CN103340734A - Upper limb rehabilitation robot with three degrees of freedom for early-stage cerebral apoplexy - Google Patents
Upper limb rehabilitation robot with three degrees of freedom for early-stage cerebral apoplexy Download PDFInfo
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- CN103340734A CN103340734A CN2013103040453A CN201310304045A CN103340734A CN 103340734 A CN103340734 A CN 103340734A CN 2013103040453 A CN2013103040453 A CN 2013103040453A CN 201310304045 A CN201310304045 A CN 201310304045A CN 103340734 A CN103340734 A CN 103340734A
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Abstract
The invention discloses an upper limb rehabilitation robot with three degrees of freedom for early-stage cerebral apoplexy, and relates to the field of medical devices. The upper limb rehabilitation robot is used for assisting a patient in finishing three actions, namely upper arm bending / stretching, forearm bending / stretching and forearm internal rotation / external rotation. The upper limb rehabilitation robot is structurally and mainly composed of a direct current motor, a planetary reducer, a pair of bevel gears, two pairs of straight gears, a transmission shaft, a pin shaft, a limiting pin, a limiting baffle, a shoulder part, an upper arm adjusting part, a forearm adjusting part and a supporting guide rail. The output end of the planetary reducer is fixedly connected with the gears. The limiting baffle is connected with a driven shaft. Through the adjustment of the position of the limiting pin, safe limit is realized when the forearm bending / stretching movement ranges are different. The actual length of a forearm and the actual length of an upper arm can be adjusted. The V-shaped structure of the supporting guide rail provides support and guide for the four fan-shaped straight gears. The upper limb rehabilitation robot with three degrees of freedom for the early-stage cerebral apoplexy is compact in structure, safe, low in cost and light in weight, conforms to the physiological structure of the upper limbs of a human body, can be worn on the patient, and can be used in hospital rehabilitation training or in a family.
Description
Technical field
The invention belongs to medical instruments field, it relates to a kind of recovery exercising robot, is specially adapted to the early stage rehabilitation training of upper limbs of cerebral apoplexy patient.
Background technology
The disability rate of apoplexy disease is high, and hemiplegia is the topmost sequela of apoplexy, has 75% patient that in various degree upper extremity exercise dysfunction is arranged approximately.And the recovery of upper extremity function is very big to patient's activity of daily living influence.Clinical medicine proves that except early stage operation and necessary medicine treatment, as long as the acute stroke patients vital signs stable, neurological symptom no longer makes progress can begin rehabilitation after 48 hours.Training begins more early, and the potentiality of motor function recovery are more big.In order to promote patient's rehabilitation as early as possible, generally finish a large amount of rehabilitation trainings by the auxiliary patient of therapist clinically, and the training family members train for the patient.But since many, the therapist's resource shortage of China's patient's quantity, this training strength height of while, and a lot of family members can not finish and abandoning cure, make patient lose the preferably opportunity of rehabilitation.For this reason, design safety, early stage upper limb rehabilitation robot quantitative, effective, that can carry out repetition training have practical significance.
People's shoulder joint and elbow joint are the bases of upper limb activity, by the motion of human body shoulder joint and elbow joint, can realize the grand movement of upper limb.And the motion of wrist, articulations digitorum manus can realize the upper limb fine movement.At the initial stage of hemiplegia patient, normally take on earlier, the rehabilitation of elbow joint motor function.At present, existing upper limb healing mechanism or degree of freedom are too many, complex structure, heaviness, perhaps degree of freedom very little, be used for the early stage rehabilitation training poor effect of cerebral apoplexy patient.
Summary of the invention
The present invention be directed to the problem that the early stage rehabilitation training of upper limbs of cerebral apoplexy patient runs in the prior art, provide a kind of simple in structure, can assist the patient to finish the healing robot of upper arm flexion/extension, forearm flexion/extension, three kinds of motions of forearm internal/external rotations.
Realize that the technical scheme that above-mentioned purpose adopts is: the early stage upper limb rehabilitation robot of a kind of Three Degree Of Freedom apoplexy, comprise shoulder, upper arm part and forearm part, described robot shoulder and upper arm part connect with bearing pin, and described robot upper arm part and forearm part connect with driven shaft; Described shoulder comprises shoulder supporting, bearing pin; Described upper arm parts branch comprises upper arm one, upper arm two, upper arm length adjustment piece, regulates bolt, direct current generator one, planetary reduction gear one, bevel gear one, bevel gear two, driving shaft, spacer pin, postive stop baffle, driven shaft, spur gear one, fan-shaped spur gear two, split pin, and the outfan of described planetary reduction gear one and bevel gear one are fixedly connected; Described bevel gear two and spur gear one are fixedly connected with driving shaft; Described fan-shaped spur gear two and postive stop baffle and driven shaft are fixedly connected; Described spacer pin is fixedly connected at upper arm one; Described upper arm one and upper arm two are regulated upper arm length by upper arm length adjustment piece and adjusting bolt; Described forethiga branch comprises direct current generator two, planetary reduction gear two, spur gear three, support rails, fan-shaped spur gear four (bull gear), spacer pin, forearm one, forearm two, forearm length adjustment piece, regulates bolt, and the outfan of described planetary reduction gear two and spur gear three are fixedly connected; Described support rails and forearm one are fixedly connected; Described fan-shaped spur gear four (bull gear) is supported in the V-shaped groove of support rails; Described spacer pin is fixed on the fan-shaped spur gear four (bull gear); Described forearm one and forearm two are regulated forearm length by forearm length adjustment piece and adjusting bolt.
The invention has the beneficial effects as follows: the present invention has simulated three kinds of rehabilitation exercises of upper arm flexion/extension, forearm flexion/extension, forearm internal/external rotations of human upper limb, this apparatus structure compactness, safety, cost is low, adopting the gross weight of aluminum alloy material is 3kg, can be worn on a patients body, and meets the human upper limb physiological structure, can be used for the hospital rehabilitation training, also can directly use in family.
Description of drawings
Fig. 1 is overall structure sketch map of the present invention.
Fig. 2 is forearm internal/external rotations structure partial sketch map.
Fig. 3 is forearm internal/external rotations supporting construction partial sectional view.
Fig. 4 is forearm flexion/extension sports safety position limiting structure partial schematic diagram.
Among the figure: the supporting of 1-shoulder; The 2-bearing pin; 3-upper arm length adjustment piece; 4-regulates bolt; 5-direct current generator one; 6-planetary reduction gear one; 7-bevel gear one; 8-bevel gear two; The 9-driving shaft; The 10-spacer pin; The 11-postive stop baffle; The 12-driven shaft; 13-regulates bolt; 14-direct current generator two; 15-planetary reduction gear two; 16-spur gear three; The 17-support rails; The fan-shaped spur gear four of 18-(bull gear); The 19-spacer pin; 20-forearm one; 21-forearm length adjustment piece; 22-forearm two; The 23-split pin; The fan-shaped spur gear two of 24-; 25-spur gear one; 26-upper arm one; 27-upper arm two; The motion of 28-upper arm flexion/extension; The motion of 29-forearm flexion/extension; The motion of 30-forearm internal/external rotations.
The specific embodiment
The present invention will be further described below in conjunction with accompanying drawing.
Referring to accompanying drawing 1, accompanying drawing 2, accompanying drawing 3 and accompanying drawing 4, the early stage upper limb rehabilitation robot of Three Degree Of Freedom apoplexy of the present invention comprises shoulder, upper arm part and forearm part.Its structure by two direct current generators 5 and 14, two planetary reduction gears 6 and 15, the two pairs of spur gears 24 and 25 and 16 and 18, bevel- gear sett 7 and 8, two power transmission shafts 9 and 12, upper arm length adjusting portion divide 26,27,3,4, forearm length adjusting portion divides 20,21,22,13, two groups of spacer pins 10 and 19, postive stop baffle 11, support rails 17, bearing pin 2, shoulder supporting 1, split pin 23 to form.
Planetary reduction gear 1, an end directly connects direct current generator 1, the end bevel gear 1 that is fixedly connected; Bevel gear 28, spur gear 1, fan-shaped spur gear 2 24 connect with driving shaft 9, driven shaft 12 respectively by key, realize the swing of driven shaft 12; Driving shaft 9 and driven shaft 12 are supported by anti-wear sleeve, and axle sleeve is installed in the dead eye of upper arm 1; Postive stop baffle 11 connects by holding screw and driven shaft 12, and spacer pin 10 is fixed in the hole of upper arm 1, is placed on by spacer pin 10 in the hole of diverse location, realizes that the asynchronous safety of forearm flexion/extension range of movement is spacing; The physical length of forearm is regulated by forearm 1, forearm 2 22, forearm length adjustment piece 21, adjusting bolt 13, to adapt to the forearm length of different individual patients; The end of driven shaft 12 is square and the square groove of forearm 2 22 connects, and with split pin 23 axial limitings, realizes forearm flexion/extension motion 29; Planetary reduction gear 2 15, an end directly connects direct current generator 2 14, the end spur gear 3 16 that is fixedly connected; Support rails 17 is fixed by bolts on the forearm 1, and the V-shaped groove of the V-way on it and fan-shaped spur gear four (bull gear) 18 cooperates, for fan-shaped spur gear four (bull gear) 18 provides support and leads; The wrist of human body is fixed in the fan-shaped spur gear four (bull gear) 18, by the engagement realization forearm internal/external rotations motion 30 of spur gear 3 16 and fan-shaped spur gear four (bull gear) 18; Spacer pin 19 is fixed on the fan-shaped spur gear four (bull gear) 18, and the safety that is used for forearm internal/external rotations range of movement is spacing; Shoulder supporting 1, one end is the U-shaped structure, is used for fixing with the human body shoulder, and an end is connected with upper arm 2 27 usefulness bearing pins 2, realizes forearm flexion/extension motion 28, and forearm flexion/extension motion 28 belongs to passive joint, not driving; The physical length of upper arm is regulated by upper arm 1, upper arm 2 27, upper arm length adjustment piece 3, adjusting bolt 4, to adapt to the upper arm length of different individual patients.
Concrete work process of the present invention:
When direct current generator one 5 work, drive bevel gear 1 by planetary reduction gear one 6 reductions of speed, bevel gear 1 and bevel gear 28 engagements drive driving shaft 9 work, and 90 ° of motions that realize axle are changed, spur gear 1 and 2 24 engagements of fan-shaped spur gear drive driven shaft 12 swings, by the connection of driven shaft 12 and forearm 2 22, realize forearm flexion/extension motion 29.Be placed on by spacer pin 10 in the hole of diverse location, the range of movement of the postive stop baffle 11 that restriction and driven shaft 12 connect realizes that the safety of forearm flexion/extension motion is spacing;
When direct current generator 2 14 work, drive spur gear 3 16 by planetary reduction gear 2 15 reductions of speed, V-way on the support rails 17 is that fan-shaped spur gear four (bull gear) 18 provides support and leads, and the engagement by spur gear 3 16 and fan-shaped spur gear four (bull gear) 18 realizes forearm internal/external rotations motion 30.Spacer pin 19 is spacing for the safety of forearm internal/external rotations motion;
Be installed in the bearing pin 2 between shoulder supporting 1 and the upper arm 2 27, realize forearm flexion/extension motion 28, forearm flexion/extension motion 28 belongs to the passive joint that does not have driving, and robot motion's motility is provided.
Claims (4)
1. early stage upper limb rehabilitation robot of Three Degree Of Freedom apoplexy, comprise shoulder, upper arm part, forearm part, it is characterized in that: described robot shoulder and upper arm partly use bearing pin (2) to connect, and described robot upper arm part and forearm partly use driven shaft (12) to connect; Described upper arm parts branch comprises upper arm one (26), upper arm two (27), upper arm length adjustment piece (3), direct current generator one (5), planetary reduction gear one (6), bevel-gear sett (7) and (8), driving shaft (9), spacer pin (10), postive stop baffle (11), driven shaft (12), spur gear one (25), fan-shaped spur gear two (24), and the outfan of described planetary reduction gear one (6) and bevel gear one (7) are fixedly connected; Described bevel gear two (8) and spur gear one (25) are fixedly connected with driving shaft (9); Described fan-shaped spur gear two (24) and postive stop baffle (11) are fixedly connected with driven shaft (12); Described spacer pin (10) is fixedly connected at upper arm one (26); Described upper arm one (26) and upper arm two (27) are regulated upper arm length by upper arm length adjustment piece (3); Described forethiga branch comprises direct current generator two (14), planetary reduction gear two (15), spur gear three (16), support rails (17), fan-shaped spur gear four (bull gear) (18), spacer pin (19), forearm one (20), forearm two (22), forearm length adjustment piece (21), and the outfan of described planetary reduction gear two (15) and spur gear three (16) are fixedly connected; Described support rails (17) and forearm one (20) are fixedly connected; Described fan-shaped spur gear four (bull gear) (18) is supported in the V-shaped groove of support rails (17); Described spacer pin (19) is fixed on the fan-shaped spur gear four (bull gear) (18); Described forearm one (20) and forearm two (22) are regulated forearm length by forearm length adjustment piece (21).
2. the early stage upper limb rehabilitation robot of Three Degree Of Freedom apoplexy according to claim 1, it is characterized in that: when direct current generator one (5) work, drive bevel gear one (7) by planetary reduction gear one (6) reduction of speed, bevel gear one (7) and bevel gear two (8) engagements drive driving shaft (9) work, and 90 ° of motions that realize axle are changed, spur gear one (25) and two (24) engagements of fan-shaped spur gear drive driven shaft (12) swing, the end of driven shaft (12) is square, be fixedly connected with the square groove of forearm two (22), and with split pin (23) axial limiting, realize forearm flexion/extension motion (29).Be placed in the hole of diverse location by spacer pin (10), the range of movement of the postive stop baffle (11) that restriction and driven shaft (12) connect realizes that the safety of forearm flexion/extension motion is spacing.
3. the early stage upper limb rehabilitation robot of Three Degree Of Freedom apoplexy according to claim 1, it is characterized in that: when direct current generator two (14) work, drive spur gear three (16) by planetary reduction gear two (15) reductions of speed, V-way on the support rails (17) is that fan-shaped spur gear four (bull gear) (18) provides support and leads, and the engagement by spur gear three (16) and fan-shaped spur gear four (bull gear) (18) realizes forearm internal/external rotations motion (30).Spacer pin (19) is spacing for the safety of forearm internal/external rotations motion.
4. the early stage upper limb rehabilitation robot of Three Degree Of Freedom apoplexy according to claim 1, it is characterized in that: be installed in the bearing pin (2) between shoulder supporting (1) and the upper arm two (27), realize forearm flexion/extension motion (28), forearm flexion/extension motion (28) belongs to the passive joint that does not have driving, and robot motion's motility is provided.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201310304045.3A CN103340734B (en) | 2013-07-19 | 2013-07-19 | Upper limb rehabilitation robot with three degrees of freedom for early-stage cerebral apoplexy |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310304045.3A CN103340734B (en) | 2013-07-19 | 2013-07-19 | Upper limb rehabilitation robot with three degrees of freedom for early-stage cerebral apoplexy |
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| CN103340734A true CN103340734A (en) | 2013-10-09 |
| CN103340734B CN103340734B (en) | 2015-04-15 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103948485A (en) * | 2014-05-08 | 2014-07-30 | 河北联合大学 | Exoskeleton-type upper limb rehabilitant robot |
| CN104887458A (en) * | 2015-06-23 | 2015-09-09 | 天津科技大学 | Human body upper limb function automatic auxiliary recovery apparatus |
| CN108904223A (en) * | 2018-08-23 | 2018-11-30 | 温州医科大学附属第二医院、温州医科大学附属育英儿童医院 | A kind of multi-trace arm synkinesia instrument and its synkinesia method |
| CN109259979A (en) * | 2018-08-22 | 2019-01-25 | 上海电气集团股份有限公司 | The interchangeable upper limb rehabilitation robot of right-hand man and its control method |
| CN112274377A (en) * | 2020-10-09 | 2021-01-29 | 重庆大学 | Rehabilitation robot arm rotary platform module |
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| CN101357097A (en) * | 2008-07-08 | 2009-02-04 | 哈尔滨工业大学 | Five degree of freedom ectoskeleton type upper limb rehabilitation robot |
| CN102119902A (en) * | 2011-03-29 | 2011-07-13 | 浙江大学 | Wearable 7-degree-of-freedom upper limb movement rehabilitation training exoskeleton |
| CN102316840A (en) * | 2007-05-22 | 2012-01-11 | 香港理工大学 | Joint linkage device |
| WO2012042471A1 (en) * | 2010-09-28 | 2012-04-05 | C.N.R. Consiglio Nazionale Ricerche | Biomedical device for robotized rehabilitation of a human upper limb, particularly for neuromotor rehabilitation of the shoulder and elbow joint |
| CN203447479U (en) * | 2013-07-19 | 2014-02-26 | 河北联合大学 | Three-freedom-degree upper limb rehabilitation robot for early cerebral apoplexy patients |
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2013
- 2013-07-19 CN CN201310304045.3A patent/CN103340734B/en not_active Expired - Fee Related
Patent Citations (5)
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| CN102316840A (en) * | 2007-05-22 | 2012-01-11 | 香港理工大学 | Joint linkage device |
| CN101357097A (en) * | 2008-07-08 | 2009-02-04 | 哈尔滨工业大学 | Five degree of freedom ectoskeleton type upper limb rehabilitation robot |
| WO2012042471A1 (en) * | 2010-09-28 | 2012-04-05 | C.N.R. Consiglio Nazionale Ricerche | Biomedical device for robotized rehabilitation of a human upper limb, particularly for neuromotor rehabilitation of the shoulder and elbow joint |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103948485A (en) * | 2014-05-08 | 2014-07-30 | 河北联合大学 | Exoskeleton-type upper limb rehabilitant robot |
| CN104887458A (en) * | 2015-06-23 | 2015-09-09 | 天津科技大学 | Human body upper limb function automatic auxiliary recovery apparatus |
| CN104887458B (en) * | 2015-06-23 | 2017-04-19 | 天津科技大学 | Human body upper limb function automatic auxiliary recovery apparatus |
| CN109259979A (en) * | 2018-08-22 | 2019-01-25 | 上海电气集团股份有限公司 | The interchangeable upper limb rehabilitation robot of right-hand man and its control method |
| CN108904223A (en) * | 2018-08-23 | 2018-11-30 | 温州医科大学附属第二医院、温州医科大学附属育英儿童医院 | A kind of multi-trace arm synkinesia instrument and its synkinesia method |
| CN108904223B (en) * | 2018-08-23 | 2024-04-09 | 温州医科大学附属第二医院、温州医科大学附属育英儿童医院 | Multi-track arm auxiliary motion instrument and auxiliary motion method thereof |
| CN112274377A (en) * | 2020-10-09 | 2021-01-29 | 重庆大学 | Rehabilitation robot arm rotary platform module |
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| CN103340734B (en) | 2015-04-15 |
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