CN204798282U - Wearing formula rehabilitation training device's elbow degree of freedom realizes device - Google Patents
Wearing formula rehabilitation training device's elbow degree of freedom realizes device Download PDFInfo
- Publication number
- CN204798282U CN204798282U CN201520039553.8U CN201520039553U CN204798282U CN 204798282 U CN204798282 U CN 204798282U CN 201520039553 U CN201520039553 U CN 201520039553U CN 204798282 U CN204798282 U CN 204798282U
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- fixing head
- upper arm
- freedom
- forearm
- ancon
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Abstract
The utility model discloses a wearing formula rehabilitation training device's elbow degree of freedom realizes device, motor revolve integrative lead screw about with and are connected, and the motor is fixed in on the motor fixed baseplate, upper arm support and forearm hold in the palm to overlap respectively and locate on the upper arm and forearm of arm, the left -handed nut downside has hold -in range fixing device, and right -handed nut's upside is equipped with hold -in range adjusting device, and hold -in range fixing device and hold -in range adjusting device pass through the hold -in range and connect, and the hold -in range is around locating on the synchronous pulley, the utility model discloses along the upper arm axis direction, arrange driving motor and drive mechanism in the external side of upper arm, reduce in the motion process interference with external environment, revolving integrative ball screw about using and adding slider mechanism and as the drive line, possessed fine auto -lock performance, the controllability is good, and levogyration and right -handed nut have definite stroke, have guaranteed that whole mechanism possesses limit function. Realize wholly the mechanism uses current standard component more, realizes with using the reduction gear that the scheme of same function compares, and economic cost reduces.
Description
Technical field
This utility model relates to a kind of technical field of medical science mechanical appliance, particularly relates to the ancon degree of freedom implement device of Wearable recovery training appliance for recovery.
Background technology
Rehabilitation training of upper limbs orthosis assists upper limb each degree of freedom inflexible sufferer of moving to carry out the armarium of rehabilitation training.Human upper limb comprises ancon and the multiple degree of freedom of shoulder, and ancon degree of freedom is the flexing and the diastole campaign that realize the relative upper arm of forearm, is the important motion hinge of daily life and object of taking in working, move, recommend.The defect of ancon degree of freedom will bring huge inconvenience to minimal invasive treatment.Existing upper-limb recovery training device major part is the upper-limb recovery training device of non-Wearable, namely recovery training appliance for recovery must be fixed on wall, column or ceiling, the realization of ancon degree of freedom forearm is fixed to link type ancon degree of freedom to realize on the end effector of mechanism, drive forearm relative to the rotation of upper arm by the rotation of mechanism, the hemiplegic upper limb compound motion recovery exercising robot [2] of typically MITMANUS [1] and Tsing-Hua University's design.Mechanism is realized for wearable ancon degree of freedom, the wearable robot of HEXA as Korea S's Han Yang University [3], its technical scheme arranges motor and disc type decelerator in the external side of ancon, and motor reduces rotating speed by disc type decelerator and improves moment of torsion.The output axis of decelerator overlaps with ancon axis of movement, then drives forearm to rotate relative to upper arm.
Because the rehabilitation training of upper limbs orthosis of non-Wearable is fixed on external, as on wall, column or ceiling, ancon degree of freedom realizes mechanism and also reaches upper limb by external, and its subject matter is that mobility is poor, limits the mobility of sufferer and doctor.Realize mechanism for wearable ancon degree of freedom, its Conventional implementations Problems existing has: the first, bloatedness, dresses inconvenience.Traditional scheme uses the design of motor superposition decelerator, for meeting the torque demand of forearm and hand exercise required by task, this kind of mechanism scheme must adopt the decelerator (or multi-stage speed reducer) of motor that output torque is large and big retarding ratio (needing speed reducing ratio when forearm holder lifts heavy thing more than 100), according to the type selecting situation of existing product, this kind of mechanism is bigger than normal along the size in elbow axis direction, packaging effects is poor, causes and dresses inconvenience.In addition, motor outwardly and decelerator also easy and external environment are interfered, and cause the risk being difficult to expect.The second, use big retarding ratio or the multi-stage speed reducer of steel, material is immutable, heavier-weight, increases the training burden of sufferer; 3rd, palpus otherwise designed self-locking and stopping means, ensure that the scope of ancon motion is no more than limited field, improve controllability and the safety of recovery training appliance for recovery; 4th, Financial cost is high, uses big retarding ratio or multi-stage speed reducer product, expensive, adds the Financial cost of mechanism.
Utility model content
In view of this, the utility model proposes the ancon degree of freedom implement device of Wearable recovery training appliance for recovery, too fat to move to solve said mechanism, weight is large, dresses inconvenience, self-locking and stopping means complexity and expensive problem.
For achieving the above object, the technical solution of the utility model is achieved in that
A kind of ancon degree of freedom implement device of Wearable recovery training appliance for recovery, comprise motor, left-right rotary one screw mandrel, nut, fixing head, connecting axle, upper arm holder and forearm holder, described nut comprises left-handed nut and right-handed nut, and described fixing head comprises inner side fixing head and outside fixing head, wherein
Described motor fixed pedestal to be located between described inner side fixing head and described outside fixing head and to be connected described inner side fixing head and described outside fixing head, described motor is connected by shaft coupling with one end of described left-right rotary one screw mandrel, and described motor is fixed on motor fixed pedestal;
Synchronous pulley is arranged between the fixing head of interior outside by connecting axle and bearing, and described connecting axle is by key and mark closely screw and described synchronous pulley is fixed, and connects described upper arm holder and described forearm holder in the outside of described inner side fixing head; On the upper arm that described upper arm holder and described forearm holder are sheathed on arm respectively and forearm;
Be provided with Timing Belt fixture on the downside of described left-handed nut, the upside of described right-handed nut is provided with adjusting device for synchronous belt, ensure that Timing Belt is in tensioning state.Described Timing Belt fixture is connected by Timing Belt with described adjusting device for synchronous belt, and described Timing Belt is set around on described synchronous pulley.
The ancon degree of freedom implement device of above-mentioned Wearable recovery training appliance for recovery, wherein, described upper arm holder is arranged upper arm holder bandage, described forearm holder is arranged forearm holder bandage, described upper arm holder and described forearm holder are firmly secured on arm by bandage.
The ancon degree of freedom implement device of above-mentioned Wearable recovery training appliance for recovery, wherein, fixing head outside, described inner side is also provided with shoulder ancon connecting plate, and the shoulder mechanism of described shoulder ancon connecting plate and peripheral hardware is fixed.
The ancon degree of freedom implement device of above-mentioned Wearable recovery training appliance for recovery, wherein, the opposite face of described inner side fixing head and described outside fixing head is respectively provided with mounting groove, described left-handed nut and described right-handed nut are revolved and are located on described left-right rotary one screw mandrel, the projection of nut both sides is embedded into described mounting groove, does not overturn when limiting its motion by described mounting groove.
The ancon degree of freedom implement device of above-mentioned Wearable recovery training appliance for recovery, wherein, the setting of described left-right rotary one screw mandrel and described connecting axle Relative vertical.
The ancon degree of freedom implement device of above-mentioned Wearable recovery training appliance for recovery, wherein, described connecting axle and fixing head junction, described inner side are provided with scroll spring, and described connecting axle and fixing head junction, described outside are provided with described scroll spring.
This utility model is owing to have employed above-mentioned technology, and the good effect of generation is:
(1) ancon degree of freedom implement device of the present utility model is wearable design, integrated model is fixed on upper limb, and power source will be carried in back, can solve the drawback of poor mobility, make patient can carry out corresponding rehabilitation training whenever and wherever possible, and complete upper limks movements necessary in life.
(2) ancon degree of freedom implement device of the present utility model is along upper arm axis (as identified shown in A in Fig. 1) direction, cloth centrally-mounted driving and drive mechanism outside upper arm body, the oversize encapsulation problem caused in the ancon axis of freedom (as identified shown in B in Fig. 1) direction can being avoided, reducing the interference with external environment in motor process simultaneously.Significantly reduce the size (be less than 50mm, thickness much smaller than single motor acceleration and deceleration device) of mechanism along ancon axis of freedom direction, allow overall drive mechanism along to the insensitive upper arm axis arranged of size.
(3) ancon degree of freedom implement device of the present utility model alleviates weight and avoids concentrating of weight, reduces the weight that ancon degree of freedom realizes mechanism, is convenient to dress.The weight of integrated model is below 800g, and uses the weight of traditional motor acceleration and deceleration device scheme will more than 900g.The more important thing is, allow overall drive mechanism along to the insensitive upper arm axis arranged of size, distribution of weight can be allowed more average, but not concentrate near elbow axis.
(4) ancon degree of freedom implement device of the present utility model uses left-right rotary one ball screw to add slide block mechanism as power train, possesses good self-locking property, controllability is good, and left-handed and right-handed nut has the stroke determined, ensure that integrated model possesses limit function.Like this, even if motor is out of control when training, this realizes mechanism and also can mechanically ensure to allow the forearm promoting object fall down at once, brings secondary injury to patient.
(5) ancon degree of freedom implement device entirety of the present utility model realizes mechanism's many uses existing standard part, disc type decelerator costly, and Financial cost reduces.
Accompanying drawing explanation
The accompanying drawing forming a part of the present utility model is used to provide further understanding of the present utility model, and schematic description and description of the present utility model, for explaining this utility model, is not formed improper restriction of the present utility model.In the accompanying drawings:
Fig. 1 is the structural representation of the ancon degree of freedom implement device of Wearable recovery training appliance for recovery of the present utility model;
Fig. 2 is the side view of the ancon degree of freedom implement device of Wearable recovery training appliance for recovery of the present utility model;
Fig. 3 is the structure diagram of the ancon degree of freedom implement device of Wearable recovery training appliance for recovery of the present utility model;
Fig. 4 is the forearm diastole state schematic diagram of the ancon degree of freedom implement device of Wearable recovery training appliance for recovery of the present utility model;
Fig. 5 is the forearm flexion schematic diagram of the ancon degree of freedom implement device of Wearable recovery training appliance for recovery of the present utility model.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail, but not as restriction of the present utility model.
Embodiment
Incorporated by reference to shown in Fig. 1 to Fig. 3, the ancon degree of freedom implement device 100 of a kind of Wearable recovery training appliance for recovery of the present utility model, comprise motor 1, left-right rotary one screw mandrel 4, nut, fixing head, connecting axle 10, upper arm holder 13 and forearm holder 14, nut comprises left-handed nut 5 and right-handed nut 6, fixing head comprises inner side fixing head 11 and outside fixing head 12, wherein
Motor fixed pedestal 2 is located between inner side fixing head 11 and outside fixing head 12 and is also connected inner side fixing head 11 and outside fixing head 12, and one end of motor 1 and left-right rotary one screw mandrel 4 is connected by shaft coupling 3, and motor 1 is fixed on motor fixed pedestal 2;
The outside of the other end of left-right rotary one screw mandrel 4 is provided with synchronous pulley 91, and synchronous pulley 91 is fixed between the fixing head of interior outside by bearing by connecting axle 10, and connects upper arm holder 13 and forearm holder 14 in the outside of inner side fixing head 11; On the upper arm that upper arm holder 13 and forearm holder 14 are sheathed on arm respectively and forearm;
Have Timing Belt fixture 7 on the downside of left-handed nut 5, the upside of right-handed nut 6 is provided with adjusting device for synchronous belt 8, ensure that Timing Belt is in tensioning state.Timing Belt fixture 7 is connected by Timing Belt 9 with adjusting device for synchronous belt 8, and Timing Belt 9 is set around on synchronous pulley 91.
This utility model also has following embodiment on the basis of the above, please continue see shown in Fig. 1 to Fig. 3,
In further embodiment of the present utility model, upper arm holder 13 is arranged upper arm holder bandage 17, forearm holder 14 is arranged forearm holder bandage 18, upper arm holder 13 and forearm holder 14 are firmly secured on arm by bandage.
In further embodiment of the present utility model, inner side fixing head 11 outside is also provided with shoulder ancon connecting plate 15, and shoulder ancon connecting plate 15 is fixedly connected with upper arm.
In further embodiment of the present utility model, the opposite face of inner side fixing head 11 and outside fixing head 12 is respectively provided with mounting groove, and left-handed nut 5 and right-handed nut 6 are revolved and be located on left-right rotary one screw mandrel 4 and be positioned at mounting groove.
In further embodiment of the present utility model, the setting of left-right rotary one screw mandrel 4 and connecting axle 10 Relative vertical.
In further embodiment of the present utility model, connecting axle 10 and inner side fixing head 11 junction are provided with scroll spring 16, and connecting axle 10 and outside fixing head 12 junction are provided with scroll spring 16.
Also comprise a kind of operation principle of degree of freedom implement device, wherein, operation principle is as follows:
Motor 1 rotates, left-right rotary one screw mandrel 4 is driven to rotate by shaft coupling 3, right-handed nut 6 and the hand of spiral of left-handed nut 5 on left-right rotary one screw mandrel 4 do the contrary rectilinear motion in direction respectively, Timing Belt 9 drives synchronous pulley 91 to rotate simultaneously, drive connecting axle 10 to rotate while synchronous pulley 91 rotates, connecting axle 10 finally drives forearm holder 14 to rotate relative to upper arm holder 13.
User can further be familiar with characteristic of the present utility model and function according to following explanation,
Refer to shown in Fig. 4 and Fig. 5, integrated model, along the outside of right upper arm axis arranged in right upper arm, makes the dead in line that the axis of connecting axle 10 and ancon rotate during installation, and upper arm holder 13 and forearm holder 14 are fixed with upper arm and forearm respectively by bandage.Left-right rotary one ball screw 4 and servo drive motor 1 are connected by shaft coupling 3 and rotate with motor shaft, now left-right rotary one ball screw 4 drives left-handed nut 5, right-handed nut 6 the rightabout straight-line feed along screw mandrel axis occurs and moves, and left-handed nut 5, right-handed nut 6 both sides are embedded between inner side fixing head 11 and outside fixing head 12, can not rotate.
Left-right rotary one ball screw is fixed in fixed base, and fixed base and internal and external fixation consolidation.Be provided with on the downside of left-handed nut 5 on the upside of Timing Belt fixture 7, right-handed nut 6 and be provided with adjusting device for synchronous belt 8, Timing Belt one end of a non-closed and 7 and 5 is fixed, and the other end and 8 and 6 is fixed.The straight-line feed motion of left-right rotary slide block, makes synchronous pulley 9 clockwise or rotate counterclockwise along a direction by drives Timing Belt.
Synchronous pulley 9 inside is connected by holding screw and flat key with connecting axle 10, and drive connecting axle 10 to rotate, connecting axle 10 two ends are fixed between inner side fixing head 11 and outside fixing head 12.Connecting axle 10 and forearm holder 14 side are fixed and drive forearm holder 14 to rotate, and the opposite side of forearm holder 14 with upper arm holder 13 for pin is connected.Connecting axle 10 and be all provided with scroll spring between inner side fixing head 11 and outside fixing head 12 as energy accumulating device.
When forearm flexing, scroll spring 16 will discharge elastic potential energy, provide certain moment of torsion to assist forearm action, and when forearm diastole, scroll spring 16 will absorb elastic potential energy, and the speed preventing forearm from putting down is too fast, causes secondary injury to patient.Inner side fixing head 11 is fixed with takeing on ancon connecting plate 15 with outside fixing head 12, and upper arm holder 13 and forearm holder 14 are fixed with upper arm and forearm respectively by bandage.
To sum up, left-right rotary one ball screw 4 adds left-right rotary slide block, motor output shaft is converted into rectilinear motion along upper arm axis around the rotational motion of upper arm axis direction, Timing Belt 9 and synchronous pulley 91 mechanism then the rotational motion that the transform linear motion along upper arm axis is around the ancon axis of freedom, as shown in the schematic diagram of mechanism of Fig. 3.This makes integrated model become possibility in side in vitro along upper arm axis arranged.The replacement scheme of power train can for using decelerator or the multi-stage speed reducer of big retarding ratio, and decelerator outfan is connected with 90 ° of bevel gears of arranging, direction of motor rotation also can be made to be transformed on the ancon axis of freedom.
The foregoing is only this utility model preferred embodiment; not thereby embodiment of the present utility model and protection domain is limited; to those skilled in the art; should recognize and all should be included in the scheme that equivalent replacement done by all utilization this utility model description and diagramatic content and apparent change obtain in protection domain of the present utility model.
Claims (6)
1. the ancon degree of freedom implement device of a Wearable recovery training appliance for recovery, comprise motor, left-right rotary one screw mandrel, nut, fixing head, connecting axle, upper arm holder and forearm holder, described nut comprises left-handed nut and right-handed nut, described fixing head comprises inner side fixing head and outside fixing head, it is characterized in that
Described motor fixed pedestal to be located between described inner side fixing head and described outside fixing head and to be connected described inner side fixing head and described outside fixing head, described motor is connected by shaft coupling with one end of described left-right rotary one screw mandrel, and described motor is fixed on motor fixed pedestal;
Synchronous pulley is arranged between the fixing head of interior outside by connecting axle and bearing, and described connecting axle is by key and mark closely screw and described synchronous pulley is fixed, and connects described upper arm holder and described forearm holder in the outside of described inner side fixing head; On the upper arm that described upper arm holder and described forearm holder are sheathed on arm respectively and forearm;
Timing Belt fixture is provided with on the downside of described left-handed nut, the upside of described right-handed nut is provided with adjusting device for synchronous belt, described Timing Belt fixture is connected by Timing Belt with described adjusting device for synchronous belt, and ensureing that Timing Belt is in tensioning state, described Timing Belt is set around on described synchronous pulley.
2. the ancon degree of freedom implement device of Wearable recovery training appliance for recovery according to claim 1, it is characterized in that, described upper arm holder is arranged upper arm holder bandage, described forearm holder is arranged forearm holder bandage, described upper arm holder and described forearm holder are firmly secured on arm by bandage.
3. the ancon degree of freedom implement device of Wearable recovery training appliance for recovery according to claim 1, is characterized in that, fixing head outside, described inner side is also provided with shoulder ancon connecting plate, and the shoulder mechanism of described shoulder ancon connecting plate and peripheral hardware is fixed.
4. the ancon degree of freedom implement device of Wearable recovery training appliance for recovery according to claim 1, it is characterized in that, the opposite face of described inner side fixing head and described outside fixing head is respectively provided with mounting groove, described left-handed nut and described right-handed nut are revolved and are located on described left-right rotary one screw mandrel, the projection of nut both sides is embedded into described mounting groove, does not overturn when limiting its motion by described mounting groove.
5. the ancon degree of freedom implement device of Wearable recovery training appliance for recovery according to claim 1, is characterized in that, the setting of described left-right rotary one screw mandrel and described connecting axle Relative vertical.
6. the ancon degree of freedom implement device of Wearable recovery training appliance for recovery according to claim 1, it is characterized in that, described connecting axle and fixing head junction, described inner side are provided with scroll spring, and described connecting axle and fixing head junction, described outside are provided with described scroll spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520039553.8U CN204798282U (en) | 2015-01-20 | 2015-01-20 | Wearing formula rehabilitation training device's elbow degree of freedom realizes device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520039553.8U CN204798282U (en) | 2015-01-20 | 2015-01-20 | Wearing formula rehabilitation training device's elbow degree of freedom realizes device |
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| Publication Number | Publication Date |
|---|---|
| CN204798282U true CN204798282U (en) | 2015-11-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520039553.8U Withdrawn - After Issue CN204798282U (en) | 2015-01-20 | 2015-01-20 | Wearing formula rehabilitation training device's elbow degree of freedom realizes device |
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| CN (1) | CN204798282U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104523400A (en) * | 2015-01-20 | 2015-04-22 | 上海电气集团股份有限公司 | Elbow freedom degree achieving device for wearable rehabilitation training device and working principle thereof |
| CN113069321A (en) * | 2021-03-31 | 2021-07-06 | 岳阳职业技术学院 | Old nursing exercise training device |
-
2015
- 2015-01-20 CN CN201520039553.8U patent/CN204798282U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104523400A (en) * | 2015-01-20 | 2015-04-22 | 上海电气集团股份有限公司 | Elbow freedom degree achieving device for wearable rehabilitation training device and working principle thereof |
| CN113069321A (en) * | 2021-03-31 | 2021-07-06 | 岳阳职业技术学院 | Old nursing exercise training device |
| CN113069321B (en) * | 2021-03-31 | 2022-12-30 | 岳阳职业技术学院 | Old nursing exercise training device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20151125 Effective date of abandoning: 20170503 |