CN210250466U - Terminal execution device of upper limb rehabilitation robot - Google Patents
Terminal execution device of upper limb rehabilitation robot Download PDFInfo
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- CN210250466U CN210250466U CN201821873972.1U CN201821873972U CN210250466U CN 210250466 U CN210250466 U CN 210250466U CN 201821873972 U CN201821873972 U CN 201821873972U CN 210250466 U CN210250466 U CN 210250466U
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- tail end
- arm
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- inner ring
- upper limb
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Abstract
The utility model discloses a terminal executing device of an upper limb rehabilitation robot, which comprises a terminal outer ring; the tail end inner ring is coaxially and rotatably arranged in the inner hole of the tail end outer ring; and the inflatable arm contact ring is fixedly arranged in the inner hole of the tail end inner ring and can synchronously rotate along with the tail end inner ring. The utility model is applied to the connection of the arm in the rehabilitation process of the upper limb rehabilitation robot, the inflatable arm contact ring can be suitable for patients with different arm diameter parameters, and the flexible contact prevents the end effector from damaging the arm; the inner ring and the outer ring can rotate relatively, so that the posture of the arm can be adjusted conveniently, secondary injury caused by axial deformity of the arm can be prevented, and the rehabilitation purpose that the upper limb is convenient to wear, comfortable to contact and more personalized to adjust in the rehabilitation process is achieved.
Description
Technical Field
The utility model relates to a human recovered field, concretely relates to end effector of recovered robot of upper limbs.
Background
With the improvement of living standard, the proportion of aging population is continuously increased. The stroke is a high morbidity of the old, and the daily life of a patient is greatly influenced by hemiplegia caused by the stroke. Through the systematic and scientific training of the upper limb rehabilitation robot, the limb movement range, the muscle strength, the flexibility and the like of the affected side of the hemiplegic patient can be recovered to some extent, and the daily life capacity is improved. The rehabilitation robot end effector plays the intermediate junction effect of arm and arm, needs to drive patient's upper limbs to move according to certain orbit at the recovered in-process. This requires that the end effector and arm be unable to move relative to each other and that the patient's arm be comfortable. The arm is required to be capable of rotating relative to the tail end during movement due to the constraint of the arm. The patient's age, condition, and parameters of the limbs are different, and the size of the contact area between the end and the arm is required to be changed accordingly. At present, there is no universal rehabilitation robot end effector for different patients with methods or devices similar to the present invention.
SUMMERY OF THE UTILITY MODEL
In view of this, in order to solve the above-mentioned problems in the prior art, the utility model provides an end effector of upper limbs rehabilitation robot, utilize the inflation adjustment of inflatable arm ring and the relative rotation of inner circle and outer lane, realize the dynamic adjustment of the end effector that patient's arm parameter is different and arm spin angle is different. The device is particularly suitable for rehabilitation which is more convenient to wear, more comfortable to contact and more personalized to adjust in the rehabilitation process of the upper limb rehabilitation robot.
In order to achieve the above object, the technical solution of the present invention is as follows.
An end effector of upper limb rehabilitation robot comprises
A terminal outer ring;
the tail end inner ring is coaxially and rotatably arranged in the inner hole of the tail end outer ring;
and the inflatable arm contact ring is fixedly arranged in the inner hole of the tail end inner ring and can synchronously rotate along with the tail end inner ring.
Further, the tail end outer ring comprises a semicircular tail end outer ring upper half part and a semicircular tail end outer ring lower half part which are detachably connected.
Furthermore, one end of the upper half part of the tail end outer ring and one end of the lower half part of the tail end outer ring are movably connected through a hinge, and the other ends of the upper half part and the lower half part of the tail end outer ring are connected in an inserting mode through replaceable buckles, so that the tail end outer ring is convenient to disassemble.
Further, the terminal inner ring comprises a semicircular terminal inner ring upper half part and a terminal inner ring lower half part which are detachably connected.
Furthermore, one end of the tail end inner ring upper half part and one end of the tail end inner ring lower half part are movably connected through a hinge, and the other ends are connected in an inserting mode through a replaceable buckle, so that the tail end inner ring is convenient to disassemble.
Furthermore, the peripheral wall of the inflatable arm contact ring is fixed on the inner hole wall of the tail end inner ring.
Furthermore, the inner peripheral wall of the inflatable arm contact ring is provided with a large-friction-coefficient cloth for preventing the relative change of the connecting positions of the arm and the mechanical arm.
Further, the terminal outer ring is provided with an annular hollow part for reducing the self weight in the center along the axial direction.
Further, a flange used for connecting a mechanical arm is arranged on the upper half part of the inner circle of the tail end.
Compared with the prior art, the utility model has the advantages of as follows and technological effect:
the utility model discloses can improve end effector's application scope greatly, can provide another rotatory degree of freedom except that the arm and do benefit to the comfortable adjustment of arm gesture, prevent relative movement with arm skin contact better, better local just wears to improve the possibility that recovered efficiency reduces recovered in-process secondary injury, whole device compact structure, occupation space is few.
Drawings
Fig. 1 is a schematic structural view of an end effector of an upper limb rehabilitation robot according to an embodiment of the present invention.
Fig. 1 includes: 1-terminal outer upper half; 2-inflatable arm contact ring; 3-the lower half of the outer ring at the tail end; 4-terminal inner upper half; 5-replaceable buckle; 6-end inner circle lower half.
Detailed Description
The present invention will be further described with reference to the following specific examples, but is not limited thereto.
FIG. 1 shows an end effector of an upper limb rehabilitation robot, comprising
A terminal outer ring;
the tail end inner ring is coaxially and rotatably arranged in the inner hole of the tail end outer ring, namely the tail end inner ring can relatively and coaxially rotate in the inner hole of the tail end outer ring but cannot axially move;
the inflatable arm contact ring 2 is fixedly arranged in the inner hole of the tail end inner ring and can synchronously rotate along with the tail end inner ring, and the peripheral wall of the inflatable arm contact ring 2 is fixed on the inner hole wall of the tail end inner ring.
In a possible embodiment of the present invention, the terminal outer ring includes a semi-circular terminal outer ring upper half 1 and a terminal outer ring lower half 3 which are detachably connected. The one end of terminal outer lane first half 1 and terminal outer lane lower half 3 passes through hinge swing joint, and the other end is pegged graft mutually through the alternative buckle, conveniently dismantles.
In a possible embodiment of the present invention, the end inner ring includes a semicircular end inner ring upper half 4 and an end inner ring lower half 6 which are detachably connected. One end of the tail end inner ring upper half part 4 and one end of the tail end inner ring lower half part 6 are movably connected through a hinge, and the other ends are inserted and connected through an alternative buckle, so that the tail end inner ring is convenient to disassemble.
In a possible embodiment of the present invention, the inner peripheral wall of the inflatable arm contact ring 2 is provided with a cloth with a large friction coefficient for preventing the relative change of the connecting position between the arm and the mechanical arm.
In a possible embodiment of the present invention, the terminal outer ring is provided with an annular hollow portion for reducing the self-weight centrally in the axial direction, and the terminal inner ring upper half portion 4 is provided with a flange for connecting a mechanical arm.
The end-effector of the upper limb rehabilitation robot in the above embodiment can be well used in the rehabilitation process, when the arm is driven by the mechanical arm to perform arm rehabilitation, the end-effector is required to drive the arm on the affected side to move, the connection position between the mechanical arm and the arm is required to be unchanged, but the arm diameter parameters of the patient are different, and the adjustability of the end-effector is strictly required. And the contact position needs to generate certain deformation so as to avoid secondary injury caused by the generation of larger pressure under the drive of the mechanical arm due to factors such as antagonism of the affected side and the like. Because the shoulder and other human self-restraint of the arm in-process is driven to the arm at the arm drive arm and carry out the in-process of recovered action, the arm can have the spin of arm in the axis direction, if the arm can't change at the angle of axis direction for the end, will appear the axial distortion position of arm, will influence recovered effect greatly and cause secondary damage even.
The inflatable arm contact ring 2 is adopted in the embodiment, the outer peripheral wall of the inflatable arm contact ring is connected with the upper half part 4 of the inner ring at the tail end and the lower half part 6 of the inner ring at the tail end, and the size of the inner hole of the inflatable arm contact ring 2 is controlled through the size of inflation quantity, so that the inflatable arm contact ring is suitable for patients with different arm size parameters. The inflatable also has a cushioning protection effect relative to conventional rigid contacts. And the inner peripheral wall of the inflatable arm contact ring 2 is provided with the cloth with large friction coefficient, so that the relative change of the connecting position of the arm and the mechanical arm can be prevented, and the secondary damage caused by dislocation can be prevented.
The tail end inner ring formed by the tail end inner ring upper half part 4 and the tail end inner ring lower half part 6 and the tail end outer ring formed by the tail end outer ring upper half part 1 and the tail end lower outer ring half part 3 can generate relative rotation motion under the driving of the arm, the relative rotation of the tail end inner ring and the tail end outer ring is beneficial to adjusting the posture of the arm, and the influence and secondary damage to the rehabilitation effect due to the occurrence of the axial deviation position of the arm are prevented.
And the tail end outer ring upper half part 1 and the tail end outer ring lower half part 3, and the tail end inner ring upper half part 4 and the tail end inner ring lower half part 6 are connected by hinges and replaceable buckles 5. The disassembly is convenient.
In summary, the utility model is applied to the rehabilitation process of the upper limb rehabilitation robot to connect the arm, the inflatable arm contact ring can be suitable for patients with different arm diameter parameters, and the flexible contact prevents the end effector from damaging the arm; the inner ring and the outer ring can rotate relatively, so that the posture of the arm can be adjusted conveniently, secondary injury caused by axial deformity of the arm can be prevented, and the rehabilitation purpose that the upper limb is convenient to wear, comfortable to contact and more personalized to adjust in the rehabilitation process is achieved.
Variations and modifications to the above-described embodiments may occur to those skilled in the art, in light of the above teachings and teachings. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should fall within the protection scope of the claims of the present invention.
Claims (9)
1. An end effector of an upper limb rehabilitation robot is characterized by comprising
A terminal outer ring;
the tail end inner ring is coaxially and rotatably arranged in the inner hole of the tail end outer ring;
and the inflatable arm contact ring (2) is fixedly arranged in the inner hole of the tail end inner ring and can synchronously rotate along with the tail end inner ring.
2. The end effector of the upper limb rehabilitation robot according to claim 1, characterized in that: the tail end outer ring comprises a semicircular upper half part (1) of the tail end outer ring and a lower half part (3) of the tail end outer ring, which are detachably connected.
3. The end effector of the upper limb rehabilitation robot according to claim 2, characterized in that: one end of the tail end outer ring upper half part (1) and one end of the tail end outer ring lower half part (3) are movably connected through a hinge, and the other ends are connected in an inserted mode through an alternative buckle.
4. The end effector of the upper limb rehabilitation robot according to claim 1, characterized in that: the tail end inner ring comprises a semicircular tail end inner ring upper half part (4) and a tail end inner ring lower half part (6) which are detachably connected.
5. The end effector of the upper limb rehabilitation robot according to claim 4, characterized in that: one end of the tail end inner ring upper half part (4) is movably connected with one end of the tail end inner ring lower half part (6) through a hinge, and the other end of the tail end inner ring upper half part is inserted and connected through a replaceable buckle.
6. The end effector of the upper limb rehabilitation robot according to claim 1, characterized in that: the peripheral wall of the inflatable arm contact ring (2) is fixed on the inner hole wall of the inner ring at the tail end.
7. The end effector of the upper limb rehabilitation robot according to claim 1 or 6, characterized in that: the inner peripheral wall of the inflatable arm contact ring (2) is provided with a large-friction-coefficient cloth for preventing relative change of the connecting positions of the arm and the mechanical arm.
8. The end effector of the upper limb rehabilitation robot according to claim 1, characterized in that: and the tail end outer ring is centrally provided with an annular hollow part for reducing the self weight along the axial direction.
9. The end effector of the upper limb rehabilitation robot according to claim 4, characterized in that: and a flange used for connecting a mechanical arm is arranged on the upper half part (4) of the inner ring of the tail end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821873972.1U CN210250466U (en) | 2018-11-14 | 2018-11-14 | Terminal execution device of upper limb rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821873972.1U CN210250466U (en) | 2018-11-14 | 2018-11-14 | Terminal execution device of upper limb rehabilitation robot |
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| Publication Number | Publication Date |
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| CN210250466U true CN210250466U (en) | 2020-04-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821873972.1U Active CN210250466U (en) | 2018-11-14 | 2018-11-14 | Terminal execution device of upper limb rehabilitation robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109350453A (en) * | 2018-11-14 | 2019-02-19 | 华南理工大学 | A kind of end executive device of upper limb rehabilitation robot |
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2018
- 2018-11-14 CN CN201821873972.1U patent/CN210250466U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109350453A (en) * | 2018-11-14 | 2019-02-19 | 华南理工大学 | A kind of end executive device of upper limb rehabilitation robot |
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