CN114469651A - Wrist swing mechanism of hand function rehabilitation training system - Google Patents

Wrist swing mechanism of hand function rehabilitation training system Download PDF

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Publication number
CN114469651A
CN114469651A CN202210154937.9A CN202210154937A CN114469651A CN 114469651 A CN114469651 A CN 114469651A CN 202210154937 A CN202210154937 A CN 202210154937A CN 114469651 A CN114469651 A CN 114469651A
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wrist
training system
rehabilitation training
hand function
function rehabilitation
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张海燕
张海峰
赵绍晴
张虎
张逸飞
郭新峰
马笃峰
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Shandong Haitian Intelligent Engineering Co ltd
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Shandong Haitian Intelligent Engineering Co ltd
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285—Hand
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/02—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using resilient force-resisters
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
    • A63B23/14—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for wrist joints
    • 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
    • A61H2201/1635—Hand or arm, e.g. handle
    • 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
    • A61H2201/1635—Hand or arm, e.g. handle
    • A61H2201/1638—Holding means therefor
    • 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

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  • Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biophysics (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Rehabilitation Therapy (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

本发明涉及一种手功能康复训练系统手腕摆动机构。该手功能康复训练系统手腕摆动机构，包括腕部底板，其特征是：所述腕部底板下方设有驱动电机，驱动电机后端铰接于腕部底板下方，驱动电机前端连接深沟球轴承，深沟球轴承能绕固定轴转动，深沟球轴承顶部连接腕部驱动块，腕部驱动块连接手掌托，手掌托后方设有手臂托，手臂托固定于手臂托导向块上，手臂托导向块安装于手臂托导向轨上且能沿手臂托导向轨移动。本发明的有益效果是：变时间固定的被动式康复治疗为患者主动参与治疗康复，使腕背伸等肌力明显增加，改善了手腕运动能力；结构简单、使用方便，提高了中风患者的腕关节运动能力，结合康复运动训练，达到了更好的康复效果。

Figure 202210154937

The invention relates to a wrist swing mechanism of a hand function rehabilitation training system. The wrist swing mechanism of the hand function rehabilitation training system includes a wrist base plate, and is characterized in that: a drive motor is arranged under the wrist base plate, the rear end of the drive motor is hinged under the wrist base plate, and the front end of the drive motor is connected with a deep groove ball bearing. The deep groove ball bearing can rotate around the fixed axis. The top of the deep groove ball bearing is connected to the wrist drive block, and the wrist drive block is connected to the palm rest. There is an arm rest behind the palm rest. The arm rest is fixed on the arm rest guide block, and the arm rest guides The block is mounted on the arm support guide rail and can move along the arm support guide rail. The beneficial effects of the invention are as follows: the passive rehabilitation therapy with variable time and fixed time allows patients to actively participate in the treatment and rehabilitation, so that the muscle strength such as wrist dorsal extension is obviously increased, and the wrist movement ability is improved; the structure is simple, the use is convenient, and the wrist joint of stroke patients is improved. Exercise ability, combined with rehabilitation exercise training, achieves better rehabilitation effect.

Figure 202210154937

Description

一种手功能康复训练系统手腕摆动机构A wrist swing mechanism of a hand function rehabilitation training system

（一） 技术领域(1) Technical field

本发明属于医疗设备技术领域，特别涉及一种手功能康复训练系统手腕摆动机构。The invention belongs to the technical field of medical equipment, and particularly relates to a wrist swing mechanism of a hand function rehabilitation training system.

（二） 背景技术(2) Background technology

随着中国人口老龄化的加深，脑卒中患者数量越来越多，患者中有绝大部分均有不同程度的致残，尤其以手部为重。手功能的恢复由四指、大拇指和腕部共同作用而影响手的肌力和屈伸，因此，大量的人群有康复医疗的需求。目前，所使用的康复机械手主要是利用表面肌电信号触发与动态智能控制来实现互动式生物反馈训练实现四指、大拇指和腕部运动，其是时间固定的被动治疗，患者主动参与治疗程度不高，康复效果很差。With the deepening of the aging population in China, the number of stroke patients is increasing, and most of the patients are disabled to varying degrees, especially the hands. The recovery of hand function is affected by the joint action of the four fingers, the thumb and the wrist, which affects the muscle strength and flexion and extension of the hand. Therefore, a large number of people have needs for rehabilitation medicine. At present, the rehabilitation manipulator used mainly uses surface EMG signal triggering and dynamic intelligent control to realize interactive biofeedback training to achieve four-finger, thumb and wrist movements. It is a passive treatment with fixed time, and the patient actively participates in the treatment. Not high, the recovery effect is very poor.

（三） 发明内容(3) Contents of the invention

本发明为了弥补现有技术的不足，提供了一种结构简单、使用方便、康复效果佳的手功能康复训练系统手腕摆动机构。In order to make up for the deficiencies of the prior art, the present invention provides a wrist swing mechanism of a hand function rehabilitation training system with simple structure, convenient use and good rehabilitation effect.

本发明是通过如下技术方案实现的：The present invention is achieved through the following technical solutions:

一种手功能康复训练系统手腕摆动机构，包括腕部底板，其特征是：所述腕部底板下方设有驱动电机，驱动电机后端铰接于腕部底板下方，驱动电机前端连接深沟球轴承，深沟球轴承能绕固定轴转动，深沟球轴承顶部连接腕部驱动块，腕部驱动块连接手掌托，手掌托后方设有手臂托，手臂托固定于手臂托导向块上，手臂托导向块安装于手臂托导向轨上且能沿手臂托导向轨移动。A wrist swing mechanism of a hand function rehabilitation training system includes a wrist base plate, characterized in that: a drive motor is arranged under the wrist base plate, the rear end of the drive motor is hinged under the wrist base plate, and the front end of the drive motor is connected with a deep groove ball bearing , The deep groove ball bearing can rotate around the fixed axis, the top of the deep groove ball bearing is connected to the wrist drive block, the wrist drive block is connected to the palm rest, there is an arm rest behind the palm rest, the arm rest is fixed on the arm rest guide block, the arm rest The guide block is installed on the arm support guide rail and can move along the arm support guide rail.

所述手臂托导向轨内安装有定位销轴，定位销轴上套设有弹簧。A positioning pin shaft is installed in the arm support guide rail, and a spring is sleeved on the positioning pin shaft.

所述定位销轴安装于限位杆导向座内。The positioning pin is installed in the limit rod guide seat.

所述驱动电机后端安装于电机固定座上，电机固定座套设于电机固定轴上。The rear end of the driving motor is mounted on the motor fixing seat, and the motor fixing seat is sleeved on the motor fixing shaft.

所述手掌托前端连接腕部导向杆。The front end of the palm rest is connected to the wrist guide rod.

所述腕部底板上设有腕部定位指示贴。The wrist base plate is provided with a wrist positioning indication sticker.

所述深沟球轴承上安装有轴承固定垫。A bearing fixing pad is installed on the deep groove ball bearing.

所述深沟球轴承下方安装有轴承隔垫。A bearing spacer is installed below the deep groove ball bearing.

所述定位销轴前部安装有平垫圈，定位销轴前端安装有开口挡圈。A flat washer is installed at the front of the positioning pin shaft, and an open retaining ring is installed at the front end of the positioning pin shaft.

本发明的有益效果是：变时间固定的被动式康复治疗为患者主动参与治疗康复，使腕背伸等肌力明显增加，改善了手腕运动能力；结构简单、使用方便，提高了中风患者的腕关节运动能力，结合康复运动训练，达到了更好的康复效果。The beneficial effects of the invention are as follows: the passive rehabilitation therapy with variable time and fixed time allows patients to actively participate in the treatment and rehabilitation, so that the muscle strength such as wrist dorsal extension is obviously increased, and the wrist movement ability is improved; the structure is simple, the use is convenient, and the wrist joint of stroke patients is improved. Exercise ability, combined with rehabilitation exercise training, achieves better rehabilitation effect.

（四） 附图说明(4) Description of drawings

下面结合附图对本发明作进一步的说明。The present invention will be further described below in conjunction with the accompanying drawings.

附图1为本发明的主视结构示意图；Accompanying drawing 1 is the front view structure schematic diagram of the present invention;

附图2为本发明的侧视结构示意图；Accompanying drawing 2 is the side view structure schematic diagram of the present invention;

附图3为本发明的俯视结构示意图；Accompanying drawing 3 is the top view structure schematic diagram of the present invention;

附图4为附图1的A-A剖视图；Accompanying drawing 4 is the A-A sectional view of accompanying drawing 1;

附图5为附图3的B-B剖视图；Accompanying drawing 5 is the B-B sectional view of accompanying drawing 3;

图中，1腕部底板，2驱动电机，3深沟球轴承，4固定轴，5腕部驱动块，6手掌托，7手臂托，8手臂托导向块，9手臂托导向轨，10定位销轴，11弹簧，12限位杆导向座，13电机固定座，14电机固定轴，15腕部导向杆，16腕部定位指示贴，17轴承固定垫，18轴承隔垫，19平垫圈，20开口挡圈。In the figure, 1 wrist base plate, 2 drive motor, 3 deep groove ball bearing, 4 fixed shaft, 5 wrist drive block, 6 palm support, 7 arm support, 8 arm support guide block, 9 arm support guide rail, 10 positioning Pin shaft, 11 spring, 12 limit rod guide seat, 13 motor fixing seat, 14 motor fixing shaft, 15 wrist guide rod, 16 wrist positioning indicator sticker, 17 bearing fixing pad, 18 bearing spacer, 19 flat washer, 20 split retaining rings.

（五） 具体实施方式(5) Specific implementation methods

附图为本发明的一种具体实施例。该实施例包括腕部底板1，腕部底板1下方设有驱动电机2，驱动电机2后端铰接于腕部底板1下方，驱动电机2前端连接深沟球轴承3，深沟球轴承3能绕固定轴4转动，深沟球轴承3顶部连接腕部驱动块5，腕部驱动块5连接手掌托6，手掌托6后方设有手臂托7，手臂托7固定于手臂托导向块8上，手臂托导向块8安装于手臂托导向轨9上且能沿手臂托导向轨9移动。手臂托导向轨9内安装有定位销轴10，定位销轴10上套设有弹簧11。定位销轴10安装于限位杆导向座12内。驱动电机2后端安装于电机固定座13上，电机固定座13套设于电机固定轴14上。手掌托6前端连接腕部导向杆15。腕部底板1上设有腕部定位指示贴16。深沟球轴承3上安装有轴承固定垫17。深沟球轴承3下方安装有轴承隔垫18。定位销轴10前部安装有平垫圈19，定位销轴10前端安装有开口挡圈20。The accompanying drawing is a specific embodiment of the present invention. This embodiment includes a wrist base plate 1, a drive motor 2 is arranged under the wrist base plate 1, the rear end of the drive motor 2 is hinged under the wrist base plate 1, the front end of the drive motor 2 is connected to a deep groove ball bearing 3, and the deep groove ball bearing 3 can Rotating around the fixed axis 4, the top of the deep groove ball bearing 3 is connected to the wrist drive block 5, the wrist drive block 5 is connected to the palm rest 6, the arm rest 7 is arranged behind the palm rest 6, and the arm support 7 is fixed on the arm support guide block 8 , the arm support guide block 8 is installed on the arm support guide rail 9 and can move along the arm support guide rail 9 . A positioning pin 10 is installed in the arm support guide rail 9 , and a spring 11 is sleeved on the positioning pin 10 . The positioning pin 10 is installed in the limiting rod guide seat 12 . The rear end of the driving motor 2 is mounted on the motor fixing seat 13 , and the motor fixing seat 13 is sleeved on the motor fixing shaft 14 . The front end of the palm rest 6 is connected to the wrist guide rod 15 . The wrist base plate 1 is provided with a wrist positioning indication sticker 16 . A bearing fixing pad 17 is mounted on the deep groove ball bearing 3 . A bearing spacer 18 is installed below the deep groove ball bearing 3 . A flat washer 19 is installed at the front of the positioning pin shaft 10 , and an open retaining ring 20 is installed at the front end of the positioning pin shaft 10 .

采用本发明的手功能康复训练系统手腕摆动机构，将手臂置于手臂托7上，通过腕部定位指示贴16确定放置手腕的位置，启动驱动电机2，驱动电机2伸缩带动深沟球轴承3转动，进而通过腕部驱动块5带动手掌托6转动，即可主动带动腕部进行摆动。将手部反向放置，即可在另一方向对其腕部进行康复训练。手臂托7能够通过手臂托导向块8沿手臂托导向轨9左右移动，且手臂托7向内移动时，弹簧11给予其一个反向力，不仅可以调节腕部前后伸出的位置，而且可以给予其腕部背伸肌力，促使腕背伸等肌力明显增加，利于主动康复训练。驱动电机2在伸缩时，可以通过电机固定座13绕电机固定轴14转动。The wrist swing mechanism of the hand function rehabilitation training system of the present invention is adopted, the arm is placed on the arm support 7, the position of the wrist is determined by the wrist positioning indication sticker 16, the drive motor 2 is started, and the drive motor 2 expands and contracts to drive the deep groove ball bearing 3 Rotate, and then drive the palm rest 6 to rotate through the wrist drive block 5, so as to actively drive the wrist to swing. The wrist can be rehabilitated in the other direction by reversing the hand. The arm support 7 can move left and right along the arm support guide rail 9 through the arm support guide block 8, and when the arm support 7 moves inward, the spring 11 gives it a reverse force, which can not only adjust the position where the wrist extends forward and backward, but also can Giving the wrist dorsal extensor strength can significantly increase the muscle strength of the wrist dorsal extensor, which is conducive to active rehabilitation training. When the drive motor 2 expands and contracts, it can rotate around the motor fixing shaft 14 through the motor fixing seat 13 .

Claims (9)

1. The utility model provides a wrist swing mechanism of hand function rehabilitation training system, includes wrist bottom plate (1), characterized by: wrist bottom plate (1) below is equipped with driving motor (2), driving motor (2) rear end articulates in wrist bottom plate (1) below, deep groove ball bearing (3) are connected to driving motor (2) front end, deep groove ball bearing (3) can rotate around fixed axle (4), wrist drive block (5) is connected at deep groove ball bearing (3) top, palm support (6) is connected in wrist drive block (5), palm support (6) rear is equipped with arm support (7), arm support (7) are fixed in on arm support guide block (8), arm support guide block (8) are installed on arm support guide rail (9) and can be followed arm support guide rail (9) and remove.
2. The wrist swinging mechanism for a hand function rehabilitation training system according to claim 1, wherein: and a positioning pin shaft (10) is installed in the arm support guide rail (9), and a spring (11) is sleeved on the positioning pin shaft (10).
3. The wrist swinging mechanism of the hand function rehabilitation training system according to claim 2, wherein: the positioning pin shaft (10) is arranged in the limiting rod guide seat (12).
4. The wrist swinging mechanism of the hand function rehabilitation training system according to claim 1, wherein: the rear end of the driving motor (2) is installed on a motor fixing seat (13), and the motor fixing seat (13) is sleeved on a motor fixing shaft (14).
5. The wrist swinging mechanism of the hand function rehabilitation training system according to claim 1, wherein: the front end of the palm support (6) is connected with a wrist guide rod (15).
6. The wrist swinging mechanism of the hand function rehabilitation training system according to claim 1, wherein: and a wrist positioning indication sticker (16) is arranged on the wrist bottom plate (1).
7. The wrist swinging mechanism of the hand function rehabilitation training system according to claim 1, wherein: and a bearing fixing pad (17) is arranged on the deep groove ball bearing (3).
8. The wrist swinging mechanism of the hand function rehabilitation training system according to claim 1, wherein: and a bearing spacer (18) is arranged below the deep groove ball bearing (3).
9. The wrist swinging mechanism of the hand function rehabilitation training system according to claim 3, wherein: the front part of the positioning pin shaft (10) is provided with a flat gasket (19), and the front end of the positioning pin shaft (10) is provided with an open retainer ring (20).
CN202210154937.9A 2022-02-21 2022-02-21 Wrist swing mechanism of hand function rehabilitation training system Pending CN114469651A (en)

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