CN206950325U - One kind rope driving elbow wrist healing robot - Google Patents
One kind rope driving elbow wrist healing robot Download PDFInfo
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- CN206950325U CN206950325U CN201621458521.2U CN201621458521U CN206950325U CN 206950325 U CN206950325 U CN 206950325U CN 201621458521 U CN201621458521 U CN 201621458521U CN 206950325 U CN206950325 U CN 206950325U
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- wrist
- ancon
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- hinge
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Abstract
Restricted the utility model discloses one kind and drive elbow wrist healing robot, it is characterised in that the healing robot includes mobile support system, drive system, large arm support system, ancon training system, forearm support system and wrist training system；Drive system and the large arm support system is installed on mobile support system；The large arm support system is connected by ancon training system with forearm support system；The wrist training system is arranged in forearm support system.The healing robot carries out comprehensive rehabilitation training for elbow wrist injury patient, can realize outside carpal medial rotation/rotation, Kühne/stretching, extension, the rotation of interior receipts/abduction three degree of freedom and the rotation of elbow joint flexing/stretching, extension one degree of freedom.Both the training of the single free degree can have been carried out, multiple degrees of freedom coorinated training can also be carried out, meet the requirement of patient comfort, security, soft elastic, while there is the advantages of in light weight, continuity is good, elliptical gear is small.
Description
Technical field
Rehabilitation medical instrument field is the utility model is related to, is specifically a kind of rope driving elbow wrist healing robot.
Background technology
The big multi-activity of people needs hand to complete, and the motion of hand usually requires multiple joints such as wrist joint, elbow joint
Coordinate.When unexpected occur such as falling down, majority are accustomed to being supported with hand, and this often causes wrist joint and elbow joint
Damage.In addition, apoplexy, traffic accident, sports surprisingly cause elbow wrist joint injured patient to roll up, now need to hold
Row specific action carries out rehabilitation training, can not such as obtain in time and thoroughly treat, and easily causes strain and afunction repeatedly.
As the aggravation of aging population, natural calamity increase, the incidence of disease of elbow wrist joint damage is also increasing year by year.Relevant clinical is cured
Learning proves, correct, recovery and raising of the upper limb joint rehabilitation training of science for extremity motor function is played very important
Effect, can not only maintain range of motion, prevent the contracture of joint and adhesion, and can significantly improve patient motion function most
Whole rehabilitation degree.The use of rehabilitation institution, it is possible to reduce the workload of physiotherapist, improve their operating efficiency, allow him
Look after more patients.
The current existing robot available for elbow wrist joint rehabilitation can be divided into two classes, and one kind is used exclusively for elbow joint
Or the robot of wrist joint single joint rehabilitation, one kind are the robots for whole upper limb healing.For single joint health
Multiple robot, generally only one degree of freedom, function is single, can not meet training comprehensively carpal to elbow.For whole
The robot of upper limb healing has that volume is big, weight is big, inertia impact is big, compliance is poor, it is impossible to meets patient comfort, soft bullet
Property demand, can not also make patient's elbow wrist joint carry out optimum training.Domestic upper limb rehabilitation robot uses cascade machine at present
Structure designs, such as, robot architecture's size is big, and mechanical arm weight is big, and most of drive system of robot is located on mechanical arm, is used to
Property impact it is big, poor continuity.
Utility model content
In view of the shortcomings of the prior art, the technical problem that the utility model intends to solve is to provide a kind of rope driving elbow wrist health
Multiple robot.The healing robot carries out comprehensive rehabilitation training for elbow wrist injury patient, can realize carpal rotation
Interior/rotation is outer, Kühne/stretching, extension, the rotation of interior receipts/abduction three degree of freedom and the rotation of elbow joint flexing/stretching, extension one degree of freedom.
Both the training of the single free degree can have been carried out, multiple degrees of freedom coorinated training can also be carried out, meet patient comfort, security,
The requirement of soft elastic, while there is the advantages of in light weight, continuity is good, elliptical gear is small.
The technical scheme that the utility model solves the technical problem is to provide a kind of rope driving elbow wrist healing robot,
It is characterized in that the healing robot includes mobile support system, drive system, large arm support system, ancon training system, small
Arm support system and wrist training system；Drive system and the large arm support system is installed on mobile support system；Institute
Large arm support system is stated to be connected with forearm support system by ancon training system；The wrist training system is arranged on forearm branch
On support system；
The drive system includes ancon drive module, the drive module of wrist first, the drive module of wrist second and wrist
3rd drive module；Ancon drive module, the drive module of wrist first, the drive module of wrist second and the drive module of wrist the 3rd
Structure it is identical with mounting means；
It is solid that the ancon drive module includes ancon electric pushrod support, the tensioning apparatus of ancon first, ancon sleeve pipe first
Determine frame, ancon electric pushrod, ancon line transfer component, the first line transfer of ancon nail, the second line transfer of ancon nail, ancon sleeve pipe second to fix
Support and the tensioning apparatus of ancon second；Ancon electric pushrod support, the fixed mount of ancon sleeve pipe first and the ancon sleeve pipe second
Fixed support is arranged on the support body of drive system；The ancon electric pushrod is arranged on ancon the first electric pushrod support and elbow
On the fixed support of parts casing pipe first；Output end of the ancon line transfer component connection installed in ancon electric pushrod；The ancon
First tensioning apparatus is arranged on the fixed support of ancon sleeve pipe first；The tensioning apparatus of ancon second is arranged on ancon sleeve pipe the
On two fixed supports；Ancon the first line transfer nail and the line transfer of ancon second nail are arranged on ancon line transfer component；The ancon
First tensioning apparatus is identical with the structure of the tensioning apparatus of ancon second；
The large arm support system includes large arm support platform, the mounting bracket of electric pushrod first, electric pushrod, electric pushrod
Second mounting bracket, large arm lifting platform adjusting knob, large arm supporting plate, large arm support frame, big arm bandage, large arm hoistable platform and machine
Structure support frame；The large arm support platform is arranged on the support body of mobile support system；The mechanism supports frame is fixed on large arm
In support platform；The mechanism supports frame, large arm support frame and U-shaped supporting plate are arranged on one by first rotating shaft and the second rotating shaft
Rise；The both ends of the electric pushrod are arranged on large arm by the mounting bracket of electric pushrod first and the mounting bracket of electric pushrod second respectively
Between support frame and large arm support platform；The large arm hoistable platform is arranged on large arm support frame；The large arm supporting plate peace
On large arm hoistable platform；Big arm bandage is installed in the large arm supporting plate；There is large arm on the large arm hoistable platform
Lifting platform adjusting knob；
The ancon training system includes first rotating shaft, U-shaped supporting plate, the second rotating shaft, output wheel, the steel wire of ancon second
Rope, the steel wire rope of ancon first, ancon sleeve fixing part, the sleeve pipe of ancon second and ancon first sleeve；The U-shaped supporting plate passes through
First rotating shaft and the second rotating shaft are arranged on mechanism supports frame；One end of the U-shaped supporting plate is arranged on first turn by bearing
On axle；The other end and output wheel of U-shaped supporting plate are arranged in the second rotating shaft；The large arm support frame is arranged on the by bearing
In one rotating shaft and the second rotating shaft；The ancon sleeve fixing part is fixed on mechanism supports frame；The one of the ancon first sleeve
End is fixed on ancon sleeve fixing part, and the other end is arranged on the fixed support of ancon sleeve pipe first by the tensioning apparatus of ancon first
On；One end of the sleeve pipe of ancon second is fixed on ancon sleeve fixing part, and the other end is pacified by the tensioning apparatus of ancon second
On the fixed support of ancon sleeve pipe second；The steel wire rope of ancon first is located in ancon first sleeve, and its one end passes through
One line transfer nail is locked on ancon line transfer component, and the other end is fixed on output wheel；The steel wire rope of ancon second is located at ancon
In second sleeve pipe, its one end is locked on ancon line transfer component by the line transfer of ancon second nail, and the other end is fixed on output wheel；
The forearm support system includes forearm support first connecting rod, forearm supporting plate, forearm hoistable platform, small arm bandage
Second connecting rod is supported with forearm；One end of the forearm support first connecting rod is fixed in U-shaped supporting plate；Forearm support the
Two connecting rods are provided with groove, and the other end insertion forearm of forearm support first connecting rod is supported in the groove of second connecting rod, passes through locking
Screw lock；The forearm hoistable platform is fixed in the middle part of forearm support first connecting rod；The forearm supporting plate is arranged on forearm
On hoistable platform；Small arm bandage is installed in the forearm supporting plate；There is forearm hoistable platform on the forearm hoistable platform
Knob；
The wrist training system includes wrist first sleeve, the steel wire rope of wrist first, rotation inner ring, rotary support, wrist
The sleeve pipe of portion second, the steel wire rope of wrist second, connecting plate, fixed platform, the first Hooke's hinge, the first Hooke's hinge installing plate, arc connection
Plate, bend and stretch rotating shaft, first point of hinge, the second Hooke's hinge, the second Hooke's hinge installing plate, second point hinge, moving platform, moving platform connection
Plate, thirdly handle, hinge, the 3rd Hooke's hinge, the 3rd Hooke's hinge installing plate, the 4th point of hinge, rotating shaft of taking down the exhibits, the installation of the 4th Hooke's hinge
Plate, the 4th Hooke's hinge, wrist Quadruplet pipe, the sleeve pipe of wrist the 6th, the steel wire rope of wrist the 6th, the steel wire rope of wrist the 4th, wrist
Five steel wire ropes, the steel wire rope of wrist the 3rd, the sleeve pipe of wrist the 5th and the sleeve pipe of wrist the 3rd；The rotary support supports installed in forearm
On second connecting rod；The rotation inner ring is arranged on rotary support by needle bearing；Groove is provided with rotation inner ring；The wrist
One end of portion's first sleeve and the sleeve pipe of wrist second is fixed on forearm support second connecting rod, and the other end drives installed in wrist first
On dynamic model block；The steel wire rope of wrist first is located in wrist first sleeve, and its one end is fixed in the groove of rotation inner ring, separately
One end is connected with the drive module of wrist first；The steel wire rope of wrist second is located in the sleeve pipe of wrist second, and its one end is fixed on
In the groove for rotating inner ring, the other end is connected with the drive module of wrist first；The fixed platform passes through connecting plate and rotation inner ring
It is fixedly connected；First Hooke's hinge, the second Hooke's hinge, the 3rd Hooke's hinge and the 4th Hooke's hinge are pacified by the first Hooke's hinge respectively
Loading board, the second Hooke's hinge installing plate, the 3rd Hooke's hinge installing plate and the 4th Hooke's hinge installing plate are uniformly mounted on fixed platform,
Space between each other is identical；One end of the arc pressuring plate is by taking down the exhibits rotating shaft on fixed platform；The moving platform connects
One end of fishplate bar is arranged on the other end of arc pressuring plate by bending and stretching rotating shaft；The handle is arranged on moving platform connecting plate,
Locking is marked closely by handle lock；The moving platform is fixed on the other end of moving platform connecting plate；The wrist Quadruplet pipe and wrist
One end of the sleeve pipe of portion the 3rd is separately fixed on the first Hooke's hinge and the 3rd Hooke's hinge, and the other end is arranged on wrist second and drives mould
On block；The steel wire rope of wrist the 4th is located in wrist Quadruplet pipe, and its one end is fixed in first point of hinge, the other end and wrist
Second drive module connects；The steel wire rope of wrist the 3rd is located in the sleeve pipe of wrist the 3rd, and its one end is fixed on thirdly in hinge,
The other end is connected with the drive module of wrist second；One end of the sleeve pipe of the wrist the 6th and the sleeve pipe of wrist the 5th is separately fixed at
On two Hooke's hinges and the 4th Hooke's hinge, the other end is arranged in the drive module of wrist the 3rd；The steel wire rope of wrist the 6th is located at
In the sleeve pipe of wrist the 6th, its one end is fixed in second point hinge, and the other end is connected with the drive module of wrist the 3rd；The wrist
Five steel wire ropes are located in the sleeve pipe of wrist the 5th, and its one end is fixed in the 4th point of hinge, and the other end connects with the drive module of wrist the 3rd
Connect.
Compared with prior art, the utility model beneficial effect is：
1st, the healing robot can carry out the regulation of large arm and forearm bearing height according to the patient of different building shape so that
The pivot of healing robot overlaps with the carpal pivot of patient's elbow, comfortable and safe.
2nd, the healing robot uses the type of drive of casing line, and light weight, inertia impact is small, and will can instruct
Practice system to separate with drive system, reduce the load of patient.
3rd, the rotating part of the wrist training system of the healing robot is connected with the rotating part of ancon training system, wrist
Portion's training system has parallel institution in itself, and the serial-parallel mirror mechanism so formed adds the flexibility of healing robot, can
To carry out the coorinated training of elbow wrist or single joint training.
4th, the healing robot wrist realizes the flexing/stretching, extension in wrist joint, the rehabilitation of interior receipts/abduction using parallel institution
Training, there is more preferable continuity, security, stability, fixed using four Hooke's hinges with sleeve pipe, error can be reduced.
5th, the healing robot carries out comprehensive rehabilitation training for elbow wrist injury patient, can realize carpal rotation
Interior/rotation is outer, Kühne/stretching, extension, the rotation of interior receipts/abduction three degree of freedom and the rotation of elbow joint flexing/stretching, extension one degree of freedom.
Both the training of the single free degree can have been carried out, multiple degrees of freedom coorinated training can also be carried out, meet patient comfort, security,
The requirement of soft elastic, while there is the advantages of in light weight, continuity is good, elliptical gear is small.
Brief description of the drawings
Fig. 1 is the overall structure axonometric schematic diagram that the utility model rope drives a kind of embodiment of elbow wrist healing robot；
Fig. 2 is the drive system overall structure signal that the utility model rope drives a kind of embodiment of elbow wrist healing robot
Figure；
Fig. 3 is the structural representation for the ancon drive module that the utility model rope drives a kind of embodiment of elbow wrist healing robot
Figure；
Fig. 4 is the structure for the tensioning apparatus of ancon first that the utility model rope drives a kind of embodiment of elbow wrist healing robot
Schematic diagram；
Fig. 5 is the overall structure for the large arm support system that the utility model rope drives a kind of embodiment of elbow wrist healing robot
Schematic diagram；
Fig. 6 is the overall structure for the ancon training system that the utility model rope drives a kind of embodiment of elbow wrist healing robot
Schematic diagram；
Fig. 7 is the overall structure for the forearm support system that the utility model rope drives a kind of embodiment of elbow wrist healing robot
Schematic diagram；
Fig. 8 is the overall structure for the wrist training system that the utility model rope drives a kind of embodiment of elbow wrist healing robot
Schematic diagram；
Fig. 9 is the parallel machine in a kind of wrist training system of the utility model rope driving embodiment of elbow wrist healing robot
The structural representation of structure；
Figure 10 is the parallel machine for the wrist training system that the utility model rope drives a kind of embodiment of elbow wrist healing robot
The structural representation of structure；(in figure：1st, mobile support system；2nd, drive system；3rd, large arm support system；4th, ancon training system；
5th, forearm support system；6th, wrist training system；20th, ancon drive module；21st, the drive module of wrist first；22nd, wrist second
Drive module；23rd, the drive module of wrist the 3rd；201st, ancon electric pushrod support；202nd, the tensioning apparatus of ancon first；203rd, elbow
The fixed mount of parts casing pipe first；204th, ancon electric pushrod；205th, ancon line transfer component；206th, the line transfer of ancon first is followed closely；207th, elbow
The line transfer of portion second nail；208th, the fixed support of ancon sleeve pipe second；209th, the tensioning apparatus of ancon second；2021st, line transfer is followed closely；2022、
Adjusting nut；2023rd, spring；2024th, location nut；301st, large arm support platform；302nd, the mounting bracket of electric pushrod first；
303rd, electric pushrod；304th, electric pushrod second is installed；305th, large arm lifting platform adjusting knob；306th, large arm supporting plate；307、
Large arm support platform；308th, big arm bandage；309th, large arm hoistable platform；310th, mechanism supports frame；401st, first rotating shaft；402、U
Shape supporting plate；403rd, the second rotating shaft；404th, output wheel；405th, the steel wire rope of ancon second；406th, the steel wire rope of ancon first； 407、
Ancon sleeve fixing part；408th, the sleeve pipe of ancon second；409th, ancon first sleeve；51st, forearm support first connecting rod；52nd, forearm
Supporting plate；53rd, forearm hoistable platform；54th, small arm bandage；55th, forearm hoistable platform knob；56th, forearm support second connecting rod；
57th, lock-screw；601st, wrist first sleeve；602nd, the steel wire rope of wrist first；603rd, inner ring is rotated；604th, rotary support；
605th, the sleeve pipe of wrist second；606th, the steel wire rope of wrist second；607th, connecting plate；608th, fixed platform；609th, the first Hooke's hinge；
610th, the first Hooke's hinge installing plate；611st, arc pressuring plate；612nd, rotating shaft is bent and stretched；613rd, first point of hinge；614th, the second Hooke's hinge；
615th, the second Hooke's hinge installing plate；616th, second point is cut with scissors；617th, moving platform；618th, moving platform connecting plate；619th, handle；620th,
3 points of hinges；621st, the 3rd Hooke's hinge；622nd, the 3rd Hooke's hinge installing plate；623rd, the 4th point of hinge；624th, take down the exhibits rotating shaft；625th, the 4th
Hooke's hinge installing plate；626th, the 4th Hooke's hinge；627th, wrist Quadruplet pipe；628th, the sleeve pipe of wrist the 6th；629th, handle lock is marked closely；
630th, the steel wire rope of wrist the 6th；631st, the steel wire rope of wrist the 4th；632nd, the steel wire rope of wrist the 5th；633rd, the steel wire rope of wrist the 3rd；
634th, the sleeve pipe of wrist the 5th；635th, the sleeve pipe of wrist the 3rd)
Embodiment
Specific embodiment of the utility model is given below.Specific embodiment is only used for being further described this practicality newly
Type, the application scope of the claims is not limited.
The utility model provides a kind of rope driving elbow wrist healing robot (abbreviation healing robot, referring to Fig. 1-10),
Instructed including mobile support system 1, drive system 2, large arm support system 3, ancon training system 4, forearm support system 5 and wrist
Practice system 6；The drive system 2 and large arm support system 3 are installed on mobile support system 1；The large arm support system 3
It is connected by ancon training system 4 with forearm support system 5；The wrist training system 6 is arranged in forearm support system 5；
The drive system 2 (referring to Fig. 2) includes ancon drive module 20, the first drive module of wrist 21, wrist second
Drive module 22 and the drive module 23 of wrist the 3rd；Ancon drive module 20, the first drive module of wrist 21, wrist second drive
Module 22 and the structure of the drive module 23 of wrist the 3rd are identical with mounting means；
The ancon drive module 20 (referring to Fig. 3) includes ancon electric pushrod support 201, the tensioning apparatus of ancon first
202nd, the first fixed mount of ancon sleeve pipe 203, ancon electric pushrod 204, ancon line transfer component 205, the line transfer of ancon first nail 206,
The line transfer of ancon second nail 207, the second fixed support of ancon sleeve pipe 208 and the second tensioning apparatus of ancon 209；The ancon is electronic to be pushed away
Bar support 201, the first fixed mount of ancon sleeve pipe 203 and the second fixed support of ancon sleeve pipe 208 are arranged on the support body of drive system 2
On；The ancon electric pushrod 204 is arranged on the first electric pushrod of ancon support 201 and the first fixed support of ancon sleeve pipe 203
On；The ancon line transfer component 205 is bolted the output end installed in ancon electric pushrod 204；The ancon first
Tensioning apparatus 202 is arranged on the first fixed support of ancon sleeve pipe 203；Second tensioning apparatus of ancon 209 is arranged on ancon
On the second fixed support of sleeve pipe 208；The line transfer of ancon first nail 206 and the line transfer of ancon second nail 207 are arranged on ancon line transfer
On component 205, for locking the first steel wire rope of ancon 406 and the second steel wire rope of ancon 405；
First tensioning apparatus of ancon 202 is identical with the structure of the second tensioning apparatus of ancon 209；The ancon first is opened
Tight device 202 (referring to Fig. 4) is made up of line transfer nail 2021, adjusting nut 2022, spring 2023 and location nut 2024；The tune
It is provided with shoulder hole in one end of tailor's tack 2021, the end of ancon first sleeve 409 is fixed and by ancon first sleeve 409 by shoulder hole
In the first steel wire rope of ancon 406 separate；The other end of line transfer nail 2021 is fixed on ancon set by location nut 2024
On the first fixed support of pipe 203；The spring 2023 be located at adjusting nut 2022 and the first fixed support of ancon sleeve pipe 203 it
Between；Line transfer nail 2021 provides pretension by the cooperation of location nut 2024 and adjusting nut 2022 to the first steel wire rope of ancon 406
Power, the first steel wire rope of ancon 406 is kept to be in tensioning state, and this pretightning force is adjustable, while also give the fortune in joint
It is dynamic to provide certain buffering；
The large arm support system 3 (referring to Fig. 5) include large arm support platform 301, the first mounting bracket of electric pushrod 302,
Electric pushrod 303, the second mounting bracket of electric pushrod 304, large arm lifting platform adjusting knob 305, large arm supporting plate 306, large arm branch
Support 307, big arm bandage 308, large arm hoistable platform 309 and mechanism supports frame 310；The large arm support platform 301 is arranged on
On the support body of mobile support system 1；The mechanism supports frame 310 is fixed in large arm support platform 301；The mechanism supports frame
310th, large arm support frame 307 and U-shaped supporting plate 402 are installed together by the rotating shaft 403 of first rotating shaft 401 and second；The electricity
The both ends of dynamic push rod 303 are arranged on big by the first mounting bracket of electric pushrod 302 and the second mounting bracket of electric pushrod 304 respectively
Between arm support frame 307 and large arm support platform 301, the angle of large arm support frame 307 can be adjusted by lifting electric putter 303
Degree, so as to meet the needs of under patient's different situations；The large arm hoistable platform 309 is arranged on large arm support frame 307；Institute
Large arm supporting plate 306 is stated on large arm hoistable platform 309；Big arm bandage 308 is installed in the large arm supporting plate 306；
There is large arm lifting platform adjusting knob 305 on the large arm hoistable platform 309, can be by rotating large arm lifting platform adjusting knob
The height of 305 adjustment large arm supporting plates 306, so that the elbow joint of different patients can be with first rotating shaft 401, the second rotating shaft
403 is coaxial；
The ancon training system 4 (referring to Fig. 6) includes first rotating shaft 401, U-shaped supporting plate 402, the second rotating shaft 403, defeated
Go out wheel 404, the second steel wire rope of ancon 405, the first steel wire rope of ancon 406, ancon sleeve fixing part 407, the second sleeve pipe of ancon 408
With ancon first sleeve 409；The U-shaped supporting plate 402 is arranged on mechanism supports by the rotating shaft 403 of first rotating shaft 401 and second
On frame 310；One end of the U-shaped supporting plate 402 is arranged in first rotating shaft 401 by bearing；U-shaped supporting plate 402 it is another
End and output wheel 404 are arranged in the second rotating shaft 403 by spline；The large arm support frame 307 is arranged on first by bearing
In the rotating shaft 403 of rotating shaft 401 and second, and it can be rotated relative to the rotating shaft 403 of first rotating shaft 401 and second；The ancon sleeve pipe
Fixture 407 is fixed on mechanism supports frame 310；One end of the ancon first sleeve 409 is fixed on ancon sleeve fixing part
On 407, the other end is arranged on the first fixed support of ancon sleeve pipe 203 by the first tensioning apparatus of ancon 202；The ancon
One end of two sleeve pipes 408 is fixed on ancon sleeve fixing part 407, and the other end is arranged on by the second tensioning apparatus of ancon 209
On the second fixed support of ancon sleeve pipe 208；First steel wire rope of ancon 406 is located in ancon first sleeve 409, and its one end is led to
Cross the first line transfer nail 206 to be locked on ancon line transfer component 205, the other end is fixed on output wheel 404；The steel of ancon second
Cord 405 is located in the second sleeve pipe of ancon 408, and its one end is locked at ancon line transfer component by the line transfer of ancon second nail 207
On 205, the other end is fixed on output wheel 404；When driving the first electric pushrod 204 of ancon, ancon line transfer group can be driven
Part 205 moves, so as to pull the first steel wire rope of ancon 406 and the second steel wire rope of ancon 405 to drive output wheel 404 to rotate, so as to
U-shaped supporting plate 402 is driven to rotate, so as to drive forearm support system 5 to be rotated relative to large arm support system 3；By changing elbow
The direction of the first electric pushrod of portion 204 can change the motion side of the first steel wire rope of ancon 406 and the second steel wire rope of ancon 405
To so as to change the rotation direction of output wheel 404；
The forearm support system 5 (referring to Fig. 7) includes forearm support first connecting rod 51, forearm supporting plate 52, forearm liter
Platform 53, small arm bandage 54 and forearm support second connecting rod 56 drop；One end of the forearm support first connecting rod 51 is consolidated with screw
It is scheduled in U-shaped supporting plate 402；The forearm support second connecting rod 56 is provided with groove, and forearm supports the other end of first connecting rod 51
Insert in the groove of forearm support second connecting rod 56, with respect to forearm second connecting rod 56 can be supported flexible, led to after regulating length
Lock-screw 57 is crossed to lock；The forearm hoistable platform 53 is fixed on the middle part of forearm support first connecting rod 51；The forearm support
Plate 52 is arranged on forearm hoistable platform 53；Small arm bandage 54 is installed in the forearm supporting plate 52；The forearm lifting is flat
There is forearm hoistable platform knob 55 on platform 53, forearm supporting plate 52 can be adjusted by rotating forearm hoistable platform knob 55
Highly, make the elbow joint of patient and the first rotating shaft 401 of wrist joint and robot, the second rotating shaft 403 coaxial；
The wrist training system 6 (referring to Fig. 8-10) includes wrist first sleeve 601, the first steel wire rope of wrist 602, rotation
Turn inner ring 603, rotary support 604, the second sleeve pipe of wrist 605, the second steel wire rope of wrist 606, connecting plate 607, fixed platform 608,
First Hooke's hinge 609, the first Hooke's hinge installing plate 610, arc pressuring plate 611, bend and stretch 612, first points of rotating shaft hinge 613, second
Hooke's hinge 614, the second Hooke's hinge installing plate 615, second point hinge 616, moving platform 617, moving platform connecting plate 618, handle 619,
Thirdly cut with scissors the 620, the 3rd Hooke's hinge 621, the 3rd Hooke's hinge installing plate 622, the 4th point of hinge 623, the tiger of rotating shaft the 624, the 4th of taking down the exhibits
Gram hinge installing plate 625, the 4th Hooke's hinge 626, wrist Quadruplet pipe 627, the sleeve pipe 628 of wrist the 6th, the steel wire rope of wrist the 6th
630th, the steel wire rope 631 of wrist the 4th, the steel wire rope 632 of wrist the 5th, the steel wire rope 633 of wrist the 3rd, the and of the 5th sleeve pipe of wrist 634
The sleeve pipe 635 of wrist the 3rd；The rotary support 604 is arranged on forearm support second connecting rod 56；The rotation inner ring 603 passes through
Needle bearing is arranged on rotary support 604, can be rotated relative to rotary support 604；Groove use is provided with rotation inner ring 603
To wind the first steel wire rope of wrist 602 and the second steel wire rope of wrist 606；The wrist first sleeve 601 and the sleeve pipe of wrist second
605 one end is fixed on forearm support second connecting rod 56, and the other end is arranged in the first drive module of wrist 21；The wrist
First steel wire rope 602 is located in wrist first sleeve 601, its one end be fixed on rotation inner ring 603 groove in, the other end with
The first drive module of wrist 21 connects；Second steel wire rope of wrist 606 is located in the second sleeve pipe of wrist 605, and its one end is fixed
In the groove of rotation inner ring 603, the other end is connected with the first drive module of wrist 21；The first steel wire rope of wrist 602 and wrist
Second steel wire rope 606 can drive rotation inner ring 603 to rotate；The fixed platform 608 passes through connecting plate 607 and rotation inner ring 603
It is fixedly connected, rotation inner ring 603 can drive fixed platform 608 to rotate together when rotating；The tiger of first Hooke's hinge 609, second
Gram hinge the 614, the 3rd Hooke's hinge 621 and the 4th Hooke's hinge 626 respectively pass through the first Hooke's hinge installing plate 610, the second Hooke's hinge pacify
Loading board 615, the 3rd Hooke's hinge installing plate 622 and the 4th Hooke's hinge installing plate 625 are uniformly mounted on fixed platform 608, mutually
Between spacing it is identical；One end of the arc pressuring plate 611, can be around by taking down the exhibits rotating shaft 624 on the fixed platform 608
Rotating shaft 624 of taking down the exhibits rotates relative to fixed platform 608；One end of the moving platform connecting plate 618 is arranged on arc by bending and stretching rotating shaft 612
The other end of shape connecting plate 611, it can be rotated around the opposing arcuate connecting plate 611 of rotating shaft 612 is bent and stretched；The handle 619 is installed
It on moving platform connecting plate 618, can be axially moveable on moving platform connecting plate 618, adjust the gripping distance of patient, adjusted
After the completion of with handle lock mark closely 629 lockings；The moving platform 617 is fixed on the other end of moving platform connecting plate 618；The wrist
One end of Quadruplet pipe 627 and the sleeve pipe 635 of wrist the 3rd is separately fixed on the first Hooke's hinge 609 and the 3rd Hooke's hinge 621, separately
One end is arranged in the second drive module of wrist 22；The steel wire rope 631 of wrist the 4th is located in wrist Quadruplet pipe 627, its
One end is fixed in first point of hinge 613, and the other end is connected with the second drive module of wrist 22；The steel wire rope 633 of wrist the 3rd
In the sleeve pipe 635 of wrist the 3rd, its one end is fixed on thirdly in hinge 620, and the other end connects with the second drive module of wrist 22
Connect；One end of the sleeve pipe 628 of wrist the 6th and the sleeve pipe 634 of wrist the 5th is separately fixed at the second Hooke's hinge 614 and the 4th tiger
Gram hinge 626 on, the other end be arranged on the drive module 23 of wrist the 3rd on；The steel wire rope 630 of wrist the 6th is located at wrist the 6th
In sleeve pipe 628, its one end is fixed in second point hinge 616, and the other end is connected with the drive module 23 of wrist the 3rd；The wrist
Five steel wire ropes 632 are located in the sleeve pipe 634 of wrist the 5th, and its one end is fixed in the 4th point of hinge 623, the other end and wrist the 3rd
Drive module 23 connects.
Parallel institution described in text mainly includes fixed platform 608, arc pressuring plate 611, moving platform 617, moving platform connection
Plate 618, wrist Quadruplet pipe 627, the sleeve pipe 628 of wrist the 6th, the steel wire rope 630 of wrist the 6th, the steel wire rope 631 of wrist the 4th, wrist
The steel wire rope 632 of portion the 5th, the steel wire rope 633 of wrist the 3rd, the sleeve pipe 634 of wrist the 5th and the sleeve pipe 635 of wrist the 3rd；
The utility model rope driving elbow wrist healing robot operation principle and workflow be：
The healing robot can be realized outside carpal medial rotation/rotation, Kühne/stretching, extension, interior receipts/abduction three degree of freedom
Training and the training of elbow joint flexing/stretching, extension one degree of freedom, health can be carried out to elbow joint and the carpal single free degree
Refreshment is practiced, can also multiple joint coordination training.
When patient carries out rehabilitation training, large arm support frame 307 is adjusted by electric pushrod 303 first and arrives suitable angle,
Large arm is placed in large arm supporting plate 306 by patient, and forearm is placed in forearm supporting plate 52, by rotating forearm hoistable platform knob
55 and large arm lifting platform adjusting knob 305 adjust the height of forearm supporting plate 52 and the height of large arm supporting plate 306, make patient's
Elbow joint and first rotating shaft 401, the second rotating shaft 403 are coaxial, the first support link of adjustment forearm 51 and the support link of forearm second
Collapsing length between 56, make the wrist joint of patient and 612,624 coaxial, with the small immobilized patients forearm of arm bandage 54, large arm stretches tight
The immobilized patients large arm of band 308, adjustment handle 619 grip distance to suitable, and patient is with being held by handle 619；
When patient carries out the rehabilitation training of flexing/stretching, extension of elbow joint, output wheel 404 is driven by ancon drive module 20
Rotate, output wheel 404 drives the second rotating shaft 403 to rotate, and the second rotating shaft 403 drives U-shaped supporting plate 402 to rotate, whole so as to drive
Individual forearm support system 5 and wrist training system 6 rotate, and realize flexing and the stretching, extension in ancon joint；
When patient carries out the rehabilitation training outside carpal medial rotation/rotation, driven and rotated by the first drive module of wrist 21
Inner ring 603 rotates, and drives fixed platform 608 to rotate, carpal so as to drive so as to drive the rotation of whole wrist parallel institution
Outside medial rotation/rotation；
When patient carries out carpal flexing/stretching, extension, it can be realized by the parallel institution part of wrist；Wrist second
Drive module 22 controls the stretching of the steel wire rope 631 of wrist the 4th and the steel wire rope 633 of wrist the 3rd, the He of the 4th steel wire rope of wrist 631
The steel wire rope 633 of wrist the 3rd is constantly in tensioning state in the presence of tensioning apparatus, when the second drive module of wrist 22 pulls
During four steel wire rope 631 of wrist, the contraction in length of the steel wire rope 631 of wrist the 4th, the length elongation of the 3rd steel wire rope of wrist 633, from
And drive moving platform 617 to rotate around bending and stretching rotating shaft 612, realize carpal flexing/stretching, extension；Patient is carried out in carpal
During receipts/abduction, the second drive module of wrist 22 controls the stretching of the steel wire rope 630 of wrist the 6th and the steel wire rope 632 of wrist the 5th, wrist
The steel wire rope 630 of portion the 6th and the steel wire rope 632 of wrist the 5th are constantly in tensioning state in the presence of tensioning apparatus, when wrist
When three drive modules 23 pull six steel wire rope 630 of wrist, the contraction in length of the steel wire rope 630 of wrist the 6th, the steel wire of wrist the 5th
Restrict 632 length elongations, so as to drive moving platform 617 to be rotated around stretching, extension rotating shaft 624, realize carpal flexing/stretching, extension；Suffer from
When person needs to carry out flexing/stretching, extension, the rehabilitation training of interior receipts/abduction, only the second drive module of wrist 22 and wrist second need to be allowed
Drive module 22 works simultaneously, you can realizes；Due to using parallel institution herein, there is good continuity；
Patient can select to control ancon drive module 20, the first drive module of wrist 21, the second drive module of wrist 22,
The 23 one of drive module work of the 3rd drive module of wrist, realizes the rehabilitation of elbow joint or the single free degree of wrist joint
Training, can also multiple drive modules work simultaneously, realize the rehabilitation training of elbow joint or the multiple frees degree of wrist joint.
The utility model does not address part and is applied to prior art.
Claims (2)
1. one kind rope driving elbow wrist healing robot, it is characterised in that the healing robot includes mobile support system, drivetrain
System, large arm support system, ancon training system, forearm support system and wrist training system；Drive system and the large arm branch
Support system is installed on mobile support system；The large arm support system is connected by ancon training system and forearm support system
Connect；The wrist training system is arranged in forearm support system；
The drive system includes ancon drive module, the drive module of wrist first, the drive module of wrist second and wrist the 3rd
Drive module；Ancon drive module, the drive module of wrist first, the knot of the drive module of wrist second and the drive module of wrist the 3rd
Structure is identical with mounting means；
The ancon drive module include ancon electric pushrod support, the tensioning apparatus of ancon first, the fixed mount of ancon sleeve pipe first,
Ancon electric pushrod, ancon line transfer component, the first line transfer of ancon nail, the second line transfer of ancon nail, the fixed support of ancon sleeve pipe second
With the tensioning apparatus of ancon second；The ancon electric pushrod support, the fixed mount of ancon sleeve pipe first and ancon sleeve pipe second are fixed
Support is arranged on the support body of drive system；The ancon electric pushrod is arranged on ancon the first electric pushrod support and ancon set
On the fixed support of pipe first；Output end of the ancon line transfer component connection installed in ancon electric pushrod；The ancon first
Tensioning apparatus is arranged on the fixed support of ancon sleeve pipe first；The tensioning apparatus of ancon second is solid installed in ancon sleeve pipe second
On fixed rack；Ancon the first line transfer nail and the line transfer of ancon second nail are arranged on ancon line transfer component；The ancon first
Tensioning apparatus is identical with the structure of the tensioning apparatus of ancon second；
The large arm support system includes large arm support platform, the mounting bracket of electric pushrod first, electric pushrod, electric pushrod second
Mounting bracket, large arm lifting platform adjusting knob, large arm supporting plate, large arm support frame, big arm bandage, large arm hoistable platform and mechanism branch
Support；The large arm support platform is arranged on the support body of mobile support system；The mechanism supports frame is fixed on large arm support
On platform；The mechanism supports frame, large arm support frame and U-shaped supporting plate are installed together by first rotating shaft and the second rotating shaft；
The both ends of the electric pushrod are arranged on large arm branch by the mounting bracket of electric pushrod first and the mounting bracket of electric pushrod second respectively
Between support and large arm support platform；The large arm hoistable platform is arranged on large arm support frame；The large arm supporting plate installation
On large arm hoistable platform；Big arm bandage is installed in the large arm supporting plate；There is large arm liter on the large arm hoistable platform
Platform adjusting knob drops；
The ancon training system includes first rotating shaft, U-shaped supporting plate, the second rotating shaft, output wheel, the steel wire rope of ancon second, elbow
The steel wire rope of portion first, ancon sleeve fixing part, the sleeve pipe of ancon second and ancon first sleeve；The U-shaped supporting plate passes through first
Rotating shaft and the second rotating shaft are arranged on mechanism supports frame；One end of the U-shaped supporting plate is arranged in first rotating shaft by bearing；
The other end and output wheel of U-shaped supporting plate are arranged in the second rotating shaft；The large arm support frame is arranged on first turn by bearing
On axle and the second rotating shaft；The ancon sleeve fixing part is fixed on mechanism supports frame；One end of the ancon first sleeve is consolidated
It is scheduled on ancon sleeve fixing part, the other end is arranged on the fixed support of ancon sleeve pipe first by the tensioning apparatus of ancon first；
One end of the sleeve pipe of ancon second is fixed on ancon sleeve fixing part, and the other end is arranged on by the tensioning apparatus of ancon second
On the fixed support of ancon sleeve pipe second；The steel wire rope of ancon first is located in ancon first sleeve, and its one end is adjusted by first
Tailor's tack is locked on ancon line transfer component, and the other end is fixed on output wheel；The steel wire rope of ancon second is located at ancon second
In sleeve pipe, its one end is locked on ancon line transfer component by the line transfer of ancon second nail, and the other end is fixed on output wheel；
The forearm support system includes forearm support first connecting rod, forearm supporting plate, forearm hoistable platform, small arm bandage and small
Arm supports second connecting rod；One end of the forearm support first connecting rod is fixed in U-shaped supporting plate；The forearm support second connects
Bar is provided with groove, and the other end insertion forearm of forearm support first connecting rod is supported in the groove of second connecting rod, passes through lock-screw
Locking；The forearm hoistable platform is fixed in the middle part of forearm support first connecting rod；The forearm supporting plate lifts installed in forearm
On platform；Small arm bandage is installed in the forearm supporting plate；There is forearm hoistable platform knob on the forearm hoistable platform；
The wrist training system includes wrist first sleeve, the steel wire rope of wrist first, rotation inner ring, rotary support, wrist the
Two sleeve pipes, the steel wire rope of wrist second, connecting plate, fixed platform, the first Hooke's hinge, the first Hooke's hinge installing plate, arc pressuring plate, bend
Stretch rotating shaft, hinge, the second Hooke's hinge, the second Hooke's hinge installing plate, second point hinge, moving platform, moving platform connecting plate, hand at first point of
Handle, thirdly hinge, the 3rd Hooke's hinge, the 3rd Hooke's hinge installing plate, the 4th point of hinge, rotating shaft of taking down the exhibits, the 4th Hooke's hinge installing plate,
Four Hooke's hinges, wrist Quadruplet pipe, the sleeve pipe of wrist the 6th, the steel wire rope of wrist the 6th, the steel wire rope of wrist the 4th, the steel wire of wrist the 5th
Rope, the steel wire rope of wrist the 3rd, the sleeve pipe of wrist the 5th and the sleeve pipe of wrist the 3rd；The rotary support is arranged on forearm support second and connected
On bar；The rotation inner ring is arranged on rotary support by needle bearing；Groove is provided with rotation inner ring；The wrist first
One end of sleeve pipe and the sleeve pipe of wrist second is fixed on forearm support second connecting rod, and the other end is arranged on the drive module of wrist first
On；The steel wire rope of wrist first is located in wrist first sleeve, its one end be fixed on rotation inner ring groove in, the other end with
The drive module of wrist first connects；The steel wire rope of wrist second is located in the sleeve pipe of wrist second, and its one end is fixed in rotation
In the groove of ring, the other end is connected with the drive module of wrist first；The fixed platform is fixed by connecting plate with rotation inner ring to be connected
Connect；First Hooke's hinge, the second Hooke's hinge, the 3rd Hooke's hinge and the 4th Hooke's hinge respectively by the first Hooke's hinge installing plate,
Second Hooke's hinge installing plate, the 3rd Hooke's hinge installing plate and the 4th Hooke's hinge installing plate are uniformly mounted on fixed platform, mutually
Between spacing it is identical；One end of the arc pressuring plate is by taking down the exhibits rotating shaft on fixed platform；The moving platform connecting plate
One end by bend and stretch rotating shaft be arranged on arc pressuring plate the other end；The handle is arranged on moving platform connecting plate, is passed through
Handle lock marks closely locking；The moving platform is fixed on the other end of moving platform connecting plate；Wrist Quadruplet pipe and wrist
One end of three sleeve pipes is separately fixed on the first Hooke's hinge and the 3rd Hooke's hinge, and the other end is arranged on the drive module of wrist second
On；The steel wire rope of wrist the 4th is located in wrist Quadruplet pipe, and its one end is fixed in first point of hinge, the other end and wrist the
Two drive modules connect；The steel wire rope of wrist the 3rd is located in the sleeve pipe of wrist the 3rd, and its one end is fixed on thirdly in hinge, separately
One end is connected with the drive module of wrist second；One end of the sleeve pipe of wrist the 6th and the sleeve pipe of wrist the 5th is separately fixed at second
On Hooke's hinge and the 4th Hooke's hinge, the other end is arranged in the drive module of wrist the 3rd；The steel wire rope of wrist the 6th is located at wrist
In the sleeve pipe of portion the 6th, its one end is fixed in second point hinge, and the other end is connected with the drive module of wrist the 3rd；The wrist the 5th
Steel wire rope is located in the sleeve pipe of wrist the 5th, and its one end is fixed in the 4th point of hinge, and the other end is connected with the drive module of wrist the 3rd.
2. rope driving elbow wrist healing robot according to claim 1, it is characterised in that the tensioning apparatus of ancon first
It is made up of line transfer nail, adjusting nut, spring and location nut；It is provided with shoulder hole in one end of line transfer nail, shoulder hole is by elbow
Portion fixes first sleeve end and separates the steel wire rope of ancon first in ancon first sleeve；The other end of line transfer nail leads to
Location nut is crossed to be fixed on the fixed support of ancon sleeve pipe first；The spring is located at adjusting nut and ancon sleeve pipe first is fixed
Between support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621458521.2U CN206950325U (en) | 2016-12-29 | 2016-12-29 | One kind rope driving elbow wrist healing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621458521.2U CN206950325U (en) | 2016-12-29 | 2016-12-29 | One kind rope driving elbow wrist healing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206950325U true CN206950325U (en) | 2018-02-02 |
Family
ID=61376660
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621458521.2U Expired - Fee Related CN206950325U (en) | 2016-12-29 | 2016-12-29 | One kind rope driving elbow wrist healing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206950325U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106726350A (en) * | 2016-12-29 | 2017-05-31 | 河北工业大学 | One kind rope drives elbow wrist healing robot |
| CN109620638A (en) * | 2018-12-17 | 2019-04-16 | 贵州大学 | A kind of height-adjustable device for healing and training elbow joint |
| CN109620640A (en) * | 2018-12-17 | 2019-04-16 | 贵州大学 | A kind of adjustable device for healing and training elbow joint of forearm |
| CN110420107A (en) * | 2019-07-24 | 2019-11-08 | 东南大学 | A kind of image training robot of rope driving Three Degree Of Freedom |
-
2016
- 2016-12-29 CN CN201621458521.2U patent/CN206950325U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106726350A (en) * | 2016-12-29 | 2017-05-31 | 河北工业大学 | One kind rope drives elbow wrist healing robot |
| CN109620638A (en) * | 2018-12-17 | 2019-04-16 | 贵州大学 | A kind of height-adjustable device for healing and training elbow joint |
| CN109620640A (en) * | 2018-12-17 | 2019-04-16 | 贵州大学 | A kind of adjustable device for healing and training elbow joint of forearm |
| CN110420107A (en) * | 2019-07-24 | 2019-11-08 | 东南大学 | A kind of image training robot of rope driving Three Degree Of Freedom |
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| GR01 | Patent grant | ||
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Granted publication date: 20180202 Termination date: 20211229 |