CN110339021B - Wrist rehabilitation robot with three degrees of freedom - Google Patents
Wrist rehabilitation robot with three degrees of freedom Download PDFInfo
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- CN110339021B CN110339021B CN201910698534.9A CN201910698534A CN110339021B CN 110339021 B CN110339021 B CN 110339021B CN 201910698534 A CN201910698534 A CN 201910698534A CN 110339021 B CN110339021 B CN 110339021B
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- 210000000707 wrist Anatomy 0.000 title claims abstract description 39
- 238000005452 bending Methods 0.000 claims abstract description 11
- 230000008602 contraction Effects 0.000 claims abstract description 6
- 244000309464 bull Species 0.000 claims abstract description 4
- 230000033001 locomotion Effects 0.000 claims description 13
- 230000002669 organ and tissue protective effect Effects 0.000 claims description 11
- 239000000945 filler Substances 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 claims description 4
- ZMNSRFNUONFLSP-UHFFFAOYSA-N mephenoxalone Chemical compound COC1=CC=CC=C1OCC1OC(=O)NC1 ZMNSRFNUONFLSP-UHFFFAOYSA-N 0.000 claims description 2
- 229960001030 mephenoxalone Drugs 0.000 claims description 2
- 210000000245 forearm Anatomy 0.000 abstract description 6
- 230000001681 protective effect Effects 0.000 description 2
- 210000001364 upper extremity Anatomy 0.000 description 2
- 208000012661 Dyskinesia Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
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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
- A61H1/0218—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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
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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 invention belongs to the technical field of rehabilitation medical instruments, and particularly relates to a wrist rehabilitation robot with three degrees of freedom, which comprises a fixed seat, an internal rotation/external rotation mechanism, a palm flexion/dorsiflexion mechanism, an internal contraction/external expansion mechanism and a handle assembly, wherein the internal rotation/external rotation mechanism comprises: the device comprises a first motor, a gear shaft, a semicircular bull gear and a forearm support assembly; the palm bending/back bending mechanism comprises a first connecting rod frame, a second motor, a driving bevel gear, a movable bevel gear and a second connecting rod frame; the adduction/abduction mechanism comprises a third motor, a driving belt wheel and a driven belt wheel; the handle assembly is fixedly arranged on the rotating shaft of the driven belt wheel. The wrist rehabilitation training device can realize three-degree-of-freedom wrist rehabilitation training through a simple structure, can perform rehabilitation training when being installed on a desktop, can realize left-hand and right-hand rehabilitation training through the same machine, is low in cost, and is suitable for being popularized and used by families.
Description
Technical Field
The invention belongs to the technical field of rehabilitation medical instruments, and particularly relates to a wrist rehabilitation robot with three degrees of freedom.
Background
Stroke has always been a major threat to national health, and in the hemiplegia patient crowd that stroke causes, hand dyskinesia person occupies a very big proportion again, and for stroke hand disability patient, the height of quality of life depends on the recovery degree of hand function. The hand function rehabilitation instrument has the characteristics of low labor cost, high flexibility, simplicity in operation, good curative effect and the like due to treatment, and is highly valued by clinicians and favored by patients. The intelligent hand function rehabilitation robot is used as a nerve rehabilitation high-end medical instrument, can help patients to perform high-intensity, repetitive, targeted and interactive rehabilitation training, promotes the reconstruction of the damaged functional area of the brain, and enables the hand motion function of the patients to be scientifically and effectively recovered.
The existing hand rehabilitation robot mainly aims at the finger of a patient to perform rehabilitation treatment, and a professional robot for performing rehabilitation treatment on wrist movement is lacked. Although some upper limb medical instruments have the function of driving the wrist of the patient to move, the upper limb medical instruments mostly adopt an exoskeleton form, have complex structures and high cost, and cannot realize household use.
Disclosure of Invention
The invention aims to overcome the defects that an exoskeleton type hand rehabilitation training robot in the prior art is high in cost and cannot be used for household, and provides a three-degree-of-freedom wrist rehabilitation robot which is simple in structure, low in cost and convenient to install for household.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a three-degree-of-freedom wrist rehabilitation robot is characterized in that: including fixing base, internal rotation/external rotation mechanism, palm bend/dorsiflex mechanism, adduction/abduction mechanism and handle subassembly, internal rotation/external rotation mechanism includes: the device comprises a first motor, a gear shaft, a semi-circular large gear and a small arm supporting assembly, wherein the first motor is installed on a fixed seat through a motor support; the palm bending/dorsiflexion mechanism comprises a first connecting rod frame, a second motor, a driving bevel gear, a driven bevel gear and a second connecting rod frame, wherein one end of the first connecting rod frame is fixed on the semicircular bull gear, the second motor is fixed at the other end of the first connecting rod frame through a motor support, the driving bevel gear is coaxially connected with an output shaft of the second motor, the driven bevel gear is coaxially meshed with the driving bevel gear, and the second connecting rod frame is coaxially connected with the driven bevel gear; the adduction/abduction mechanism comprises a third motor fixedly connected with the second connecting rod frame through a motor support, a driving belt wheel coaxially connected with an output shaft of the third motor and a driven belt wheel connected with the driving belt wheel through a synchronous belt; the handle assembly is fixedly arranged on the rotating shaft of the driven belt wheel.
Further, the internal/external rotation mechanism further includes: the limiting device comprises an arc guide rail fixed on the semicircular bull gear and a limiting slide block fixed at the upper end, wherein a limiting groove is formed in the limiting slide block, and the arc guide rail is clamped in the limiting groove.
Further, the handle assembly includes: the device comprises a connecting flange fixedly connected with a rotating shaft of the driven belt wheel, a handle used for being grabbed by a human hand during rehabilitation training, a handle support fixed below the handle, a connecting disc arranged at the lower end of the handle support and a six-dimensional force sensor arranged between the connecting flange and the connecting disc.
Furthermore, the second connecting rod frame is L-shaped, the third motor is installed at the corner of the second connecting rod frame, and the adduction/abduction mechanism further comprises a guard plate arranged opposite to one side of the second connecting rod frame and a protection cover arranged outside the guard plate; the guard plate is connected with the second connecting rod frame through a plurality of positioning shafts, and the driving belt wheel, the driven belt wheel and the synchronous belt for connecting the driving belt wheel and the driven belt wheel are arranged in a space between the guard plate and the second connecting rod frame.
Further, the bottom of fixing base is provided with slide rail set spare, slide rail set spare sets up on the desktop, slide rail set spare includes: the guide shaft connecting seats are fixed on the lower side of the tabletop, the guide shafts are arranged between the two oppositely arranged guide shaft connecting seats, and the guide sliding blocks are connected with the guide shafts in a sliding mode; the guide sliding block is fixedly connected with the fixed seat.
Furthermore, the guide sliding block is fixedly connected with the fixed seat through a sliding block connecting plate, and sliding rail shells are arranged on the outer sides of the guide shaft and the guide sliding block; the desktop is provided with a long groove for the fixed seat to pass through.
Furthermore, a lifting column is installed on the lower side of the desktop, the lower end of the lifting column is fixedly installed on the bottom plate, and a plurality of universal wheels are installed below the bottom plate.
Furthermore, an organ protective cover is arranged in the long groove and is divided into two sections, one end of each section of organ protective cover is fixed on the side face of the fixed seat, and the other end of each section of organ protective cover is fixed on a table top at the end part of the long groove.
Furthermore, the small arm supporting assembly comprises a small arm supporting hand fixed on the limiting sliding block and sponge fillers adhered to the upper surface of the small arm supporting hand.
The wrist rehabilitation robot with three degrees of freedom has the beneficial effects that:
1. the first motor drives the semicircular gearwheel to realize inward rotation and outward rotation movement of the wrist, the second motor drives the second connecting rod frame to move to realize palm bending and dorsiflexion movement of the wrist, the third motor drives the handle assembly to move to realize inward contraction and outward expansion movement of the wrist, and three-degree-of-freedom wrist rehabilitation training can be realized through a simple structure.
2. On one hand, the safety of a trainer can be ensured during passive training through the six-dimensional force sensor, and secondary damage to the trainer is avoided; on the other hand, the direction of the movement required by the active training can be judged according to the direction and the size of the force applied to the six-dimensional force sensor during the active training so as to control the corresponding motor to move for assisting the training.
3. The three-degree-of-freedom wrist rehabilitation robot can be directly installed on a desktop for rehabilitation training, is small in size, simple in structure and convenient to install, and is suitable for being popularized and used in families.
4. The three-degree-of-freedom wrist rehabilitation robot can move on a desktop through the sliding rail assembly so as to respectively adapt to the rehabilitation training requirements of the left hand and the right hand.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a perspective view of the overall structure of an embodiment of the present invention;
FIG. 2 is a perspective view of a wrist rehabilitation training device according to an embodiment of the present invention;
FIG. 3 is a perspective view of another perspective of a wrist rehabilitation training section in accordance with an embodiment of the present invention;
FIG. 4 is an exploded view of an internal/external rotation mechanism according to an embodiment of the present invention;
FIG. 5 is an exploded view of a palmar/dorsiflexion mechanism according to an embodiment of the invention;
FIG. 6 is an exploded view of an adduction/abduction mechanism according to an embodiment of the present invention;
FIG. 7 is a perspective view of a handle assembly of an embodiment of the present invention;
fig. 8 is an exploded view of a slide rail assembly according to an embodiment of the present invention.
In the figure, the device comprises a fixed seat 1, a fixed seat 2, an internal rotation/external rotation mechanism 21, a first motor 22, a gear shaft 23, a semi-circular gearwheel 24, an arc-shaped guide rail 25, a limit slide block 251, a limit groove 26, a gear shell 3, a palm flexion/dorsiflexion mechanism 31, a first connecting rod frame 32, a second motor 33, a driving bevel gear 34, a driven bevel gear 35, a second connecting rod frame 36, a bevel gear shell 4, an internal contraction/external expansion mechanism 41, a third motor 42, a driving belt wheel 43, a driven belt wheel 44, a protective plate 45, a protective cover 46, a positioning shaft 47, a rotating shaft 5, a handle component 51, a connecting flange 52, a handle support 53, a connecting disc 54, a six-dimensional force sensor 55, a handle, a 6, a forearm support component 61, a forearm support hand 62, a sponge filler 7, a sliding rail component 71, a limiting slide block, a limiting groove, guide shaft connecting seat, 72, guide shaft, 73, guide sliding block, 74, sliding block connecting plate, 75, sliding rail shell, 81, table top, 811, elongated slot, 82, lifting column, 83, bottom plate, 84, universal wheel, 85 and organ shield.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
The three-degree-of-freedom wrist rehabilitation robot according to the embodiment of the present invention shown in fig. 1-8 is installed on a desktop 81, and can be controlled and operated by a computer installed on the desktop 81, as shown in fig. 1, the desktop 81 has a display, a mouse and a keyboard. The three-degree-of-freedom wrist rehabilitation robot of the embodiment comprises: a fixed seat 1 for mounting on a desktop 81, an internal rotation and external rotation mechanism 2, a palm flexion and dorsiflexion mechanism 3, an internal contraction and external expansion mechanism 4 and a handle assembly 5.
With reference to fig. 1 to 4, the fixing base 1 is two oppositely disposed, and the internal rotation/external rotation mechanism 2 includes: the device comprises a first motor 21 arranged on a fixed seat 1 through a motor support, a gear shaft 22 coaxially connected with an output shaft of the first motor 21, a semi-circular large gear 23 meshed with the gear shaft 22 and a small arm supporting assembly 6 fixed above the fixed seat 1. The first motor 21 is connected with a gear shaft 22 through a coupler, two ends of the gear shaft 22 are installed on a limiting slide block 25 through a deep groove ball bearing and an end cover, a limiting groove 251 is formed in the limiting slide block 25, the limiting slide block 25 is fixedly connected with the two fixing seats 1, an arc-shaped guide rail 24 is fixedly installed on the semicircular large gear, and the arc-shaped guide rail 24 is clamped in the limiting groove 251. In order to wrap the semi-circular gear 23 and the gear shaft 22 and avoid contacting the patient, a gear housing 26 is further mounted on the semi-circular gear 23. The small arm supporting assembly 6 comprises a small arm supporting hand 61 fixed on the limiting slide block 25 and sponge filler 62 adhered to the upper surface of the small arm supporting hand 61.
Referring to fig. 1, 2, 3 and 5, the palmar flexion/dorsiflexion mechanism 3 includes a first link bracket 31 having one end fixed to the large semi-circular gear 23, a second motor 32 fixed to the other end of the first link bracket 31 through a motor bracket, a drive bevel gear 33 coaxially connected to an output shaft of the second motor 32, a driven bevel gear 34 coaxially engaged with the drive bevel gear 33, and a second link bracket 35 coaxially connected to the driven bevel gear 34. A driving bevel gear 33 is mounted on a D-shaped output shaft of the second motor 32, a D-shaped shaft is arranged on a rotating shaft of the driven bevel gear 34, the D-shaped shaft is connected with a second connecting rod frame 35, and a bevel gear shell 36 is arranged outside the driving bevel gear 33 and the driven bevel gear 34 in order to prevent the bevel gears from being exposed.
Referring to fig. 1, 2, 3 and 6, the adduction/abduction mechanism 4 includes a third motor 41 fixedly connected to the second link frame 35 through a motor bracket, a driving pulley 42 coaxially connected to an output shaft of the third motor 41, and a driven pulley 43 connected to the driving pulley 42 through a timing belt; the handle assembly 5 is fixedly mounted on the rotating shaft of the driven pulley 43. The second link frame 35 is L-shaped, the third motor 41 is installed at a corner of the second link frame 35, and the adduction/abduction mechanism 4 further includes a guard plate 44 disposed opposite to one side of the second link frame 35 and a protection cover 45 disposed outside the guard plate 44; the guard 44 is connected to the second link holder 35 via a plurality of positioning shafts 46, and the driving pulley 42, the driven pulley 43, and a timing belt connecting the two are disposed in a space between the guard 44 and the second link holder 35.
Referring to fig. 2 and 7, the handle assembly 5 includes: a connecting flange 51 fixedly connected with the rotating shaft 47 of the driven pulley 43, a handle 55 for being grasped by a human hand during rehabilitation training, a handle bracket 52 fixed under the handle, a connecting disc 53 arranged at the lower end of the handle bracket 52, and a six-dimensional force sensor 54 arranged between the connecting flange 51 and the connecting disc 53. The rotating shaft 47 of the driven pulley 43 and the connecting flange 51 are positioned and installed through D-shaped holes in the circumferential direction and are positioned through positioning screws in the axial direction.
In order to realize that a machine satisfies the rehabilitation training of left and right hands simultaneously, the bottom of fixing base 1 is provided with sliding rail set spare 7, and sliding rail set spare 7 sets up on desktop 81, and sliding rail set spare 7 includes: two pairs of oppositely arranged guide shaft connecting seats 71 fixed on the lower side of the tabletop 81, a guide shaft 72 arranged between the two oppositely arranged guide shaft connecting seats 71 and a guide sliding block 73 in sliding connection with the guide shaft 72; the guide slider 73 is fixedly connected with the fixed seat 1. The guide sliding block 73 is fixedly connected with the fixed seat 1 through a sliding block connecting plate 74, and a sliding rail shell 75 is arranged outside the guide shaft 72 and the guide sliding block 73; the tabletop 81 has a long groove 811 through which the fixing base 1 passes. In this embodiment, the guide shafts 72 are two parallel to each other, four guide sliders 73 are mounted on the guide shafts 72, one of the guide sliders 73 is a slider with a locking function, the four sliders and the slider connecting plate 74 are fixed together by bolts, and the slide rail housing 75 is fixed on the guide shaft connecting seat 71 by bolts. In order to avoid that sundries fall into the sliding rail assembly through the long groove 811 and influence the performance of the sliding rail, an organ protective cover 85 is arranged in the long groove 811, the organ protective cover 85 is divided into two sections, one end of each section of organ protective cover 85 is fixed on the side surface of the fixed seat 1, and the other end of each section of organ protective cover is fixed on the table top 81 at the end part of the long groove 811.
A lifting column 82 is installed on the lower side of the table top 81, the lower end of the lifting column 82 is fixedly installed on a bottom plate 83, and a plurality of universal wheels 84 are installed below the bottom plate 83.
The specific working process of the embodiment of the invention is as follows:
the forearm of a person is placed on the forearm supporting component 6, the first motor 21 drives the gear shaft 22 to rotate so as to drive the large gear to rotate, the large gear drives the palm bending/dorsiflexion mechanism 3, the adduction/abduction mechanism 4 and the handle component 5 to realize the inward-rotation and outward-rotation movement of the wrist together, and the limiting slide block 25 plays a limiting role in the arc-shaped guide rail 24. The second motor 32 drives the driving bevel gear 33 to rotate, and then drives the driven bevel gear 34 to rotate, and the driven bevel gear 34 drives the second connecting rod rack 35 fixed on the rotating shaft thereof to rotate, thereby realizing the palm bending and dorsiflexion movements of the wrist. The third motor 41 drives the driving pulley 42 to rotate, and further drives the driven pulley 43 and the handle assembly 5 to rotate, so as to realize the adduction and abduction of the wrist.
A six-dimensional force sensor 54 is arranged between the connecting flange 51 and the connecting disc 53, when a patient carries out passive training, the patient tightly holds the handle, and the machine drives the wrist of the patient to move. When the patient has a certain disease condition and the strength of a single patient is not enough to drive the wrist to move, active training can be performed, and the six-dimensional force sensor 54 detects the movement trend of the patient and then controls the corresponding motor to rotate.
The wrist rehabilitation robot with three degrees of freedom realizes three degrees of freedom work and small volume through the structural design of internal rotation/external rotation movement of the forearm, palm bending/dorsiflexion movement of the wrist and internal contraction/external expansion movement of the wrist, can perform rehabilitation training at home only by being arranged on the desktop 81, is suitable for household use, can adapt to the rehabilitation training of the left hand and the right hand simultaneously, is low in rehabilitation training cost, and is suitable for market popularization and use.
It should be understood that the above-described specific embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Obvious variations or modifications which are within the spirit of the invention are possible within the scope of the invention.
Claims (7)
1. A three-degree-of-freedom wrist rehabilitation robot is characterized in that: including fixing base (1), internal rotation/external rotation mechanism, palm bend/dorsiflex mechanism, adduction/abduction mechanism and handle subassembly, internal rotation/external rotation mechanism includes: the device comprises a first motor (21) arranged on a fixed seat (1) through a motor support, a gear shaft (22) coaxially connected with an output shaft of the first motor (21), a semicircular large gear (23) meshed with the gear shaft (22) and a small arm supporting assembly (6) fixed above the fixed seat (1); the palm bending/dorsiflexion mechanism (3) comprises a first connecting rod frame (31) fixed on the semicircular large gear (23), a second motor (32) fixed on the first connecting rod frame (31) through a motor support, a driving bevel gear (33) coaxially connected with an output shaft of the second motor (32), a driven bevel gear (34) coaxially meshed with the driving bevel gear (33), and a second connecting rod frame (35) coaxially connected with the driven bevel gear (34); the adduction/abduction mechanism (4) comprises a third motor (41) fixedly connected with the second connecting rod frame (35) through a motor support, a driving pulley (42) coaxially connected with an output shaft of the third motor (41), and a driven pulley (43) connected with the driving pulley (42) through a synchronous belt; the handle assembly (5) is fixedly arranged on a rotating shaft (47) of the driven belt wheel (43);
the first motor (21) drives the gear shaft (22) to rotate so as to drive the semi-circular large gear (23) to rotate, the semi-circular large gear (23) drives the palm bending/back bending mechanism (3), the adduction/abduction mechanism (4) and the handle assembly (5) to realize inward rotation and outward rotation of the wrist together, and the limiting slide block (25) plays a limiting role in the arc-shaped guide rail (24); the second motor (32) drives the driving bevel gear (33) to rotate so as to drive the driven bevel gear (34) to rotate, and the driven bevel gear (34) drives the second connecting rod frame (35) fixed on the rotating shaft of the driven bevel gear to rotate, so that palm bending and dorsiflexion motions of the wrist are realized; the third motor (41) drives the driving belt wheel (42) to rotate, so as to drive the driven belt wheel (43) and the handle assembly (5) to rotate, and the inward contraction and the outward expansion of the wrist are realized;
the internal/external rotation mechanism (2) further comprises: the guide rail fixing device comprises an arc-shaped guide rail (24) fixed on the semicircular bull gear (23) and a limiting slide block (25) fixed at the upper end of the fixing seat (1), wherein a limiting groove (251) is formed in the limiting slide block (25), and the arc-shaped guide rail (24) is clamped in the limiting groove (251);
the bottom of fixing base (1) is provided with slide rail set spare (7), slide rail set spare (7) set up on desktop (81), slide rail set spare (7) include: at least one pair of oppositely arranged guide shaft connecting seats (71) fixed on the lower side of the table top (81), a guide shaft (72) arranged between the two oppositely arranged guide shaft connecting seats (71) and a guide sliding block (73) in sliding connection with the guide shaft (72); the guide sliding block (73) is fixedly connected with the fixed seat (1).
2. The three degree-of-freedom wrist rehabilitation robot of claim 1, characterized in that: the handle assembly (5) comprises: the device comprises a connecting flange (51) fixedly connected with a rotating shaft (47) of the driven belt wheel (43), a handle (55) used for being grabbed by a human hand during rehabilitation training, a handle bracket (52) fixed below the handle (55), a connecting disc (53) arranged at the lower end of the handle bracket (52), and a six-dimensional force sensor (54) arranged between the connecting flange (51) and the connecting disc (53).
3. The three degree-of-freedom wrist rehabilitation robot of claim 1, characterized in that: the second connecting rod rack (35) is L-shaped, the third motor (41) is installed at the corner of the second connecting rod rack (35), and the adduction/abduction mechanism (4) further comprises a protection plate (44) arranged opposite to one side of the second connecting rod rack (35) and a protection cover (45) arranged outside the protection plate (44); the guard plate (44) is connected with the second connecting rod frame (35) through a plurality of positioning shafts (46), and the driving pulley (42), the driven pulley (43) and a synchronous belt for connecting the driving pulley and the driven pulley are arranged in a space between the guard plate (44) and the second connecting rod frame (35).
4. The three degree-of-freedom wrist rehabilitation robot of claim 3, characterized in that: the guide sliding block (73) is fixedly connected with the fixed seat (1) through a sliding block connecting plate (74), and a sliding rail shell (75) is arranged on the outer sides of the guide shaft (72) and the guide sliding block (73); the desktop (81) is provided with a long groove (811) for the fixed seat (1) to pass through.
5. The three degree-of-freedom wrist rehabilitation robot of claim 4, characterized in that: lifting columns (82) are installed on the lower side of the tabletop (81), the lower ends of the lifting columns (82) are fixedly installed on a bottom plate (83), and a plurality of universal wheels (84) are installed below the bottom plate (83).
6. The three degree-of-freedom wrist rehabilitation robot of claim 4, characterized in that: an organ protective cover (85) is arranged in the long groove (811), the organ protective cover (85) is divided into two sections, one end of each section of organ protective cover (85) is fixed on the side surface of the fixed seat (1), and the other end of each section of organ protective cover is fixed on the table top (81) at the end part of the long groove (811).
7. The three degree-of-freedom wrist rehabilitation robot according to any one of claims 1-6, characterized in that: the small arm supporting assembly (6) comprises a small arm supporting hand (61) fixed on the limiting sliding block (25) and sponge fillers (62) adhered to the upper surface of the small arm supporting hand (61).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910698534.9A CN110339021B (en) | 2019-07-31 | 2019-07-31 | Wrist rehabilitation robot with three degrees of freedom |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910698534.9A CN110339021B (en) | 2019-07-31 | 2019-07-31 | Wrist rehabilitation robot with three degrees of freedom |
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| CN110339021A CN110339021A (en) | 2019-10-18 |
| CN110339021B true CN110339021B (en) | 2021-11-23 |
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| CN201910698534.9A Active CN110339021B (en) | 2019-07-31 | 2019-07-31 | Wrist rehabilitation robot with three degrees of freedom |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110974606B (en) * | 2019-12-06 | 2022-02-08 | 江苏理工学院 | Hand rehabilitation training device and control system |
| CN111067760B (en) * | 2019-12-31 | 2022-11-08 | 上海机器人产业技术研究院有限公司 | Upper limb rehabilitation training robot based on omnidirectional mobile platform |
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