CN106176144A - A kind of medical rehabilitation mechanical hand - Google Patents
A kind of medical rehabilitation mechanical hand Download PDFInfo
- Publication number
- CN106176144A CN106176144A CN201610880466.4A CN201610880466A CN106176144A CN 106176144 A CN106176144 A CN 106176144A CN 201610880466 A CN201610880466 A CN 201610880466A CN 106176144 A CN106176144 A CN 106176144A
- Authority
- CN
- China
- Prior art keywords
- mechanical hand
- slide block
- guide rail
- horizontal guide
- connects
- 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.)
- Pending
Links
- 210000000707 wrist Anatomy 0.000 claims abstract description 5
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 206010033799 Paralysis Diseases 0.000 description 2
- 208000021090 palsy Diseases 0.000 description 2
- 210000001364 upper extremity Anatomy 0.000 description 2
- 208000024172 Cardiovascular disease Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000002526 effect on cardiovascular system Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- 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
- 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
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 belongs to technical field of medical instruments, provide a kind of medical rehabilitation mechanical hand, including: base, the movable supporting frame mechanism being positioned on base, left mechanical hand and right mechanical hand, movable supporting frame mechanism is provided with horizontal guide rail, left mechanical hand and right mechanical hand move horizontally along horizontal guide rail, left mechanical hand is identical with right robot manipulator structure, left mechanical hand and right mechanical hand are respectively provided with slide block, slide block connects seat, supporting plate, mechanical hand linking arm and rotating mechanism, slide block is positioned at horizontal guide rail, slide block is connected seat and connects with slide block, mechanical hand linking arm one end is connected seat and connects with slide block.This medical rehabilitation mechanical hand passes through driven by motor screw turns, leading screw and nut screw connection, thus drive framework to move up and down along vertical guide rail, left mechanical hand and right mechanical hand are moved along horizontal guide rail by slide block, so that wrist brace is suitable for the both arms of patient, patient can utilize mechanical hand rehabilitation, and structure is ingenious, can Reusability, greatly alleviate the working strength of medical worker.
Description
Technical field
The invention belongs to technical field of medical instruments, be specifically related to a kind of medical rehabilitation mechanical hand.
Background technology
Suffering from cardiovascular and cerebrovascular disease causes the patient of upper extremity palsy to get more and more.And the later stage rehabilitation of current upper extremity palsy patient
Training is the human assistance by physiatrician, needs to spend substantial amounts of human resources and materials and equipment resources, due to physiatrician's
Fatigue causes training strength to be also insufficient to, training effectiveness is low.
Summary of the invention
The purpose of the present invention is exactly for overcoming above-mentioned technical deficiency, it is provided that a kind of medical rehabilitation mechanical hand.
For realizing technique scheme, the invention provides a kind of medical rehabilitation mechanical hand, including: base, be positioned at base
On movable supporting frame mechanism, left mechanical hand and right mechanical hand, described movable supporting frame mechanism is provided with horizontal guide rail, left machine
Tool hands and right mechanical hand move horizontally along horizontal guide rail, and described left mechanical hand is identical with right robot manipulator structure, left mechanical hand and the right side
Mechanical hand is respectively provided with slide block, slide block connects seat, supporting plate, mechanical hand linking arm and rotating mechanism, and described slide block is positioned at horizontal guide rail
In, slide block is connected seat and connects with slide block, and mechanical hand linking arm one end is connected seat and connects with slide block, and the other end is with mechanical hand rotating shaft even
Connecing, mechanical hand rotating shaft can rotate around mechanical hand linking arm, and mechanical hand rotating shaft is connected with rotating mechanism by four-bar mechanism, four bar machines
Structure is connected with tilted supporter, and tilted supporter is provided with the first chest expander, and rotating mechanism is connected with four-bar mechanism by drive mandrel, rotates
Mechanism is connected with guide rail by the second chest expander, and supporting plate is positioned on guide rail and is locked on guide rail by locking nut, supporting plate and
Wrist brace.
Preferably, described movable supporting frame mechanism comprises motor, framework support body, vertical guide rail and screw mandrel, described motor
And between screw mandrel, it being provided with shaft coupling, screw mandrel is connected with nut, and nut is fixed on framework support body, and horizontal guide rail is positioned at framework support body
Top, lower frame vertically moves along vertical guide rail.
Preferably, described left mechanical hand and right mechanical hand being respectively equipped with sensor, described sensor is connected with computer.
Having the beneficial effects that of a kind of medical rehabilitation mechanical hand that the present invention provides: by driven by motor screw turns, silk
Thick stick and nut screw connection, thus drive framework to move up and down along vertical guide rail, left mechanical hand and right mechanical hand pass through slide block along level
Guide rail moves, so that wrist brace is suitable for the both arms of patient, patient can utilize mechanical hand rehabilitation, and structure is ingenious, can be repeatedly
Use, greatly alleviate the working strength of medical worker.
Accompanying drawing explanation
Fig. 1 is the perspective view of the present invention.
Fig. 2 is the front view of the present invention.
Fig. 3 is the sectional view of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Whole description, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments.Ability
The every other embodiment that territory ordinary person is obtained under not making creative work premise, belongs to the protection of the present invention
Scope.
Embodiment: a kind of medical rehabilitation mechanical hand.
Shown in reference Fig. 1-3, a kind of medical rehabilitation mechanical hand, including: base 1, the movable supporting framework being positioned on base 1
Mechanism 2, left mechanical hand 3 and right mechanical hand 4, described movable supporting frame mechanism 2 is provided with horizontal guide rail 16, left mechanical hand 3 and the right side
Mechanical hand 4 moves horizontally along horizontal guide rail 16.
Concrete, described movable supporting frame mechanism 2 comprises motor 19, framework support body 14, vertical guide rail 10 and screw mandrel 13,
Movable supporting frame mechanism 2 is externally provided with movable supporting frame mechanism shell 17, is provided with shaft coupling between described motor 19 and screw mandrel 13
Device 18, motor 19 is positioned on motor cabinet 11, and motor cabinet 11 is positioned on base 1, and screw mandrel 13 is connected with nut 12, and nut 12 is fixed on
On framework support body 14, horizontal guide rail 16 is positioned at framework support body 14 top, framework support body 14 bottom by horizontal guide rail mounting seat 15
Vertically move along vertical guide rail 10；Described left mechanical hand 3 is identical with right mechanical hand 4 structure, and described left mechanical hand 3 has slide block
20, slide block connects seat 21, supporting plate 31, mechanical hand linking arm 22 and rotating mechanism 28, and described slide block 20 is positioned at horizontal guide rail 16,
Slide block 20 is connected seat 21 and connects with slide block, and mechanical hand linking arm 22 one end is connected seat 21 and connects with slide block, the other end and mechanical hand
Rotating shaft 23 connects, and mechanical hand rotating shaft 23 can rotate around mechanical hand linking arm 22, and mechanical hand rotating shaft 23 is by four-bar mechanism 24 and rotation
Rotation mechanism 28 connects, and four-bar mechanism 24 is connected with tilted supporter 26, and tilted supporter 26 is provided with the first chest expander 25, and rotating mechanism 28 leads to
Crossing drive mandrel 27 to be connected with four-bar mechanism 24, rotating mechanism 28 is connected with guide rail by the second chest expander 34, and supporting plate 31 is positioned at
It is locked on guide rail 33 on guide rail 33 and by locking nut 32, supporting plate 31 and wrist brace 30.
In use, first patient is sitting in before passive type rehabilitation medical dual-arm robot the present invention, leans against movable supporting
Frame mechanism 2, drives screw mandrel 13 to move by the motor 19 in movable supporting frame mechanism 2, thus drives and practice level with nut 12
Framework support body 14 move along vertical guide rail 10, control mechanical hand height be adapted for patient, then regulate on left mechanical hand 3
Slide block 20 and the slide block 20 of right mechanical hand 4 so that it is being suitable for the both arms of patient, and lock with locking nut 32, each arm is with two
Root belt is tied up on left mechanical hand 3 or right mechanical hand 4 so that mechanical hand couples together with the arm of patient, makes the patient can be flexible
Motion and mechanical hand can move along with patient moving.
Above content is to combine concrete preferred implementation further description made for the present invention, it is impossible to assert
Being embodied as of the present invention is confined to these explanations.For those skilled in the art, do not taking off
On the premise of present inventive concept, it is also possible to make some equivalents and substitute or obvious modification, and performance or purposes are identical, all answer
When being considered as belonging to protection scope of the present invention.
Claims (3)
1. a medical rehabilitation mechanical hand, it is characterised in that: the movable supporting frame mechanism that include base, is positioned on base, a left side
Mechanical hand and right mechanical hand, described movable supporting frame mechanism is provided with horizontal guide rail, left mechanical hand and right mechanical hand and leads along level
Rail moves horizontally, and described left mechanical hand is identical with right robot manipulator structure, and left mechanical hand and right mechanical hand are respectively provided with slide block, slide block even
Joint chair, supporting plate, mechanical hand linking arm and rotating mechanism, described slide block is positioned at horizontal guide rail, and slide block is connected seat and connects with slide block,
Mechanical hand linking arm one end is connected seat and connects with slide block, and the other end is connected with mechanical hand rotating shaft, and mechanical hand rotating shaft can be around mechanical hand
Linking arm rotates, and mechanical hand rotating shaft is connected with rotating mechanism by four-bar mechanism, and four-bar mechanism is connected with tilted supporter, on tilted supporter
Being provided with the first chest expander, rotating mechanism is connected with four-bar mechanism by drive mandrel, and rotating mechanism passes through the second chest expander and leads
Rail connects, and supporting plate is positioned on guide rail and is locked on guide rail by locking nut, supporting plate and wrist brace.
Medical rehabilitation mechanical hand the most according to claim 1, it is characterised in that: described movable supporting frame mechanism comprises electricity
Machine, framework support body, vertical guide rail and screw mandrel, be provided with shaft coupling between described motor and screw mandrel, screw mandrel is connected with nut, and nut is solid
Being scheduled on framework support body, horizontal guide rail is positioned at framework support body top, and lower frame vertically moves along vertical guide rail.
Medical rehabilitation mechanical hand the most according to claim 2, it is characterised in that: divide on described left mechanical hand and right mechanical hand
Not being provided with sensor, described sensor is connected with computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610880466.4A CN106176144A (en) | 2016-10-08 | 2016-10-08 | A kind of medical rehabilitation mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610880466.4A CN106176144A (en) | 2016-10-08 | 2016-10-08 | A kind of medical rehabilitation mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106176144A true CN106176144A (en) | 2016-12-07 |
Family
ID=57521085
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610880466.4A Pending CN106176144A (en) | 2016-10-08 | 2016-10-08 | A kind of medical rehabilitation mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106176144A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107773388A (en) * | 2017-12-07 | 2018-03-09 | 同济大学浙江学院 | Upper limbs coordinates the governor motion of device for healing and training |
| CN108499017A (en) * | 2017-12-07 | 2018-09-07 | 同济大学浙江学院 | Upper limb coordinates device for healing and training |
| CN115137614A (en) * | 2022-07-16 | 2022-10-04 | 上海术理智能科技有限公司 | Mounting bracket of hand activity instrument, rehabilitation training device, equipment and using method |
-
2016
- 2016-10-08 CN CN201610880466.4A patent/CN106176144A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107773388A (en) * | 2017-12-07 | 2018-03-09 | 同济大学浙江学院 | Upper limbs coordinates the governor motion of device for healing and training |
| CN108499017A (en) * | 2017-12-07 | 2018-09-07 | 同济大学浙江学院 | Upper limb coordinates device for healing and training |
| CN107773388B (en) * | 2017-12-07 | 2024-03-08 | 同济大学浙江学院 | Adjustment mechanism of upper limb coordination rehabilitation training device |
| CN108499017B (en) * | 2017-12-07 | 2024-03-12 | 同济大学浙江学院 | Upper limb coordination rehabilitation training device |
| CN115137614A (en) * | 2022-07-16 | 2022-10-04 | 上海术理智能科技有限公司 | Mounting bracket of hand activity instrument, rehabilitation training device, equipment and using method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20161207 |