CN208511448U - A kind of upper limb exoskeleton device - Google Patents
A kind of upper limb exoskeleton device Download PDFInfo
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- CN208511448U CN208511448U CN201720898207.4U CN201720898207U CN208511448U CN 208511448 U CN208511448 U CN 208511448U CN 201720898207 U CN201720898207 U CN 201720898207U CN 208511448 U CN208511448 U CN 208511448U
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- elbow joint
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Abstract
The utility model provides a kind of upper limb exoskeleton device, it is mounted on wheelchair, it is used to help have the patient of upper and lower extremities dysfunction to carry out upper extremity exercise and active training, it has the feature that, it include: connection supporting mechanism, for connecting wheelchair and support the upper limb ectoskeleton of patient, including wheelchair fixed link, the first wheelchair locking folder, support frame, stayed pole and single head locking press from both sides；Shoulder mobility mechanism, for allowing patient to carry out shoulder joint exercise motion, including support plate, revolving part, upper arm supporting element and upper arm shaft part, revolving part and upper arm supporting element drive the shoulder joint of patient to carry out stretching motion of taking down the exhibits when rotating；Exercising elbow joint mechanism, for allowing patient to carry out elbow joint exercise motion, including upper arm fixing piece, upper elbow joint connector, lower elbow joint connector and forearm fixing piece；And wrist joints moving mechanism, for allowing patient to carry out wrist joint exercise motion, including sequentially connected holding, flexural spring, forearm adjusting rod and forearm supporting element.
Description
Technical field
The utility model relates to a kind of rehabilitation training utensils, and in particular to a kind of upper limb exoskeleton device.
Background technique
" 2015 global programs for the elderlys observe index " report of in September, 2015, Helpage International's publication is pointed out, 60 years old global
And the above population about 9.01 hundred million, account for world population 12.3%.To the year two thousand thirty, this ratio is up to 16.5%.In global range,
60 years old or more populations are more than the population of 5 years old or less children, and to the year two thousand fifty, 60 years old or more population will be more than 15
Year population below.Report also shows that current China is the country that the aged is most in the world, most according to State Statistics Bureau
The data newly issued are shown, end for the end of the year 2016, and 1.5 hundred million people of 65 one full year of life of China and the above population accounts for the 10.8% of total population.
60 one full year of life and the above population account for the 16.7% of total population up to 2.3 hundred million people, and are predicted according to national aged Working Committee, arrive
The year two thousand fifty ratio is up to 28%, and the year two thousand fifty Aged in China population is up to 4.8 hundred million, account for about global elderly population four/
One.Aging of population will be national conditions that Chinese current and future faces for a period of time.
Aging of population can bring a series of social concerns, and senior health and fitness's problem increasingly obtains attention and the pass of society
Note, wherein cranial vascular disease or the nervous system disease are especially great to the health threat of the elderly.Only by taking cerebral apoplexy as an example, according to
Ministry of Public Health's statistics, annual 2500000 people of new cases, dead about 1,500,000 people, in survivor the patient of about 70%-80% there are
Different degrees of deformity, there are long-term dyskinesia.According to incompletely statistics, the hemiplegic patient caused by China only cerebral apoplexy is just
Account for 3 ‰~the 10 ‰ of national population.If being calculated by 1,300,000,000 population of China, the number of hemiplegic patient will be up to 3,900,000~
13000000.In addition to a large amount of paralytic of aging bring, fetus or the non-progressive cerebral injury institute of infant's brain in development
Fortune dynamic posture development permanent impairment, that is, brain paralysis patient of cause is also not within minority.The disease incidence of brain paralysis is worldwide about
It is 1.5 ‰~4 ‰, averagely about 2 ‰.China's Their Incidence of Cerebral Palsy rate is about 1.8 ‰~4 ‰.Regardless of brain paralysis or apoplexy, with me
The continuous development of state's science and technology, more and more patients have obtained timely treating, but most of patient can be along with upper
The sequelae such as lower extremity motor function obstacle.At the same time, with the rapid development of world economy, the rapid increasing of transport facility
Long, hemiplegic patient's number due to caused by traffic accident is also in rise year by year trend.Therefore, allow hemiplegia, patients with cerebral palsy again
Self care ability is obtained, the quality of life of sufferers themselves is improved, the pressure mitigated on family numbers of patients body and mind is very urgent.
But the rehabilitation training of lower extremity motor function is often paid attention in clinical rehabilitation treatment, to upper extremity function and hand function
Rehabilitation training is paid attention to insufficient, and rehabilitation training conventional at present is carried out by hand with medical staff, and the rehabilitation of upper extremity function
Treatment needs to carry out more finer rehabilitation trainings.However, traditional rehabilitation mode is mainly doctor for patient's progress " one
To one " even the less important work therapy of " many-one ", this is both time-consuming, laborious, and spends greatly, and average family is difficult to bear.In addition,
Wearable ectoskeleton is that one kind can be through with patient, and auxiliary patient carries out the rehabilitation accessory of rehabilitation training, and current state
Inside and outside also there are many upper limb exoskeleton robot products, but these active equipment average physiques are huge, involve great expense, common people
It does not consume, due to these features, such product is usually used in large-scale public medical mechanism, and popularity is not high.
Utility model content
The utility model is to carry out to solve the above-mentioned problems, and it is an object of the present invention to provide a kind of upper limb exoskeleton device.
The utility model provides a kind of upper limb exoskeleton device, is mounted on wheelchair, is used to help with upper and lower extremities function
The patient of energy obstacle carries out upper extremity exercise and active training, has the feature that, comprising: connection supporting mechanism, for connecting
Wheelchair and the upper limb ectoskeleton for supporting patient, including be fixed on wheelchair wheelchair fixed link, be set in the wheelchair fixed link
And the first wheelchair locking of the horizontal seat mount for clamping wheelchair presss from both sides, is mounted on wheelchair fixed link by wheelchair locking folder
Support frame, being locked by single head folder installation stayed pole on the support frame and connect with the stayed pole and is used to clamp wheelchair
The single head of back frame locks folder；Shoulder mobility mechanism, for allowing patient to carry out shoulder joint exercise motion, including slideably
The rotation for being arranged support plate on the support frame, being installed in rotation on by wing nut and corresponding bolt in support plate
It part, the upper arm supporting element being hinged on revolving part by spring rod set and movable pole cap and is connected by a snap in upper arm supporting element
On upper arm shaft part, drive the shoulder joint of patient to carry out stretching motion of taking down the exhibits when revolving part and upper arm supporting element rotate；Elbow closes
Save movable device, for allowing patient to carry out elbow joint exercise motion, including the upper arm fixing piece that is set on upper arm shaft part and
Two sides are connected to the forearm fixing piece on upper arm fixing piece by upper elbow joint connector and lower elbow joint connector respectively；And
Wrist joints moving mechanism, for allowing patient to carry out wrist joint exercise motion, including sequentially connected holding, flexural spring, forearm
Adjusting rod and forearm supporting element, the forearm supporting element are connect with forearm fixing piece, wherein are provided with spring on upper arm supporting element
Bar is arranged with compressed spring on the spring lever, which is used for when patient carries out elbow joint exercise motion to patient's
Upper arm gives gravity compensation, and setting is there are two the first cylindrical boss on forearm supporting element, and there are two for setting on forearm fixing piece
Two cylindrical boss are provided with rubber band between the first cylindrical boss and the second cylindrical boss, which is used to carry out in patient
Gravity compensation is given to the forearm of patient when wrist joint exercise motion.
In upper limb exoskeleton device provided by the utility model, it can also have the following features: wherein, support frame
Lower part is additionally provided with the second wheelchair locking folder and third wheelchair locking folder of the vertical seat mount for clamping wheelchair.
In upper limb exoskeleton device provided by the utility model, it can also have the following features: wherein, support plate exists
Multiple threaded holes are provided on the position of support frame, are provided with bolt in each threaded hole, the bolt-through threaded hole
And fixed by corresponding nut, enable support plate by adjusting the distance between screw bolt and nut to support plate in support frame
On position and height be adjusted.
In upper limb exoskeleton device provided by the utility model, it can also have the following features: wherein, upper arm is fixed
Axis hole is provided on part, upper arm shaft part passes through axis hole and is mounted on upper arm fixing piece by stop nut, so that patient
Upper arm can be rotated around upper arm shaft part, be stretched so that the elbow joint of patient can carry out bending in multiple planes
Exhibition movement.
It in upper limb exoskeleton device provided by the utility model, can also have the following features: wherein, upper elbow joint
One end of connector and lower elbow joint connector passes through screw and connect with forearm fixing piece, and upper elbow joint connector and lower elbow close
The other end of section connector passes through rivet and connect with upper arm fixing piece so that forearm fixing piece can around rivet axis into
Row rotation, so that the elbow joint of patient is able to carry out bending stretching routine.
In upper limb exoskeleton device provided by the utility model, it can also have the following features: wherein, upper arm is fixed
The angled fan groove for being 230 °, upper elbow joint connector are set on the position on part centered on the matched rivet hole of rivet
With the fan-shaped boss that the rotational angle that matches with fan groove is provided on lower elbow joint connector is 90 ° so that forearm is fixed
Movement angle between part and upper arm fixing piece is restricted, so that the activity point of view of the elbow joint of patient is 0~140 °.
It in upper limb exoskeleton device provided by the utility model, can also have the following features: wherein, forearm support
It is fixed by snap between part and forearm adjusting rod, sliding slot is provided on forearm supporting element, forearm adjusting rod is adjusted by sliding slot
The distance away from forearm fixing piece is held, allows the patient to hold and holds and wrist joint is allowed to carry out bending stretching routine.
It in upper limb exoskeleton device provided by the utility model, can also have the following features: wherein, two second
Cylindrical boss in up and down it is symmetrical, when upper arm fixing piece around upper arm shaft part rotate 180 ° after, enable rubber band by lower section
Second cylindrical boss shifts in the second cylindrical boss of top, so that the patient of the other side can use upper limb exoskeleton device.
The action and effect of utility model
A kind of upper limb exoskeleton device according to involved in the utility model, because using the first wheelchair locking folder and list
Head locking folder, so that wheelchair is capable of fixing in the upper limb exoskeleton device.Due to using rotatable revolving part and upper arm
Supporting element, so that driving the shoulder joint of patient to carry out stretching motion of taking down the exhibits when revolving part and upper arm supporting element rotate.On because
It is attached between arm fixing piece and forearm fixing piece using upper elbow joint connector and lower elbow joint connector, convenient for allowing patient
Carry out elbow joint exercise motion.Because using flexural spring, the tractive force of the flexural spring enables to the hand convulsion of patient
Contraction symptom mitigates.Because being provided with spring lever on upper arm supporting element, it is arranged with compressed spring on the spring lever, is convenient for the compression bullet
Spring gives gravity compensation to the upper arm of patient when patient carries out elbow joint exercise motion, fills so as to allow the upper arm of patient to take exercise
Point.Because of the first cylindrical boss there are two being arranged on forearm supporting element, the second cylindrical boss there are two settings on forearm fixing piece,
It is provided with rubber band between first cylindrical boss and the second cylindrical boss, wrist joint is carried out in patient convenient for the rubber band and tempers fortune
Gravity compensation is given to the forearm of patient when dynamic, so that the forearm of patient can take exercise sufficiently.So the utility model
The feature that upper limb exoskeleton device has structure simple, small in size and at low cost can be dropped in the case where providing gravity compensation
Low upper limb moving obstacle helps brain paralysis, Patients with Apoplexy Sequela to carry out daily upper limb activity, assists its rehabilitation training of upper limbs, promote
Into the recovery of patient's upper extremity function.
Detailed description of the invention
Fig. 1 is the structural schematic diagram in the embodiments of the present invention for the upper limb exoskeleton device on wheelchair；
Fig. 2 is the structural schematic diagram of shoulder mobility mechanism in the embodiments of the present invention；
Fig. 3 is the structural schematic diagram of exercising elbow joint mechanism in the embodiments of the present invention；
Fig. 4 is the structural schematic diagram of wrist joints moving mechanism in the embodiments of the present invention；
Fig. 5 is the structural schematic diagram (one) of gravity compensation in the embodiments of the present invention；
Fig. 6 is the structural schematic diagram (two) of gravity compensation in the embodiments of the present invention.
Specific embodiment
In order to be easy to understand technological means of the utility model and effect, with reference to embodiments and attached drawing
The utility model is specifically addressed.
<embodiment>
Fig. 1 is the structural schematic diagram in the embodiments of the present invention for the upper limb exoskeleton device on wheelchair.
As shown in Figure 1, the upper limb exoskeleton device 100 in the present embodiment is mounted on wheelchair 1, it is used to help have up and down
The patient of limb dysfunction carries out upper extremity exercise and active training, comprising: connection supporting mechanism 10, shoulder mobility mechanism 20,
Exercising elbow joint mechanism 30, wrist joints moving mechanism 40 and gravity compensation 50.
As shown in Figure 1, connection supporting mechanism 10 is used to connect wheelchair 1 and supports the upper limb ectoskeleton of patient, including wheelchair
Fixed link 11, the first wheelchair locking folder 12, support frame 13, wheelchair locking folder the 14, second wheelchair locking folder 15, third wheelchair locking
Folder 16, stayed pole 17, single head locking folder 18 and single head locking folder 19.
Wheelchair fixed link 11 is for fixing wheelchair 1.
First wheelchair locking folder 12 is set in the horizontal seat mount in the wheelchair fixed link 11 and for clamping wheelchair 1.
Support frame 13 is mounted in wheelchair fixed link 11 by wheelchair locking folder 14.
The lower part of support frame 13 is arranged in second wheelchair locking folder 15 and third wheelchair locking folder 16, for clamping wheelchair 1
Vertical seat mount.
Stayed pole 17 is mounted on support frame 13 by single head locking folder 18.
Single head locking folder 19 is connect with the stayed pole 17, for clamping the back frame of wheelchair 1.
Fig. 2 is the structural schematic diagram of shoulder mobility mechanism in the embodiments of the present invention.
As depicted in figs. 1 and 2, shoulder mobility mechanism 20 is for allowing patient to carry out shoulder joint exercise motion, including support
Disk 21, revolving part 22, upper arm supporting element 23, spring rod set 24, movable pole cap 25, upper arm shaft part 26 and buckle 27.
Support plate 21 is slidably sleeved on the top of support frame 13, and support plate 21 is set on the position close to support frame 13
Multiple threaded holes are equipped with, are provided with bolt in each threaded hole, which is simultaneously fixed by corresponding nut, makes
Support plate 21 can be by adjusting the distance between screw bolt and nut to position of the support plate 21 on support frame 13 and height
It is adjusted.
Revolving part 22 is installed in rotation in support plate 21 by wing nut 221 and corresponding bolt.
Upper arm supporting element 23 is hinged on revolving part 22 by spring rod set 24 and movable pole cap 25.
Upper arm shaft part 26 is connected on upper arm supporting element 23 by buckle 27.
Revolving part 22 and upper arm supporting element 23 drive the shoulder joint of patient to carry out stretching motion of taking down the exhibits when rotating.
Fig. 3 is the structural schematic diagram of exercising elbow joint mechanism in the embodiments of the present invention.
As shown in figures 1 and 3, exercising elbow joint mechanism 30 is for allowing patient to carry out elbow joint exercise motion, including upper arm
Fixing piece 31, stop nut 32, forearm fixing piece 33, upper elbow joint connector 34 and lower elbow joint connector 35.
As shown in Figures 2 and 3, upper arm fixing piece 31 is 230 ° of fan groove equipped with angle, is arranged on upper arm fixing piece 31
There is axis hole, upper arm shaft part 26 passes through axis hole and is mounted on upper arm fixing piece 31 by stop nut 32, so that patient's is upper
Arm can be rotated around upper arm shaft part 26, so that elbow joint can carry out bending stretching, extension fortune in multiple planes
It is dynamic.
In the second symmetrical up and down cylindrical boss 331, upper arm fixing piece there are two being respectively provided on forearm fixing piece 33
31 two sides are connected on upper arm fixing piece 31 by upper elbow joint connector 33 and lower elbow joint connector 34 respectively.
One end of upper elbow joint connector 34 and lower elbow joint connector 35 passes through screw and connect with forearm fixing piece 33,
The other end of upper elbow joint connector 34 and lower elbow joint connector 35 passes through rivet and upper arm fixing piece 31 rivets, to make
Obtaining forearm fixing piece 33 can be rotated around the axis of screw, so that the elbow joint of patient is able to carry out bending stretching, extension fortune
It is dynamic.
Turn matched with upper arm fixing piece 31 is provided on upper elbow joint connector 34 and lower elbow joint connector 35
The fan-shaped boss 341 and fan-shaped boss 351 that dynamic angle is 90 °, so that the fortune between forearm fixing piece 33 and upper arm fixing piece 31
Dynamic angle is restricted, so that the activity point of view of the elbow joint of patient is 0~140 °.
Fig. 4 is the structural schematic diagram of wrist joints moving mechanism in the embodiments of the present invention.
As shown in Figure 1 and Figure 4, wrist joints moving mechanism 40 is used to that patient to be allowed to carry out wrist joint exercise motion, including successively
Holding 41, flexural spring 42, forearm adjusting rod 43 and the forearm supporting element 44 of connection.
The setting of flexural spring 42 is being held between 41 and forearm adjusting rod 43, can provide resistance in wrist joint bending motion
Power tempers the muscular strength of patient when patient has certain muscular strength.
Sliding slot (not shown) and two the first cylindrical boss 441, forearm support are provided on forearm supporting element 44
The bottom of part 44 is connect with forearm fixing piece 33.
The bottom of forearm adjusting rod 43 is adjusted by sliding slot and holds 41 distances away from forearm fixing piece 33, and buckle is then passed through
Fixed forearm adjusting rod 43 and forearm supporting element 44 allow the patient to hold holding 41 and wrist joint are allowed to carry out bending stretching, extension fortune
It is dynamic.
As shown in figure 4, forearm adjusting rod 43 can be separated with forearm supporting element 44, avoid to patient's routine hand activity
Interference.Forearm adjusting rod 43 is there are two types of there is inserted mode, and since it is strapped on the outside of forearm, 1. mode can be convenient hand and grab
It holds, 2. mode can cooperate 20-30 ° of wrist joint dorsiflex.
Fig. 5 is the structural schematic diagram (one) of gravity compensation in the embodiments of the present invention, and Fig. 6 is the utility model
Embodiment in gravity compensation structural schematic diagram (two).
As shown in Figure 5 and Figure 6, gravity compensation 50 includes spring lever 51, compressed spring 52 and rubber band 53.
Spring lever 51 is arranged on upper arm supporting element 23, and compressed spring is set on 52 spring levers 51, the compressed spring
52 for giving gravity compensation to the upper arm of patient when patient carries out elbow joint exercise motion.
Rubber band 53 is arranged between second cylindrical boss 331 and first cylindrical boss 441, the rubber band
53 for giving gravity compensation to the forearm of patient when patient carries out wrist joint exercise motion.
The course of work of upper limb exoskeleton device 100 is as follows in the present embodiment:
Upper limb exoskeleton device 100 is passed through into the first wheelchair locking folder the 12, second wheelchair locking folder 15 and third wheelchair lock
Folder 16 is held to be connected on wheelchair 1.
After patient with upper and lower extremities dysfunction sits into wheelchair 1, related personnel assists will be by shoulder mobility mechanism
20,100 bondage of upper limb exoskeleton device that exercising elbow joint mechanism 30 and wrist joints moving mechanism 40 form is in the Ipsilateral of patient
On arm, enables the hand of patient to hold holding 41 and the elbow joint of patient is located at forearm fixing piece 33 and upper arm fixing piece 31
Between, so that patient can cooperate with upper limb exoskeleton device 100 to carry out under the gravity compensation of gravity compensation 50
Limb reconditioning, and then help patient's early recovery.
In addition, patient can pass through separation forearm adjusting rod 43 and forearm branch when auxiliary patient carries out daily upper limb activity
Wrist joints moving mechanism from removal in upper limb exoskeleton device 100, is avoided the part for the dry of hand activities by support member 44
It disturbs, further increases device practicability.
The action and effect of embodiment
A kind of upper limb exoskeleton device according to involved in the present embodiment, because using the first wheelchair locking folder and single head
Locking folder, so that wheelchair is capable of fixing in the upper limb exoskeleton device.Due to using rotatable revolving part and upper arm branch
Support member, so that driving the shoulder joint of patient to carry out stretching motion of taking down the exhibits when revolving part and upper arm supporting element rotate.Because of upper arm
Be attached between fixing piece and forearm fixing piece using upper elbow joint connector and lower elbow joint connector, convenient for allow patient into
Row elbow joint exercise motion.Because using flexural spring, the tractive force of the flexural spring enables to the cramps in hands of patient
Symptom mitigates.Because being provided with spring lever on upper arm supporting element, it is arranged with compressed spring on the spring lever, is convenient for the compressed spring
Gravity compensation is given to the upper arm of patient when patient carries out elbow joint exercise motion, is filled so as to allow the upper arm of patient to take exercise
Point.Because of the first cylindrical boss there are two being arranged on forearm supporting element, the second cylindrical boss there are two settings on forearm fixing piece,
It is provided with rubber band between first cylindrical boss and the second cylindrical boss, wrist joint is carried out in patient convenient for the rubber band and tempers fortune
Gravity compensation is given to the forearm of patient when dynamic, so that the forearm of patient can take exercise sufficiently.
The lower part of support frame is additionally provided with the second wheelchair locking folder and third of the vertical seat mount for clamping wheelchair
Wheelchair locking folder, enable wheelchair by steadily be fixed on connection supporting mechanism on.
Support plate is provided with multiple threaded holes on the position close to support frame, is provided with bolt in each threaded hole,
The bolt-through threaded hole is simultaneously fixed by corresponding nut, enables support plate by adjusting the distance between screw bolt and nut
The position of support plate on the support frame and height are adjusted.
Axis hole is provided on upper arm fixing piece, upper arm shaft part passes through axis hole and is mounted on upper arm by stop nut and fixes
On part, the upper arm of patient is rotated around upper arm shaft part, so that elbow joint can be in multiple planes
Carry out bending stretching routine.
One end of upper elbow joint connector and lower elbow joint connector passes through screw and connect with forearm fixing piece, and upper elbow closes
The other end of section connector and lower elbow joint connector passes through rivet and upper arm fixing piece and rivets, enable forearm fixing piece around
The axis of rivet is rotated, so that the elbow joint of patient is able to carry out bending stretching routine.
Position on upper arm fixing piece centered on the matched rivet hole of rivet is equipped with fan groove, upper elbow joint connection
Part and lower elbow joint connector are equipped with the fan-shaped boss matched with fan groove so that forearm fixing piece and upper arm fixing piece it
Between movement angle be restricted so that the activity point of view of the elbow joint of patient be 0~140 °.
It is fixed by snap between forearm supporting element and forearm adjusting rod, sliding slot, forearm tune are provided on forearm supporting element
Pole is adjusted by sliding slot and holds the distance away from forearm fixing piece, is allowed the patient to hold and is held and wrist joint is allowed to be bent
Stretching routine.
Two the second cylindrical boss after upper arm fixing piece rotates 180 ° around upper arm shaft part, make in symmetrical up and down
Obtaining rubber band can be shifted to by the second cylindrical boss of lower section in the second cylindrical boss of top, can use upper limb convenient for the patient of the other side
Exoskeleton device.
Therefore, the feature that the upper limb exoskeleton device of the utility model has structure simple, small in size and at low cost, can
In the case where providing gravity compensation, upper limb moving obstacle is reduced, helps brain paralysis, Patients with Apoplexy Sequela to carry out daily upper limb and lives
It is dynamic, its rehabilitation training of upper limbs is assisted, the recovery of patient's upper extremity function is promoted.
Claims (8)
1. a kind of upper limb exoskeleton device, is mounted on wheelchair, it is used to help have the patient of upper and lower extremities dysfunction to carry out
Limb movement and active training characterized by comprising
Supporting mechanism is connected, for connecting the wheelchair and support the upper limb ectoskeleton of the patient, including is fixed on the wheel
The first round of wheelchair fixed link, the horizontal seat mount for being set in the wheelchair fixed link and being used to clamp the wheelchair on chair
Chair locking folder, the support frame being mounted in the wheelchair fixed link by wheelchair locking folder are mounted on institute by single head locking folder
It states the stayed pole on support frame and connect and be used to clamp the single head locking folder of the back frame of the wheelchair with the stayed pole；
Shoulder mobility mechanism for allowing the patient to carry out shoulder joint exercise motion, including is slidably sleeved on the branch
It is support plate on support, the revolving part being installed in rotation on by wing nut and corresponding bolt in the support plate, logical
Cross the upper arm supporting element and be connected by a snap in the upper arm branch that spring rod set is hinged on the revolving part with movable pole cap
Upper arm shaft part in support member, the revolving part and the upper arm supporting element drive the shoulder joint of the patient to receive when rotating
Open up stretching motion；
Exercising elbow joint mechanism for allowing the patient to carry out elbow joint exercise motion, including is set in the upper arm shaft part
On upper arm fixing piece and two sides the upper arm be connected to by upper elbow joint connector and lower elbow joint connector respectively fix
Forearm fixing piece on part；And
Wrist joints moving mechanism, for allowing the patient to carry out wrist joint exercise motion, including sequentially connected holding, bending bullet
Spring, forearm adjusting rod and forearm supporting element, the forearm supporting element are connect with the forearm fixing piece,
Wherein, it is provided with spring lever on the upper arm supporting element, is arranged with compressed spring on the spring lever, which is used for
Gravity compensation is given to the upper arm of the patient when the patient carries out elbow joint exercise motion,
Setting is there are two the first cylindrical boss on the forearm supporting element, and there are two the second columns for setting on the forearm fixing piece
Boss is provided with rubber band between first cylindrical boss and second cylindrical boss, which is used in the trouble
Gravity compensation is given to the forearm of the patient when person carries out wrist joint exercise motion.
2. upper limb exoskeleton device according to claim 1, it is characterised in that:
Wherein, the lower part of support frame as described above is additionally provided with the second wheelchair locking of the vertical seat mount for clamping the wheelchair
Folder and third wheelchair locking folder.
3. upper limb exoskeleton device according to claim 1, it is characterised in that:
Wherein, the support plate is provided with multiple threaded holes on the position close to support frame as described above, sets in each threaded hole
It is equipped with bolt, threaded hole described in the bolt-through is simultaneously fixed by corresponding nut, enables the support plate by adjusting institute
The distance between bolt and the nut is stated position of the support plate on support frame as described above is adjusted with height.
4. upper limb exoskeleton device according to claim 1, it is characterised in that:
Wherein, axis hole is provided on the upper arm fixing piece, the upper arm shaft part passes through the axis hole and passes through stop nut
It is mounted on the upper arm fixing piece, the upper arm of the patient is rotated around the upper arm shaft part, thus
The elbow joint of the patient is enabled to carry out bending stretching routine in multiple planes.
5. upper limb exoskeleton device according to claim 1, it is characterised in that:
Wherein, one end of the upper elbow joint connector and the lower elbow joint connector passes through screw and fixes with the forearm
The other end of part connection, the upper elbow joint connector and the lower elbow joint connector passes through rivet to be fixed with the upper arm
Part connection, so that the forearm fixing piece can be rotated around the axis of the rivet, so that the elbow of the patient
Joint is able to carry out bending stretching routine.
6. upper limb exoskeleton device according to claim 1, it is characterised in that:
Wherein, being arranged angled on the position on the upper arm fixing piece centered on the matched rivet hole of rivet is 230 °
The rotational angle matched with the fan groove is provided on fan groove, upper elbow joint connector and the lower elbow joint connector
For 90 ° of fan-shaped boss, so that the movement angle between the forearm fixing piece and the upper arm fixing piece is restricted, thus
So that the activity point of view of the elbow joint of the patient is 0~140 °.
7. upper limb exoskeleton device according to claim 1, it is characterised in that:
Wherein, fixed by snap between the forearm supporting element and the forearm adjusting rod, it is arranged on the forearm supporting element
There is sliding slot, the forearm adjusting rod adjusts the distance of the holding away from the forearm fixing piece by the sliding slot, so that described
Patient can hold the holding and wrist joint is allowed to carry out bending stretching routine.
8. upper limb exoskeleton device according to claim 1, it is characterised in that:
Wherein, two second cylindrical boss are in symmetrical up and down, when the upper arm fixing piece is around the upper arm shaft part
After 180 ° of rotation, the rubber band is shifted in second cylindrical boss of top by lower section second cylindrical boss,
So that the patient of the other side can use the upper limb exoskeleton device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720898207.4U CN208511448U (en) | 2017-07-24 | 2017-07-24 | A kind of upper limb exoskeleton device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720898207.4U CN208511448U (en) | 2017-07-24 | 2017-07-24 | A kind of upper limb exoskeleton device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208511448U true CN208511448U (en) | 2019-02-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720898207.4U Expired - Fee Related CN208511448U (en) | 2017-07-24 | 2017-07-24 | A kind of upper limb exoskeleton device |
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| Country | Link |
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| CN (1) | CN208511448U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107334602A (en) * | 2017-07-24 | 2017-11-10 | 上海理工大学 | A kind of upper limbs exoskeleton device |
-
2017
- 2017-07-24 CN CN201720898207.4U patent/CN208511448U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107334602A (en) * | 2017-07-24 | 2017-11-10 | 上海理工大学 | A kind of upper limbs exoskeleton device |
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Granted publication date: 20190219 Termination date: 20200724 |