CN113397904B - Flexible parallel rope driven forearm and wrist joint rehabilitation device - Google Patents
Flexible parallel rope driven forearm and wrist joint rehabilitation device Download PDFInfo
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- CN113397904B CN113397904B CN202110182988.8A CN202110182988A CN113397904B CN 113397904 B CN113397904 B CN 113397904B CN 202110182988 A CN202110182988 A CN 202110182988A CN 113397904 B CN113397904 B CN 113397904B
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- hemispherical shell
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
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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
- A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
-
- 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
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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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
Abstract
The invention discloses a forearm and wrist joint rehabilitation device driven by flexible parallel ropes, which realizes all rehabilitation forms of the forearm and the wrist joint according to the structures of the forearm and the wrist joint of upper limbs of a human body and can adjust equipment structures for patients with different lengths of the forearm. The method comprises the following steps: a rotating mechanism, a wrist palm dorsiflexion and radial ulnar flexion mechanism, a forearm support mechanism and a driving mechanism. The rehabilitation device can realize the rehabilitation forms of three freedom degrees of motion of dorsiflexion/palmar flexion, radial flexion/ulnar flexion of the wrist joint and pronation/supination of the forearm, and can complete passive training and active training of the wrist joint. When the rehabilitation device drives the patient to carry out the radial/ulnar bending training of the wrist, the rehabilitation mechanism can adjust the position of the hand holding handle according to the wrist size of the patient, so that the rotation center of the rehabilitation device is more matched with the rotation center of the wrist of the human body. The length adjusting mechanism is arranged at the position of the forearm, so that the robot structure is suitable for different users, and the invention can be applied to the technical field of forearm and wrist joint rehabilitation.
Description
Technical Field
The invention relates to the technical field of rehabilitation medical equipment, in particular to a forearm and wrist joint rehabilitation robot.
Background
The structure of the wrist joint of a human body is complex, people almost participate in the wrist joint in daily life activities, and the wrist joint bears large load in certain movements such as lifting, pulling, pushing and the like, so that the joint is easy to damage. Meanwhile, with the increase of the aging population of China, the incidence rates of cerebral apoplexy and Parkinson's disease are increased, and factors such as traffic accidents, congenital defects and the like can cause injuries to wrist joints in different degrees, so that the pain on the spirit and the physique of a patient is caused, and the work and the activities of daily life of the patient are influenced.
The existing research shows that after the wrist joint is damaged, the damaged wrist joint is timely and correctly rehabilitated, and the rehabilitation has positive effect on the recovery of the function of the damaged wrist joint. In the conventional rehabilitation therapy, a therapist performs one-to-one passive training on the wrist joints of a patient by using different techniques. The training process is monotonous, the repetition degree is high, the efficiency is low, and the stability and the continuity of the rehabilitation training are difficult to ensure. Therefore, the rehabilitation training of the patient by using the rehabilitation equipment can improve the efficiency, reduce the workload of therapists and simultaneously carry out targeted training on the patient to help the rehabilitation of the patient.
The driving degree of freedom of the existing forearm and wrist joint rehabilitation training device is mostly 2 degrees of freedom, is less than the number of degrees of freedom required by rehabilitation training and is of a rigid structure, and meanwhile, the existing wrist joint rehabilitation training device only has one rotation center when executing the movement of wrist joint radius/ulna bending, does not use the radius and the ulna as the rotation centers according to the movement characteristics of the wrist joint, influences the comfort of a patient in use and seriously possibly causes the secondary damage of the wrist joint. Therefore, it is very meaningful to design a wrist joint rehabilitation training device which is suitable for the movement of the human wrist joint.
Disclosure of Invention
The invention aims to: aiming at the defects of the prior art, the flexible parallel rope driven forearm and wrist joint rehabilitation device is provided, the rehabilitation device can be used for carrying out rehabilitation treatment on a patient with impaired motion function of the forearm and the wrist joint, the degree of freedom required by rehabilitation training of the patient with the wrist joint can be met, passive training and active training of the wrist joint can be completed, and meanwhile, according to the motion characteristics of the wrist joint of the human body, the patient can respectively use the radius and the ulna as the rotation center when carrying out radial/ulna bending motion on the wrist joint, the risk that the patient is subjected to secondary injury when carrying out wrist joint rehabilitation training is reduced, the comfort level of the patient is improved, and the rehabilitation effect of the patient is also improved.
In order to achieve the purpose, the invention adopts the technical scheme that:
a flexible parallel rope driven forearm and wrist joint rehabilitation device comprises a rotating mechanism (1), a carpometacarpal dorsiflexion and radial ulnar flexion mechanism (2), a forearm supporting mechanism (3) and a driving mechanism (4).
Further, the rotating mechanism (1) comprises a gear box (101), the gear box (101) is fixedly connected with a rotating plate (102), the rotating plate (102) is movably connected with a rotating support (103) through a pulley I (104), a pulley II (105), a pulley III (106) and a pulley IV (107), the rotating support (103) is fixedly connected with the pulley I (104), the pulley II (105), the pulley III (106) and the pulley IV (107), and the rotating support (103) is fixedly connected with a base (404) to realize the rotating motion of the forearm and the wrist joint;
furthermore, the rotating plate (102) is connected with a rotating bracket (103) through a pulley, the rotating bracket (103) is provided with a groove, and the pulley is arranged in the groove;
further, the dorsiflexion and radius ulnar flexion mechanism (2) of the carpometacarpal includes a hemisphere casing fixing ring (201), hemisphere casing fixing ring (201) and bull's eye wheel support (202) fixed connection, bull's eye wheel support (202) and bull's eye wheel (203) fixed connection and use hemisphere casing fixing ring (201) as the centre of a circle and be 120 degrees array and be three groups, hemisphere casing fixing ring (201) and hemisphere casing upper bracket (206) fixed connection, hemisphere casing upper bracket (206) and hemisphere casing (205) are connected, hemisphere casing (205) and hemisphere casing lower bracket (207) are connected, hemisphere casing fixing ring (201) and fixed block link one (215) are connected, link one (215) and flexible rope fixed block one (204) swing joint, flexible rope fixed block two (208) and hemisphere casing (205) are connected, flexible rope fixed block two (208) and link second (216) swing joint, the flexible rope, the first flexible rope fixing block (204) and the second flexible rope fixing block (208) are a group of flexible driving modules, the flexible rope driving modules are three groups of flexible driving modules in a 120-degree circular array by taking the sphere center of the hemispherical shell (205) as an axis, the number of the flexible rope fixing blocks is 6, the number of the flexible ropes is 3, one end of each flexible rope is connected with the second flexible rope fixing block (208), the other end of each flexible rope is connected with the first motor (405) through the first flexible rope fixing block (204) and the pulley (407), the flexible ropes are driven by the driving motors, and the hemispherical shells are driven by the flexible ropes to move to finish the dorsiflexion and the radius-ulnar flexion of the wrist joint;
furthermore, the hand holding handle (209) is connected with a first slide rail (210), a second slide rail (211) and a lead screw (212), two ends of the first slide rail (210), the second slide rail (211) and the lead screw (212) are connected with a hemispherical shell (205), the hemispherical shell (205) is connected with a motor (213), the motor is sequentially connected with the lead screw and a flange nut, the flange nut is fixedly connected with the hand holding handle, and when the motor rotates, the hand holding handle can be driven to reciprocate along the direction of the lead screw, so that the wrist joint radius and ulna can be respectively rotated by taking the radius and the ulna as centers during the wrist joint radius and ulna bending movement;
furthermore, the hemispherical shell (205) is fixedly connected with a balancing weight (214), the balancing weight has the same mass with the motor, and the balance of dorsiflexion of the wrist and palm and radial-ulnar flexion mechanisms in the horizontal position is realized;
furthermore, the diameter of the hemispherical shell is 160mm, which can meet the size of palm width of people, and the hemispherical shell is restrained on the wrist palm dorsiflexion and radial ulnar flexion mechanism through the hemispherical shell upper bracket and the hemispherical shell lower bracket in the shape of the spherical shell, so that the wrist joint dorsiflexion and radial ulnar flexion movement of the wrist joint can be met by the mechanism;
further, forearm supporting mechanism (3) are including adjustable telescopic link (301), adjustable telescopic link (301) are connected with elbow supporting seat (302), according to adjustable telescopic link (301) of the length of patient's forearm, improve patient and rehabilitation device's laminating degree, improve patient's comfort level.
The beneficial effects of the invention are:
through the rotary mechanism arranged on the base, the rotary motion of the forearm and the wrist joint can be realized, the dorsiflexion and radial flexion of the wrist joint can be realized through the carpometacarpal dorsiflexion and radial flexion mechanism, the rotation with the radius and the ulna as the centers is respectively realized when the radial flexion of the wrist joint is realized through the motion of the hand holding handle on the lead screw, the problem that the wrist joint rehabilitation device can not be well attached to the rotation center of the wrist joint of a human body when the radial flexion of the wrist joint is executed is solved, the risk that a patient is subjected to secondary injury when the wrist joint rehabilitation training is executed is reduced, the comfort level of the patient is improved, and the rehabilitation effect of the patient is also improved.
The foregoing is a summary of the present invention, and in order to provide a clear understanding of the technical means of the present invention and to be implemented in accordance with the present specification, the following is a detailed description of the preferred embodiments of the present invention with reference to the accompanying drawings. The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.
Description of the drawings:
in order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a general structure schematic diagram of a flexible parallel rope driven forearm and wrist joint rehabilitation device.
Fig. 2 is a structural schematic diagram of another view angle of the general structure of the flexible parallel rope driven forearm and wrist joint rehabilitation device.
Fig. 3 is a schematic structural view of the rotating mechanism.
Fig. 4, fig. 5 and fig. 6 are schematic structural views of the dorsiflexion and radial-ulnar flexion mechanisms of the carpus and palmus.
Fig. 7 is a schematic structural view of the forearm support mechanism.
Fig. 8 is a schematic structural view of the drive mechanism.
The specific implementation mode is as follows:
the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 and 2, a forearm and wrist joint rehabilitation device driven by flexible parallel ropes comprises a rotating mechanism 1, a carpometacarpal dorsiflexion and radial flexion mechanism 2, a forearm support mechanism 3 and a driving mechanism 4, wherein an adjustable telescopic rod 301 in the forearm support mechanism 3 is fixedly connected with a rotating support 103 in the rotating mechanism 1, and a hemispherical shell fixing ring 201 in the carpometacarpal dorsiflexion and radial flexion mechanism 2 is fixedly connected with a rotating plate 102 in the rotating mechanism 1.
Referring to fig. 3, the rotating mechanism 1 includes a gear box 101, the gear box 101 is fixedly connected to a rotating plate 102, the rotating plate 102 is movably connected to a rotating bracket 103 through a first pulley 104, a second pulley 105, a third pulley 106, and a fourth pulley 107, the rotating bracket 103 is fixedly connected to the first pulley 104, the second pulley 105, the third pulley 106, and the fourth pulley 107, and the rotating bracket 103 is fixedly connected to a base 404.
Referring to fig. 4, 5 and 6, the dorsiflexion and radial-ulnar flexion mechanism 2 includes a hemispherical shell fixing ring 201, the semi-spherical shell fixing ring 201 is fixedly connected with a bull's-eye wheel bracket 202, the bull's-eye wheel bracket 202 is fixedly connected with a bull's-eye wheel 203, three groups of the bull's-eye wheel bracket 202 are arranged in an array of 120 degrees by taking the semi-spherical shell fixing ring 201 as a circle center, the hemispherical shell fixing ring 201 is fixedly connected with a hemispherical shell upper support 206, the hemispherical shell upper support 206 is connected with a hemispherical shell 205, the hemispherical shell 205 is connected with the hemispherical shell lower bracket 207, the hemispherical shell fixing ring 201 is connected with the fixed block connecting bracket one 215, the first connecting frame 215 is movably connected with the first flexible rope fixing block 204, the second flexible rope fixing block 208 is connected with the hemispherical shell 205, the second flexible rope fixing block 208 is movably connected with the second connecting frame 216, and the first flexible rope fixing blocks 204 and the second flexible rope fixing blocks 208 are movably connected through flexible ropes and form three groups in a 120-degree array by taking the hemispherical shell 205 as the center of a circle; the hand holding handle 209 is connected with a first slide rail 210, a second slide rail 211 and a lead screw 212, two ends of the first slide rail 210, the second slide rail 211 and the lead screw 212 are connected with a hemispherical shell 205, the hemispherical shell 205 is connected with a motor 213, and the hemispherical shell 205 is connected with a balancing weight 214, wherein fig. 5-2 and 5-3 show the position change of the rehabilitation device when the rehabilitation device executes wrist joint radius and ulnar bending movement.
As shown in fig. 7, the forearm support mechanism 3 includes an adjustable extension rod 301, and the adjustable extension rod 301 is connected to an elbow support base 302.
Referring to fig. 8, the driving mechanism 4 includes a base 403, the base 403 is connected to a pulley fixing frame 401, the pulley fixing frame 401 is connected to a pulley bracket 402, the pulley bracket 402 is connected to a pulley 407, the first wrist joint motor 405 is connected to the base 403 through a motor bracket 404, and the base 403 is connected to the first wrist joint motor controller 406.
Claims (6)
1. A flexible parallel rope driven forearm and wrist joint rehabilitation device is characterized by comprising a rotating mechanism (1), a carpometacarpal dorsiflexion and radial ulnar flexion mechanism (2), a forearm supporting mechanism (3) and a driving mechanism (4);
the rotating mechanism (1) comprises a gear box (101), the gear box (101) is fixedly connected with a rotating plate (102), the rotating plate (102) is movably connected with a rotating support (103) through a pulley I (104), a pulley II (105), a pulley III (106) and a pulley IV (107), the rotating support (103) is fixedly connected with the pulley I (104), the pulley II (105), the pulley III (106) and the pulley IV (107), and the rotating support (103) is fixedly connected with a base (404);
the dorsiflexion and radial ulnar flexion mechanism (2) of the carpometacarpal comprises a hemispherical shell fixing ring (201), the hemispherical shell fixing ring (201) is fixedly connected with a bull-eye wheel support (202), the bull-eye wheel support (202) is fixedly connected with a bull-eye wheel (203) and is 120-degree array three groups by taking the hemispherical shell fixing ring (201) as the circle center, the hemispherical shell fixing ring (201) is fixedly connected with a hemispherical shell upper support (206), the hemispherical shell upper support (206) is connected with a hemispherical shell (205), the hemispherical shell (205) is connected with a hemispherical shell lower support (207), the hemispherical shell fixing ring (201) is connected with a fixing block connecting frame I (215), the connecting frame I (215) is movably connected with a flexible rope fixing block I (204), a flexible rope II (208) is connected with the hemispherical shell (205), the flexible rope II (208) is movably connected with a connecting frame II (216), the flexible rope fixing blocks I (204) and the flexible rope fixing blocks II (208) are movably connected through flexible ropes and form three groups in an array of 120 degrees by taking the hemispherical shell (205) as the center of a circle; the hand-held handle (209) is connected with a first slide rail (210), a second slide rail (211) and a lead screw (212), two ends of the first slide rail (210), the second slide rail (211) and the lead screw (212) are connected with a hemispherical shell (205), the hemispherical shell (205) is connected with a motor (213), and the hemispherical shell (205) is fixedly connected with a balancing weight (214);
the flexible rope, the first flexible rope fixing block (204) and the second flexible rope fixing block (208) are a group of flexible driving modules, the flexible rope driving modules are three groups of flexible driving modules in a 120-degree circular array by taking the sphere center of the hemispherical shell (205) as an axis, the number of the flexible rope fixing blocks is 6, the number of the flexible ropes is 3, one end of each flexible rope is connected with the second flexible rope fixing block (208), the other end of each flexible rope fixing block is connected with the first motor (405) through the first flexible rope fixing block (204) and the pulley (407), the flexible ropes are driven by the driving motors, and the hemispherical shell is driven by the flexible ropes to move so as to finish dorsiflexion and radius flexion of the wrist joint.
2. The forearm and wrist rehabilitation device driven by flexible parallel ropes as claimed in claim 1, wherein the hemispherical housing fixing ring (201) of the dorsiflexion and radial-ulnar flexion mechanism (2) is fixedly connected with the rotating plate (102) of the rotating mechanism (1), the rotating plate (102) is connected with the rotating bracket (103) through a pulley, the rotating bracket (103) is provided with a groove, and the pulley is installed in the groove.
3. The forearm and wrist rehabilitation device driven by flexible parallel ropes as claimed in claim 1, wherein the hemispherical shell (205) in the dorsiflexion and radial-ulnar flexion mechanism (2) is connected with the upper hemispherical shell support (206) and the lower hemispherical shell support (207) via spherical surfaces to form a spherical pair.
4. The rehabilitation device for the forearm and wrist joint driven by flexible parallel ropes as claimed in claim 1, wherein a plurality of rollers are installed between the upper hemispherical shell support (206) and the lower hemispherical shell support (207) in the dorsiflexion and radial-ulnar flexion mechanism (2).
5. The flexible parallel rope driven forearm and wrist rehabilitation device according to claim 1, characterized in that the adjustable rectangular telescoping rod (301) in the forearm support mechanism (3) is fixedly connected with the rotating support (103) in the rotating mechanism (1).
6. The flexible parallel cord driven forearm and wrist rehabilitation device of claim 1, wherein the hemispherical housing (205) is fixedly connected to a cylindrical weight (214).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110182988.8A CN113397904B (en) | 2021-02-08 | 2021-02-08 | Flexible parallel rope driven forearm and wrist joint rehabilitation device |
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| CN202110182988.8A CN113397904B (en) | 2021-02-08 | 2021-02-08 | Flexible parallel rope driven forearm and wrist joint rehabilitation device |
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| CN113397904A CN113397904A (en) | 2021-09-17 |
| CN113397904B true CN113397904B (en) | 2022-05-03 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113827445B (en) * | 2021-10-29 | 2023-12-22 | 长春工业大学 | Seven-degree-of-freedom serial-parallel upper limb exoskeleton rehabilitation robot |
| CN114209549B (en) * | 2021-12-31 | 2023-11-14 | 常州大学 | Wrist rehabilitation device with two degrees of freedom |
| CN114917109B (en) * | 2022-05-19 | 2024-04-12 | 哈尔滨理工大学 | Wrist rehabilitation exoskeleton robot |
| CN115715731A (en) * | 2022-10-27 | 2023-02-28 | 长春工业大学 | Movable wrist rehabilitation robot |
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