CN109875841A - A kind of wrist convalescence device - Google Patents
A kind of wrist convalescence device Download PDFInfo
- Publication number
- CN109875841A CN109875841A CN201910226826.2A CN201910226826A CN109875841A CN 109875841 A CN109875841 A CN 109875841A CN 201910226826 A CN201910226826 A CN 201910226826A CN 109875841 A CN109875841 A CN 109875841A
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- wrist
- unit
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- handle
- supporting block
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Abstract
The present invention discloses a kind of wrist convalescence device, with unit and the wrist recombiner unit of turning up in forearm support unit, wrist, the connection supporting block of unit of wherein turning up in the forearm support base and wrist of forearm support unit is fixedly connected, and the gear wheel for the unit that turns up in wrist is connect with the left support arm in wrist recombiner unit and right support arm；The unit that turns up in wrist includes gear wheel, outer retaining ring, bearing, inner shield ring, connection supporting block, pinion gear and first motor, its middle (center) bearing is nested into gear wheel inner lane, and bearing outer ring is fixed by outer retaining ring, inner shield ring penetrates bearing inner race and is assemblied in connection supporting block, pinion gear is assemblied on the output shaft of first motor, and pinion gear is engaged with gear wheel；First motor is fixedly mounted in connection supporting block.The present invention is able to drive patients wrist and carries out palmar flexion/dorsiflex, inversion/eversion, interior receipts/outreach three degree of freedom movement, realizes in standardized human body's arm scope of activities, patient is made to carry out significantly more efficient rehabilitation training.
Description
Technical field
The present invention relates to a kind of medical rehabilitation device, specially a kind of Three Degree Of Freedom wrist convalescence device.
Background technique
With China's aging aggravation limb function caused by cerebral apoplexy both cerebrovascular accident lose the case where more next
More, this is to the family of patient and patient and brings heavy burden.In addition, the correlation as caused by the diseases such as cerebral apoplexy is concurrent
Disease also increasingly increases, especially the forfeiture of upper extremity exercise function, greatly affected the ability of patient's daily life.It is clinically right
The method of rehabilitation of hemiplegic patient is that physiatrician devotes considerable time to patient and manually carries out one-to-one treatment, and instructs rehabilitation
Effect relies heavily on the clinical experience of physiatrician or the larger medical rehabilitation equipment using hospital, consumes a large amount of
Human and material resources, financial resources.It is mostly bulky for medical rehabilitation device, it is not easy to move when applied to hospital, cannot achieve
Multiple degrees of freedom, to realize that householdization and the portability of healing robot are invented a kind of simple Three Degree Of Freedom wrist convalescence device and carved and do not allow
It is slow.
Summary of the invention
For the deficiencies of wrist convalescence device cannot achieve multivariant rehabilitation training in the prior art, the present invention will be solved
Certainly the problem of, is to provide a kind of wrist convalescence device for being able to drive patients wrist and carrying out three-degree-of-freedom motion.
In order to solve the above technical problems, the technical solution adopted by the present invention is that:
A kind of wrist convalescence device of the present invention, has forearm support unit, turn up in wrist unit and wrist recombiner unit,
The connection supporting block of unit of wherein turning up in the forearm support base and wrist of forearm support unit is fixedly connected, and is turned up in wrist
The gear wheel of unit in wrist recombiner unit left support arm and right support arm connect.
Forearm support unit includes forearm supporting block, forearm supporting block adjusting block and forearm support base, wherein forearm
Supporting block includes the bracer and tray two parts of integral structure, and tray is arc, is fixedly connected on bracer upper end, and bracer bottom end is set
There is jack；Forearm supporting block adjusting block includes the cylindrical body and sliding block of integral structure, and wherein cylindrical sides vertical direction is equipped with
Keyway, sliding block is set to cylindrical body bottom end, the bracer bottom end socket gap cooperation of cylindrical body and arm supporting block adjusting block, and passes through spiral shell
Silk is fixed；Forearm support base is equipped with slideway, and the sliding block of forearm supporting block adjusting block is slidably connected with slideway；Forearm supports bottom
The connection supporting block of seat and the unit that turns up in wrist is bolted.
The unit that turns up in wrist includes gear wheel, outer retaining ring, bearing, inner shield ring, connection supporting block, pinion gear and first
Motor, middle (center) bearing are nested into gear wheel inner lane, and are fixed bearing outer ring by outer retaining ring, and inner shield ring penetrates bearing inner race
It is assemblied in connection supporting block, pinion gear is assemblied on the output shaft of first motor, and pinion gear is engaged with gear wheel；First motor
It is fixedly mounted in connection supporting block.
Connection supporting block is a vertical plate, which is arc-shaped recess, and recess extends outward to form arc-shaped bent plate,
The bent plate is bolted with inner shield ring fixes bearing；The mounting hole of fixed first motor is equipped in the middle part of vertical plate；Connection branch
Bracer bottom end is fixed by the forearm support base of bolt and forearm support unit.
Bearing is deep groove ball bearing, pivoting support or angular contact bearing.
Wrist recombiner unit includes wrist rotating mechanism and handle rotating mechanism.Wrist rotating mechanism include left support arm,
Right support arm, the second motor, left-hand rotation bar and right-hand rotation bar, wherein left support arm, right support arm are turned over the outer of unit inside and outside wrist
Retaining ring is fixedly connected with gear wheel, and the second motor is fixed on left support arm, and the second motor output shaft passes through left support arm circular hole
The rotation of left-hand rotation bar is driven with left-hand rotation bar one end fits；Right-hand rotation bar one end and right support arm pass through bolted splice, the left-hand rotation bar other end
The gear motor connecting plate two sides of handle rotating mechanism are separately fixed at the right-hand rotation bar other end.
Handle rotating mechanism includes third motor, handle gear wheel, handle pinion gear, handle, handle support panels and tooth
Turbin generator connecting plate, wherein gear motor connecting plate is installed between bull stick and the both ends of right-hand rotation bar, and handle gear wheel passes through
Gear shaft is installed on gear motor connecting plate, and third motor is installed on gear motor connecting plate, and output shaft passes through gear
Connecting plate for electric motor installs handle pinion gear, and handle pinion gear is engaged with handle gear wheel；Handle is installed on by handle support panels
On one side end face of handle gear wheel.
The handle support panels are L shaped plate, and level board is equipped with oval mounting hole, vertical plate and handle gear wheel side
End face is fixedly connected.
The the first~tri- motor to be turned up in unit and wrist recombiner unit in the forearm support unit, wrist is servo electricity
Machine or stepper motor, motor reducer are ordinary gear/worm type of reduction gearing.
The invention has the following beneficial effects and advantage:
1. the present invention has palmar flexion/dorsiflex, inversion/eversion, interior receipts/outreach three degree of freedom, it is able to drive patients wrist
Three-degree-of-freedom motion is carried out, and may be implemented in standardized human body's arm scope of activities, the interior receipts when any angle of inside/outside overturning/
Outreach or palmar flexion/dorsiflex campaign, so that patient be made to carry out significantly more efficient rehabilitation training.
2. stable drive, noise are small, accuracy is high is conducive to patient's health based on design of the invention entire is engaged with gear
It is multiple；And Worm reduction motor has been used in wrist rotating mechanism, having self-locking function can make patient in rehabilitation training
It realizes that stablizing for any position stops in the process, improves stability.
3. the present invention is due to devising three degree of freedom, control easy to operate, reproducibility and reliability is relatively high, has
The advantages that compact-sized, small in size, light-weight, easy to carry, and it is easy for installation, patient can use in each occasion.
Detailed description of the invention
Fig. 1 is wrist convalescence device structural schematic diagram in the present invention；
Fig. 2A is forearm bearing unit structural schematic diagram in the present invention；
Fig. 2 B is the exploded view of Fig. 2A；
Fig. 3 A is cellular construction schematic diagram of turning up in wrist in the present invention；
Fig. 3 B is the exploded view of Fig. 3 A；
Fig. 4 is wrist recombiner unit structural schematic diagram in the present invention；
Fig. 5 is the actual motion amplitude schematic diagram of human body wrist Three Degree Of Freedom.
Wherein, 1 is forearm supporting block adjusting block, and 2 be forearm support base, and 3 be forearm supporting block, and 4 be first motor, 5
To connect supporting block, 6 be inner shield ring, and 7 be bearing, and 8 be gear wheel, and 9 be right support arm, and 10 be right-hand rotation bar, and 11 be handle canine tooth
Wheel, 12 be gear motor connecting plate, and 13 be third motor, and 14 be handle pinion gear, and 15 be left-hand rotation bar, and 16 be handle, and 17 be hand
Handle support plate, 18 be the second motor, and 19 be left support arm, and 20 be pinion gear, and 21 be outer retaining ring.
Specific embodiment
The present invention is further elaborated with reference to the accompanying drawings of the specification.
As shown in Figure 1, a kind of wrist convalescence device of the present invention, with unit and the hand of turning up in forearm support unit, wrist
Wrist recombiner unit, the connection supporting block 5 for the unit that wherein turns up in the forearm support base 2 Yu wrist of forearm support unit is fixed to be connected
It connects, the gear wheel 8 for the unit that turns up in wrist is connect with the left support arm 19 in wrist recombiner unit and right support arm 9.
As shown in Fig. 2A~2B, forearm support unit includes forearm supporting block 3, forearm supporting block adjusting block 1 and forearm
Support base 2, wherein forearm supporting block 3 includes the bracer and tray two parts of integral structure, and tray is arc, is fixedly connected
In bracer upper end, bracer bottom end is equipped with jack；Forearm supporting block adjusting block 1 includes the cylindrical body and sliding block of integral structure, wherein
Cylindrical sides vertical direction is equipped with keyway, and sliding block is set to cylindrical body bottom end, the bracer bottom of cylindrical body and arm supporting block adjusting block 1
Socket gap cooperation is held, and is screwed；Forearm support base 2 is equipped with slideway, the sliding block of forearm supporting block adjusting block 1
It is slidably connected with slideway；The connection supporting block 5 of unit of turning up in forearm support base 2 and wrist is bolted.
The unit that turns up as shown in Fig. 3 A~3B, in wrist includes gear wheel 8, outer retaining ring 21, bearing 7, inner shield ring 6, connection
Supporting block 5, pinion gear 20 and first motor 4, middle (center) bearing 7 are nested into 8 inner lane of gear wheel, and pass through outer retaining ring 21 for axis
It holds 7 outer rings to fix, inner shield ring 6 penetrates bearing inner race and is assemblied in connection supporting block 5, and pinion gear 20 is assemblied in first motor 4
On output shaft, pinion gear 20 is engaged with gear wheel 8；First motor 4 is fixedly mounted in connection supporting block 5.
In the present embodiment, connection supporting block 5 is a vertical plate, which is arc-shaped recess, and recess extends outwardly shape
Bent plate in the arc-shaped, the bent plate are bolted with inner shield ring 6 and fix bearing；Fixed first motor 4 is equipped in the middle part of vertical plate
Mounting hole；It is fixed by the forearm support base 2 of bolt and forearm support unit to connect 5 bottom end of supporting block；Bearing 7 is using deep
Ditch ball bearing, pivoting support or angular contact bearing.
As shown in figure 4, wrist recombiner unit includes wrist rotating mechanism and handle rotating mechanism, wrist rotating mechanism includes
Left support arm 19, right support arm 9, the second motor 18, left-hand rotation bar 15 and right-hand rotation bar 10, wherein left support arm 19, right support arm 9
By bolt tightening, the second motor 18 is fixed on left support arm 19 the outer retaining ring 21 and gear wheel 8 that unit is turned over inside and outside wrist, the
Two motor output shafts pass through 19 circular hole of left support arm and 15 one end fits of left-hand rotation bar drive left-hand rotation bar 15 to rotate；10 one end of right-hand rotation bar
With right support arm 9 by bolted splice, 15 other end of left-hand rotation bar and 10 other end of right-hand rotation bar are separately fixed at handle rotating mechanism
12 two sides of gear motor connecting plate.
Handle rotating mechanism includes third motor 13, handle gear wheel 11, handle pinion gear 14, handle 16, grip support
Plate 17 and gear motor connecting plate 12, wherein gear motor connecting plate 12 be installed on bull stick 15 and right-hand rotation bar 10 both ends it
Between, handle gear wheel 11 is installed on gear motor connecting plate 12 by gear shaft, and third motor 13 is installed on gear motor company
On fishplate bar 12, output shaft passes through gear motor connecting plate 12 and installs handle pinion gear 14, handle pinion gear 14 and handle canine tooth
11 engagement of wheel；Handle 16 is installed on 11 1 side end face of handle gear wheel by handle support panels 17.
In the present embodiment, handle support panels 17 are L shaped plate, and level board is equipped with oval mounting hole, vertical plate and handle
11 1 side end face of gear wheel is fixedly connected；Turn up in forearm support unit, wrist in unit and wrist recombiner unit first~
Three motors are servo motor or stepper motor, and motor reducer is ordinary gear/worm type of reduction gearing.
As shown in Figure 2 B, in the band keyway cylinder of the cylindrical hole insertion forearm supporting block adjusting block 1 of forearm supporting block 3, and
Forearm supporting block 3 can adjust height with keyway cylinder upper and lower direction along forearm supporting block adjusting block 1, arrive properly when adjusting
It is held out against after height by bolt；The T shape of the square slider insertion forearm support base 2 of 1 bottom of forearm supporting block adjusting block
In slot slideway, and forearm supporting block adjusting block 1 can drive slideway of the forearm supporting block 2 together along forearm support base 2 to move.
The bearing 7 of unit of turning up in wrist is nested into gear wheel 8, and is fixed the outer ring of bearing 7 by outer retaining ring 21；
Inner shield ring 6 penetrate bearing inner race and with connect supporting block 5 be bolted bearing 7 is fixed, make to turn up in wrist unit at
For an entirety, wherein independent rotation is may be implemented in inner shield ring 6 and gear wheel 8, is independent of each other.First motor 4 is assemblied in connection
In supporting block 5, pinion gear 20 is assemblied on the output shaft of first motor 4, and gear wheel 8 is driven to rotate.
The second motor 18 in wrist rotating mechanism is fixed on left support arm 19, across the second of 19 circular hole of left support arm
18 main shaft of motor and left-hand rotation bar 15 cooperate, and left-hand rotation bar 15 is driven to make rotating motion, and right support arm 9 and right-hand rotation bar 10 pass through bolt
Hingedly.Handle 16 in handle rotating mechanism can be adjusted at a distance from 18 axis of the second motor in handle support panels 17, and
It is bolted, handle support panels 17 are assemblied on handle gear wheel 11, and handle gear wheel 11 is driven by third motor 13
Handle pinion gear 14 rotates, and third motor 13 is assemblied on gear motor connecting plate 12.
The unit that turns up in wrist is attached by bolt and forearm bearing unit, and by the drive pinion gear of motor one,
Pinion gear drives the interior movement of turning up of gear wheel realization wrist.
In the present invention, handle rotating mechanism can only clockwise or counterclockwise 90 degree, and can only be 0 degree or 90 degree of positions
Stopping is set, handle rotating mechanism is connect by gear motor connecting plate 12 with the left and right bull stick 15,10 in wrist rotating mechanism,
By the drive of the second motor 18 of wrist rotating mechanism, receipts/outreach in wrist, two kinds of dorsiflex/palmar flexion movements are realized.
In use, arm is put in forearm supporting block 3, hand is across inner shield ring 6, handle 16 of holding with a firm grip, at this time the weight of arm
Amount is mainly fallen in forearm supporting block 3；Start first motor 4, drives gear wheel 8 to rotate through pinion gear 20, wrist recombiner unit
It is integrally rotated together with gear wheel 8 under the gripping of hand, makes to turn up 160 degree of movement angle range in wrist realization；Starting second
The output shaft of motor 18, the second motor 18 drives left-hand rotation bar 15 to rotate, and drives right-hand rotation bar 10 further through gear motor connecting plate 12
Linkage makes wrist realize interior receipts and abduction exercise in 60 degree of angular ranges；Start third motor 13, rotational handle 16 is clockwise
Or make handle by vertically switching to transverse direction after being rotated by 90 ° counterclockwise, restart electric second motor 18, wrist is made to realize palmar flexion and back
Bend 120 degree of movement angle range.
As shown in figure 5, the actual motion amplitude schematic diagram of human body wrist Three Degree Of Freedom.(a), (b), (c) in Fig. 5 are respectively
Show palmar flexion and dorsiflex, interior receipts and outreach and wrist varus and the movement and amplitude turned up.
In the present invention, the effect of forearm bearing unit is that the height range of the adjusting present apparatus makes the present apparatus be suitble to arm
It places and requires；Turn up in wrist unit effect be by gear drive realize wrist inside and outside stir work；Wrist recombiner unit
It is interior receipts, outreach and the wrist that wrist is realized by the compound action of the transmission of motor worm speed reducer and motor gear transmission
Palmar flexion, dorsiflex.The present invention is able to drive patients wrist and carries out three-degree-of-freedom motion, and patient is made to carry out effective rehabilitation training, body
Product is small light-weight, convenient succinct, and cost is relatively low, can use under including a variety of environment in family.
Claims (9)
1. a kind of wrist convalescence device, it is characterised in that: with unit and the compound list of wrist of turning up in forearm support unit, wrist
The connection supporting block of member, the unit that wherein turns up in the forearm support base and wrist of forearm support unit is fixedly connected, in wrist
The gear wheel of unit that turns up is connect with the left support arm in wrist recombiner unit and right support arm.
2. wrist convalescence device according to claim 1, it is characterised in that: forearm support unit include forearm supporting block,
Forearm supporting block adjusting block and forearm support base, wherein forearm supporting block include integral structure bracer and two, tray
Point, tray is arc, is fixedly connected on bracer upper end, and bracer bottom end is equipped with jack；Forearm supporting block adjusting block includes one knot
The cylindrical body and sliding block of structure, wherein cylindrical sides vertical direction is equipped with keyway, and sliding block is set to cylindrical body bottom end, cylindrical body and arm
The bracer bottom end socket gap of supporting block adjusting block cooperates, and is screwed；Forearm support base is equipped with slideway, forearm
The sliding block of supporting block adjusting block is slidably connected with slideway；The connection supporting block of unit of turning up in forearm support base and wrist passes through
Bolt is fixed.
3. wrist convalescence device according to claim 1, it is characterised in that: the unit that turns up in wrist includes gear wheel, outer
Retaining ring, bearing, inner shield ring, connection supporting block, pinion gear and first motor, middle (center) bearing are nested into gear wheel inner lane, and
Bearing outer ring is fixed by outer retaining ring, inner shield ring penetrates bearing inner race and is assemblied in connection supporting block, and pinion gear is assemblied in the
On the output shaft of one motor, pinion gear is engaged with gear wheel；First motor is fixedly mounted in connection supporting block.
4. wrist convalescence device according to claim 3, it is characterised in that: connection supporting block is a vertical plate, on the vertical plate
End is arc-shaped recess, and recess extends outward to form arc-shaped bent plate, which is bolted with inner shield ring consolidates bearing
It is fixed；The mounting hole of fixed first motor is equipped in the middle part of vertical plate；Before supporting block bottom end is connected by bolt and forearm support unit
Arm support base is fixed.
5. wrist convalescence device according to claim 3, it is characterised in that: bearing be deep groove ball bearing, pivoting support or
Angular contact bearing.
6. wrist convalescence device according to claim 1, it is characterised in that: wrist recombiner unit includes wrist rotating mechanism
And handle rotating mechanism, wrist rotating mechanism include left support arm, right support arm, the second motor, left-hand rotation bar and right-hand rotation bar,
Middle left support arm, right support arm are turned over unit outer retaining ring inside and outside wrist is fixedly connected with gear wheel, and the second motor is fixed on a left side
On support arm, the second motor output shaft passes through left support arm circular hole and left-hand rotation bar one end fits drive the rotation of left-hand rotation bar；Right-hand rotation bar
By bolted splice, the left-hand rotation bar other end and the right-hand rotation bar other end are separately fixed at handle rotating mechanism for one end and right support arm
Gear motor connecting plate two sides.
7. wrist convalescence device according to claim 6, it is characterised in that: handle rotating mechanism includes third motor, hand
Handle gear wheel, handle pinion gear, handle, handle support panels and gear motor connecting plate, wherein gear motor connecting plate is installed
Between bull stick and the both ends of right-hand rotation bar, handle gear wheel is installed on gear motor connecting plate by gear shaft, third electricity
Machine is installed on gear motor connecting plate, and output shaft passes through gear motor connecting plate and installs handle pinion gear, handle pinion gear
It is engaged with handle gear wheel；Handle is installed on one side end face of handle gear wheel by handle support panels.
8. wrist convalescence device according to claim 7, it is characterised in that: the handle support panels are L shaped plate, horizontal
Plate is equipped with oval mounting hole, and vertical plate is fixedly connected with one side end face of handle gear wheel.
9. wrist convalescence device according to claim 7, it is characterised in that: turn up in the forearm support unit, wrist
The the first~tri- motor in unit and wrist recombiner unit is servo motor or stepper motor, motor reducer be ordinary gear/
Worm type of reduction gearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910226826.2A CN109875841A (en) | 2019-03-25 | 2019-03-25 | A kind of wrist convalescence device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910226826.2A CN109875841A (en) | 2019-03-25 | 2019-03-25 | A kind of wrist convalescence device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109875841A true CN109875841A (en) | 2019-06-14 |
Family
ID=66934128
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910226826.2A Pending CN109875841A (en) | 2019-03-25 | 2019-03-25 | A kind of wrist convalescence device |
Country Status (1)
| Country | Link |
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| CN (1) | CN109875841A (en) |
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| CN110151495A (en) * | 2019-06-27 | 2019-08-23 | 深圳睿瀚医疗科技有限公司 | Roller hand device for healing and training |
| CN110314342A (en) * | 2019-08-06 | 2019-10-11 | 南通市第一人民医院 | A kind of wrist convalescence device |
| CN110974606A (en) * | 2019-12-06 | 2020-04-10 | 江苏理工学院 | Hand rehabilitation training device and control system |
| CN111938988A (en) * | 2020-07-17 | 2020-11-17 | 哈尔滨理工大学 | Wearable five-degree-of-freedom exoskeleton upper limb rehabilitation robot |
| CN112741756A (en) * | 2020-12-16 | 2021-05-04 | 东北大学秦皇岛分校 | Self-adjusting wrist rehabilitation robot |
| CN115137609A (en) * | 2022-05-17 | 2022-10-04 | 上海交通大学 | Multi-degree-of-freedom wrist exoskeleton rehabilitation device |
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| CN115137609A (en) * | 2022-05-17 | 2022-10-04 | 上海交通大学 | Multi-degree-of-freedom wrist exoskeleton rehabilitation device |
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Application publication date: 20190614 |
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