CN105520820B - A kind of Three Degree Of Freedom wrist functional rehabilitation robot - Google Patents
A kind of Three Degree Of Freedom wrist functional rehabilitation robot Download PDFInfo
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- CN105520820B CN105520820B CN201610015770.2A CN201610015770A CN105520820B CN 105520820 B CN105520820 B CN 105520820B CN 201610015770 A CN201610015770 A CN 201610015770A CN 105520820 B CN105520820 B CN 105520820B
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- 210000000707 wrist Anatomy 0.000 title claims abstract description 186
- 230000033001 locomotion Effects 0.000 claims abstract description 122
- ZMNSRFNUONFLSP-UHFFFAOYSA-N mephenoxalone Chemical compound COC1=CC=CC=C1OCC1OC(=O)NC1 ZMNSRFNUONFLSP-UHFFFAOYSA-N 0.000 claims abstract description 40
- 229960001030 mephenoxalone Drugs 0.000 claims abstract description 40
- 210000003414 extremity Anatomy 0.000 claims abstract description 5
- 230000006641 stabilisation Effects 0.000 claims abstract description 3
- 238000011105 stabilization Methods 0.000 claims abstract description 3
- 230000003028 elevating effect Effects 0.000 claims description 2
- 241000469816 Varus Species 0.000 claims 1
- 238000012549 training Methods 0.000 abstract description 9
- 230000005540 biological transmission Effects 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000013480 data collection Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0157—Constructive details portable
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5053—Control means thereof mechanically controlled
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention provides a kind of Three Degree Of Freedom wrist functional rehabilitation robot, including：Palmar flexion/dorsiflex motion module, interior receipts/abduction exercise module, inversion/eversion motion module, Wrist support module, elbow rest module and base module, palmar flexion/dorsiflex motion module realize the motion of wrist palmar flexion/dorsiflex free degree；Interior receipts/abduction exercise module, inversion/eversion motion module realize the motion of receipts/abduction, the inversion/eversion free degree in wrist respectively；Wrist support module fixes wrist, and palmar flexion/dorsiflex motion module, interior receipts/abduction exercise module, inversion/eversion motion module are linked together；Elbow rest module fixes ancon, adjusts suffering limb posture and makes motion stabilization.Present invention auxiliary patient carries out palmar flexion/dorsiflex, the training of inversion/eversion, interior three freedoms of motion of receipts/abduction of wrist, with ectoskeleton structure fitting wrist motion track, it is compact-sized, size is small, weight is low, be easy to family to use, improve rehabilitation training efficiency.
Description
Technical field
The present invention relates to a kind of device of technical field of medical instruments, specifically a kind of Three Degree Of Freedom wrist functional rehabilitation
Robot.
Background technology
The motion work(that rehabilitation training can effectively aid in patient to recapture wrist is carried out to post-stroke wrist dysfunction
Energy.The Traditional Rehabilitation exercising method amount of labour is big, somewhat expensive, and rehabilitation does not have method for normalizing, and curative effect is difficult to quantitative assessment, controls
Treatment number is limited.Wrist functional rehabilitation robot can make up these shortcomings, and by Data Collection and optimization, can promote wrist
Functional rehabilitation machine man-based development provides brand-new treatment means for medical science of recovery therapy with improving.
Found by the retrieval to prior art, Chinese invention patent application number：201410132956.7 title：It is a kind of
Portable two degrees of freedom wrist joint healing robot, the technology, including be worn on arm frame on the outside of human body forearm, be worn on people
The two degrees of freedom drive mechanism of the back of the hand frame and both connections at body the back of the hand；Two degrees of freedom drive mechanism includes sliding equipment,
Pneumatic muscles mechanism, rotary joint, drive connecting rod, follower link, by the driving forces of pneumatic muscles control rotary joint so as to
Make drive connecting rod, follower link drive the back of the hand frame to realize and carpal bend and stretch rehabilitation training；Two degrees of freedom drive mechanism also includes
Center stand column, arc-shaped rack, roller gear, guide rail are fixed on the outside of the back of the hand frame, and turning for circular gear is driven by motor
It is dynamic to realize that the back of the hand frame drives the oscillating motion of wrist.But the equipment mechanism only has two frees degree, kinematic axis and wrist motion axle
It is misaligned.
The content of the invention
The present invention is directed to deficiencies of the prior art, there is provided a kind of Three Degree Of Freedom wrist functional rehabilitation robot, it is auxiliary
Help patient to carry out palmar flexion/dorsiflex, the training of inversion/eversion, interior three freedoms of motion of receipts/abduction of wrist, have outer
Skeletal structure fitting wrist motion track, it is compact-sized, size is small, weight is low is easy to family to use, improve rehabilitation training efficiency.
The present invention is achieved by the following technical solutions：
A kind of Three Degree Of Freedom wrist functional rehabilitation robot, including：Palmar flexion/dorsiflex motion module, interior receipts/abduction exercise mould
Block, inversion/eversion motion module, Wrist support module, elbow rest module and base module, wherein：
The Wrist support module is used to fix wrist, and the Wrist support module is provided with Wrist support upper module and wrist
Lower module is supported, palmar flexion/dorsiflex motion module, interior receipts/abduction exercise module, inversion/eversion motion module are linked together；
The palmar flexion/dorsiflex motion module realizes the motion of wrist palmar flexion/dorsiflex free degree, the palmar flexion/dorsiflex campaign
One end of module is connected with interior receipts/abduction exercise module, and the other end is connected with the Wrist support upper module of Wrist support module；
Interior receipts/abduction exercise the module realizes the motion of receipts in wrist/abduction free degree, the interior receipts/abduction exercise
The other end of module is connected with the Wrist support lower module of Wrist support module；
The inversion/eversion motion module realizes the motion of the wrist inversion/eversion free degree, the inversion/eversion motion
One end of module is connected with the Wrist support lower module of Wrist support module, and the other end is connected with base module；
The elbow rest module is used to fix ancon, adjusts suffering limb posture and makes motion stabilization；
The base module is connected with the Wrist support lower module of elbow rest module, Wrist support module, the base
Module is used to support palmar flexion/dorsiflex motion module, interior receipts/abduction exercise module, inversion/eversion motion module, Wrist support mould
Block, elbow rest module.
Preferably, described palmar flexion/dorsiflex motion module includes：First motor base, the first motor, the first motor are fixed
Ring, the first spur gear wheel, the second spur gear wheel, first connecting rod, second connecting rod, hand fixed mount, hand fixing band, its
In：First motor is fixed on the first motor base by the first motor retainer ring；One end of first motor base and wrist branch
Wrist support upper module in hold mode block is connected by deep groove ball bearing, and the other end is connected with first connecting rod by deep groove ball bearing
Connect；The other end of first connecting rod is connected with second connecting rod by deep groove ball bearing；The other end of second connecting rod and hand fixed mount
It is connected by deep groove ball bearing；Hand fixing band is fixed on hand fixed mount；The other end of hand fixed mount and interior receipts/abduction
Motion module connects；First spur gear wheel and the first motor connection, the second spur gear wheel are connected with first connecting rod, the first circle
Post spur gear engages with the second spur gear wheel.
Preferably, described interior receipts/abduction exercise module includes：Second motor, the second motor retainer ring, the first cone tooth
Wheel, second bevel gear, kinematic axis and motion shaft holder, wherein：Second motor is fixed on wrist by the second motor retainer ring
Wrist support lower module in supporting module；First bevel gear and the second motor connection, second bevel gear and motion axis connection, the
One bevel gear engages with second bevel gear；The upper end of kinematic axis is connected by deep groove ball bearing with Wrist support lower module, lower end
It is connected by deep groove ball bearing with motion shaft holder, kinematic axis side is connected by deep groove ball bearing with hand fixed mount；Fortune
Moving axis fixed mount is fixed on Wrist support lower module.
It is highly preferred that the other end of the hand fixed mount and the motion axis connection of interior receipts/abduction exercise module, the first electricity
The power of machine is by the first spur gear wheel of engagement, that the second spur gear wheel is delivered to first connecting rod, second connecting rod, hand is solid
Determine frame, first connecting rod, second connecting rod, hand fixed mount composition quadric chain, pitching up and down is done by axle of axis J2, axis J5
Motion, wrist is driven to realize the motion of palmar flexion/dorsiflex free degree；The axis J2 refers to that first connecting rod and the first motor base connect
The axis of the deep groove ball bearing connect, the axis J5 refer to the axis of deep groove ball bearing of the hand fixed mount with moving axis connection.
It is highly preferred that the power of the second motor is delivered to kinematic axis by first bevel gear, the second bevel gear of engagement, enter
And kinematic axis, first connecting rod, second connecting rod, hand fixed mount, the first motor base is set to be circulated using axis J6, axis J1 as axle
Rotary motion, drive the motion of receipts/abduction free degree in wrist realization；The axis J6 refers to the first motor base and wrist branch
Support the axis of the deep groove ball bearing of upper module connection；The axis for the deep groove ball bearing that kinematic axis is connected with Wrist support lower module.
Preferably, described inversion/eversion motion module includes：3rd motor, the 3rd motor retainer ring, the first Cylinder Gear
Wheel, the second roller gear, wherein：3rd motor is fixed on base module by the 3rd motor retainer ring；First roller gear with
3rd motor connection；Second roller gear is fixed on Wrist support lower module, and the first roller gear engages with the second roller gear.
It is highly preferred that the power of the 3rd motor is delivered to wrist branch by the first roller gear, the second roller gear
Lower module is supportted, drives the wrist for being fixed on Wrist support lower module to realize the motion of the inversion/eversion free degree.
Preferably, described Wrist support module also includes wrist fixing band, wherein：Wrist support upper module and wrist branch
Support lower module is connected by latch；Wrist fixing band is fixed on Wrist support lower module.
Preferably, described base module includes：Wrist support frame, first base, slide rail and second base, wherein：Wrist
One end of portion's support frame is connected with the Wrist support lower module in Wrist support module, the other end is fixed on first base；First
One end of base and slide rail connects；The other end of slide rail is connected with second base；Lead between second base and elbow rest module
Cross deep groove ball bearing connection.
Preferably, described elbow rest module includes：Elbow rest frame and ancon fixing band, wherein：Elbow rest frame
It is connected with the deep groove ball bearing in base module, ancon fixing band is fixed on elbow rest frame.
During present invention work：Patient hand, wrist, ancon are fixed by hand fixing band, wrist fixing band, ancon respectively
Band is individually fixed in hand fixed mount, Wrist support lower module, on elbow rest frame, and the power of the first motor is straight in the first cylinder
Gear, the second spur gear wheel transmission under, act on first connecting rod, on second connecting rod, realize the fortune of palmar flexion/dorsiflex free degree
It is dynamic；The power of second motor first bevel gear, second bevel gear transmission under, act on kinematic axis, receipts/abduction in realization
The motion of the free degree；The power of 3rd motor is acted under wrist and propped up by the transmission of the first roller gear, the second roller gear
Support part point, realizes the motion of the inversion/eversion free degree.
Compared with prior art, the invention has the advantages that：
The mechanical device of robot has a three degree of freedom in the present invention, and auxiliary patient carries out wrist palmar flexion/dorsiflex, interior
Turn over/turn up, interior receipts/abduction exercise training；Ectoskeleton structure is more bonded skeleton and each joint of robot moves certainly
By spend maintain with the human body joint motion free degree it is coaxial, motion more rationally, comfortably, it is effective；It is compact-sized, weight is low, size
It is small, it is easy to family to use.
Brief description of the drawings
The detailed description made by reading with reference to the following drawings to non-limiting example, further feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 (a), Fig. 1 (b) are the overall structure diagram of one embodiment of the invention；
Fig. 2 is the palmar flexion/dorsiflex motion module structural representation of one embodiment of the invention；
Fig. 3 is the interior receipts/abduction exercise modular structure schematic diagram of one embodiment of the invention；
Fig. 4 is the inversion/eversion motion module structural representation of one embodiment of the invention；
Fig. 5 is the Wrist support modular structure schematic diagram of one embodiment of the invention；
Fig. 6 is the elbow rest modular structure schematic diagram of one embodiment of the invention；
Fig. 7 is the base module structural representation of one embodiment of the invention；
In figure：
Palmar flexion/dorsiflex motion module 1, interior receipts/abduction exercise module 2, inversion/eversion motion module 3, Wrist support module
4, elbow rest module 5, base module 6；
First motor base 1.1, the first motor 1.2, the first motor retainer ring 1.3, the first spur gear wheel 1.9.1, the
Two spur gear wheel 1.9.2, first connecting rod 1.4, second connecting rod 1.5, hand fixing band 1.6, hand fixed mount 1.7；
Second motor 2.1, the second motor retainer ring 2.2, kinematic axis 2.3, motion shaft holder 2.4, first bevel gear
2.5.1 second bevel gear 2.5.2；
3rd motor 3.1, the 3rd motor retainer ring 3.2, the first roller gear 3.3, the second roller gear 3.4；
Wrist support lower module 4.1, Wrist support upper module 4.2, latch 4.3, wrist fixing band 4.4；
Elbow rest frame 5.1, ancon fixing band 5.2；
Wrist support frame 6.1, first base 6.2, slide rail 6.3, second base 6.4, deep groove ball bearing 6.5.
Embodiment
With reference to specific embodiment, the present invention is described in detail.Following examples will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill to this area
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection domain.
As shown in Fig. 1 (a), Fig. 1 (b), a kind of Three Degree Of Freedom wrist functional rehabilitation robot, including：Palmar flexion/dorsiflex campaign mould
Block 1, interior receipts/abduction exercise module 2, inversion/eversion motion module 3, Wrist support module 4, elbow rest module 5 and base
Module 6, wherein：Palmar flexion/dorsiflex motion module 1, interior receipts/abduction exercise module 2, inversion/eversion motion module 3 respectively with wrist
Supporting module 4 is connected, and inversion/eversion motion module 3 is connected with base module 6, and base module 6 is connected with elbow rest module 5.
Further, the Wrist support module 4 is provided with Wrist support upper module 4.2 and Wrist support lower module 4.1；Institute
The one end for stating palmar flexion/dorsiflex motion module 1 is connected with interior receipts/abduction exercise module 2, the other end and the wrist of Wrist support module 4
Portion's support upper module 4.2 connects；Under the other end of the interior receipts/abduction exercise module 2 and the Wrist support of Wrist support module 4
Module 4.1 connects；One end of the inversion/eversion motion module 3 connects with the Wrist support lower module 4.1 of Wrist support module 4
Connect, the other end is connected with base module 6；The base module 6 and elbow rest module 5, the Wrist support of Wrist support module 4
Lower module 4.1 connects；
The palmar flexion/dorsiflex motion module 1 realizes the motion of wrist palmar flexion/dorsiflex free degree；Interior receipts/the abduction exercise
Module 2 realizes the motion of receipts in wrist/abduction free degree；The inversion/eversion motion module 3 realizes wrist inversion/eversion certainly
By the motion spent；The Wrist support module 4 fixes wrist, by palmar flexion/dorsiflex motion module 1, interior receipts/abduction exercise module 2,
Inversion/eversion motion module 3 links together；The elbow rest module 5 fixes ancon, adjusts suffering limb posture and makes motion steady
It is fixed；The base module 6 support palmar flexion/dorsiflex motion module 1, interior receipts/abduction exercise module 2, inversion/eversion motion module 3,
Wrist support module 4, elbow rest module 5.
As shown in Fig. 2 as a preferred embodiment, described palmar flexion/dorsiflex motion module 1, including：First motor
Base 1.1, the first motor 1.2, the first motor retainer ring 1.3, the first spur gear wheel 1.9.1, the second spur gear wheel
1.9.2, first connecting rod 1.4, second connecting rod 1.5, hand fixing band 1.6, hand fixed mount 1.7；Wherein：
First motor 1.2 is fixed on the first motor base 1.1 by the first motor retainer ring 1.3 with hex bolts；The
One end of one motor base 1.1 is connected with the Wrist support upper module 4.2 in Wrist support module 4 by deep groove ball bearing, can
The axis i.e. J1 axles rotary motion of bearing is connected with Wrist support upper module 4.2 around the first motor base 1.1；First motor base
1.1 other end is connected with one end of first connecting rod 1.4 by deep groove ball bearing, can be around the motor bottom of first connecting rod 1.4 and first
The axis of the deep groove ball bearing of the connection of seat 1.1 is J2 axle rotary motions；The other end of first connecting rod 1.4 and second connecting rod 1.5
One end is connected by deep groove ball bearing, the axis i.e. J3 for the deep groove ball bearing that can be connected around second connecting rod 1.5 with first connecting rod 1.4
Axle rotary motion；The other end of second connecting rod 1.5 is connected with hand fixed mount 1.7 by deep groove ball bearing, can be around second connecting rod
The axis of 1.5 deep groove ball bearings being connected with hand fixed mount 1.7 i.e. J4 axles rotary motion；Hand fixing band 1.6 is used to suffer from
Person's hand is fixed on hand fixed mount 1.7；The other end of hand fixed mount 1.7 is transported by deep groove ball bearing and interior receipts/abduction
Kinematic axis 2.3 in dynamic model block 2 connects, and the axis for the deep groove ball bearing that can be connected around hand fixed mount 1.7 with kinematic axis 2.3 is i.e.
J5 axle rotary motions；Second spur gear wheel 1.9.2 is connected with the first motor 1.2, and the first spur gear wheel 1.9.1 and first connects
Bar 1.4 connects, and the first spur gear wheel 1.9.1 engages with the second spur gear wheel 1.9.2.
As shown in figure 3, as a preferred embodiment, described interior receipts/abduction exercise module 2, including：Second motor
2.1st, the second motor retainer ring 2.2, kinematic axis 2.3, motion shaft holder 2.4, first bevel gear 2.5.1, second bevel gear
2.5.2, wherein：
The Wrist support lower module that second motor 2.1 is fixed in Wrist support module 4 by the second motor retainer ring 2.2
4.1；First bevel gear 2.5.1 is connected with the second motor 2.1, and second bevel gear 2.5.2 is connected with kinematic axis 2.3, the first cone tooth
Wheel 2.5.1 engages with second bevel gear 2.5.2；One end of kinematic axis 2.2 passes through deep groove ball bearing and Wrist support lower module 4.1
Connection, the other end are connected by deep groove ball bearing with motion shaft holder 2.4；Motion shaft holder 2.4 is fixed on Wrist support
Lower module 4.1, the axis i.e. J6 for the deep groove ball bearing that kinematic axis 2.3 can be connected around kinematic axis 2.3 with Wrist support lower module 4.1
Axle rotary motion.
Described palmar flexion/dorsiflex motion module 1 realizes the motion of palmar flexion/dorsiflex free degree, specifically：
The power of first motor 1.2 is delivered to by the first spur gear wheel 1.9.2, the second spur gear wheel 1.9.1
One connecting rod 1.4, second connecting rod 1.5, hand fixed mount 1.7, first connecting rod 1.4, second connecting rod 1.5, hand fixed mount 1.7 form
Quadric chain, axis J2 axles, the hand for the deep groove ball bearing being connected with respect to first connecting rod with 1.4 first motor bases 1.1 are solid
Determine the deep groove ball bearing that frame 1.7 is connected with kinematic axis 2.3 axis J5 axles do up and down elevating movement, drive wrist realize palmar flexion/
The motion of the dorsiflex free degree.
Described interior receipts/abduction exercise module 2 realizes the motion of interior receipts/abduction free degree, specifically：
The power of second motor 2.1 is delivered to kinematic axis 2.3 by first bevel gear 2.5.1, second bevel gear 2.5.2,
And then make first connecting rod 1.4 in kinematic axis 2.3, palmar flexion/dorsiflex motion module 1, second connecting rod 1.5, hand fixed mount 1.7,
The deep-groove ball axle that first motor base 1.1 is connected around kinematic axis 2.3 with the Wrist support lower module 4.1 in Wrist support module 4
The deep-groove ball that axis J6 axles, the first motor base 1.1 held is connected with the Wrist support upper module 4.2 in Wrist support module 4
The axis J1 axles of bearing do circulation rotating motion, drive the motion of receipts/abduction free degree in wrist realization.
As shown in figure 4, as a preferred embodiment, described inversion/eversion motion module 3, including：3rd motor
3.1st, the 3rd motor retainer ring 3.2, the first roller gear 3.3, the second roller gear 3.4, wherein：
The first base 6.2 that 3rd motor 3.1 is fixed in base module 6 by the 3rd motor retainer ring 3.2；First circle
Stud wheel 3.3 is connected with the 3rd motor 3.1, and the second roller gear 3.4 is fixed on mould under the Wrist support in Wrist support module 4
Block 4.1, Wrist support lower module 4.1 are J7 axle rotary reciprocating motions around the axle of the second roller gear 3.4；First roller gear
3.3 engage with the second roller gear 3.4, and the first roller gear 3.3 and the gearratio of the second roller gear 3.4 are 1：2.
Described inversion/eversion motion module 3 realizes the motion of the inversion/eversion free degree, specifically：
The power of 3rd motor 3.1 is delivered to Wrist support mould by the first roller gear 3.3, the second roller gear 3.4
Wrist support lower module 4.1 in block 4, the wrist for being fixed on Wrist support lower module 4.1 is driven to realize the inversion/eversion free degree
Motion.
As shown in figure 5, described Wrist support module 4, including：Wrist support lower module 4.1, Wrist support upper module
4.2nd, latch 4.3 and wrist fixing band 4.4, wherein：
Wrist support upper module 4.2 is connected with Wrist support lower module 4.1 by latch 4.3；Wrist fixing band 4.4 is fixed
In Wrist support lower module 4.1；Wrist support lower module 4.1 is connected with the Wrist support frame 6.1 in base module 6.
As shown in fig. 6, as a preferred embodiment, the elbow rest module 5, including：The He of elbow rest frame 5.1
Ancon fixing band 5.2, wherein：
Elbow rest frame 5.1 is connected with the deep groove ball bearing 6.5 in base module 6, can be around the axis of deep groove ball bearing 6.5
That is J8 axles rotary motion, to adjust suffering limb posture；Ancon fixing band 5.2 is fixed on elbow rest frame 5.1, for fixing elbow
Portion.
As shown in fig. 7, as a preferred embodiment, the base module 6, including：Wrist support frame 6.1, first
Base 6.2, slide rail 6.3, second base 6.4, deep groove ball bearing 6.5, wherein：
One end of Wrist support frame 6.1 is connected with the Wrist support lower module 4.1 in Wrist support module 4, to reduce
3rd motor 3.1 bears weight, makes motion more stable；The other end of Wrist support frame 6.1 is fixed on first base 6.2；First
Base 6.2 is connected with slide rail 6.3；The other end of slide rail 6.3 is connected with second base 6.4, the adjustable base module 6 of slide rail 6.3
Length to adapt to sufferer demand；Second base 6.4 is connected with deep groove ball bearing 6.5, deep groove ball bearing 6.5 and elbow rest mould
Elbow rest frame 5.1 in block 5 connects.
The machine man-hour：Hand, wrist, the ancon of patient passes through hand fixing band 1.6, wrist fixing band respectively
4.4th, ancon fixing band 5.2 is individually fixed in hand fixed mount 1.7, Wrist support lower module 4.1, on elbow rest frame 5.1；The
The power of one motor 1.2 the first spur gear wheel 1.9.1, the second spur gear wheel 1.9.2 transmission under, act on the first company
Bar 1.4, second connecting rod 1.5, on hand fixed mount 1.7, the motion of palmar flexion/dorsiflex free degree is realized using J2 axles, J5 axles as axle；The
The power of two motors 2.1 first bevel gear 2.5.1, second bevel gear 2.5.2 transmission under, act on kinematic axis 2.3, with
J6 axles are the motion of receipts/abduction free degree in axle is realized；The power of 3rd motor 3.1 is justified by the first roller gear 3.3, second
The transmission of stud wheel 3.4, act on Wrist support lower module 4.1, the fortune of the inversion/eversion free degree is realized using J7 axles as axle
It is dynamic.
Present invention auxiliary patient carries out three palmar flexion/dorsiflex of wrist, inversion/eversion, interior receipts/abduction freedoms of motion
Training, there is ectoskeleton structure fitting wrist motion track, possess rational control mode and kinematic parameter is provided, structure is tight
Gather, size is small, weight is low, be easy to family to use, improve rehabilitation training efficiency.
The specific embodiment of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring the substantive content of the present invention.
Claims (9)
- A kind of 1. Three Degree Of Freedom wrist functional rehabilitation robot, it is characterised in that including：Palmar flexion/dorsiflex motion module, interior receipts/outer Motion module, inversion/eversion motion module, Wrist support module, elbow rest module and base module are opened up, wherein：The Wrist support module is used to fix wrist, and the Wrist support module is provided with Wrist support upper module and Wrist support Lower module, palmar flexion/dorsiflex motion module, interior receipts/abduction exercise module, inversion/eversion motion module are linked together；The palmar flexion/dorsiflex motion module realizes the motion of wrist palmar flexion/dorsiflex free degree, the palmar flexion/dorsiflex motion module One end be connected with interior receipts/abduction exercise module, the other end is connected with the Wrist support upper module of Wrist support module；Interior receipts/abduction exercise the module realizes the motion of receipts in wrist/abduction free degree, the interior receipts/abduction exercise module The other end be connected with the Wrist support lower module of Wrist support module；The inversion/eversion motion module realizes the motion of the wrist inversion/eversion free degree, the inversion/eversion motion module One end be connected with the Wrist support lower module of Wrist support module, the other end is connected with base module；The elbow rest module is used to fix ancon, adjusts suffering limb posture and makes motion stabilization；The base module is connected with the Wrist support lower module of elbow rest module, Wrist support module, the base module For supporting palmar flexion/dorsiflex motion module, interior receipts/abduction exercise module, inversion/eversion motion module, Wrist support module, elbow Portion's supporting module；Described palmar flexion/dorsiflex motion module includes：First motor base, the first motor, the first motor retainer ring, the first cylinder Spur gear, the second spur gear wheel, first connecting rod, second connecting rod, hand fixed mount and hand fixing band, wherein：First motor It is fixed on by the first motor retainer ring on the first motor base；One end of first motor base and the wrist in Wrist support module Portion's support upper module is connected by deep groove ball bearing, and the other end is connected with first connecting rod by deep groove ball bearing；First connecting rod The other end is connected with second connecting rod by deep groove ball bearing；The other end of second connecting rod passes through deep groove ball bearing with hand fixed mount It is connected；Hand fixing band is fixed on hand fixed mount；The other end of hand fixed mount is connected with interior receipts/abduction exercise module； First spur gear wheel and the first motor connection, the second spur gear wheel are connected with first connecting rod, the first spur gear wheel and Two spur gear wheels engage.
- A kind of 2. Three Degree Of Freedom wrist functional rehabilitation robot according to claim 1, it is characterised in that described interior receipts/ Abduction exercise module includes：Second motor, the second motor retainer ring, first bevel gear, second bevel gear, kinematic axis and kinematic axis Fixed mount, wherein：The Wrist support lower module that second motor is fixed in Wrist support module by the second motor retainer ring；The One bevel gear and the second motor connection, second bevel gear engage with motion axis connection, first bevel gear with second bevel gear；Motion The upper end of axle is connected by deep groove ball bearing with Wrist support lower module, lower end is connected by deep groove ball bearing and motion shaft holder Connect, kinematic axis side is connected with hand fixed mount by deep groove ball bearing；Motion shaft holder is fixed on Wrist support lower module.
- 3. a kind of Three Degree Of Freedom wrist functional rehabilitation robot according to claim 2, it is characterised in that the hand is fixed The other end of frame and the motion axis connection in interior receipts/abduction exercise module；The first cylinder that the power of first motor passes through engagement Spur gear, the second spur gear wheel are delivered to first connecting rod, second connecting rod, hand fixed mount, first connecting rod, second connecting rod, hand Portion fixed mount composition quadric chain, be connected with first connecting rod with the first motor base the axis J2 of bearing, hand fixed mount and The axis J5 of kinematic axis connection bearing does elevating movement up and down for axle, drives wrist to realize the motion of palmar flexion/dorsiflex free degree.
- A kind of 4. Three Degree Of Freedom wrist functional rehabilitation robot according to claim 2, it is characterised in that second motor Power kinematic axis is delivered to by first bevel gear, the second bevel gear of engagement, and then make kinematic axis, first connecting rod, second Connecting rod, hand fixed mount, the first motor base are connected the axis J6 of bearing, fortune with the first motor base with Wrist support upper module The axis J1 that moving axis is connected bearing with Wrist support lower module does circulation rotating motion for axle, drives receipts/abduction in wrist realization The motion of the free degree.
- A kind of 5. Three Degree Of Freedom wrist functional rehabilitation robot according to claim 1, it is characterised in that described varus/ Motion module of turning up includes：3rd motor, the 3rd motor retainer ring, the first roller gear, the second roller gear, wherein：3rd Motor is fixed on base module by the 3rd motor retainer ring；First roller gear and the 3rd motor connection；Second roller gear Wrist support lower module is fixed on, the first roller gear engages with the second roller gear.
- A kind of 6. Three Degree Of Freedom wrist functional rehabilitation robot according to claim 5, it is characterised in that the 3rd motor Power Wrist support lower module is delivered to by the first roller gear, the second roller gear, drive is fixed under Wrist support The wrist of module realizes the motion of the inversion/eversion free degree.
- 7. a kind of Three Degree Of Freedom wrist functional rehabilitation robot according to claim any one of 1-6, it is characterised in that described Wrist support module also include wrist fixing band, wherein：Wrist support upper module is connected with Wrist support lower module by latch Connect；Wrist fixing band is fixed on Wrist support lower module.
- 8. a kind of Three Degree Of Freedom wrist functional rehabilitation robot according to claim any one of 1-6, it is characterised in that described Base module include：Wrist support frame, first base, slide rail and second base, wherein：One end of Wrist support frame and wrist Wrist support lower module connection in supporting module, the other end are fixed on first base；One end of first base and slide rail connects； The other end of slide rail is connected with second base；Connected between second base and elbow rest module by deep groove ball bearing.
- 9. a kind of Three Degree Of Freedom wrist functional rehabilitation robot according to claim any one of 1-6, it is characterised in that described Elbow rest module include：Elbow rest frame and ancon fixing band, wherein：Elbow rest frame and the deep-groove ball in base module Bearing is connected, and ancon fixing band is fixed on elbow rest frame.
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| CN107374912A (en) * | 2017-08-28 | 2017-11-24 | 哈尔滨理工大学 | A kind of upper-limbs rehabilitation training robot |
| CN108743243B (en) * | 2018-07-16 | 2020-05-15 | 东北大学 | Wrist rehabilitation device |
| CN109172282A (en) * | 2018-10-17 | 2019-01-11 | 苏州帝维达生物科技有限公司 | A kind of upper limb rehabilitation robot of seven freedom |
| CN109276410A (en) * | 2018-10-17 | 2019-01-29 | 苏州帝维达生物科技有限公司 | A kind of multivariant wrist rehabilitation institution |
| CN109394477B (en) * | 2018-12-10 | 2021-03-16 | 北京工业大学 | 2-SPU/RR parallel pneumatic wrist rehabilitation device |
| CN110179628B (en) | 2019-06-10 | 2021-01-29 | 上海理工大学 | Rope-driven wrist three-degree-of-freedom training mechanism for upper limb rehabilitation |
| CN110339021B (en) * | 2019-07-31 | 2021-11-23 | 燕山大学 | Wrist rehabilitation robot with three degrees of freedom |
| CN111110516B (en) * | 2020-02-12 | 2021-09-10 | 上海理工大学 | Three-degree-of-freedom wrist joint rehabilitation training mechanism for upper limb rehabilitation |
| CN112741756A (en) * | 2020-12-16 | 2021-05-04 | 东北大学秦皇岛分校 | Self-adjusting wrist rehabilitation robot |
| CN113304016A (en) * | 2021-07-09 | 2021-08-27 | 哈尔滨理工大学 | Elbow exoskeleton structure based on 3-PRR plane parallel mechanism |
| CN115154193B (en) * | 2022-07-21 | 2024-05-10 | 哈尔滨理工大学 | Flexibly-driven serial-parallel wrist and elbow exoskeleton rehabilitation robot |
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