CN106038175A - Joint compound motion mechanical arm used for rehabilitation training of upper limb - Google Patents
Joint compound motion mechanical arm used for rehabilitation training of upper limb Download PDFInfo
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- CN106038175A CN106038175A CN201610532667.5A CN201610532667A CN106038175A CN 106038175 A CN106038175 A CN 106038175A CN 201610532667 A CN201610532667 A CN 201610532667A CN 106038175 A CN106038175 A CN 106038175A
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- mechanical arm
- synchronous pulley
- shoulder
- forearm
- joint
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- 230000033001 locomotion Effects 0.000 title claims abstract description 76
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 37
- 239000011499 joint compound Substances 0.000 title claims abstract description 10
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 49
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 23
- 230000001360 synchronised effect Effects 0.000 claims description 59
- 230000007246 mechanism Effects 0.000 claims description 55
- 210000000245 forearm Anatomy 0.000 claims description 43
- 230000005540 biological transmission Effects 0.000 claims description 24
- 210000004247 hand Anatomy 0.000 claims description 12
- 239000007787 solid Substances 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 230000008450 motivation Effects 0.000 claims description 2
- 230000006835 compression Effects 0.000 claims 1
- 238000007906 compression Methods 0.000 claims 1
- 230000009471 action Effects 0.000 abstract description 8
- 150000001875 compounds Chemical class 0.000 abstract description 6
- 210000001503 joint Anatomy 0.000 abstract description 2
- 208000012661 Dyskinesia Diseases 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 5
- 229910052802 copper Inorganic materials 0.000 description 5
- 239000010949 copper Substances 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 238000011084 recovery Methods 0.000 description 5
- 210000003414 extremity Anatomy 0.000 description 3
- 239000004567 concrete Substances 0.000 description 2
- 230000002354 daily effect Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000035876 healing Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 125000003003 spiro group Chemical group 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
- 206010002027 Amyotrophy Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 208000035475 disorder Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000003203 everyday effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 230000037081 physical activity Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000000153 supplemental effect Effects 0.000 description 1
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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
- A61H1/0218—Drawing-out devices
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- 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
-
- 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
-
- 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
- A61H2205/062—Shoulders
Landscapes
- Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a joint compound motion mechanical arm used for rehabilitation training of an upper limb. The mechanical arm comprises a base, an electric lifting column, a T type supporting frame, a main fixed base and an outer skeleton mechanical arm system, wherein the base is placed on the ground; the electric lifting column is fixedly connected with the base; the electric lifting column is fixedly connected with the T type supporting frame; the main fixed base is mounted on a supporting frame; the outer skeleton mechanical arm system is connected with driving motors through the main fixed base; and the driving motors are all mounted on the main fixed base. When the mechanical arm is in use, only the outer skeleton mechanical arm system moves according to a control instruction; the motors are motionless relative to the base; the mechanical arm is light, convenient and flexible, creative in structure, small in occupied space, and stable and reliable in movement; the joint compound motion mechanical arm can be used for assisting a patient with upper limb dyskinesia to finish all kinds of rehabilitation training actions; and meanwhile, the mechanical arm can be used for single-joint rehabilitation training for a shoulder joint and an elbow joint, and also can be used for compound motion rehabilitation training for multiple joints of the upper limb.
Description
Technical field
The present invention relates to medical assistance rehabilitation training apparatus, particularly relate to a kind of mechanical arm for rehabilitation training of upper limbs, be suitable for
In the upper limb rehabilitation robot that upper extremity exercise function patient's upper limb such as hemiplegia are carried out exercise rehabilitation training.
Background technology
For the training rehabilitation of human upper limb locomotion function, traditional rehabilitation training mode is mainly by therapist rule of thumb
Manually auxiliary patient is trained, and training effect is affected by therapist's level, and the working strength of therapist is the biggest.?
Over nearly more than 20 years, research institutions more both domestic and external have carried out the research of rehabilitation training of upper limbs technology, develop several functions each
Different upper limb rehabilitation robot and rehabilitation training equipment, but really can be clinical application and few.
Patent of invention: the recovery exercising robot (patent No. ZL03150355.1) of hemiplegic patient by upper compound motion, relates to
And a kind of upper limb to hemiplegic patient carries out the recovery exercising robot equipment of multi-joint, significantly composite move.This robot
Mechanical arm, wrist mounting bracket, seat and one including column, being arranged on column carries out suspention to patient's elbow joint
The overhead support bracket of support；Mechanical arm uses two bar linkage structures that machinery large arm and machinery forearm are constituted, and can rise along column
Fall, this inventive structure is simple, controls simplicity, can meet support needs when patient's suffering limb is trained on different pitch planes.
But because this recovery exercising robot is towed healing robot, the freedom of motion center of robot can not be with human body shoulder elbow joint
Kinematic axis overlaps, and also with regard to pin, single upper limb joint can not carry out rehabilitation training, and carrying out compound motion rehabilitation during training
Training aspect, the space of upper limb and motion mode are limited, motion compliance aspect and the proper motion space of human body
Bigger with movement locus difference.
For patent of invention: hemiplegic patient takes on the recovery exercising robot (patent No. of elbow simple joint motion
ZL03150356.X), relate to a kind of setting by the shoulder of Hemiplegic Patients, elbow joint carry out the robot of rehabilitation supplemental training
Standby.This robot includes a support means being fixed on pedestal, and one is connected in support means and can be along described cunning
The first driving means that rail moves up and down, second in level second drive shaft being fixed on described first driving means drives
Dynamic device, a sub-arm device being fixed in the 4th drive shaft.This invention be capable of shoulder, healing and training elbow joint each
Plant four basic training actions of necessary action, such as shoulder joint: receive and interior in act on front, outreach adduction, horizontal abduction
Rotation outward turning, can ensure that the safety of paralysis limb in training simultaneously.But this invention only has two to drive freedom of motion, takes on elbow
Compound motion training aspect is restricted, and during other first driving motor movement, second drive motor means can be driven to enter
Row motion, adds the movement inertia of system, makes this device use more heavy, reduces the stability of motion.
For patent of invention: the 7 wearable degree of freedom upper extremity exercise rehabilitation training ectoskeleton (patent No.s
ZL201110076865.2), this invention includes support bar and the ectoskeleton training devices being fixed on base, wherein ectoskeleton instruction
Practice device by receipts/abduction joint, flexion/extension joint, medial rotation/rotation extrinsic articulation, ancon flexion/extension joint, medial rotation/rotation extrinsic articulation in shoulder
And receipts/abduction joint and flexion/extension joint seven rotary joints altogether are in series in wrist, this invention has more motion
Degree of freedom, but each rotary joint all uses motor direct-drive joint, considerably increases ectoskeletal weight, causes motion used
Amount is relatively big, poor stability, also makes ectoskeleton drive the space of patient's training to be restricted.
In view of current upper limb ectoskeleton Status of Research, the subject matter existed shows themselves in that motor is directly mounted at machine
At the rotating shaft of device person joint, cause that mechanical arm body weight is big, robust motion is poor, take physical activity space etc..
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of joint compound motion mechanical arm for rehabilitation training of upper limbs,
To solve the problems such as space is limited, motion flexibility is poor, device stability is poor, volume is excessive during existing upper arm is trained.
For solving above-mentioned technical problem, the present invention uses following technical proposals:
A kind of joint compound motion mechanical arm for rehabilitation training of upper limbs, this mechanical arm includes: main fixing seat 4 is with fixing
Ectoskeleton supplementary motion system on main fixing seat 4；
Described ectoskeleton supplementary motion system includes: for assisting shoulder joint to do the first shoulder joint fortune of interior receipts abduction exercise
Motivation structure 1, for assisting shoulder joint to do the second shoulder joint kinesitherapy mechanism 2 and in the wrong for assisting elbow joint to do of anterior flexion and rear stretching motion
Stretch the elbow joint motion mechanism 3 of motion；
Described second shoulder joint kinesitherapy mechanism 2 is perpendicular to described first shoulder joint kinesitherapy mechanism 1 by main curved boom 14 and fixes,
And rotated relative to described first shoulder joint kinesitherapy mechanism 1 by main curved boom 14；
Described elbow joint motion mechanism 3 is rotatable with described second shoulder joint kinesitherapy mechanism 2 fixing.
Preferably, described first shoulder joint kinesitherapy mechanism 1 includes: shoulder is taken down the exhibits driving motor the 10, first decelerator 11 and straight
Gear train；
Described first decelerator 11 is taken down the exhibits with shoulder, and driving motor 10 is fixing to be connected, and is fixed on main fixing seat 4；
Described first decelerator 11 drives the ladder central siphon being fixed on main curved boom 14 to rotate by straight-tooth wheels, and passes through
Multidiameter pipe racks moves the center of rotation rotation along ladder central siphon of the main curved boom 14；
The first spur gear 12 in described straight-tooth wheels is fixed on the output shaft of the first decelerator 11, in straight-tooth wheels
Second spur gear 13 is bonded with main curved boom 14 by the ladder central siphon being fixed on main curved boom 14；
Described ladder central siphon is arranged on main fixing seat 4 by bearing.
Preferably, described second shoulder joint kinesitherapy mechanism 2 includes: shoulder bends and stretches driver element and upper arm support unit, and shoulder is bent
Stretching driver element drives upper arm support unit to swing along the plane of movement being perpendicular to the first shoulder joint kinesitherapy mechanism 1.
Preferably, described shoulder bends and stretches driver element and includes: shoulder bends and stretches driving motor the 20, second decelerator 21, multiple gear
With multiple belt wheels；Second decelerator 21 bends and stretches with shoulder that driving motor 20 is fixing to be connected, and is fixed on main fixing on seat 4, and second subtracts
Speed device 21 drives upper arm support unit by the cooperation transmission of multiple gears and multiple belt wheel；
The output shaft of described second decelerator 21 is carried out with the rotating shaft 22 that couples being arranged on main curved boom 14 in ladder central siphon
Bonded, the other end coupling rotating shaft 22 is mounted with the 3rd spur gear 25；
Described 3rd spur gear 25 and the first duplicate gear 26 engaged transmission；
Described first duplicate gear 26 includes straight-tooth part and bevel gear part, the bevel gear part in the first duplicate gear 26 with
First bevel gear shaft 27 engaged transmission, and drive and first the first fixing synchronous pulley 28 and the first Timing Belt of bevel gear shaft 27
29 rotate；
Described first synchronous pulley 28 is by the first Timing Belt 29 and the 4th synchronous pulley 210 transmission and same by the 4th
Step belt wheel 210 drives upper arm support unit to swing.
Preferably, described upper arm support unit includes: upper arm pivoted arm 211 and upper arm move plate 212；
Described upper arm moves plate 212 and couples with the groove fit being opened on upper arm pivoted arm 211, and can be along upper arm pivoted arm 211
On groove move back and forth.
Preferably, described elbow joint motion mechanism 3 includes: elbow bends and stretches driver element and forearm auxiliary support mechanism, and elbow is bent
Stretching driver element drives forearm auxiliary support mechanism to do planar rotational movement relative to described second shoulder joint kinesitherapy mechanism.
Preferably, described elbow bends and stretches driver element and includes: elbow bends and stretches driving motor the 30, the 3rd decelerator 31, multiple gear
With multiple belt wheels；Described 3rd decelerator 31 bends and stretches with elbow that driving motor 30 is fixing to be connected, and is fixed on and main fixes on seat 4, institute
State the 3rd decelerator 31 and drive forearm auxiliary support mechanism by the cooperation transmission of multiple gears and multiple belt wheel；
The output shaft of described 3rd decelerator 31 drives the second synchronous pulley 32 to rotate, and the second synchronous pulley 32 is by second
Timing Belt 33 drives the combination synchronous pulley 34 with spur gear；
Described combination synchronous pulley 34 and the second duplicate gear 35 engaged transmission, the second duplicate gear 35 includes straight-tooth part
And bevel gear part；
Bevel gear part in described second duplicate gear 35 and the second bevel gear shaft 36 engaged transmission, and drive and with second
Co-axially fixed 3rd synchronous pulley 37 of bevel gear shaft 36 rotates；
Described 3rd synchronous pulley 37 is by the 3rd Timing Belt 38 and the duplex being arranged in the second shoulder joint kinesitherapy mechanism 2
A belt wheel transmission in synchronous pulley 39, another belt wheel synchronous follow-up of duplex synchronous pulley 39；
Another belt wheel of described duplex synchronous pulley 39 passes through the 4th Timing Belt 310 and the 5th synchronous pulley 311 transmission,
5th synchronous pulley 311 drives forearm auxiliary support mechanism to rotate.
Preferably, described elbow bends and stretches driver element and farther includes: strainer 6；
This strainer includes: location dish 60 and tensioning support 61, and described location dish 60 is fixed on the second shoulder joint kinesitherapy
In mechanism 2, described tensioning support 61 is hinged with location dish 60；
Described tensioning support 61 is provided with spring-loaded plunger 63, and the telescopic shaft of described spring-loaded plunger 63 can be inserted on location dish 60
Adjustment hole in；
The two ends of described tensioning support 61 are arranged with two tightener sheaves 62, and two tightener sheaves 62 compress the 4th synchronization
Band 310.
Preferably, described forearm auxiliary support mechanism 5 includes: elbow pivoted arm 50, forearm frid 52 and forearm move plate 53；
Described elbow pivoted arm 50 is fixed with forearm frid 52 by gusset piece 51；
Described forearm moves plate 53 and links with the matching grooves on forearm frid 52, and can move back and forth along groove；
Described forearm moves the other end with forearm frid 52 union end of plate 53 and is provided with hands 55, and described hands passes through hands 55
Frame 54 is fixed on forearm and moves on plate 53.
Preferably, described master fixes seat 4 and includes: shaft seating 41 and supporting vertical plate 42, one end of described supporting vertical plate 42
Hinged with shaft seating 41, described supporting vertical plate 42 is provided with a U-shaped seat (43)；
Preferably, this mechanical arm farther includes: base 9, electric lifting pole 8 and T-shaped the most fixing
Support 7；Described master fixes the shaft seating 41 in seat 4 and is fixed on T-shaped bracing frame 7.
Beneficial effects of the present invention is as follows:
Technical scheme of the present invention is compared with prior art:
1, three driving motors are installed in the master fixing to be connected with base and fix on seat by this programme, are driving ectoskeleton
During manipulator motion, three driving equal transfixions of motor respect thereto.Significantly reduce the weight of mechanical arm body, carry
The portability of high mechanical arm and motor dexterity.
2, this programme is capable of the various necessary action of rehabilitation training of upper limbs, it is possible to achieve 3 single degree of freedom of upper limb
Degree rehabilitation action: shoulder anterior flexion and rear stretching, receives abduction in shoulder, elbow bends and stretches；The compound of three degree of freedom at shoulder elbow joint can also be realized
Motion.The range of movement of normal human's upper limb can be reached, meet in the daily rehabilitation of upper extremity motor function disorder patient conventional
Action request.
Accompanying drawing explanation
Below in conjunction with the accompanying drawings the detailed description of the invention of the present invention is described in further detail；
Fig. 1 illustrates the population structure schematic diagram of joint compound motion mechanical arm described in this programme；
Fig. 2 illustrates the schematic diagram of freedom of motion rotary shaft described in this programme；
Fig. 3 illustrates the schematic diagram of mechanical arm inside structure described in this programme；
Fig. 4 illustrates the schematic diagram of mechanical arm outboard structure described in this programme；
Fig. 5 illustrates the top view of mechanical arm described in this programme；
Fig. 6 illustrates the schematic diagram of main curved boom in mechanical arm described in this programme；
Fig. 7 illustrates the front view of mechanical arm described in this programme；
Fig. 8 illustrates the schematic diagram of tensioner in mechanical arm described in this programme.
Drawing reference numeral
1, the first shoulder joint kinesitherapy mechanism, 10, shoulder take down the exhibits driving motor, the 11, first decelerator, the 12, first spur gear,
13, the second spur gear, 14, main curved boom, 141, ladder central siphon bigger diameter end, 142, keyway；
2, the second shoulder joint kinesitherapy mechanism, 20, shoulder bend and stretch driving motor, the 21, second decelerator, 22, couple rotating shaft, 23,
First copper sheathing, the 24, second copper sheathing, the 25, the 3rd spur gear, the 26, first duplicate gear, the 27, first bevel gear shaft, 28, first is same
Step belt wheel, the 29, first Timing Belt, the 210, the 4th synchronous pulley；211, upper arm pivoted arm；212, upper arm moves plate；
3, elbow joint motion mechanism, 30, elbow bend and stretch driving motor, the 31, the 3rd decelerator, the 32, second synchronous pulley, 33,
Second Timing Belt, 34, there is the combination synchronous pulley of spur gear, the 35, second duplicate gear, the 36, second bevel gear shaft, 37,
Three synchronous pulleys, the 38, the 3rd Timing Belt, 39, duplex synchronous pulley, the 310, the 4th Timing Belt, the 311, the 5th synchronous pulley；
4, main fixing seat, 41, shaft seating；42, supporting vertical plate；43, U-shaped seat；44, positioning spiro pit；45, bolt
5, forearm auxiliary support mechanism, 50, elbow pivoted arm, 51, gusset piece, 52, forearm frid, 53, forearm move plate, 54, hands
Frame, 55, hands handle；
6, strainer, 60, location dish, 61, tensioning support, 62, tightener sheave, 63, spring-loaded plunger；
7, T-shaped bracing frame, 8, electric lifting pole, 9, base.
Detailed description of the invention
In order to be illustrated more clearly that the present invention, below in conjunction with preferred embodiments and drawings, the present invention is done further
Bright.Parts similar in accompanying drawing are indicated with identical reference.It will be appreciated by those skilled in the art that institute is concrete below
The content described is illustrative and be not restrictive, and should not limit the scope of the invention with this.
As it is shown in figure 1, the invention discloses a kind of joint compound motion mechanical arm for rehabilitation training of upper limbs.This upper limb
Mechanical arm for rehabilitation training is a serial mechanism, and this programme comprises 3 freedoms of motion, corresponds respectively to the shoulder joint of human body
Take down the exhibits, bend and stretch the motion with elbow joint, for meeting the rehabilitation training of upper limbs needs of patient.
Concrete, as it is shown in figure 1, joint compound motion mechanical arm includes the most successively described in this programme: base 9,
Electric lifting pole 8, T-shaped bracing frame 7, main fixing seat 4 and ectoskeleton mechanical arm system.Wherein, base 9 is positioned on ground；Electricity
One end of dynamic lifting column 8 is fixed with base 9 and is connected, and one end of its other end and the vertical square tube of T-shaped bracing frame 7 is fixed；Main solid
Shaft seating 41 in reservation 4 is fixed on the center position of the transverse tube of T-shaped bracing frame 7；Described ectoskeleton mechanical arm system is installed
On main fixing seat 4.Electric lifting pole 8 regulates the height of T-shaped bracing frame 7 in electrically operated mode, so that and dermoskeleton
Bone mechanical arm system adapts to patient's upper limb when sitting posture and stance and dresses.
As it is shown on figure 3, this programme described master fix be provided with on seat 4 three driving motors needed for 3 degree of freedom and
Three decelerators, on the center position of the transverse tube that shaft seating 41 is fixed on T-shaped bracing frame 7, one end of supporting vertical plate 42
Hinged with shaft seating 41, supporting vertical plate 42 can overturn centered by shaft seating 41, and the upset of driving mechanical arm, thus changes
The left and right installation site of mechanical arm, is changed by this left and right of mechanical arm and installs, and can meet different patient and carry out left upper extremity
Or the rehabilitation training of right upper extremity needs.After riser 42 to be supported is fixing, bolt 45 can be passed through and be arranged on T-shaped bracing frame
Supporting vertical plate 42 is fixed to left side or the right side of T-shaped bracing frame 7 by the positioning spiro pit 44 on the transverse tube of 7.As it is shown in fig. 7, this
Time mechanical arm be adjusted to the rehabilitation training of upper limb on the left of human body.For the needs of transmission, fixing in supporting vertical plate 42
One U-shaped seat 43 is installed, is used for fixedly mounting shoulder and takes down the exhibits driving motor 10 and the first decelerator 11.
As in figure 2 it is shown, upper limb ectoskeleton mechanical arm system described in this programme includes three freedoms of motion, and the shape of correspondence
Become the centre of motion as depicted.Wherein, the center of rotation of abduction exercise degree of freedom, axis II are received in the corresponding shoulder joint of axis I
The center of rotation of corresponding shoulder joint anterior flexion and rear stretching freedom of motion, the corresponding elbow joint of axis III bends and stretches in the rotation of freedom of motion
The heart.And further by Fig. 3 to Fig. 5, the structure of each degree of freedom is shown.
For the axis I of center of rotation, corresponding is receipts abduction exercise degree of freedom in shoulder joint, is i.e. used for assisting shoulder joint
Do the first shoulder joint kinesitherapy mechanism 1 of interior receipts abduction exercise.As shown in Figure 3 and Figure 4, the first shoulder joint kinesitherapy mechanism 1 mainly wraps
Include: shoulder is taken down the exhibits and driven motor the 10, first decelerator the 11, first spur gear the 12, second spur gear 13, main curved boom 14, shoulder to take down the exhibits and drives
Galvanic electricity machine 10 and the first decelerator 11 connect for fixing, and the first decelerator 11 is fixedly mounted on U-shaped seat 43, the first spur gear 12
Being fixedly mounted on the output shaft of the first decelerator 11, the second spur gear 13 is fixedly mounted on the big footpath of ladder central siphon of main curved boom 14
On end 141, as shown in Figure 6, ladder central siphon bigger diameter end 141 is provided with keyway 142, for realizing key connecting with the second spur gear 13
Transmission.Being taken down the exhibits by shoulder drives motor 10 to drive main curved boom 14 around axis I rotation, it is achieved receive abduction exercise in shoulder joint.
For the axis II of center of rotation, corresponding is shoulder joint anterior flexion and rear stretching freedom of motion, is i.e. used for assisting shoulder joint
Joint does the second shoulder joint kinesitherapy mechanism 2 of anterior flexion and rear stretching motion.Described second shoulder joint kinesitherapy mechanism 2 includes: shoulder bends and stretches driving
Unit and upper arm support unit, as shown in Figure 3 and Figure 4, described shoulder bends and stretches driver element and specifically includes that shoulder bends and stretches driving motor
20, the second decelerator 21, couple rotating shaft the 22, first copper sheathing the 23, second copper sheathing the 24, the 3rd spur gear the 25, first duplicate gear 26,
First bevel gear shaft the 27, first synchronous pulley the 28, first Timing Belt 29 and the 4th synchronous pulley 210.Shoulder bends and stretches driver element work
When making, shoulder bends and stretches and drives motor 20 to drive the output shaft of the second decelerator 21 drive connection rotating shaft 22 simultaneously and be fixed on another axle
3rd spur gear 25 of end rotates, the 3rd spur gear 25 and the first duplicate gear 26 engaged transmission；Described duplicate gear 26 is by directly
Toothed portion and bevel gear part composition, the bevel gear part of described duplicate gear 26 and the first bevel gear shaft 27 engaged transmission, and pass through
First bevel gear shaft 27 drives the first synchronous pulley 28 and the first Timing Belt 29 to rotate, the 4th synchronous pulley 210 and upper arm pivoted arm
211 fixing connections, the first Timing Belt 29 drives the 4th synchronous pulley 210 and the upper arm pivoted arm 211 being secured to rotate simultaneously, real
Existing shoulder joint anterior flexion and rear stretching motion.Shoulder bends and stretches driver element and drives upper arm support unit along being perpendicular to the first shoulder joint kinesitherapy mechanism
The plane of movement direction of 1 swings.As shown in Figure 3, Figure 4, described upper arm support unit includes: upper arm pivoted arm 211 and upper arm move plate
212；Described upper arm moves plate 212 and couples with the groove fit being opened on upper arm pivoted arm 211, and can be along upper arm pivoted arm 211
Groove moves back and forth.The relative position moving plate 212 by adjusting upper arm pivoted arm 211 with upper arm realizes mechanical arm upper arm lengths
Regulation, to adapt to the upper arm lengths of different human body.
For the axis III of center of rotation, corresponding is that elbow joint bends and stretches freedom of motion, is i.e. used for assisting elbow joint to do
The elbow joint motion mechanism 3 of flexion and extension.Described elbow joint motion mechanism 3 includes: elbow bends and stretches driver element and forearm auxiliary
Support mechanism, elbow bends and stretches driver element and drives forearm auxiliary support mechanism to do plane rotation relative to described second shoulder joint kinesitherapy mechanism
Transhipment is dynamic.As shown in Figures 3 to 5, described elbow bends and stretches driver element and specifically includes that elbow bends and stretches driving motor the 30, the 3rd decelerator
31, second synchronous pulley the 32, second Timing Belt 33, there is combination synchronous pulley 34, second duplicate gear 35, second of spur gear
Bevel gear shaft the 36, the 3rd synchronous pulley the 37, the 3rd Timing Belt 38, duplex synchronous pulley the 39, the 5th synchronous pulley 311 and the 4th are same
Step band 310；When elbow joint motion mechanism 3 works, elbow bends and stretches and drives motor 30 to drive the output shaft of the 3rd decelerator 31 to drive the
Two synchronous pulleys 32 rotate, then drive the combination synchronous pulley 34 with spur gear to rotate by the second Timing Belt 33, pass through tooth
Wheel engaged transmission, combination synchronous pulley 34 drives the second duplicate gear 35 to rotate, and the second duplicate gear 35 is by spur gear and cone tooth
Wheel two parts combine composition, the bevel gear part of the second duplicate gear 35 and the bevel gear engaged transmission of the second bevel gear shaft 36,
Driving the 3rd synchronous pulley 37 to rotate by the second bevel gear shaft 36, the 3rd synchronous pulley 37 is by the 3rd Timing Belt 38 and duplex
A belt wheel transmission in synchronous pulley 39, duplex synchronous pulley 39 is arranged in the rotating shaft of upper arm pivoted arm 211 by copper sheathing, double
Another belt wheel synchronous follow-up of connection synchronous pulley 39；And drive the 4th Timing Belt 310 and the 5th synchronous pulley 311 to rotate, elbow
It is hinged and fixing with the 5th synchronous pulley 311 be connected that pivoted arm 50 moves plate 212 with upper arm, and the 5th synchronous pulley 311 drives elbow pivoted arm
50 rotate around axis III, it is achieved the flexion and extension that elbow closes.As shown in Figure 8, described elbow bends and stretches driver element and farther includes: tensioning
Mechanism 6, this strainer mainly includes location dish 60, tensioning support 61, tightener sheave 62 and spring-loaded plunger 63.Location dish 60 is solid
Being scheduled on upper arm and move on plate 212, can move plate 212 with upper arm and move, tensioning support 61 is hinged with location dish 60, and spring-loaded plunger 63 is located at
On tensioning support 61, the telescopic shaft of spring-loaded plunger 63 can be inserted into the adjustment hole of adjustment disk 60, it is achieved to tensioning support 61 corner
Positioning and fixing, two tightener sheaves 62 are arranged on the two ends of tensioning support 61, to ensure that two tightener sheaves are suitable during regulation
It is pressed on the 4th Timing Belt 310.
As shown in Figure 3 to Figure 4, as it is shown on figure 3, described forearm auxiliary support mechanism 5 mainly includes gusset piece 51, forearm groove
Plate 52, forearm move plate 53, hand cradle 54 and hands 55.It is connected for fixing between gusset piece 51 with elbow pivoted arm 50, forearm frid 52, front
Arm moves plate 53 and couples with the groove fit of forearm frid 52, can carry out position adjustments between the two, to adapt to different human body
Forearm, hand cradle 54 and forearm move plate 53, hands 55 for being fixedly connected, hands 55 for the grasping of human hands.
This programme is when specific works: first, according to the rehabilitation exercise training pose (sitting posture or stance) of patient, adjusts in advance
The height of section electric lifting column 8, makes the shoulder Glenohumeral joint of human body and the shoulder joint kinesitherapy center superposition (kinematic axis of this mechanical arm
I and the intersection point of axle II).Then, adjust upper arm pivoted arm 211 and move the relative position of plate 212 with upper arm, make the length of mechanical arm upper arm
Consistent with the length of human body upper arm, it is, make the mechanical arm elbow joint center of rotation axis III can be with the flexor of elbow joints of human body
Stretch center superposition.Then regulation forearm frid 52 moves the relative position of plate 53 with forearm, makes mechanical arm ectoskeleton forearm part
Length is consistent with human body forearm length, it is ensured that staff can grasp in one's hands 55 naturally.When mechanical arm works, shoulder take down the exhibits driving
Motor 10, shoulder bend and stretch and drive motor 20, elbow to bend and stretch driving motor 30 by the order-driven mechanical arm drive human body of control system
Limb does continuous passive motion, and this system can do single dof mobility training, can do again compound motion training.
The mechanical arm for rehabilitation training of upper limbs of the present invention, comprises 3 joint freedom degrees, permissible by these 3 joint freedom degrees
Realize various simple and complicated shoulder rehabilitation motion.Rehabilitation training early stage, in order to individually train some action, can
To use single-degree-of-freedom to drive, doing single joint motions, promote the recovery of upper extremity exercise function, exercise one's muscles strength simultaneously,
Avoid amyotrophy.Along with the training of individual part, the gradually enhancing of muscle of upper extremity strength, when returning to certain phase, pass through
The aggregate motion of multiple single degree of freedoms, it is achieved complicated upper limb joint motion, completes daily simple motion, such as by 3
The combination of individual degree of freedom, the simple everyday actions such as can complete cheers drinks water, comb one's hair.By such training process, progressively
Realize the rehabilitation of patient's upper extremity exercise function.
Obviously, the above embodiment of the present invention is only for clearly demonstrating example of the present invention, and is not right
The restriction of embodiments of the present invention, for those of ordinary skill in the field, the most also may be used
To make other changes in different forms, cannot all of embodiment be given exhaustive here, every belong to this
What bright technical scheme was extended out obviously changes or changes the row still in protection scope of the present invention.
Claims (10)
1. the joint compound motion mechanical arm for rehabilitation training of upper limbs, it is characterised in that this mechanical arm includes: main fixing
Seat (4) and the ectoskeleton supplementary motion system being fixed on main fixing seat (4)；
Described ectoskeleton supplementary motion system includes: for assisting shoulder joint to do the first shoulder joint exercise machine of interior receipts abduction exercise
Structure (1), for assisting shoulder joint to do the second shoulder joint kinesitherapy mechanism (2) of anterior flexion and rear stretching motion and to be used for assisting elbow joint to do in the wrong
Stretch the elbow joint motion mechanism (3) of motion；
It is solid that described second shoulder joint kinesitherapy mechanism (2) is perpendicular to described first shoulder joint kinesitherapy mechanism (1) by main curved boom (14)
Fixed, and rotated relative to described first shoulder joint kinesitherapy mechanism (1) by main curved boom (14)；
Described elbow joint motion mechanism (3) is rotatable with described second shoulder joint kinesitherapy mechanism (2) fixing.
Mechanical arm the most according to claim 1, it is characterised in that described first shoulder joint kinesitherapy mechanism (1) including: shoulder is received
Exhibition drives motor (10), the first decelerator (11) and straight-tooth wheels；
Described first decelerator (11) is taken down the exhibits with shoulder, and driving motor (10) is fixing to be connected, and is fixed on main fixing seat (4)；
Described first decelerator (11) drives the ladder central siphon being fixed on main curved boom (14) to rotate by straight-tooth wheels, and passes through
Multidiameter pipe racks moves the main curved boom (14) the center of rotation rotation along ladder central siphon；
The first spur gear (12) in described straight-tooth wheels is fixed on the output shaft of the first decelerator (11), in straight-tooth wheels
Second spur gear (13) is bonded with main curved boom (14) by the ladder central siphon being fixed on main curved boom (14)；
Described ladder central siphon is arranged on main fixing seat (4) by bearing.
Mechanical arm the most according to claim 1, it is characterised in that described second shoulder joint kinesitherapy mechanism (2) including: shoulder is bent
Stretching driver element and upper arm support unit, shoulder bends and stretches driver element and drives upper arm support unit along being perpendicular to the first shoulder joint kinesitherapy
The plane of movement of mechanism (1) swings.
Mechanical arm the most according to claim 3, it is characterised in that described shoulder bends and stretches driver element and includes: shoulder bends and stretches driving
Motor (20), the second decelerator (21), multiple gear and multiple belt wheel；Second decelerator (21) and shoulder bend and stretch driving motor (20)
Fixing connection, and be fixed on main fixing seat (4), the second decelerator (21) the cooperation transmission by multiple gears and multiple belt wheel
Drive upper arm support unit；
The output shaft of described second decelerator (21) enters with the rotating shaft (22) that couples being arranged in the upper ladder central siphon of main curved boom (14)
Line unit connects, and the other end coupling rotating shaft (22) is mounted with the 3rd spur gear (25)；
Described 3rd spur gear (25) and the first duplicate gear (26) engaged transmission；
Described first duplicate gear (26) includes straight-tooth part and bevel gear part, the bevel gear part in the first duplicate gear (26) with
First bevel gear shaft (27) engaged transmission, and drive first synchronous pulley (28) and first fixing with the first bevel gear shaft (27)
Timing Belt (29) rotates；
Described first synchronous pulley (28) is by the first Timing Belt (29) and the 4th synchronous pulley (210) transmission, and passes through the 4th
Synchronous pulley (210) drives upper arm support unit to swing.
Mechanical arm the most according to claim 3, it is characterised in that described upper arm support unit includes: upper arm pivoted arm (211)
Plate (212) is moved with upper arm；
Described upper arm moves plate (212) and couples with the groove fit being opened on upper arm pivoted arm (211), and can be along upper arm pivoted arm
(211) groove on moves back and forth.
Mechanical arm the most according to claim 1, it is characterised in that described elbow joint motion mechanism (3) including: elbow bends and stretches and drives
Moving cell and forearm auxiliary support mechanism, elbow bends and stretches driver element and drives forearm auxiliary support mechanism relative to described second shoulder joint
Joint motion does planar rotational movement.
Mechanical arm the most according to claim 6, it is characterised in that described elbow bends and stretches driver element and includes: elbow bends and stretches driving
Motor (30), the 3rd decelerator (31), multiple gear and multiple belt wheel；Described 3rd decelerator (31) and elbow bend and stretch driving motor
(30) fixing connecting, and be fixed on main fixing seat (4), described 3rd decelerator (31) is by multiple gears and multiple belt wheel
Transmission is coordinated to drive forearm auxiliary support mechanism；
The output shaft of described 3rd decelerator (31) drives the second synchronous pulley (32) to rotate, and the second synchronous pulley (32) is by the
Two Timing Belts (33) drive the combination synchronous pulley (34) with spur gear；
Described combination synchronous pulley (34) and the second duplicate gear (35) engaged transmission, the second duplicate gear (35) includes straight-tooth portion
Divide and bevel gear part；
Bevel gear part in described second duplicate gear (35) and the second bevel gear shaft (36) engaged transmission, and drive and with second
Co-axially fixed 3rd synchronous pulley (37) of bevel gear shaft (36) rotates；
Described 3rd synchronous pulley (37) is double be arranged in the second shoulder joint kinesitherapy mechanism (2) by the 3rd Timing Belt (38)
A belt wheel transmission in connection synchronous pulley (39), another belt wheel synchronous follow-up of duplex synchronous pulley (39)；
Another belt wheel of described duplex synchronous pulley (39) is passed with the 5th synchronous pulley (311) by the 4th Timing Belt (310)
Dynamic, the 5th synchronous pulley (311) drives forearm auxiliary support mechanism to rotate.
Mechanical arm the most according to claim 7, it is characterised in that described elbow bends and stretches driver element and farther includes: tensioning
Mechanism (6)；
This strainer includes: location dish (60) and tensioning support (61), and described location dish (60) is fixed on the second shoulder joint fortune
On motivation structure (2), described tensioning support (61) is hinged with location dish (60)；
Described tensioning support (61) is provided with spring-loaded plunger (63), and the telescopic shaft of described spring-loaded plunger (63) can be inserted into location dish
(60) in the adjustment hole on；
The two ends of described tensioning support (61) are arranged with two tightener sheaves (62), and two tightener sheave (62) compressions the 4th are same
Step band (310).
Mechanical arm the most according to claim 7, it is characterised in that described forearm auxiliary support mechanism (5) including: elbow pivoted arm
(50), forearm frid (52) and forearm move plate (53)；
Described elbow pivoted arm (50) is fixed with forearm frid (52) by gusset piece (51)；
Described forearm moves plate (53) and links with the matching grooves on forearm frid (52), and can move back and forth along groove；
Described forearm moves the other end with forearm frid (52) union end of plate (53) and is provided with hands handle (55), and described hands leads to (55)
Cross hand cradle (54) to be fixed on forearm and move on plate (53).
Mechanical arm the most according to claim 1, it is characterised in that described master fixes seat (4) and including: shaft seating (41)
With supporting vertical plate (42), one end of described supporting vertical plate (42) is hinged with shaft seating (41), and described supporting vertical plate (42) sets
There is a U-shaped seat (43)；
Preferably, this mechanical arm farther includes: base (9), electric lifting pole (8) and T-shaped the most fixing
Support (7)；The shaft seating (41) that described master fixes in seat (4) is fixed on T-shaped bracing frame (7).
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| CN201610532667.5A CN106038175B (en) | 2016-07-07 | 2016-07-07 | A kind of joint compound motion mechanical arm for rehabilitation training of upper limbs |
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| CN201610532667.5A CN106038175B (en) | 2016-07-07 | 2016-07-07 | A kind of joint compound motion mechanical arm for rehabilitation training of upper limbs |
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| CN106038175B CN106038175B (en) | 2018-05-08 |
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| CN113545958A (en) * | 2021-07-02 | 2021-10-26 | 中国科学院长春光学精密机械与物理研究所 | Shoulder joint rehabilitation robot |
| CN113545957A (en) * | 2021-07-02 | 2021-10-26 | 中国科学院长春光学精密机械与物理研究所 | Indirect drive module and shoulder joint rehabilitation robot |
| CN113476273B (en) * | 2021-07-16 | 2023-09-01 | 南京唐壹信息科技有限公司 | Shoulder joint dysfunction scapulohumeral periarthritis rehabilitation auxiliary instrument |
| CN113476273A (en) * | 2021-07-16 | 2021-10-08 | 何昊翔 | Shoulder joint dysfunction scapulohumeral periarthritis rehabilitation auxiliary instrument |
| CN113893131A (en) * | 2021-10-20 | 2022-01-07 | 南通大学 | Rope-driven upper limb exoskeleton rehabilitation robot with shoulder joint passive tracking function |
| CN113827445A (en) * | 2021-10-29 | 2021-12-24 | 长春工业大学 | Seven-degree-of-freedom serial-parallel upper limb exoskeleton rehabilitation robot |
| CN113827445B (en) * | 2021-10-29 | 2023-12-22 | 长春工业大学 | Seven-degree-of-freedom serial-parallel upper limb exoskeleton rehabilitation robot |
| CN114851216A (en) * | 2022-04-18 | 2022-08-05 | 湖南宁庆航空航天智能装备有限公司 | Multi freedom reclaimer manipulator |
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