CN105726260A - Interchangeable upper limb rehabilitation robot - Google Patents
Interchangeable upper limb rehabilitation robot Download PDFInfo
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- CN105726260A CN105726260A CN201610147488.XA CN201610147488A CN105726260A CN 105726260 A CN105726260 A CN 105726260A CN 201610147488 A CN201610147488 A CN 201610147488A CN 105726260 A CN105726260 A CN 105726260A
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- upper limb
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- wrist
- limb rehabilitation
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 55
- 230000007246 mechanism Effects 0.000 claims abstract description 106
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 31
- 210000000245 forearm Anatomy 0.000 claims abstract description 13
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 10
- 210000000707 wrist Anatomy 0.000 claims description 49
- 239000003638 chemical reducing agent Substances 0.000 claims description 39
- 241000905957 Channa melasoma Species 0.000 claims description 15
- 230000001360 synchronised effect Effects 0.000 claims description 12
- 230000009442 healing mechanism Effects 0.000 claims description 11
- 210000003813 thumb Anatomy 0.000 claims description 9
- 230000000694 effects Effects 0.000 claims description 3
- 230000000712 assembly Effects 0.000 abstract 1
- 238000000429 assembly Methods 0.000 abstract 1
- 210000001145 finger joint Anatomy 0.000 abstract 1
- 210000003857 wrist joint Anatomy 0.000 abstract 1
- 210000003414 extremity Anatomy 0.000 description 10
- 210000003811 finger Anatomy 0.000 description 3
- 230000035876 healing Effects 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 206010003694 Atrophy Diseases 0.000 description 1
- 230000037444 atrophy Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 208000035475 disorder Diseases 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000926 neurological effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000007665 sagging Methods 0.000 description 1
Classifications
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- 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
-
- 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
- A61H1/0277—Elbow
-
- 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
- A61H1/0281—Shoulder
-
- 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
- A61H2201/12—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
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- 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
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 relates to a medical rehabilitation training instrument, in particular to an interchangeable upper limb rehabilitation robot.The interchangeable upper limb rehabilitation robot comprises a movable bottom plate, a control cabinet, a stand column lifting column, an interchangeable upper limb rehabilitation mechanism and a height-adjustable seat.The control cabinet and the stand column lifting column are fixedly arranged on the upper portion of the rear end of the movable bottom plate, the lower portion of the stand column lifting column is fixedly arranged in the control cabinet, and the interchangeable upper limb rehabilitation mechanism is movably fixed to the top end of the stand column lifting column and comprises a shoulder joint adduction and abduction mechanism, a shoulder joint flexion and extension mechanism, a shoulder joint internal rotation and outer overturn mechanism, an elbow joint flexion and extension mechanism, a forearm internal rotation and outer overturn mechanism and a wrist and finger joint extension mechanism in the connection sequence.The interchangeable upper limb rehabilitation robot is comprehensive in function, adjustable in length of assemblies and high in adaptability, and left hand and right hand interchange training can be achieved; besides, active assistance is provided, and investment of medical personnel is reduced.
Description
Technical field
The present invention relates to a kind of medical rehabilitation exercising device, specifically a kind of interchangeable upper limb rehabilitation robot.
Background technology
For neurological injured patient, theory of medicine proves that this type of patient must carry out the limbs training of some strength, this measure is in order to avoid muscle generation atrophy, cause the function permanent loss of some muscle, but this type of patient can not singly complete the exercise recovery of limbs, need the continual auxiliary that carries out of medical personnel to implement, so that the quantity of medical personnel and skill set requirements is all very high.At present, also panoramic rehabilitation training apparatus is occurred in that on the market, but all there is such-and-such defect, often there is function deficiency, practicality is not strong, can not active training, comfort level is too poor, can only train by unilateral limbs, make troubles to patient in actual use, such as a kind of Chinese patent 201010222010.1 upper-limbs rehabilitation training robot, function includes shoulder abduction/interior receipts, shoulder flexion/extension, elbow joint flexion/extension, forearm inward turning/turn up, wrist refers to flexion/extension, function does not include shoulder inward turning/function of turning up, and the inward turning of forearm/turn up required drive when not providing passive exercise；201420837887.5 1 kinds of right-hand man's dual-purpose type upper limb rehabilitation robots of Chinese patent, the adjustable upper limb rehabilitation robot of left and right sides structure is provided, wherein upper cross-beam adopts screw mandrel to rotate and adjusts position, adjustment mode is inconvenient, wherein end provides only wrist training, lack the training function of finger and do not fix palm, the mode of finger can only have the patient of grippage to provide rehabilitation training to hand, and it is impracticable, therefore, develop a complete function, comfortableness is good, it is possible to actively the demand of the healing robot of power-assisted is urgently to be resolved hurrily.
Summary of the invention
The goal of the invention of the present invention is in that to overcome current limbs restoring training apparatus structure function not enough, practicality is not strong, can not active training, the defect of comfortableness difference, thus realizing a kind of patient can exchange training by left and right limbs, comfortableness degree is higher, and can train by complete independently limbs, the relatively comprehensive interchangeable upper limb rehabilitation robot of function.
For achieving the above object, the technical scheme is that a kind of interchangeable upper limb rehabilitation robot, including removable base plate, switch board, column up-down post, interchangeable upper limb healing mechanism and adjustable height seat, described adjustable height seat is fixedly installed on removable base plate upper front end, switch board and column up-down post are fixedly installed on removable base plate rear end top, column up-down post bottom is fixedly installed in switch board, column up-down capital end is fixed in the activity of interchangeable upper limb healing mechanism, described interchangeable upper limb healing mechanism includes shoulder joint Nei Shou abduction mechanism successively according to the order of connection, shoulder joint bends and stretches mechanism, the outer turning mechanism of shoulder internal rotator, elbow joint bends and stretches mechanism, the outer turning mechanism of forearm inward turning and wrist articulations digitorum manus extension means.
Described shoulder joint Nei Shou abduction mechanism includes lockable rotation disc mechanism, cantilever beam and sill, described lockable rotation disc mechanism is fixing with cantilever beam one end to be connected, the described cantilever beam other end is hinged with sill end fixing, and the jointed shaft of cantilever beam and sill is coaxially arranged with motor reducer, described cantilever beam can rotate with lockable rotation disc mechanism under external force, described sill hinged end is provided with sill position-limit mechanism, thus the right-hand man realizing the interior receipts abduction exercise of shoulder joint exchanges；
Described shoulder joint is bent and stretched mechanism and is included outer riser, interior riser, rotating beam, described outer riser is parallel with interior riser to be fixedly installed, described rotating beam one end is hingeably secured between inside and outside riser bottom, described rotating beam jointed shaft is coaxially arranged with motor reducer, the side of described rotating beam hinged end is provided with Geneva mechanism, vertical outer riser and corresponding groove wheel mechanism boundary are provided with the spacing handle of slip, the spacing handle of push-and-pull can realize the mechanical position limitation that rotating beam rotates, thus the right-hand man realizing shoulder joint flexion and extension exchanges；
nullDescribed wrist articulations digitorum manus extension means includes driving box、Wrist refers to drive leading screw、Wrist refers to drive slide block、Wrist refers to drive rod、TRAJECTORY CONTROL bar、The palm refers to grasping member and thumb drives part，It is provided with motor reducer in described driving box，Described motor reducer output shaft is provided with gear wheel，Described motor reducer lateral symmetry arranges wrist and refers to drive leading screw，Described wrist refers to drive leading screw end to be provided with the little gear engaged with gear wheel，Wrist refers to drive slide block to refer to drive slip on leading screw at wrist，And wrist refers to drive the slide block sidepiece coaxially hinged wrist that arranges to refer to drive rod and TRAJECTORY CONTROL bar，Described wrist refers to be provided with linear arc-shaped engagement groove on drive rod，And in engagement groove, drive box sidepiece to be provided with track guiding post，The TRAJECTORY CONTROL bar other end is symmetrical slide hinged refers to grasping member both sides in the palm driving box obliquely downward，Drive the hinged intermediate track plate being provided with middle groove on box end，It is provided with joint pin in middle groove，Joint pin bottom is fixedly installed on the palm and refers on grasping member，Described thumb drives part is symmetrical hinged is arranged at intermediate track plate both sides，And the inside end of thumb drives part is coaxially articulated with on joint pin，Wrist refers to be provided with middle brace rod between drive rod end，Described middle brace rod centre position is set on joint pin，To sum up，Described wrist articulations digitorum manus extension means adopts symmetric design，So no matter to temper left hand or the right hand is all applicable，The right-hand man realizing wrist articulations digitorum manus exchanges exercise.
Described lockable rotation disc mechanism includes rotating base, rotary flange, degree of tightness handle and rotation dish, described rotary flange is positioned at rotating base inside and is arranged concentrically, fix bottom described rotary flange inner ring and rotation dish inner ring, degree of tightness handle is penetrated by threaded engagement and compresses rotary flange sidewall in rotating base, the rotating base sidepiece of described lockable rotation disc mechanism is additionally provided with bulb plunger, and the relevant position of both sides, described rotary flange lateral wall respectively offers angle groove, when rotary flange forwards to inside respective angles bulb plunger tip bulb entry angle groove.
Described sill position-limit mechanism includes duckbilled knob, cam pin, position limiting slide block and stopper slot, described sill one end inner vertical arranges limiting through hole, the vertical limiting through hole of cam pin and penetrate in sill, described duckbilled knob is fixedly installed on cam pin outboard end, described position limiting slide block is positioned at limiting through hole, described stopper slot is opened in the relevant position of cantilever beam hinged end lower surface, rotate duckbilled knob, duckbilled knob drives cam pin to rotate, position limiting slide block is made to pass in and out stopper slot up and down, thus realizing the mechanical position limitation purpose of sill.
Described shoulder joint is bent and stretched the interior riser sidepiece of mechanism and is provided with spring load reducing mechanism, described spring load reducing mechanism includes spring rotary shaft, spring, spring pendant, fixing post and spacing twist pin, described spring rotary shaft is fixing with rotating beam jointed shaft to be connected, spring pendant is slideably positioned on interior riser in the chute offered, spring pendant includes sliding shoe and supports wing plate, described support wing plate is symmetrical hinged is arranged at sliding shoe both sides, described spacing twist pin is fixedly installed on inside interior riser, pull spacing twist pin to support wing plate and be cancelled spacing, fixing post is fixedly installed on interior riser chute both sides, described spring is fixedly installed between sliding shoe and spring rotary shaft.
The work process of described spring load reducing mechanism: when needs right-hand man exchanges, spacing twist pin rotating beam is pulled upwards somewhat to rotate, spacing wing plate rotates up and draws in centre, rotating beam rotates sagging, spring pendant glides along interior riser chute, and when rotating rising, spacing wing plate withstands on fixing post again, spacing twist pin plays the position-limiting action of spacing wing plate, completes shoulder joint and bends and stretches the right-hand man of mechanism and exchange power-assisted.
The outer turning mechanism of described shoulder internal rotator includes shell body, feed rod, synchronous pulley, Timing Belt, C-shaped ring, liner and band, described feed rod one end is fixing with shell body to be connected, the feed rod other end and rotating beam are fixed, described shell body one end sidepiece arranges motor reducer, motor reducer drives Timing Belt to rotate by synchronous pulley, described C-shaped ring two ends are fixed by Timing Belt compact heap, and C-shaped ring is arranged around the fixing C-shaped ring movement locus of Limit Bearing, described Timing Belt tractive C-shaped ring moves back and forth, and arranges liner and band fixes human body inside C-shaped ring.
The outer turning mechanism of described shoulder internal rotator also includes the short governor motion of upper extremity length, the short governor motion of described upper extremity length includes screw mandrel, feed screw nut and handwheel, the feed screw nut that screw mandrel one end is arranged with rotating beam end coordinates, the other end is positioned at shell body, and the screw mandrel end being positioned at shell body arranges adjustment gear, arranging adjustment gear on the hand wheel shaft of handwheel, adjust gear and engage each other, rotation hand wheel and manually adjustable upper extremity length are short.
Described elbow joint bends and stretches mechanism and includes gear-box, motor reducer, driving gear, driven gear, power output shaft and ancon connecting plate, described motor reducer is fixedly installed on the side, end of gear-box, motor reducer drives driving gear to rotate by drive sprocket axle, driving gear drives driven gear to rotate by arranging idler gear, driven gear center is fixedly installed power output shaft, power output shaft drives ancon connecting plate to rotate, and ancon connecting plate is fixing with C-shaped ring end to be connected.
Being fixedly installed the limited block jointly rotated with drive sprocket axle on the top drive sprocket axle of described driving gear, the length of described limited block, more than the distance at drive sprocket axle edge to gear-box, reaches spacing purpose by limited block and gear-box contact internal walls.
The outer turning mechanism of described forearm inward turning includes shell body, feed rod, synchronous pulley, Timing Belt, C-shaped ring, liner and band, described feed rod one end is fixing with shell body to be connected, described shell body one end sidepiece arranges motor reducer, motor reducer drives Timing Belt to rotate by synchronous pulley, described C-shaped ring two ends are fixed by Timing Belt compact heap, and C-shaped ring is arranged around the fixing C-shaped ring movement locus of Limit Bearing, described Timing Belt tractive C-shaped ring moves back and forth, and arranges liner and band fixes human body inside C-shaped ring.
The beneficial effect of the interchangeable upper limb rehabilitation robot of the present invention:
1. the interchangeable upper limb rehabilitation robot of the present invention, bend and stretch mechanism including shoulder joint Nei Shou abduction mechanism, shoulder joint, the outer turning mechanism of shoulder internal rotator, elbow joint bend and stretch mechanism, the outer turning mechanism of forearm inward turning and wrist articulations digitorum manus extension means, the reconditioning of patient's corresponding site can be realized, function is very comprehensive, is suitable for all kinds of upper extremity exercise disorder patients and uses.
2. the interchangeable upper limb rehabilitation robot of the present invention, it is provided with column up-down post, the short governor motion of upper extremity length, the outer turning mechanism of forearm inward turning and wrist articulations digitorum manus extension means, interchangeable upper limb healing mechanism height can be realized regulate, the functions such as upper extremity length minor joint, forearm length minor joint and finger length adjustment, can meet different patient demand in sick limb size.
3. the interchangeable upper limb rehabilitation robot of the present invention, the replacement to patient's left hand and the right hand of the robot can be realized recover to take exercise, overcome current healing robot and can only realize the reconditioning of unilateral sick limb, it is greatly saved treatment cost, and improve the suitability of healing robot, it is very reasonable to design.
4. the interchangeable upper limb rehabilitation robot of the present invention, each moving cell is both provided with independent motor reducer, the limbs driving correspondent section can be assisted to carry out reconditioning, medical personnel need not be further added by and carry out exercise of accompanying and attending to, both save the human input for the treatment of, alleviate again patient's psychology during treating and physiological misery.
Accompanying drawing explanation
Fig. 1 is one of structural representation of interchangeable upper limb rehabilitation robot；
Fig. 2 is the two of the structural representation of interchangeable upper limb rehabilitation robot；
Fig. 3 is the structural representation of shoulder joint Nei Shou abduction mechanism；
Fig. 4 is the structural representation of the lockable rotation disc mechanism of shoulder joint Nei Shou abduction mechanism；
Fig. 5 is the structural representation of sill position-limit mechanism；
Fig. 6 is the structural representation that shoulder joint bends and stretches mechanism；
Fig. 7 is the sectional structure schematic diagram that shoulder joint bends and stretches mechanism；
Fig. 8 is the structural representation that spring load reducing mechanism exchanges state one；
Fig. 9 is the structural representation that spring load reducing mechanism exchanges state two；
Figure 10 is the three-dimensional component home structural representation of spring load reducing mechanism；
Figure 11 is the structural representation of the outer turning mechanism of shoulder internal rotator；
Figure 12 is the structural representation that elbow joint bends and stretches mechanism；
Figure 13 is the structural representation of the outer turning mechanism of forearm inward turning；
Figure 14 is one of structural representation of wrist articulations digitorum manus extension means；
Figure 15 is the two of the structural representation of wrist articulations digitorum manus extension means.
nullReferring to the removable base plate of Fig. 1-15:1-，2-switch board，3-column up-down post，The interchangeable upper limb healing mechanism of 4-，5-adjustable height seat，6-shoulder joint Nei Shou abduction mechanism，The lockable rotation disc mechanism of 601-，602-cantilever beam，603-sill，604-sill position-limit mechanism，611-rotating base，612-rotary flange，613-degree of tightness handle，614-rotation dish，615-bulb plunger，641-duckbilled knob，642-cam pin，643-position limiting slide block，644-stopper slot，645-limiting through hole，7-shoulder joint bends and stretches mechanism，The outer riser of 701-，Riser in 702-，703-rotating beam，704-Geneva mechanism，The spacing handle of 705-，706-spring load reducing mechanism，761-spring rotary shaft，762-spring，763-spring pendant，764-fixes post，The spacing twist pin of 765-，766-chute，7631-sliding shoe，7632-supports wing plate，The outer turning mechanism of 8-shoulder internal rotator，801-shell body，802-feed rod，803-synchronous pulley，804-Timing Belt，805-C type ring，806-liner，807-band，808-Timing Belt compact heap，809-Limit Bearing，The short governor motion of 810-upper extremity length，811-screw mandrel，812-feed screw nut，813-handwheel，814-adjusts gear，9-elbow joint bends and stretches mechanism，901-gear-box，902-motor reducer，903-driving gear，904-driven gear，905-power output shaft，906-ancon connecting plate，907-idler gear，908-drive sprocket axle，909-limited block，The outer turning mechanism of 10-forearm inward turning，11-wrist articulations digitorum manus extension means，111-drives box，112-wrist refers to drive leading screw，113-wrist refers to drive slide block，114-wrist refers to drive rod，115-TRAJECTORY CONTROL bar，The 116-palm refers to grasping member，117-thumb drives part，118-gear wheel，The little gear of 119-，110-track guiding post，1111-intermediate track plate，1112-joint pin，1113-middle brace rod，12-motor reducer.
Detailed description of the invention
Below in conjunction with accompanying drawing and by specific embodiment the interchangeable upper limb rehabilitation robot of the present invention is done more detailed description.
Embodiment:
The interchangeable upper limb rehabilitation robot of the present invention, including removable base plate 1, switch board 2, column up-down post 3, interchangeable upper limb healing mechanism 4 and adjustable height seat 5, described adjustable height seat 5 is fixedly installed on removable base plate 1 upper front end, switch board 2 and column up-down post 3 are fixedly installed on removable base plate 1 upper rear end, column up-down post 3 bottom is fixedly installed in switch board 2, column up-down post 3 top is fixed in the activity of interchangeable upper limb healing mechanism 4, described interchangeable upper limb healing mechanism 4 includes shoulder joint Nei Shou abduction mechanism 6 successively according to the order of connection, shoulder joint bends and stretches mechanism 7, the outer turning mechanism 8 of shoulder internal rotator, elbow joint bends and stretches mechanism 9, the outer turning mechanism 10 of forearm inward turning and wrist articulations digitorum manus extension means 11.
Described shoulder joint Nei Shou abduction mechanism 6 includes lockable rotation disc mechanism 601, cantilever beam 602 and sill 603, described lockable rotation disc mechanism 601 is fixing with cantilever beam 602 one end to be connected, described cantilever beam 602 other end is hinged with sill 603 end fixing, and the jointed shaft of cantilever beam 602 and sill 603 is coaxially arranged with motor reducer 12, described cantilever beam 602 can rotate with lockable rotation disc mechanism 601 under external force, described sill 603 hinged end is provided with sill position-limit mechanism 604, thus the right-hand man realizing the interior receipts abduction exercise of shoulder joint exchanges；
Described shoulder joint is bent and stretched mechanism 7 and is included outer riser 701, interior riser 702, rotating beam 703, described outer riser 701 is parallel with interior riser 702 to be fixedly installed, described rotating beam 703 one end is hingeably secured between interior riser 702 and outer riser 701 bottom, described rotating beam 703 jointed shaft is coaxially arranged with motor reducer 12, the side of described rotating beam 703 hinged end has been wholely set Geneva mechanism 704, vertical outer riser 701 and corresponding groove wheel mechanism 704 boundary are provided with the spacing handle 705 of slip, the spacing handle 705 of push-and-pull can realize the mechanical position limitation that rotating beam 703 rotates, thus the right-hand man realizing shoulder joint flexion and extension exchanges；
nullDescribed wrist articulations digitorum manus extension means 11 includes driving box 111、Wrist refers to drive leading screw 112、Wrist refers to drive slide block 113、Wrist refers to drive rod 114、TRAJECTORY CONTROL bar 115、The palm refers to grasping member 116 and thumb drives part 117，It is provided with motor reducer 12 in described driving box 111，Described motor reducer 12 output shaft is provided with gear wheel 118，Described motor reducer 12 lateral symmetry arranges wrist and refers to drive leading screw 112，Described wrist refers to drive leading screw 112 end to be provided with the little gear 119 engaged with gear wheel 118，Wrist refers to drive slide block 113 to refer to drive slip on leading screw 112 at wrist，And wrist refers to drive the slide block 113 sidepiece coaxially hinged wrist that arranges to refer to drive rod 114 and TRAJECTORY CONTROL bar 115，Described wrist refers to be provided with on drive rod 114 linear arc-shaped engagement groove，And in engagement groove, drive box 111 sidepiece to be provided with track guiding post 110，TRAJECTORY CONTROL bar 115 other end is symmetrical slide hinged refers to grasping member 116 both sides in the palm driving box 111 obliquely downward，Drive the hinged intermediate track plate 1111 being provided with middle groove on box 111 end，It is provided with joint pin 1112 in middle groove，Joint pin 1112 bottom is fixedly installed on the palm and refers on grasping member 116，Described thumb drives part 117 is symmetrical hinged is arranged at intermediate track plate 1111 both sides，And the inside end of thumb drives part 117 is coaxially articulated with on joint pin 1112，Wrist refers to be provided with middle brace rod 1113 between drive rod 114 end，Described middle brace rod 1113 centre position is set on joint pin 1111，Described wrist articulations digitorum manus extension means 11 adopts symmetric design，So no matter to temper left hand or the right hand is all applicable，The right-hand man realizing wrist articulations digitorum manus exchanges exercise.
Described lockable rotation disc mechanism 601 includes rotating base 611, rotary flange 612, degree of tightness handle 613 and rotation dish 614, described rotary flange 612 is positioned at rotating base 611 inside and is arranged concentrically, fix bottom described rotary flange 612 inner ring and rotation dish 614 inner ring, degree of tightness handle 613 is penetrated by threaded engagement and compresses rotary flange 612 sidewall in rotating base 611, rotating base 611 sidepiece of described lockable rotation disc mechanism 601 is additionally provided with bulb plunger 615, and the relevant position of both sides, described rotary flange 612 lateral wall respectively offers angle groove, when rotary flange 612 forwards to inside respective angles bulb plunger 615 end bulb entry angle groove.
Described sill position-limit mechanism 604 includes duckbilled knob 641, cam pin 642, position limiting slide block 643 and stopper slot 644, described sill 603 one end inner vertical arranges limiting through hole 645, the vertical limiting through hole 645 of cam pin 642 and penetrate in sill 603, described duckbilled knob 641 is fixedly installed on cam pin 642 outboard end, described position limiting slide block 643 is positioned at limiting through hole 645, described stopper slot 644 is opened in the relevant position of cantilever beam 602 hinged end lower surface, rotate duckbilled knob 641, duckbilled knob 641 drives cam pin 642 to rotate, position limiting slide block about 643 is made to pass in and out stopper slot 644, thus realizing the mechanical position limitation purpose of sill 603.
nullDescribed shoulder joint is bent and stretched interior riser 702 sidepiece of mechanism 7 and is provided with spring load reducing mechanism 706，Described spring load reducing mechanism 706 includes spring rotary shaft 761、Spring 762、Spring pendant 763、Fixing post 764 and spacing twist pin 765，Described spring rotary shaft 761 is fixing with rotating beam 703 jointed shaft to be connected，Spring pendant 763 is slideably positioned on interior riser 702 in the chute 766 offered，Spring pendant 763 includes sliding shoe 7631 and supports wing plate 7632，Described support wing plate 7632 is symmetrical hinged is arranged at sliding shoe 7631 both sides，Described spacing twist pin 765 is fixedly installed on inside interior riser 702，Pull spacing twist pin 765 to support wing plate 7632 and be cancelled spacing，Fixing post 764 is fixedly installed on interior riser chute 766 both sides，Described spring 762 is fixedly installed between sliding shoe 7631 and spring rotary shaft 761.
The outer turning mechanism 8 of described shoulder internal rotator includes shell body 801, feed rod 802, synchronous pulley 803, Timing Belt 804, C-shaped ring 805, liner 806 and band 807, described feed rod 802 one end is fixing with shell body 801 to be connected, feed rod 802 other end is fixed with rotating beam 703, described shell body 801 one end sidepiece arranges motor reducer 12, motor reducer 12 drives Timing Belt 804 to rotate by synchronous pulley 803, described C-shaped ring 805 two ends are fixed by Timing Belt compact heap 808, and C-shaped ring 805 is arranged around Limit Bearing 809 and fixes C-shaped ring 805 movement locus, described Timing Belt 804 tractive C-shaped ring 805 moves back and forth, C-shaped ring 805 inside arranges liner 806 and band 807 fixes human body.
The outer turning mechanism 8 of described shoulder internal rotator also includes the short governor motion 810 of upper extremity length, the short governor motion 810 of described upper extremity length includes screw mandrel 811, feed screw nut 812 and handwheel 813, the feed screw nut 812 that screw mandrel 811 one end is arranged with rotating beam 703 end coordinates, the other end is positioned at shell body 801, and screw mandrel 811 end being positioned at shell body 801 arranges adjustment gear 814, the hand wheel shaft of handwheel 813 arranges adjustment gear 814, adjusting gear 814 to engage each other, rotation hand wheel 813 i.e. manually adjustable upper extremity length is short.
Described elbow joint bends and stretches mechanism 9 and includes gear-box 901, motor reducer 902, driving gear 903, driven gear 904, power output shaft 905 and ancon connecting plate 906, described motor reducer 12 is fixedly installed on the side, end of gear-box 901, motor reducer 12 drives driving gear 903 to rotate by drive sprocket axle, driving gear 903 drives driven gear 904 to rotate by arranging idler gear 907, driven gear 904 center is fixedly installed power output shaft 905, power output shaft 905 drives ancon connecting plate 906 to rotate, ancon connecting plate 906 is fixing with C-shaped ring 805 end to be connected.
The top drive sprocket axle 908 of described driving gear 903 is fixedly installed the limited block 909 jointly rotated with drive sprocket axle 908, the length of described limited block 909, more than the distance at drive sprocket axle 908 edge to gear-box 901, reaches spacing purpose by limited block 909 and gear-box 901 contact internal walls.
The outer turning mechanism 10 of described forearm inward turning includes shell body 801, feed rod 802, synchronous pulley 803, Timing Belt 804, C-shaped ring 805, liner 806 and band 807, described feed rod 802 one end is fixing with shell body 801 to be connected, described shell body 801 one end sidepiece arranges motor reducer 12, motor reducer 12 drives Timing Belt 804 to rotate by synchronous pulley 803, described C-shaped ring 805 two ends are fixed by Timing Belt compact heap 808, and C-shaped ring 805 is arranged around Limit Bearing 809 and fixes C-shaped ring 805 movement locus, described Timing Belt 804 tractive C-shaped ring 805 moves back and forth, C-shaped ring 805 inside arranges liner 806 and band 807 fixes human body.
The foregoing is only the schematic detailed description of the invention of the present invention; it is not limited to the scope of the present invention; equivalent variations that any those skilled in the art is made under the premise without departing from present inventive concept and principle and amendment, all should belong to the scope of protection of the invention.
Claims (10)
1. an interchangeable upper limb rehabilitation robot, including removable base plate, switch board, column up-down post, interchangeable upper limb healing mechanism and adjustable height seat, described adjustable height seat is fixedly installed on removable base plate upper front end, switch board and column up-down post are fixedly installed on removable base plate rear end top, column up-down post bottom is fixedly installed in switch board, column up-down capital end is fixed in the activity of interchangeable upper limb healing mechanism, it is characterized in that: described interchangeable upper limb healing mechanism includes shoulder joint Nei Shou abduction mechanism successively according to the order of connection, shoulder joint bends and stretches mechanism, the outer turning mechanism of shoulder internal rotator, elbow joint bends and stretches mechanism, the outer turning mechanism of forearm inward turning and wrist articulations digitorum manus extension means；Described shoulder joint Nei Shou abduction mechanism includes lockable rotation disc mechanism, cantilever beam and sill, described lockable rotation disc mechanism is fixing with cantilever beam one end to be connected, the described cantilever beam other end is hinged with sill end fixing, and the jointed shaft of cantilever beam and sill is coaxially arranged with motor reducer, described cantilever beam can rotate with lockable rotation disc mechanism under external force, described sill hinged end is provided with sill position-limit mechanism, thus the right-hand man realizing the interior receipts abduction exercise of shoulder joint exchanges；Described shoulder joint is bent and stretched mechanism and is included outer riser, interior riser, rotating beam, described outer riser is parallel with interior riser to be fixedly installed, described rotating beam one end is hingeably secured between inside and outside riser bottom, described rotating beam jointed shaft is coaxially arranged with motor reducer, the side of described rotating beam hinged end is provided with Geneva mechanism, vertical outer riser and corresponding groove wheel mechanism boundary are provided with the spacing handle of slip, the spacing handle of push-and-pull can realize the mechanical position limitation purpose that rotating beam rotates, thus the right-hand man realizing shoulder joint flexion and extension exchanges；nullDescribed wrist articulations digitorum manus extension means includes driving box、Wrist refers to drive leading screw、Wrist refers to drive slide block、Wrist refers to drive rod、TRAJECTORY CONTROL bar、The palm refers to grasping member and thumb drives part，It is provided with motor reducer in described driving box，Described motor reducer output shaft is provided with gear wheel，Described motor reducer lateral symmetry arranges wrist and refers to drive leading screw，Described wrist refers to drive leading screw end to be provided with the little gear engaged with gear wheel，Wrist refers to drive slide block to refer to drive slip on leading screw at wrist，And wrist refers to drive the slide block sidepiece coaxially hinged wrist that arranges to refer to drive rod and TRAJECTORY CONTROL bar，Described wrist refers to be provided with linear arc-shaped engagement groove on drive rod，And in engagement groove, drive box sidepiece to be provided with track guiding post，The TRAJECTORY CONTROL bar other end is symmetrical slide hinged refers to grasping member both sides in the palm driving box obliquely downward，Drive the hinged intermediate track plate being provided with middle groove on box end，It is provided with joint pin in middle groove，Joint pin bottom is fixedly installed on the palm and refers on grasping member，Described thumb drives part is symmetrical hinged is arranged at intermediate track plate both sides，And the inside end of thumb drives part is coaxially articulated with on joint pin，Wrist refers to be provided with middle brace rod between drive rod end，Described middle brace rod centre position is set on joint pin.
2. interchangeable upper limb rehabilitation robot according to claim 1, it is characterized in that: described lockable rotation disc mechanism includes rotating base, rotary flange, degree of tightness handle and rotation dish, described rotary flange is positioned at rotating base inside and is arranged concentrically, fixing bottom described rotary flange inner ring and rotation dish inner ring, degree of tightness handle is penetrated by threaded engagement and compresses rotary flange sidewall in rotating base.
3. interchangeable upper limb rehabilitation robot according to claim 1, it is characterized in that: described sill position-limit mechanism includes duckbilled knob, cam pin, position limiting slide block and stopper slot, described sill one end inner vertical arranges limiting through hole, the vertical limiting through hole of cam pin and penetrate in sill, described duckbilled knob is fixedly installed on cam pin outboard end, described position limiting slide block is positioned at limiting through hole, described stopper slot is opened in the relevant position of cantilever beam hinged end lower surface, rotate duckbilled knob, duckbilled knob drives cam pin to rotate, position limiting slide block is made to pass in and out stopper slot up and down, thus realizing the spacing purpose of sill.
4. interchangeable upper limb rehabilitation robot according to claim 2, it is characterized in that: the rotating base sidepiece of described lockable rotation disc mechanism is additionally provided with bulb plunger, and the relevant position of both sides, described rotary flange lateral wall respectively offers angle groove, when rotary flange forwards to inside respective angles bulb plunger tip bulb entry angle groove.
5. interchangeable upper limb rehabilitation robot according to claim 1, it is characterized in that: described shoulder joint is bent and stretched the interior riser sidepiece of mechanism and is provided with spring load reducing mechanism, described spring load reducing mechanism includes spring rotary shaft, spring, spring pendant, fixing post and spacing twist pin, described spring rotary shaft is fixing with rotating beam jointed shaft to be connected, spring pendant is slideably positioned on interior riser in the chute offered, spring pendant includes sliding shoe and supports wing plate, described support wing plate is symmetrical hinged is arranged at sliding shoe both sides, described spacing twist pin is fixedly installed on inside interior riser, pull spacing twist pin to support wing plate and be cancelled spacing, fixing post is fixedly installed on interior riser chute both sides, described spring is fixedly installed between sliding shoe and spring rotary shaft.
6. interchangeable upper limb rehabilitation robot according to claim 1, it is characterized in that: the outer turning mechanism of described shoulder internal rotator includes shell body, feed rod, synchronous pulley, Timing Belt, C-shaped ring, liner and band, described feed rod one end is fixing with shell body to be connected, the feed rod other end and rotating beam are fixed, described shell body one end sidepiece arranges motor reducer, motor reducer drives Timing Belt to rotate by synchronous pulley, described C-shaped ring two ends are fixed by Timing Belt compact heap, and C-shaped ring is arranged around the fixing C-shaped ring movement locus of Limit Bearing, described Timing Belt tractive C-shaped ring moves back and forth, liner is set inside C-shaped ring and band fixes human body.
7. interchangeable upper limb rehabilitation robot according to claim 1, it is characterized in that: described elbow joint bends and stretches mechanism and includes gear-box, motor reducer, driving gear, driven gear, power output shaft and ancon connecting plate, described motor reducer is fixedly installed on the side, end of gear-box, motor reducer drives driving gear to rotate by drive sprocket axle, driving gear drives driven gear to rotate by arranging idler gear, driven gear center is fixedly installed power output shaft, power output shaft drives ancon connecting plate to rotate, ancon connecting plate is fixing with C-shaped ring end to be connected.
8. interchangeable upper limb rehabilitation robot according to claim 1, it is characterized in that: the outer turning mechanism of described forearm inward turning includes shell body, feed rod, synchronous pulley, Timing Belt, C-shaped ring, liner and band, described feed rod one end is fixing with shell body to be connected, described shell body one end sidepiece arranges motor reducer, motor reducer drives Timing Belt to rotate by synchronous pulley, described C-shaped ring two ends are fixed by Timing Belt compact heap, and C-shaped ring is arranged around the fixing C-shaped ring movement locus of Limit Bearing, described Timing Belt tractive C-shaped ring moves back and forth, liner is set inside C-shaped ring and band fixes human body.
9. interchangeable upper limb rehabilitation robot according to claim 6, it is characterized in that: the outer turning mechanism of described shoulder internal rotator also includes the short governor motion of upper extremity length, the short governor motion of described upper extremity length includes screw mandrel, feed screw nut and handwheel, the feed screw nut that screw mandrel one end is arranged with rotating beam end coordinates, the other end is positioned at shell body, and the screw mandrel end being positioned at shell body arranges adjustment gear, the hand wheel shaft of handwheel arranges adjustment gear, adjustment gear engages each other, and rotation hand wheel and manually adjustable upper extremity length are short.
10. interchangeable upper limb rehabilitation robot according to claim 7, it is characterized in that: the top drive sprocket axle of described driving gear is fixedly installed the limited block jointly rotated with drive sprocket axle, the length of described limited block, more than the distance at drive sprocket axle edge to gear-box, reaches spacing purpose by limited block and gear-box contact internal walls.
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| CN115554091A (en) * | 2022-09-01 | 2023-01-03 | 燕山大学 | Elbow and wrist joint rehabilitation robot for joint dislocation compensation and compensation method thereof |
| CN117838514A (en) * | 2024-03-07 | 2024-04-09 | 长春工业大学 | Arm rehabilitation training mechanical arm |
| CN117838514B (en) * | 2024-03-07 | 2024-06-04 | 长春工业大学 | Arm rehabilitation training mechanical arm |
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| CN105726260B (en) | 2017-10-27 |
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