 2
- 230000009471 action Effects 0.000 abstract description 7
- 238000005452 bending Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 210000004247 hand Anatomy 0.000 description 4
- 210000005036 nerve Anatomy 0.000 description 4
- 206010019468 Hemiplegia Diseases 0.000 description 3
- 210000001364 upper extremity Anatomy 0.000 description 3
- 206010008190 Cerebrovascular accident Diseases 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 2
- 208000006011 Stroke Diseases 0.000 description 2
- 230000002490 cerebral effect Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 210000002478 hand joint Anatomy 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 210000000056 organ Anatomy 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000002560 therapeutic procedure Methods 0.000 description 2
- 208000012260 Accidental injury Diseases 0.000 description 1
- 229920006048 Arlen™ Polymers 0.000 description 1
- 208000025978 Athletic injury Diseases 0.000 description 1
- 208000016285 Movement disease Diseases 0.000 description 1
- 206010041738 Sports injury Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000001467 acupuncture Methods 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 210000000811 metacarpophalangeal joint Anatomy 0.000 description 1
- 238000011158 quantitative evaluation Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000004936 stimulating effect Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
- A61H2205/067—Fingers
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a hand function rehabilitation training robot which comprises a wrist transmission mechanism, a finger driving mechanism and a four-bar mechanism, wherein the four-bar mechanism is respectively connected with the wrist transmission mechanism and the finger driving mechanism, the wrist transmission mechanism can drive the finger driving mechanism and the four-bar mechanism to move, the finger driving mechanism can drive the four-bar mechanism to move, the wrist transmission mechanism is provided with an elbow protecting sleeve, the four-bar mechanism comprises a thumb connecting rod and a four-finger connecting rod, the thumb connecting rod is provided with the thumb protecting sleeve, the four-finger connecting rod is provided with the four-finger protecting sleeve, a user places an elbow at the elbow protecting sleeve position, places a thumb and other fingers on the thumb protecting sleeve and the four-finger protecting sleeve, the wrist buckling and stretching training can be carried out by the user, the rehabilitation training of hand grasping action is realized by the four-bar mechanism, and the opening and closing angles of the hand are changed by adjusting the relative positions between the middle connecting rod and the thumb connecting rod and the four-finger connecting rod.
Description
Technical Field
The invention relates to the technical field of rehabilitation robots, in particular to a hand function rehabilitation training robot.
Background
The hand is one of three important organs which enable a person to have high intelligence, is also the most active exercise organ in the human body, and in daily life, a healthy and complete hand is remarkable for our meaning. The hand movement disorder mainly comprises upper limb hemiplegia, sports injury and accidental injury caused by cerebral apoplexy, and with the aggravation of aging population in China, the incidence rate of cerebral apoplexy is higher, so that the upper limb hemiplegia of most patients is caused, the upper limb hemiplegia is mainly represented as a bending posture of the affected side and fingers are kept in a fist-holding state, and the daily life of the patients is seriously influenced. However, joints, bones and nerves of the hand are easily damaged in daily life work, and the functionality of the hand is seriously even basically deteriorated, so that a simple grabbing action cannot be completed, and great inconvenience is caused to daily life and work.
The related science demonstrates that the central nerve of the brain has plasticity, a scientific and efficient exercise mode is helpful for stimulating the recovery of the central nerve, which provides a theoretical basis for exercise rehabilitation therapy, and rehabilitation science also shows that repeated limb movements can establish new nerve channels, and a patient can regain lost functions. At present, the existing exercise rehabilitation therapy mainly helps patients to recover exercise functions by acupuncture, massage and other methods through simple medical instruments, so that a great deal of manpower and material resources are consumed, and the rehabilitation effect mainly depends on experience and subjective judgment of medical operators and lacks objective and quantitative evaluation.
According to the south Anputon hand assessment protocol, clinical studies have shown that a 22 degree of freedom hand that is 1 degree of freedom wrist is functionally equivalent to a 1 degree of freedom hand and a 2 degree of freedom wrist when doing activities of daily living, and that opening and closing are the most important in rehabilitation training of the hand, i.e., the grasping action is the most critical, followed by training of the individual finger joints.
Patent application number 201310474052.8, a micro-intelligent exoskeleton finger rehabilitation robot comprising: the hand back part, the finger part, the steel wire transmission mechanism, the gear transmission mechanism motor, the connecting shaft, the driving shaft, the driven shaft and the bending sensor are used for providing 2 degrees of freedom at the metacarpophalangeal joint (MCP joint) and the near-end interphalangeal joint (PIP joint), the steel wire transmission mechanism and the gear transmission mechanism are driven to move in a motor driving mode, so that bending and stretching movement of the finger of a hemiplegic patient is realized, and the bending angle of the finger is fed back in real time by the bending sensor. The defects are that: 1) Failing to be used for thumb rehabilitation, related researches have shown that the importance proportion of the thumb to the hand movements in daily life is the greatest; 2) The mechanism is complex, the intelligent hardware is more, and the cost is higher; 3) The whole mechanism is made of rigid materials, and the dead weight is large, so that the burden is brought to a patient.
The utility model provides a 201510448216.9 patent is grabbed to finger rehabilitation training device, mainly to the training of grabbing of four fingers except the thumb, including detecting the finger and being used for detecting the encoder of finger moment when grabbing the training on the motor when doing the training with installing the position torque sensor of moment, integrated rehabilitation training and patient motion state detection, can assess the progress and the effect of rehabilitation training effectively, can realize the initiative training and the passive training of finger grasp, the disadvantage lies in: 1. the grabbing action is without thumb, i.e. without thumb drive; 2. there is no protection for the motor or control failure, which may cause injury to the patient.
Most of the existing hand rehabilitation robots are complex in structure, pay attention to the degree of freedom rehabilitation training of a single finger, have multiple driving sources and large dead weight, are difficult to wear for the multi-degree-of-freedom hand rehabilitation robots, and generally do not involve the rehabilitation training of the thumb for the hand grasping action.
Therefore, how to change the current situation that the finger rehabilitation device cannot be used for rehabilitation training of the thumb in the prior art is a problem to be solved urgently by those skilled in the art.
Disclosure of Invention
The invention aims to provide a hand function rehabilitation training robot which solves the problems in the prior art and enables a finger rehabilitation device to perform rehabilitation training on thumbs and other fingers at the same time.
In order to achieve the above object, the present invention provides the following solutions: the invention provides a hand function rehabilitation training robot, comprising:
the wrist transmission mechanism comprises an elbow protection sleeve, a wrist support shell, a wrist rotation shaft and a first driving motor, wherein the elbow protection sleeve is in sliding connection with the wrist support shell, the wrist rotation shaft and the first driving motor are both arranged in the wrist support shell, the wrist rotation shaft is in rotary connection with the wrist support shell, the first driving motor can drive the wrist rotation shaft to rotate, the wrist rotation shaft is in transmission connection with the first driving motor, and the axis of the wrist rotation shaft is perpendicular to the relative sliding direction of the elbow protection sleeve and the wrist support shell;
the finger driving mechanism comprises a finger driving support shell, a hand rotating shaft and a second driving motor, wherein the hand rotating shaft and the second driving motor are arranged in the finger driving support shell, the hand rotating shaft is rotationally connected with the second driving motor, the second driving motor can drive the hand rotating shaft to rotate, and the axis of the hand rotating shaft is parallel to the axis of the wrist rotating shaft;
elastic pieces are arranged between the wrist rotating shaft and the first driving motor and between the hand rotating shaft and the second driving motor;
the four-bar linkage comprises a supporting plate, a thumb connecting rod, a four-finger connecting rod and a middle connecting rod, wherein a thumb sheath is arranged on the thumb connecting rod, the four-finger sheath is arranged on the four-finger connecting rod, the thumb connecting rod is rotationally connected with the supporting plate, one end of the middle connecting rod is in sliding connection with the thumb connecting rod, the other end of the middle connecting rod is rotationally connected with the four-finger connecting rod, the supporting plate is connected with a wrist rotating shaft, and the hand rotating shaft penetrates through the supporting plate and is connected with the four-finger connecting rod.
Preferably, a sliding block is arranged at the bottom of the elbow protecting sleeve, a sliding rail is arranged on the wrist supporting shell, the sliding block is slidably arranged on the sliding rail, a handle is connected to the sliding block, and the relative position of the sliding block and the sliding rail can be fixed by rotating the handle.
Preferably, an upper fixing plate is arranged at one end of the wrist rotating shaft, a lower fixing plate is arranged at the other end of the wrist rotating shaft, the upper fixing plate and the lower fixing plate are respectively connected with the wrist supporting shell, and a first bearing seat assembly is arranged between the upper fixing plate and the wrist rotating shaft and between the lower fixing plate and the wrist rotating shaft; the wrist transmission mechanism further comprises a first outer cover, and the first outer cover is detachably connected with the wrist support shell.
Preferably, the top of the wrist rotating shaft extends out of the wrist supporting shell and is connected with the supporting plate through a screw, the bottom of the wrist rotating shaft is connected with a first belt wheel, the output end of the first driving motor is connected with a second belt wheel, the first belt wheel is connected with the second belt wheel through a first cable, and the first cable is connected with the elastic piece; the first cable is divided into two sections, two sections of the two ends of the first cable are respectively connected by the elastic piece, the elastic piece is two first springs which are arranged in parallel, and the elastic piece is positioned between the first belt wheel and the second belt wheel.
Preferably, one end of the hand rotating shaft is provided with an upper hand fixing plate, the other end of the hand rotating shaft is provided with a lower hand fixing plate, the upper hand fixing plate and the lower hand fixing plate are respectively connected with the finger driving support shell, and second bearing assemblies are respectively arranged between the upper hand fixing plate and the lower hand fixing plate and between the lower hand fixing plate and the hand rotating shaft; the finger drive mechanism further includes a second outer cover detachably connected to the finger drive support housing.
Preferably, the top of the hand rotating shaft extends out of the finger driving support shell and is connected with the four-finger connecting rod, the bottom of the hand rotating shaft is connected with a third belt wheel, the output end of the second driving motor is connected with a fourth belt wheel, the third belt wheel and the fourth belt wheel are connected through a second cable, and the second cable is connected with the elastic piece; the second cable is divided into two sections, two ends of the second cable are respectively connected by the elastic piece, the elastic piece is two second springs which are arranged in parallel, and the elastic piece is positioned between the third belt wheel and the fourth belt wheel.
Preferably, the finger driving mechanism further comprises a torque sensor, the hand rotating shaft comprises an upper hand rotating shaft and a lower hand rotating shaft, the upper hand rotating shaft and the lower hand rotating shaft are respectively connected with the top and the bottom of the torque sensor, and the torque sensor is located between the upper hand fixing plate and the lower hand fixing plate.
Preferably, the thumb connecting rod is provided with a sliding rod, the middle connecting rod is provided with a long hole, the sliding rod is slidably arranged in the long hole, the supporting plate is provided with a limiting groove, and the sliding rod penetrates through the long hole and stretches into the limiting groove.
Preferably, the thumb sheath is arranged at one end of the thumb connecting rod far away from the elbow protective sleeve, the four-finger sheath is arranged at one end of the four-finger connecting rod far away from the elbow protective sleeve, and the cross sections of the elbow protective sleeve, the thumb sheath and the four-finger sheath are all U-shaped.
Compared with the prior art, the invention has the following technical effects: the invention relates to a hand function rehabilitation training robot, which comprises a wrist transmission mechanism, a finger driving mechanism and a four-bar mechanism, wherein the four-bar mechanism is respectively connected with the wrist transmission mechanism and the finger driving mechanism, the wrist transmission mechanism can drive the finger driving mechanism and the four-bar mechanism to move, the finger driving mechanism can drive the four-bar mechanism to move, the wrist transmission mechanism is provided with an elbow protecting sleeve, the four-bar mechanism comprises a thumb connecting rod and a four-finger connecting rod, the thumb connecting rod is provided with the thumb protecting sleeve, the four-finger connecting rod is provided with the four-finger protecting sleeve, a user places an elbow at the elbow protecting sleeve position, places a thumb and other fingers on the thumb protecting sleeve and the four-finger protecting sleeve, the user can perform buckling and stretching training of the wrist, the rehabilitation training of hand grasping action is realized through the four-bar mechanism, and the opening and closing angles of the hand are changed through adjusting the relative positions between the middle connecting rod and the thumb connecting rod and the four-finger connecting rod; meanwhile, the hand function rehabilitation training robot is provided with the elastic pieces between the wrist rotating shaft and the first driving motor and between the hand rotating shaft and the second driving motor, so that the hands of a user can be protected through generated damping under the condition of motor failure or control error, and the comfort of the rehabilitation of the hands of the user is further improved through the elastic pieces.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a hand function rehabilitation training robot according to the present invention;
FIG. 2 is a schematic view showing a cross-sectional structure of a wrist transmission mechanism of the hand function rehabilitation training robot according to the present invention;
FIG. 3 is a schematic top view of a wrist transmission mechanism of the hand function rehabilitation training robot of the present invention;
FIG. 4 is a schematic view showing a cross-sectional structure of a finger driving mechanism of the hand function rehabilitation training robot of the present invention;
FIG. 5 is a schematic view of a four bar linkage of the hand function rehabilitation training robot of the present invention;
wherein 1 is a wrist transmission mechanism, 2 is a four-bar mechanism, 3 is a finger driving mechanism, 4 is a wrist supporting shell, 5 is a first cable, 6 is a first spring, 7 is an elbow protecting sleeve, 8 is a handle, 9 is an upper fixing plate, 91 is a lower fixing plate, 10 is a first bearing seat component, 11 is a wrist rotating shaft, 12 is a first pulley, 13 is a first outer cover, 14 is a flat key, 15 is a first driving motor, 151 is a first motor fixing plate, 16 is a sliding block, 17 is a supporting plate, 18 is a four-finger connecting rod, 19 is a four-finger protecting sleeve, 20 is a middle connecting rod, 21 is a thumb protecting sleeve, 22 is a thumb connecting rod, 23 is a finger driving supporting shell, 24 is a second driving motor, 25 is a second motor fixing plate, 26 is a second outer cover, 27 is a third place Arlen, 28 is a second cable, 29 is a second spring, 30 is a hand lower rotating shaft, 31 is a second bearing seat component, 32 is a torque sensor, 33 is a hand upper rotating shaft, 34 is a hand upper fixing plate, 35 is a lower fixing plate.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a hand function rehabilitation training robot which solves the problems in the prior art and enables a finger rehabilitation device to perform rehabilitation training on thumbs and other fingers at the same time.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Referring to fig. 1 to 5, fig. 1 is a schematic structural diagram of a hand functional rehabilitation training robot according to the present invention, fig. 2 is a schematic sectional structural diagram of a wrist transmission mechanism of the hand functional rehabilitation training robot according to the present invention, fig. 3 is a schematic top view of the wrist transmission mechanism of the hand functional rehabilitation training robot according to the present invention, fig. 4 is a schematic sectional structural diagram of a finger driving mechanism of the hand functional rehabilitation training robot according to the present invention, and fig. 5 is a schematic structural diagram of a four-bar mechanism of the hand functional rehabilitation training robot according to the present invention.
The invention provides a hand function rehabilitation training robot, comprising:
the wrist transmission mechanism 1, the wrist transmission mechanism 1 comprises an elbow protecting sleeve 7, a wrist supporting shell 4, a wrist rotating shaft 11 and a first driving motor 15, the elbow protecting sleeve 7 is in sliding connection with the wrist supporting shell 4, the wrist rotating shaft 11 and the first driving motor 15 are both arranged in the wrist supporting shell 4, the wrist rotating shaft 11 is in rotating connection with the wrist supporting shell 4, the first driving motor 15 can drive the wrist rotating shaft 11 to rotate, the wrist rotating shaft 11 is in transmission connection with the first driving motor 15, and the axis of the wrist rotating shaft 11 is perpendicular to the relative sliding direction of the elbow protecting sleeve 7 and the wrist supporting shell 4; the elbow protective sleeve 7 is in sliding connection with the wrist support shell 4, so that a user can conveniently adjust the distance between the elbow protective sleeve 7 and the finger driving mechanism 3 according to the situation of the user, and the first driving motor 15 can drive the wrist rotating shaft 11 to rotate.
The finger driving mechanism 3, the finger driving mechanism 3 comprises a finger driving support shell 23, a hand rotating shaft and a second driving motor 24, the hand rotating shaft and the second driving motor 24 are arranged in the finger driving support shell 23, the hand rotating shaft is rotationally connected with the second driving motor 24, the second driving motor 24 can drive the hand rotating shaft to rotate, and the axis of the hand rotating shaft is parallel to the axis of the wrist rotating shaft 11; the second drive motor 24 can drive the hand rotation shaft to rotate.
Elastic pieces are arranged between the wrist rotating shaft 11 and the first driving motor 15 and between the hand rotating shaft and the second driving motor 24; the elastic actuator is added between the driving source and the executing piece, so that the hand of a user can be protected through generated damping under the condition of motor failure or control error, and the comfort of the rehabilitation of the hand of the human body is further improved through the elastic piece.
The four-bar linkage mechanism 2, the four-bar linkage mechanism 2 includes backup pad 17, thumb connecting rod 22, four-finger connecting rod 18, intermediate link 20, sets up thumb sheath 21 on the thumb connecting rod 22, sets up four-finger sheath 19 on the four-finger connecting rod 18, thumb connecting rod 22 and backup pad 17 rotate to be connected, intermediate link 20's one end and thumb connecting rod 22 sliding connection, intermediate link 20's the other end and four-finger connecting rod 18 rotate to be connected, backup pad 17 links to each other with wrist rotation axis 11, and the hand rotation axis passes backup pad 17 and links to each other with four-finger connecting rod 18. The hand rotation shaft can drive the four-finger connecting rod 18 to move, so that the four-bar mechanism 2 is driven, rehabilitation training of hand grasping action is realized, the opening and closing angles of hands are changed by adjusting the relative positions of the middle connecting rod 20, the thumb connecting rod 22 and the four-finger connecting rod 18, and the connecting rod mechanism is simple in structure and stable in movement.
The bottom of the elbow protecting sleeve 7 is provided with a sliding block 16, the wrist supporting shell 4 is provided with a sliding rail, the sliding block 16 is slidably arranged on the sliding rail, the position of the elbow protecting sleeve 7 is convenient to adjust, the arm length of different patients is adapted to, the sliding block 16 is connected with a handle 8, the relative position of the sliding block 16 and the sliding rail can be fixed by rotating the handle 8, the position of the elbow protecting sleeve 7 can be conveniently adjusted through the handle 8, and after the elbow protecting sleeve 7 is adjusted to a proper position, the handle 8 can be used for fixing the elbow protecting sleeve 7.
Specifically, an upper fixing plate 9 is arranged at one end of the wrist rotation shaft 11, a lower fixing plate 91 is arranged at the other end of the wrist rotation shaft 11, the upper fixing plate 9 and the lower fixing plate 91 are respectively connected with the wrist support shell 4, and a first bearing seat assembly 10 is arranged between the upper fixing plate 9 and the lower fixing plate 91 and between the lower fixing plate 91 and the wrist rotation shaft 11; the wrist transmission mechanism 1 further comprises a first outer cover 13, and the first outer cover 13 is detachably connected with the wrist supporting shell 4, so that disassembly and assembly and later maintenance are facilitated. A first motor fixing plate 151 is arranged between the first driving motor 15 and the wrist supporting shell 4, and the first motor fixing plate 151 can support the first driving motor 15, so that the stability of the first driving motor 15 is improved.
In addition, the top of the wrist rotation shaft 11 extends out of the wrist support housing 4 and is connected with the support plate 17 through a screw, the bottom of the wrist rotation shaft 11 is connected with the first belt pulley 12, the wrist rotation shaft 11 is connected with the first belt pulley 12 through the flat key 14, the output end of the first driving motor 15 is connected with the second belt pulley, the first belt pulley 12 and the second belt pulley are connected through the first cable 5, and the first cable 5 is connected with the elastic piece; in this embodiment, the first cable 5 is divided into two sections, two ends of the two sections of the first cable 5 are respectively connected by an elastic member, the elastic member is two first springs 6 arranged in parallel, and the elastic member is located between the first pulley 12 and the second pulley.
More specifically, one end of the hand rotation shaft is provided with an upper hand fixing plate 34, the other end of the hand rotation shaft is provided with a lower hand fixing plate 35, the upper hand fixing plate 34 and the lower hand fixing plate 35 are respectively connected with the finger driving support housing 23, and a second bearing assembly 31 is arranged between the upper hand fixing plate 34 and the lower hand fixing plate 35 and the hand rotation shaft; the finger driving mechanism 3 further comprises a second outer cover 26, and the second outer cover 26 is detachably connected with the finger driving support shell 23, so that disassembly and assembly and later equipment maintenance are facilitated.
Further, the top of the hand rotating shaft extends out of the finger driving support shell 23 and is connected with the four-finger connecting rod 18, the bottom of the hand rotating shaft is connected with a third belt wheel 27, the output end of the second driving motor 24 is connected with a fourth belt wheel, the third belt wheel 27 and the fourth belt wheel are connected through a second cable 28, and the second cable 28 is connected with the elastic piece; in this embodiment, the second cable 28 is divided into two sections, two ends of the two sections of the second cable 28 are respectively connected by an elastic member, the elastic member is two second springs 29 arranged in parallel, and the elastic member is located between the third belt pulley 27 and the fourth belt pulley. A second motor fixing plate 25 is further provided between the second driving motor 24 and the finger driving support housing 23 for supporting the second driving motor 24.
In order to accurately measure the tension of the hand joint, the finger driving mechanism 3 is further provided with a torque sensor 32, and the hand rotation shaft includes an upper hand rotation shaft 33 and a lower hand rotation shaft 30, the upper hand rotation shaft 33 and the lower hand rotation shaft 30 being respectively connected to the top and bottom of the torque sensor 32, the torque sensor 32 being located between an upper hand fixing plate 34 and a lower hand fixing plate 35. In the hand function rehabilitation training robot of the invention, the torque sensor 32 is arranged for measuring the tension force of the hand joint, in practical application, related devices such as an encoder and a controller are required for receiving the torque sensor 32 and controlling the torque sensor, and the related devices are arranged, so the invention does not relate to improvement of a control part, and therefore, the invention is not repeated.
In order to limit the relative limit positions of the thumb connecting rod 22 and the four-finger connecting rod 18, the thumb connecting rod 22 is provided with a slide bar, the middle connecting rod 20 is provided with a long hole, and the slide bar is slidably arranged in the long hole, so that the limit angle of opening and closing of hands can be controlled conveniently; in addition, a limiting groove is formed in the supporting plate 17, and the sliding rod penetrates through the long hole and stretches into the limiting groove, so that the limit positions of the thumb connecting rod 22 and the four-finger connecting rod 18 relative to the supporting plate 17 are limited, and the safety of hand function rehabilitation training is further improved.
Still further, the thumb sheath 21 sets up the one end of keeping away from elbow protective sheath 7 on thumb connecting rod 22, and four-finger sheath 19 sets up the one end of keeping away from elbow protective sheath 7 on four-finger connecting rod 18, and elbow protective sheath 7, thumb sheath 21 and four-finger sheath 19's cross section are the U-shaped, provide the protection for human elbow and hand, in practical application, can also set up flexible inoxidizing coating at the medial surface of elbow protective sheath 7, thumb sheath 21 and four-finger sheath 19, improves the travelling comfort, promotes user experience.
When the hand function rehabilitation training robot is used, firstly, the arms and the fingers of a patient are respectively fixed on an elbow sheath, a four-finger sheath 19 and a thumb sheath 21, wherein the position of the elbow sheath relative to the wrist can be adjusted according to the arm length of the patient; the finger drive mechanism 3 and the wrist drive mechanism are then used to drive opening and closing of the finger and flexion and extension of the wrist, respectively. The finger driving mechanism 3 drives the four-bar mechanism 2 to move through the second driving motor 24, the second cable 28, the second spring 29 and the third belt wheel 27, so that a patient can be exercised to perform finger opening and closing rehabilitation training; wherein the position of the intermediate link 20 of the four-bar linkage 2 relative to the four-finger link 18 and thumb link 22 is adjustable to vary the difficulty of exercise for different patients. At the same time, the torque sensor 32 in the finger driving mechanism 3 can detect the strength of the opening and closing of the fingers, so as to evaluate and adjust the strategy of the rehabilitation training of the patient.
The principles and embodiments of the present invention have been described in detail with reference to specific examples, which are provided to facilitate understanding of the method and core ideas of the present invention; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (6)
1. A hand function rehabilitation training robot, comprising:
the wrist transmission mechanism comprises an elbow protection sleeve, a wrist support shell, a wrist rotation shaft and a first driving motor, wherein the elbow protection sleeve is in sliding connection with the wrist support shell, the wrist rotation shaft and the first driving motor are both arranged in the wrist support shell, the wrist rotation shaft is in rotary connection with the wrist support shell, the first driving motor can drive the wrist rotation shaft to rotate, the wrist rotation shaft is in transmission connection with the first driving motor, and the axis of the wrist rotation shaft is perpendicular to the relative sliding direction of the elbow protection sleeve and the wrist support shell;
the finger driving mechanism comprises a finger driving support shell, a hand rotating shaft and a second driving motor, wherein the hand rotating shaft and the second driving motor are arranged in the finger driving support shell, the hand rotating shaft is rotationally connected with the second driving motor, the second driving motor can drive the hand rotating shaft to rotate, and the axis of the hand rotating shaft is parallel to the axis of the wrist rotating shaft;
elastic pieces are arranged between the wrist rotating shaft and the first driving motor and between the hand rotating shaft and the second driving motor;
the four-bar mechanism comprises a supporting plate, a thumb connecting rod, a four-finger connecting rod and a middle connecting rod, wherein a thumb sheath is arranged on the thumb connecting rod, the four-finger connecting rod is provided with the four-finger sheath, the thumb connecting rod is rotationally connected with the supporting plate, one end of the middle connecting rod is slidingly connected with the thumb connecting rod, the other end of the middle connecting rod is rotationally connected with the four-finger connecting rod, the supporting plate is connected with a wrist rotating shaft, and the hand rotating shaft penetrates through the supporting plate to be connected with the four-finger connecting rod;
the bottom of the elbow protecting sleeve is provided with a sliding block, the wrist supporting shell is provided with a sliding rail, the sliding block is slidably arranged on the sliding rail, the sliding block is connected with a handle, and the relative position of the sliding block and the sliding rail can be fixed by rotating the handle;
one end of the hand rotating shaft is provided with an upper hand fixing plate, the other end of the hand rotating shaft is provided with a lower hand fixing plate, the upper hand fixing plate and the lower hand fixing plate are respectively connected with the finger driving support shell, and second bearing assemblies are arranged between the upper hand fixing plate, the lower hand fixing plate and the hand rotating shaft; the finger drive mechanism further comprises a second outer cover detachably connected with the finger drive support housing; the thumb connecting rod is provided with a sliding rod, the middle connecting rod is provided with a long hole, the sliding rod is slidably arranged in the long hole, the supporting plate is provided with a limiting groove, and the sliding rod penetrates through the long hole and stretches into the limiting groove.
2. The hand function rehabilitation training robot according to claim 1, wherein: an upper fixing plate is arranged at one end of the wrist rotating shaft, a lower fixing plate is arranged at the other end of the wrist rotating shaft, the upper fixing plate and the lower fixing plate are respectively connected with the wrist supporting shell, and a first bearing seat assembly is arranged between the upper fixing plate and the wrist rotating shaft and between the lower fixing plate and the wrist rotating shaft; the wrist transmission mechanism further comprises a first outer cover, and the first outer cover is detachably connected with the wrist support shell.
3. The hand function rehabilitation training robot according to claim 2, wherein: the top of the wrist rotating shaft extends out of the wrist supporting shell and is connected with the supporting plate through a screw, the bottom of the wrist rotating shaft is connected with a first belt wheel, the output end of the first driving motor is connected with a second belt wheel, the first belt wheel is connected with the second belt wheel through a first cable, and the first cable is connected with the elastic piece; the first cable is divided into two sections, two sections of the two ends of the first cable are respectively connected by the elastic piece, the elastic piece is two first springs which are arranged in parallel, and the elastic piece is positioned between the first belt wheel and the second belt wheel.
4. The hand function rehabilitation training robot according to claim 1, wherein: the top of the hand rotating shaft extends out of the finger driving support shell and is connected with the four-finger connecting rod, the bottom of the hand rotating shaft is connected with a third belt wheel, the output end of the second driving motor is connected with a fourth belt wheel, the third belt wheel is connected with the fourth belt wheel through a second cable, and the second cable is connected with the elastic piece; the second cable is divided into two sections, two ends of the second cable are respectively connected by the elastic piece, the elastic piece is two second springs which are arranged in parallel, and the elastic piece is positioned between the third belt wheel and the fourth belt wheel.
5. The hand function rehabilitation training robot of claim 4 wherein: the finger driving mechanism further comprises a torque sensor, the hand rotating shaft comprises an upper hand rotating shaft and a lower hand rotating shaft, the upper hand rotating shaft and the lower hand rotating shaft are respectively connected with the top and the bottom of the torque sensor, and the torque sensor is located between the upper hand fixing plate and the lower hand fixing plate.
6. The hand function rehabilitation training robot according to claim 1, wherein: the thumb sheath set up in keep away from on the thumb connecting rod the one end of elbow protective sheath, four-finger sheath set up in keep away from on the four-finger connecting rod the one end of elbow protective sheath, elbow protective sheath the thumb sheath with four-finger sheath's cross section is the U-shaped.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811508039.9A CN109394478B (en) | 2018-12-11 | 2018-12-11 | Hand function rehabilitation training robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811508039.9A CN109394478B (en) | 2018-12-11 | 2018-12-11 | Hand function rehabilitation training robot |
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| CN109394478A CN109394478A (en) | 2019-03-01 |
| CN109394478B true CN109394478B (en) | 2023-12-15 |
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| CN112932900B (en) * | 2021-02-02 | 2023-06-20 | 杭州程天科技发展有限公司 | Wrist joint rehabilitation arm support with anti-spasticity function |
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| JP2009219804A (en) * | 2008-03-18 | 2009-10-01 | Gifu Univ | Motion-supporting equipment for thumb of hand |
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