CN104382723A - Wrist joint rehabilitation robot - Google Patents
Wrist joint rehabilitation robot Download PDFInfo
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- CN104382723A CN104382723A CN201410683033.0A CN201410683033A CN104382723A CN 104382723 A CN104382723 A CN 104382723A CN 201410683033 A CN201410683033 A CN 201410683033A CN 104382723 A CN104382723 A CN 104382723A
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- joint
- carpal joint
- slide block
- support platform
- gear
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Abstract
The invention is realized through the following technical scheme: a power-assisted type two-degree-of-freedom wrist joint rehabilitation robot, comprising a base, a joint flexion and extension branch chain, a joint adduction and abduction branch chain and an executive branch chain. The robot can realize rotations in two directions, namely wrist joint flexion/extension and wrist joint abduction/adduction, wherein the wrist flexion/extension is realized by a branch chain consisting of a wrist joint flexion and extension motor, a wrist flexion and extension gear, a gear rack, a bulb square bar, a half-wrapped ball connecting piece, and an auxiliary ball sliding block, the wrist joint abduction/adduction is realized by a branch chain consisting of a wrist adduction and abduction motor, a wrist adduction and abduction gear, an arc-shaped gear, an L-shaped connecting rod, a sliding block, a sliding block fixing piece, a small supporting platform, a joint articulation piece and a rotational joint, and the two branch chains both act on the executive branch chain to make an anti-skidding handle realize complex space motion trail. The wrist joint rehabilitation robot can not only realize rehabilitation training of the wrist joint, but also have a simple and compact structure, good manufacturing and processing performance, and a low processing cost.
Description
Technical field
The present invention relates to medical rehabilitation robot field, particularly relate to a kind of booster type two degrees of freedom carpal joint healing robot.
Technical background
The rehabilitation that how can solve the human upper limb CNS dyskinesia patient caused by the cause of disease such as apoplexy, cerebral trauma efficiently, at low cost has become social a great problem.Traditional rehabilitation means are mainly treated one hand is dynamic based on the single for the treatment of physician, and are accompanied by simple rehabilitation equipment.Along with patients with cerebral apoplexy is increasing, simple traditional therapy is relied on to be difficult to solve the rehabilitation needs of patient.In order to solve these difficult problems a lot of experts and scholars both domestic and external all at the healing robot of design for rehabilitation training, and progressively replace traditional doctor's treatment.The problem that these healing robots not only can solve medical personnel's manpower and be short of physical strength, can also provide necessary Quantified therapy parameter for the rehabilitation of patient.
According to the development characteristics of human body, the rehabilitation of acral nerve, muscle is the slowest, therefore, in rehabilitation course to acral joint such as: the rehabilitation of carpal joint, articulations digitorum manus is the most key.In addition, in treatment clinical course, end joint motions are often subject to the impact of nearly side end muscle, and the motion of limbs also depends on nearly side end muscle contraction, make the muscle controlling end joint can not get training.Therefore, the rehabilitation equipment designed for the rehabilitation of end simple joint is particularly crucial.And in the rehabilitation equipment only for carpal joint treatment, often only there is passive type mode of operation and take quantity of motion as the damp type mode of operation of standard, as carpal joint CPM machine, lack the carpal joint healing robot of booster type mode of operation.For the research of the whole upper limb rehabilitation robot of booster type, recovering aid Therapy robot equipment both domestic and external is existing a lot, such as: Anyang Shen Fang healing robot company limited pays a kind of upper-limbs rehabilitation training robot patent No. waiting humorously people's design: CN102379793A, a kind of rope-traction upper limb rehabilitation robot patent No. of people's designs such as the Song Rong of Zhongshan University: CN102525712A etc. upper limb rehabilitation robot are multi-joint instruments, these rehabilitation equipments focus on the complexity of motion, and often have ignored the importance of simple joint rehabilitation, especially the carpal rehabilitation training of upper limb.Research department is also seldom had to have research to it for carpal booster type rehabilitation training equipment.
Summary of the invention
For the defect existed in prior art and deficiency, object of the present invention aims to provide a kind of booster type two degrees of freedom carpal joint healing robot.This device can realize the rotation of carpal joint flexion/extension and carpal joint abduction/adduction both direction.This apparatus structure is simple, compact, and manufacture good processability, processing cost is low.
The present invention is achieved by the following technical solutions: carpal joint healing robot, comprises pedestal, side chain is bent and stretched in joint, side chain is taken down the exhibits in joint and perform side chain;
Described pedestal comprises large support platform, arm fore-stock, forearm half bag framework, arm after-poppet, little support platform support and hood, described arm fore-stock and described arm after-poppet are fixed in described large support platform, described little support platform support is fixed in described large support platform, and described forearm half bag framework is fixed on the upper surface of described arm fore-stock and described arm after-poppet;
Described joint bends and stretches that side chain comprises that carpal joint bends and stretches motor, carpal joint bends and stretches gear, tooth bar, bulb square bar, half bag ball connector and the secondary slide block of ball, the centre of described arm fore-stock is provided with two cross bars, described cross bar is provided with through hole, for fixing described bulb square bar, described bulb square bar side is fixed with described tooth bar, the upper end of described bulb square bar is connected by described half bag ball connector with the secondary slide block of described ball, the output shaft that described carpal joint bends and stretches motor is fixedly connected with described carpal joint and bends and stretches gear, and described carpal joint bends and stretches gear and engages with described tooth bar;
Described joint side chain of taking down the exhibits comprises carpal joint and to take down the exhibits motor, carpal joint is taken down the exhibits gear, arc gear wheel, L shape connecting rod, slide block, slide block fixture, little support platform, hinge joints fitting and rotary joint, described carpal joint motor of taking down the exhibits is fixed in described large support platform, described carpal joint gear of taking down the exhibits is fixed on described carpal joint and takes down the exhibits on the output shaft of motor, the upper surface of described little support platform support has a circular hole, described little support platform lower surface is provided with a rotating shaft, described little support platform is connected by bearing with described little support platform support, described L shape connecting rod comprises cross bar and vertical pole, the cross bar of described L shape connecting rod is provided with slide block, described slide block is fixed in described little support platform by described slide block fixture, cross bar one end of described L shape connecting rod is provided with arc gear wheel, described arc gear wheel and described carpal joint are taken down the exhibits gears meshing, the upper end of the vertical pole of described L shape connecting rod is connected by hinge joints fitting with described rotary joint,
Described execution side chain comprises slide rail, handle slide block and Anti-slip handle, and described slide rail is fixed on described rotary joint and the secondary slide block of described ball, and described handle slide block is connected with described slide rail moving sets, and described Anti-slip handle is fixed on described handle slide block.
Further, also comprise hood, described hood is fixed in described large support platform, and described carpal joint bends and stretches motor and is fixed on described hood.
Further, one end of described bulb square bar is a ball, indent in the middle of bar, and has through hole.
Further, one end of described half bag ball connector is half bag ball, for the connection with described bulb square bar, the bar of the other end has a through hole, for the connection with the secondary slide block of described ball.
Further, described L shape connecting rod corner overstriking.
The invention has the beneficial effects as follows: a kind of booster type two degrees of freedom carpal joint healing robot of the present invention can realize the rotation of carpal joint flexion/extension and carpal joint abduction/adduction both direction.Wherein carpal joint flexion/extension be bend and stretch motor by carpal joint, carpal joint bends and stretches gear, tooth bar, bulb square bar, half bag ball connector, the secondary slide block of ball side chain realize, carpal joint abduction/adduction comprise carpal joint take down the exhibits motor, carpal joint take down the exhibits gear, arc gear wheel, L shape connecting rod, slide block, slide block fixture, little support platform, hinge joints fitting, rotary joint side chain realize.The present invention can not only realize carpal rehabilitation training, and structure is simple, compact, and manufacture good processability, processing cost is low.
Accompanying drawing explanation
Fig. 1 graphics of the present invention
Fig. 2 the present invention removes the graphics after hood
Fig. 3 bends and stretches in joint of the present invention the installation diagram of side chain
Fig. 4 takes down the exhibits in joint of the present invention the graphics of side chain
Fig. 5 the present invention performs the graphics of side chain
In figure: 11 large support platforms, 12 arm fore-stocks, 13 forearm half bag frameworks, 14 arm after-poppets, 15 little support platform supports, 16 hoods, 21 carpal joint bend and stretch motor, and 22 carpal joint bend and stretch gear, 23 tooth bars, 24 bulb square bars, 25 half bag ball connectors, the secondary slide block of 26 balls, 31 carpal joint are taken down the exhibits motor, and 32 carpal joint are taken down the exhibits gear, 33 arc gear wheels, 34L shape connecting rod, 35 slide blocks, 36 slide block fixtures, 37 little support platforms, 38 hinge joints fittings, 39 rotary joints, 41 perform side chain comprises slide rail, 42 handle slide blocks, 43 Anti-slip handles, 44 cross bars.
Detailed description of the invention
A kind of booster type two degrees of freedom of a kind of booster type two degrees of freedom carpal joint healing robot carpal joint healing robot that the present invention mentions, comprises pedestal, side chain is bent and stretched in joint, side chain is taken down the exhibits in joint and performs side chain.Wherein, pedestal comprises large support platform 11, arm fore-stock 12, forearm half bag framework 13, arm after-poppet 14, little support platform support 15 and hood 16; Joint bends and stretches that side chain comprises that carpal joint bends and stretches motor 21, carpal joint bends and stretches gear 22, the secondary slide block 26 of tooth bar 23, bulb square bar 24, half bag ball connector 25, ball; Joint side chain of taking down the exhibits comprises take down the exhibits motor 31, carpal joint of carpal joint and to take down the exhibits gear 32, arc gear wheel 33, L shape connecting rod 34, slide block 35, slide block fixture 36, little support platform 37, hinge joints fitting 38, rotary joint 39; Perform side chain and comprise slide rail 41, handle slide block 42, Anti-slip handle 43.
Large support platform 11 bottom surface has some through holes, for connection and the location of arm fore-stock 12, arm after-poppet 14 and hood 16.Indent in the middle of the middle montant of arm fore-stock 12, and have through hole, for connection and the location of tooth bar; The lower end of arm fore-stock 12 has through hole, is fixed on large support platform 11 for it; Arm fore-stock 12 upper end has a through hole, for connecting forearm half bag framework 13.Forearm half bag framework 13, for the forearm of patient, its bottom surface has through hole, for being connected to arm fore-stock 12 and arm after-poppet 14.Little support platform support 15 is fixed on large supporting platform 11, it has a circular hole, after bearing fit, then coordinates with little support platform 37.Hood 16 foot has some through holes, for the connection with large support platform 11.Carpal joint bends and stretches motor 21 and is fixed on hood 16, bends and stretches gear 22 be connected by key and carpal joint.The centre that carpal joint bends and stretches gear 22 has a through hole, and hole wall has keyway, and carpal joint bends and stretches gear 22 and coordinates with tooth bar 23.The two ends of tooth bar 23 have through hole, are connected with bulb square bar 24 by bolt.One end of bulb square bar 24 is a ball, indent in the middle of bar, and has through hole, for location and the connection of tooth bar 23.One end of half bag ball connector 25 is half bag ball, for the connection with bulb square bar 24, the bar of the other end has a through hole, for the connection with the secondary slide block 26 of ball.The effect that the cooperation of bulb square bar 24 and half bag ball connector 25 is played is equivalent to ball pair.One end of the secondary slide block 26 of ball has a groove, and has a through hole, and for the connection with half bag ball connector 25, the other end, in " work " word, has groove in the middle of both sides, for the cooperation with slide rail 41, has through hole in the middle of groove, fixing for slide rail 41.Carpal joint motor 31 of taking down the exhibits is fixed in large support platform 11 and is connected by key and carpal joint gear 32 of taking down the exhibits.The take down the exhibits centre of gear 32 of carpal joint has a through hole, and hole wall has keyway, and carpal joint gear 32 of taking down the exhibits coordinates with arc gear wheel 33.The sector side of arc gear wheel 33 is parts of ordinary straight gear, and opposite side is a square bar, and square bar end has a groove, and has a through hole on its lateral surface, for being connected of L shape connecting rod 34.Projection one cuboid of L shape connecting rod 34, and have a through hole on its lateral surface, for the connection of arc gear wheel 33 and cooperation, opposite side starts through hole, for the connection with hinge joints fitting 38, the effect of gaining in strength, to corner's overstriking gradually, is played in through hole.The centre of slide block 35 has a square through hole, and pass through wherein for L shape connecting rod 34, its upper side has screwed hole, for fixing the connection of 36 with slide block.Slide block fixture 36 foot has through hole, for being fixedly connected with of little support platform 37, have a through hole on the upside of it, for the connection with slide block 35.There is a round boss on the downside of little support platform 37, itself and bearing fit, then coordinate with the middle circular hole of little support platform support 15, can rotate around little support platform support 15.The surface of little support platform 37 has some through holes, for the connection of slide block fixture 36.Has a square groove in the middle of one end of hinge joints fitting 38, and has through hole, for the cooperation of L shape connecting rod 34 and connection, the other end two concave wall of hinge joints fitting 38 has through hole, for the connection with rotary joint 39.One end of rotary joint 39 has through hole, and for the connection with hinge joints fitting 38, the other end has through hole, for the connection with slide rail 41.Slide rail 41 has some through holes, for adjusting with the position of handle slide block 42, rotary joint 39, the secondary slide block 26 of ball and be connected.The side of handle slide block 42 is son in " work ", for the cooperation with slide rail 41, has through hole in the middle of groove, fixing for slide rail 41, and opposite side has through hole, for the connection with Anti-slip handle 43.On the upside of Anti-slip handle 43, cylinder is used for the grasping of staff, and downside has through hole, and for the connection with handle slide block 42, there is a disk centre.
Engineering process of the present invention is as follows: carpal joint flexion/extension be bend and stretch motor 21 by carpal joint, carpal joint bends and stretches gear 22, the side chain of the secondary slide block 26 of tooth bar 23, bulb square bar 24, half bag ball connector 25, ball realizes, bend and stretch motor 21 by control system to carpal joint and send instruction, carpal joint bends and stretches motor 21 and rotates, carpal joint is driven to bend and stretch the rotation of gear 22, thus band carry-over bar 23 moves, then slide rail 41 is driven to rotate through bulb square bar 24, half bag ball connector 25, the secondary slide block 26 of ball.Carpal joint abduction/adduction comprise carpal joint take down the exhibits motor 31, carpal joint take down the exhibits gear 32, arc gear wheel 33, L shape connecting rod 34, slide block 35, slide block fixture 36, little support platform 37, hinge joints fitting 38, rotary joint 39 side chain realize, control system sends movement instruction to carpal joint motor 31 of taking down the exhibits, carpal joint motor 31 of taking down the exhibits rotates, and drives carpal joint gear 32 of taking down the exhibits to rotate.Thus drive the rotation of arc gear wheel 33, L shape connecting rod 34, slide block 35, slide block fixture 36, little support platform 37 are interconnected, the rotation of arc gear wheel 33, drive the rotation of L shape connecting rod 34, slide block 35, slide block fixture 36, little support platform 37 entirety, then driven the rotation of slide rail 41 by hinge joints fitting 38, rotary joint 39.Article two, side chain combined effect is on slide rail 41, makes the Anti-slip handle 43 be connected with slide rail 41 be provided with complicated space motion path, thus drives the carpal joint of patient to carry out rehabilitation training.
In addition to the implementation, the present invention can also have other embodiments.All employings are equal to the technical scheme of replacement or equivalent transformation formation, all drop on the protection domain of application claims.
Claims (5)
1. carpal joint healing robot, is characterized in that, comprises pedestal, side chain is bent and stretched in joint, side chain is taken down the exhibits in joint and performs side chain;
Described pedestal comprises large support platform (11), arm fore-stock (12), forearm half bag framework (13), arm after-poppet (14), little support platform support (15) and hood (16), described arm fore-stock (12) and described arm after-poppet (14) are fixed on described large support platform (11), described little support platform support (15) is fixed on described large support platform (11), described forearm half bag framework (13) is fixed on the upper surface of described arm fore-stock (12) and described arm after-poppet (14),
Described joint is bent and stretched side chain and is comprised carpal joint and bend and stretch motor (21), carpal joint bends and stretches gear (22), tooth bar (23), bulb square bar (24), half bag ball connector (25) and the secondary slide block (26) of ball, the centre of described arm fore-stock (12) is provided with two cross bars (44), described cross bar (44) is provided with through hole, for fixing described bulb square bar (24), described bulb square bar (24) side is fixed with described tooth bar (23), the upper end of described bulb square bar (24) is connected by described half bag ball connector (25) with the secondary slide block (26) of described ball, the output shaft that described carpal joint bends and stretches motor (21) is fixedly connected with described carpal joint and bends and stretches gear (22), described carpal joint bends and stretches gear (22) and engages with described tooth bar (23),
Described joint side chain of taking down the exhibits comprises carpal joint and to take down the exhibits motor (31), carpal joint is taken down the exhibits gear (32), arc gear wheel (33), L shape connecting rod (34), slide block (35), slide block fixture (36), little support platform (37), hinge joints fitting (38) and rotary joint (39), described carpal joint motor (31) of taking down the exhibits is fixed on described large support platform (11), described carpal joint gear (32) of taking down the exhibits is fixed on described carpal joint and takes down the exhibits on the output shaft of motor (31), the upper surface of described little support platform support (15) has a circular hole, described little support platform (37) lower surface is provided with a rotating shaft, described little support platform (37) is connected by bearing with described little support platform support (15), described L shape connecting rod (34) comprises cross bar and vertical pole, the cross bar of described L shape connecting rod (34) is provided with slide block (35), described slide block (35) is fixed on described little support platform (37) by described slide block fixture (36), cross bar one end of described L shape connecting rod (34) is provided with arc gear wheel (33), described arc gear wheel (33) and described carpal joint gear (32) of taking down the exhibits engages, the upper end of the vertical pole of described L shape connecting rod (34) is connected by hinge joints fitting (38) with described rotary joint (39),
Described execution side chain comprises slide rail (41), handle slide block (42) and Anti-slip handle (43), described slide rail (41) is fixed on described rotary joint (39) and the secondary slide block (26) of described ball, described handle slide block (42) is connected with described slide rail (41) moving sets, and described Anti-slip handle (43) is fixed on described handle slide block (42).
2. carpal joint healing robot according to claim 1, it is characterized in that, also comprise hood (16), described hood (16) is fixed on described large support platform (11), and described carpal joint bends and stretches motor (21) and is fixed on described hood (16).
3. carpal joint healing robot according to claim 1, is characterized in that, one end of described bulb square bar (24) is a ball, indent in the middle of bar, and has through hole.
4. carpal joint healing robot according to claim 1, it is characterized in that, one end of described half bag ball connector (25) is half bag ball, for the connection with described bulb square bar (24), the bar of the other end has a through hole, for the connection with the secondary slide block (26) of described ball.
5. carpal joint healing robot according to claim 1, is characterized in that, the overstriking of described L shape connecting rod (34) corner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410683033.0A CN104382723B (en) | 2014-11-24 | 2014-11-24 | Carpal joint healing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410683033.0A CN104382723B (en) | 2014-11-24 | 2014-11-24 | Carpal joint healing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104382723A true CN104382723A (en) | 2015-03-04 |
| CN104382723B CN104382723B (en) | 2016-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410683033.0A Expired - Fee Related CN104382723B (en) | 2014-11-24 | 2014-11-24 | Carpal joint healing robot |
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| Country | Link |
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| CN (1) | CN104382723B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107374912A (en) * | 2017-08-28 | 2017-11-24 | 哈尔滨理工大学 | A kind of upper-limbs rehabilitation training robot |
| CN108992308A (en) * | 2018-08-30 | 2018-12-14 | 成都中医药大学 | A kind of scapulohumeral periarthritis athletic rehabilitation treatment disk |
| IT202000012682A1 (en) | 2020-05-28 | 2021-11-28 | Marco Ceccarelli | WRIST REHABILITATION EXERCISE DEVICE |
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| CN201244163Y (en) * | 2008-08-21 | 2009-05-27 | 信海燕 | Rehabiliation apparatus for limb and wrist |
| US20120238920A1 (en) * | 2010-09-16 | 2012-09-20 | Novokinetics, Llc | Rehabilitative apparatus for treating reflex sympathetic dystrophy |
| CN103083156A (en) * | 2013-01-21 | 2013-05-08 | 江苏大学 | Three-degree of freedom parallel serial upper limb rehabilitation robot |
| CN103110499A (en) * | 2012-11-29 | 2013-05-22 | 东华大学 | Wrist joint rehabilitation training device |
| CN204379698U (en) * | 2014-11-24 | 2015-06-10 | 江苏大学 | Carpal joint healing robot |
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2014
- 2014-11-24 CN CN201410683033.0A patent/CN104382723B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201244163Y (en) * | 2008-08-21 | 2009-05-27 | 信海燕 | Rehabiliation apparatus for limb and wrist |
| US20120238920A1 (en) * | 2010-09-16 | 2012-09-20 | Novokinetics, Llc | Rehabilitative apparatus for treating reflex sympathetic dystrophy |
| CN103110499A (en) * | 2012-11-29 | 2013-05-22 | 东华大学 | Wrist joint rehabilitation training device |
| CN103083156A (en) * | 2013-01-21 | 2013-05-08 | 江苏大学 | Three-degree of freedom parallel serial upper limb rehabilitation robot |
| CN204379698U (en) * | 2014-11-24 | 2015-06-10 | 江苏大学 | Carpal joint healing robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107374912A (en) * | 2017-08-28 | 2017-11-24 | 哈尔滨理工大学 | A kind of upper-limbs rehabilitation training robot |
| CN108992308A (en) * | 2018-08-30 | 2018-12-14 | 成都中医药大学 | A kind of scapulohumeral periarthritis athletic rehabilitation treatment disk |
| CN108992308B (en) * | 2018-08-30 | 2023-12-22 | 成都中医药大学 | Scapulohumeral periarthritis exercise rehabilitation treatment disc |
| IT202000012682A1 (en) | 2020-05-28 | 2021-11-28 | Marco Ceccarelli | WRIST REHABILITATION EXERCISE DEVICE |
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| CN104382723B (en) | 2016-08-24 |
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