CN115715731A - Movable wrist rehabilitation robot - Google Patents
Movable wrist rehabilitation robot Download PDFInfo
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- CN115715731A CN115715731A CN202211326530.6A CN202211326530A CN115715731A CN 115715731 A CN115715731 A CN 115715731A CN 202211326530 A CN202211326530 A CN 202211326530A CN 115715731 A CN115715731 A CN 115715731A
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- 210000000707 wrist Anatomy 0.000 title claims abstract description 17
- 244000309464 bull Species 0.000 claims description 17
- 241000834287 Cookeolus japonicus Species 0.000 claims description 10
- 238000004804 winding Methods 0.000 claims description 6
- 210000003857 wrist joint Anatomy 0.000 abstract description 28
- 210000000245 forearm Anatomy 0.000 abstract description 9
- 210000001364 upper extremity Anatomy 0.000 abstract description 2
- 210000003625 skull Anatomy 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 150000001875 compounds Chemical class 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
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Abstract
The invention discloses a movable wrist rehabilitation robot which can perform rehabilitation training on three degrees of freedom of forearms and wrist joints of upper limbs of a human body. The composition comprises: the device comprises a movable table, a supporting mechanism, a parallel mechanism and a driving mechanism. The robot can realize the rehabilitation form of three freedom degrees of wrist joint dorsiflexion/palmar flexion, radial flexion/ulnar flexion, pronation/supination of the forearm and the rotation movement of the wrist joint. The invention adopts the flexible rope for driving, and the spring is added in the parallel mechanism, when the rehabilitation device drives the patient to carry out rehabilitation training, the rotation center of the rehabilitation mechanism can be adjusted 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 field of rehabilitation robots, in particular to a movable wrist rehabilitation robot.
Background
In daily activities of people, the wrist joints play a very important role in lifting feet, including actions of lifting, pulling, pushing and the like, and are subjected to large loads in the actions, and the wrist joints are very easy to damage in the process of completing the actions due to the complex structures of the wrist joints. The existing research shows that the timely and correct rehabilitation treatment of the damaged wrist joint plays a positive role in recovering the function of the wrist joint.
At present, in some upper limb rehabilitation instruments, the wrist joint is mostly a passive joint, and the patient needs to do active movement by himself, so that the wrist joint is exercised. Even though some rehabilitation training devices for the forearm and wrist joint can perform passive training on the wrist joint, they lack the degree of freedom with which a swivel motion can be accomplished. Therefore, the rehabilitation device which can cover the complete working space of the forearm and the wrist joint of the human body and perform active and passive joint training has important significance.
Disclosure of Invention
Aiming at the defects of the prior art, the movable wrist rehabilitation robot is provided, and can be used for performing rehabilitation training on the forearm and the wrist joint of a human body. The rehabilitation robot designed by the invention can perform rehabilitation training on the wrist joints on both sides of a human body, not only can meet the requirement of single-degree-of-freedom movement of the forearm and the wrist joint, but also can complete compound movement, namely, the rotation movement taking the wrist joint as a sphere center, so that the damaged wrist joint of a patient can be better rehabilitated. In the aspect of alignment of the robot and the wrist joint of the human body, the axis and the skull bone are coincided by adjusting the external adjustable ring, even if the axis and the skull bone are not coincided in the using process, the designed structure is unique, so that the moving range of the joint is only influenced, and secondary damage to the wrist joint of a patient is avoided.
In order to achieve the purpose, the invention provides a movable wrist rehabilitation robot which comprises a movable table (1), a supporting mechanism (2), a parallel mechanism (3) and a driving mechanism (4).
Furthermore, a supporting mechanism (2) is connected with the movable table (1), a parallel mechanism (3) is connected with the supporting mechanism (2), a driving mechanism (4) is connected with the parallel mechanism (3) through a driving rope, and a hand holding handle in the parallel mechanism (3) is connected with the hand of a human body.
Furthermore, the supporting mechanism (2) comprises a sliding block (201), a front arm supporting frame (202) and a linear guide rail (203), the linear guide rail (203) is connected with the movable table (1), the sliding block (201) is connected with the linear guide rail (203), and the front arm supporting frame (202) is fixedly connected to the sliding block (201) through screws.
Further, the parallel mechanism (3) comprises a supporting base (301), a bull-eye wheel 1 (302), a rotary motor support shell (303), a rotating plate (304), a rotating plate support (305), a connecting block support 1 (306), a spring (307), a connecting block support 2 (308), a ring frame (309), a bull-eye wheel support 1 (310), an adjustable ring (311), a supporting spherical shell (312), a connecting block support 3 (313), a driving rope (314), a connecting block support 4 (315), a connecting block 4 (316), a connecting block 3 (317), a connecting block 2 (318), a connecting block 1 (319), a hand handle (320), a ring-shaped supporting shell (321), a connecting block 5 (322), a bull-eye wheel support 1 (323), a bull-eye wheel 2 (324), a connecting block support 5 (325), a bull-eye wheel support 3 (326), the supporting base (301) is connected with the movable table (1), the rotating plate (304) is connected with the supporting base (301), the rotating plate support (305) is connected with the supporting base (301), the rotary motor support shell (303) is connected with the rotary motor support (318), the connecting block support (307) is connected with the connecting block support (318), the connecting block support (308), the connecting block support (401), connecting block support 1 (306) is connected with connecting block 1 (319), annular frame (309) is connected with rotating plate support (305), bull's eye wheel 1 (302) is connected with bull's eye wheel support 1 (323), adjustable ring (311) and connecting block support 2 (308), connecting block support 4 (315), support spherical shell (312) and be connected, driving rope (314) and connecting block 4 (316), connecting block 3 (317) are connected, connecting block 4 (316) is connected with connecting block support 4 (315), connecting block 3 (317) are connected with connecting block support 3 (313), hand handle (320) is connected with support spherical shell (312), annular support shell (321) is connected with support spherical shell (312), connecting block 5 (322) is connected with connecting block support 5 (325), bull's eye wheel 2 (324) is connected with support spherical shell (312), bull's eye wheel 3 (326) is connected with support spherical shell (312).
Further, the driving mechanism (4) comprises a rotating motor support (401), a pulley 1 (402), a pulley support 1 (403), a motor support 2 (404), a rope winding disc (405), a motor 2 (406), a motor support 1 (407), a motor 1 (408), a pulley support 2 (409) and a pulley 2 (410), wherein the rotating motor support (401) is connected with the movable table (1), the pulley 1 (402) is connected with the pulley support 1 (403), the motor support 2 (404) is connected with the driving motor 2 (406), the rope winding disc (405) is connected with the motor support 1 (407), the motor 1 (408) is connected with the motor support 1 (407), and the pulley support 2 (409) is connected with the pulley 2 (410).
Compared with the prior art, the invention has the beneficial effects that:
the rehabilitation robot designed by the characteristics of muscles and bones of the wrist joint of the human body can perform rehabilitation training on the wrist joints on the two sides of the human body, not only can meet the requirement of single-degree-of-freedom movement of the forearm and the wrist joint, but also can complete compound movement, namely, the rotation movement with the wrist joint as the sphere center, so that the damaged wrist joint of a patient can be better recovered. In the aspect of alignment of the robot and the human wrist joint, the axis and the skull bone are overlapped by adjusting the external adjustable ring, even if the axis and the skull bone are not overlapped in the use process, the uniqueness of the designed structure only influences the moving range of the joint, and secondary damage to the wrist joint of a patient can not be caused.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to be implemented in accordance with the content of the specification, the following detailed description is made of preferred embodiments of the present invention in conjunction with the accompanying drawings. The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.
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 schematic view of the general structure of a mobile wrist rehabilitation robot;
fig. 2 is a schematic view of a support mechanism in a movable wrist rehabilitation robot;
fig. 3 is a schematic view of a parallel mechanism in a movable wrist rehabilitation robot;
fig. 4 is a schematic view of a driving mechanism in a movable wrist rehabilitation robot.
Detailed Description
With reference to fig. 1, a movable wrist rehabilitation robot comprises a movable table (1), a supporting mechanism (2), a parallel mechanism (3) and a driving mechanism (4); the supporting mechanism (2) is connected with the movable table (1), the parallel mechanism (3) is connected with the supporting mechanism (2), the driving mechanism (4) is connected with the parallel mechanism (3) through a driving rope, and a hand holding handle in the parallel mechanism (3) is connected with a hand of a human body.
Referring to fig. 2, the supporting mechanism (2) comprises a sliding block (201), a front arm supporting frame (202) and a linear guide rail (203), the linear guide rail (203) is connected with the movable table (1), the sliding block (201) is connected with the linear guide rail (203), and the front arm supporting frame (202) is fixedly connected to the sliding block (201) through a screw.
Referring to fig. 3-1, 3-2, 3-3, the parallel mechanism (3) includes a support base (301), a bull's eye wheel 1 (302), a rotating motor support housing (303), a rotating plate (304), a rotating plate support (305), a connecting block support 1 (306), a spring (307), a connecting block support 2 (308), a ring frame (309), a bull's eye wheel support 1 (310), an adjustable ring (311), a support spherical shell (312), a connecting block support 3 (313), a driving rope (314), a connecting block support 4 (315), a connecting block 4 (316), a connecting block 3 (317), a connecting block 2 (318), a connecting block 1 (319), a hand handle (320), a ring-shaped support shell (321), a connecting block 5 (322), a bull's eye wheel support 1 (323), a bull's eye wheel 2 (324), a connecting block support 5 (325), a bull's eye wheel support 3 (326), a support base (301) is connected to the movable table (1), a rotating plate (304) is connected to a support base (301), a rotating plate support (305) is connected to a support base (301), a rotating motor support housing (303) is connected to a connecting block support (307), a connecting block support (308), a connecting block support (401) is connected to a connecting block support (401), connecting block support 1 (306) is connected with connecting block 1 (319), annular frame (309) is connected with rotating plate support (305), bull's eye wheel 1 (302) is connected with bull's eye wheel support 1 (323), adjustable ring (311) and connecting block support 2 (308), connecting block support 4 (315), support spherical shell (312) and be connected, driving rope (314) and connecting block 4 (316), connecting block 3 (317) are connected, connecting block 4 (316) is connected with connecting block support 4 (315), connecting block 3 (317) are connected with connecting block support 3 (313), hand handle (320) is connected with support spherical shell (312), annular support shell (321) is connected with support spherical shell (312), connecting block 5 (322) is connected with connecting block support 5 (325), bull's eye wheel 2 (324) is connected with support spherical shell (312), bull's eye wheel 3 (326) is connected with support spherical shell (312).
Referring to fig. 4, the driving mechanism (4) includes a rotating motor support (401), a pulley 1 (402), a pulley support 1 (403), a motor support 2 (404), a rope winding disc (405), a motor 2 (406), a motor support 1 (407), a motor 1 (408), a pulley support 2 (409), and a pulley 2 (410), the rotating motor support (401) is connected to the movable table (1), the pulley 1 (402) is connected to the pulley support 1 (403), the motor support 2 (404) is connected to the driving motor 2 (406), the rope winding disc (405) is connected to the motor support 1 (407), the motor 1 (408) is connected to the motor support 1 (407), and the pulley support 2 (409) is connected to the pulley 2 (410).
Claims (4)
1. The utility model provides a recovered robot of movable wrist which characterized in that: comprises a movable table (1), a supporting mechanism (2), a parallel mechanism (3) and a driving mechanism (4); the supporting mechanism (2) is connected with the movable table (1), the parallel mechanism (3) is connected with the supporting mechanism (2), the driving mechanism (4) is connected with the parallel mechanism (3) through a driving rope, and a hand holding handle in the parallel mechanism (3) is connected with a hand of a human body.
2. A mobile wrist rehabilitation robot according to claim 1, characterized in that: the supporting mechanism (2) comprises a sliding block (201), a front arm supporting frame (202) and a linear guide rail (203), the linear guide rail (203) is connected with the movable table (1), the sliding block (201) is connected with the linear guide rail (203), and the front arm supporting frame (202) is fixedly connected to the sliding block (201) through a screw.
3. A mobile wrist rehabilitation robot according to claim 1, characterized in that: the parallel mechanism (3) comprises a supporting base (301), a bull-eye wheel 1 (302), a rotary motor support shell (303), a rotary plate (304), a rotary plate support (305), a connecting block support 1 (306), a spring (307), a connecting block support 2 (308), an annular frame (309), a bull-eye wheel support 1 (310), an adjustable ring (311), a supporting spherical shell (312), a connecting block support 3 (313), a driving rope (314), a connecting block support 4 (315), a connecting block 4 (316), a connecting block 3 (317), a connecting block 2 (318), a connecting block 1 (319), a hand handle (320), an annular supporting shell (321), a connecting block 5 (322), a bull-eye wheel support 1 (323), a bull-eye wheel 2 (324), a connecting block support 5 (325), a bull-eye wheel support 3 (326), the supporting base (301) is connected with the movable table (1), the rotary plate (304) is connected with the supporting base (301), the rotary plate support (305) is connected with the supporting base (301), the rotary motor support shell (303) is connected with the rotary motor support shell (401), the connecting block (307) is connected with the connecting block support (308), the connecting block support (319), connecting block support 1 (306) is connected with connecting block 1 (319), annular frame (309) is connected with rotating plate support (305), bull's eye wheel 1 (302) is connected with bull's eye wheel support 1 (323), adjustable ring (311) and connecting block support 2 (308), connecting block support 4 (315), support spherical shell (312) and be connected, driving rope (314) and connecting block 4 (316), connecting block 3 (317) are connected, connecting block 4 (316) is connected with connecting block support 4 (315), connecting block 3 (317) are connected with connecting block support 3 (313), hand handle (320) is connected with support spherical shell (312), annular support shell (321) is connected with support spherical shell (312), connecting block 5 (322) is connected with connecting block support 5 (325), bull's eye wheel 2 (324) is connected with support spherical shell (312), bull's eye wheel 3 (326) is connected with support spherical shell (312).
4. A mobile wrist rehabilitation robot according to claim 1, characterized in that: the driving mechanism (4) comprises a rotating motor support (401), a pulley 1 (402), a pulley support 1 (403), a motor support 2 (404), a rope winding disc (405), a motor 2 (406), a motor support 1 (407), a motor 1 (408), a pulley support 2 (409) and a pulley 2 (410), wherein the rotating motor support (401) is connected with the movable table (1), the pulley 1 (402) is connected with the pulley support 1 (403), the motor support 2 (404) is connected with the driving motor 2 (406), the rope winding disc (405) is connected with the motor support 1 (407), the motor 1 (408) is connected with the motor support 1 (407), and the pulley support 2 (409) is connected with the pulley 2 (410).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211326530.6A CN115715731B (en) | 2022-10-27 | 2022-10-27 | Movable wrist rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211326530.6A CN115715731B (en) | 2022-10-27 | 2022-10-27 | Movable wrist rehabilitation robot |
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| Publication Number | Publication Date |
|---|---|
| CN115715731A true CN115715731A (en) | 2023-02-28 |
| CN115715731B CN115715731B (en) | 2024-09-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211326530.6A Active CN115715731B (en) | 2022-10-27 | 2022-10-27 | Movable wrist rehabilitation robot |
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| Country | Link |
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| CN (1) | CN115715731B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103110499A (en) * | 2012-11-29 | 2013-05-22 | 东华大学 | Wrist joint rehabilitation training device |
| KR101431426B1 (en) * | 2014-03-17 | 2014-08-19 | 주식회사 케디엠 | Multi-type upper limbs muscle rehabilitation exercise device |
| CN107928986A (en) * | 2017-12-07 | 2018-04-20 | 同济大学浙江学院 | Wrist joint device for healing and training |
| KR20190003280A (en) * | 2017-06-30 | 2019-01-09 | 주식회사 네오펙트 | Robot for upper limbs rehabilitation |
| CN111096869A (en) * | 2020-01-07 | 2020-05-05 | 长春工业大学 | Rigid-flexible coupling rope-driven exoskeleton type upper limb rehabilitation training robot |
| CN113397904A (en) * | 2021-02-08 | 2021-09-17 | 长春工业大学 | Flexible parallel rope driven forearm and wrist joint rehabilitation device |
| CN113827445A (en) * | 2021-10-29 | 2021-12-24 | 长春工业大学 | Seven-degree-of-freedom serial-parallel upper limb exoskeleton rehabilitation robot |
-
2022
- 2022-10-27 CN CN202211326530.6A patent/CN115715731B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103110499A (en) * | 2012-11-29 | 2013-05-22 | 东华大学 | Wrist joint rehabilitation training device |
| KR101431426B1 (en) * | 2014-03-17 | 2014-08-19 | 주식회사 케디엠 | Multi-type upper limbs muscle rehabilitation exercise device |
| KR20190003280A (en) * | 2017-06-30 | 2019-01-09 | 주식회사 네오펙트 | Robot for upper limbs rehabilitation |
| CN107928986A (en) * | 2017-12-07 | 2018-04-20 | 同济大学浙江学院 | Wrist joint device for healing and training |
| CN111096869A (en) * | 2020-01-07 | 2020-05-05 | 长春工业大学 | Rigid-flexible coupling rope-driven exoskeleton type upper limb rehabilitation training robot |
| CN113397904A (en) * | 2021-02-08 | 2021-09-17 | 长春工业大学 | Flexible parallel rope driven forearm and wrist joint rehabilitation device |
| CN113827445A (en) * | 2021-10-29 | 2021-12-24 | 长春工业大学 | Seven-degree-of-freedom serial-parallel upper limb exoskeleton rehabilitation robot |
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| Publication number | Publication date |
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| CN115715731B (en) | 2024-09-10 |
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