CN107361994A - Hand rehabilitation training device with wrist rehabilitation training function - Google Patents
Hand rehabilitation training device with wrist rehabilitation training function Download PDFInfo
- Publication number
- CN107361994A CN107361994A CN201710618044.4A CN201710618044A CN107361994A CN 107361994 A CN107361994 A CN 107361994A CN 201710618044 A CN201710618044 A CN 201710618044A CN 107361994 A CN107361994 A CN 107361994A
- Authority
- CN
- China
- Prior art keywords
- finger
- thumb
- joint
- hand
- finger tip
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 210000000707 wrist Anatomy 0.000 title claims abstract description 63
- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 210000003811 finger Anatomy 0.000 claims description 383
- 210000003813 thumb Anatomy 0.000 claims description 251
- 230000009471 action Effects 0.000 claims description 23
- 230000033001 locomotion Effects 0.000 claims description 10
- 238000010276 construction Methods 0.000 abstract description 11
- 238000010586 diagram Methods 0.000 description 8
- 230000001154 acute effect Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 210000001503 joint Anatomy 0.000 description 4
- 206010008190 Cerebrovascular accident Diseases 0.000 description 3
- 208000006011 Stroke Diseases 0.000 description 3
- 230000002490 cerebral effect Effects 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 3
- 125000006850 spacer group Chemical group 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 210000001145 finger joint Anatomy 0.000 description 2
- 210000005224 forefinger Anatomy 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 210000004932 little finger Anatomy 0.000 description 2
- 241000905957 Channa melasoma Species 0.000 description 1
- 206010041415 Spastic paralysis Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- 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
- A61H1/0218—Drawing-out devices
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- 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 the hand rehabilitation training device with wrist rehabilitation training function, the problem of trainer volume to be present big, not portable is efficiently solved in the prior art, there is the advantages of simple in construction, easy to operation, feature is high, its concrete scheme is as follows：Device includes at least one two joint finger training mechanism and wrist training institution；Wherein, each two joint finger training mechanism includes the motive drive source fixed by the nearly finger tip knuckle support of finger, and the catch bar of motive drive source is connected to control finger posterior joint with the nearly finger tip joint drive part of finger；The nearly finger tip knuckle support of finger, the nearly finger tip joint drive part of finger is fixed by the nearly finger tip knuckle support of finger and the mobile route of the nearly finger tip knuckle support restriction nearly finger tip joint drive part of finger of finger, the remote finger tip knuckle support of finger, multi-connecting-rod mechanism are connected with the remote finger tip knuckle support of finger.
Description
Technical field
The invention belongs to field of medical technology, is filled more particularly to the hand rehabilitation training with wrist rehabilitation training function
Put.
Background technology
Cerebral apoplexy has the feature that the incidence of disease is high, disability rate is high and the death rate is high.According to current development trend, cerebral apoplexy
Caused global death toll will reach for 6,500,000 the year two thousand thirties in 2015 and reach 7,800,000, and cerebral apoplexy has the incidence of disease high, dead
Die the characteristics of rate is high and disability rate is high.In China, annual 2500000 people that fall ill, dead about 1,500,000 people, and annual is in lasting rise
Trend.In the patient of survival, there are 3/4ths to have and disable in various degree, severe disabled person accounts for 40%.In numerous sequelae
In, numb, spastic paralysi occurs in limbs, and these sequelae are mainly treated by motion, wherein, and with limbs especially
Be hand function rehabilitation it is the most difficult.
Used manipulators in rehabilitation is mainly controlled using surface electromyogram signal triggering with dynamic and intelligent in industry at present
Realize that interactive biofeedback training realizes that patient four refers to, thumb and wrist three parts individually move；If device is carried out complete
Portion is worn, and because volume is more huge, then heavier-weight if wearing, is carried and inconvenient, complicated, mobility is poor, no
The Rehabilitation training time is only extended, and adds the burden of patient, simultaneously, it is impossible to realizes the rehabilitation instruction of human body wrist
Practice, feature is more single.
Therefore, it is necessary to be directed to a certain finger, there is provided the hand rehabilitation training device with wrist rehabilitation training function.
The content of the invention
For overcome the deficiencies in the prior art, the invention provides the dress of the hand rehabilitation training with wrist rehabilitation training function
Put, the device can carry out restoring collected training to human finger, wrist, driven by motive drive source, drive the nearly finger tip of finger
Joint drive part pushes to be controlled to the posterior joint of a finger, so as to drive the remote finger tip joint drive part action control of finger
The preceding joint of finger, so as to realize the passive exercise of the whole hand of people and wrist, apparatus structure is simple, is convenient for carrying, function
It is complete.
The concrete scheme of the hand rehabilitation training device with wrist rehabilitation training function is as follows：
Hand rehabilitation training device with wrist rehabilitation training function, including at least one two joint finger training mechanism and
Wrist training institution；
Wherein, each two joint finger training mechanism includes the power drive fixed by the nearly finger tip knuckle support of finger
Source, the catch bar of motive drive source are connected to control finger posterior joint with the nearly finger tip joint drive part of finger；
The nearly finger tip knuckle support of finger, the nearly finger tip joint drive part of finger are fixed by the nearly finger tip knuckle support of finger
And the nearly finger tip knuckle support of finger limits the mobile route of the nearly finger tip joint drive part of finger, before the nearly finger tip knuckle support of finger
Side is connected with multi-connecting-rod mechanism, and multi-connecting-rod mechanism is connected with the remote finger tip joint drive part of finger；
The remote finger tip knuckle support of finger, multi-connecting-rod mechanism are connected with the remote finger tip knuckle support of finger, the remote finger tip joint of finger
Support is connected with the nearly finger tip joint drive part of finger and the remote finger tip knuckle support of finger limits the remote finger tip joint drive part of finger
Mobile route, after the nearly finger tip joint drive part of finger controls finger posterior joint, while the remote finger tip knuckle support action of finger is driven,
The preceding joint of the remote finger tip joint drive part control finger of finger is driven by multi-connecting-rod mechanism；
Wrist training institution includes the back of the hand fitting part, and the back of the hand fitting part is bonded with back of people's hand and/or the back of the hand both sides
So that the back of the hand fitting part and the related action of the hand of people；
Rotating power source, rotating power source are connected by the first connector with the back of the hand fitting part, the back of the hand fitting part and finger
Nearly finger tip knuckle support fixation drives rotation to drive the back of the hand fitting part and two joint finger to instruct to be rotated by rotating power source
Practice mechanism and reciprocating rotary is carried out in the range of set angle.
Also include thumb training institution, thumb training institution includes the thumb power drive fixed by thumb joint support
Source, the catch bar of thumb motive drive source are connected with thumb joint actuator to control people's thumb joint；
Thumb joint support, thumb joint actuator is fixed by thumb joint support and thumb joint support limits
The mobile route of thumb joint actuator, thumb joint actuator control thumb joint, can drive thumb joint upwards or
Downward action；The back of the hand fitting part is fixed with thumb joint support, and the health of human wrist is realized by the setting of thumb training institution
Refreshment is practiced.
The side of the nearly finger tip joint drive part of finger is provided with two arcs in one's ear, and arc is connected with depression bar in one's ear, arc
The angle between depression bar is acute angle to shape in one's ear, and the nearly finger tip joint drive part of finger is pushed away with motive drive source in one's ear by arc
Lever connects, and the opposite side of the nearly finger tip joint drive part of finger is provided with the nearly finger tip joint bundled fixed part of finger；In power drive
After source forward extends out catch bar, catch bar drives arc to move forward in one's ear and then drive the end of depression bar to push.
Further, in order to realize the control to finger posterior joint, curved setting in the middle part of depression bar.
In an embodiment of the present invention, the nearly finger tip joint bundled fixed part of finger includes afterframe, afterframe with
The nearly finger tip joint drive part end of finger is fixed, and afterframe is opened the down-set finger with people and is bonded, the opening of afterframe
Provided with bandage, referred to by bandage opponent and be fixed, further ensure effective fixation to finger.
One side bottom of the nearly finger tip joint drive part of finger is provided with chute, and chute is provided with two, and two chutes are located at
The both sides of the nearly finger tip joint drive part bottom of finger, the nearly finger tip joint bundled fixed part of finger are closely referred to by chute with finger
End joint drive part is fixed, and correspondingly, both sides are respectively equipped with chimb, chimb and cunning at the top of the nearly finger tip joint bundled fixed part of finger
Groove coordinates to realize the fixation of the nearly finger tip joint bundled fixed part of finger and the nearly finger tip joint drive part of finger.
The two joint finger training mechanism is provided with four, and four two joint finger training mechanisms are arranged side by side, two pass
Section finger can be forefinger, middle finger, the third finger or the little finger of toe of people.
The multi-connecting-rod mechanism includes first connecting rod, and first connecting rod is fixed with the remote finger tip knuckle support of described finger, the
One connecting rod is hinged with second connecting rod, and second connecting rod is hinged with third connecting rod, and third connecting rod drives with the nearly finger tip joint of described finger
Moving part is fixed
Or the multi-connecting-rod mechanism includes first connecting rod telescopic, first connecting rod telescopic closely refers to described finger
End knuckle support is fixed, and first connecting rod is provided with first connecting rod telescopic, first connecting rod is hinged with second connecting rod, second connecting rod
It is hinged with third connecting rod, is articulated and connected in the middle part of second connecting rod with the remote finger tip knuckle support of finger, third connecting rod and described finger
Remote finger tip joint drive part is fixed, and when in use, after the nearly finger tip joint drive part downward actuation of finger, drives the remote finger tip of finger to close
Support action is saved, so as to which second connecting rod acts, drives first connecting rod to be stretched out with respect to first connecting rod telescopic, so as to drive the 3rd company
Bar rotates, and then promotes the remote finger tip joint drive part action of finger, so as to realize the control in the preceding joint of finger.
The second connecting rod includes two supporting rods of interval setpoint distance, passes through connector and hand in the middle part of two supporting rods
Refer to remote finger tip knuckle support to be hinged, the side in described first connecting rod space between two supporting rods, third connecting rod is located at
The opposite side in space, in order to ensure the stability promoted, third connecting rod includes four, is set with two to clamp a supporting rod.
In order to ensure rehabilitation efficacy, the end of the remote finger tip joint drive part of finger is provided with the remote finger tip joint binding of finger
Fixture, similarly, chute, the remote finger tip joint bundled fixed of finger are provided with the bottom of the remote finger tip joint drive part side of finger
Chimb is provided with the top of part, is coordinated by chimb and chute and realizes that the remote finger tip joint drive part of finger bundlees with the remote finger tip joint of finger
The fixation of fixture；
In another embodiment of the invention, the remote finger tip joint bundled fixed part of the finger is bundling belt, bundling belt
End is provided with VELCRO, or, structure and the nearly finger tip joint bundled fixed part of finger of the remote finger tip joint bundled fixed part of finger
Structure be consistent.
In order to press close to the shape of finger, the remote finger tip joint drive part of finger is convexly curved setting.
The motive drive source is obliquely installed relative to horizontal line, and motive drive source is linear drive motor or electricity
Cylinder, so effectively reduces the quality of motive drive source, and the nearly finger tip knuckle support end of finger is fixed with motive drive source.
The nearly finger tip knuckle support of finger includes the arc-like sheet located at motive drive source head on both sides, arc-like sheet one end
Fixed with described support；The first guide groove is provided with arc-like sheet, the both sides of the nearly finger tip joint drive part of finger are respectively equipped with
One overhanging post, the first overhanging post move along the first guide groove, so as to which the shifting of the nearly finger tip joint drive part of finger be effectively ensured
Dynamic path, the first overhanging post are provided with bearing, and the bearing moves in the first guide groove.
The remote finger tip knuckle support of finger includes the support chip of two L-shaped shapes, is connected between support chip, support chip
The second guide groove is provided with, the end both sides that third connecting rod is connected with the remote finger tip joint drive part of finger are respectively provided with the second overhanging post,
Second overhanging post moves along the second guide groove；Second overhanging post is provided with bearing, and the bearing moves in the second guide groove.
Further, two panels support chip is connected with the nearly finger tip joint drive part of finger respectively.
Fixed between two arc-like sheets with first connecting rod telescopic, first connecting rod telescopic is L shape, to connect two arcs
Piece, the width of two support chips are more than or equal to the width of a finger.
The side of the thumb joint actuator is provided with two thumb arcs in one's ear, and thumb arc connects with thumb depression bar in one's ear
Connect, thumb joint actuator is connected by catch bar of the thumb arc in one's ear with thumb motive drive source, thumb joint actuator
Opposite side be provided with thumb joint bundled fixed part, the angle between thumb depression bar is acute angle to thumb arc in one's ear, thumb pressure
The curved setting in middle part of bar.
The thumb joint support includes the thumb arc support plate and and thumb located at thumb motive drive source head on both sides
Refer to the thumb long stent of arc support plate connection；Thumb guide groove is provided with thumb arc support plate, thumb joint actuator
Both sides are respectively equipped with the overhanging post of thumb, and the overhanging post of thumb moves along thumb guide groove, so as to which thumb joint drive be effectively ensured
The mobile route of moving part, the overhanging post of thumb are provided with bearing, and the bearing moves in thumb guide groove；
The thumb joint bundled fixed part includes thumb afterframe, and thumb afterframe is consolidated with thumb joint actuator end
Fixed, thumb afterframe is opened the down-set thumb with people and is bonded, and the opening of thumb afterframe is provided with bandage；
Or, the thumb joint bundled fixed part is bundling belt, the end of bundling belt is provided with VELCRO.
Further, a side bottom of the thumb joint actuator is provided with thumb chute, and thumb chute is provided with two, two
Individual thumb chute is located at the both sides of thumb joint actuator bottom, and the thumb joint bundled fixed part passes through thumb chute and thumb
Articulations digitorum manus actuator is fixed, and both sides are respectively equipped with thumb chimb at the top of thumb joint bundled fixed part, and thumb chimb is slided with thumb
Groove coordinates to realize the fixation of thumb joint bundled fixed part and thumb joint actuator.
The thumb joint actuator is convexly curved setting.
The thumb motive drive source is horizontally disposed with；Hand tray bending is set, the bottom level of thumb long stent set with
Contacted with back of people's hand, two panels thumb arc support plate is connected with thumb joint actuator respectively；Two panels thumb arc support plate
Between width be more than or equal to thumb width.
The wrist training institution also includes may be disposed at the arm support above arm or below arm, rotating power source
It is connected with arm support；
Further, it is bonded on the inside of the arm support for arc with the arm with people；
The adjustable in length of first connector is set；
Further, wrist chute is provided with the inside of first connector, the one side of wrist chute or both sides, which are provided with, to be connected
Continuous rack, one end of the first connector are located in fixed sliding sleeve, and fixed sliding sleeve is connected with described the back of the hand fitting part, fixed to slide
Set outside is provided with gear revolving part knob, and gear revolving part knob is connected with the gear in wrist chute；
Further, the fixed sliding sleeve is provided with two, two both sides for being respectively arranged on the back of the hand fitting part.
The side of the fixed sliding sleeve is provided with tightening knob, and tightening knob passes through fixed sliding sleeve to set and with described first
Connector is contacted to lock the first connector.
The rotating power source is connected by the second connector with described arm support, and arm support is arcuate member.
The back of the hand fitting part is frame-shaped construction；Further, the lower hollow of frame-shaped construction, the both sides tool of frame-shaped construction
There is the elasticity of setting；
Or the top of frame-shaped construction is hollow, to support the hand of people from below.
The rotating power source is the first electric rotating machine, and the first electric rotating machine side is connected with the first connector, opposite side
It is connected with the second connector.
In another program of the present invention, the rotating power source is the second electric rotating machine, and the second electric rotating machine is embedded in branch
In support seat and the second electric rotating machine is connected with the first connector, is connected on the outside of the second electric rotating machine with the second connector of side,
Second connector is located at the sidepiece of arm support, and the second connector of arm support opposite side is hinged with the first connector of the side and set
Put；
The back of the hand fitting part sidepiece is provided for the fixation sliding sleeve that the first connector passes through, and the side of fixed sliding sleeve is provided with tightening
Knob, tightening knob pass through fixed sliding sleeve to set and contacted with the first connector to lock the first connector.
For overcome the deficiencies in the prior art, train and use present invention also offers the hand rehabilitation with wrist rehabilitation training function
Device, including thumb training institution and wrist training institution；
Wherein, thumb training institution includes the thumb motive drive source fixed by thumb joint support, and thumb power drives
The catch bar in dynamic source is connected with thumb joint actuator to control people's thumb joint；
Wrist training institution includes the back of the hand fitting part, and the back of the hand fitting part is bonded with back of people's hand and/or the back of the hand both sides
So that the back of the hand fitting part and the related action of the hand of people；
Rotating power source, rotating power source are connected by the first connector with the back of the hand fitting part, the back of the hand fitting part and thumb
Knuckle support fixation drives rotation to drive the back of the hand fitting part and wrist training institution setting to be rotated by rotating power source
Reciprocating rotary is carried out in angular range；
Or wrist training institution includes the back of the hand fitting part, the back of the hand fitting part is carried out with back of people's hand and/or the back of the hand both sides
Fitting is so that the back of the hand fitting part and the related action of the hand of people, the both sides of the back of the hand fitting part are respectively equipped with the first connector；
The arm support above arm or below arm is arranged at, arm support both sides are respectively equipped with the second connector, each
Second connector and the be hinged setting of one first connector, set linear telescopic mechanism, directly between the back of the hand fitting part and arm support
The push rod linear motion of line telescoping mechanism drives the back of the hand fitting part to carry out reciprocating rotary in the range of set angle.
Compared with prior art, the beneficial effects of the invention are as follows：
1) present invention can effectively be realized the control to finger posterior joint, preceding joint, be entered by the mutual cooperation of each structure
And the bending of whole finger is realized, so as to realize the rehabilitation training to finger.
2) present invention is effectively started by the setting of multi-connecting-rod mechanism by the action band of the nearly finger tip joint drive part of finger
Refer to the action of remote finger tip joint drive part, overall coherence is preferable.
3) setting of the invention by the nearly finger tip knuckle support of finger, the remote finger tip knuckle support of finger, it is effectively near to finger
The action of the remote finger tip joint drive part of finger tip joint drive part, finger is defined, and ensure that the effect of control.
4) present invention effectively can carry out rehabilitation training by the setting of wrist training institution to wrist.
5) present invention, can be same by the setting of wrist training institution, two joint finger training mechanism and thumb training institution
The rehabilitation training of the wrist of Shi Shixian people, each finger, it ensure that the recovery of human hands function.
Brief description of the drawings
The Figure of description for forming the part of the application is used for providing further understanding of the present application, and the application's shows
Meaning property embodiment and its illustrate be used for explain the application, do not form the improper restriction to the application.
Fig. 1 is the stereogram of apparatus of the present invention；
Fig. 2 is the longitudinal sectional view of apparatus of the present invention；
Fig. 3 is the schematic diagram of the nearly finger tip joint drive part of finger of the present invention；
Fig. 4 is the schematic diagram of finger posterior joint fore-stock in the present invention；
Fig. 5 is the schematic diagram of second connecting rod in the present invention；
Fig. 6 is the schematic diagram of the nearly finger tip joint drive part of finger in the present invention；
Fig. 7 is the nearly finger tip joint of finger of the present invention and support integrative-structure schematic diagram；
Fig. 8 is the structural representation of finger tip interphalangeal joint bundled fixed part of the present invention；
Fig. 9 is the stereogram of thumb training institution of the present invention；
Figure 10 is the longitudinal sectional view of thumb training institution of the present invention；
Figure 11 is the schematic diagram of thumb joint actuator of the present invention；
Figure 12 is the schematic diagram of thumb joint support of the present invention；
Figure 13 is thumb joint of the present invention and support integrative-structure schematic diagram；
Figure 14 is the stereogram of wrist training institution of the present invention；
Figure 15 is another stereogram of wrist training institution of the present invention；
Figure 16 is another stereogram of wrist training institution of the present invention；
Figure 17 is the structural representation of trainer of the present invention；
Figure 18 is a kind of structural representation of trainer of the present invention；
Figure 19 is another structural representation of trainer of the present invention；
Wherein：1. finger proximal joint support；2. motor fixing shaft；3. motor；Hexagonal flush end holding screw in 4.；
5. the second overhanging post；6. split washer；7. deep groove ball bearing；8. the nearly finger tip joint drive part of finger；9. the first bearing pin；10. the
One connecting rod；11. second connecting rod；12. the second bearing pin；Hexagonal flush end holding screw in 13.；14. finger tip interphalangeal joint bundlees
Fixture；15. spacer；16. slotted pan head screw；17. the remote finger tip joint drive part of finger；18. cross recessed countersunk head sscrew；19.
The remote finger tip knuckle support of finger；20. the nearly finger tip joint bundled fixed part of finger；21. third connecting rod；22. thumb training institution；
23. two joint finger training mechanism；24. wrist training institution；
1-1- thumb joint supports；1-2- thumb joint actuators；1-3- thumb joint bundled fixed parts；In 1-4- first
Hexagonal flush end holding screw；1-5- thumb bearing dottle pins；1-6- thumb bearings；1-7- thumb slotted pan head screws；1-8- thumbs
Fixing axle before motor；1-9- thumb split washers；1-10- thumb drives motors；Hexagonal flush end tightening in 1-11- second
Screw；Fixing axle after 1-12- motors；1-13- swings contact pressing piece；1-14- pressure sensor pasting boards；1-15- intermediate supports
Sleeve；
2-1. the back of the hand fitting parts；2-2. arm support；2-3. first fixes sliding sleeve；First connector before 2-4. electric rotating machines；
2-5. electric rotating machine rear connectors；2-6. gear revolving part knobs；2-7. electric rotating machine；First connection before the rotation of 2-8. wrists
Part；2-9. second fixes sliding sleeve；2-10. wrists rotate rear connectors；2-11. tightening knob；2-12. wrist bearings, 2-13.
Second electric rotating machine, 2-14. linear telescopics mechanism, 2-15. support bases.
Embodiment
It is noted that described further below is all exemplary, it is intended to provides further instruction to the application.It is unless another
Indicate, all technologies used herein and scientific terminology are with usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in this manual using term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.
As background technology is introduced, apparatus structure is complicated in the prior art, operation inconvenience, weight are big, function more
Single deficiency, in order to solve technical problem as above, present applicant proposes the training of the hand rehabilitation with wrist rehabilitation training function
Use device.
In a kind of typical embodiment of the present invention, as depicted in figs. 1 and 2, the hand health with wrist rehabilitation training function
Refreshment white silk device, including at least one two joint finger training mechanism 23, wrist training institution 24 and thumb training institution
22, two joint finger training mechanism 23 includes the motive drive source fixed by the nearly finger tip knuckle support of finger, motive drive source
Catch bar be connected with the nearly finger tip joint drive part 8 of finger to control finger posterior joint, motive drive source is obliquely installed, tilt
Angle be 0 °~25 °, so whether hand is horizontally disposed or is obliquely installed, and can realize the control to finger-joint,
And motive drive source is linear drive motor 3 or electric cylinders, the quality of motive drive source, motor are so effectively reduced
3 afterbodys are fixed by motor fixing shaft 2, and the middle part of motor 3 has the height of setting apart from the nearly finger tip knuckle support 1 of finger
Degree, motor are connected by fixing axle before finger actuation motor with the both sides of the nearly finger tip joint drive part of finger.
The nearly finger tip knuckle support 1 of finger, the nearly finger tip joint drive part 8 of finger are carried out by the nearly finger tip knuckle support 1 of finger
Fixed, the front side of the nearly finger tip knuckle support 1 of finger is connected with multi-connecting-rod mechanism, multi-connecting-rod mechanism and the remote finger tip joint drive of finger
Part 17 connects；
The remote finger tip knuckle support 19 of finger, multi-connecting-rod mechanism are connected with the remote finger tip knuckle support 19 of finger, the remote finger tip of finger
Knuckle support 19 is connected with the nearly finger tip joint drive part 8 of finger, after the nearly finger tip joint drive part 8 of finger controls finger posterior joint,
Drive the remote finger tip knuckle support 19 of finger to act simultaneously, drive the remote finger tip joint drive part 17 of finger to control by multi-connecting-rod mechanism
The preceding joint of finger, after motor forward extends out, drive the forward and backward joint drive part of finger front and rear pass forward and backward to finger
Section is pressed, and when motor is retracted backward, drives the forward and backward joint drive part of finger to carry out lifting to forward and backward joint dynamic
Make.
The side of the nearly finger tip joint drive part 8 of finger is provided with two arcs in one's ear, and arc is connected with depression bar in one's ear, arc ear
Angle between side and depression bar is acute angle, as shown in figure 3, the nearly finger tip joint drive part 8 of finger is electric with driving in one's ear by arc
The catch bar connection of machine 3, the opposite side of the nearly finger tip joint drive part 8 of finger are provided with the nearly finger tip joint bundled fixed part of finger；
After motive drive source forward extends out catch bar, catch bar drives arc to move forward in one's ear and then drive the end of depression bar to push, such as Fig. 7
Shown, one end both sides of finger proximal joint support 1 are respectively provided with one's ear, to be fixed with motor.
In order to realize the control to finger posterior joint, curved setting in the middle part of depression bar, as shown in Figure 2.
In an embodiment of the present invention, the nearly finger tip joint bundled fixed part of finger includes afterframe, afterframe and finger
The nearly end of finger tip joint drive part 8 is fixed, and afterframe is opened the down-set finger with people and is bonded, and the opening of afterframe is provided with
Bandage, referred to by bandage opponent and be fixed, further ensure effective fixation to finger.
One side bottom of the nearly finger tip joint drive part 8 of finger is provided with chute, and chute is provided with two, and two chutes are located at finger
The both sides of the nearly bottom of finger tip joint drive part 8, the nearly finger tip joint bundled fixed part 16 of finger are closed by chute and the nearly finger tip of finger
Section actuator 8 is fixed, and correspondingly, the nearly top both sides of finger tip joint bundled fixed part 20 of finger are respectively equipped with chimb, chimb and cunning
Groove coordinates to realize the fixation of the nearly finger tip joint bundled fixed part 20 of finger and the nearly finger tip joint drive part 8 of finger.
Multi-connecting-rod mechanism includes first connecting rod telescopic, first connecting rod telescopic and the nearly finger tip knuckle support of described finger
It is fixed, first connecting rod is provided with first connecting rod telescopic, first connecting rod telescopic opening sets bayonet socket, to avoid the first company
Bar is deviate from out of first connecting rod telescopic, and first connecting rod and second connecting rod are realized by the second bearing pin and connected, second connecting rod and the
Three rod hinge connections, second connecting rod middle part are articulated and connected by the first bearing pin and the remote finger tip knuckle support of finger, third connecting rod and institute
The remote finger tip joint drive part of finger stated is fixed, and when in use, after the nearly finger tip joint drive part downward actuation of finger, drives finger
Remote finger tip knuckle support action, so as to which second connecting rod acts, drives first connecting rod to be stretched out with respect to first connecting rod telescopic, so as to band
Dynamic third connecting rod rotation, and then the remote finger tip joint drive part action of finger is promoted, so as to realize the control in the preceding joint of finger.
Fixed between two arc-like sheets with first connecting rod telescopic, in terms of horizontal direction, first connecting rod telescopic is L shapes,
To connect two arc-like sheets, the width of two support chips is more than or equal to the width of a finger, the finger can be people forefinger, in
Refer to, nameless or little finger of toe.
Or multi-connecting-rod mechanism includes first connecting rod 10, first connecting rod 10 is solid with the remote finger tip knuckle support 1 of described finger
Fixed, first connecting rod 10 is be hinged with second connecting rod 11, and second connecting rod 11 is be hinged with third connecting rod 21, third connecting rod 21 and described hand
Refer to nearly finger tip joint drive part 8 to fix, be attached between second connecting rod and first connecting rod by the second bearing pin 12.
Second connecting rod 6 includes two supporting rods of interval setpoint distance, passes through connector and finger in the middle part of two supporting rods
Remote finger tip knuckle support 19 is be hinged, and the side in the described space between two supporting rods of first connecting rod 4, third connecting rod 7 is set
Opposite side in space.
In order to ensure rehabilitation efficacy, the end of the remote finger tip joint drive part 17 of finger is provided with the remote finger tip joint binding of finger admittedly
Determine part 20, similarly, the remote finger tip joint drive part chute of finger, hand are provided with the bottom of the remote finger tip joint drive part side of finger
Refer to the remote top of finger tip joint bundled fixed part 20 and be provided with chimb, coordinated by chimb and the remote finger tip joint drive part chute of finger real
The fixation of the existing remote finger tip joint drive part 17 of finger and the remote finger tip joint bundled fixed part 20 of finger；In order to press close to the shape of finger
Shape, the remote finger tip joint drive part 17 of finger are convexly curved setting, and finger tip interphalangeal joint bundled fixed part 14 passes through interior six
Angle flush end holding screw 13 is attached with the nearly finger tip joint drive part 8 of finger.
In another embodiment of the invention, the remote finger tip joint bundled fixed part of finger is bundling belt, the end of bundling belt
Provided with VELCRO, or, the structure of the remote finger tip joint bundled fixed part of finger and the knot of the nearly finger tip joint bundled fixed part of finger
Structure is consistent.
The nearly finger tip knuckle support 19 of finger includes the arc-like sheet located at motive drive source head on both sides, and arc-like sheet passes through spacer
15 are attached, and are attached at spacer by slotted pan head screw 16, and the first guide groove of arc, hand are provided with arc-like sheet
The both sides for referring to nearly finger tip joint drive part are respectively equipped with the first overhanging post, and the first overhanging post moves along the first guide groove, and first
Overhanging post periphery sets bearing, bearing dottle pin is set outside bearing, so as to which the shifting of the nearly finger tip joint drive part of finger be effectively ensured
Dynamic path, in addition, in an alternative embodiment of the invention, the first guide groove may be provided with two, ensure that finger closely refers to so as to stable
Hold the movement of joint drive part.
The remote finger tip knuckle support of finger includes the support chip of two L-shaped shapes, and support chip one end is entered by the first bearing pin 9
Row connection, as shown in figure 4, support chip is provided with the second guide groove, the second guide groove arc is set, the remote finger tip joint drive part of finger
Both sides are respectively provided with the second overhanging post, set deep groove ball bearing 7 in the second overhanging column end, opening is set on the second overhanging post
Back-up ring 6, to ensure that the second overhanging post moves along the second guide groove；Two panels support chip respectively with the nearly finger tip joint drive part of finger
8 connections, in addition, in an alternative embodiment of the invention, the second guide groove may be provided with two, ensure the remote finger tip of finger so as to stable
The movement of joint drive part.
As shown in Figure 9 and Figure 10, thumb training institution includes the thumb motive drive source that thumb joint support is fixed, power
The catch bar of driving source is connected to control people's thumb joint with thumb joint actuator 1-2, and motive drive source is obliquely installed, and is tilted
Angle be 0 °~25 °, so whether hand is horizontally disposed or is obliquely installed, and can realize the control to people's thumb joint
System；
In the present embodiment, thumb motive drive source is linear drive motor 1-10 or electric cylinders, is so effectively reduced
The quality of motive drive source, thumb drives motor 1-10 afterbodys are by the way that hexagonal is put down in fixing axle 1-12 and second after motor
End holding screw 1-11 is fixed with support, and distance bracket has the height of setting, thumb in the middle part of thumb drives motor 1-10
Motor 1-10 is connected by fixing axle 1-8 before thumb drives motor with thumb joint actuator 1-2 both sides.
In addition, opening is set on the inside of the holding screw that fixing axle 1-8 is connected with thumb joint actuator 1-2 before motor
Back-up ring 1-9, thumb joint actuator 1-2 is protected.
Thumb joint support 1-1, thumb joint actuator 1-2 are fixed by thumb joint support 1-1 and thumb closes
The mobile route that support 1-1 limits thumb joint actuator 1-2 is saved, thumb joint actuator 1-2 control thumb joints can band
The action of dynamic thumb joint upwardly or downwardly.
After thumb drives motor 1-10 is forward extended out, thumb joint actuator 1-2 is driven to press thumb joint,
When thumb drives motor 1-10 retracts backward, thumb joint actuator 1-2 is driven to carry out pull lift action to thumb joint.
Thumb joint actuator 1-2 side be provided with two arcs in one's ear, arc is connected with depression bar in one's ear, arc in one's ear with
Angle between depression bar is acute angle, as shown in figure 3, thumb joint actuator 1-2 by arc in one's ear with thumb drives motor 1-
10 catch bar connection, thumb joint actuator 1-2 opposite side are provided with thumb joint bundled fixed part 1-3；In power drive
After source forward extends out catch bar, catch bar drives arc to move forward in one's ear and then drive the end of depression bar to push,
The setting in addition, the thumb arc support plate in thumb joint support 1-1 can be structure as a whole with thumb long stent, such as
Shown in Fig. 1-5.
In order to realize the control to thumb joint, curved setting in the middle part of thumb depression bar, as shown in Figure 10.
In an embodiment of the present invention, thumb joint bundled fixed part 1-3 includes thumb afterframe, thumb afterframe with
Thumb joint actuator 1-2 is fixed end, and afterframe is opened the down-set thumb with people and is bonded, and the opening of afterframe is provided with
Bandage, thumb is fixed by bandage, further ensures effective fixation to thumb.
A thumb joint actuator 1-2 side bottom is provided with thumb chute, and thumb chute is provided with two, two thumb chutes
Located at the both sides of thumb joint actuator 1-2 bottoms, thumb joint bundled fixed part 1-3 is driven by thumb chute and thumb joint
Moving part 1-2 is fixed, and correspondingly, both sides are respectively equipped with thumb chimb, thumb chimb and thumb at the top of thumb joint bundled fixed part 1-3
Refer to chute to coordinate to realize thumb joint bundled fixed part 1-3 and thumb joint actuator 1-2 fixation.
In order to press close to the shape of thumb, thumb joint actuator 1-2 is convexly curved setting.
Thumb joint bundled fixed part 1-3 passes through hexagonal flush end holding screw 1-4 in first and thumb joint actuator 1-2
It is attached.
In the present embodiment, thumb joint support 1-1 includes the arc support plate located at motive drive source head on both sides, arc
Shape support chip one end is fixed with described support；As shown in figure 12, thumb guide groove, thumb joint are provided with arc support plate
Actuator 1-2 both sides are respectively equipped with the overhanging post of thumb, and the overhanging post of thumb moves along thumb guide groove, so as to be effectively ensured
Thumb joint actuator 1-2 mobile route, the overhanging post of thumb are provided with thumb bearing 1-6, and thumb bearing 1-6 is led in thumb
Moved into groove.Set in the present embodiment on thumb bearing 1-6 outside thumb bearing dottle pin 1-5, thumb bearing 1-6 and use thumb
Slotted pan head screw 1-7 is fixed.
Two panels thumb arc support plate is connected with thumb joint actuator 1-2 respectively.
Width between two panels thumb arc support plate is more than or equal to the width of thumb.
In another embodiment of the invention, thumb joint bundled fixed part 1-3 is bundling belt, and the end of bundling belt is provided with
VELCRO.
In an alternative embodiment of the invention, thumb guide groove may be provided with two, ensure thumb joint driving so as to stable
The movement of part.
In an alternative embodiment of the invention, as shown in figure 13, thumb joint support 1-1 two panels arc support plate is in
Between stop sleeve 15 be attached, connected at intermediate supports sleeve 1-15 by slotted pan head screw and arc support plate
Connect.
In order to realize Electronic control, thumb drives motor 1-10 controller is controlled to thumb drives motor 1-10,
To control the action that thumb drives motor 1-10 moves in circles, in addition, thumb joint support and thumb drives motor 1-10 it
Between be provided with pressure sensor pasting board 1-14, set on pressure sensor pasting board 1-14 and swing contact pressing piece 1-13, swing presses
Part 1-13 is connected with controller, when swing contact pressing piece 1-13 detects that pressure is more than setting value, controller control thumb drives
Motor 1-10 stoppings act.
Wrist training institution includes：As shown in figure 14, the back of the hand fitting part 2-1, in optimum embodiment, the back of the hand fitting part 2-
1 is frame-shaped construction, and frame-shaped construction has certain width, and the width is more than or equal to the width of people's palm, in frame-shaped construction bottom
Sky is set, and the both sides of frame-shaped construction have the elasticity of setting, and the back of the hand fitting part 2-1 is carried out with back of people's hand and/or the back of the hand both sides
Fitting is so that the related action of the hand of the back of the hand fitting part 2-1 and people；Rotating power source, rotating power source by the first connector with
The back of the hand fitting part is connected, and rotating power source is rotated to drive the back of the hand fitting part 2-1 and hand to be carried out in the range of set angle back and forth
Rotation.
Above-mentioned training device, after rotating power source is fixed, the output of rotating power source is vertical with the first connector
Set, under the driving effect of rotating power source, drive the back of the hand fitting part rotated, the anglec of rotation -45 °~45 ° it
Between, so as to realize rehabilitation training by the movement to move in circles, the hand of people.
In order to which rotating power source is fixed, said apparatus also includes may be disposed above arm or below arm
Arm support, rotating power source are connected with arm support 2-2.It is arc on the inside of the arm support 2-2 to ensure the stability of device
It is bonded with the arm with people, the arm support 2-2 settable bandage in outside, it is further steady by bandage after fixing arm support 2-2
It is fixed fixed, or, VELCRO can be set in the both sides of bandage, and VELCRO has the length of setting, to meet the arm of different thicknesses
Use.
In order to widen the applicability of device, the adjustable in length of first connector is set.
First connector has the height and thickness of setting, and inner side is provided with chute, the both sides (upper and lower both sides) of chute or
One side is provided with continuous rack, and one end of the first connector is located in fixed sliding sleeve, fixed sliding sleeve and described the back of the hand fitting part
Connection, fixed sliding sleeve outside are provided with gear revolving part knob 2-6, and gear revolving part knob 2-6 is located at the sidepiece of fixed sliding sleeve,
Gear revolving part knob 2-6 is connected with the gear in the chute, by rotating gear revolving part 2-6 knobs, pinion rotation, from
And forward or be moved rearwards with carry-over bar, and then the adjustment of the first connector length is realized, so as to realize the back of the hand fitting part 2-1
The distance between rotating power source, it is actually needed and is adjusted with basis.
In order to after the fixation of the first connector, the position of the first connector be fixed, the side of the fixed sliding sleeve
Provided with tightening knob 2-11, tightening knob 2-11 is passed through fixed sliding sleeve to set and contacted with the first described connector to lock the
A connection piece, tightening knob 2-11 are located at the top of fixed sliding sleeve.
In order to ensure the connection of rotating power source and arm support 2-2, the rotating power source passes through the second connector and institute
The arm support connection stated, the second connector is strip, to ensure the first connector and the second connector on same straight line,
As shown in figure 1, the first connector is the first connector 2-4 and the wrist located at the back of the hand fitting part 2-1 opposite sides before electric rotating machine
First connector 2-8 before rotation, the second connector is electric rotating machine rear connectors 2-5 and wrist rotates rear connectors 2-10.
In order to simplify the weight of device, the rotating power source is electric rotating machine 2-7, electric rotating machine 2-7 sides and first
Connector is connected, and opposite side is connected with the second connector, and when the first connector is provided with two, both are respectively arranged at the back of the hand patch
Component 2-1 both sides, enter between the first connector of non-rotating motor side and the second connector of the side again by bearing
Row connection, to ensure the first connector synchronous rotary of both sides.
In another embodiment, bandage can be set in the back of the hand fitting part both sides and the hand of people is fixed, or the back of the hand fitting part
It is frame-shaped construction part, the hand of people is positioned over inside frame-shaped construction part.
In another embodiment, the side of the back of the hand fitting part sets the first connector, and the first connector is connected with electric rotating machine,
Electric rotating machine is connected by the second connector with arm support, and elastic component is provided between arm support surface and the back of the hand fitting part such as
Spring.
In another embodiment, as shown in Figure 15 and Figure 18, rotating power source is the second electric rotating machine 2-13, the second electric rotating
Machine 2-13 is in support base 2-15 and the second electric rotating machine 2-13 is connected with the first connector, the second electric rotating machine outside and one
The second connector connection of side, the second connector are located at arm support 2-2 sidepiece, the second connector of arm support 2-2 opposite sides
It is hinged and sets with the first connector of the side, support base 2-15 is the bearing of ellipse；
The back of the hand fitting part 2-1 sidepieces are provided for the fixation sliding sleeve that the first connector passes through, and the side of fixed sliding sleeve is provided with
Tightening knob, tightening knob pass through fixed sliding sleeve to set and contacted with the first connector to lock the first connector, and such second
Electric rotating machine 2-13 is rotated, and drives the first connector of side to rotate, and the back of the hand fitting part rotation, opposite side is set because be hinged
Put, avoid the back of the hand fitting part side from moving, opposite side is motionless.
As shown in fig. 16 and fig. 19, in another embodiment：Wrist training institution includes：
The back of the hand fitting part 2-1, the back of the hand fitting part 2-1 are bonded with back of people's hand and/or the back of the hand both sides so that the back of the hand pastes
Component and the related action of the hand of people, the back of the hand fitting part 2-1 both sides are respectively equipped with the first connector；
The arm support 2-2 above arm or below arm is arranged at, arm support 2-2 both sides are respectively equipped with the second connection
Part, every one second connector and one first connector are be hinged to be set, and is set between the back of the hand fitting part 2-1 and arm support 2-2 straight
Line telescoping mechanism 2-14, linear telescopic mechanism 2-14 afterbodys are fixed with arm support 2-2, linear telescopic mechanism 2-14 push rod head
Fixed with the back of the hand fitting part 2-1, linear telescopic mechanism 2-14 pushes away located at the inner side linear telescopic mechanism 2-14's of the second connector
Bar linear motion drives the back of the hand fitting part to carry out reciprocating rotary in the range of set angle, and linear telescopic mechanism 14 can be electronic
Cylinder either cylinder is pushed away, the push rod of such cylinder is released, because the first connector and the second connector are be hinged, in linear telescopic
After mechanism 2-14 push rods are flexible, the back of the hand fitting part produces certain angle and starts rotary motion.
The preferred embodiment of the application is the foregoing is only, is not limited to the application, for the skill of this area
For art personnel, the application can have various modifications and variations.It is all within spirit herein and principle, made any repair
Change, equivalent substitution, improvement etc., should be included within the protection domain of the application.
Claims (10)
1. the hand rehabilitation training device with wrist rehabilitation training function, it is characterised in that including at least one two joint finger
Training institution and wrist training institution；
Wherein, each two joint finger training mechanism includes the motive drive source fixed by the nearly finger tip knuckle support of finger,
The catch bar of motive drive source is connected to control finger posterior joint with the nearly finger tip joint drive part of finger；
The nearly finger tip knuckle support of finger, the nearly finger tip joint drive part of finger is fixed by the nearly finger tip knuckle support of finger and hand
Refer to the mobile route that nearly finger tip knuckle support limits the nearly finger tip joint drive part of finger, the front side of the nearly finger tip knuckle support of finger with
Multi-connecting-rod mechanism is connected, and multi-connecting-rod mechanism is connected with the remote finger tip joint drive part of finger；
The remote finger tip knuckle support of finger, multi-connecting-rod mechanism are connected with the remote finger tip knuckle support of finger, the remote finger tip knuckle support of finger
It is connected with the nearly finger tip joint drive part of finger and the remote finger tip knuckle support of finger limits the movement of the remote finger tip joint drive part of finger
Path, after the nearly finger tip joint drive part of finger controls finger posterior joint, while the remote finger tip knuckle support action of finger is driven, passed through
Multi-connecting-rod mechanism drives the preceding joint of the remote finger tip joint drive part control finger of finger；
Wrist training institution includes the back of the hand fitting part, the back of the hand fitting part be bonded with back of people's hand and/or the back of the hand both sides so that
The back of the hand fitting part and the related action of the hand of people；
Rotating power source, rotating power source are connected by the first connector with the back of the hand fitting part, and the back of the hand fitting part closely refers to finger
End knuckle support fixation drives rotation to drive the back of the hand fitting part and two joint finger training machine to be rotated by rotating power source
Structure carries out reciprocating rotary in the range of set angle.
2. the hand rehabilitation training device according to claim 1 with wrist rehabilitation training function, it is characterised in that also wrap
Thumb training institution is included, thumb training institution includes the thumb motive drive source fixed by thumb joint support, thumb power
The catch bar of driving source is connected with thumb joint actuator to control people's thumb joint；
Thumb joint support, thumb joint actuator is fixed by thumb joint support and thumb joint support limits thumb
The mobile route of joint drive part, thumb joint actuator control thumb joint, can drive thumb joint upwardly or downwardly
Action；The back of the hand fitting part is fixed with thumb joint support.
3. the hand rehabilitation training device according to claim 2 with wrist rehabilitation training function, it is characterised in that described
The side of the nearly finger tip joint drive part of finger is provided with two arcs in one's ear, and arc is connected with depression bar in one's ear, the nearly finger tip joint of finger
Actuator is connected with the catch bar of motive drive source in one's ear by arc, and the opposite side of the nearly finger tip joint drive part of finger is provided with hand
Refer to nearly finger tip joint bundled fixed part；
Further, curved setting in the middle part of depression bar；
Or the side of the thumb joint actuator be provided with two thumb arcs in one's ear, thumb arc in one's ear with thumb depression bar
Connection, thumb joint actuator are connected by catch bar of the thumb arc in one's ear with thumb motive drive source, thumb joint driving
The opposite side of part is provided with thumb joint bundled fixed part；
Further, a side bottom of the nearly finger tip joint drive part of the finger is provided with chute, the nearly finger tip joint bundle of finger
Fixture is tied up to fix by chute and the nearly finger tip joint drive part of finger.
4. the hand rehabilitation training device according to claim 2 with wrist rehabilitation training function, it is characterised in that described
Two joint finger training mechanism is provided with four, and four two joint finger training mechanisms are arranged side by side；
Further, the multi-connecting-rod mechanism includes first connecting rod, and first connecting rod is consolidated with the remote finger tip knuckle support of described finger
Fixed, first connecting rod is hinged with second connecting rod, and second connecting rod is hinged with third connecting rod, and third connecting rod closes with the nearly finger tip of described finger
Section actuator is fixed.
5. the hand rehabilitation training device according to claim 4 with wrist rehabilitation training function, it is characterised in that described
Second connecting rod includes two supporting rods of interval setpoint distance, passes through connector and the remote finger tip joint of finger in the middle part of two supporting rods
Support is hinged, and the side in described first connecting rod space between two supporting rods, third connecting rod is located at the opposite side in space.
6. the hand rehabilitation training device according to claim 1 with wrist rehabilitation training function, it is characterised in that described
The end of the remote finger tip joint drive part of finger is provided with the remote finger tip joint bundled fixed part of finger；
Further, the remote finger tip joint bundled fixed part of the finger is bundling belt, and the end of bundling belt is provided with VELCRO；
Further, the motive drive source is obliquely installed relative to horizontal line.
7. the hand rehabilitation training device according to claim 1 with wrist rehabilitation training function, it is characterised in that described
The nearly finger tip knuckle support of finger includes the arc-like sheet located at motive drive source head on both sides, arc-like sheet one end and described support
It is fixed；It is provided with the first guide groove on arc-like sheet, the both sides of the nearly finger tip joint drive part of finger are respectively equipped with the first overhanging post, and first
Overhanging post moves along the first guide groove；
The remote finger tip knuckle support of finger includes the support chip of two L-shaped shapes, and support chip is provided with the second guide groove, and the 3rd
Connecting rod is respectively provided with the second overhanging post with the end both sides that the remote finger tip joint drive part of finger is connected, and the second overhanging post is led along second
Moved to groove；
Further, two panels support chip is connected with the nearly finger tip joint drive part of finger respectively.
8. the hand rehabilitation training device according to claim 1 with wrist rehabilitation training function, it is characterised in that described
Wrist training institution also includes may be disposed at the arm support above arm or below arm, and rotating power source connects with arm support
Connect；
Further, it is bonded on the inside of the arm support for arc with the arm with people；
The adjustable in length of first connector is set；
Further, wrist chute is provided with the inside of first connector, the one side of wrist chute or both sides are provided with continuous
Rack, one end of the first connector are located in fixed sliding sleeve, and fixed sliding sleeve is connected with described the back of the hand fitting part, outside fixed sliding sleeve
Side is provided with gear revolving part knob, and gear revolving part knob is connected with the gear in wrist chute；
Further, the fixed sliding sleeve is provided with two, two both sides for being respectively arranged on the back of the hand fitting part.
9. the hand rehabilitation training device according to claim 1 with wrist rehabilitation training function, it is characterised in that described
Thumb joint support include located at thumb motive drive source head on both sides thumb arc support plate and with thumb arc support plate
The thumb long stent of connection；Thumb guide groove is provided with thumb arc support plate, the both sides of thumb joint actuator are respectively equipped with
The overhanging post of thumb, the overhanging post of thumb move along thumb guide groove, so as to which the mobile road of thumb joint actuator be effectively ensured
Footpath, the overhanging post of thumb are provided with bearing, and the bearing moves in thumb guide groove；
Further, a side bottom of the thumb joint actuator is provided with thumb chute, and thumb chute is provided with two, two thumbs
Refer to the both sides that chute is located at thumb joint actuator bottom, the thumb joint bundled fixed part is closed by thumb chute and thumb
Section actuator is fixed, and both sides are respectively equipped with thumb chimb at the top of thumb joint bundled fixed part, and thumb chimb is matched somebody with somebody with thumb chute
Close to realize the fixation of thumb joint bundled fixed part and thumb joint actuator.
10. the hand rehabilitation training device with wrist rehabilitation training function, it is characterised in that including thumb training institution and wrist
Training institution；
Wherein, thumb training institution includes the thumb motive drive source fixed by thumb joint support, thumb motive drive source
Catch bar be connected with thumb joint actuator to control people's thumb joint；
Wrist training institution includes the back of the hand fitting part, the back of the hand fitting part be bonded with back of people's hand and/or the back of the hand both sides so that
The back of the hand fitting part and the related action of the hand of people；
Rotating power source, rotating power source are connected by the first connector with the back of the hand fitting part, the back of the hand fitting part and thumb joint
Support fixation drives rotation to drive the back of the hand fitting part and wrist training institution in set angle to be rotated by rotating power source
In the range of carry out reciprocating rotary；
Or wrist training institution includes the back of the hand fitting part, the back of the hand fitting part is bonded with back of people's hand and/or the back of the hand both sides
So that the back of the hand fitting part and the related action of the hand of people, the both sides of the back of the hand fitting part are respectively equipped with the first connector；
It is arranged at the arm support above arm or below arm, arm support both sides are respectively equipped with the second connector, and every one second
Connector and the be hinged setting of one first connector, set linear telescopic mechanism, straight line is stretched between the back of the hand fitting part and arm support
The push rod linear motion of contracting mechanism drives the back of the hand fitting part to carry out reciprocating rotary in the range of set angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710618044.4A CN107361994A (en) | 2017-07-26 | 2017-07-26 | Hand rehabilitation training device with wrist rehabilitation training function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710618044.4A CN107361994A (en) | 2017-07-26 | 2017-07-26 | Hand rehabilitation training device with wrist rehabilitation training function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107361994A true CN107361994A (en) | 2017-11-21 |
Family
ID=60307127
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710618044.4A Withdrawn CN107361994A (en) | 2017-07-26 | 2017-07-26 | Hand rehabilitation training device with wrist rehabilitation training function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107361994A (en) |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108478389A (en) * | 2018-04-28 | 2018-09-04 | 深圳市迈步机器人科技有限公司 | Hand rehabilitation equipment and information processing method |
| CN108670519A (en) * | 2018-04-04 | 2018-10-19 | 成都冠禹科技有限公司 | A kind of adjustable electric traction device of orthopedic rehabilitation |
| CN108888917A (en) * | 2018-08-16 | 2018-11-27 | 常州市钱璟康复股份有限公司 | A kind of upper-limbs rehabilitation training robot and its hand exercise device |
| CN109045624A (en) * | 2018-08-07 | 2018-12-21 | 东南大学 | Finger active-passive rehabilitation training device and its training method |
| CN109620645A (en) * | 2019-01-31 | 2019-04-16 | 西安中科龙华军警装备有限公司 | A kind of hand recovery exercising robot |
| CN109646243A (en) * | 2018-11-15 | 2019-04-19 | 安阳神方康复机器人有限公司 | A kind of hand device for healing and training |
| CN109730896A (en) * | 2019-03-06 | 2019-05-10 | 北可精密机械（上海）有限公司 | A kind of ectoskeleton hand healing robot based on finger function different degree |
| CN110051508A (en) * | 2019-05-31 | 2019-07-26 | 山东海天智能工程有限公司 | A kind of four finger driving mechanisms of rehabilitation training |
| CN110074946A (en) * | 2019-06-17 | 2019-08-02 | 山东海天智能工程有限公司 | A kind of wrist function rehabilitation training device |
| CN110101549A (en) * | 2019-06-21 | 2019-08-09 | 山东慧慈医疗科技有限公司 | Healing hand function training system |
| CN111529308A (en) * | 2020-05-07 | 2020-08-14 | 合肥工业大学 | Under-actuated exoskeleton rehabilitation manipulator based on gear transmission |
| CN111920645A (en) * | 2020-08-20 | 2020-11-13 | 山东海天智能工程有限公司 | Quick-insertion type finger rehabilitation device and use method thereof |
| CN113018086A (en) * | 2019-12-09 | 2021-06-25 | 北京智融康成科技有限公司 | Passive finger rehabilitation training device |
| CN114191256A (en) * | 2021-12-23 | 2022-03-18 | 燕山大学 | Wearable double-ball hinge wrist rehabilitation training robot |
| CN114224686A (en) * | 2022-01-05 | 2022-03-25 | 燕山大学 | Flexible-driven wearable hand rehabilitation robot |
| US20220117824A1 (en) * | 2020-10-15 | 2022-04-21 | Yong Tai Global Co., Ltd. | Wrist joint actuating structure of hand rehabilitation device |
| CN114470666A (en) * | 2022-02-21 | 2022-05-13 | 山东海天智能工程有限公司 | Thumb driving mechanism of hand function rehabilitation training system |
| CN115350451A (en) * | 2022-08-29 | 2022-11-18 | 潍坊医学院附属医院 | Finger rehabilitation training device for rheumatoid arthritis |
-
2017
- 2017-07-26 CN CN201710618044.4A patent/CN107361994A/en not_active Withdrawn
Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108670519A (en) * | 2018-04-04 | 2018-10-19 | 成都冠禹科技有限公司 | A kind of adjustable electric traction device of orthopedic rehabilitation |
| CN108478389A (en) * | 2018-04-28 | 2018-09-04 | 深圳市迈步机器人科技有限公司 | Hand rehabilitation equipment and information processing method |
| CN109045624A (en) * | 2018-08-07 | 2018-12-21 | 东南大学 | Finger active-passive rehabilitation training device and its training method |
| CN108888917A (en) * | 2018-08-16 | 2018-11-27 | 常州市钱璟康复股份有限公司 | A kind of upper-limbs rehabilitation training robot and its hand exercise device |
| CN109646243A (en) * | 2018-11-15 | 2019-04-19 | 安阳神方康复机器人有限公司 | A kind of hand device for healing and training |
| CN109646243B (en) * | 2018-11-15 | 2024-05-24 | 希迪克康养产业发展有限公司 | Hand rehabilitation training device |
| CN109620645A (en) * | 2019-01-31 | 2019-04-16 | 西安中科龙华军警装备有限公司 | A kind of hand recovery exercising robot |
| CN109730896A (en) * | 2019-03-06 | 2019-05-10 | 北可精密机械（上海）有限公司 | A kind of ectoskeleton hand healing robot based on finger function different degree |
| CN110051508A (en) * | 2019-05-31 | 2019-07-26 | 山东海天智能工程有限公司 | A kind of four finger driving mechanisms of rehabilitation training |
| CN110051508B (en) * | 2019-05-31 | 2021-02-26 | 山东海天智能工程有限公司 | Four-finger driving mechanism for rehabilitation training |
| CN110074946B (en) * | 2019-06-17 | 2021-02-09 | 山东海天智能工程有限公司 | Wrist function rehabilitation training device |
| CN110074946A (en) * | 2019-06-17 | 2019-08-02 | 山东海天智能工程有限公司 | A kind of wrist function rehabilitation training device |
| CN110101549A (en) * | 2019-06-21 | 2019-08-09 | 山东慧慈医疗科技有限公司 | Healing hand function training system |
| CN113018086A (en) * | 2019-12-09 | 2021-06-25 | 北京智融康成科技有限公司 | Passive finger rehabilitation training device |
| CN111529308A (en) * | 2020-05-07 | 2020-08-14 | 合肥工业大学 | Under-actuated exoskeleton rehabilitation manipulator based on gear transmission |
| CN111529308B (en) * | 2020-05-07 | 2022-02-15 | 合肥工业大学 | Under-actuated exoskeleton rehabilitation manipulator based on gear transmission |
| CN111920645B (en) * | 2020-08-20 | 2022-02-22 | 山东海天智能工程有限公司 | Quick-insertion type finger rehabilitation device and use method thereof |
| CN111920645A (en) * | 2020-08-20 | 2020-11-13 | 山东海天智能工程有限公司 | Quick-insertion type finger rehabilitation device and use method thereof |
| US11737945B2 (en) * | 2020-10-15 | 2023-08-29 | Yong Tai Global Co., Ltd. | Wrist joint actuating structure of hand rehabilitation device |
| US20220117824A1 (en) * | 2020-10-15 | 2022-04-21 | Yong Tai Global Co., Ltd. | Wrist joint actuating structure of hand rehabilitation device |
| CN114191256A (en) * | 2021-12-23 | 2022-03-18 | 燕山大学 | Wearable double-ball hinge wrist rehabilitation training robot |
| CN114224686B (en) * | 2022-01-05 | 2023-02-14 | 燕山大学 | Flexible-driven wearable hand rehabilitation robot |
| CN114224686A (en) * | 2022-01-05 | 2022-03-25 | 燕山大学 | Flexible-driven wearable hand rehabilitation robot |
| CN114470666A (en) * | 2022-02-21 | 2022-05-13 | 山东海天智能工程有限公司 | Thumb driving mechanism of hand function rehabilitation training system |
| CN115350451A (en) * | 2022-08-29 | 2022-11-18 | 潍坊医学院附属医院 | Finger rehabilitation training device for rheumatoid arthritis |
| CN115350451B (en) * | 2022-08-29 | 2024-06-18 | 潍坊医学院附属医院 | Finger rehabilitation training device for rheumatoid arthritis |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107361994A (en) | Hand rehabilitation training device with wrist rehabilitation training function | |
| KR101163903B1 (en) | Robot shoulder appratus for stroke patients rehabilitation | |
| US11357691B2 (en) | Finger motion rail, support therefor and therapy device comprising same and operating method | |
| CN104666049B (en) | Portable upper-limb rehabilitation robot | |
| JP6555790B2 (en) | Assisted rehabilitation training robot | |
| CN105520819B (en) | A kind of exoskeleton-type shoulder girdle cooperates with healing robot with upper limb | |
| CN104622668A (en) | Bionic shoulder joint movement rehabilitation training apparatus | |
| CN107349082A (en) | Hand rehabilitation function robot system and control method with wrist rehabilitation | |
| CN203736485U (en) | Rehabilitating mechanical hand | |
| CN101357097A (en) | Five degree of freedom ectoskeleton type upper limb rehabilitation robot | |
| CN202844043U (en) | Dynamic outer skeleton hand function rehabilitation training aid | |
| CN109431749A (en) | A kind of combined type Neurology numbness of lower limbs recovery system | |
| CN107307975A (en) | Rehabilitation training robot for function of hand system and control method | |
| CN109771222A (en) | A kind of finger gymnastic robot with interior receipts outreach function | |
| CN106214424A (en) | Finger function device for healing and training | |
| CN107374906A (en) | Hand rehabilitation training device | |
| CN109646244B (en) | Auxiliary hand and foot coordinating device for neurology rehabilitation | |
| CN202314186U (en) | Elbow joint moving device | |
| CN109107039B (en) | Myoelectricity feedback and electric stimulation auxiliary lower limb rehabilitation training device | |
| CN204932160U (en) | A kind of training system of marking time of paralysed patient rehabilitation training | |
| CN204601060U (en) | The bionical device for healing and training of a kind of shoulder joint kinesitherapy | |
| CN101647736A (en) | Parallel-connection ectoskeleton knee joint | |
| CN110665192B (en) | Recovered type ectoskeleton gloves robot | |
| CN108567546A (en) | A kind of wearable ankle rehabilitation parallel robot and its application method of four-degree-of-freedom | |
| CN104706502A (en) | Recovery robot hand |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20171121 |
|
| WW01 | Invention patent application withdrawn after publication |