CN103340734B - 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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- CN103340734B CN103340734B CN201310304045.3A CN201310304045A CN103340734B CN 103340734 B CN103340734 B CN 103340734B CN 201310304045 A CN201310304045 A CN 201310304045A CN 103340734 B CN103340734 B CN 103340734B
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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 rehabilitation training of upper limbs that cerebral apoplexy patient is early stage.
Background technology
The disability rate of apoplexy disease is high, and hemiplegia is the topmost sequela of apoplexy, about has the patient of 75% to have upper extremity motor function disorder in various degree.And the activity of daily living impact of the recovery of upper extremity function on patient is very large.Clinical medicine proves, except early stage operation and necessary Drug therapy, as long as acute stroke patients vital signs stable, neurological symptom was no longer in progress after 48 hours can start rehabilitation.Training starts more early, and the potentiality of motor function recovery are larger.In order to promote patient's rehabilitation as early as possible, generally clinically complete a large amount of rehabilitation training by therapist assisting patients, and train family members for patient and train.But because China patient populations is many, therapist's resource shortage, this training strength is high, and a lot of family members can not complete and abandoning cure, make patient lose the preferably opportunity of rehabilitation simultaneously.For this reason, design safety, early stage upper limb rehabilitation robot that is quantitative, effective, that can carry out repetition training have practical significance.
The shoulder joint of people 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 upper limb fine movement.At the initial stage of hemiplegia patient, normally first carry out takeing on, the rehabilitation of elbow joint motion function.At present, existing upper limb healing mechanism or degree of freedom are too many, complex structure, heaviness, or degree of freedom very little, 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 in prior art runs into, provide a kind of structure simple, assisting patients can complete the healing robot of upper arm flexion/extension, forearm flexion/extension, forearm internal/external rotations three kinds motion.
The technical scheme realizing above-mentioned purpose employing 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 pin shaft joint, described robot upper arm part and forearm part driven shaft connect; Described shoulder comprises shoulder supporting, bearing pin; Described upper arm parts is divided and is comprised upper arm one, upper arm two, upper arm lengths regulating part, adjusting 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 outfan and the bevel gear one of described planetary reduction 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 regulate upper arm lengths by upper arm lengths regulating part and adjusting bolt; Described forethiga divides and 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 regulating part, adjusting bolt, and outfan and the spur gear three of described planetary reduction gear two 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 fan-shaped spur gear four (bull gear); Described forearm one and forearm two regulate forearm by forearm regulating part and adjusting bolt.
The invention has the beneficial effects as follows: invention emulates the upper arm flexion/extension of human upper limb, forearm flexion/extension, forearm internal/external rotations three kinds of rehabilitation exercises, this apparatus structure is compact, safety, cost is low, the gross weight adopting aluminum alloy material is 3kg, can be worn on a patients body, meet human upper limb physiological structure, can be used for hospital rehabilitation training, also can directly use in family.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention.
Fig. 2 is forearm internal/external rotations structure partial schematic diagram.
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.
In figure: 1-shoulder supports; 2-bearing pin; 3-upper arm lengths regulating part; 4-adjusting bolt; 5-direct current generator one; 6-planetary reduction gear one; 7-bevel gear one; 8-bevel gear two; 9-driving shaft; 10-spacer pin; 11-postive stop baffle; 12-driven shaft; 13-adjusting bolt; 14-direct current generator two; 15-planetary reduction gear two; 16-spur gear three; 17-support rails; The fan-shaped spur gear four (bull gear) of 18-; 19-spacer pin; 20-forearm one; 21-forearm regulating part; 22-forearm two; 23-split pin; The fan-shaped spur gear two of 24-; 25-spur gear one; 26-upper arm one; 27-upper arm two; 28-upper arm flexion/extension moves; 29-forearm flexion/extension moves; 30-forearm internal/external rotations is moved.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention will be further described.
See 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, 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 lengths adjustment portion 26,27,3,4, forearm adjustment portion 20,21,22,13, two groups of spacer pins 10 and 19, postive stop baffle 11, support rails 17, bearing pin 2, shoulder support 1, split pin 23 forms.
Planetary reduction gear 1, one end directly connects direct current generator 1, and one end is fixedly connected bevel gear 1; Bevel gear 28, spur gear 1, fan-shaped spur gear 2 24 are connected 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 arranged in the dead eye of upper arm 1; Postive stop baffle 11 is connected by holding screw and driven shaft 12, and spacer pin 10 is fixed in the hole of upper arm 1, is placed in the hole of diverse location by spacer pin 10, realizes the asynchronous safe spacing of forearm flexion/extension range of movement; The physical length of forearm is regulated by forearm 1, forearm 2 22, forearm regulating part 21, adjusting bolt 13, to adapt to the forearm 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 limiting, realizes forearm flexion/extension motion 29; Planetary reduction gear 2 15, one end directly connects direct current generator 2 14, and one end is fixedly connected spur gear 3 16; Support rails 17, is fixed by bolts on forearm 1, and the V-shaped groove of the V-way on it and fan-shaped spur gear four (bull gear) 18 coordinates, for fan-shaped spur gear four (bull gear) 18 provides support and lead; The wrist of human body is fixed in fan-shaped spur gear four (bull gear) 18, realizes forearm internal/external rotations motion 30 by the engagement of spur gear 3 16 and fan-shaped spur gear four (bull gear) 18; Spacer pin 19 is fixed on fan-shaped spur gear four (bull gear) 18, for the safe spacing of forearm internal/external rotations range of movement; Shoulder supporting 1, one end is U-shaped structure, and for fixing with human body shoulder, one end is connected with upper arm 2 27 bearing pin 2, realizes forearm flexion/extension motion 28, and forearm flexion/extension motion 28 belongs to passive joint, does not drive; The physical length of upper arm is regulated by upper arm 1, upper arm 2 27, upper arm lengths regulating part 3, adjusting bolt 4, to adapt to the upper arm lengths of different individual patients.
Specific works process of the present invention:
When direct current generator 1 works, bevel gear 1 is driven by planetary reduction gear 1 reduction of speed, bevel gear 1 and bevel gear 28 engage and drive driving shaft 9 to work, and realize 90 ° of motion conversions of axle, spur gear 1 and fan-shaped spur gear 2 24 engage and drive driven shaft 12 to swing, by the connection of driven shaft 12 and forearm 2 22, 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 the safe spacing of forearm flexion/extension motion;
When direct current generator 2 14 works, spur gear 3 16 is driven by planetary reduction gear 2 15 reduction of speed, V-way on support rails 17 is that fan-shaped spur gear four (bull gear) 18 provides support and lead, and realizes forearm internal/external rotations motion 30 by the engagement of spur gear 3 16 and fan-shaped spur gear four (bull gear) 18.The safe spacing that spacer pin 19 moves for forearm internal/external rotations;
Be arranged on the bearing pin 2 between shoulder supporting 1 and upper arm 2 27, realize forearm flexion/extension motion 28, forearm flexion/extension motion 28 belongs to the passive joint not having to drive, and provides the motility of robot motion.
Claims (4)
1. the 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 part bearing pin (2) connect, described robot upper arm part and forearm part driven shaft (12) connect; Described upper arm parts is divided and is comprised upper arm one (26), upper arm two (27), upper arm lengths regulating part (3), direct current generator one (5), planetary reduction gear one (6), bevel gear one (7), bevel gear two (8), driving shaft (9), spacer pin one (10), postive stop baffle (11), driven shaft (12), spur gear one (25), fan-shaped spur gear two (24), and outfan and the bevel gear one (7) of described planetary reduction gear one (6) 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 one (10) is fixedly connected at upper arm one (26); Described upper arm one (26) and upper arm two (27) regulate upper arm lengths by upper arm lengths regulating part (3); Described forethiga divides and comprises direct current generator two (14), planetary reduction gear two (15), spur gear three (16), support rails (17), fan-shaped spur gear four (18), spacer pin two (19), forearm one (20), forearm two (22), forearm regulating part (21), and outfan and the spur gear three (16) of described planetary reduction gear two (15) are fixedly connected; Described support rails (17) and forearm one (20) are fixedly connected; Described fan-shaped spur gear four (18) is supported in the V-shaped groove of support rails (17); Described spacer pin two (19) is fixed on fan-shaped spur gear four (18); Described forearm one (20) and forearm two (22) regulate forearm by forearm regulating part (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) works, bevel gear one (7) is driven by planetary reduction gear one (6) reduction of speed, bevel gear one (7) and bevel gear two (8) engage and drive driving shaft (9) work, and realize 90 ° of motion conversions of axle, spur gear one (25) and fan-shaped spur gear two (24) engage and drive driven shaft (12) to 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 one (10), the range of movement of the postive stop baffle (11) that restriction and driven shaft (12) connect, realizes the safe spacing of forearm flexion/extension motion.
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) works, spur gear three (16) is driven by planetary reduction gear two (15) reduction of speed, V-way on support rails (17) is that fan-shaped spur gear four (18) provides support and leads, and realizes forearm internal/external rotations motion (30) by the engagement of spur gear three (16) and fan-shaped spur gear four (18); The safe spacing that spacer pin two (19) moves for forearm internal/external rotations.
4. the early stage upper limb rehabilitation robot of Three Degree Of Freedom apoplexy according to claim 1, it is characterized in that: be arranged on the bearing pin (2) between shoulder supporting (1) and upper arm two (27), realize upper arm flexion/extension motion (28), upper arm flexion/extension motion (28) belongs to the passive joint not having to drive, and provides the motility of robot motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
|---|---|---|---|
| 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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| Publication Number | Publication Date |
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| CN103340734A CN103340734A (en) | 2013-10-09 |
| CN103340734B true CN103340734B (en) | 2015-04-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310304045.3A Expired - Fee Related 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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Families Citing this family (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 |
| 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 |
| 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 |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7854708B2 (en) * | 2007-05-22 | 2010-12-21 | Kai Yu Tong | Multiple joint linkage device |
| CN101357097B (en) * | 2008-07-08 | 2010-07-21 | 哈尔滨工业大学 | Five freedom degree ectoskeleton type upper limb rehabilitation robot |
| IT1401979B1 (en) * | 2010-09-28 | 2013-08-28 | C N R Consiglio Naz Ricerche | BIOMEDICAL DEVICE FOR ROBOTIZED REHABILITATION OF THE HUMAN UPPER BODY, PARTICULARLY FOR THE NEUROMOTORY REHABILITATION OF THE ARTICULATION OF THE SHOULDER AND OF THE ELBOW. |
| CN102119902B (en) * | 2011-03-29 | 2012-08-29 | 浙江大学 | Wearable 7-degree-of-freedom upper limb movement rehabilitation training exoskeleton |
| 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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