CN111249686A - Wrist training mechanism for tail end guiding upper limb rehabilitation robot - Google Patents
Wrist training mechanism for tail end guiding upper limb rehabilitation robot Download PDFInfo
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- CN111249686A CN111249686A CN201911343991.2A CN201911343991A CN111249686A CN 111249686 A CN111249686 A CN 111249686A CN 201911343991 A CN201911343991 A CN 201911343991A CN 111249686 A CN111249686 A CN 111249686A
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/14—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for wrist joints
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/02—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using resilient force-resisters
- A63B21/05—Linearly-compressed elements
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/0009—Games or sports accessories not covered in groups A63B1/00 - A63B69/00 for handicapped persons
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0605—Decision makers and devices using detection means facilitating arbitration
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B2071/0675—Input for modifying training controls during workout
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- Physical Education & Sports Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Rehabilitation Tools (AREA)
Abstract
The invention discloses a wrist training mechanism for a tail end guide upper limb rehabilitation robot, which comprises a forearm supporting module, a wrist executing module and a holding handle module, wherein the forearm supporting module is connected with the wrist executing module; the forearm support module comprises a forearm connecting rod and a forearm extension plate; the front arm extension plate is arranged at one end of the front arm connecting rod in a sliding way through a sliding block; the wrist execution module is arranged at the end part of the forearm extension plate of the forearm support module; the wrist execution module comprises a rotary base plate, a rotating shaft, an arm support supporting plate and a handle connecting plate; one end of the rotating base plate and the forearm extending plate are fixedly arranged with each other, and the rotating shaft is vertically fixed on the rotating base plate; the arm support supporting plate and the handle connecting plate are hinged with the upper part of the rotating shaft; the handle of the handle module comprises a U-shaped handle bracket and a handle, wherein the U-shaped handle bracket is hinged on a hand module connecting part at the end part of the handle connecting plate, and the handle is arranged between the U-shaped handles; the invention reduces the volume by simplifying the design of the wrist training mechanism, increases the design of the floating arm support to realize the self-adaptive arm change of the mechanism and improves the training comfort level.
Description
Technical Field
The invention relates to a wrist rehabilitation mechanical structure, in particular to a wrist training mechanism for guiding an upper limb rehabilitation robot at the tail end.
Background
In recent years, with the aging problem of population becoming more and more serious, the number of stroke patients is increased sharply, and medical care resources at home and abroad are seriously insufficient. With the development of science and technology and the progress of society, the rehabilitation nursing work of China and countries in the world on the elderly and the patients with cerebral apoplexy is gradually replaced by more intelligent and more convenient rehabilitation robots, limb motility disorder is a typical characteristic of the patients with cerebral apoplexy and the elderly, rehabilitation tools such as rehabilitation training robots, exoskeletons, various assistive devices and the like can effectively relieve the problem of medical resource shortage, more and more related practitioners begin to research wrist rehabilitation equipment in recent years, in particular to the wrist rehabilitation training equipment with 3 degrees of freedom.
Generally, 3 degrees of freedom training equipment on wrist are used for the independent training of wrist more, and these equipment mostly have the huge structure characteristics such as complicated of size, and the 3 degrees of freedom mechanisms on wrist that cooperate the upper limbs training are unusual, and mostly still have the characteristics such as huge of size, and the research shows that complicated and huge training equipment can cause certain psychological pressure to the patient to influence patient's training effect. The volume of the reduction mechanism can not only reduce the burden of the self operation of the rehabilitation equipment, but also effectively relieve the psychological pressure of the patient in the training, and is helpful for the rehabilitation of the patient.
The wrist training mechanism for the end-guided upper limb rehabilitation robot is designed and researched by comprehensively considering the current problems, the wrist training mechanism is simplified by the design, active training with three degrees of freedom of the wrist is realized by comprehensively applying two rotating pairs in the mechanism, and the floating mechanism arranged at the arm support connecting end can adapt to the change of the arm inclination angle, so that the comfort level in the training process can be effectively improved.
Disclosure of Invention
The invention provides a wrist training mechanism for guiding an upper limb rehabilitation robot at the tail end, which reduces the whole volume and weight of the wrist training mechanism by simplifying the wrist training mechanical structure and better adapts the tail end to guide the upper limb rehabilitation robot; through addding arm support relocation mechanism in order to improve patient training process's comfort level, promote the training effect.
A wrist training mechanism for guiding an upper limb rehabilitation robot at the tail end comprises a forearm supporting module, a wrist executing module and a holding handle module; the forearm support module comprises a forearm connecting rod and a forearm extension plate; the front arm extension plate is arranged at one end of the front arm connecting rod in a sliding way through a sliding block; the wrist execution module is arranged at the end part of a forearm extension plate of the forearm support module; the wrist execution module comprises a rotary base plate, a rotating shaft, an arm support supporting plate and a handle connecting plate; one end of the rotating base plate and the front arm extending plate are fixedly arranged with each other, and the rotating shaft is vertically fixed on the rotating base plate; the arm support supporting plate and the handle connecting plate are hinged with the upper part of the rotating shaft; the handle module comprises a handle, and the handle comprises a U-shaped handle bracket and a handle, wherein the U-shaped handle bracket is hinged on a hand module connecting part at the end part of the handle connecting plate, and the handle is arranged between the U-shaped handle bracket and the U-shaped handle;
furthermore, a first limiting guide groove and a second limiting guide groove are distributed on the end surface of the rotating base plate in an arc shape; a positioning hole is also arranged between the first limiting guide groove and the second limiting guide groove; the handle connecting plate is L-shaped as a whole, and one end of the handle connecting plate is provided with a rotary connecting part; the rotary connecting part is hinged with the bottom of the rotating shaft; two limiting spring pins are fixedly arranged on two sides of the rotary connecting part, the end part of one limiting spring pin is matched with the first limiting guide groove and the second limiting guide groove, and the other limiting spring pin is arranged corresponding to the positioning hole;
furthermore, the radian of the first limiting guide groove is 60 degrees, and the radian of the second limiting guide groove is 140 degrees;
furthermore, an arm supporting plate hinged installation part is arranged at one end part of the arm supporting plate, and a semi-circular arc-shaped arm support is arranged at the other end of the arm supporting plate; the arm supporting plate hinge mounting part is internally provided with an arm supporting plate hinge hole; the bottom of the arm supporting plate hinge hole is hinged with the rotating shaft; a bearing is arranged between the arm supporting plate hinge hole and the rotating shaft;
furthermore, an elastic plate mounting groove is formed in the side wall of the upper part of the arm supporting plate hinge hole; the elastic plate mounting groove is vertically arranged, and an elastic plate is arranged in the elastic plate mounting groove; the elastic plate is rectangular plate-shaped, and the middle part of the elastic plate is arranged in a linear groove at the upper end part of the rotating shaft;
further, the other end of the handle connecting plate is provided with a handle module connecting part; the connecting part of the handle module is in a circular plate shape, and a handle module hinge mounting hole is formed in the center of the connecting part; the handle is hinged in the hinged mounting hole of the handle module through a hinge shaft;
furthermore, a handle hinging block is arranged in the middle of the U-shaped handle bracket; the handle hinging block is disc-shaped, and the middle part of the handle hinging block is provided with a hinging shaft; the handle hinging block is provided with a positioning hole and a handle rotation limiting groove;
furthermore, the two positioning holes are included, and the included angle between the two positioning holes and the connecting line of the central point of the hinge shaft is 90 degrees; the included angles between the connecting line of the two positioning holes and the central point of the hinge shaft and the central line of the handle rotation limiting groove are respectively 0 degree and 90 degrees; the handle rotation limiting groove is arranged on the handle hinging block in an arc shape, and the circle center of the arc-shaped central line of the handle rotation limiting groove is superposed with the central line of the hinging shaft; the angle of the handle rotation limiting groove corresponding to the arc-shaped central line is 180 degrees;
furthermore, a limit pin is arranged on the connecting part of the handle module; the limiting pin and the handle rotation limiting groove are matched with each other; the handle module also comprises a limit spring pin arranged on the connecting part of the handle module; the end part of the limiting spring pin is matched with the positioning hole;
furthermore, the wrist execution module also comprises a wrist movement angle acquisition device; the wrist movement angle acquisition device is an angle sensor arranged on a forearm extension plate; the input shaft of the wrist movement angle acquisition device is coaxially connected with the rotating shaft and is used for acquiring the rotating angle of the rotating shaft; the handle module also comprises a handle motion angle acquisition device; the handle motion angle acquisition device is an angle sensor arranged on the handle connecting plate; the input shaft of the handle movement angle acquisition device is coaxially connected with the articulated shaft and is used for acquiring the rotation angle of the articulated shaft.
The invention provides a wrist training mechanism for a tail end guide upper limb rehabilitation robot, which comprises a forearm supporting module, a wrist executing module and a holding handle module, wherein the forearm supporting module is connected with the wrist executing module; the forearm support module comprises a forearm connecting rod and a forearm extension plate; the front arm extension plate is arranged at one end of the front arm connecting rod in a sliding way through a sliding block; the wrist execution module is arranged at the end part of the forearm extension plate of the forearm support module; the wrist execution module comprises a rotary base plate, a rotating shaft, an arm support supporting plate and a handle connecting plate; one end of the rotating base plate and the forearm extending plate are fixedly arranged with each other, and the rotating shaft is vertically fixed on the rotating base plate; the arm support supporting plate and the handle connecting plate are hinged with the upper part of the rotating shaft; the handle module comprises a holding handle, and the holding handle comprises a U-shaped handle bracket which is hinged on the hand module connecting part at the end part of the handle connecting plate and a handle which is arranged between the U shapes; the invention aims to reduce the whole volume of the mechanism by simplifying the design of a wrist training mechanism, realize the self-adaptive arm change of the mechanism by increasing the design of a floating arm support and improve the training comfort level.
The invention has the beneficial effects that: the invention combines the characteristics of wrist movement, adopts two crossed rotation centers, realizes a training mode of three degrees of freedom of the wrist, increases the up-and-down floating design of the arc-shaped arm support, realizes the self-adaption forearm change of the arm support through a mechanical structure, increases the comfort level of a patient in the training process, greatly reduces the whole volume and weight of the mechanism through the sheet metal support structure design, and is more suitable for being additionally arranged at the tail end of an upper limb rehabilitation training mechanical arm.
Drawings
Fig. 1 is a front view of a wrist training mechanism for a distal guided upper limb rehabilitation robot of the present invention;
FIG. 2 is a right side view of a wrist training mechanism for a tip guided upper limb rehabilitation robot of the present invention;
fig. 3 is a cross-sectional view a-a of a wrist training mechanism for a tip guided upper limb rehabilitation robot of the present invention;
FIG. 4 is a cross-sectional view B-B of a wrist training mechanism for a tip guided upper extremity rehabilitation robot of the present invention;
FIG. 5 is a perspective view of a wrist training mechanism for a distal guided upper limb rehabilitation robot of the present invention;
FIG. 6 is a perspective view of a wrist training mechanism for a distal guided upper limb rehabilitation robot of the present invention;
fig. 7 is a front view of a rotating base plate of a wrist training mechanism for a tip guided upper limb rehabilitation robot of the present invention;
fig. 8 is a perspective view of a grip module of a wrist training mechanism for a distal guided upper limb rehabilitation robot of the present invention;
fig. 9 is a perspective view of a grip connecting plate of a wrist training mechanism for a distal-end-guided upper limb rehabilitation robot according to the present invention.
Detailed Description
Example (b):
referring to fig. 1-9, a wrist training mechanism for end-guided upper limb rehabilitation robot includes a forearm support module 100, a wrist execution module 200, and a grip hand module 300;
the forearm support module 100 includes a forearm link 102, a forearm extension plate 108;
the forearm extension plate 108 is slidably mounted at one end of the forearm connecting rod 102 through a slide block 107;
the wrist execution module 200 is mounted at the end of the forearm extension plate 108 of the forearm support module 100;
the wrist execution module 200 comprises a rotary base plate 201, a rotating shaft 202, an arm support supporting plate 203 and a handle connecting plate 205;
one end of the rotating base plate 201 and the forearm extending plate 108 are fixedly mounted with each other, and the rotating shaft 202 is vertically fixed on the rotating base plate 201;
the arm support supporting plate 203 and the handle connecting plate 205 are hinged with the upper part of the rotating shaft 202;
a first limiting guide groove 2011 and a second limiting guide groove 2012 are distributed on the end surface of the rotating base plate 201 in an arc shape;
a positioning hole 3041 is further arranged between the first limiting guide groove 2011 and the second limiting guide groove 2012;
the handle connecting plate 205 is L-shaped as a whole, and one end of the handle connecting plate is provided with a rotary connecting part 2051;
the rotary connecting part 2051 is hinged with the bottom of the rotating shaft 202;
two limiting spring pins 2052 are fixedly mounted on two sides of the rotary connecting part 2051, the end part of one limiting spring pin 2052 is matched with the second limiting guide groove 2012, and the other limiting spring pin is arranged corresponding to the positioning hole 3041 and the first limiting guide groove 2011;
the radian of the first limiting guide groove 2011 is 60 degrees, and the radian of the second limiting guide groove 2012 is 140 degrees;
the positioning hole 3041 is located between the first limiting guide groove 2011 and the second limiting guide groove 2012;
an arm supporting plate hinged installation part 2031 is arranged at one end part of the arm supporting plate 203, and a semi-arc-shaped arm support 204 is arranged at the other end part;
an arm supporting plate hinge hole 2032 is arranged in the arm supporting plate hinge installation part 2031;
the bottom of the arm supporting plate hinge hole 2032 is hinged with the rotating shaft 202;
a bearing is arranged between the arm supporting plate hinge hole 2032 and the rotating shaft 202;
an elastic plate mounting groove 2033 is arranged on the side wall of the upper part of the arm supporting plate hinge hole 2032;
the elastic plate mounting groove 2033 is vertically arranged, and an elastic plate 2034 is arranged in the elastic plate mounting groove 2033;
the elastic plate 2034 is rectangular plate-shaped, and the middle part of the elastic plate is arranged in the straight groove 2021 at the upper end part of the rotating shaft 202;
the other end of the handle connecting plate 205 is provided with a handle module connecting part 2050;
the handle module connecting part 2050 is in a circular plate shape, and a handle module hinge mounting hole 2054 is formed in the center of the handle module connecting part;
the wrist execution module 200 further comprises a wrist movement angle acquisition device 206;
the wrist movement angle acquisition device 206 is an angle sensor installed on the forearm extension plate 108;
the input shaft of the wrist movement angle acquisition device 206 is coaxially connected with the rotating shaft 202 and is used for acquiring the rotation angle of the rotating shaft 202;
the grip hand module 300 comprises a grip handle 301, and the grip hand 301 comprises a U-shaped handle bracket 302 which is hinged on a hand module connecting part 2050 at the end part of a grip connecting plate 205 and a handle 303 which is arranged between the U shapes;
the grip handle 301 is hinged in the grip handle module hinge mounting hole 2054 through a hinge shaft 305;
the middle part of the U-shaped handle bracket 302 is provided with a handle hinging block 304;
the handle hinging block 304 is disc-shaped, and the middle part is provided with a hinging shaft 305;
the handle hinging block 304 is provided with a positioning hole 3041 and a handle rotation limiting groove 3042;
the positioning holes 3041 include two, and an included angle between a connecting line of the two positioning holes 3041 and the center point of the hinge shaft 305 is 90 degrees;
the included angles between the connecting line of the two positioning holes 3041 and the central point of the hinge shaft 305 and the central line of the handle 303 of the grip rotation limiting groove 3042 are 0 degree and 90 degrees respectively;
the handle rotation limiting groove 3042 is arranged on the handle hinge block 304 in an arc shape, and the center of the arc center line of the handle rotation limiting groove 3042 coincides with the center line of the hinge shaft 305;
the angle of the handle rotation limiting groove 3042 corresponding to the arc-shaped center line is 180 degrees;
a limiting pin 2053 is arranged on the connecting part 2050 of the handle module;
the limit pin 2053 is matched with the grip rotation limit groove 3042;
the grip module 300 further comprises a limiting spring pin 2052 mounted on the grip module connection part 2050;
the end part of the limiting spring pin 2052 is matched with the positioning hole 3041;
the grip module 300 further comprises a grip motion angle acquisition device 306;
the handle motion angle acquisition device 306 is an angle sensor arranged on the handle connecting plate 205;
the input shaft of the handle movement angle acquisition device 306 is coaxially connected with the hinge shaft 305, and is used for acquiring the rotation angle of the hinge shaft 305.
When the wrist internal rotation/external rotation training device is used for wrist internal rotation/external rotation training, a diseased limb is fixed on the arm support 204, fingers hold the holding handle 301, the holding handle 301 is adjusted to a proper position, the limiting pin 2053 arranged on the connecting part 2050 of the holding handle module is pulled out from the positioning hole 3041, the holding handle 301 and the U-shaped handle bracket 302 are in a free state, and the holding handle module 300 performs internal rotation/external rotation around the hinging shaft 305.
When the wrist palmflex/dorsiflex action training device is used for wrist palmflex/dorsiflex action training, an affected limb is fixed on the arm support 204, fingers hold the grip handle 301, the grip handle 301 is adjusted to a proper position, the limiting pin 2053 arranged on the connection part 2050 of the grip handle module is inserted into the positioning hole 3041, the circumferential movement of the grip handle module 300 is limited, the limiting spring pin 2052 correspondingly arranged on the connection part 2051 of the rotation connection part 2051 and the first limiting guide groove 2011 is pulled out, so that the other limiting spring pin 2052 is matched with the second limiting guide groove 2012, the wrist palmflex/dorsiflex action training is completed, and the 140-degree second limiting guide groove 2012 arranged on the joint rotation base station limits the palmflex/dorsiflex action angle range, and avoids excessive movement.
When the wrist ulnar flexion/radial flexion training device is used for wrist ulnar flexion/radial flexion training, an affected limb is fixed on the arm support 204, fingers hold the handle, the handle is adjusted to a proper position, the limiting pin 2053 arranged on the connecting part 2050 of the grip hand module is inserted into the positioning hole 3041, the circumferential movement of the grip handle module 300 is limited, the circumferential movement of the handle is limited, the limiting spring pin 2052 of the positioning hole 3041 on the rotating connecting part 2051 is pulled out, and is mutually matched with the first limiting guide groove 2011, the wrist ulnar flexion and radial flexion training is completed, and the 60-degree limiting guide groove arranged on the joint rotating base station limits the ulnar flexion and radial flexion movement angle range, so that excessive movement is avoided.
When being used for conventional action training, be fixed in the arm support 204 with suffering from the limb, the finger is held and is held handle 301, adjust and hold handle 301 to suitable position, the axial opening orientation is opened to the arm support 204, can put the fine setting from top to bottom of gesture along with suffering from the limb arm under the effect of elastic plate 2034, suffer from the limb and drive the arm support and do the fluctuation, elastic plate 2034 takes place deformation, deformation is big more the rebound force, both can put the gesture and improve the training comfort level by the self-adaptation forearm, thereby also can avoid the too big training inefficacy that causes of arm support moving range.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a wrist training mechanism that is used for end guide upper limbs rehabilitation robot which characterized in that: the wrist-wrist type forearm support device comprises a forearm support module (100), a wrist execution module (200) and a holding handle module (300); the forearm support module (100) including a forearm link (102), a forearm extension plate (108); the forearm extending plate (108) is arranged at one end of the forearm connecting rod (102) in a sliding way through a sliding block (107); the wrist execution module (200) is arranged at the end part of a forearm extension plate (108) of the forearm support module (100); the wrist execution module (200) comprises a rotary base plate (201), a rotating shaft (202), an arm support supporting plate (203) and a handle connecting plate (205); one end of the rotating base plate (201) and the forearm extending plate (108) are fixedly arranged with each other, and the rotating shaft (202) is vertically fixed on the rotating base plate (201); the arm support supporting plate (203) and the handle connecting plate (205) are hinged with the upper part of the rotating shaft (202); the handle module (300) comprises a handle (301), and the handle (301) comprises a U-shaped handle bracket (302) which is hinged on a handle module connecting part (2050) at the end part of the handle connecting plate (205) and a handle (303) which is arranged between the U shapes.
2. A wrist training mechanism for an end guided upper limb rehabilitation robot according to claim 1, characterized in that: a first limiting guide groove (2011) and a second limiting guide groove (2012) are distributed on the end surface of the rotating base plate (201) in an arc shape; a positioning hole (3041) is further formed between the first limiting guide groove (2011) and the second limiting guide groove (2012); the handle connecting plate (205) is L-shaped as a whole, and one end of the handle connecting plate is provided with a rotary connecting part (2051); the rotary connecting part (2051) is hinged with the bottom of the rotating shaft (202); two limiting spring pins (2052) are fixedly mounted on two sides of the rotary connecting part (2051), the end part of one limiting spring pin (2052) is matched with the first limiting guide groove (2011) and the second limiting guide groove (2012) mutually, and the other limiting spring pin is arranged corresponding to the positioning hole (3041) mutually.
3. A wrist training mechanism for an end guided upper limb rehabilitation robot according to claim 2, characterized in that: the radian of the first limiting guide groove (2011) is 60 degrees, and the radian of the second limiting guide groove (2012) is 140 degrees.
4. A wrist training mechanism for an end guided upper limb rehabilitation robot according to claim 3, characterized in that: one end of the arm support supporting plate (203) is provided with an arm support plate hinged installation part (2031), and the other end is provided with a semi-arc-shaped arm support (204); an arm supporting plate hinge hole (2032) is formed in the arm supporting plate hinge installation part (2031); the bottom of the arm supporting plate hinge hole (2032) is hinged with the rotating shaft (202); and a bearing is arranged between the arm supporting plate hinge hole (2032) and the rotating shaft (202).
5. The wrist training mechanism for an end guided upper limb rehabilitation robot of claim 4, characterized in that: an elastic plate mounting groove (2033) is arranged on the side wall of the upper part of the arm supporting plate hinge hole (2032); the elastic plate mounting groove (2033) is vertically arranged, and an elastic plate (2034) is arranged in the elastic plate mounting groove (2033); the elastic plate (2034) is rectangular plate-shaped, and the middle part of the elastic plate is arranged in a straight groove (2021) at the upper end part of the rotating shaft (202).
6. The wrist training mechanism for an end guided upper limb rehabilitation robot of claim 5, characterized in that: the other end of the handle connecting plate (205) is provided with a handle module connecting part (2050); the handle module connecting part (2050) is in a circular plate shape, and a handle module hinge mounting hole (2054) is formed in the center of the handle module connecting part; the handle (301) is hinged in the handle module hinge mounting hole (2054) through a hinge shaft (305).
7. The wrist training mechanism for an end guided upper limb rehabilitation robot of claim 6, characterized in that: the middle part of the U-shaped handle bracket (302) is provided with a handle hinging block (304); the handle hinging block (304) is disc-shaped, and the middle part of the handle hinging block is provided with a hinging shaft (305); the handle hinging block (304) is provided with a positioning hole (3041) and a handle rotation limiting groove (3042).
8. The wrist training mechanism for an end guided upper limb rehabilitation robot of claim 7, characterized in that: the number of the positioning holes (3041) is two, and the included angle between the connecting line of the two positioning holes (3041) and the central point of the hinge shaft (305) is 90 degrees; the included angles between the connecting line of the two positioning holes (3041) and the central point of the hinge shaft (305) and the central line of the handle (303) of the grip rotation limiting groove (3042) are respectively 0 degree and 90 degrees; the grip rotation limiting groove (3042) is arranged on the grip hinging block (304) in an arc shape, and the circle center of the arc-shaped center line of the grip rotation limiting groove (3042) is superposed with the center line of the hinging shaft (305); the angle of the handle rotation limiting groove (3042) corresponding to the arc-shaped center line is 180 degrees.
9. The wrist training mechanism for an end guided upper limb rehabilitation robot of claim 8, characterized in that: a limiting pin (2053) is arranged on the handle module connecting part (2050); the limiting pin (2053) and the handle rotation limiting groove (3042) are arranged in a matched manner; the handle-holding module (300) also comprises a limiting spring pin (2052) arranged on the handle-holding module connecting part (2050); the end part of the limiting spring pin (2052) is matched with the positioning hole (3041).
10. A wrist training mechanism for an end guided upper limb rehabilitation robot according to claim 9, characterized in that: the wrist execution module (200) further comprises a wrist movement angle acquisition device (206); the wrist movement angle acquisition device (206) is an angle sensor arranged on a forearm extension plate (108); the input shaft of the wrist movement angle acquisition device (206) is coaxially connected with the rotating shaft (202) and is used for acquiring the rotating angle of the rotating shaft (202); the handle-holding module (300) further comprises a handle-holding motion angle acquisition device (306); the handle motion angle acquisition device (306) is an angle sensor arranged on the handle connecting plate (205); the input shaft of the handle movement angle acquisition device (306) is coaxially connected with the hinging shaft (305) and is used for acquiring the rotation angle of the hinging shaft (305).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911343991.2A CN111249686A (en) | 2019-12-24 | 2019-12-24 | Wrist training mechanism for tail end guiding upper limb rehabilitation robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911343991.2A CN111249686A (en) | 2019-12-24 | 2019-12-24 | Wrist training mechanism for tail end guiding upper limb rehabilitation robot |
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| CN111249686A true CN111249686A (en) | 2020-06-09 |
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| CN201911343991.2A Pending CN111249686A (en) | 2019-12-24 | 2019-12-24 | Wrist training mechanism for tail end guiding upper limb rehabilitation robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111685967A (en) * | 2020-06-10 | 2020-09-22 | 苏州大学 | Rope guiding device of rope-driven rehabilitation robot |
| CN113069320A (en) * | 2021-03-29 | 2021-07-06 | 上海大学 | Traction type end effector |
| CN113101138A (en) * | 2021-04-06 | 2021-07-13 | 上海健康医学院 | Motor direct-drive wrist training mechanism for upper limb rehabilitation robot |
-
2019
- 2019-12-24 CN CN201911343991.2A patent/CN111249686A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111685967A (en) * | 2020-06-10 | 2020-09-22 | 苏州大学 | Rope guiding device of rope-driven rehabilitation robot |
| CN113069320A (en) * | 2021-03-29 | 2021-07-06 | 上海大学 | Traction type end effector |
| CN113101138A (en) * | 2021-04-06 | 2021-07-13 | 上海健康医学院 | Motor direct-drive wrist training mechanism for upper limb rehabilitation robot |
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Address after: 215431 No. 8, wisteria Road, Liuhe Town, Taicang City, Suzhou City, Jiangsu Province Applicant after: Suzhou Haobo Medical Instrument Co.,Ltd. Address before: East Building, 8-1 Nanhai Road, Liuhe Town, Taicang City, Suzhou City, Jiangsu Province Applicant before: SUZHOU HAOBRO MEDICAL DEVICE Co.,Ltd. |
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