CN211835255U - Joint self-adaptation reduction structure and upper limbs rehabilitation structure - Google Patents
Joint self-adaptation reduction structure and upper limbs rehabilitation structure Download PDFInfo
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- CN211835255U CN211835255U CN201922053608.1U CN201922053608U CN211835255U CN 211835255 U CN211835255 U CN 211835255U CN 201922053608 U CN201922053608 U CN 201922053608U CN 211835255 U CN211835255 U CN 211835255U
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Abstract
The utility model discloses a joint self-adaptive reset structure, which comprises a connecting beam, a first rotating arm and a second rotating arm; one end of the connecting beam is provided with a first connecting shaft and a first limiting structure; the other end of the connecting beam is provided with a second connecting shaft and a second limiting structure; a first limiting piece of the first rotating arm is connected with the first connecting shaft, and a first limiting structure is arranged in a first limiting groove of the first limiting piece; two ends of the first elastic element are respectively connected with the first limiting structure and the first connecting shaft; a second limiting piece of the second rotating arm is connected with the second connecting shaft, and the second limiting structure is arranged in a second limiting groove of the second limiting piece; and two ends of the second elastic element are respectively connected with the second limiting structure and the second connecting shaft. The embodiment of the utility model provides a joint self-adaptation reset structure of automatic re-setting, left and right hands dual-purpose type can realize the function of taking turns of left and right hands treatment among the treatment process well.
Description
Technical Field
The utility model relates to an upper limbs rehabilitation device technical field particularly, relates to a joint self-adaptation reset structure and upper limbs rehabilitation structure.
Background
The theory of nerve remodeling has proven that repetitive exercise and rehabilitation training can restore part or most of the motor functions of a patient, but the repetitive exercise training is very tedious and labor-intensive and inefficient for a therapist, and in order to reduce the work intensity of the therapist, the rehabilitation therapy is generally performed by replacing an artificial model with rehabilitation equipment.
In the existing rehabilitation equipment, as the rehabilitation equipment only aims at the single-hand training of a patient, namely different rehabilitation equipment is needed for the left-hand rehabilitation therapy and the right-hand rehabilitation therapy, great inconvenience is brought to the patient; moreover, most of rehabilitation devices cannot be automatically reset after training, and a therapist is required to manually reset, so that the working intensity of the therapist is increased undoubtedly, and the working efficiency of the therapist is influenced.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome the not enough of prior art, the utility model provides an automatic joint self-adaptation reset structure and upper limbs rehabilitation structure of dual-purpose type of resetting, controlling hand adopts joint self-adaptation reset structure can realize the function by turns of controlling hand treatment among the treatment process well.
Correspondingly, the embodiment of the utility model provides a joint self-adaptation reset structure, joint self-adaptation reset structure includes tie-beam, first swinging boom and second swinging boom;
one end of the connecting beam is hinged with a first connecting shaft, and the top surface of one end of the connecting beam is provided with a first limiting structure; the other end of the connecting beam is hinged with a second connecting shaft, and the top surface of the other end of the connecting beam is provided with a second limiting structure;
one end of the first rotating arm is provided with a first limiting piece connected with the first connecting shaft, and the first limiting structure is arranged in a first limiting groove of the first limiting piece;
a first elastic element is arranged between one end of the connecting beam and the first limiting piece, and two ends of the first elastic element are respectively connected with the first limiting structure and the first connecting shaft;
a second limiting piece connected with the second connecting shaft is arranged at one end of the second rotating arm, and the second limiting structure is arranged in a second limiting groove of the second limiting piece;
a second elastic element is arranged between the other end of the connecting beam and the second limiting part, and two ends of the second elastic element are connected with the second limiting structure and the second connecting shaft respectively.
In an optional implementation manner, the joint self-adaptive reduction structure further includes a sensing assembly, the sensing assembly includes a first angle sensor and a second angle sensor, a sensing shaft of the first angle sensor is connected to the first connecting shaft, and a sensing shaft of the second angle sensor is connected to the second connecting shaft.
In an optional implementation manner, a first cylinder is arranged at one end of the connecting beam, a first stepped through hole is arranged in the first cylinder, and the first stepped through hole comprises a first through hole and a second through hole which are coaxially arranged;
the first limiting piece is a second cylinder, a second stepped through hole is formed in the second cylinder, and the second stepped through hole comprises a third through hole and a fourth through hole which are coaxially arranged;
the bottom end of the first connecting shaft is hinged in the first through hole, the middle part of the first connecting shaft is connected with the third through hole, and the top end of the first connecting shaft is positioned in the fourth through hole; the first angle sensor is fixed in the second through hole;
the other end of the first rotating arm is vertically provided with a movable upright post.
In an optional embodiment, a third cylinder is arranged at the other end of the connecting beam, a third stepped through hole is arranged in the third cylinder, and the third stepped through hole includes a fifth through hole and a sixth through hole which are coaxially arranged;
the second limiting piece is a fourth cylinder, a fourth stepped through hole is formed in the fourth cylinder, and the fourth stepped through hole comprises a seventh through hole and an eighth through hole which are coaxially arranged;
the bottom end of the second connecting shaft is hinged in the fifth through hole, the middle part of the second connecting shaft is connected with the seventh through hole, and the top end of the second connecting shaft is positioned in the eighth through hole; the second angle sensor is fixed in the sixth through hole;
and the other end of the second rotating arm is vertically provided with a fixed upright post.
In an optional embodiment, the first limiting groove is disposed at the bottom of the second cylinder, the first limiting structure is a first limiting pin adapted to the first limiting groove, and the first limiting pin is disposed on the top surface of the first cylinder;
the second limiting groove is formed in the bottom of the fourth cylinder, the second limiting structure is a second limiting pin matched with the second limiting groove, and the second limiting pin is arranged on the top surface of the third cylinder.
In an optional implementation manner, a first bearing and a second bearing are sequentially connected to the bottom end of the first connecting shaft, and the bottom end of the first connecting shaft is hinged in the first through hole based on the first bearing and the second bearing;
the bottom of second connecting axle has connected gradually third bearing and fourth bearing, the bottom of second connecting axle is based on the third bearing with the fourth bearing articulates in the fifth through-hole.
In an optional embodiment, the top end of the first connecting shaft is a first threaded connecting section, and a first locking nut is connected to the first threaded connecting section;
the top end of the second connecting shaft is a second threaded connecting section, and a second locking nut is connected to the second threaded connecting section.
In an alternative embodiment, the movable post comprises a first side surface, the fixed post comprises a second side surface, and the first side surface and the second side surface are coplanar when the adaptive reduction of joints structure is in the initial state, wherein:
the joint self-adaptive resetting structure further comprises an upright post connecting frame, one end of the upright post connecting frame is hinged to the second side face, and an upright post connecting hook is arranged at the other end of the upright post connecting frame;
the first side surface is provided with an upright post connecting ball matched with the upright post connecting hook.
Additionally, the embodiment of the utility model provides a recovered structure of upper limbs is still provided, recovered structure of upper limbs includes foretell joint self-adaptation reset structure and wrist joint combination sensor device, wrist joint combination sensor device with joint self-adaptation reset structure's activity stand is articulated.
In an optional implementation manner, a third angle sensor is fixed to the second side surface of the fixed upright, and a sensing shaft of the third angle sensor is connected with the fixed upright.
The embodiment of the utility model provides a joint self-adaptive reduction structure and an upper limb rehabilitation structure, which can simultaneously meet the rehabilitation treatment of left and right hands so as to realize the alternate function of left and right hand treatment and have good applicability; moreover, after the rehabilitation treatment is completed, the automatic reset of the joint self-adaptive reset structure can be realized without manual operation, and the joint self-adaptive reset structure has good practicability.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic three-dimensional structure diagram of a joint self-adaptive reduction structure in an initial state according to an embodiment of the present invention;
fig. 2 is a top view of the self-adaptive joint reduction structure in the initial state according to the embodiment of the present invention;
fig. 3 is an exploded view of a three-dimensional structure of a self-adaptive joint reduction structure in an embodiment of the present invention;
fig. 4 is a three-dimensional structure semi-sectional view of the self-adaptive joint reduction structure in the embodiment of the present invention;
fig. 5 is a schematic three-dimensional structure diagram of the self-adaptive joint reduction structure in the right-hand treatment of the embodiment of the present invention;
fig. 6 is a top view of the self-adaptive joint reduction structure in the right-hand treatment in the embodiment of the present invention;
fig. 7 is a schematic three-dimensional structure diagram of the self-adaptive joint reduction structure in the embodiment of the present invention during left-hand treatment;
fig. 8 is a top view of the self-adaptive reduction structure for joint in the embodiment of the present invention during left-handed treatment;
fig. 9 is a schematic three-dimensional structure diagram of the upper limb rehabilitation structure in the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
Fig. 1 is the three-dimensional structure schematic diagram of joint self-adaptation reset structure under initial condition in the embodiment of the utility model, fig. 2 is the utility model discloses embodiment of the joint self-adaptation reset structure plan view under initial condition, fig. 3 is the utility model discloses embodiment of the three-dimensional structure explosion chart of joint self-adaptation reset structure, fig. 4 is the utility model discloses embodiment of the three-dimensional structure half-cut drawing of joint self-adaptation reset structure.
The embodiment of the utility model provides a joint self-adaptation reset structure, joint self-adaptation reset structure includes tie-beam 1, first swinging boom 2 and second swinging boom 3.
One end of the connecting beam 1 is hinged with a first connecting shaft 11, and the top surface of one end of the connecting beam 1 is provided with a first limiting structure 12; the other end of tie-beam 1 articulates there is second connecting axle 13, just the other end top surface of tie-beam 1 is provided with second limit structure 14.
A first limiting member 21 connected to the first connecting shaft 11 is disposed at one end of the first rotating arm 2, and one end of the first rotating arm 2 is connected to the first connecting shaft 11 based on the first limiting member 21, so as to rotate the first rotating arm 2; moreover, the first limiting structure 12 is embedded in the first limiting groove 211 of the first limiting member 21, and the rotation of the first rotating arm 2 is limited based on the cooperation between the first limiting groove 211 and the first limiting structure 12.
In addition, a first elastic element 41 is arranged between one end of the connecting beam 1 and the first limiting member 21, two ends of the first elastic element 41 are respectively connected with the first limiting structure 12 and the first connecting shaft 11, and the first elastic element 41 is used for realizing automatic reset of the first connecting shaft 11, that is, automatic reset of the first rotating arm 2.
One end of the second rotating arm 3 is provided with a second limiting piece 31 connected with the second connecting shaft 13, and one end of the second rotating arm 3 is connected with the second connecting shaft 13 based on the second limiting piece 31 so as to realize the rotation of the second rotating arm 3; the second limiting structure 14 is disposed in the second limiting groove 311 of the second limiting member 31, and the rotation of the second rotating arm 3 is limited based on the cooperation between the second limiting groove 311 and the second limiting structure 14.
In addition, a second elastic element 42 is arranged between the other end of the connecting beam 1 and the second limiting member 31, two ends of the second elastic element 42 are respectively connected with the second limiting structure 14 and the second connecting shaft 13, and the second elastic element 42 is used for realizing the automatic reset of the second connecting shaft 13, namely, the automatic reset of the second rotating arm 3.
In the embodiment of the present invention, the joint self-adaptive reduction structure further includes a sensing assembly, the sensing assembly includes a first angle sensor 51 and a second angle sensor 52, a sensing shaft of the first angle sensor 51 is connected to the first connecting shaft 11, the first angle sensor 51 obtains a rotation angle of the first connecting shaft 11, a sensing shaft of the second angle sensor 52 is connected to the second connecting shaft 13, and the second angle sensor 52 obtains a rotation angle of the second connecting shaft 13; the motion condition of the patient can be known in real time through the first angle sensor 51 and the second angle sensor 52, so that the rehabilitation condition of the patient can be monitored conveniently.
In order to facilitate the arrangement of the first connecting shaft 11 and the first angle sensor 51, one end of the connecting beam 1 is provided with a first cylinder 61, a first stepped through hole 611 is arranged in the first cylinder 61, and the first stepped through hole 611 includes a first through hole 6111 and a second through hole 6112 which are coaxially arranged; correspondingly, the first limiting part 21 is matched with the first cylinder 61, the first limiting part 21 is a second cylinder 62, a second stepped through hole 621 is arranged in the second cylinder 62, and the second stepped through hole 621 comprises a third through hole 6211 and a fourth through hole 6212 which are coaxially arranged.
The bottom of first connecting axle 11 articulates in first through-hole 6111, first connecting axle 11 articulates the embodiment in first through-hole 6111 can be the multiple the embodiment of the utility model provides an in, the bottom of first connecting axle 11 has connected gradually first bearing 111 and second bearing 112, the bottom of first connecting axle is based on first bearing 111 with second bearing 112 articulates in first through-hole 6111, in order to realize first connecting axle 11 with tie-beam 1's connection.
The middle part of the first connecting shaft 11 is matched with the third through hole 6211, and the middle part of the first connecting shaft 11 is connected with the third through hole 6211, so as to connect the first connecting shaft 11 with the first limiting member 21.
The top of first connecting axle 11 is arranged in fourth through hole 6212 in the embodiment of the utility model provides an, the top of first connecting axle 11 is first threaded connection section, be connected with first lock nut 71 on the first threaded connection section, based on first lock nut 71 is right first connecting axle 11 carries out the axial spacingly, avoids the problem of axial float appears in first connecting axle 11.
The first angle sensor 51 is adapted to the second through hole 6112, the first angle sensor 51 is fixed in the second through hole 6112, and the second through hole 6112 provides a fixed mounting position for the first angle sensor 51.
In addition, the other end of the first rotating arm 2 is provided with a movable upright column 22, and the joint self-adaptive reduction structure is connected with other movable parts based on the movable upright column 22.
In the embodiment of the present invention, the first limiting groove 211 is disposed at the bottom of the second cylinder 62, the first limiting structure 12 is a first limiting pin adapted to the first limiting groove 211, the first limiting pin is disposed at the top surface of the first cylinder 61, and the first limiting groove 211 and the first limiting pin are engaged to limit the rotation of the first rotating arm 2.
In order to facilitate the arrangement of the second connecting shaft 13 and the second angle sensor 52, a third cylinder 63 is arranged at the other end of the connecting beam 1, a third stepped through hole 631 is arranged in the third cylinder 63, and the third stepped through hole 631 comprises a fifth through hole 6311 and a sixth through hole 6312 which are coaxially arranged; correspondingly, the second limiting member 31 is adapted to the third cylinder 63, the second limiting member 31 is a fourth cylinder 64, a fourth stepped through hole 641 is disposed in the fourth cylinder 64, and the fourth stepped through hole 641 includes a seventh through hole 6411 and an eighth through hole 6412 that are coaxially disposed.
The bottom end of the second connecting shaft 13 is hinged in the fifth through hole 6311, and the embodiment can be multiple, in the embodiment of the present invention, the bottom end of the second connecting shaft 13 is sequentially connected with the third bearing 131 and the fourth bearing 132, the bottom end of the second connecting shaft 13 is hinged in the fifth through hole 6311 based on the third bearing 131 and the fourth bearing 132, so as to realize the connection between the second connecting shaft 13 and the connecting beam 631.
The middle of the second connecting shaft 13 is matched with the seventh through hole 6411, and the middle of the second connecting shaft 13 is connected with the seventh through hole 6411, so as to connect the second connecting shaft 13 with the second limiting member 31.
The top of second connecting axle 13 is arranged in eighth through-hole 6412 in the embodiment of the present invention, the top of second connecting axle 13 is second threaded connection section, be connected with second lock nut 72 on the second threaded connection section, based on second lock nut 72 is right second connecting axle 13 carries out the axial spacing, avoids the problem of axial float appears in second connecting axle 13.
The second angle sensor 52 is fitted into the sixth through hole 6312, the second angle sensor 52 is fixed in the sixth through hole 6312, and the sixth through hole 6312 provides a fixed mounting position for the second angle sensor 52.
In addition, the other end of the second rotating arm 3 is provided with a fixed upright column 32, and the joint adaptive reduction structure is fixed through the fixed upright column 32.
In the embodiment of the present invention, the second limiting groove 311 is disposed at the bottom of the fourth cylinder 64, the second limiting structure 14 is a second limiting pin adapted to the second limiting groove 311, the second limiting pin is disposed at the top surface of the third cylinder 63, and the second limiting groove 311 is disposed at the second limiting pin, so that the rotation of the second rotating arm 3 is limited.
In the embodiment of the present invention, the movable column 22 includes a first side 221, and the fixed column 32 includes a second side 321, and when the adaptive joint reduction structure is in the initial state, the first side 221 and the second side 321 are coplanar.
The joint self-adaptive resetting structure further comprises an upright post connecting frame 8, one end of the upright post connecting frame 8 is hinged to the second side surface 321, and an upright post connecting hook 81 is arranged at the other end of the upright post connecting frame 8; correspondingly, the first side surface 221 is provided with a column connecting ball 82 which is matched with the column connecting hook 81; when the self-adaptive joint reduction structure does not need to move, the upright connecting hook 81 can be hung on the upright connecting ball 82, so that the self-adaptive joint reduction structure maintains the initial state.
Fig. 5 is the three-dimensional structure schematic diagram of the embodiment of the utility model provides an in the embodiment of the three-dimensional structure schematic diagram of joint self-adaptation reset structure when the right hand is treated, fig. 6 is the embodiment of the utility model provides an in the embodiment of the three-dimensional structure schematic diagram of joint self-adaptation reset structure when the left hand is treated, fig. 8 is the embodiment of the utility model provides an in the embodiment of the three-dimensional structure schematic diagram of joint self-adaptation reset structure when the left hand is treated.
The embodiment of the utility model provides a joint self-adaptation reset structure, joint self-adaptation reset structure's theory of operation as follows:
when the right hand of the patient is used for rehabilitation, the fixed upright column 32 and the second rotating arm 3 are fixed, the connecting beam 1 is kept fixed under the limitation of the second limiting structure 14 and the second elastic element 42, and at the moment, the movable upright column 22 and the first rotating arm 2 rotate around the first connecting shaft 11; moreover, when the right hand of the patient is not being rehabilitated, the first connecting shaft 11 is restored by the first elastic element 41, so that the joint self-adaptive reduction structure is restored to the initial state.
When the left hand of the patient is used for rehabilitation, the fixed upright column 32 and the second rotating arm 3 are fixed, the movable upright column 22, the second rotating arm 3 and the connecting beam 1 are relatively fixed and form a whole under the limitation of the first limiting structure 12 and the first elastic element 41, and the formed whole rotates around the second connecting shaft 13; moreover, when the left hand of the patient does not perform rehabilitation therapy, the second connecting shaft 13 is reset under the action of the second elastic element 42, so that the joint self-adaptive reset structure is restored to the initial state.
The embodiment of the utility model provides a joint self-adaptation reset structure, which can simultaneously satisfy the rehabilitation treatment of left and right hands, so as to realize the alternate function of left and right hand treatment, and has good applicability; moreover, after the rehabilitation treatment is completed, the automatic reset of the joint self-adaptive reset structure can be realized without manual operation, and the joint self-adaptive reset structure has good practicability.
Fig. 9 is a schematic three-dimensional structure diagram of the upper limb rehabilitation structure in the embodiment of the present invention.
In addition, the embodiment of the utility model also provides an upper limb rehabilitation structure, including above-mentioned joint self-adaptation reset structure and wrist joint combination sensor device 9, wrist joint combination sensor device 9 with the joint self-adaptation reset structure activity stand column 22 articulated; the embodiment of the utility model provides an in, based on joint self-adaptation reset structure can realize that the patient's left and right hands change rehabilitation therapy by turns, and the hand wheel about changes rehabilitation therapy's in-process, through wrist joint combined sensor device 9 can realize measuring patient's palm wrist joint's angle of flexion and extension, measuring forearm radioulnar joint's rotation angle and the grip of measurement palm simultaneously and change.
In addition, the second side 321 of fixed stand 32 is fixed with third angle sensor 53, third angle sensor 53's sensing shaft with fixed stand 32 connects in the embodiment of the utility model provides an, through third angle sensor 53 can be right the function of upper limbs rehabilitation structure carries out real-time supervision, knows the recovered condition of patient's upper limbs better.
In addition, the above detailed description is made on the joint adaptive reduction structure and the upper limb rehabilitation structure provided by the embodiment of the present invention, and a specific example should be adopted herein to explain the principle and the implementation manner of the present invention, and the description of the above embodiment is only used to help understand the method and the core idea of the present invention; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the specific implementation and application scope, to sum up, the content of the present specification should not be understood as the limitation of the present invention.
Claims (10)
1. A joint self-adaptive reset structure is characterized by comprising a connecting beam, a first rotating arm and a second rotating arm;
one end of the connecting beam is hinged with a first connecting shaft, and the top surface of one end of the connecting beam is provided with a first limiting structure; the other end of the connecting beam is hinged with a second connecting shaft, and the top surface of the other end of the connecting beam is provided with a second limiting structure;
one end of the first rotating arm is provided with a first limiting piece connected with the first connecting shaft, and the first limiting structure is arranged in a first limiting groove of the first limiting piece;
a first elastic element is arranged between one end of the connecting beam and the first limiting piece, and two ends of the first elastic element are respectively connected with the first limiting structure and the first connecting shaft;
a second limiting piece connected with the second connecting shaft is arranged at one end of the second rotating arm, and the second limiting structure is arranged in a second limiting groove of the second limiting piece;
a second elastic element is arranged between the other end of the connecting beam and the second limiting part, and two ends of the second elastic element are connected with the second limiting structure and the second connecting shaft respectively.
2. The adaptive joint reduction structure of claim 1, further comprising a sensing assembly, wherein the sensing assembly comprises a first angle sensor and a second angle sensor, a sensing shaft of the first angle sensor is connected with the first connecting shaft, and a sensing shaft of the second angle sensor is connected with the second connecting shaft.
3. The joint self-adaptive reduction structure according to claim 2, wherein a first cylinder is arranged at one end of the connecting beam, a first stepped through hole is arranged in the first cylinder, and the first stepped through hole comprises a first through hole and a second through hole which are coaxially arranged;
the first limiting piece is a second cylinder, a second stepped through hole is formed in the second cylinder, and the second stepped through hole comprises a third through hole and a fourth through hole which are coaxially arranged;
the bottom end of the first connecting shaft is hinged in the first through hole, the middle part of the first connecting shaft is connected with the third through hole, and the top end of the first connecting shaft is positioned in the fourth through hole; the first angle sensor is fixed in the second through hole;
the other end of the first rotating arm is vertically provided with a movable upright post.
4. The joint self-adaptive resetting structure according to claim 3, wherein a third cylinder is arranged at the other end of the connecting beam, a third stepped through hole is arranged in the third cylinder, and the third stepped through hole comprises a fifth through hole and a sixth through hole which are coaxially arranged;
the second limiting piece is a fourth cylinder, a fourth stepped through hole is formed in the fourth cylinder, and the fourth stepped through hole comprises a seventh through hole and an eighth through hole which are coaxially arranged;
the bottom end of the second connecting shaft is hinged in the fifth through hole, the middle part of the second connecting shaft is connected with the seventh through hole, and the top end of the second connecting shaft is positioned in the eighth through hole; the second angle sensor is fixed in the sixth through hole;
and the other end of the second rotating arm is vertically provided with a fixed upright post.
5. The adaptive joint reduction structure according to claim 4, wherein the first limiting groove is disposed at the bottom of the second cylinder, the first limiting structure is a first limiting pin adapted to the first limiting groove, and the first limiting pin is disposed on the top surface of the first cylinder;
the second limiting groove is formed in the bottom of the fourth cylinder, the second limiting structure is a second limiting pin matched with the second limiting groove, and the second limiting pin is arranged on the top surface of the third cylinder.
6. The joint self-adaptive reduction structure according to claim 4, wherein a first bearing and a second bearing are sequentially connected to the bottom end of the first connecting shaft, and the bottom end of the first connecting shaft is hinged in the first through hole based on the first bearing and the second bearing;
the bottom of second connecting axle has connected gradually third bearing and fourth bearing, the bottom of second connecting axle is based on the third bearing with the fourth bearing articulates in the fifth through-hole.
7. The self-adaptive joint reduction structure according to claim 4, wherein the top end of the first connecting shaft is a first threaded connecting section, and a first locking nut is connected to the first threaded connecting section;
the top end of the second connecting shaft is a second threaded connecting section, and a second locking nut is connected to the second threaded connecting section.
8. The adaptive joint reduction structure of claim 4, wherein the movable post comprises a first side surface and the fixed post comprises a second side surface, the first side surface and the second side surface being coplanar when the adaptive joint reduction structure is in an initial state, wherein:
the joint self-adaptive resetting structure further comprises an upright post connecting frame, one end of the upright post connecting frame is hinged to the second side face, and an upright post connecting hook is arranged at the other end of the upright post connecting frame;
the first side surface is provided with an upright post connecting ball matched with the upright post connecting hook.
9. An upper limb rehabilitation structure, characterized in that it comprises a joint adaptive reduction structure according to any one of claims 1 to 8 and a wrist joint combination sensor device, which is hinged to the movable upright of the joint adaptive reduction structure.
10. The upper limb rehabilitation structure according to claim 9, wherein a third angle sensor is fixed on the second side surface of the fixed upright, and a sensing shaft of the third angle sensor is connected with the fixed upright.
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| CN201922053608.1U CN211835255U (en) | 2019-11-25 | 2019-11-25 | Joint self-adaptation reduction structure and upper limbs rehabilitation structure |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116442193A (en) * | 2022-07-25 | 2023-07-18 | 广州视鹏科技有限公司 | Joint centering reset mechanism and exoskeleton system |
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2019
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116442193A (en) * | 2022-07-25 | 2023-07-18 | 广州视鹏科技有限公司 | Joint centering reset mechanism and exoskeleton system |
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