CN102908241B - Centrally-driven upper limb rehabilitation training mechanical arm - Google Patents
Centrally-driven upper limb rehabilitation training mechanical arm Download PDFInfo
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- CN102908241B CN102908241B CN201210429385.4A CN201210429385A CN102908241B CN 102908241 B CN102908241 B CN 102908241B CN 201210429385 A CN201210429385 A CN 201210429385A CN 102908241 B CN102908241 B CN 102908241B
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Abstract
The invention relates to a centrally-driven upper limb rehabilitation mechanical arm. A main rod component is connected with an elbow joint component through a shoulder joint component; a large arm outer rod of the elbow joint component is fixedly connected with a middle U-shaped barrel of the shoulder joint component; a large arm inner rod of the elbow joint component is connected with a third small conical gear of the shoulder joint part; a large straight gear, a middle straight gear and a small straight gear of the main rod component are connected with a main rod large conical gear, a main rod middle conical gear and a main rod small conical gear through a large rod, a middle rod and a small rod respectively; the main rod large conical gear is in transmission connection with the large U-shaped barrel in the shoulder joint component through the large conical gear, so that extension and contraction movement of the shoulder joint are realized; the main rod middle conical gear is in transmission with the middle U-shaped barrel through a first middle conical gear, a shoulder middle rod, a second middle conical gear and a third middle conical gear, so that the inward contraction/outward extension movement of the shoulder joint are realized; and the main rod small conical gear is in transmission connection with the handle through a first small conical gear, a third small conical gear, a fourth small conical gear, a fifth small conical gear and a U-shaped barrel, so that bending and extension movement of the elbow joint are realized.
Description
Technical field
The present invention relates to a kind of mechanical arm for rehabilitation training of upper limbs, especially a kind of upper limb disorder mechanical arm for rehabilitation training that apoplexy causes (comprising the neural rehabilitation of upper extremity function) that is applied to; Also can be applied to the upper limb disorder mechanical arm for rehabilitation training that cerebral palsy, wound, diabetes etc. cause.
Background technology
Apoplexy survival patient is numerous, and wherein hemiplegia, locomotor activity forfeiture are topmost sequela.Nearly 85% patient is damaged with upper extremity function for post-stroke, within 3-6 month after morbidity, still with upper limb disorder, the recovery problem of research post-stroke upper extremity function has become the most challenging problem in clinical rehabilitation field to 55-75% patient in them.
Domestic and international electronic upper limb healing arm is all generally that motor is arranged on to joint at present, so not only attractive in appearance not, also often bring noise to patient, make the arm volume increase that motor causes simultaneously also can bring pressure at heart to patient, in addition, general electronic upper limb healing arm can only carry out single armed rehabilitation training, can not allow both arms have handicapped patient to train respectively left/right upper arm, greatly reduce the application efficiency of product, thereby research and develop that a kind of left/right arm all can use separately, the Novel rehabilitation training mechanical arm of the upper limb disorder of central drive system structure, make rehabilitation training of upper limbs arm lightness, to improving patients with cerebral apoplexy upper limb disorder rehabilitation outcome, promote that innovation and the industry development of China's rehabilitation training of upper limbs equipment are significant.
Summary of the invention
The present invention is placed in order to overcome motor the inconvenience that joint causes, reduce the volume of mechanical arm, improve the utilization rate of mechanical arm simultaneously, realize the function that left/right arm all can use separately, a kind of center driven formula upper limb healing machinery arm is provided, the mechanical arm of this center driven formula upper limb healing machinery arm, by axle sleeve and gear, is transferred to each joint by the output torque of motor, controls the motion in each joint.
The technical solution adopted for the present invention to solve the technical problems is: a kind of center driven formula upper limb healing machinery arm, comprise mobile jib parts, and shoulder joint parts and elbow joint parts, be characterized in: mobile jib parts top connects elbow joint parts by shoulder joint parts; The outer bar of large arm of elbow joint parts is fixedly connected with U-shaped cylinder in shoulder joint parts, and in the large arm of elbow joint parts, bar is fixedly connected with the 3rd bevel pinion of shoulder joint parts; Mobile jib parts lower end power intake is equipped with large straight gear, middle spur gear and small Spur gear, large straight gear, middle spur gear and small Spur gear are respectively by large bar, mobile jib bevel gear wheel on king-rod and little bar and mobile jib parts overhead power outfan, bevel gear in mobile jib, mobile jib bevel pinion connects, for three kinds of parallel power sources are passed through to large bar, king-rod, little bar is sent to respectively mobile jib bevel gear wheel, and bevel gear in mobile jib, on mobile jib bevel pinion.
Mobile jib bevel gear wheel is in transmission connection by the large U type cylinder in the bevel gear wheel in shoulder joint parts and shoulder joint parts, realizes the stretch/Qu Yundong of shoulder joint.
In mobile jib bevel gear by bevel gear in bevel gear and the 3rd in bevel gear in first in shoulder joint parts, shoulder king-rod, second and shoulder joint parts U-shaped be in transmission connection, realize the interior receipts/abduction exercise of shoulder joint.
Mobile jib bevel pinion by the first bevel pinion in shoulder joint parts, take on bevel gear and the 3rd bevel pinion in little bar, the second bevel pinion, the 4th and be in transmission connection, the 3rd bevel pinion is in transmission connection with handle by the 4th bevel pinion in elbow joint parts, the 5th bevel pinion and U-shaped cylinder, realizes the song of elbow joint/stretch motion.
Mobile jib parts also comprise and rotate up and down dish, wherein going up rolling disc is connected with mobile jib, lower rolling disc is fixed on mechanical arm mount pad, between upper and lower two rolling discs, relatively rotate or be fixedly connected with by screw, mobile jib rotates driving mechanical arm and rotates, and realizes the function that left/right arm all can be trained separately.
The invention has the beneficial effects as follows:
The present invention is by adopting form of sleeve and Bevel Gear Transmission, by three kinds of power sources of centralized Chinese style glitch-free shoulder joint and elbow joint of passing to mutually, realize elbow joint one degree of freedom (bent/to stretch), the motion of two degree of freedom of shoulder joint (interior receipts/abduction, bent/to stretch).Therefore, the center driven formula structure of the present invention's design, not only can make arm away from motor, reduces the impact of radiation and noise, can also change easily left/right arm and train separately.
Brief description of the drawings
Fig. 1 is structural upright schematic diagram of the present invention;
Fig. 2 is mobile jib parts front views;
Fig. 3 is the cutaway view along A-A in Fig. 2;
Fig. 4 is shoulder joint parts front views;
Fig. 5 is the cutaway view along A-A in Fig. 4;
Fig. 6 is elbow joint parts front views;
Fig. 7 is along the cutaway view along A-A in Fig. 6.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further described.
As shown in Figures 1 to 7, center driven formula upper limb healing machinery arm of the present invention, comprises mobile jib parts 100, shoulder joint parts 101 and elbow joint parts 102.
As Fig. 2, shown in 3, mobile jib parts 100 comprise mobile jib bevel pinion 1, bevel gear 2 in mobile jib, mobile jib bevel gear wheel 3, large straight gear 4, middle spur gear 5, small Spur gear 6, rotates up and down dish 8,7, mobile jib 12, large bar 11, king-rod 10 and little bar 9, mobile jib 12 lower ends are fixedly connected with rolling disc 8, rotate or be fixedly connected with between upper rolling disc 8 and lower rolling disc 7, and lower rolling disc 7 is fixed on mechanical arm mount pad.Interior little bar 9, king-rod 10 and the large bar 11 of being equipped with respectively of mobile jib 12, and little bar 9 and king-rod 10 are socketed in large bar 11 successively, mobile jib bevel pinion 1 is installed by bearing respectively in little bar 9, king-rod 10 and large bar 11 upper ends, bevel gear 2 in mobile jib, mobile jib bevel gear wheel 3, small Spur gear 6, middle spur gear 5 and large straight gear 4 are installed respectively in lower end.
Mobile jib bevel pinion 1 is connected by little bar 9 with small Spur gear 6, and middle bevel gear 2 is connected by king-rod 10 with middle spur gear 5, and mobile jib bevel gear wheel 3 is connected by large bar 11 with large straight gear 4, all utilizes flat key to carry out power transmission.Meanwhile, in mobile jib bevel pinion 1 and mobile jib between bevel gear 2, in mobile jib between bevel gear 2 and mobile jib bevel gear wheel 3, all utilize bearing to keep relative motion, make large straight gear 4, middle spur gear 5, non-interference between three kinds of power that small Spur gear 6 transmits, be independent of each other.Outer bar mainly plays a supportive role.
Between lower rolling disc 7 and upper rolling disc 8, can keep relatively rotating, also can fix by screw, and upper rolling disc 8 is fixedly connected with by screw with mobile jib 12, therefore, rolling disc 8 in rotation, the relatively large bar 11 of mobile jib 12 meeting, king-rod 10 and little bar 9 rotate, and have realized the function that left/right arm all can use separately.
As Fig. 4, shown in 5, U-shaped cylinder 13 during shoulder joint parts 101 comprise, bevel gear 14 in the 3rd, shoulder axle 15, large U type cylinder 16, bevel gear 17 in second, take on little bar 18, shoulder king-rod 19, bevel gear wheel 20, bevel gear 21 in first, the first to the 3rd bevel pinion 22, 23, 25, large U type cylinder 16 is fixedly connected with bevel gear wheel 20, in large U type cylinder 16 and bevel gear wheel 20, by bearing, shoulder king-rod 19 is installed, shoulder king-rod 19 left sides, right-hand member is fixedly connected with respectively in second bevel gear 21 in bevel gear 17 and first, the little bar 18 of shoulder is housed in shoulder king-rod 19, and take on little bar 18 left sides, right-hand member is flexibly connected with bevel gear 21 in bevel gear in second 17 and first by bearing respectively, take on little bar 18 left sides, on right-hand member, be fixedly connected with respectively the second bevel pinion 23 and the first bevel pinion 22, U-shaped cylinder 13 in being connected with bearing by shoulder axle 15 in large U type cylinder 16, be arranged on shoulder axle 15 upper and lower parts of U-shaped cylinder 13 and connect the 3rd bevel gear 14 and the 4th bevel gear 24 by bearing respectively, in the 3rd bevel gear 14 with in U-shaped cylinder 13 be fixedly connected with, and with second in bevel gear 17 be connected with a joggle, bevel gear 24 is connected with a joggle with the second bevel pinion 23 and the 3rd bevel pinion 25 respectively in the 4th.
Bevel pinion 1, middle bevel gear 2, bevel gear wheel 3 respectively with Fig. 3 in bevel pinion 22, middle bevel gear 21, bevel gear wheel 20 engages, and has realized the right angle drive of power.
Bevel gear wheel 20 is connected with large U type cylinder 16 screw threads, be screwed, thereby power, from large straight gear 4, through large bar 11, mobile jib bevel gear wheel 3, bevel gear wheel 20, passes on large U type cylinder 16, has realized the stretch/Qu Yundong of shoulder joint simultaneously.
As Fig. 6, shown in 7, elbow joint parts 102 comprise handle 26, bar 27 in forearm, the outer bar 28 of forearm, U-shaped cylinder 29, elbow axle 30, little U-shaped cylinder 31, the 4th bevel pinion 32, bar 33 in large arm, large arm king-rod 34, the outer bar 35 of large arm, the 5th bevel pinion 36, in the outer bar 35 of large arm, be fixedly connected with large arm king-rod 34, large arm king-rod 34 front ends are fixedly connected with little U-shaped cylinder 31, in little U-shaped cylinder 31, bar 33 in large arm is housed, in large arm, bar 33 front ends are fixedly connected with the 4th bevel pinion 32, and be connected with little U-shaped cylinder 31 by bearing, little U-shaped cylinder 31 is flexibly connected U-shaped cylinder 29 by elbow axle 30, U-shaped cylinder 29 is fixedly connected with the 5th bevel pinion 36 above, the 5th bevel pinion 36 and the 4th bevel pinion 32 are connected with a joggle, U-shaped cylinder 29 front ends are fixedly connected with the outer bar 28 of forearm, in the outer bar 28 of forearm, bar 27 in forearm is housed, in forearm, bar 27 front ends are equipped with handle 26.
In large arm, bar 33 one end are connected with the 4th bevel pinion 32, and the other end is connected with the 3rd bevel pinion 25 in shoulder joint parts 101, all by flat key, the power on the 3rd bevel pinion 25 is delivered on the 4th bevel pinion 32.The 4th bevel pinion 32 engages with the 5th bevel pinion 36, has realized the right angle drive of power.The 5th bevel pinion 36 coordinates by flat key with U-shaped cylinder, the power on the 5th bevel pinion 36 is delivered on U-shaped cylinder 29, then is delivered on handle 26 by U-shaped cylinder 29, has realized the song of elbow joint/stretch motion.
Claims (2)
1. a center driven formula upper limb healing machinery arm, comprise mobile jib parts (100), shoulder joint parts (101) and elbow joint parts (102), is characterized in that: described mobile jib parts (100) top connects elbow joint parts (102) by shoulder joint parts (101), the outer bar (35) of large arm of elbow joint parts (102) is fixedly connected with U-shaped cylinder (13) in shoulder joint parts (101), and in the large arm of elbow joint parts (102), bar (33) is fixedly connected with the 3rd bevel pinion (25) of shoulder joint parts (101), mobile jib parts (100) lower end power intake is equipped with large straight gear (4), middle spur gear (5) and small Spur gear (6), large straight gear (4), middle spur gear (5) and small Spur gear (6) are respectively by large bar (11), mobile jib bevel gear wheel (3) on king-rod (10) and little bar (9) and mobile jib parts (100) overhead power outfan, bevel gear in mobile jib (2), mobile jib bevel pinion (1) connects, for three kinds of parallel power sources are passed through to large bar (11), king-rod (10), little bar (9) is sent to respectively mobile jib bevel gear wheel (3), bevel gear in mobile jib (2), on mobile jib bevel pinion (1), described mobile jib bevel gear wheel (3) is in transmission connection by the bevel gear wheel (20) in shoulder joint parts (101) and the large U type cylinder (16) in shoulder joint parts (101), realizes the stretch/Qu Yundong of shoulder joint, bevel gear in described mobile jib (2) is in transmission connection by U-shaped (13) in bevel gear (14) in bevel gear (17) and the 3rd in bevel gear (21) in first in shoulder joint parts (101), shoulder king-rod (19), second and shoulder joint parts (101), realizes the interior receipts/abduction exercise of shoulder joint, described mobile jib bevel pinion (1) by the first bevel pinion (22) in shoulder joint parts (101), take on bevel gear (24) and the 3rd bevel pinion (25) in little bar (18), the second bevel pinion (23), the 4th and be in transmission connection, the 3rd bevel pinion (25) is in transmission connection with handle (26) by the 4th bevel pinion (32) in elbow joint parts (102), the 5th bevel pinion (36) and U-shaped cylinder (29), realizes the song of elbow joint/stretch motion.
2. center driven formula upper limb healing machinery arm according to claim 1, it is characterized in that: described mobile jib parts (100) also comprise and rotate up and down dish (8,7), wherein go up rolling disc (8), be connected with mobile jib (12), lower rolling disc (7) is fixed on mechanical arm mount pad, upper and lower two rolling discs (8,7) between, relatively rotate or be fixedly connected with by screw, mobile jib (12) rotates driving mechanical arm and rotates, and realizes the function that left/right arm all can be trained separately.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210429385.4A CN102908241B (en) | 2012-11-01 | 2012-11-01 | Centrally-driven upper limb rehabilitation training mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210429385.4A CN102908241B (en) | 2012-11-01 | 2012-11-01 | Centrally-driven upper limb rehabilitation training mechanical arm |
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| Publication Number | Publication Date |
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| CN102908241A CN102908241A (en) | 2013-02-06 |
| CN102908241B true CN102908241B (en) | 2014-06-18 |
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| CN201210429385.4A Active CN102908241B (en) | 2012-11-01 | 2012-11-01 | Centrally-driven upper limb rehabilitation training mechanical arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103552088B (en) * | 2013-10-12 | 2016-06-22 | 杨兆奎 | A kind of wrist |
| CN110074945B (en) * | 2019-06-10 | 2021-10-26 | 上海理工大学 | Forearm self-adaptive mechanism for central driving upper limb rehabilitation robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100010396A1 (en) * | 2001-12-13 | 2010-01-14 | Ermi Corporation | Shoulder extension control device |
| CN202069819U (en) * | 2011-05-03 | 2011-12-14 | 上海理工大学 | Upper limb rehabilitation training device |
| CN202875743U (en) * | 2012-11-01 | 2013-04-17 | 上海理工大学 | Light-duty upper limb rehabilitation training device |
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2012
- 2012-11-01 CN CN201210429385.4A patent/CN102908241B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100010396A1 (en) * | 2001-12-13 | 2010-01-14 | Ermi Corporation | Shoulder extension control device |
| CN202069819U (en) * | 2011-05-03 | 2011-12-14 | 上海理工大学 | Upper limb rehabilitation training device |
| CN202875743U (en) * | 2012-11-01 | 2013-04-17 | 上海理工大学 | Light-duty upper limb rehabilitation training device |
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Effective date of registration: 20160919 Address after: Shanghai city 201203 Bibo Road, Pudong New Area Zhangjiang hi tech Park No. 500 Room 102 Patentee after: JINHO ROBOT (SHANGHAI) CO., LTD. Address before: 200093 Shanghai military road, Yangpu District, No. 516 Patentee before: University of Shanghai for Science and Technology |