CN112545834B - Shoulder joint assembly for upper limb rehabilitation - Google Patents
Shoulder joint assembly for upper limb rehabilitation Download PDFInfo
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- CN112545834B CN112545834B CN202011434840.0A CN202011434840A CN112545834B CN 112545834 B CN112545834 B CN 112545834B CN 202011434840 A CN202011434840 A CN 202011434840A CN 112545834 B CN112545834 B CN 112545834B
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- rotating plate
- shoulder joint
- motor
- limit
- rotation
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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
- A61H1/0281—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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0173—Means for preventing injuries
Abstract
The invention discloses a shoulder joint assembly for upper limb rehabilitation, which comprises: adduction/abduction mechanisms, internal rotation/external rotation mechanisms, anterior flexion/posterior extension mechanisms, and parallelogram mechanisms. The shoulder joint component for upper limb rehabilitation can assist a patient with upper limb shoulder joint disorder or limited function to carry out passive rehabilitation training with three degrees of freedom of shoulder joint adduction/abduction, internal rotation/external rotation and anteflexion/extension; according to the invention, the condition that interference is generated by driving three degrees of freedom of the shoulder joint can be avoided through the arrangement of the parallelogram mechanism, and the shoulder joint can be ensured to complete the rehabilitation training of the three degrees of freedom; the limiting device is also provided with a buffer mechanism, so that the collision impact force can be buffered, the injury or discomfort caused by the impact on the shoulder joint can be reduced, and the use comfort can be improved.
Description
Technical Field
The invention relates to the field of rehabilitation medical equipment, in particular to a shoulder joint assembly for upper limb rehabilitation.
Background
For patients with stroke, stroke and paraplegic limb disabilities, the quality of life depends on the degree of recovery of the function of the disabled limb. The limb movement function of a patient is improved by applying an advanced rehabilitation treatment technology, so that the patient can achieve the most satisfactory rehabilitation treatment effect in the shortest time and finally get rid of the affliction of the patient and the disabled, and the limb movement function rehabilitation therapy method is always the target of a rehabilitation worker.
The exoskeleton rehabilitation robot is used as a high-end medical instrument for nerve rehabilitation, and can help patients to perform high-strength, repetitive, targeted and interactive rehabilitation training. The upper limb exoskeleton rehabilitation robot can be used for rehabilitation training of shoulder joints, elbow joints and wrist joints of patients. Wherein, the shoulder joint has the degrees of freedom of adduction/abduction, internal rotation/external rotation mechanism and anteflexion/extension mechanism, and the shoulder joint rehabilitation training component needs to realize the training of the degrees of freedom. In the prior art, in order to realize the movement with three degrees of freedom, the phenomenon of interference among all movements is easy to occur, and the use requirement is difficult to meet. In addition, in order to ensure the safety of shoulder joint rehabilitation training, safety limiting is required, but the existing mechanism is lack of a related limiting mechanism or adopts a rigid limiting mechanism, so that certain collision impact force exists, and the use comfort is reduced.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide a shoulder joint assembly for upper limb rehabilitation, aiming at the above-mentioned deficiencies in the prior art.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: a shoulder joint assembly for upper limb rehabilitation comprising: adduction/abduction mechanisms, internal rotation/external rotation mechanisms, forward flexion/backward extension mechanisms and parallelogram mechanisms;
the adduction/abduction mechanism comprises a fixed seat, an adduction/abduction motor fixedly connected to the fixed seat and a first rotating plate in driving connection with the output end of the adduction/abduction motor;
the internal rotation/external rotation mechanism comprises an internal rotation/external rotation motor and a first mounting plate, wherein the internal rotation/external rotation motor is fixedly connected to the other end of the first rotating plate;
the parallelogram mechanism comprises a second rotating plate, a first connecting rod and a second connecting rod, wherein the second rotating plate is in driving connection with the output end of the internal rotation/external rotation motor at the first end, the first connecting rod is in rotatable connection with the second end of the second rotating plate at the first end, the first connecting rod is in rotatable connection with the first mounting plate at the first end, and the second connecting rod is in rotatable connection with the first connecting rod at the second end;
the front bending/rear stretching mechanism comprises a front bending/rear stretching motor fixedly connected to the second end of the first connecting rod, a third rotating plate with the first end in driving connection with the output end of the front bending/rear stretching motor, and a connecting mechanism fixedly connected to the second end of the third rotating plate;
the connecting mechanism is used for being connected with arms of a wearer, the second end of the third rotating plate is used as a moving end and drives the arms of the wearer to move through the connecting mechanism, the fixed seat is used as a fixed end, the adduction/abduction mechanism is used for driving the arms of the wearer to perform adduction/abduction movement, the internal rotation/external rotation mechanism is used for driving the arms of the wearer to perform internal rotation/external rotation movement, and the forward bending/backward extending mechanism is used for driving the arms of the wearer to perform forward bending/backward extending movement.
Preferably, the connection position of the second link to the first link is between the first end and the second end of the first link.
Preferably, the connecting mechanism is a connecting lantern ring capable of being sleeved on the arm.
Preferably, the third rotating plate comprises a circular plate in driving connection with the output end of the forward/backward extension motor and a rectangular plate connected with the circular plate;
a first limit stop and a second limit stop are fixedly connected to the forward/backward extension motor at intervals;
the first limit stop block can limit the limit position of the third rotating plate rotating towards the first direction by blocking the first side of the rectangular plate;
the second limit stop blocks the second side of the rectangular plate, so that the third rotating plate can be limited towards the limit position of the second-direction rotation.
Preferably, the second rotating plate includes a rectangular portion in the middle and two semicircular portions at both ends of the rectangular portion;
a third limit stop is fixedly connected on the internal rotation/external rotation motor,
the third limit stop can limit the limit position of the second rotating plate rotating towards the third direction by stopping the rectangular part;
the first mounting plate can limit the limit position of the second rotating plate rotating towards the fourth direction by blocking the rectangular part.
Preferably, the first limit stop, the second limit stop and the third limit stop have the same structure and respectively comprise a stop body, an arc-shaped contact groove formed in the inner side surface of the stop body and a fixing hole formed in the first end of the stop body; a fixing piece for fixedly connecting the check block body on the outer wall of the first motor or the second motor is arranged in the fixing hole;
the arc-shaped contact groove is used for being in contact with the cylindrical outer wall of the forward/backward extension motor or the inward/outward rotation motor, and the second end of the stop block body is used for stopping the rectangular plate or the rectangular part.
Preferably, the fixing hole is a unthreaded hole, the outer walls of the forward/backward extension motor and the internal/external rotation motor are both provided with threaded holes corresponding to the positions of the fixing holes, and the fixing piece is a screw capable of passing through the unthreaded hole and being in threaded connection with the threaded holes.
Preferably, a first deformation groove is formed in the middle of the second end of the stopper body, and the width of the first deformation groove gradually decreases from the second end of the stopper body to the first end of the stopper body;
the first deformation groove does not penetrate through the stop block body along the length direction, and penetrates through the stop block body along the thickness direction;
the length direction of the stop block body is towards the first end of the stop block body along the second end of the stop block body, and the opening direction of the fixing hole is the thickness direction of the stop block body.
Preferably, a buffer spring is connected between the two inner walls of the first deformation groove, and a limit column is fixedly connected to one of the inner walls of the first deformation groove.
Preferably, the middle part of the arc-shaped contact groove is provided with a second deformation groove facing the inside of the stopper body.
The invention has the beneficial effects that:
the shoulder joint component for upper limb rehabilitation can assist a patient with upper limb shoulder joint disorder or limited function to carry out passive rehabilitation training with three degrees of freedom of shoulder joint adduction/abduction, internal rotation/external rotation and anteflexion/extension;
according to the invention, the condition that interference is generated by driving three degrees of freedom of the shoulder joint can be avoided through the arrangement of the parallelogram mechanism, and the shoulder joint can be ensured to complete rehabilitation training of the three degrees of freedom;
the limiting device is also provided with a buffer mechanism, so that the collision impact force can be buffered, the injury or discomfort caused by the impact on the shoulder joint can be reduced, and the use comfort can be improved.
Drawings
Fig. 1 is a schematic structural view of a shoulder joint assembly for upper limb rehabilitation worn on a human body according to the present invention;
fig. 2 is a schematic structural view of another perspective of the upper limb rehabilitation shoulder joint assembly of the present invention worn on a human body;
FIG. 3 is a schematic structural view of a shoulder joint assembly for upper limb rehabilitation according to the present invention;
fig. 4 is a schematic structural view of the shoulder joint assembly for upper limb rehabilitation of the present invention with the adduction/abduction mechanism removed;
FIGS. 5-6 are schematic diagrams of the parallelogram mechanism of the present invention;
FIG. 7 is a schematic structural view of the forward/backward flexion mechanism of the present invention;
fig. 8 is a schematic view of the third rotating plate of the present invention in an extreme rotational position;
fig. 9 is a schematic view of the third rotating plate of the present invention in another extreme rotational position;
FIG. 10 is a schematic view of a chock body according to an embodiment of the invention;
FIG. 11 is a schematic view of a chock body according to another embodiment of the invention;
FIG. 12 is a cross-sectional structural view of a chock body according to another embodiment of the invention.
Description of reference numerals:
1-adduction/abduction mechanisms; 10, a fixed seat; 11-adduction/abduction motor; 12 — a first rotating plate;
2-internal rotation/external rotation mechanism; 20-internal/external rotation motor; 21 — a first mounting plate;
3-a parallelogram mechanism; 30-a second rotating plate; 31 — a first link; 32-a second link; 33-a third limit stop; 300 — a first end of a second rotating plate; 301 — a second end of the second rotating plate; 302-rectangular portion; 303-semi-circular portion; 310 — a first end of a first link; 311-the second end of the first link; 320-a first end of a second link; 321 — a second end of the second link;
4-a forward/backward flexion mechanism; 40-forward/backward extension motor; 41-third rotating plate; 42-a connecting mechanism; 43 — a first limit stop; 44-second limit stop; 410 — a first end of the third rotating plate; 411 — the second end of the third rotating plate; 412-circular plate; 413-rectangular plate; 414 — a first side of a rectangular plate; 415-a second side of the rectangular plate;
50-a block body; 51-arc contact grooves; 52-fixing hole; 53-first deformation groove; 54-a buffer spring; 55-a limiting column; 56-second deformation groove; 57-mounting groove; 500-a first end of a chock body; 501-second end of the stopper body.
Detailed Description
The present invention is further described in detail below with reference to examples so that those skilled in the art can practice the invention with reference to the description.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
As shown in fig. 1 to 10, the shoulder joint assembly for upper limb rehabilitation of the present embodiment includes: an adduction/abduction mechanism 1, an internal rotation/external rotation mechanism 2, a forward flexion/backward extension mechanism 4 and a parallelogram mechanism 3;
the adduction/abduction mechanism 1 comprises a fixed seat 10, an adduction/abduction motor 11 fixedly connected on the fixed seat 10 and a first rotating plate 12 in driving connection with the output end of the adduction/abduction motor 11;
the internal/external rotation mechanism 2 comprises an internal/external rotation motor 20 and a first mounting plate 21 which are fixedly connected with the other end of the first rotating plate 12; the first mounting plate 21 is fixedly connected to the lower end of the first rotating plate 12.
The parallelogram mechanism 3 comprises a second rotating plate 30 which is in driving connection with the output end of the first end internal rotation/external rotation motor 20, a first connecting rod 31 of which the first end is rotatably connected with the second end 301 of the second rotating plate 30, and a second connecting rod 32 of which the first end is rotatably connected with the first mounting plate 21 and the second end is rotatably connected with the first connecting rod 31; wherein the connection position of the second link 32 and the first link 31 is between the first end 310 and the second end of the first link 31.
The first mounting plate 21 is fixed at the lower end of the first rotating plate 12, the first end 300 of the second rotating plate 30 is in driving connection with the output end of the internal/external rotation motor 20, the first end 310 of the first connecting rod 31 is in rotatable connection with the second end 301 of the second rotating plate 30, and the two ends of the second connecting rod 32 are in rotatable connection with the middle of the first mounting plate 21 and the middle of the first connecting rod 31 respectively, so that when the second rotating plate 30 rotates, the second end 301 of the second rotating plate 30 drives the first connecting rod 31 and the second connecting rod 32 to rotate, and the second end 311 of the first connecting rod 31 serves as a rotating output end; referring to fig. 5-6, a schematic diagram of the parallelogram mechanism 3 is shown, which forms a far-end virtual rotation center (the second rotation plate 30 is used as a driving end, the first mounting plate 21 is used as a fixed end, and the second end 311 of the first connecting rod 31 is used as a rotation point), and the rotation point will rotate around the rotation center under the driving of the driving end, so that the interference generated by the driving between three degrees of freedom of the shoulder joint can be avoided, and the shoulder joint can complete the rehabilitation training of three degrees of freedom.
The front flexion/rear extension mechanism 4 includes a front flexion/rear extension motor 40 fixed to the second end 311 of the first connecting rod 31, a third rotating plate 41 with a first end drivingly connected to an output end of the front flexion/rear extension motor 40, and a connecting mechanism 42 fixed to a second end 411 of the third rotating plate 41.
The connecting mechanism 42 is used for connecting with the arm of the wearer, the second end 411 of the third rotating plate 41 is used as a moving end and drives the arm of the wearer to move through the connecting mechanism 42, the fixing base 10 is used as a fixed end, the adduction/abduction mechanism 1 is used for driving the arm of the wearer to perform adduction/abduction movement (i.e. rotating around the X axis and swinging back and forth in the ZY plane), the internal rotation/external rotation mechanism 2 is used for driving the arm of the wearer to perform internal rotation/external rotation movement (i.e. rotating around the Z axis and rotating back and forth in the XY plane), and the forward flexion/backward extension mechanism 4 is used for driving the arm of the wearer to perform forward flexion/backward extension movement (i.e. rotating around the Y axis and swinging back and forth in the ZX plane).
The shoulder joint assembly for upper limb rehabilitation can be used as an independent module, can also be applied to an upper limb exoskeleton and is used for assisting patients with upper limb shoulder joint disorder or limited functions to carry out passive rehabilitation training with three degrees of freedom of shoulder joint adduction/abduction, internal rotation/external rotation and anteflexion/extension.
During the use, fixing base 10 keeps fixedly with the stiff end rigid coupling of outside, and coupling mechanism 42 is connected with wearer's arm, and the theory of operation is:
the adduction/abduction motor 11 works to rotate the adduction/abduction motor 11, the internal rotation/external rotation mechanism 2, the parallelogram mechanism 3 and the forward flexion/backward extension mechanism 4 connected with the adduction/abduction motor together around the X axis relative to the fixed seat 10, so that the second end 411 of the third rotating plate 41 drives the arm of the wearer to perform adduction/abduction movement;
when the internal/external rotation motor 20 works, the second rotating plate 30 rotates, and the second end 301 of the second rotating plate 30 is in linkage fit with the parallelogram mechanism 3, so that the whole forward/backward extending mechanism 4 connected to the second end 311 of the first connecting rod 31 rotates around the Z axis, and the second end 411 of the third rotating plate 41 drives the arm of the wearer to perform internal/external rotation movement;
when the motor 40 for flexion/extension is operated, the third rotating plate 41 rotates to drive the arm of the wearer to rotate around the Y axis through the second end 411 of the third rotating plate 41, thereby realizing the flexion/extension movement of the arm.
In one embodiment, the connection mechanism 42 is a connection collar that fits over the arm.
In one embodiment, the third rotating plate 41 includes a circular plate 412 drivingly connected to the output of the forward/backward extension motor 40 and a rectangular plate 413 connected to the circular plate 412;
a first limit stop 43 and a second limit stop 44 are fixedly connected to the forward/backward extension motor 40 at intervals;
the first limit stopper 43 can limit the limit position of the third rotating plate 41 rotating in the first direction by blocking the first side 414 of the rectangular plate 413;
the second limit stopper 44 can limit the limit position of the third rotating plate 41 rotated in the second direction by blocking the second side 415 of the rectangular plate 413.
The first limit stop 43 and the second limit stop 44 are used for providing a safety limit for the forward/backward extending movement of the shoulder joint so as to prevent the shoulder joint from being damaged due to the excessive rotation angle.
The second rotating plate 30 includes a rectangular portion 302 in the middle and two semicircular portions 303 at both ends of the rectangular portion 302;
a third limit stop 33 is fixedly connected to the internal rotation/external rotation motor 20,
the third limit stopper 33 can limit the limit position at which the second rotating plate 30 rotates in the third direction by blocking the rectangular portion 302;
the first mounting plate 21 can limit the limit position of the second rotating plate 30 that rotates in the fourth direction by blocking the rectangular portion 302.
The blocking effect of the third limit stopper 33 and the first mounting plate 21 on the second rotating plate 30 can provide a safety limit for the inward/outward rotation of the shoulder joint to prevent the shoulder joint from being damaged due to an excessive rotation angle.
In one embodiment, the first bump stopper 43, the second bump stopper 44, and the third bump stopper 33 are identical in structure, and each includes a stopper body 50, an arc-shaped contact groove 51 formed on an inner side surface of the stopper body 50, and a fixing hole 52 formed at the first end 500 of the stopper body 50; a fixing piece for fixedly connecting the block body 50 on the outer wall of the first motor or the second motor is arranged in the fixing hole 52;
the arc-shaped contact groove 51 is used for contacting with the cylindrical outer wall of the forward/backward extension motor 40 or the internal/external rotation motor 20, and the second end 501 of the stopper body 50 is used for stopping the rectangular plate 413 or the rectangular portion 302.
The fixing holes 52 are unthreaded holes, threaded holes corresponding to the positions of the fixing holes 52 are formed in the outer walls of the forward/backward extension motor 40 and the internal/external rotation motor 20, and the fixing pieces are screws which can pass through the unthreaded holes and are in threaded connection with the threaded holes.
Namely, the first end 500 of the block body 50 is fixedly connected to the columnar outer wall of the corresponding motor, and the block body 50 can be attached to the columnar outer wall of the motor by arranging the arc-shaped contact groove 51; the screw is threaded into the threaded hole after passing through the fastening hole 52, so that the block body 50 is fixedly connected to the motor. The second end 501 of the stopper body 50 is used to limit the 2 limit rotational positions of the third rotating plate 41 and the 1 limit rotational position of the second rotating plate 30 (the other limit rotational position of the second rotating plate 30 is limited by the first mounting plate 21), and the limitation of the third rotating plate 41 is specifically described in detail as an example. Referring to fig. 7-9, in fig. 7, the third rotating plate 41 is in a vertical state, when the third rotating plate 41 rotates counterclockwise, a gap is formed between the arc-shaped contact groove 51 of the stopper body 50 and the circular plate 412 of the third rotating plate 41, the stopper body 50 has no blocking effect on the circular plate 412, and the circular plate 412 can rotate relative to the stopper body 50, and referring to fig. 8, when the connecting position of the left end of the circular plate 412 and the rectangular plate 413 rotates to the stopper body 50 of the first limit stopper 43, the rectangular plate 413 is blocked by the stopper body 50 of the first limit stopper 43 and cannot rotate, so that the maximum angle for limiting the counterclockwise rotation of the third rotating plate 41 is α; similarly, when the third rotating plate 41 rotates clockwise, referring to fig. 9, when the connection position between the right end of the circular plate 412 and the rectangular plate 413 is rotated to the stopper body 50 of the second limit stopper 44, the rectangular plate 413 is stopped by the stopper body 50 of the second limit stopper 44 and cannot rotate, and the maximum angle of clockwise rotation of the third rotating plate 41 is limited to β.
In the second rotating plate 30, when the second rotating plate 30 rotates clockwise to the limit position, the rectangular portion 302 of the second rotating plate 30 contacts with the stopper body 50 and is stopped, so that the limit is realized; when the second rotating plate 30 rotates counterclockwise to the limit position, the rectangular portion 302 of the second rotating plate 30 contacts with the side of the first mounting plate 21 and is blocked, thereby achieving the limit.
In another embodiment, referring to fig. 11-12, the stop body 50 has a buffer mechanism to buffer the impact force of the collision between the stop body and the stop surface during operation, i.e., to reduce the damage or discomfort caused by the impact of a rigid collision to the shoulder joint when the mechanism rotates to a certain limit position, and to reduce the damage to the mechanism caused by the rigid collision. Specifically, in this embodiment, a first deformation groove 53 is formed in a middle portion of the second end 501 of the chock body 50, and a width of the first deformation groove 53 gradually decreases from the second end 501 of the chock body 50 to the first end 500 of the chock body 50;
the first deformation groove 53 does not penetrate the stopper body 50 in the longitudinal direction, and the first deformation groove 53 penetrates the stopper body 50 in the thickness direction;
the direction from the second end 501 of the chock body 50 to the first end 500 of the chock body 50 is the length direction of the chock body 50, and the opening direction of the fixing hole 52 is the thickness direction of the chock body 50.
Further, a buffer spring 54 is connected between two inner walls of the first deformation groove 53, and a limit column 55 is fixedly connected to one of the inner walls of the first deformation groove 53. The first deforming groove 53 is further provided at both inner walls thereof with mounting grooves 57, and the buffer spring 54 is coupled in the mounting grooves 57.
The stopper body 50 is folded toward the middle first deformation groove 53 by an external force, the buffer spring 54 is compressed, and when the stopper body is contracted to the limit position, the limit post 55 on one inner wall of the first deformation groove 53 is contacted with the other inner wall of the first deformation groove 53.
The operation principle of the damper mechanism in the stopper body 50 in the present embodiment will be described below by taking the contact between the stopper body 50 and the stopper portion as an example. For example, when the third rotating plate 41 rotates to a limit position, the right side of the second end 501 of the chock body 50 contacts with the blocking portion, and since the first deforming groove 53 is formed in the middle of the second end 501 of the chock body 50 and the width of the first deforming groove 53 gradually decreases toward the inside of the chock body 50, the chock bodies 50 on both sides of the first deforming groove 53 have certain elasticity and will bend and gather toward the middle when being stressed; at this time, the stopper body 50 on the right side of the first deformation groove 53 is bent and folded toward the middle by the blocking force of the blocking portion until the right side of the stopper post 55 abuts against the inner wall on the right side of the first deformation groove 53, so that the impact force between the stopper body and the first deformation groove is buffered by elastic deformation; further, the damping spring 54 is now compressed, providing further damping. After the stopping force of the stopping part disappears, the stopper body 50 on the right side of the first deformation groove 53 is rightwards reset, at this time, the buffer spring 54 also has a rightwards elastic force effect on the stopper body 50 on the right side of the first deformation groove 53, so that the reset of the stopper body 50 can be assisted, the stopper body 50 is enabled to recover elastic deformation, and the stopper body 50 can maintain a good impact buffering effect for a long time. In this embodiment, the positioning posts 55 are provided to control the bending deformation of the stopper body 50 at both sides of the first deformation groove 53 within a certain allowable range, and to ensure that the rotating plate does not exceed the safety limit range within the allowable bending deformation range.
In a further embodiment, the middle of the arc contact groove 51 opens with a second deformation groove 56 toward the inside of the block body 50. The second deforming grooves 56 are formed so that the stopper bodies 50 at both ends of the second deforming grooves 56 can be deformed and bent to some extent toward the middle or away from the middle second deforming grooves 56, thereby allowing the arc-shaped contact grooves 51 to be adapted to cylindrical surfaces of different curvatures within a certain range. For example, when the curvature of the cylindrical outer wall surface of the installed motor is slightly increased, since the stopper bodies 50 at both ends of the second deformation groove 56 can be bent away from the middle second deformation groove 56, the curvature of the arc contact groove 51 is increased, and the stopper bodies can be still attached to the cylindrical outer wall of the motor.
While embodiments of the invention have been disclosed above, it is not limited to the applications listed in the description and the embodiments, which are fully applicable in all kinds of fields of application of the invention, and further modifications may readily be effected by those skilled in the art, so that the invention is not limited to the specific details without departing from the general concept defined by the claims and the scope of equivalents.
Claims (8)
1. A shoulder joint assembly for upper limb rehabilitation, comprising: adduction/abduction mechanisms, internal rotation/external rotation mechanisms, forward flexion/backward extension mechanisms and parallelogram mechanisms;
the adduction/abduction mechanism comprises a fixed seat, an adduction/abduction motor fixedly connected to the fixed seat and a first rotating plate in driving connection with the output end of the adduction/abduction motor;
the internal rotation/external rotation mechanism comprises an internal rotation/external rotation motor and a first mounting plate, wherein the internal rotation/external rotation motor is fixedly connected to the other end of the first rotating plate;
the parallelogram mechanism comprises a second rotating plate, a first connecting rod and a second connecting rod, wherein the first end of the second rotating plate is in driving connection with the output end of the internal rotation/external rotation motor, the first connecting rod is in rotatable connection with the second end of the second rotating plate, the first end of the second connecting rod is in rotatable connection with the first mounting plate, and the second end of the second connecting rod is in rotatable connection with the first connecting rod;
the front bending/rear stretching mechanism comprises a front bending/rear stretching motor fixedly connected with the second end of the first connecting rod, a third rotating plate of which the first end is in driving connection with the output end of the front bending/rear stretching motor, and a connecting mechanism fixedly connected with the second end of the third rotating plate;
the connecting mechanism is used for being connected with arms of a wearer, the second end of the third rotating plate is used as a moving end and drives the arms of the wearer to move through the connecting mechanism, the fixed seat is used as a fixed end, the adduction/abduction mechanism is used for driving the arms of the wearer to perform adduction/abduction movement, the internal rotation/external rotation mechanism is used for driving the arms of the wearer to perform internal rotation/external rotation movement, and the forward bending/backward extending mechanism is used for driving the arms of the wearer to perform forward bending/backward extending movement;
the connection position of the second connecting rod and the first connecting rod is between the first end and the second end of the first connecting rod;
the connecting mechanism is a connecting lantern ring which can be sleeved on the arm.
2. The upper limb rehabilitation shoulder joint assembly of claim 1, wherein the third rotation plate comprises a circular plate drivingly connected to the output of the forward flexion/rearward extension motor and a rectangular plate connected to the circular plate;
a first limit stop and a second limit stop are fixedly connected to the forward/backward extension motor at intervals;
the first limit stop block can limit the limit position of the third rotating plate rotating towards the first direction by blocking the first side of the rectangular plate;
the second limit stop blocks the second side of the rectangular plate, so that the third rotating plate can be limited towards the limit position of the second-direction rotation.
3. The upper limb rehabilitation shoulder joint assembly according to claim 2, wherein said second rotating plate comprises a rectangular portion in the middle and two semicircular portions at both ends of said rectangular portion;
a third limit stop is fixedly connected on the internal rotation/external rotation motor,
the third limit stop can limit the limit position of the second rotating plate rotating towards the third direction by stopping the rectangular part;
the first mounting plate can limit the limit position of the second rotating plate rotating towards the fourth direction by blocking the rectangular part.
4. The upper limb rehabilitation shoulder joint assembly according to claim 3, wherein the first limit stopper, the second limit stopper and the third limit stopper are identical in structure and each include a stopper body, an arc-shaped contact groove formed in an inner side surface of the stopper body, and a fixing hole formed in a first end of the stopper body; a fixing piece used for fixedly connecting the check block body on the outer walls of the forward bending/backward extending motor and the internal rotation/external rotation motor is arranged in the fixing hole;
the arc-shaped contact groove is used for being in contact with the columnar outer wall of the forward/backward extension motor or the inward/outward rotation motor, and the second end of the check block body is used for blocking the rectangular plate or the rectangular part.
5. The shoulder joint assembly for upper limb rehabilitation according to claim 4, wherein the fixing hole is an unthreaded hole, the outer walls of the forward/backward extension motor and the inward/outward rotation motor are provided with threaded holes corresponding to the fixing hole, and the fixing member is a screw capable of passing through the unthreaded hole to be screwed in the threaded hole.
6. The upper limb rehabilitation shoulder joint assembly according to claim 5, wherein a first deformation groove is formed in the middle of the second end of the block body, and the width of the first deformation groove gradually decreases from the second end of the block body to the first end of the block body;
the first deformation groove does not penetrate through the check block body along the length direction, and penetrates through the check block body along the thickness direction;
the length direction of the check block body is towards the first end of the check block body along the second end of the check block body, and the opening direction of the fixing hole is the thickness direction of the check block body.
7. The upper limb rehabilitation shoulder joint assembly according to claim 6, wherein a buffer spring is connected between two inner walls of the first deformation groove, and a limit column is fixedly connected to one of the inner walls of the first deformation groove.
8. The shoulder joint assembly for rehabilitation of the upper limbs as recited in claim 7, wherein a second deformation groove is formed in a middle portion of said arc-shaped contact groove toward an inside of said block body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011434840.0A CN112545834B (en) | 2020-12-10 | 2020-12-10 | Shoulder joint assembly for upper limb rehabilitation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011434840.0A CN112545834B (en) | 2020-12-10 | 2020-12-10 | Shoulder joint assembly for upper limb rehabilitation |
Publications (2)
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| CN114043452A (en) * | 2021-10-25 | 2022-02-15 | 南京理工大学 | Outer limb robot with shoulder swinging along with large arm of human body |
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| US7862524B2 (en) * | 2006-03-23 | 2011-01-04 | Carignan Craig R | Portable arm exoskeleton for shoulder rehabilitation |
| KR101065420B1 (en) * | 2008-12-16 | 2011-09-16 | 한양대학교 산학협력단 | Wearable Robotic System for the Rehabilitation Training of upper limbs |
| US8591441B2 (en) * | 2010-10-22 | 2013-11-26 | Peter M. Bonutti | Shoulder orthosis including flexion/extension device |
| CN105411815B (en) * | 2016-01-26 | 2017-11-14 | 哈尔滨工业大学 | A kind of wearable two degrees of freedom ancon device for healing and training |
| CN105662783B (en) * | 2016-03-21 | 2024-02-06 | 上海卓道医疗科技有限公司 | Exoskeleton type upper limb rehabilitation training robot |
| CN105640739B (en) * | 2016-03-21 | 2017-08-25 | 哈尔滨工业大学 | A kind of upper limb healing ectoskeleton balanced based on space gravity |
| CN105748260B (en) * | 2016-04-26 | 2018-09-25 | 华北理工大学 | Three Degree Of Freedom shoulder recovery exercising robot |
| US20190201273A1 (en) * | 2016-09-09 | 2019-07-04 | Qatar Foundation For Education, Science, And Community Development | Robotic upper limb rehabilitation device |
| CN106924013B (en) * | 2017-04-15 | 2023-09-26 | 上海卓道医疗科技有限公司 | Exoskeleton type upper limb rehabilitation training robot |
| CN209092062U (en) * | 2018-07-03 | 2019-07-12 | 中国科学院沈阳自动化研究所 | The bionical main hand of upper limb ectoskeleton of eight degrees of freedom part force feedback |
| CN109124985B (en) * | 2018-08-20 | 2024-03-22 | 中国科学院苏州生物医学工程技术研究所 | Individualized upper limb rehabilitation training robot system based on path planning |
| CN109009875B (en) * | 2018-08-20 | 2024-03-26 | 中国科学院苏州生物医学工程技术研究所 | Individualized upper limb rehabilitation training robot |
| CN109124984B (en) * | 2018-08-20 | 2023-09-05 | 中国科学院苏州生物医学工程技术研究所 | Joint module for upper limb rehabilitation training robot |
| CN209596508U (en) * | 2019-02-21 | 2019-11-08 | 山东中医药大学 | A kind of device assisting elbow fracture initiative rehabilitation |
| CN110787027B (en) * | 2019-11-29 | 2021-09-17 | 东莞理工学院 | Exoskeleton robot for upper limb rehabilitation training |
| CN111588590A (en) * | 2020-05-25 | 2020-08-28 | 燕山大学 | Six-degree-of-freedom upper limb rehabilitation training arm and robot |
| CN215132622U (en) * | 2020-12-10 | 2021-12-14 | 山东中医药大学 | Shoulder joint assembly for upper limb rehabilitation |
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