CN208339729U - A kind of exoskeleton-type manipulators in rehabilitation - Google Patents

Abstract

The utility model discloses a kind of exoskeleton-type manipulators in rehabilitation, including rack, thumb training institution, index finger training institution, middle finger training institution, nameless training institution and little finger of toe training institution, the thumb training institution, the index finger training institution, the middle finger training institution, the nameless training institution and the little finger of toe training institution are connecting rod training institution；The connecting rod training institution includes nearly finger stop plate, middle finger baffle, remote finger stop plate, closely refers to connecting rod, middle finger connecting rod, far refer to first connecting rod, far refer to second connecting rod, far refer to third connecting rod and driving member.The utility model structure is simple, light and handy, it is easy production, price is human-oriented, easy to carry, freedom of movement, excellent performance, it can effectively realize the swing of finger, stretch and be bent training, so as to allow patient just to can be carried out rehabilitation training at home, also be suitble to be trained in the case where hospital doctor instructs certainly, finger rehabilitation exercise is carried out convenient for patient, obtains recovery to a certain extent.

Description

A kind of exoskeleton-type manipulators in rehabilitation

Technical field

The utility model relates to rehabilitation appliances fields, relate in particular to a kind of exoskeleton-type manipulators in rehabilitation.

Background technique

At present in China, because the reasons such as all kinds of accidents, hemiplegia, brain paralysis, polio cause the patient of hand disability bigGenerally have 20,000,000 people, hand disability show as " hawk hooks pawl ", twitch spasm, can not normal extension or retraction, crawl it is powerless etc., sternlyGhost image rings the viability and family burden of patient.

Currently, since ideal effect is often not achieved by operative treatment correction, moreover since operation spends larger, artRehabilitation is unobvious afterwards, and many patient's selections are into related recovery centre's progress rehabilitation correction and control without operative treatmentIt treats.But because of the influence of the factors such as time, economy, Most patients all stay in recovery centre without condition for a long time and carry out rehabilitationCorrective therapy, such training time is inadequate, and the rehabilitation for patient is extremely disadvantageous.

If can develop a kind of economic and practical, patient can be assisted to be in and voluntarily carry out the rehabilitation of rehabilitation training and setStandby, there will be effects to solve the above problems.

Utility model content

It is simple, light and handy that the technical problem to be solved by the utility model is to provide a kind of structures, and price is human-oriented, convenient for takingBand can effectively realize the swing of finger, stretch and be bent the exoskeleton-type manipulators in rehabilitation of training.

In order to solve the above-mentioned technical problem, the utility model adopts the following technical solution: a kind of exoskeleton-type rehabilitation mechanicalHand, including rack, thumb training institution, index finger training institution, middle finger training institution, nameless training institution and little finger of toe instructionPractice mechanism, the thumb training institution, the index finger training institution, the middle finger training institution, the nameless training airplaneStructure and the little finger of toe training institution are connecting rod training institution；

The connecting rod training institution includes nearly finger stop plate, middle finger baffle, remote finger stop plate, closely refers to connecting rod, middle finger connecting rod, far refers toFirst connecting rod far refers to second connecting rod, far refers to third connecting rod and driving member, in which:

The rear end of the nearly finger stop plate and the rack be hinged, front end and the rear end of the middle finger baffle are hinged, it is described inThe front end of finger stop plate and the rear end of the remote finger stop plate are hinged；

Described nearly one end for the referring to connecting rod and driving member is hinged, the other end and the nearly finger panel hinge；The middle fingerOne end of connecting rod and nearly the fingers connecting rod be hinged, the other end and the middle finger panel hinge；Described remote one end for referring to third connecting rodWith the nearly finger panel hinge, described remote one end for referring to second connecting rod and the remote other end for referring to third connecting rod are hinged, anotherEnd and the middle finger panel hinge, described remote one end for referring to first connecting rod and remote the fingers second connecting rod hingedly, the other end and instituteState far finger panel hinge.

Further, the connecting rod training institution further includes guide rail, and the guide rail is mounted on the rack, the transmissionPart is slidably connected on the guide rail.

Further, in the connecting rod training institution, the rear end of the nearly finger stop plate and the rack ball-joint are described to leadRail is rotatably installed in the rack, and the rear end of the nearly finger stop plate and the center of the rack ball-joint are located at the guide railPivot center on.

It further, further include driving mechanism, the driving mechanism includes motor, threaded rod, drives sliding block and fourFinger actuation connecting rod；

The both ends of the threaded rod are rotatably installed in respectively in the rack, and the motor passes through shaft coupling and the screw threadBar connection, the driving sliding block is threadably coupled on the threaded rod, one end of four finger actuation connecting rods respectively with instituteState the transmission in index finger training institution, the middle finger training institution, the nameless training institution and the little finger of toe training institutionPart is hinged, the other end is hinged with the driving sliding block respectively.

Further, the driving mechanism further include the first drive link of thumb, the second drive link of thumb andThumb third drive link；

One end of first drive link of thumb and the driving sliding block be hinged, the other end and the thumb secondOne end cross of drive link is hinged, one end of the thumb third drive link and second drive link of thumbOther end rotation connection, the other end couple with the driving member rotation in the thumb training institution.

Further, the driving mechanism further includes V-arrangement connecting rod, one end of the V-arrangement connecting rod and the driving sliding block ballHingedly, the driving member ball-joint in the other end and the thumb training institution.

Further, the bottom of the remote finger stop plate, the middle finger baffle, the nearly finger stop plate and the rack is all provided withIt is equipped with protective sponge.

Further, the guide rail is equipped with locking device.

Further, the index finger training institution, the middle finger training institution, the nameless training institution and described smallRefer to that the first connecting rod for all having at the top of the middle finger baffle in training institution and stretching out towards corresponding nearly finger stop plate, corresponding middle finger connectThe other end of bar and the free end of the corresponding first connecting rod are hinged, and are all had at the top of remote finger stop plate towards corresponding and closely referred toIt cuts with scissors the free end of the second connecting rod that baffle stretches out, the other end and corresponding second connecting rod that accordingly far refer to first connecting rodIt connects.

Further, strip groove is provided on the nearly finger stop plate, the middle finger baffle and the remote finger stop plate, it is described closeIt is realized hingedly by hinge between finger stop plate and the middle finger baffle and between the middle finger baffle and the remote finger stop plate,By passing through corresponding strip groove between the nearly finger stop plate, the middle finger baffle and the remote finger stop plate and the corresponding hingeBolt, which is realized, to be fixed.

The utility model has the following beneficial effects:

The utility model structure is simple, light and handy, is easy production, and price is human-oriented, easy to carry, freedom of movement, excellent performance,It can effectively realize the swing of finger, stretch and be bent training, so as to allow patient just to can be carried out rehabilitation training at home, whenSo also it is suitble to be trained in the case where hospital doctor instructs, carries out finger rehabilitation exercise convenient for patient, obtain to a certain extent extensiveIt is multiple.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of an embodiment of the present invention.

Fig. 2 is the main view of an embodiment of the present invention.

Fig. 3 is the top view of Fig. 2.

Fig. 4 is the left view of Fig. 2.

Fig. 5 is another driving method structural schematic diagram of thumb training institution.

The label of each component in attached drawing are as follows: 10 racks, 20 thumb training institutions, 30 index finger training institutions, 40 middle fingers instructionPractice mechanism, 50 nameless training institutions, 60 little finger of toe training institutions, 701 motors, 702 threaded rods, 703 driving sliding blocks, 704 fingersDrive link, 705 shaft couplings, 706 the first drive links of thumb, 707 the second drive links of thumb, 708 thumb thirdsDrive link, 709V shape connecting rod, 01 nearly finger stop plate, 02 middle finger baffle, 021 first connecting rod, 03 remote finger stop plate, 031 second connectExtension bar, 04 closely refer to that connecting rod, 05 middle finger connecting rod, 06 far refer to that first connecting rod, 07 far refer to that second connecting rod, 08 far refer to that third connecting rod, 09 passMoving part, 010 guide rail, 011 strip groove.

Specific embodiment

The utility model will be described in detail below with reference to the accompanying drawings and embodiments.It should be noted that not conflictingIn the case where, the features in the embodiments and the embodiments of the present application can be combined with each other.

Referring to Fig. 1, Fig. 2, Fig. 3 and Fig. 4.

The utility model exoskeleton-type manipulators in rehabilitation, including rack 10, thumb training institution 20, index finger training institution30, middle finger training institution 40, nameless training institution 50 and little finger of toe training institution 60, the thumb training institution 20, instituteState index finger training institution 30, the middle finger training institution 40, the nameless training institution 50 and the little finger of toe training institution 60It is connecting rod training institution；

Due to thumb training institution 20, index finger training institution 30, middle finger training institution 40, nameless training institution 50 withAnd little finger of toe training institution 60 is connecting rod training institution, therefore for the sake of succinct description, not to each training institution in attached drawingComposition is marked in detail.

The connecting rod training institution includes nearly finger stop plate 01, middle finger baffle 02, remote finger stop plate 03, closely refers to connecting rod 04, middle fingerConnecting rod 05 far refers to first connecting rod 06, far refers to second connecting rod 07, far refers to third connecting rod 08 and driving member 09, in which:

The rear end of the nearly finger stop plate 01 and the rack 10 be hinged, front end and the rear end of the middle finger baffle 02 are hinged,The front end of the middle finger baffle 02 and the rear end of the remote finger stop plate 03 are hinged；

Described nearly one end for the referring to connecting rod 04 and driving member 09 is hinged, the other end and the nearly finger stop plate 01 are hinged；InstituteOne end and nearly the fingers connecting rod 04 for stating middle finger connecting rod 05 be hinged, the other end and the middle finger baffle 02 hingedly；It is described remote to refer to theOne end of three-link 08 and the nearly finger stop plate 01 are hinged, described remote one end for referring to second connecting rod 07 and the remote finger third connecting rod08 other end is hinged, the other end and the middle finger baffle 02 are hinged, described remote one end for referring to first connecting rod 06 and the remote fingerSecond connecting rod 07 is hinged, the other end and the remote finger stop plate 03 are hinged.

When carrying out hand exercise, by the utility model exoskeleton-type manipulators in rehabilitation in conjunction with hand, each of each finger is enabledFinger joint is trained with thumb training institution, index finger training institution, middle finger training institution, nameless training institution and little finger of toe respectivelyNearly finger stop plate, middle finger baffle, the remote finger stop plate of mechanism are corresponding, drive the driving member of each training institution to move forward or back, in this wayThe nearly finger link rotatable of each training institution and drive closely finger swung, while middle finger connecting rod movement and drive middle finger baffle putIt is dynamic, far refer to third connecting rod, far refer to second connecting rod, far refer to first connecting rod movement and drive and far refer to swung, to drive each handFinger is swung up and down in perpendicular, is realized the swing of finger, is stretched and be bent training.

In one embodiment, the connecting rod training institution further includes guide rail 010, and the guide rail 010 is mounted on the rackOn 10, the driving member 09 is slidably connected on the guide rail 010.It designs in this way, carries out linear reciprocation convenient for manipulation driving memberMovement, practicability are high.

In one embodiment, the rear end of the nearly finger stop plate 01 and 10 ball-joint of rack, the rotation of guide rail 010 peaceIn the rack 10, and the rear end of the nearly finger stop plate 01 and the center of 10 ball-joint of rack are located at the guide railOn 010 pivot center.It designs in this way, nearly finger stop plate and driving member can be made to realize synchronous left-right rotation, to adjust each gearPlate position angle, and adapt to the finger angle of different people.

It in one embodiment, further include driving mechanism, the driving mechanism includes motor 701, threaded rod 702, driving cunningBlock 703 and four finger actuation connecting rods 704；The both ends of the threaded rod 702 are rotatably installed in respectively in the rack 10, instituteIt states motor 701 to couple by shaft coupling 705 with the threaded rod 702, the driving sliding block 703 is threadably coupled within the threaded rodOn 702, one end of four finger actuation connecting rods 704 respectively with the index finger training institution 30, the middle finger training institution40, driving member 09 in the nameless training institution 50 and the little finger of toe training institution 60 is hinged, the other end respectively with it is describedDrive sliding block 703 hinged.Sliding block and threaded rod is driven to form screw pair, motor passes through fortune before and after threaded rod drive driving sliding blockIt is dynamic, then drive sliding block to drive driving member sliding by drive link, this driving mechanism structure is simple, is easy to implement, operationConvenient, practicability is high.

Since thumb and the angle that other four refer to are different, for the training for adapting to thumb, with a V in the rack 10Shape plate 101, the rear end of the nearly finger stop plate 01 in the thumb training institution 20 and the V shaped slab 101 are hinged, and in order to driveThumb training institution 20 under this angle, in one embodiment, the driving mechanism further include that the driving of thumb first connectsBar 706, the second drive link of thumb 707 and thumb third drive link 708；First drive link of thumbThe 706 one end and driving sliding block 703 is hinged, one end cross hinge of the other end and second drive link of thumb 707It connects, an end cap of the thumb third drive link 708 is formed in the other end of second drive link of thumb 707 to be turnedDynamic pair, the other end are inserted into the driving member 09 in the thumb training institution 20 and form revolute pair, the rotation of this two groups of revolute pairsAxis is mutually perpendicular to.Since the angle that the angle of thumb refers to other four is inconsistent, cannot directly be driven by similar fingerThe component of connecting rod is moved to drive the driving member straight reciprocating motion in thumb training institution, utility model people does above-mentioned design,The space connecting-rod formed by the first drive link of thumb, the second drive link of thumb and thumb third drive linkMechanism will drive the movement of sliding block to be transmitted on the driving member in thumb training institution, effectively it can be driven to make reciprocating linearMovement.

Referring to Fig. 5, for the driving structure for being further simplified thumb training institution 20, in one embodiment, the drivingMechanism further includes V-arrangement connecting rod 709, one end of the V-arrangement connecting rod 709 and 703 ball-joint of driving sliding block, the other end with it is described09 ball-joint of driving member in thumb training institution 20.This structure equally can effectively drive in thumb training institutionDriving member does reciprocating linear motion.

In one embodiment, the remote finger stop plate 03, the middle finger baffle 02, the nearly finger stop plate 01 and the rack10 bottom is provided with protective sponge.To play a protective role.

In one embodiment, the guide rail 010 is sliding slot.Driving member is coupled more stable in this way.In specific implementation,The guide rail 010 is equipped with locking device, and guide rail is rotated to proper angle, fixes it with rack by locking device.

In one embodiment, the thumb training institution 20, the index finger training institution 30, the middle finger training institution40, the top of the nameless training institution 50 and the middle finger baffle 02 in the little finger of toe training institution 60 all has towards correspondingThe first connecting rod 021 that nearly finger stop plate 01 stretches out, the other end of corresponding middle finger connecting rod 05 and the corresponding first connecting rod 021Free end is hinged, the index finger training institution 30, the middle finger training institution 40, the nameless training institution 50 and described smallRefer to that the top of the remote finger stop plate 03 in training institution 60 all has the second connecting rod 031 stretched out towards corresponding nearly finger stop plate 01,The other end for accordingly far referring to first connecting rod 06 and the free end of corresponding second connecting rod 031 are hinged.Design in this way, it is convenient withCorresponding component connection, and be driven more efficient.

In one embodiment, the index finger training institution 30, the middle finger training institution 40, the nameless training institution50 and the little finger of toe training institution 60 in the L-shaped rod-like structure of driving member 09, longer section is slidably matched, compared with short section with guide railFree end it is outwardly and hinged with one end of corresponding closely finger connecting rod 04.It designs in this way, it is convenient to couple with corresponding component, and be driven moreAdded with effect.

In one embodiment, the thumb training institution 20, the index finger training institution 30, the middle finger training institution40, the remote finger second connecting rod 07 in the nameless training institution 50 and the little finger of toe training institution 60 is T-shaped, described remote to refer to theTwo connecting rods 07 far refer to that third connecting rod 08 and corresponding middle finger baffle 02 are hinged with corresponding respectively with its head both ends, accordingly remote finger theOne end of one connecting rod 06 and the remote remaining one end for referring to second connecting rod 07 are hinged.It designs in this way, it is convenient to join with corresponding componentIt connects, and is driven more efficient.

In one embodiment, the thumb training institution 20, the index finger training institution 30, the middle finger training institution40, the nearly finger connecting rod 04 in the nameless training institution 50 and the little finger of toe training institution 60 is T-shaped, the thumb trainingThe nearly finger connecting rod 04 of mechanism 20 is hinged with corresponding driving member 09 and corresponding middle finger connecting rod respectively with its head both ends, remaining closely refers toConnecting rod 04 is hinged with corresponding driving member 09 and corresponding nearly finger stop plate 01 respectively with its head both ends, and the one of corresponding middle finger connecting rod 05End closely refers to that the remaining one end of connecting rod 04 is hinged with remaining.Design in this way, it is convenient to couple with corresponding component, and transmission more added withEffect.

In one embodiment, item is provided on the nearly finger stop plate 01, the middle finger baffle 02 and the remote finger stop plate 03Shape slot 011, between the nearly finger stop plate 01 and the middle finger baffle 02 and the middle finger baffle 02 and the remote finger stop plate 03Between hinged, the nearly finger stop plate 01, the middle finger baffle 02 and the remote finger stop plate 03 and corresponding institute are realized by hingeIt states and realizes fixation by passing through the bolt of corresponding strip groove 011 between hinge.It designs in this way, it can be appropriate by hinge installation siteEach baffle dimensions are adjusted, different human hand dimensions are adapted to.

The utility model can facilitate patient to carry out finger gymnastic and patient can be made to use this instrument for a period of timeAfterwards, the available recovery to a certain extent of finger function.By completing rehabilitation training in 45 minutes or more daily, can promoteThe functional rehabilitation of finger muscles tissue, gradually restores finger tensile, makes to uphold and bends and stretches gradually normal, the hands such as alleviation " hawk hooks pawl "Deformities.

It should be understood that example as described herein and embodiment are not intended to limit the utility model only for explanation, thisField technical staff can make various modifications or variation according to it, within the spirit and principle of the utility model, madeAny modification, equivalent substitution, improvement and etc. should be included within the scope of protection of this utility model.

Claims (10)

1. a kind of exoskeleton-type manipulators in rehabilitation, it is characterised in that: including rack (10), thumb training institution (20), index fingerTraining institution (30), middle finger training institution (40), nameless training institution (50) and little finger of toe training institution (60), the big thumbRefer to training institution (20), the index finger training institution (30), the middle finger training institution (40), the nameless training institution(50) and the little finger of toe training institution (60) is connecting rod training institution；

The connecting rod training institution include nearly finger stop plate (01), middle finger baffle (02), remote finger stop plate (03), closely refer to connecting rod (04),Middle finger connecting rod (05) far refers to first connecting rod (06), far refers to second connecting rod (07), far refers to third connecting rod (08) and driving member(09), in which:

The rear end of the nearly finger stop plate (01) and the rack (10) hinged, the rear end of front end and the middle finger baffle (02) is cut with scissorsIt connects, the front end of the middle finger baffle (02) and the rear end of the remote finger stop plate (03) are hinged；

Described nearly one end for referring to connecting rod (04) and the driving member (09) hinged, the other end and the nearly finger stop plate (01) are hinged；One end of the middle finger connecting rod (05) and nearly the fingers connecting rod (04) be hinged, the other end and the middle finger baffle (02) hingedly；InstituteState the one end for far referring to third connecting rod (08) and the nearly finger stop plate (01) hingedly, described remote one end for referring to second connecting rod (07) and instituteIt states and far refers to the hinged other end of third connecting rod (08), the other end and the middle finger baffle (02) hingedly, the remote finger first connecting rod(06) one end and remote the fingers second connecting rod (07) is hinged, the other end and the remote finger stop plate (03) hingedly.

2. exoskeleton-type manipulators in rehabilitation as described in claim 1, it is characterised in that: the connecting rod training institution further includes leadingRail (010), the guide rail (010) are mounted on the rack (10), and the driving member (09) is slidably connected in the guide rail(010) on.

3. exoskeleton-type manipulators in rehabilitation as claimed in claim 2, it is characterised in that: the rear end of the nearly finger stop plate (01) withRack (10) ball-joint, the guide rail (010) are rotatably installed on the rack (10), and the nearly finger stop plate (01)Rear end and the center of the rack (10) ball-joint are located on the pivot center of the guide rail (010).

4. the exoskeleton-type manipulators in rehabilitation as described in claims 1 or 2 or 3, it is characterised in that: it further include driving mechanism, instituteStating driving mechanism includes motor (701), threaded rod (702), driving sliding block (703) and four finger actuation connecting rods (704)；

The both ends of the threaded rod (702) are rotatably installed in respectively on the rack (10), and the motor (701) passes through shaft coupling(705) coupling with the threaded rod (702), the driving sliding block (703) is threadably coupled on the threaded rod (702), and fourOne end of the finger actuation connecting rod (704) respectively with the index finger training institution (30), the middle finger training institution (40), instituteState driving member (09) in nameless training institution (50) and the little finger of toe training institution (60) is hinged, the other end respectively with it is describedDrive sliding block (703) hinged.

5. exoskeleton-type manipulators in rehabilitation as claimed in claim 4, it is characterised in that: the driving mechanism further includes thumbFirst drive link (706), the second drive link of thumb (707) and thumb third drive link (708)；

One end of first drive link of thumb (706) and the driving sliding block (703) be hinged, the other end and the big thumbRefer to that one end cross of the second drive link (707) is hinged, one end of the thumb third drive link (708) and the big thumbRefer to the driving member in other end rotation connection, the other end and the thumb training institution (20) of the second drive link (707)(09) rotation connection.

6. exoskeleton-type manipulators in rehabilitation as claimed in claim 4, it is characterised in that: the driving mechanism further includes that V-arrangement connectsBar (709), one end of the V-arrangement connecting rod (709) and driving sliding block (703) ball-joint, the other end and the thumb are instructedPractice driving member (09) ball-joint in mechanism (20).

7. the exoskeleton-type manipulators in rehabilitation as described in claims 1 or 2 or 3, it is characterised in that: the remote finger stop plate (03),The bottom of the middle finger baffle (02), the nearly finger stop plate (01) and the rack (10) is provided with protective sponge.

8. exoskeleton-type manipulators in rehabilitation as claimed in claim 2 or claim 3, it is characterised in that: the guide rail (010) is equipped with lockTight device.

9. the exoskeleton-type manipulators in rehabilitation as described in claims 1 or 2 or 3, it is characterised in that: the index finger training institution(30), in the middle finger training institution (40), the nameless training institution (50) and the little finger of toe training institution (60)The first connecting rod (021) stretched out towards corresponding nearly finger stop plate (01), corresponding middle finger connecting rod are all had at the top of finger stop plate (02)(05) the other end and the free end of the corresponding first connecting rod (021) are hinged, and all have at the top of remote finger stop plate (03)The second connecting rod (031) stretched out towards corresponding nearly finger stop plate (01), accordingly far refer to the other end of first connecting rod (06) with accordinglyThe free end of second connecting rod (031) is hinged.

10. the exoskeleton-type manipulators in rehabilitation as described in claims 1 or 2 or 3, it is characterised in that: the nearly finger stop plate (01),Be provided with strip groove (011) on the middle finger baffle (02) and the remote finger stop plate (03), the nearly finger stop plate (01) with it is describedIt is realized hingedly by hinge between middle finger baffle (02) and between the middle finger baffle (02) and the remote finger stop plate (03),Between the nearly finger stop plate (01), the middle finger baffle (02) and the remote finger stop plate (03) and the corresponding hinge by acrossThe bolt of corresponding strip groove (011), which is realized, to be fixed.