CN111588591A - Eight-degree-of-freedom upper limb rehabilitation training arm and device - Google Patents
Eight-degree-of-freedom upper limb rehabilitation training arm and device Download PDFInfo
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- CN111588591A CN111588591A CN202010449337.6A CN202010449337A CN111588591A CN 111588591 A CN111588591 A CN 111588591A CN 202010449337 A CN202010449337 A CN 202010449337A CN 111588591 A CN111588591 A CN 111588591A
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- 238000012549 training Methods 0.000 title claims abstract description 82
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 49
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 63
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 58
- 210000001991 scapula Anatomy 0.000 claims abstract description 47
- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 230000033001 locomotion Effects 0.000 claims abstract description 26
- 210000003109 clavicle Anatomy 0.000 claims abstract description 25
- 210000001898 sternoclavicular joint Anatomy 0.000 claims abstract description 22
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 20
- 210000002832 shoulder Anatomy 0.000 claims description 69
- 210000000245 forearm Anatomy 0.000 claims description 32
- 230000003287 optical effect Effects 0.000 claims description 7
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 5
- 210000000707 wrist Anatomy 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 4
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 230000009471 action Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 9
- 238000013461 design Methods 0.000 description 5
- 210000001513 elbow Anatomy 0.000 description 5
- 210000003414 extremity Anatomy 0.000 description 3
- 210000000142 acromioclavicular joint Anatomy 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 206010040007 Sense of oppression Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000463 material Substances 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
- 238000012544 monitoring process Methods 0.000 description 1
- 230000009467 reduction Effects 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
- A61H1/0274—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
- A61H1/0277—Elbow
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0192—Specific means for adjusting dimensions
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- 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
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
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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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
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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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/062—Shoulders
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
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Abstract
The invention belongs to the technical field of rehabilitation medical equipment, and particularly relates to an eight-degree-of-freedom upper limb rehabilitation training arm and a device, wherein the training arm comprises a scapula movement assembly, a shoulder joint assembly, an elbow joint assembly, a wrist joint assembly, a large arm assembly and a small arm assembly; the scapula movement assembly includes: the shoulder blade lifting and lowering mechanism comprises a first scapula bracket, a shoulder lifting and lowering motor, a shoulder lifting and lowering bracket and a shoulder advancing and retreating motor; one end of the sternoclavicular joint clavicle connecting rod is fixedly connected with the output shaft of the shoulder advancing and retreating motor, and the other end of the sternoclavicular joint clavicle connecting rod is connected with the shoulder joint component. The training device comprises a lifting mechanism and two arm spacing adjusting mechanisms arranged at the output ends of the lifting mechanism, and the two upper limb rehabilitation training arms are symmetrically arranged on the two arm spacing adjusting mechanisms. The invention can help the patient to carry out comprehensive rehabilitation training on the scapula, the shoulder, the elbow and the wrist joint, can help the patient to complete the forward/backward movement, the lifting/descending actions of the shoulder, carries out more thorough and comprehensive rehabilitation training on the upper limb of the patient and improves the training efficiency.
Description
Technical Field
The invention belongs to the technical field of rehabilitation medical equipment, and particularly relates to an eight-degree-of-freedom upper limb rehabilitation training arm and device.
Background
The upper limbs rehabilitation training device is used for being matched with or replacing a traditional rehabilitation therapist to carry out rehabilitation training on a patient, and the rehabilitation training device is long in sustainability because the rehabilitation training is mainly a cyclic and repetitive action, so that the rehabilitation training is more effective.
Upper limb rehabilitation robots can be divided into two major categories, one is a tail end traction type rehabilitation robot system, and the other is an exoskeleton type rehabilitation robot system. The tail-end traction type rehabilitation robot system drives the upper limbs of a patient to move through robot movement to achieve a mechanical system of the rehabilitation training purpose, the robot system is relatively independent of the patient and is connected with the tail end of the robot only through the hand of the patient, and the tail-end traction type rehabilitation robot system is simple in structure, easy to control and low in price. The use of the tail-end traction type rehabilitation robot is suitable for the whole arm, but the targeted training cannot be well performed on joints such as scapula, shoulder, elbow and wrist, and the training function cannot meet the requirement. The exoskeleton can better assist a patient to carry out rehabilitation training because of the similarity of the motion of the upper limbs of the human body, but the structural design and the control method have certain difficulty. The existing exoskeleton robot is generally made of rigid materials, the degree of freedom is generally less, corresponding joint parts of limbs of a person are bound with the robot in order to drive the limbs to train more accurately, and the limbs follow the robot to follow. The patient is easy to feel uncomfortable psychologically when being contacted with the cold machine, and the rehabilitation training effect is reduced.
Disclosure of Invention
The invention aims to overcome the defect that the upper limb rehabilitation training device in the prior art cannot carry out targeted training on scapulae, shoulders, elbows, wrist joints and the like in the degree of freedom, and provides an eight-degree-of-freedom upper limb rehabilitation training arm and device which are flexible, can fully simulate the upper limbs of a human body, and have a large working range and high rehabilitation training.
The technical scheme adopted by the invention for solving the technical problems is as follows:
an eight-degree-of-freedom upper limb rehabilitation training arm is characterized in that: the shoulder joint assembly is connected with the scapula motion assembly through a sternoclavicular joint clavicle connecting rod, the elbow joint assembly, the wrist joint assembly, a large arm assembly connected with the shoulder joint assembly and the elbow joint assembly, and a small arm assembly connected with the elbow joint assembly and the wrist joint assembly; the scapula motion assembly includes: the shoulder-climbing robot comprises a first scapula bracket, a shoulder lifting and descending motor arranged on the first scapula bracket, a shoulder lifting and descending bracket connected with an output shaft of the shoulder lifting and descending motor, and a shoulder advancing and retreating motor arranged on the first scapula bracket; one end of the sternoclavicular joint clavicle connecting rod is fixedly connected with an output shaft of the shoulder advancing and retreating motor, and the other end of the sternoclavicular joint clavicle connecting rod is connected with the shoulder joint component; the rotating axis of the shoulder lifting and lowering motor is in the horizontal direction, and the rotating axis of the shoulder advancing and retreating motor is perpendicular to the rotating axis of the shoulder lifting and lowering motor; the shoulder joint assembly comprises an X-direction shoulder joint motor, a first right-angle frame, a Z-direction shoulder joint motor, a second right-angle frame and a Y-direction shoulder joint motor, wherein the X-direction shoulder joint motor is installed on the sternoclavicular joint clavicle connecting rod through a frame body, one end of the first right-angle frame is fixedly connected with an output shaft of the X-direction shoulder joint motor, the Z-direction shoulder joint motor is installed at the other end of the first right-angle frame, one end of the second right-angle frame is fixedly connected with an output shaft of the Z-direction shoulder.
Further, the shoulder lifting and descending motor is installed on the first scapula bracket, and an output shaft of the shoulder lifting and descending motor is fixedly connected with the arm installation plate; the training arm is provided with two chest-clavicular joint clavicle connecting rods which are parallel to each other; one end of the sternoclavicular joint clavicle connecting rod is connected with an output shaft of the shoulder forward-detection backward-moving motor, and the other end of the sternoclavicular joint clavicle connecting rod is fixedly connected with a second scapula bracket; one end of the other sternoclavicular joint clavicle connecting rod is rotatably connected with the first scapula bracket, and the other end of the other sternoclavicular joint clavicle connecting rod is rotatably connected with the second scapula bracket; the X-direction shoulder joint motor is installed on the second scapula bracket.
Furthermore, the big arm component comprises a big arm upper support connected to the output shaft of the Y-direction shoulder joint motor, a U-shaped mounting block fixedly mounted on the big arm upper support, a driving bevel gear rotatably mounted on the U-shaped mounting block or the big arm upper support through a bearing, a driven bevel gear meshed with the driving bevel gear, a big arm adjusting screw rod serving as a rotating shaft of the driven bevel gear, a big arm adjusting nut screwed on the big arm adjusting screw rod, and a big arm lower support fixedly connected to the big arm adjusting nut and slidably connected to the big arm upper support, wherein the rotating shaft of the driving bevel gear is connected with a big arm adjusting rotary handle from the end of the big arm upper support.
Furthermore, the large arm assembly also comprises a linear displacement sensor, two ends of which are respectively arranged on the large arm upper support and the large arm lower support; the large arm lower support is partially installed in the large arm upper support in a sliding mode, and a graduated scale used for observing the extension length of the large arm is further arranged on the outer surface of the large arm lower support.
Furthermore, the small arm assembly comprises a small arm upper support, a small arm length adjusting seat connected to the small arm upper support in a sliding manner, a small arm length adjusting fixing frame, a small arm length adjusting lead screw arranged on the small arm length adjusting fixing frame through a bearing, and a guide optical axis which is fixed on the small arm length adjusting fixing frame and is arranged in parallel with the small arm length adjusting lead screw; the small arm length adjusting seat is connected with the guide optical axis in a sliding mode through a linear bearing.
Further, the forearm assembly further includes a forearm rotation mechanism, the forearm rotation mechanism including: the wrist joint rotation connecting arm comprises a small arm rotation motor arranged on the small arm length adjusting seat, a small arm rotation driving belt wheel coaxially arranged with an output shaft of the small arm rotation motor, a small arm rotation driven belt wheel connected with the small arm rotation driving belt wheel through a synchronous belt, and a wrist joint rotation connecting arm fixedly connected with a rotating shaft of the small arm rotation driven belt wheel.
Furthermore, the wrist joint assembly comprises a wrist joint driven belt wheel fixedly arranged on the wrist joint rotary connecting arm, a wrist joint driving motor and a wrist joint driving belt wheel coaxially connected with an output shaft of the wrist joint driving motor; the wrist joint driving belt wheel and the wrist joint driven belt wheel are connected through a synchronous belt, and the wrist joint driving belt wheel and the wrist joint driven belt wheel are respectively rotatably installed at two ends of a belt wheel installation connecting rod through bearings.
Further, the elbow joint assembly includes: and an output shaft of the elbow joint motor is coaxially connected with the small arm upper bracket.
The utility model provides an eight degree of freedom upper limbs rehabilitation training device which characterized in that: the upper limb rehabilitation training device comprises two symmetrically arranged upper limb rehabilitation training arms as claimed in claim 1, and further comprises a lifting mechanism and a two-arm spacing adjusting mechanism arranged at the output end of the lifting mechanism, wherein the two upper limb rehabilitation training arms are symmetrically arranged on the two-arm spacing adjusting mechanism.
Further, the two-arm spacing adjustment mechanism comprises a support plate arranged at the output end of the lifting mechanism, a spacing adjustment motor arranged in the middle of the support plate, a spacing adjustment driving bevel gear coaxially connected with an output shaft of the spacing adjustment motor, two spacing adjustment driven bevel gears symmetrically arranged on two sides of the spacing adjustment driving bevel gear and both meshed with the spacing adjustment driving bevel gear, a spacing adjustment lead screw nut pair serving as a rotating shaft of the spacing adjustment driven bevel gear, a spacing adjustment guide rail arranged on the support plate and parallel to a lead screw of the spacing adjustment lead screw nut pair, and a spacing adjustment slider slidably connected to the spacing adjustment guide rail; the distance adjusting sliding block is fixedly connected with a nut of the distance adjusting lead screw nut pair through an arm mounting plate; the output shaft of the shoulder lifting and descending motor is connected with a shoulder lifting and descending support, and the shoulder lifting and descending support is installed on the arm mounting plate.
The eight-degree-of-freedom upper limb rehabilitation training arm and the device have the beneficial effects that:
1. the device can help patients to perform rehabilitation training on the scapula, the shoulder, the elbow and the wrist joint, the length of the acromioclavicular joint, the length of the upper arm, the length of the lower arm and the distance from the wrist to the lower arm of the device can be adjusted according to different patients, the rehabilitation training of patients with any body types can be met, and the design is humanized.
2. The invention is an upper limb eight-degree-of-freedom training device, and compared with the upper limb training device on the market, the invention has the advantages of large working space and wide range. The combined action of the shoulder advancing and retreating motor, the shoulder lifting and descending motor and the three shoulder joint motors can help the patient to complete the advancing/retreating and lifting/descending actions of the shoulders, so that the upper limbs of the patient are subjected to more thorough and comprehensive rehabilitation training, and the training efficiency is improved.
3. The invention can be used for multiple purposes, the scapula joint mechanism can be detached as an independent individual, the scapula joint mechanism is an eight-degree-of-freedom training device when being installed, and the device is a six-degree-of-freedom training device when being detached. The design can be changed according to the requirements of patients in different rehabilitation periods, and has the advantages of saving cost and improving utilization rate.
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 an eight-degree-of-freedom upper limb rehabilitation training device according to an embodiment of the present invention;
FIG. 2 is a perspective view of the lifting mechanism and the two-arm spacing adjustment mechanism according to the embodiment of the present invention;
FIG. 3 is a block diagram of a scapula movement assembly according to an embodiment of the present invention;
FIG. 4 is a block diagram of another perspective of the scapula movement assembly in accordance with an embodiment of the present invention;
FIG. 5 is a partial block diagram of a scapula assembly according to an embodiment of the present invention;
FIG. 6 is a block diagram of a shoulder joint assembly of an embodiment of the present invention;
FIG. 7 is a block diagram of a large arm assembly of an embodiment of the present invention;
FIG. 8 is a block diagram of an elbow assembly, forearm assembly and wrist assembly of an embodiment of the invention;
FIG. 9 is a block diagram of a forearm assembly in accordance with an embodiment of the invention;
figure 10 is a structural view of a forearm rotation mechanism and wrist joint assembly in accordance with an embodiment of the invention;
figure 11 is another perspective view of the forearm rotation mechanism and wrist joint assembly of an embodiment of the invention;
FIG. 12 is a block diagram of a wrist joint assembly according to an embodiment of the present invention;
figure 13 is a wrist joint component mechanism diagram of an embodiment of the present invention.
In the figure, the device comprises a lifting mechanism 1, a lifting mechanism 2, a two-arm spacing adjusting mechanism 20, a support plate 21, a spacing adjusting motor 22, a spacing adjusting drive bevel gear 23, a spacing adjusting driven bevel gear 24, a spacing adjusting screw nut pair 25, a spacing adjusting guide rail 26, a spacing adjusting slider 27, an arm mounting plate 3, a scapula movement assembly 30, a shoulder lifting and descending motor 31, a shoulder lifting and descending support 32, a shoulder advancing and retreating motor 33, a first scapula support 34, a second scapula support 35, a lifting and descending large gear 36, a lifting and descending small gear 37, a lifting and descending angle sensor 38, a lifting and descending limiting block 4, a shoulder joint assembly 40, an X-direction shoulder joint motor 41, a first right-angle support 42, a Z-direction shoulder joint motor 43, a second right-angle shoulder support 44, a Y-direction joint motor 5, an elbow joint assembly, 50. an elbow joint motor, 6, a wrist joint component, 60, a wrist joint driven belt wheel, 61, a wrist joint driving motor, 62, a wrist joint driving belt wheel, 64, a belt wheel mounting connecting rod, 65, a rubber sleeve lock seat, 66, a handle rubber sleeve, 67, a rubber sleeve lock, 7, a big arm component, 70, a big arm upper bracket, 71, a U-shaped mounting block, 72, a driving bevel gear, 73, a driven bevel gear, 74, a big arm adjusting screw rod, 75, a big arm adjusting nut, 76, a big arm lower bracket, 77, a big arm adjusting rotating handle, 78, a linear displacement sensor, 79, a limit baffle ring, 710, a scale, 8, a small arm component, 80, a small arm upper bracket, 81, a small arm adjusting seat, 82, a small arm adjusting fixing bracket, 83, a small arm adjusting screw rod, 84, a guide optical axis, 85, a small arm rotating motor, 86, a small arm rotating driving belt wheel, 87, a small arm rotating driven belt wheel, 88. a wrist joint rotation connecting arm 89, an extension rod 810, a forearm adjusting handle 9, a sternoclavicular joint clavicle connecting rod,
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 embodiment of the eight-degree-of-freedom upper limb rehabilitation training device shown in fig. 1-13 is divided into a left upper limb rehabilitation training arm and a right upper limb rehabilitation training arm, each upper limb rehabilitation training arm can run independently, namely if only one upper limb needs rehabilitation training, one upper limb rehabilitation training arm can be independently and fixedly installed. And if the two arms need to be subjected to rehabilitation training at the same time, the two upper limb rehabilitation training arms need to be installed, and the distance between the two rehabilitation training arms is adjusted according to the body type of the person.
Taking the need for two rehabilitation training arms as an example, as shown in fig. 1, the eight-degree-of-freedom upper limb rehabilitation training device of the present invention comprises: the device comprises a lifting mechanism 1, a two-arm distance adjusting mechanism 2 arranged at the output end of the lifting mechanism 1 and two upper limb rehabilitation training arms symmetrically arranged on the two-arm distance adjusting mechanism 2.
Referring to fig. 1, the lifting mechanism 1 employs a lifting column, a base of the lifting column is fixed on the ground or a training platform through four bolts, and an output end of the top is fixedly connected with a support plate 20 through four bolts.
Referring to fig. 1 and 2, the two-arm spacing adjustment mechanism 2 includes a support plate 20 disposed at an output end of the lifting mechanism 1, a spacing adjustment motor 21 installed at a middle portion of the support plate 20, a spacing adjustment drive bevel gear 22 coaxially connected to an output shaft of the spacing adjustment motor 21, two spacing adjustment driven bevel gears 23 symmetrically disposed at both sides of the spacing adjustment drive bevel gear 22 and engaged with the spacing adjustment drive bevel gear 22, a spacing adjustment lead screw nut pair 24 serving as a rotation shaft of the spacing adjustment driven bevel gear 23, a spacing adjustment guide rail 25 disposed on the support plate 20 and parallel to a lead screw of the spacing adjustment lead screw nut pair 24, and a spacing adjustment slider 26 slidably connected to the spacing adjustment guide rail 25; the spacing adjusting slide block 26 is fixedly connected with a nut of the spacing adjusting lead screw nut pair 24 through an arm mounting plate 27; an output shaft of the shoulder lifting and descending motor 30 is fixedly connected with a shoulder lifting and descending bracket 31, and the shoulder lifting and descending bracket 31 is fixedly installed on the arm installation plate 27.
With reference to fig. 1, 3, 4 and 5, the eight-degree-of-freedom upper limb rehabilitation training arm comprises a scapula movement component 3, a shoulder joint component 4 connected with the scapula movement component 3 through a sternoclavicular joint clavicle connecting rod 9, an elbow joint component 5, a wrist joint component 6, a large arm component 7 connecting the shoulder joint component 4 and the elbow joint component 5, and a small arm component 8 connecting the elbow joint component 5 and the wrist joint component 6.
The scapula movement assembly 3 includes: the shoulder-blade first support 33, the shoulder lifting and descending motor 30 installed on the shoulder-blade first support 33, the shoulder lifting and descending support 31 fixedly connected to an output shaft of the shoulder lifting and descending motor 30, and the shoulder advancing and retreating motor 32 installed on the shoulder-blade first support 33, the shoulder lifting and descending motor 30 is installed on the shoulder-blade first support 33, an output shaft of the shoulder lifting and descending motor is fixedly connected with the shoulder lifting and descending support 31, and the shoulder lifting and descending support 31 is fixedly installed on the arm installation plate 27; a shoulder advancing and retreating motor 32 is arranged on a first bracket 33 of the scapula, and the training arm is provided with two chest clavicle joint clavicle connecting rods 9 which are parallel to each other; one end of a sternoclavicular joint clavicle connecting rod 9 is connected with an output shaft of the shoulder forward-detection backward-moving motor 32, and the other end is fixedly connected with a second scapula bracket 34; one end of another sternoclavicular joint clavicle connecting rod 9 is rotationally connected with the first scapula bracket 33, and the other end is rotationally connected with the second scapula bracket 34; the X-direction shoulder joint motor 40 is mounted on the second scapula bracket 34.
The rotation axis of the shoulder lifting and lowering motor 30 is horizontal, and the rotation axis of the shoulder advancing and retreating motor 32 is perpendicular to the rotation axis of the shoulder lifting and lowering motor 30.
Referring to fig. 6, the shoulder joint assembly 4 includes an X-direction shoulder joint motor 40 mounted on the sternoclavicular joint clavicle link 9 through the second scapula bracket 34, a first right-angle bracket 41 having one end fixedly connected to the output shaft of the X-direction shoulder joint motor 40, a Z-direction shoulder joint motor 42 mounted at the other end of the first right-angle bracket 41, a second right-angle bracket 43 having one end fixedly connected to the output shaft of the Z-direction shoulder joint motor 42, and a Y-direction shoulder joint motor 44 mounted at the other end of the first right-angle bracket 41. The first right-angle frame 41 and the second right-angle frame 43 enable the rotation axes of the 3 shoulder joint motors to be perpendicular to each other, the Z-direction shoulder joint motor 42 of the Z-direction shoulder joint motor is located above the X-direction shoulder joint motor 40 and the Y-direction shoulder joint motor 44, a proper space is reserved for the shoulder joints, and no oppression is caused to a patient.
The shoulder lifting and lowering motor 30, the shoulder advancing and retreating motor 32, the X-direction shoulder joint motor 40, the Z-direction shoulder joint motor 42 and the Y-direction shoulder joint motor 44 all adopt reduction motors with speed reducers.
In the embodiment of the invention, the lifting and descending of the shoulder joint and the forward movement and backward movement of the shoulder are monitored by the angle sensor, the resetting of the training arm after the training is finished is realized by the angle sensor, and the lifting and descending, the forward movement and the backward movement are mechanically limited by the limiting block so as to protect a patient to perform rehabilitation training within the range allowed by the joint.
Taking the shoulder joint lifting and lowering movement as an example, referring to fig. 5, the shoulder lifting and lowering motor 30 includes a shoulder lifting and lowering motor 30 mounted on the first scapula bracket 33, a lifting and lowering large gear 35 coaxially mounted on the output shaft of the shoulder lifting and lowering motor 30, a lifting and lowering small gear 36 connected with the lifting and lowering large gear 35 through a belt transmission, and a lifting and lowering angle sensor 37 coaxially and fixedly mounted on the lifting and lowering small gear 36. A lift-down stopper 38 is provided between the rotation planes of the first scapula bracket 33 and the shoulder lift-down bracket 31.
The driving mode of the shoulder joint advancing and retreating movement is similar to that of the shoulder joint lifting and descending movement, and the details are not repeated.
Referring to fig. 6 and 7, the large arm assembly 7 includes a large arm upper bracket 70 connected to an output shaft of the Y-direction shoulder joint motor 44, a U-shaped mounting block 71 fixedly mounted on the large arm upper bracket 70, a drive bevel gear 72 rotatably mounted on the U-shaped mounting block 71 or the large arm upper bracket 70 through a bearing, a driven bevel gear 73 engaged with the drive bevel gear 72, a large arm adjusting screw 74 serving as a rotating shaft of the driven bevel gear 73, a large arm adjusting nut 75 screwed onto the large arm adjusting screw 74, and a large arm lower bracket 76 fixedly connected to the large arm adjusting nut 75 and slidably connected to the large arm upper bracket 70, wherein a large arm adjusting rotary handle 77 is connected to an end of the rotating shaft of the drive bevel gear 72, which extends from the large arm upper bracket 70. The large arm adjusting screw rod is driven to rotate by rotating the large arm adjusting rotating handle 77, and then the large arm lower support 76 fixedly connected with the large arm adjusting nut 75 is driven to move, so that the length of the large arm is adjusted. The end of the large arm adjusting screw 74 has a limit stop 79 to prevent the large arm adjusting nut 75 from coming off.
In order to monitor and measure the adjustment length of the big arm, the big arm assembly 7 further comprises a linear displacement sensor 78, the two ends of which are respectively arranged on the big arm upper bracket 70 and the big arm lower bracket 76; the lower bracket 76 is partially slidably mounted in the upper bracket 70, and the outer surface of the lower bracket 76 is provided with a scale 710 for observing the extension length of the upper arm.
With reference to fig. 8-10, the forearm assembly 8 includes an upper forearm support 80, a forearm lengthening base 81 slidably connected to the upper forearm support 80, a forearm lengthening mount 82, a forearm lengthening lead screw 83 mounted on the forearm lengthening mount 82 through a bearing, and a guiding optical axis 84 fixed to the forearm lengthening mount 82 and parallel to the forearm lengthening lead screw 83; the arm length-adjusting base 81 is slidably connected to the guide optical axis 84 through a linear bearing, and an arm adjusting handle 810 is fixedly connected to an end of the arm length-adjusting screw 83.
Forearm subassembly 8 still includes forearm rotary mechanism, and forearm rotary mechanism includes: a small arm rotating motor 85 arranged on the small arm length-adjusting seat 81, a small arm rotating driving pulley 86 coaxially arranged with the output shaft of the small arm rotating motor 85, a small arm rotating driven pulley 87 connected with the small arm rotating driving pulley 86 through a synchronous belt, and a wrist joint rotating connecting arm 88 fixedly connected with the rotating shaft of the small arm rotating driven pulley 87. An extension rod 89 is fixed on the arm length-adjusting fixing frame 82, and the arm rotation driven pulley 87 is mounted on the extension rod 89 through a bearing.
Referring to fig. 10 to 13, the wrist joint assembly 6 includes a wrist joint driven pulley 60 fixedly mounted on the wrist joint rotary link arm 88, a wrist joint driving motor 61, and a wrist joint driving pulley 62 coaxially connected to an output shaft of the wrist joint driving motor 61; the wrist joint driving pulley 62 and the wrist joint driven pulley 60 are connected through a synchronous belt, and the wrist joint driving pulley 62 and the wrist joint driven pulley 60 are respectively rotatably mounted at two ends of the pulley mounting connecting rod 64 through bearings.
The wrist joint driving motor 61 is installed in the rubber sleeve lock seat 65, the handle rubber sleeve 66 is covered outside the wrist joint driving motor 61 as a shell, and the rubber sleeve lock 67 is installed outside the rubber sleeve lock seat 65 to fix the handle rubber sleeve 66. The wrist joint driving motor 61 drives the wrist joint driving pulley 62 to drive the wrist joint driven pulley 60 and the wrist joint rotating arm to rotate, so that the rotation of the wrist joint is realized.
The wrist joint assembly 5 includes: an elbow joint motor 50 mounted on the lower boom bracket 76; the elbow joint motor 50 is arranged on the lower bracket 76 of the big arm, and the output shaft of the elbow joint motor 50 is fixedly connected with the upper bracket 80 of the small arm.
Wherein the motors at the elbow joint, the shoulder joint and the like are all configured with the same angle sensors as the shoulder joint lifting and descending motion mechanisms, and the angle sensors are used for monitoring the rotation angle in real time on one hand and enabling the joints to complete resetting after the rehabilitation training arms stop performing rehabilitation training on the other hand. Simultaneously all be provided with between each other pivoted joint like shoulder joint lifting decline motion similar stopper for mechanical spacing, prevent to cause the secondary damage because of the motion range is too big to the human body.
The motors adopted in the embodiment of the invention all adopt speed reducing motors with speed reducers.
The device can help patients to perform rehabilitation training on the scapula, the shoulder, the elbow and the wrist joint, the length of the acromioclavicular joint, the length of the upper arm, the length of the lower arm and the distance from the wrist to the lower arm of the device can be adjusted according to different patients, the rehabilitation training of patients with any body types can be met, and the design is humanized.
The invention is an upper limb eight-degree-of-freedom training device, and compared with the upper limb training device on the market, the invention has the advantages of large working space and wide range. The combined action of the shoulder advancing and retreating motor 32, the shoulder lifting and descending motor 30 and the three shoulder joint motors can help the patient to complete the advancing/retreating and lifting/descending actions of the shoulders, so that the upper limbs of the patient are subjected to more thorough and comprehensive rehabilitation training, and the training efficiency is improved. The invention can be used for multiple purposes, the scapula joint mechanism can be detached as an independent individual, the scapula joint mechanism is an eight-degree-of-freedom training device when being installed, and the device is a six-degree-of-freedom training device when being detached. The design can be changed according to the requirements of patients in different rehabilitation periods, and has the advantages of saving cost and improving utilization rate.
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 (10)
1. An eight-degree-of-freedom upper limb rehabilitation training arm is characterized in that: the shoulder joint assembly is characterized by comprising a shoulder blade motion assembly (3), a shoulder joint assembly (4) connected with the shoulder blade motion assembly (3) through a sternoclavicular joint clavicle connecting rod (9), an elbow joint assembly (5), a wrist joint assembly (6), a large arm assembly (7) connected with the shoulder joint assembly (4) and the elbow joint assembly (5), and a small arm assembly (8) connected with the elbow joint assembly (5) and the wrist joint assembly (6); the scapula movement assembly (3) comprises: the shoulder-blade lifting and lowering mechanism comprises a first scapula bracket (33), a shoulder lifting and lowering motor (30) arranged on the first scapula bracket, a shoulder lifting and lowering bracket (31) connected with an output shaft of the shoulder lifting and lowering motor (30), and a shoulder advancing and retreating motor (32) arranged on the first scapula bracket (31); one end of the sternoclavicular joint clavicle connecting rod (9) is fixedly connected with an output shaft of the shoulder forward-detection backward-movement motor (32), and the other end of the sternoclavicular joint clavicle connecting rod is connected with the shoulder joint component (4); the rotating axis of the shoulder lifting and lowering motor (30) is in the horizontal direction, and the rotating axis of the shoulder advancing and retreating motor (32) is vertical to the rotating axis of the shoulder lifting and lowering motor (30); the shoulder joint assembly (4) comprises an X-direction shoulder joint motor (40) arranged on the sternoclavicular joint connecting rod (9) through a frame body, a first right-angle frame (41) with one end fixedly connected with an output shaft of the X-direction shoulder joint motor (40), a Z-direction shoulder joint motor (42) arranged at the other end of the first right-angle frame (41), a second right-angle frame (43) with one end fixedly connected with an output shaft of the Z-direction shoulder joint motor (42), and a Y-direction shoulder joint motor (44) arranged at the other end of the first right-angle frame (41).
2. The eight-degree-of-freedom upper limb rehabilitation training arm according to claim 1, characterized in that: the shoulder lifting and descending motor (30) is arranged on the first scapula bracket (33) and an output shaft of the shoulder lifting and descending motor is fixedly connected with the shoulder lifting and descending bracket (27); the training arm is provided with two chest-clavicular joint clavicle connecting rods (9) which are parallel to each other; one end of the sternoclavicular joint clavicle connecting rod (9) is connected with an output shaft of the shoulder forward-detection backward-movement motor (32), and the other end of the sternoclavicular joint clavicle connecting rod is fixedly connected with a second scapula bracket (34); one end of the other sternoclavicular joint clavicle connecting rod (9) is rotationally connected with the first scapula bracket (33), and the other end is rotationally connected with the second scapula bracket (34); the X-direction shoulder joint motor (40) is installed on the second scapula bracket (34).
3. The eight-degree-of-freedom upper limb rehabilitation training arm as recited in claim 1, wherein: the big arm component (7) comprises a big arm upper support (70) connected to an output shaft of the Y-direction shoulder joint motor (44), a U-shaped mounting block (71) fixedly mounted on the big arm upper support (70), a driving bevel gear (72) rotatably mounted on the U-shaped mounting block (71) or the big arm upper support (70) through a bearing, a driven bevel gear (73) meshed with the driving bevel gear (72), a big arm adjusting screw rod (74) serving as a rotating shaft of the driven bevel gear (73), a big arm adjusting nut (75) spirally sleeved on the big arm adjusting screw rod (74), and a big arm lower support (76) fixedly connected to the big arm adjusting nut (75) and slidably connected with the big arm upper support (70), the end of the rotating shaft of the driving bevel gear (72) extending out of the upper bracket (70) of the big arm is connected with a big arm adjusting rotating handle (77).
4. The eight-degree-of-freedom upper limb rehabilitation training arm according to claim 3, wherein: the large arm assembly (7) also comprises a linear displacement sensor (78) of which two ends are respectively arranged on the large arm upper bracket (70) and the large arm lower bracket (76); the lower large arm support (76) is partially and slidably mounted in the upper large arm support (70), and the outer surface of the lower large arm support (76) is also provided with a graduated scale (710) for observing the extension length of the large arm.
5. The eight-degree-of-freedom upper limb rehabilitation training arm according to claim 3, wherein: the forearm component (8) comprises a forearm upper support (80), a forearm length adjusting seat (81) connected to the forearm upper support (80) in a sliding manner, a forearm length adjusting fixing frame (82), a forearm length adjusting lead screw (83) arranged on the forearm length adjusting fixing frame (82) through a bearing, and a guide optical axis (84) fixed on the forearm length adjusting fixing frame (82) and arranged in parallel with the forearm length adjusting lead screw (83); the small arm length adjusting seat (81) is connected with the guide optical axis (84) in a sliding mode through a linear bearing.
6. The eight-degree-of-freedom upper limb rehabilitation training arm according to claim 5, wherein: the forearm assembly (8) further includes a forearm rotating mechanism, the forearm rotating mechanism including: the wrist joint adjusting mechanism comprises a small arm rotating motor (85) arranged on the small arm length adjusting seat (81), a small arm rotating driving belt wheel (86) coaxially arranged with an output shaft of the small arm rotating motor (85), a small arm rotating driven belt wheel (87) connected with the small arm rotating driving belt wheel (86) through a synchronous belt, and a wrist joint rotating connecting arm (88) fixedly connected with a rotating shaft of the small arm rotating driven belt wheel (87).
7. The eight-degree-of-freedom upper limb rehabilitation training arm according to claim 6, wherein: the wrist joint assembly (6) comprises a wrist joint driven belt wheel (60) fixedly arranged on the wrist joint rotary connecting arm (88), a wrist joint driving motor (61) and a wrist joint driving belt wheel (62) coaxially connected with an output shaft of the wrist joint driving motor (61); the wrist joint driving belt wheel (62) and the wrist joint driven belt wheel (60) are connected through a synchronous belt, and the wrist joint driving belt wheel (62) and the wrist joint driven belt wheel (60) are respectively rotatably installed at two ends of a belt wheel installation connecting rod (64) through bearings.
8. The eight-degree-of-freedom upper limb rehabilitation training arm according to claim 5, wherein: the wrist assembly (5) comprises: an elbow joint motor (50) arranged on the lower bracket (76) of the big arm, and an output shaft of the elbow joint motor (50) is coaxially connected with the upper bracket (80) of the small arm.
9. The utility model provides an eight degree of freedom upper limbs rehabilitation training device which characterized in that: the upper limb rehabilitation training device comprises two symmetrically arranged upper limb rehabilitation training arms as claimed in claim 1, and further comprises a lifting mechanism (1) and a two-arm spacing adjusting mechanism (2) arranged at the output end of the lifting mechanism (1), wherein the two upper limb rehabilitation training arms are symmetrically arranged on the two-arm spacing adjusting mechanism (2).
10. The eight-degree-of-freedom upper limb rehabilitation training device according to claim 9, wherein: the two-arm spacing adjusting mechanism (2) comprises a support plate (20) arranged at the output end of the lifting mechanism (1), a spacing adjusting motor (21) arranged in the middle of the support plate (20), and a spacing adjusting drive bevel gear (22) coaxially connected with an output shaft of the spacing adjusting motor (21), two interval adjusting driven bevel gears (23) which are symmetrically arranged on two sides of the interval adjusting driving bevel gear (22) and are meshed with the interval adjusting driving bevel gear (22), an interval adjusting lead screw nut pair (24) which is used as a rotating shaft of the interval adjusting driven bevel gear (23), an interval adjusting guide rail (25) which is arranged on the supporting plate (20) and is parallel to a lead screw of the interval adjusting lead screw nut pair (24), and an interval adjusting slide block (26) which is connected to the interval adjusting guide rail (25) in a sliding manner; the distance adjusting sliding block (26) is fixedly connected with a nut of the distance adjusting lead screw and nut pair (24) through an arm mounting plate (27); an output shaft of the shoulder lifting and descending motor (30) is connected with a shoulder lifting and descending support (31), and the shoulder lifting and descending support (31) is installed on the arm mounting plate (27).
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| CN202010449337.6A CN111588591A (en) | 2020-05-25 | 2020-05-25 | Eight-degree-of-freedom upper limb rehabilitation training arm and device |
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| CN202010449337.6A CN111588591A (en) | 2020-05-25 | 2020-05-25 | Eight-degree-of-freedom upper limb rehabilitation training arm and device |
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| CN111870475A (en) * | 2020-09-04 | 2020-11-03 | 北京石油化工学院 | Taiji rehabilitation training instrument |
| CN112494271A (en) * | 2020-11-18 | 2021-03-16 | 燕山大学 | Upper limb rehabilitation training device |
| CN112603767A (en) * | 2021-01-04 | 2021-04-06 | 燕山大学 | Flexible exoskeleton type upper limb rehabilitation training device |
| CN113799100A (en) * | 2021-09-10 | 2021-12-17 | 迈宝智能科技(苏州)有限公司 | Upper limb multi-joint active power assisting exoskeleton with load conduction function |
| CN114041971A (en) * | 2021-12-01 | 2022-02-15 | 复旦大学 | Adjustable frame of upper limb rehabilitation robot |
| CN114367092A (en) * | 2022-01-17 | 2022-04-19 | 宜昌市中心人民医院(三峡大学第一临床医学院、三峡大学附属中心人民医院) | Auxiliary chest-expanding exercise cardiopulmonary rehabilitation training device |
| CN114652569A (en) * | 2022-03-15 | 2022-06-24 | 吴春芳 | Arm swinging device suitable for Parkinson's syndrome patient |
| CN115337167A (en) * | 2022-08-09 | 2022-11-15 | 广州一康医疗设备实业有限公司 | Exoskeleton rehabilitation robot for four-limb cooperative training |
| CN116059077A (en) * | 2022-12-27 | 2023-05-05 | 力之医疗科技(广州)有限公司 | Upper limb rehabilitation exoskeleton considering interaction comfort |
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| CN116059077A (en) * | 2022-12-27 | 2023-05-05 | 力之医疗科技(广州)有限公司 | Upper limb rehabilitation exoskeleton considering interaction comfort |
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