CN109620646A - A kind of forearm inside/outside rotation mechanism for upper-limb recovery training device - Google Patents
A kind of forearm inside/outside rotation mechanism for upper-limb recovery training device Download PDFInfo
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- CN109620646A CN109620646A CN201910104463.5A CN201910104463A CN109620646A CN 109620646 A CN109620646 A CN 109620646A CN 201910104463 A CN201910104463 A CN 201910104463A CN 109620646 A CN109620646 A CN 109620646A
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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
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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
- A61H1/0285—Hand
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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
- A61H2001/0203—Rotation of a body part around its longitudinal axis
-
- 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
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- 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 present invention provides a kind of forearm inside/outsides for upper-limb recovery training device to revolve mechanism, include: rotational axis offset mechanism, including cabinet, motor, interior outward turning pedestal, driving gear, with the driven gear of driving gear engagement, with the drive connecting rod of driven gear connection, with drive connecting rod follower link disposed in parallel, the upper output connecting rod that is fixed on drive connecting rod top and follower link top, with it is upper export connecting rod it is disposed in parallel it is lower export connecting rod, pin shaft, connection orthogonal with pin shaft handle；Wrist reversing mechanism, including connecting shaft, wrist commutation shell, upper dowel hole and lower dowel hole, the positioning pin being placed in upper dowel hole, commutation guide groove, stop nut, spring tray and reset spring；And supporting plate reversing mechanism, including T-type connecting tube, the first pipe clamp and the second pipe clamp, the first connecting plate and the second connecting plate, the first support link and the second support link, the first sub-link and the second sub-link and supporting plate.
Description
Technical field
The present invention relates to a kind of mechanical structures for upper limb healing, and in particular to a kind of for upper-limb recovery training device
Forearm inside/outside revolves mechanism.
Background technique
With the raising of China human mortality aging degree, the quantity of patients with cerebral apoplexy constantly increases, to upper limb health
The demand of multiple instrument is also constantly increasing.The generally existing movable range of upper limb healing instrument is small, and limbs cannot be forged sufficiently
The limitation of refining.The rotation training of forearm inside/outside can give full play to the inside potential of body, promote the reproduction of nervous function, improve
The function of paralyzed limbs, to reach functional rehabilitation to the full extent.The complication that can be prevented simultaneously, to reduce fortune
Dynamic obstacle is adversely affected to patient activity's bring, and reaching for patient's maximum possible is made to take care of oneself.
Traditional upper limb healing machinery arm is based on flexion/extension action training, and action training is rare is related to for the rotation of forearm inside/outside,
Analyzing its reason may be because revolving in action training carrying out forearm inside/outside, the rotation axis of mechanical arm and the practical rotation of forearm
Shaft axis degree of fitting is lower, influences the Experience Degree of user.
Summary of the invention
The present invention is to carry out to solve the above-mentioned problems, and it is an object of the present invention to provide a kind of for upper-limb recovery training device
Forearm inside/outside revolves mechanism.
The present invention provides a kind of forearm inside/outsides for upper-limb recovery training device to revolve mechanism, has the feature that, wraps
It includes: rotational axis offset mechanism, including cabinet, the motor being arranged in cabinet, the interior outward turning pedestal and motor being connect with cabinet
The driving gear of connection being arranged on interior outward turning pedestal, is connect with driven gear the driven gear that engages with driving gear
The drive connecting rod that is fixed on interior outward turning pedestal by active pin shaft, with drive connecting rod is disposed in parallel is fixed by driven pin shaft
Follower link on interior outward turning pedestal passes through joint pin and is fixed on the upper of drive connecting rod top and follower link top simultaneously
Output connecting rod, with upper output connecting rod is disposed in parallel is fixed on drive connecting rod bottom end and follower link bottom simultaneously by joint pin
The lower output connecting rod at end, be arranged in upper output connecting rod end with it is lower export the pin shaft of connecting rod end, connection orthogonal with pin shaft is held
Handle；Wrist reversing mechanism, the end including connecting with cabinet are equipped with the connecting shaft of optical port, commutate with the wrist for connecting axis connection
Shell, the centripetal end being symmetricly set on wrist commutation shell are equipped with the upper dowel hole of taper and lower dowel hole, are placed in positioning
In pin hole and cross connection shaft end unthreaded hole the tapered positioning pin of centripetal end band, the position on wrist commutation shell surface is set
Commutation guide groove between upper dowel hole and lower dowel hole, the stop nut being arranged in above lower dowel hole, setting exist
It spring tray on stop nut and is accommodated in spring tray and connects the reset spring between the tip of the axis；And supporting plate changes
To mechanism, including with wrist commutation shell rivething T-type connecting tube, the first pipe clamp for being arranged at the tubule of T-type connecting tube both ends with
Second pipe clamp, the first connecting plate that the first pipe clamp bottom is set, the second connecting plate that the second pipe clamp bottom is set and first
The first vertically disposed support link of connecting plate and the second vertically disposed support link of the second connecting plate are embedded in first
The first sub-link inside support link, the second sub-link inside the second support link and pin is plugged by supporting plate
The supporting plate being fixed on the first sub-link and the second sub-link, wherein the junction of the first connecting plate and the first support link is also
It is provided with the first main reversing shaft, pin progress position is plugged by main commutation between the first connecting plate and the first support link and is consolidated
Fixed, the junction of the second connecting plate and the second support link is additionally provided with the second main reversing shaft, the second connecting plate and the second support
Pin progress position being plugged by main commutation between connecting rod to fix, the first sub-link end is provided with the first auxiliary reversing shaft, the
Two sub-link ends are provided with the second auxiliary reversing shaft, and the aperture of upper dowel hole and the aperture of lower dowel hole are not less than commutation
The groove width of guide groove.
In a kind of forearm inside/outside rotation mechanism for upper-limb recovery training device provided by the invention, there can also be this
The feature of sample: where the upper and lower ends of handle are equipped with shaft pin hole, which is used to connect with the male cooperation on pin shaft
It connects, to realize relative rotation.
In a kind of forearm inside/outside rotation mechanism for upper-limb recovery training device provided by the invention, there can also be this
The feature of sample: where be also built-in with the bearing for being used to bear radial load being cooperatively connected with connecting shaft in wrist commutation shell.
In a kind of forearm inside/outside rotation mechanism for upper-limb recovery training device provided by the invention, there can also be this
The feature of sample: where handle is in spindle, and outer surface is covered with natural rubber material.
In a kind of forearm inside/outside rotation mechanism for upper-limb recovery training device provided by the invention, there can also be this
The feature of sample: where the central axis and drive connecting rod keeping parallelism of handle and fixed center line rotation in space, it should
Center line is located in the be in plane of axis of active pin shaft and driven pin shaft.
In a kind of forearm inside/outside rotation mechanism for upper-limb recovery training device provided by the invention, there can also be this
The feature of sample: where the side of the first support link and the second support link is equipped with straight, the side of the straight
Flange pin equipped with the pin hole for crossing the first sub-link end and the setting of the second sub-link end, the other side of straight is set
The gasket for being equipped with the wing nut connecting with flange pin and being set under wing nut, the first sub-link and the second sub-link
Supporting plate and T shape are adjusted with being moved freely inside the second support link inside the first support link along straight direction
Horizontal distance between connecting tube, and shift position is locked by tightening wing nut.
In a kind of forearm inside/outside rotation mechanism for upper-limb recovery training device provided by the invention, there can also be this
The feature of sample: where the groove width of straight is greater than the minor diameter of flange pin.
In a kind of forearm inside/outside rotation mechanism for upper-limb recovery training device provided by the invention, there can also be this
The feature of sample: where output torque is transmitted to master by driving gear and driven gear by the way of gear transmitting by motor
Dynamic connecting rod, drive connecting rod are connected with driven gear and are rotated with driven gear around active pin shaft, follower link and handle
The maximum magnitude for following drive connecting rod to be rotated, and rotating angle is ± 70 °.
The action and effect of invention
A kind of forearm inside/outside rotation mechanism for upper-limb recovery training device involved according to the present invention, because can lead to
The first sub-link and the second sub-link is crossed to adjust with being moved freely inside the second support link inside the first support link
The horizontal distance to put one's child in a boarding nursery between plate and T shape connecting tube, thus it is possible to forearm placement location be adjusted, to improve handle
The rotation axis and the practical rotation axis degree of fitting of forearm of hand, improve user experience；Because wrist reversing mechanism can be passed through
The symmetry transformation of left and right training method is realized with supporting plate reversing mechanism, thus it is possible to realize that user carries out left and right arm
Individually training, improves utilization rate.
Detailed description of the invention
Fig. 1 is entirety of one of the embodiment of the present invention for the forearm inside/outside rotation mechanism of upper-limb recovery training device
Schematic diagram；
Fig. 2 is the structural schematic diagram of the rotational axis offset mechanism in the embodiment of the present invention；
Fig. 3 is the structural schematic diagram of the wrist reversing mechanism in the embodiment of the present invention；
Fig. 4 is the structural schematic diagram of the supporting plate reversing mechanism in the embodiment of the present invention；
Fig. 5 is progress of one of the embodiment of the present invention for the forearm inside/outside rotation mechanism of upper-limb recovery training device
Forward structural schematic diagram is changed in left and right；
Fig. 6 is completion of one of the embodiment of the present invention for the forearm inside/outside rotation mechanism of upper-limb recovery training device
Structural schematic diagram after the commutation of left and right.
Specific embodiment
In order to which the technological means for realizing the present invention is easy to understand with effect, with reference to embodiments and attached drawing is to this
Invention is specifically addressed.
Fig. 1 is entirety of one of the embodiment of the present invention for the forearm inside/outside rotation mechanism of upper-limb recovery training device
Schematic diagram.
As shown in Figure 1, a kind of forearm inside/outside for upper-limb recovery training device of the present embodiment revolves mechanism 100, there is rotation
Shaft axis offsetting mechanism 10, wrist reversing mechanism 20 and supporting plate reversing mechanism 30.
Fig. 2 is the structural schematic diagram of the rotational axis offset mechanism in the embodiment of the present invention.
As shown in Fig. 2, rotational axis offset mechanism 10, including cabinet 11, the motor being arranged in cabinet 11 12 and cabinet
The interior outward turning pedestal 13 of 11 connections, the driving gear 14 and driving tooth that are arranged on interior outward turning pedestal 13 being connect with motor 12
The driven gear 15 of 14 engagement of wheel, the master being fixed on by active pin shaft 16 on interior outward turning pedestal 13 being connect with driven gear 15
Dynamic connecting rod 17 and the follower link disposed in parallel being fixed on by driven pin shaft 18 on interior outward turning pedestal 13 of drive connecting rod 17
19, pass through joint pin simultaneously be fixed on 19 top of 17 top of drive connecting rod and follower link upper output connecting rod 110, with it is upper defeated
Connecting rod 110 is disposed in parallel out passes through joint pin while being fixed on defeated under 19 bottom end of 17 bottom end of drive connecting rod and follower link
Out connecting rod 111, be arranged in it is upper output 110 end of connecting rod and it is lower output 111 end of connecting rod pin shaft 112, with the positive commissure of pin shaft 112
The handle 113 connect.
The upper and lower ends of handle 113 are equipped with shaft pin hole, which is used to connect with the male cooperation on pin shaft 112
It connects, to realize relative rotation.
Handle 113 is in spindle, and outer surface is covered with natural rubber material.
The central axis and 17 keeping parallelism of drive connecting rod of handle 113 and fixed center line rotation in space, should
Center line is located in the be in plane of axis of active pin shaft 16 and driven pin shaft 18.
Output torque is transmitted to master by the way of gear transmitting, through driving gear 14 and driven gear 15 by motor 12
Dynamic connecting rod 17, drive connecting rod 17 are connected with driven gear 15 and are rotated with driven gear 15 around active pin shaft 16, driven company
Bar 19 follows drive connecting rod 17 to be rotated with handle 113, and the maximum magnitude for rotating angle is ± 70 °.
Fig. 3 is the structural schematic diagram of the wrist reversing mechanism in the embodiment of the present invention.
As shown in figure 3, wrist reversing mechanism 20, the end including being connect with cabinet 11 be equipped with optical port connecting shaft 21, with
The wrist commutation shell 22 of the connection of connecting shaft 21, the centripetal end being symmetricly set on wrist commutation shell 22 are equipped with the upper positioning pin of taper
Hole 23 and lower dowel hole 24, the centripetal end band for being placed in the unthreaded hole in upper dowel hole 23 and crossing 21 end of connecting shaft are tapered
Positioning pin 25, be arranged in wrist commutation 22 surface of shell the commutation between upper dowel hole 23 and lower dowel hole 24 lead
Slot 26, the stop nut 27 that lower 24 top of dowel hole is set, the spring tray 28 being arranged on stop nut 27 and receipts
The reset spring 29 being contained between spring tray 28 and the end of connecting shaft 21.
The bearing 210 for being used to bear radial load being cooperatively connected with connecting shaft 21 is also built-in in wrist commutation shell 22.
The aperture of upper dowel hole 23 and the aperture of lower dowel hole 24 are not less than the groove width of commutation guide groove 26, to guarantee
What is connected is reliable.
Fig. 4 is the structural schematic diagram of the supporting plate reversing mechanism in the embodiment of the present invention.
As shown in figure 4, supporting plate reversing mechanism 30, including riveted with wrist commutation shell 22 T-type connecting tube 31, be arranged in T
The first pipe clamp 32 and the second pipe clamp 33 at 31 both ends tubule of type connecting tube, the first connecting plate that 32 bottom of the first pipe clamp is set
34, the second connecting plate 35 and the first vertically disposed support link of the first connecting plate 34 of 33 bottom of the second pipe clamp are set
36, the first son with the second vertically disposed support link 37 of the second connecting plate 35, inside the first support link 36 connects
Bar 38, the second sub-link 39 inside the second support link 37 and by supporting plate plug pin be fixed on the first sub-link
38 and the second supporting plate 310 on sub-link 39.
Supporting plate 310 is used to place the forearm of user, and user is again by holding handle 113 and by following handle
113, which carry out inside and outside rotation, moves to realize rehabilitation training.
The junction of first connecting plate 34 and the first support link 36 is additionally provided with the first main reversing shaft 311, the first connection
Pin progress position is plugged by main commutation between plate 34 and the first support link 36 to fix,
The junction of second connecting plate 35 and the second support link 37 is additionally provided with the second main reversing shaft 312, the second connection
It plugs pin progress position by main commutation between plate 35 and the second support link 37 to fix, 38 end of the first sub-link is provided with
First auxiliary reversing shaft 313,39 end of the second sub-link are provided with the second auxiliary reversing shaft 314,
The side of first support link 36 and the second support link 37 is equipped with straight 315, the straight 315
Side is equipped with the flange pin 316 for crossing the pin hole of 38 end of the first sub-link and the setting of 39 end of the second sub-link, and straight line is sliding
The other side of slot 315 is provided with the wing nut 317 connecting with flange pin 316 and the pad being set under wing nut 317
Piece 318,
First sub-link 38 and the second sub-link 39 are along 315 direction of straight in 36 inside of the first support link and second
It is moved freely inside support link 37 to adjust the horizontal distance between supporting plate 310 and T shape connecting tube 31, and by tightening
Wing nut 317 locks shift position.
The groove width of straight 315 is greater than the minor diameter of flange pin 316.
Fig. 5 is progress of one of the embodiment of the present invention for the forearm inside/outside rotation mechanism of upper-limb recovery training device
Forward structural schematic diagram is changed in left and right, Fig. 6 be one of the embodiment of the present invention in the forearm of upper-limb recovery training device/
Structural schematic diagram after the completion left and right commutation of outward turning mechanism.
As shown in Figure 5 and Figure 6, a kind of forearm inside/outside for upper-limb recovery training device of the present embodiment revolve mechanism 100 into
The operation of row commutation is as follows: carrying out wrist switching operation by wrist reversing mechanism 20 first, first extracts and position along vest direction
The tapered distal end of pin 25 to positioning pin 25 exposes wrist commutation shell 22, subsequent unitary rotation rotational axis offset mechanism 10, and makes
The smooth bar part of positioning pin 25 slides at lower dowel hole 24 along commutation guide groove 26, effect of the positioning pin 25 in reset spring 29
Automatic positioning is realized under lower slide-in in dowel hole 24 and by taper, completes wrist commutation at this time, then pass through supporting plate reversing machine
Structure 30 completes supporting plate switching operation, extracts supporting plate and plugs pin, then by supporting plate 310 around the first auxiliary reversing shaft 313 and second
Auxiliary reversing shaft 314 rotates 180 °, and supporting plate plug pin progress blade position is reinserted after the completion of rotation and is fixed, fixed to complete
Extract main commutation plug pin again afterwards, supporting plate 310, the first support link 36 and the second support link 37 is whole main around first
Reversing shaft 311 and the second main reversing shaft 312 rotate 180 °, and main commutation plug pin is reinserted after the completion of rotation to fix first
Support link 36 and the second support link 37 complete supporting plate switching operation after the completion of fixed, complete to be used for upper limb healing at this time
The commutation of the forearm inside/outside rotation mechanism 100 of training aids.The action and effect of embodiment
A kind of forearm inside/outside rotation mechanism for upper-limb recovery training device according to involved in the present embodiment, because can
By the first sub-link and the second sub-link inside the first support link with moved freely inside the second support link come
The horizontal distance between supporting plate and T shape connecting tube is adjusted, thus it is possible to which forearm placement location is adjusted, is held to improve
The rotation axis and the practical rotation axis degree of fitting of forearm of handle, improve user experience；Because wrist reversing machine can be passed through
Structure realizes the symmetry transformation of left and right training method with supporting plate reversing mechanism, thus it is possible to realize that user carries out left and right arm
Independent training, improve utilization rate.
Above embodiment is preferred case of the invention, the protection scope being not intended to limit the invention.
Claims (8)
1. a kind of forearm inside/outside for upper-limb recovery training device revolves mechanism characterized by comprising
Rotational axis offset mechanism, including cabinet, the motor being arranged in the cabinet, the interior outward turning base being connect with the cabinet
Seat, the driving gear being arranged on the interior outward turning pedestal being connect with the motor, engage with the driving gear it is driven
Gear, the drive connecting rod being fixed on by active pin shaft on the interior outward turning pedestal being connect with the driven gear, with it is described
The drive connecting rod follower link disposed in parallel being fixed on by driven pin shaft on the interior outward turning pedestal, by joint pin it is same
When be fixed on the upper output connecting rod on the drive connecting rod top and the follower link top, parallel with the upper output connecting rod set
The lower output connecting rod for passing through joint pin while being fixed on the drive connecting rod bottom end and the follower link bottom end set, setting
In the handle of the upper output connecting rod end and the pin shaft of the lower output connecting rod end, connection orthogonal with the pin shaft；
Wrist reversing mechanism, including the end that is connect with the cabinet be equipped with optical port connecting shaft, with the connection axis connection
Wrist commutation shell, the centripetal end being symmetricly set on the wrist commutation shell are equipped with the upper dowel hole and lower positioning pin of taper
The tapered positioning of hole, the centripetal end band for being placed in the upper dowel hole and crossing the unthreaded hole for connecting shaft end
The commutation between the upper dowel hole and the lower dowel hole for selling, being arranged in wrist commutation shell surface is led
Slot, the stop nut being arranged in above the lower dowel hole, the spring tray being arranged on the stop nut and storage
Reset spring between the spring tray and the connection the tip of the axis；And
Supporting plate reversing mechanism, including with the wrist commutation shell rivething T-type connecting tube, be arranged at T-type connecting tube both ends
The first pipe clamp and the second pipe clamp at tubule, are arranged described second the first connecting plate that first pipe clamp bottom is arranged in
Second connecting plate of pipe clamp bottom, first support link vertically disposed with first connecting plate are connect with described second
The second vertically disposed support link of plate, is embedded in described second at the first sub-link inside first support link
It the second sub-link inside support link and pin is plugged by supporting plate is fixed on first sub-link and second son
Supporting plate on connecting rod,
Wherein, the junction of first connecting plate and first support link is additionally provided with the first main reversing shaft, and described the
Pin progress position is plugged by main commutation between one connecting plate and first support link to fix,
The junction of second connecting plate and second support link is additionally provided with the second main reversing shaft, second connection
Pin progress position is plugged by main commutation between plate and second support link to fix,
First sub-link end is provided with the first auxiliary reversing shaft, and second sub-link end is provided with the second auxiliary and changes
To axis,
The aperture of the upper dowel hole and the aperture of the lower dowel hole are not less than the groove width of the commutation guide groove.
2. a kind of forearm inside/outside for upper-limb recovery training device according to claim 1 revolves mechanism, it is characterised in that:
Wherein, the upper and lower ends of the handle are equipped with shaft pin hole, and the shaft pin hole with the protrusion on the pin shaft for matching
Connection is closed, to realize relative rotation.
3. a kind of forearm inside/outside for upper-limb recovery training device according to claim 1 revolves mechanism, it is characterised in that:
Wherein, the bearing for being used to bear radial load being cooperatively connected with connecting shaft is also built-in in the wrist commutation shell.
4. a kind of forearm inside/outside for upper-limb recovery training device according to claim 1 revolves mechanism, it is characterised in that:
Wherein, the handle is in spindle, and outer surface is covered with natural rubber material.
5. a kind of forearm inside/outside for upper-limb recovery training device according to claim 1 revolves mechanism, it is characterised in that:
Wherein, the central axis of the handle and the drive connecting rod keeping parallelism and the rotation of fixed center line in space
Turn, which is located in the be in plane of axis of the active pin shaft and the driven pin shaft.
6. a kind of forearm inside/outside for upper-limb recovery training device according to claim 1 revolves mechanism, it is characterised in that:
Wherein, the side of first support link and second support link is equipped with straight, the straight
Side is equipped with the flange pin for crossing the pin hole of first sub-link end and the setting of second sub-link end, described straight
The pad that the other side of line sliding slot is provided with the wing nut connecting with the flange pin and is set under the wing nut
Piece,
First sub-link and second sub-link along the straight direction inside first support link with
It is moved freely inside second support link to adjust the horizontal distance between the supporting plate and the T shape connecting tube,
And shift position is locked by tightening the wing nut.
7. a kind of forearm inside/outside for upper-limb recovery training device according to claim 6 revolves mechanism, it is characterised in that:
Wherein, the groove width of the straight is greater than the minor diameter of the flange pin.
8. a kind of forearm inside/outside for upper-limb recovery training device according to claim 1 revolves mechanism, it is characterised in that:
Wherein, the motor is by the way of gear transmitting, by the driving gear and the driven gear by output torque
It is transmitted to the drive connecting rod, the drive connecting rod is connected with the driven gear and accompanies the moving gear around the driving pin
Axis is rotated, and the follower link follows the drive connecting rod to be rotated with the handle, and rotates the maximum of angle
Range is ± 70 °.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910104463.5A CN109620646B (en) | 2019-02-01 | 2019-02-01 | Forearm internal/external rotation mechanism for upper limb rehabilitation trainer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910104463.5A CN109620646B (en) | 2019-02-01 | 2019-02-01 | Forearm internal/external rotation mechanism for upper limb rehabilitation trainer |
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| CN109620646A true CN109620646A (en) | 2019-04-16 |
| CN109620646B CN109620646B (en) | 2020-11-03 |
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| CN201910104463.5A Active CN109620646B (en) | 2019-02-01 | 2019-02-01 | Forearm internal/external rotation mechanism for upper limb rehabilitation trainer |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110251377A (en) * | 2019-07-23 | 2019-09-20 | 重庆城市管理职业学院 | A kind of intelligent rehabilitation care device |
| CN110327179A (en) * | 2019-04-21 | 2019-10-15 | 上海健康医学院 | It is a kind of for hand grasp and wrist two-freedom rehabilitation training mechanism |
| CN111255813A (en) * | 2020-03-06 | 2020-06-09 | 斯佩(新昌)科技有限公司 | Linear flexible variable-rigidity self-adaptive artificial joint transmission device |
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| CN204092505U (en) * | 2014-10-22 | 2015-01-14 | 河北工业大学 | A kind of upper limb rehabilitation robot |
| CN105411815A (en) * | 2016-01-26 | 2016-03-23 | 哈尔滨工业大学 | Wearable DOF (dual degrees of freedom) elbow rehabilitation training device |
| CN205814618U (en) * | 2016-06-14 | 2016-12-21 | 合肥工业大学 | A kind of multi-state upper-limbs rehabilitation training robot |
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| CN110327179A (en) * | 2019-04-21 | 2019-10-15 | 上海健康医学院 | It is a kind of for hand grasp and wrist two-freedom rehabilitation training mechanism |
| CN110327179B (en) * | 2019-04-21 | 2023-10-03 | 上海健康医学院 | Rehabilitation training mechanism for two degrees of freedom of hand grasping and wrist |
| CN110251377A (en) * | 2019-07-23 | 2019-09-20 | 重庆城市管理职业学院 | A kind of intelligent rehabilitation care device |
| CN111255813A (en) * | 2020-03-06 | 2020-06-09 | 斯佩(新昌)科技有限公司 | Linear flexible variable-rigidity self-adaptive artificial joint transmission device |
| CN111255813B (en) * | 2020-03-06 | 2021-01-29 | 王瑞 | Linear flexible variable-rigidity self-adaptive artificial joint transmission device |
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