CN104382723B - Carpal joint healing robot - Google Patents
Carpal joint healing robot Download PDFInfo
- Publication number
- CN104382723B CN104382723B CN201410683033.0A CN201410683033A CN104382723B CN 104382723 B CN104382723 B CN 104382723B CN 201410683033 A CN201410683033 A CN 201410683033A CN 104382723 B CN104382723 B CN 104382723B
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- joint
- carpal joint
- slide block
- support platform
- carpal
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Abstract
The present invention is achieved by the following technical solutions: a kind of booster type two degrees of freedom carpal joint healing robot, and it includes that pedestal, joint bend and stretch side chain, side chain is taken down the exhibits in joint and performs side chain.The present invention can realize carpal joint flexion/extension and the rotation of carpal joint abduction/adduction both direction.The side chain that wherein carpal joint flexion/extension is bent and stretched motor by carpal joint, carpal joint bends and stretches gear, tooth bar, bulb square bar, half bag ball connector, ball pair slide block form realizes, carpal joint abduction/adduction is mainly realized by carpal joint motor, the carpal joint side chain that gear, arc gear wheel, L-shaped connecting rod, slide block, slide block fixture, little support platform, hinge joints fitting, rotary joint form of taking down the exhibits of taking down the exhibits, two side chains act on execution side chain jointly so that Anti-slip handle is capable of the space motion path of complexity.The present invention can not only realize carpal rehabilitation training, and simple in construction, compact, manufactures good processability, and processing cost is low.
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
How can solve the human upper limb CNS dyskinesia caused by the cause of disease such as apoplexy, cerebral trauma efficiently at low cost
The rehabilitation of patient has become as society's a great problem.Traditional rehabilitation means are mainly moved with the single pair of one hand for the treatment of physician
Treatment is main, and is accompanied by simple rehabilitation equipment.Along with patients with cerebral apoplexy is increasing, rely on simple traditional therapy very
It is difficult to resolve the rehabilitation needs of certainly patient.All designing for rehabilitation training to solve these difficult problems a lot of experts and scholars both domestic and external
Healing robot, and progressively replace traditional doctor's treatment.These healing robots not only can solve medical personnel's manpower and body
Hypodynamic problem, it is also possible to for the Quantified therapy parameter that the rehabilitation offer of patient is necessary.
According to the development characteristics of human body, acral nerve, muscle rehabilitation the slowest, therefore, to limbs in rehabilitation course
End joint is such as: carpal joint, articulations digitorum manus rehabilitation the most key.Additionally, in treatment clinical course, end joint
Motion is often affected by nearly side end muscle, and the motion of limbs also depends on nearly side end muscle contraction so that control
The muscle in end joint processed can not get training.Therefore, the rehabilitation equipment designed for end simple joint rehabilitation is particularly critical.And
In the rehabilitation equipment treated only for carpal joint, the most only there is passive type mode of operation and the damp type with quantity of motion as standard
Mode of operation, such as carpal joint CPM machine, lacks the carpal joint healing robot of booster type mode of operation.Whole for booster type
The research of upper limb rehabilitation robot, recovering aid Therapy robot equipment both domestic and external is a lot, such as: the rehabilitation of Anyang god side
A kind of upper-limbs rehabilitation training robot patent No. paying humorously et al. design of company limited of robot: CN102379793A, Zhong Shan
A kind of rope-traction upper limb rehabilitation robot patent No. of Song Rong of university et al. design: all upper limb rehabilitation machines such as CN102525712A
Device people is multi-joint instrument, and these rehabilitation equipments focus on the complexity of motion, and often have ignored simple joint rehabilitation
The carpal rehabilitation training of importance, especially upper limb.Research department is seldom had for carpal booster type rehabilitation training equipment
Door has research to it.
Summary of the invention
For defect and deficiency present in prior art, the purpose of the present invention aims to provide a kind of booster type two degrees of freedom carpal joint
Healing robot.This device can realize carpal joint flexion/extension and the rotation of carpal joint abduction/adduction both direction.This apparatus structure is simple,
Compact, manufacture good processability, processing cost is low.
The present invention is achieved by the following technical solutions: carpal joint healing robot, bends and stretches side chain, pass including pedestal, joint
Joint is taken down the exhibits side chain and is performed side chain；
Described pedestal includes big support platform, arm fore-stock, forearm half bag framework, arm after-poppet, little support platform support
With hood, described arm fore-stock and described arm after-poppet are fixed in described big support platform, described little support platform support
Being fixed in described big support platform, described forearm half bag framework is fixed on the upper of described arm fore-stock and described arm after-poppet
Surface；
Described joint bend and stretch side chain include that carpal joint bends and stretches motor, carpal joint bends and stretches gear, tooth bar, bulb square bar, half bag ball even
Fitting and ball pair slide block, the centre of described arm fore-stock is provided with two cross bars, and 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, and the upper end of described bulb square bar and described ball pair slide block pass through institute
Stating half bag ball connector to connect, described carpal joint bends and stretches the output shaft described carpal joint of fixing connection of motor and bends and stretches gear, described wrist
Joint is bent and stretched gear and is engaged with described tooth bar；
Described joint take down the exhibits side chain include carpal joint take down the exhibits motor, carpal joint take down the exhibits gear, arc gear wheel, L-shaped 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 on described big support
On platform, described carpal joint take down the exhibits gear be fixed on described carpal joint take down the exhibits motor output shaft on, described little support platform support
Upper surface have a circular hole, described little support platform lower surface is provided with a rotating shaft, and described little support platform is put down with described little support
Platform support is connected by bearing, and described L-shaped connecting rod includes that cross bar and vertical pole, the cross bar of described L-shaped connecting rod are provided with slide block, institute
Stating slide block fixture to be fixed on by described slide block in described little support platform, cross bar one end of described L-shaped connecting rod is provided with arc gear wheel,
Described arc gear wheel gear of taking down the exhibits with described carpal joint engages, and the upper end of the vertical pole of described L-shaped connecting rod is passed through with described rotary joint
Hinge joints fitting connects；
Described execution side chain includes slide rail, handle slide block and Anti-slip handle, and described slide rail is fixed on described rotary joint and described ball
On secondary slide block, 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 including that hood, described hood are fixed in described big support platform, described carpal joint bends and stretches motor and fixes
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, another
A through hole is had, for the connection with described ball pair slide block on the bar of end.
Further, described L-shaped 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 carpal joint and bend
/ stretch and the rotation of carpal joint abduction/adduction both direction.Wherein carpal joint flexion/extension be bent and stretched motor by carpal joint, carpal joint bends and stretches
Gear, tooth bar, bulb square bar, half bag ball connector, the side chain of ball pair slide block realize, and carpal joint abduction/adduction includes carpal joint
Take down the exhibits motor, carpal joint is taken down the exhibits gear, arc gear wheel, L-shaped connecting rod, slide block, slide block fixture, little support platform, joint
Articulated elements, the side chain of rotary joint realize.The present invention can not only realize carpal rehabilitation training, and simple in construction, tight
Gathering, manufacture good processability, processing cost is low.
Accompanying drawing explanation
The graphics of Fig. 1 present invention
Fig. 2 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 present invention performs the graphics of side chain
In figure: 11 big support platforms, 12 arm fore-stocks, 13 forearm half bag frameworks, 14 arm after-poppets, 15 little supports are put down
Platform support, 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 bags
Ball connector, 26 ball pair slide blocks, 31 carpal joint take down the exhibits motor, and 32 carpal joint are taken down the exhibits gear, and 33 arc gear wheels, 34L shape is even
Bar, 35 slide blocks, 36 slide block fixtures, 37 little support platforms, 38 hinge joints fittings, 39 rotary joints, 41 perform side chain bag
Include 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 carpal joint healing robot one booster type two degrees of freedom carpal joint rehabilitation machines that the present invention mentions
Device people, including pedestal, side chain is bent and stretched in joint, side chain is taken down the exhibits in joint and performs side chain.Wherein, pedestal include big 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 is bent and stretched
Side chain includes that carpal joint bends and stretches motor 21, carpal joint bends and stretches gear 22, tooth bar 23, bulb square bar 24, half bag ball connector 25,
Ball pair slide block 26；Joint side chain of taking down the exhibits includes that take down the exhibits motor 31, carpal joint of 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, rotary joint 39；Perform to prop up
Chain includes slide rail 41, handle slide block 42, Anti-slip handle 43.
Big support platform 11 bottom surface has some through holes, for arm fore-stock 12, arm after-poppet 14 and the company of hood 16
Connect and position.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；Before arm
The lower end of support 12 has through hole, is fixed on big 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 placing 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 big support platform 11,
Have a circular hole on it, after bearing fit, then coordinate with little support platform 37.Have some through holes on hood 16 foot, use
In the connection with big support platform 11.Carpal joint bends and stretches motor 21 and is fixed on hood 16, bends and stretches gear by key and carpal joint
22 are connected.Carpal joint bends and stretches the centre of gear 22 and has a through hole, and hole wall has keyway, carpal joint bend and stretch gear 22 with
Tooth bar 23 coordinates.The two ends of tooth bar 23 have through hole, are connected with bulb square bar 24 by bolt.The one of bulb square bar 24
End 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
It is half bag ball, for the connection with bulb square bar 24, the bar of the other end has a through hole, be used for and ball pair slide block 26
Connection.It is secondary that what the cooperation of bulb square bar 24 and half bag ball connector 25 was played functions as ball.One end of ball pair slide block 26
Having a groove, and have a through hole, for the connection with half bag ball connector 25, the other end, in " work " word, is opened in the middle of both sides
Have groove, for and the cooperation of slide rail 41, have through hole in the middle of groove, for and slide rail 41 fixing.Carpal joint is taken down the exhibits motor 31
It is fixed in big support platform 11 and is connected by key gear 32 of taking down the exhibits with carpal joint.The take down the exhibits centre of gear 32 of carpal joint has
One through hole, hole wall has keyway, and carpal joint gear 32 of taking down the exhibits coordinates with arc gear wheel 33.The sector one of arc gear wheel 33
Side is a part for 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 with being connected of L-shaped connecting rod 34.One projection one cuboid of L-shaped connecting rod 34, and it is logical to have one on its lateral surface
Hole, is used for the connection with arc gear wheel 33 and cooperation, and opposite side starts through hole, for the connection with hinge joints fitting 38,
The effect increasing intensity, to corner's gradually overstriking, is played in through hole.The centre of slide block 35 has a square through hole, for L
Shape connecting rod 34 passes through wherein, and its upper side has screwed hole, for fixing the connection of 36 with slide block.Slide block fixture 36
Have through hole on foot, for the fixing connection with little support platform 37, on the upside of it, have a through hole, for the company with slide block 35
Connect.A round boss is had on the downside of little support platform 37, itself and bearing fit, then join with the little middle circular hole of support platform support 15
Close, can rotate around little support platform support 15.The surface of little support platform 37 has some through holes, for slide block fixture 36
Connection.Have a square groove in the middle of one end of hinge joints fitting 38, and have through hole, for and L-shaped connecting rod 34 cooperation and
Connect, the other end two concave wall of hinge joints fitting 38 has through hole, for the connection with rotary joint 39.Rotary joint
One end of 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.
Have some through holes on slide rail 41, be used for and handle slide block 42, rotary joint 39, the position adjustment of ball pair slide block 26 and connection.
The side of handle slide block 42 is son in " work ", for and the cooperation of slide rail 41, have through hole in the middle of groove, for and the consolidating of slide rail 41
Fixed, opposite side has through hole, for the connection with Anti-slip handle 43.On the upside of Anti-slip handle 43, cylinder is for the grasping of staff,
Downside has through hole, and for the connection with handle slide block 42, there is a disk centre.
The engineering process of the present invention is as follows: carpal joint flexion/extension be bent and stretched motor 21 by carpal joint, carpal joint bends and stretches gear 22, tooth
Bar 23, bulb square bar 24, half bag ball connector 25, the side chain of ball pair slide block 26 realize, control system bend and stretch to carpal joint
Motor 21 sends instruction, and carpal joint bends and stretches motor 21 and rotates, and drives carpal joint to bend and stretch the rotation of gear 22, thus band carry-over bar
23 motions, then drive slide rail 41 to rotate through bulb square bar 24, half bag ball connector 25, ball pair slide block 26.Outside carpal joint
Exhibition/interior packet receiving include carpal joint take down the exhibits motor 31, carpal joint take down the exhibits gear 32, arc gear wheel 33, L-shaped connecting rod 34, slide block 35,
Slide block fixture 36, little support platform 37, hinge joints fitting 38, the side chain of rotary joint 39 realize, and control system is closed to wrist
Joint motor 31 of taking down the exhibits sends movement instruction, and carpal joint motor 31 of taking down the exhibits rotates, and drives carpal joint gear 32 of taking down the exhibits to rotate.Thus
Driving the rotation of arc gear wheel 33, L-shaped connecting rod 34, slide block 35, slide block fixture 36, little support platform 37 are connected with each other,
The rotation of arc gear wheel 33, drive L-shaped connecting rod 34, slide block 35, slide block fixture 36, little support platform 37 entirety turn
Dynamic, then the rotation of slide rail 41 is driven by hinge joints fitting 38, rotary joint 39.Article two, side chain acts on slide rail 41 jointly
On so that the Anti-slip handle 43 being connected with slide rail 41 is provided with the space motion path of complexity, thus drives the wrist of patient to close
Joint carries out rehabilitation training.
In addition to the implementation, the present invention can also have other embodiments.The skill that all employing equivalents or equivalent transformation are formed
Art scheme, all falls within the protection domain of application claims.
Claims (5)
1. carpal joint healing robot, it is characterised in that include that pedestal, joint bend and stretch side chain, side chain is taken down the exhibits in joint and perform side chain；
Described pedestal includes big 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 big support platform (11), described little support platform support (15) is fixed on described big support platform (11), described forearm half bag framework (13) is fixed on described arm fore-stock (12) and the upper surface of described arm after-poppet (14)；
Described joint is bent and stretched side chain and is included that carpal joint bends and stretches motor (21), carpal joint bends and stretches gear (22), tooth bar (23), bulb square bar (24), half bag ball connector (25) and ball pair slide block (26), 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 described ball pair slide block (26), described carpal joint bends and stretches the output shaft described carpal joint of fixing connection of motor (21) and bends and stretches gear (22), described carpal joint bends and stretches gear (22) and engages with described tooth bar (23)；
nullDescribed joint side chain of taking down the exhibits includes that carpal joint is taken down the exhibits motor (31)、Carpal joint is taken down the exhibits gear (32)、Arc gear wheel (33)、L-shaped 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 big support platform (11)，Described carpal joint take down the exhibits gear (32) be fixed on described carpal joint take down the exhibits motor (31) output shaft on，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-shaped connecting rod (34) includes cross bar and vertical pole，The cross bar of described L-shaped 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-shaped connecting rod (34) is provided with arc gear wheel (33)，Described arc gear wheel (33) gear (32) of taking down the exhibits with described carpal joint engages，The upper end of the vertical pole of described L-shaped connecting rod (34) is connected by hinge joints fitting (38) with described rotary joint (39)；
Described execution side chain includes slide rail (41), handle slide block (42) and Anti-slip handle (43), described slide rail (41) is fixed on described rotary joint (39) and described ball pair slide block (26), 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).
Carpal joint healing robot the most according to claim 1, it is characterized in that, also include hood (16), described hood (16) is fixed on described big support platform (11), and described carpal joint bends and stretches motor (21) and is fixed on described hood (16).
Carpal joint healing robot the most according to claim 1, it is characterised in that one end of described bulb square bar (24) is a ball, indent in the middle of bar, and have through hole.
Carpal joint healing robot the most 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), a through hole is had, for the connection with described ball pair slide block (26) on the bar of the other end.
Carpal joint healing robot the most according to claim 1, it is characterised in that described L-shaped connecting rod (34) corner overstriking.
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 CN104382723A (en) | 2015-03-04 |
| CN104382723B true CN104382723B (en) | 2016-08-24 |
Family
ID=52600758
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410683033.0A Expired - Fee Related CN104382723B (en) | 2014-11-24 | 2014-11-24 | Carpal joint healing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104382723B (en) |
Families Citing this family (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 |
| 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 |
Family Cites Families (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 |
| CN103083156B (en) * | 2013-01-21 | 2015-03-04 | 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 |
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2014
- 2014-11-24 CN CN201410683033.0A patent/CN104382723B/en not_active Expired - Fee Related
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| Publication number | Publication date |
|---|---|
| CN104382723A (en) | 2015-03-04 |
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Granted publication date: 20160824 Termination date: 20191124 |