CN213465897U

CN213465897U - Arm auxiliary device

Info

Publication number: CN213465897U
Application number: CN202021276464.2U
Authority: CN
Inventors: 唐智川; 王吉; 徐俊哲; 翁伟宁; 黄莹莹; 朱锦涵; 黄可欣
Original assignee: Zhejiang University of Technology ZJUT
Current assignee: Zhejiang University of Technology ZJUT
Priority date: 2020-07-03
Filing date: 2020-07-03
Publication date: 2021-06-18
Anticipated expiration: 2030-07-03

Abstract

An arm auxiliary device comprises a large arm mechanism, a small arm mechanism and a wrist mechanism, wherein the large arm mechanism comprises two large arms and two fixing sleeves, and the two fixing sleeves are arranged between the two large arms; the forearm mechanism includes two forearm, two forearm cover and forearm actuating mechanism, two forearm cover are installed between two forearm, the rear end of two forearm is articulated with the front end of two big arms respectively, wrist mechanism includes two wrists, the muffetee, support the ring, the rotating gear, output gear and motor, be equipped with the notch on two wrists respectively, both ends are installed respectively on corresponding notch about the muffe, and can slide from beginning to end, support ring fixed mounting between the front end of two forearm, the rotatable installation of rotating gear is on supporting the ring, be equipped with output gear in the pivot of motor, output gear and rotating gear meshing. The utility model provides an arm auxiliary device can obtain through 3D printing technique low-cost and fast, and has stronger flexibility and easy operability.

Description

Arm auxiliary device

Technical Field

The utility model belongs to the technical field of rehabilitation device technique and specifically relates to an arm auxiliary device is related to.

Background

The utility model with the publication number of CN 204394934U introduces an exoskeleton arm rehabilitation training device. An object of the utility model is to provide an ectoskeleton formula arm rehabilitation training device, including moving frame, shoulder joint drive unit, big arm length fine-tuning, elbow joint drive unit, forearm length fine-tuning, wrist joint drive unit. The shoulder joint and driving unit mainly comprises a shoulder rotary motor, a rotary transverse shoulder rod, a swinging vertical shoulder rod and a shoulder swinging motor, and can realize horizontal rotation and up-and-down swinging of the shoulder joint under the control of the two groups of motors; the fine adjustment mechanisms of the big arm and the forearm can be adjusted according to the actual arm lengths of different trainees, the length fine adjustment mechanisms are arranged close to the end of the rack as much as possible while the use requirements of different crowds can be met, and the load at the tail end of the mechanical arm is reduced to the maximum extent; the elbow joint and the wrist joint adopt a flexible synchronous belt driving scheme, the load at the tail end of the arm rehabilitation device is reduced, and a trainer is effectively protected to avoid secondary injury. The utility model discloses reduced the terminal load of arm, arm rehabilitation device can be controlled. The utility model (with the same invention patent) has high freedom and motion precision, and can be adjusted according to the body size characteristics of the user. However, the above-mentioned design is designed to reduce the burden on the user due to the large weight, and the designed bracket may limit the freedom of movement of the user, which is inconvenient for use in daily life.

The invention patent with application publication number CN 107374907 a describes a mechanical device named "wearable upper limb exoskeleton rehabilitation device". The invention provides a wearable upper limb exoskeleton rehabilitation device, which comprises a fixed back plate used as a base; the driving module transmits the torsion to each joint winch through the Bowden cable; the elbow joint exoskeleton module is used for coupling rehabilitation movement of an upper arm and the exoskeleton, rehabilitation training of an elbow and coupling rehabilitation movement of a forearm and the exoskeleton; the joint mechanical hard limiting device is used for performing mechanical hard limiting protection on the forearm connecting rod and the upper arm connecting rod; the three-way adjustable adaptation module adapts to patients with different body types by adjusting the position of the shoulder adduction and abduction joint winch; the shoulder joint module realizes the rehabilitation training of the shoulder adduction and abduction freedom degree and the rehabilitation training of the shoulder anterior flexion and extension freedom degree. The utility model discloses the activity of utilizing the structure of wearing formula to realize when the patient carries out the rehabilitation training is from. The structure provided by the invention patent has better portability, but the degree of freedom of the structure on the small arm is less, and only the bending motion between the small arm and the large arm can be better restored. The rotation of the forearm relative to the elbow joint cannot be restored well. And the design of the backpack part can transfer the bending moment generated by the weight of the arm to the back, so that the bending moment is generated on the back and the spine of the user, and the use experience of the user is influenced.

The utility model patent with the publication number CN 204618765U provides a design named as "upper limb rehabilitation training device". This recovered trainer of upper limbs relates to medical treatment rehabilitation equipment. The hand ring, the forearm sliding block, the spring fixing pin, the forearm spring, the bearing end cover, the end cover screw, the upper arm sliding block, the upper arm spring, the shoulder supporting shaft bearing, the upper arm, the connecting shaft and the connecting shaft bearing are arranged; the wrist ring is arranged at the front end of the forearm, the rear end of the forearm is rotationally connected with the lower end of the upper arm through a connecting shaft bearing, the forearm sliding block is arranged at one side of the forearm, the spring fixing pin is arranged on the forearm sliding block, one end of the forearm spring is fixed on the spring fixing pin, the other end of the forearm spring is fixed at the lower end of the upper arm, the connecting shaft is arranged on a connecting shaft bearing, and the bearing end cover is arranged on the connecting shaft bearing through an end cover screw and used for sealing the connecting shaft bearing; the lower end of the upper arm spring is fixed on the upper arm sliding block through a pin, the upper end of the upper arm spring is fixed on the upper portion of the upper arm through a pin, one end of the shoulder support shaft is in interference fit with the shoulder support shaft bearing and is installed at the upper end of the upper arm, and the other end of the shoulder support shaft is a free end. The design structure is simple, the portability is good, but the rotation motion of the forearm relative to the hand joint cannot be well restored, and the contact surface of the forearm and the user cannot be well attached to the arm of the user.

Disclosure of Invention

In order to overcome the defect that prior art exists, the utility model provides an arm auxiliary device can obtain through 3D printing technique low-cost and fast, and has stronger flexibility and easy operability.

The utility model provides a technical scheme that its technical problem adopted is:

an arm auxiliary device comprises a large arm mechanism, a small arm mechanism and a wrist mechanism, wherein the large arm mechanism comprises two large arms and two fixing sleeves, and the two fixing sleeves are arranged between the two large arms;

the small arm mechanism comprises two small arms, two small arm sleeves and a small arm driving mechanism, the two small arm sleeves are installed between the two small arms, the rear ends of the two small arms are hinged with the front ends of the two large arms respectively, the small arm mechanism comprises a pressing rod and an electric push rod, a pressing rod hole is formed in the bottom of each small arm sleeve, the pressing rod penetrates through the pressing rod holes of the two small arm sleeves and is in transition fit with the pressing rod holes, the rear end of the pressing rod is hinged with one end of the electric push rod through the pressing rod sleeves, electric push rod arc chamfers are arranged at the bottoms of the two fixed sleeves respectively, an electric push rod installing support is further arranged at the bottom of the fixed sleeve positioned on the rear side, the electric push rod is limited in the electric push rod arc chamfers, and the other end of the electric push rod installing support is hinged;

the wrist mechanism comprises two wrists, a wrist sleeve, a supporting circular ring, a rotating gear, an output gear and a motor, wherein notches are formed in the two wrists respectively, the left end and the right end of the wrist sleeve are mounted on the corresponding notches respectively through screws and can slide back and forth, the supporting circular ring is fixedly mounted between the front ends of the two small arms, the rotating gear is rotatably mounted on the supporting circular ring, the left side and the right side of the rotating gear are respectively provided with a connecting rod, the rear ends of the two wrists are hinged with the two connecting rods, the motor is mounted on the right small arm through a motor supporting frame, the rotating shaft of the motor is provided with the output gear, and the output gear is meshed with the rotating gear;

the two big arms and the two small arms are provided with elastic belt mounting holes for mounting the elastic belts.

Furthermore, the outer side of the rear end of the small arm is provided with a boss, the front end of the large arm is provided with a mounting hole, the boss penetrates through the mounting hole from inside to outside and is in interference fit with a bearing sleeve on the large arm, and the boss is in clearance fit with the mounting hole on the large arm.

Still further, fixed cover, forearm cover all include and are used for adhering to ventilative elastic material's arc inner support and U type base, and forearm cover is through U type base fixed mounting on it between two forearm, and fixed cover is through U type base fixed mounting on it between two big arms.

Still further, there are five elastic band mounting holes on the big arm, which are respectively a wide notch-shaped elastic band mounting hole, two notch-shaped elastic band mounting holes and two narrow notch-shaped elastic band mounting holes.

Furthermore, the number of the elastic belt mounting holes on the small arm is three, the small arm on the right side is provided with a circular elastic belt mounting hole and two notch-shaped elastic belt mounting holes, and the small arm on the left side is provided with a wide notch-shaped elastic belt mounting hole and two narrow notch-shaped elastic belt mounting holes.

The beneficial effects of the utility model are that:

(1) the rotary motion of the wrist is simulated to drive the two bones of the forearm to move, and the movement stimulation is combined to help the user to reestablish the reflex, so that the apoplexy patient is assisted to recover; (2) simulating extension and retraction movements between the large arm and the small arm to stimulate biceps brachii and triceps brachii to help the user reestablish reflexes and assist the stroke patient to recover; (3) the arm auxiliary device provided by the utility model can be manufactured rapidly and with low cost by the 3D printing technology; (4) the utility model has simple structure, convenient wearing, low maintenance difficulty and suitability for middle and low-end consumption market; (5) the interaction surface between the arm auxiliary device designed by the utility model and the user is designed as a cambered surface, so that the comfort level is better; (6) the utility model discloses a main body material is mainly resin, is guaranteeing under the prerequisite of necessary intensity, has littleer proportion, and is lighter, more friendly to the user.

Drawings

Fig. 1 is an appearance effect diagram of the present invention.

Fig. 2 is a schematic structural diagram of the present invention.

Fig. 3 is a schematic view of the wrist.

Fig. 4 is a side view of fig. 3.

Fig. 5 is a top view of fig. 3.

Fig. 6 is a schematic view of the forward adjustment of the wristband.

Fig. 7 is a side view of fig. 6.

Fig. 8 is a top view of fig. 6.

Fig. 9 is a schematic view of the rearward adjustment of the wristband.

Fig. 10 is a side view of fig. 9.

Fig. 11 is a top view of fig. 9.

Fig. 12 is a schematic view of free swinging of the wrist downwards.

Fig. 13 is a side view of fig. 12.

Fig. 14 is a top view of fig. 12.

Fig. 15 is a schematic view of the wrist swinging freely upward.

Fig. 16 is a side view of fig. 15.

Fig. 17 is a top view of fig. 15.

Fig. 18 is a schematic view of a wristband.

Fig. 19 is a side view of fig. 18.

Fig. 20 is a top view of fig. 18.

Fig. 21 is a schematic view of a support ring.

Fig. 22 is a side view of fig. 21.

Fig. 23 is a top view of fig. 21.

Fig. 24 is a schematic view of an output gear.

Fig. 25 is a side view of fig. 24.

Fig. 26 is a top view of fig. 24.

FIG. 27 is a schematic view of the rotational movement of the wrist.

Fig. 28 is a side view of fig. 27.

Fig. 29 is a top view of fig. 27.

FIG. 30 is a schematic view of a rightward rotational movement of the wrist of FIG. 27.

Fig. 31 is a side view of fig. 30.

Fig. 32 is a top view of fig. 30.

Fig. 33 is a schematic view of a motor support bracket.

Fig. 34 is a front view of fig. 33.

Fig. 35 is a right side view of fig. 33.

Fig. 36 is a schematic view of a rotary gear.

Fig. 37 is a front view of fig. 36.

Fig. 38 is a top view of fig. 36.

Fig. 39 is a left side view of fig. 36.

Fig. 40 is a schematic view of the lower arm B.

Fig. 41 is a front view of fig. 40.

Fig. 42 is a top view of fig. 40.

Fig. 43 is a diagram showing the relative movement and extension state of the large arm and the small arm.

Fig. 44 is a front view of fig. 43.

Fig. 45 is a top view of fig. 43.

FIG. 46 is a view showing the relative movement of the upper and lower arms in a retracted state.

Fig. 47 is a side view of fig. 46.

Fig. 48 is a top view of fig. 46.

Fig. 49 is a schematic view of a forearm sheath.

Fig. 50 is a front view of fig. 49.

Fig. 51 is a side view of fig. 49.

Fig. 52 is a schematic view of the lower arm a.

Fig. 53 is a side view of fig. 52.

Fig. 54 is a top view of fig. 52.

FIG. 55 is a schematic view of the upper bearing sleeve of the large arm.

Fig. 56 is a side view of fig. 55.

Figure 57 is a schematic view of the pouch a.

Fig. 58 is a front view of fig. 57.

Fig. 59 is a side view of fig. 57.

Fig. 60 is a schematic view of the dead center position robot arm state.

Fig. 61 is a schematic diagram of a mechanism in a state of change.

Fig. 62 is a side view of fig. 61.

Fig. 63 is a top view of fig. 61.

Fig. 64 is a schematic view of the pouch B.

Fig. 65 is a front view of fig. 64.

Fig. 66 is a side view of fig. 64.

FIG. 67 is a schematic view of a large arm.

Fig. 68 is a side view of fig. 67.

FIG. 69 is a schematic view of a compression bar.

Fig. 70 is a cross-sectional view of fig. 69.

FIG. 71 is a schematic view of a strut sleeve.

Fig. 72 is a side view of fig. 71.

Detailed Description

The present invention will be further described with reference to the accompanying drawings.

Referring to fig. 1 to 72, an arm assist device includes a large arm mechanism, a small arm mechanism, and a wrist mechanism, the large arm mechanism includes two large arms 14 and two fixing sleeves, and the two fixing sleeves are installed between the two large arms 14;

the small arm mechanism comprises two small arms, two small arm sleeves and a small arm driving mechanism, the two small arm sleeves 9 are installed between the two small arms, the rear ends of the two small arms are respectively hinged with the front ends of the two large arms 14, the small arm mechanism comprises a pressure rod 15 and an electric push rod 17, a pressure rod hole 9.2 is formed in the bottom of each small arm sleeve 9, the pressure rod 15 penetrates through the pressure rod holes of the two small arm sleeves and is in transition fit with the pressure rod holes, the rear end of the pressure rod 15 is hinged with one end of the electric push rod 17 through a pressure rod sleeve 16, electric push rod arc chamfers are arranged at the bottoms of the two fixed sleeves, an electric push rod installing support 13.4 is further arranged at the bottom of the fixed sleeve on the rear side, the electric push rod 17 is limited in the electric push rod arc chamfers, and the other end of the electric push rod installing support 13.4 is hinged with;

the wrist mechanism comprises two wrists 1, a wrist sleeve 2, a supporting circular ring 3, a rotating gear 6, an output gear 4 and a motor 7, wherein notches 1.1 are respectively arranged on the two wrists 1, the left end and the right end of the wrist sleeve 2 are respectively arranged on the corresponding notches through screws and can slide back and forth, the supporting circular ring 3 is fixedly arranged between the front ends of the two small arms, the rotating gear 6 is rotatably arranged on the supporting circular ring 3, the left side and the right side of the rotating gear 6 are respectively provided with a connecting rod, the rear ends of the two wrists are hinged with the two connecting rods, the motor 7 is arranged on the right small arm through a motor supporting frame 5, the rotating shaft of the motor 7 is provided with the output gear 4, and the output gear 4 is meshed with the rotating gear;

the two big arms 14 and the two small arms are provided with elastic belt mounting holes for mounting the elastic belts.

Further, a boss is arranged on the outer side of the rear end of the small arm, a mounting hole 14.1 is formed in the front end of the large arm 14, the boss penetrates through the mounting hole from inside to outside and is in interference fit with the upper bearing sleeve 11 of the large arm, and the boss is in clearance fit with the mounting hole 14.1 in the large arm 14.

Still further, fixed cover, forearm cover 9 all include and are used for adhering to ventilative elastic material's arc inner support and U type base, and forearm cover 9 is through U type base fixed mounting on it between two forearm, and fixed cover is through U type base fixed mounting on it between two big arms.

The utility model aims at providing an arm auxiliary device, the appearance effect picture of which is shown in figure 1, can assist the apoplexy patient to carry out corresponding rehabilitation training, carry out exercise stimulation to muscles and help the reconstruction of reflex; the motor 7 and the electric push rod 17 are existing commodities, are popularized in the market and are mainly used for providing power; the rest parts, namely the wrist part 1, the wrist sleeve 2, the supporting ring 3, the gear 4, the motor supporting frame 5, the rotating gear 6, the small arm B8, the small arm sleeve 9, the small arm A10, the large arm upper bearing sleeve 11, the fixing sleeve A12, the fixing sleeve B13, the large arm 14, the pressure lever 15 and the pressure lever sleeve 16 can be manufactured by A3D printing technology, and each structure has certain characteristics.

Two wrists 1, as shown in fig. 3: the notches 1.1 are connected with characteristic mounting holes 2.1 (2 in total) in the wristlet 2 through screws, and the notches 1.1 on the two wrists 1 are respectively connected with the two mounting holes 2.1, so that the wristlet 2 is adjusted in a sliding mode along the notches 1.1 to adapt to the length of the palm of a user, and the working effect of the wristlet is as shown in fig. 6 and 12; the bosses 1.2 can be installed in cooperation with the characteristic installation holes 6.1 (2 in total) in the rotary gear 6, and the bosses 1.2 on the two wrist portions 1 are respectively matched with the two installation holes 6.1 so as to satisfy the free swinging of the wrist of the user (the free swinging is not in the auxiliary movement range of the arm auxiliary device), and the working effect is as shown in fig. 12 and fig. 15.

The wrist band 2, as shown in fig. 18: mounting holes 2.1 (2 in total) can be connected through the screw with characteristic notch 1.1 in wrist 1 (two in total), and notch 1.1 on two wrists 1 is connected with 2 mounting holes 2.1 respectively for the adjustment is slided along 1.1 notch to the wristlet 2, and the palm is bound through the elastic webbing to the wristlet 2 to adapt to user's palm length, and its working effect is as shown in fig. 6 and 12.

Support the ring 3, as shown in fig. 21: the support ring surface 3.1 is matched with the characteristic rotating ring 6.3 surface in the rotating gear 6 to ensure that the rotating gear 6 can rotate in a fixed axis way at one end of the support ring 3; the mounting holes 3.2 (1 group of the left and the right, 2 groups in total; 4 in each group, 8 in total) are fixedly connected with the characteristic mounting holes 5.1 (4 in total) in the motor support frame 5 and the characteristic mounting holes 8.4 (4 in total) in the small arm B8 through screws, wherein the right side 1 group (4) of the mounting holes 3.2 is provided with a plurality of mounting holes (4 in total); the left 1 group (4) of mounting holes 3.2 are fixedly connected with the characteristic mounting holes 10.4 (1 group of 4) in the small arm A10 through screws.

Output gear 4, as shown in fig. 24: the shaft hole 4.1 is in interference fit with a rotating shaft of the motor 7 so as to transmit the rotating motion of the motor 7 to the rotating gear 6; tooth surface 4.2, module 2mm, 26 teeth in total, pressure angle 20 degrees, tooth height 4.5mm, tooth crest height 2mm, tooth root height 2.5mm, precision requirement 7 dGB/T2363 and 1990, wherein the tooth surface 4.2 is matched with a characteristic tooth surface 6.2 in the rotating gear 6 to transmit the rotating motion of the motor 7 to the rotating gear 6 to simulate the rotating motion of a wrist and drive two bones of a forearm to move, and the combination of motion stimulation helps a user to reestablish reflection and assists a stroke patient to recover, and the working effect of the device is shown in fig. 27 and 30.

The motor support frame 5, as shown in fig. 33: the mounting holes 5.1 (1 group and 4 in total) are fixedly connected with the mounting holes 3.2 (1 group and 2 groups in total, 4 in each group and 8 in total) in the characteristics of the support ring 3 through screws, wherein the mounting holes 3.2 (4) in the right 1 group (4) and the characteristic mounting holes 8.4 (4 in total) in the forearm B8; and the fixing hole 5.2 is matched with a shaft sleeve of the motor 7 to fix the position of the motor.

Rotating the gear 6, as shown in fig. 36: the mounting holes 6.1 (2 in total) can be mounted in cooperation with the characteristic bosses 1.2 in the wrist portions 1, and the bosses 1.2 on the two wrist portions 1 are respectively matched with the 2 mounting holes 6.1 so as to satisfy the free swinging of the wrist of the user (the free swinging is not in the auxiliary movement range of the arm auxiliary device), and the working effect is as shown in fig. 6 and 7; the tooth surface is 6.2, the modulus is 2mm, 30 teeth in total, the pressure angle is 20 degrees, the tooth height is 4.5mm, the tooth crest is 2mm, the tooth root is 2.5mm, the precision requirement is 7 dGB/T2363 and 1990, the output gear 4 is matched with the characteristic tooth surface 4.2 in the rotating gear 6, the rotating motion of the motor 7 is transmitted to the rotating gear 6 so as to simulate the rotating motion of a wrist and drive two bones of a small arm to move, and the combination of motion stimulation helps a user to reestablish reflection and assists a stroke patient to recover, and the working effect of the device is shown in fig. 11 and 12; the rotating ring surface 6.3 is matched with the characteristic supporting ring surface 3.1 in the supporting ring 3 for installation, so that the rotating gear 6 can rotate at one end of the supporting ring 3 in a fixed shaft mode.

The motor 7, an existing commodity, has been popularized in the market, mainly for providing power.

Forearm B8, as shown in fig. 40: the boss 8.1 forms a clearance fit with a characteristic 14.1 mounting hole of one of the (2 total) upper arms 14 and an interference fit with a characteristic 11.1 mounting hole of one of the (2 total) upper bearing sleeves 11 of the upper arm, so that the lower arm B8 can generate angle change with the upper arm 14, as shown in figures 43 and 46, so as to simulate extension and retraction movement between the upper arm and the lower arm, stimulate biceps brachii and triceps brachii, help the user to reestablish reflex and assist the recovery of a stroke patient; the mounting holes 8.2(2 groups, 2 each group, 4 in total), the mounting holes 8.2 of each group (2) are fixedly connected with 1 group of characteristic mounting holes 9.3 (2 groups, 4 groups, 8 in total) in 1 small arm sleeve 9 (2 in total) through screws; the elastic belt mounting holes 8.3(2, 3) comprise a circular elastic belt mounting hole and two notch-shaped elastic belt mounting holes, are matched with the characteristic elastic belt mounting holes 10.3(2 wide notch-shaped elastic belt mounting holes and 3 narrow notch-shaped elastic belt mounting holes) in the small arm A10 for use, are used for mounting the elastic belts, and fix the mechanical arm on the small arm of a user; the mounting holes 8.4 (totally 1 group of 4), and support in the ring 3 characteristic mounting holes 3.2 (about each 1 group, totally 2 groups, 4 of every group, totally 8) right side 1 group (4) mounting holes 3.2 and motor support frame 5 in characteristic mounting holes 5.1 (totally 1 group of 4) through the screw connection fixed.

The arm sleeves 9 (2 in total) are shown in figure 49, and arc-shaped inner supports 9.1 (1 in each) are used for attaching breathable elastic materials and are in contact with the arms of a user to provide supporting force; the pressure rod holes 9.2 (1 each) are in transition fit with the characteristic pressure rod cylindrical surface 15.1 in the pressure rod 15, the characteristic pressure rod cylindrical surface 15.1 in the pressure rod 15 simultaneously passes through the characteristic pressure rod holes 9.2 in the two small arm sleeves 9, and the power generated by the electric push rod 17 is transmitted to the small arm of the user through the pressure rod to simulate the rotation movement of the wrist and drive the two bones of the small arm to move, and the movement stimulation is combined to help the user to reestablish the reflection and help the stroke patient to recover, and the working effect of the device is shown in fig. 11 and fig. 12; mounting holes 9.3 (2 groups each, 1 group of 2, 4 groups each, 8 groups total), 1 group of characteristic mounting holes 9.3 in each forearm sleeve 9 and 1 group of characteristic mounting holes 8.2 in the forearm B8 are fixedly connected through screws, and the other 1 group of characteristic mounting holes 9.3 and 1 group of characteristic mounting holes 10.2 in the forearm A10 are fixedly connected through screws.

Arm a10, as shown in fig. 52: the boss 10.1 is in clearance fit with the characteristic mounting hole 14.1 of one of the (two in total) large arms 14 and in interference fit with the characteristic mounting hole 11.1 of 1 of the (2 in total) large arm upper bearing sleeves 11, so that the small arm A10 can generate angle change with the large arm 14, as shown in figures 16 and 17, so as to simulate extension and retraction motions between the large arm and the small arm, stimulate biceps brachii and triceps brachii, help the user to reestablish reflex and assist the recovery of a stroke patient; the mounting holes 10.2(2 groups, 2 each group, 4 in total), the mounting holes 10.2 (2) each group are fixedly connected with 1 group of characteristic mounting holes 9.3 (2 groups, 4 groups, 8 in total) in 1 small arm sleeve 9 (2 in total) through screws; 10.3(2, 3) elastic band mounting holes, including a wide notch-shaped elastic band mounting hole and two narrow notch-shaped elastic band mounting holes, are used in cooperation with 8.3(2, 3 in total) of characteristic elastic band mounting holes in the small arm B8 for mounting the elastic band and fixing the mechanical arm to the small arm of the user; the mounting holes 10.4 (totally 1 group of 4) are connected and fixed with 1 group (4) of 3.2 mounting holes on the left side of the characteristic mounting holes 3.2 (1 group of left and right, totally 2 groups of 4 each group, totally 8) in the supporting ring 3 through screws.

The upper arm bearing housing 11 (2 in total), as shown in fig. 55: the mounting holes 11.1 (1 each) respectively form interference fit with the characteristic bosses 8.1 in the small arm B8 and the characteristic bosses 10.1 in the small arm A10, so that falling off is prevented.

Pouch a12, as shown in fig. 57: the arc inner support 12.1 is used for attaching the breathable elastic material and contacting with the big arm of the user to provide supporting force; the electric push rod arc chamfer 12.2 is used for limiting the relative movement of the large arm and the small arm and preventing the rod set from reaching a dead point position in the movement process, the mechanical arm state of the dead point position is shown in figure 60, so that the rod set mechanism is changed abnormally, and the mechanism change state is shown in figure 61; the mounting holes 12.3(2 groups, 2 in each group, 4 in total) are respectively fixedly connected with the characteristic mounting holes 14.2 in the two large arms 14 (1 group in each group) through screws.

Pouch B13, as shown in fig. 64: the arc-shaped inner support 13.1 is used for attaching the breathable elastic material and contacting with the big arm of the user to provide supporting force; the arc chamfer 13.2 of the electric push rod is a space reserved for the installation of the electric push rod; mounting holes 13.3(2 groups, 2 in each group, 4 in total), wherein each group is respectively connected and fixed with the characteristic mounting holes 14.3 in the two large arms 14 (1 group in each group) through screws; and an electric push rod mounting bracket 13.4 for forming a hinge joint with the electric push rod 17.

Large arms 14 (2 in total), as shown in fig. 67: mounting holes 14.1 (1 each), a characteristic mounting hole 14.1 in one big arm 14 forms clearance fit with a characteristic boss 8.1 in a small arm B8, so that a small arm B8 can generate angle change with the big arm 14, as shown in figures 16 and 17, so as to simulate extension and retraction movement between the big arm and the small arm, stimulate biceps brachii and triceps brachii, help a user reestablish reflex, and assist a stroke patient in rehabilitation; mounting holes 14.2 (1 group each, 2 in each group, 4 in total), 1 group of characteristic mounting holes 14.2 in each big arm 14 are respectively connected and fixed with 2 groups of mounting holes 12.3 in the fixed sleeve A12 through screws; mounting holes 14.3 (1 group each, 2 in each group, 4 in total), wherein 1 group of characteristic mounting holes 14.3 in each big arm 14 are respectively connected and fixed with 2 groups of mounting holes 13.3 in the fixed sleeve B13 through screws; elastic belt mounting holes 14.4 (3 kinds of 5 each, and 3 kinds of 10 each), each big arm 14 comprises a wide notch-shaped elastic belt mounting hole, two notch-shaped elastic belt mounting holes and two narrow notch-shaped elastic belt mounting holes, and the big arm 14 is matched with the other big arm for use, is used for mounting an elastic belt and fixing the mechanical arm to the big arm of a user; mounting holes 14.5 for adding additional features for expansion.

The strut 15, as shown in fig. 69: the characteristic pressure lever cylindrical surfaces 15.1 in the pressure lever 15 pass through the characteristic pressure lever holes 9.2 in the two small arm sleeves 9 simultaneously, and are used for transmitting power generated by the electric push rod 17 to the small arms of a user through the pressure lever, so that the small arms B8 can generate angle change with the large arms 14, the reflection can be reestablished by combining with the motion stimulation, the recovery of the stroke patient can be assisted, the working effect is shown in fig. 43 and 46, and the pressure lever cylindrical surfaces 15.1 are also in clearance fit with the characteristic mounting holes 16.1 in the pressure lever sleeves 16; the pin hole 15.2 is connected with a characteristic pin hole 16.2 in the pressure rod sleeve 16 through a pin; and the end hole 15.3 is used for a small pin hole 15.2, so that the pin is conveniently connected.

The ram sleeve 16, as shown in fig. 71: the mounting hole 16.1 is in clearance fit with a characteristic pressure lever cylindrical surface 15.1 in the pressure lever 15; the pin hole 16.2 is connected with a characteristic pin hole 15.2 in the pressure lever 15 through a pin; and the mounting hole 16.3 is used for forming a hinge joint with one section of the electric push rod and transmitting power.

An electric push rod 17, an existing commercial product, has been popularized in the market, mainly for providing power.

Claims

1. An arm assist device characterized in that: the device comprises a large arm mechanism, a small arm mechanism and a wrist mechanism, wherein the large arm mechanism comprises two large arms and two fixing sleeves, and the two fixing sleeves are arranged between the two large arms;

the small arm mechanism comprises two small arms, two small arm sleeves and a small arm driving mechanism, the two small arm sleeves are installed between the two small arms, the rear ends of the two small arms are respectively hinged with the front ends of the two large arms, the small arm mechanism comprises a pressing rod and an electric push rod, a pressing rod hole is formed in the bottom of each small arm sleeve, the pressing rod penetrates through the pressing rod holes of the two small arm sleeves and is in transition fit with the pressing rod holes, the rear end of the pressing rod is hinged with one end of the electric push rod through the pressing rod sleeves, electric push rod arc chamfers are arranged at the bottoms of the two fixed sleeves, an electric push rod installing support is further arranged at the bottom of the fixed sleeve positioned on the rear side, the electric push rod is limited in the electric push rod arc chamfers, and the other end of the electric push rod installing support is hinged;

2. An arm assist device as set forth in claim 1, wherein: the outer side of the rear end of the small arm is provided with a boss, the front end of the large arm is provided with a mounting hole, the boss penetrates through the mounting hole from inside to outside and is in interference fit with a bearing sleeve on the large arm, and the boss is in clearance fit with the mounting hole in the large arm.

3. An arm assist device as set forth in claim 1 or 2, wherein: the fixed sleeve and the small arm sleeve respectively comprise an arc-shaped inner support and a U-shaped base, the arc-shaped inner support is used for attaching the breathable elastic material, the small arm sleeve is fixedly installed between the two small arms through the U-shaped base on the small arm sleeve, and the fixed sleeve is fixedly installed between the two large arms through the U-shaped base on the fixed sleeve.

4. An arm assist device as set forth in claim 1 or 2, wherein: the elastic belt mounting holes on the large arm are five, namely a wide notch-shaped elastic belt mounting hole, two notch-shaped elastic belt mounting holes and two narrow notch-shaped elastic belt mounting holes.

5. An arm assist device as set forth in claim 1 or 2, wherein: the elastic band mounting holes on the small arms are three, the small arm on the right side is provided with a circular elastic band mounting hole and two notch-shaped elastic band mounting holes, and the small arm on the left side is provided with a wide notch-shaped elastic band mounting hole and two narrow notch-shaped elastic band mounting holes.