CN216365837U - Exoskeleton mechanical arm for upper limb rehabilitation - Google Patents
Exoskeleton mechanical arm for upper limb rehabilitation Download PDFInfo
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- CN216365837U CN216365837U CN202122637693.3U CN202122637693U CN216365837U CN 216365837 U CN216365837 U CN 216365837U CN 202122637693 U CN202122637693 U CN 202122637693U CN 216365837 U CN216365837 U CN 216365837U
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Abstract
The utility model provides an upper limb rehabilitation exoskeleton mechanical arm, wherein a central support column is vertically arranged on a fixed seat, a first end of a shoulder support column is rotatably connected with the central support column through a left-right conversion motor, a second end of the shoulder support column is rotatably connected with a first end of a first shoulder adjusting support column through a first shoulder adjusting motor, a second end of the first shoulder adjusting support column is rotatably connected with a first end of a second shoulder adjusting support column through a second shoulder adjusting motor, a second end of the second shoulder adjusting support column is rotatably connected with a first end of an arm support column through an arm rotating motor, and a second end of the arm support column is rotatably connected with a first end of an elbow support column through an elbow rotating motor. The upper limb rehabilitation exoskeleton mechanical arm is convenient for the reuse of the left hand and the right hand, and simplifies the structure.
Description
Technical Field
The utility model relates to the technical field of rehabilitation instruments, in particular to an exoskeleton mechanical arm for upper limb rehabilitation.
Background
The exoskeleton type mechanical arm is an electromechanical device which can be worn on a human body to assist or expand the motion capability of the human body. The application range is wide, and the remote control, the human body function enhancement, the human body skill compensation and the limb rehabilitation training are included. The existing upper limb rehabilitation training mechanism or device is not few, but the existing upper limb exoskeleton rehabilitation mechanical arm is generally a unilateral fixed rehabilitation training device, and the existing upper limb exoskeleton rehabilitation mechanical arm is suitable for a left hand and a right hand and is few, wherein the existing upper limb exoskeleton rehabilitation mechanical arm comprises a rehabilitation robot with a left exoskeleton mechanical arm and a right exoskeleton mechanical arm, although the rehabilitation training of different patients with the left hand and the right hand can be realized, the stroke patients often have unilateral upper limb movement disorder, the condition that two arms are required to be trained simultaneously is few, the cost is wasted, and the volume and the weight of the equipment are large due to the large number of the mechanical arms, and the equipment is not easy to move.
Disclosure of Invention
The utility model mainly aims to provide an upper limb rehabilitation exoskeleton mechanical arm which is convenient for the reuse of left and right hands and has a simplified structure.
In order to achieve the main purpose, the upper limb rehabilitation exoskeleton mechanical arm provided by the utility model comprises a fixed seat, a central strut, a left-right conversion motor, a shoulder strut, a first shoulder adjusting motor, a first shoulder adjusting strut, a second shoulder adjusting motor, a second shoulder adjusting strut, an arm rotating motor, an arm strut, an elbow rotating motor and an elbow strut, wherein the central strut is vertically arranged on the fixed seat, the first end of the shoulder strut is rotatably connected with the central strut through the left-right conversion motor, the second end of the shoulder strut is rotatably connected with the first end of the first shoulder adjusting strut through the first shoulder adjusting motor, the second end of the first shoulder adjusting strut is rotatably connected with the first end of the second shoulder adjusting strut through the second shoulder adjusting motor, and the second end of the second shoulder adjusting strut is rotatably connected with the first end of the arm strut through the arm rotating motor, the second end of the arm strut is rotatably connected with the first end of the elbow strut through an elbow rotating motor.
According to the scheme, the upper limb rehabilitation exoskeleton mechanical arm can switch left and right by arranging the left and right switching motors, so that left and right hand rehabilitation training is facilitated, the cost is saved, and the volume and the weight of the device are simplified. Simultaneously, through controlling switching motor, first shoulder adjusting motor, second shoulder adjusting motor, arm rotation motor and elbow rotation motor as the regulation joint of arm, make the arm possess five degrees of freedom, can be convenient for the user carry out the multi-joint motion, improve user's use and experience.
In a further aspect, the arm brace includes a first arm brace and a second arm brace, the second arm brace being telescopically mounted on the first arm brace.
Therefore, the first arm support and the second arm support are telescopically arranged on the first arm support, so that the length of the arm supports can be conveniently adjusted, and the arm supports can be conveniently and properly adjusted according to the arm length of a user.
In a further scheme, the first arm strut is provided with a second arm strut accommodating cavity, and a part of the second arm strut is inserted into the second arm strut accommodating cavity; the first arm support is provided with a locking bolt hole, the locking bolt hole is communicated with the second arm support accommodating cavity, and a locking bolt is mounted on the locking bolt hole; the second arm pillar is provided with a locking groove, the locking groove extends along the moving direction of the second arm pillar, and the locking bolt extends into the locking groove and abuts against the bottom of the locking groove.
Therefore, the first arm support is provided with the second arm support accommodating cavity for accommodating the second arm support to perform telescopic motion, and the locking bolt and the locking groove are arranged, so that the telescopic length of the second arm support can be conveniently adjusted.
In a further scheme, a guide post is arranged in the second arm support accommodating cavity and extends along the moving direction of the second arm support; the second arm pillar is provided with a guide hole, and the guide pillar is inserted in the guide hole.
Therefore, the guide pillar and the guide hole are arranged, so that the second arm can move conveniently, and jamming is avoided.
In a further scheme, the arm strut is further provided with an arm fixing bandage, and the arm fixing bandage is installed on the first arm strut.
Therefore, the arm fixing bandage is arranged, so that the arms of the rehabilitee can be conveniently fixed on the mechanical arm.
In a further scheme, a wrist rotating ring and a handle are arranged at the second end of the elbow strut, the handle is installed on the wrist rotating ring along the diameter direction of the wrist rotating ring, and the handle is rotatably installed on the wrist rotating ring.
Therefore, the wrist rotating ring and the handle are arranged, so that a rehabilitee can conveniently move the wrist.
In a further scheme, two ends of the handle are provided with sleeving barrels, and the sleeving barrels are sleeved on the wrist rotating ring.
Therefore, the two ends of the handle are provided with the sleeving barrels, so that the wrist rotating ring can be conveniently installed on.
In a further scheme, the central pillar comprises a lower pillar body and an upper pillar body, the lower pillar body is installed on the fixing seat, and the upper pillar body is telescopically installed on the lower pillar body.
Therefore, the central pillar comprises a lower pillar body and an upper pillar body, and the upper pillar body is telescopically arranged on the lower pillar body, so that the height of the mechanical arm can be conveniently adjusted.
In a further scheme, the fixing base is provided with a universal wheel, and the universal wheel is installed at the bottom of the fixing base.
Therefore, the fixing seat is provided with the universal wheels, so that the equipment can be conveniently moved, and the use by a user is convenient.
Drawings
Fig. 1 is a structural diagram of an embodiment of the upper limb rehabilitation exoskeleton mechanical arm of the utility model.
Fig. 2 is an exploded structural view of an embodiment of the upper limb rehabilitation exoskeleton robot of the present invention.
Fig. 3 is an exploded view of the central support column in an embodiment of the upper extremity rehabilitation exoskeleton robot arm of the present invention.
Fig. 4 is an exploded view of an arm brace in an embodiment of the upper extremity rehabilitation exoskeleton robot of the present invention.
Fig. 5 is an exploded view of the arm brace in an embodiment of the upper limb rehabilitation exoskeleton robot arm of the present invention.
Figure 6 is a block diagram of an elbow support in an embodiment of the upper extremity rehabilitation exoskeleton robot of the present invention.
Fig. 7 is a structural section view of a wrist rotating ring in an embodiment of the upper limb rehabilitation exoskeleton mechanical arm of the utility model.
The utility model is further explained with reference to the drawings and the embodiments.
Detailed Description
As shown in fig. 1 and fig. 2, in this embodiment, the upper limb rehabilitation exoskeleton mechanical arm includes a fixing base 1, a central pillar 2, a left-right conversion motor 3, a shoulder pillar 4, a first shoulder adjustment motor 5, a first shoulder adjustment pillar 6, a second shoulder adjustment motor 7, a second shoulder adjustment pillar 8, an arm rotation motor 9, an arm pillar 10, an elbow rotation motor 11 and an elbow pillar 12, where the central pillar 2 is vertically installed on the fixing base 1, a first end of the shoulder pillar 4 is rotatably connected with the central pillar 2 through the left-right conversion motor 3, a second end of the shoulder pillar 4 is rotatably connected with the first end of the first shoulder adjustment pillar 6 through the first shoulder adjustment motor 5, a second end of the first shoulder adjustment pillar 6 is rotatably connected with a first end of the second shoulder adjustment pillar 8 through the second shoulder adjustment motor 7, and a second end of the second shoulder adjustment pillar 8 is rotatably connected with a first end of the arm pillar 10 through the arm rotation motor 9 The second end of the arm support post 10 is rotatably connected with the first end of the elbow support post 12 through an elbow rotating motor 11.
In this embodiment, fixing base 1 is provided with four universal wheels 13, and four universal wheels 13 are all installed in the bottom of fixing base 1, and four universal wheels 13 set up four angles at fixing base 1 respectively.
Referring to fig. 3, the center pillar 2 includes a lower column 21 and an upper column 22, the lower column 21 is mounted on the fixing base 1, and the upper column 22 is telescopically mounted on the lower column 21. In this embodiment, the upper cylinder 22 is provided with a lower cylinder receiving cavity 221, the lower cylinder 21 is inserted into the lower cylinder receiving cavity 221, and the length of the central pillar 2 can be adjusted by the lower cylinder 21 and the upper cylinder 22 through a locking structure (not shown). A left-right conversion motor mounting position 222 is arranged in the lower column body accommodating cavity 221, the left-right conversion motor 3 is mounted at the left-right conversion motor mounting position 222, the left-right conversion motor 3 drives the shoulder support 4 to rotate, and the axis of the shoulder support 4 in the length direction is perpendicular to the central line of the rotating shaft of the left-right conversion motor 3. In order to facilitate the installation and the disassembly of the left and right conversion motors 3, a motor cover 23 is further arranged at the position of the center pillar 2 close to the left and right conversion motor installation positions 222, and the motor cover 23 is detachably installed on the upper column body 22.
As can be seen from fig. 2, the first shoulder adjusting strut 6 is provided with a shoulder adjusting motor mounting cavity 61 and a mounting cavity cover 62, the mounting cavity cover 62 is detachably mounted on the shoulder adjusting motor mounting cavity 61, the first shoulder adjusting motor 5 and the second shoulder adjusting motor 7 are mounted in the shoulder adjusting motor mounting cavity 61, the axis of the shoulder strut 4 in the length direction is perpendicular to the central axis of the rotating shaft of the first shoulder adjusting motor 5, and the positions of the first shoulder adjusting strut 6 and the second shoulder adjusting strut 8 can be adjusted by the first shoulder adjusting motor 5 and the second shoulder adjusting motor 7, so that the mechanical arm matches the shoulder of the rehabilitee.
Referring to fig. 4 and 5, arm brace 10 includes a first arm brace 101 and a second arm brace 102, with second arm brace 102 being telescopically mounted on first arm brace 101. In this embodiment, the first arm support 101 includes a first support housing 1011 and a second support housing 1012, the first support housing 1011 and the second support housing 1012 cooperating to form a second arm support receiving cavity 1013, and a portion of the second arm support 102 is inserted into the second arm support receiving cavity 1013. The first arm strut 101 is provided with a lock bolt hole 1014, the lock bolt hole 1014 communicating with the second arm strut receiving chamber 1013, and the lock bolt hole 1014 mounting the lock bolt 103. The second arm strut 102 includes a third strut housing 1021 and a fourth strut housing 1022, the third strut housing 1021 and the second strut housing 1022 cooperate to form an elbow rotating motor mounting cavity 1023, and the elbow rotating motor 11 is mounted in the elbow rotating motor mounting cavity 1023. The fourth pillar housing 1022 is provided with a lock groove 1024, the lock groove 1024 extends in the direction in which the second arm pillar 102 moves, and the lock bolt 103 extends into the lock groove 1024 and abuts against the bottom of the lock groove 1024. A guide post 1015 is disposed within the second arm support receiving cavity 1013, the guide post 1015 extending in the direction of movement of the second arm support 102. The second arm brace 102 is provided with a guide hole 1025, and the guide post 1015 is inserted into the guide hole 1025.
In addition, the first arm support 101 is further provided with an arm rotation motor mounting location 1016, and the arm rotation motor 9 is mounted in the arm rotation motor mounting location 1016. The arm brace 10 is further provided with an arm fixing band 104, and the arm fixing band 104 is attached to the first arm brace 101. In this embodiment, the arm fixing band 104 is a hook and loop fastener.
Referring to fig. 6 and 7, the second end of the elbow strut 12 is provided with a wrist rotation ring 121 and a handle 122, the handle 122 is mounted on the wrist rotation ring 121 along the diameter direction of the wrist rotation ring 121, the handle 122 is rotatably mounted on the wrist rotation ring 121, and the handle 122 rotates with the center of the wrist rotation ring 121 as the rotation center. The handle 122 is provided at both ends thereof with a cartridge 1221, the cartridge 1221 is mounted on the wrist rotation ring 121, and the cartridge 1221 moves with the wrist rotation ring 121 as a guide. In this embodiment, the wrist rotation ring 121 is a notched ring, so that in order to prevent the handle 122 from falling off from the wrist rotation ring 121 during rotation, the positioning rod 1222 is disposed in the sleeving cylinder 1221, the wrist rotation ring 121 is provided with a positioning groove 1211, the positioning groove 1211 is disposed along the circumferential direction of the wrist rotation ring 121, and the positioning rod 1222 is movably disposed in the positioning groove 1211.
When the upper limb rehabilitation exoskeleton mechanical arm is used, the left-right conversion motor 3 can rotate, the left-right position of the mechanical arm can be switched, the mechanical arm is located on one side of an arm of a rehabilitee needing to be trained, then, the first shoulder adjusting strut 6 and the second shoulder adjusting motor 7 are adjusted through the first shoulder adjusting motor 5 and the second shoulder adjusting motor 7, the first shoulder adjusting strut 6 and the second shoulder adjusting motor 7 are matched with the shoulder of the rehabilitee, then, the first arm strut 101 and the second arm strut 102 are adjusted, the length of the arm strut 10 is matched with the arm length of the rehabilitee, and the arm of the rehabilitee is fixed through the arm fixing strap 104. And finally, the second shoulder adjusting motor 7, the arm rotating motor 9 and the elbow rotating motor 11 are matched to rotate, so that the upper limb movement of the rehabilitee is controlled, and the purpose of rehabilitation movement is achieved.
Therefore, the upper limb rehabilitation exoskeleton mechanical arm can switch the mechanical arm left and right by arranging the left-right switching motor 3, is convenient for left-right hand rehabilitation training, saves cost and simplifies the volume and weight of the device. Meanwhile, the left-right switching motor 3, the first shoulder adjusting motor 5, the second shoulder adjusting motor 7, the arm rotating motor 9 and the elbow rotating motor 11 are used as adjusting joints of the mechanical arm, so that the mechanical arm has five degrees of freedom, a user can conveniently perform multi-joint motion, and the use experience of the user is improved.
It should be noted that the above is only a preferred embodiment of the present invention, but the design concept of the present invention is not limited thereto, and any insubstantial modifications made by using the design concept also fall within the protection scope of the present invention.
Claims (9)
1. The utility model provides a recovered ectoskeleton arm of upper limbs, a serial communication port, include fixing base, center pillar, control conversion motor, shoulder pillar, first shoulder adjustment motor, first shoulder adjustment pillar, second shoulder adjustment motor, second shoulder adjustment pillar, arm rotation motor, arm pillar, elbow rotation motor and elbow pillar about, center pillar is vertical to be installed on the fixing base, the first end of shoulder pillar is passed through control conversion motor with the rotatable formula of center pillar is connected, the second end of shoulder pillar is passed through first shoulder adjustment motor with the rotatable formula of first end of first shoulder adjustment pillar is connected, the second end of first shoulder adjustment pillar is passed through second shoulder adjustment motor with the rotatable formula of first end of second shoulder adjustment pillar is connected, the second end of second shoulder adjustment pillar is passed through arm rotation motor with the rotatable formula of first end of arm pillar is connected And the second end of the arm strut is rotatably connected with the first end of the elbow strut through the elbow rotating motor.
2. The upper extremity rehabilitation exoskeleton mechanical arm of claim 1,
the arm strut comprises a first arm strut and a second arm strut, and the second arm strut is telescopically mounted on the first arm strut.
3. The upper extremity rehabilitation exoskeleton mechanical arm of claim 2,
the first arm strut is provided with a second arm strut accommodating cavity, and a part of the second arm strut is inserted into the second arm strut accommodating cavity;
the first arm strut is provided with a locking bolt hole, the locking bolt hole is communicated with the second arm strut accommodating cavity, and a locking bolt is mounted on the locking bolt hole;
the second arm strut is provided with a locking groove, the locking groove extends along the moving direction of the second arm strut, and the locking bolt extends into the locking groove and abuts against the bottom of the locking groove.
4. The upper extremity rehabilitation exoskeleton mechanical arm of claim 3,
a guide post is arranged in the second arm support accommodating cavity and extends along the moving direction of the second arm support;
the second arm support is provided with a guide hole, and the guide post is inserted in the guide hole.
5. The upper extremity rehabilitation exoskeleton mechanical arm of claim 2,
the arm pillar is further provided with an arm fixing bandage, and the arm fixing bandage is installed on the first arm pillar.
6. The upper extremity rehabilitation exoskeleton mechanical arm of any one of claims 1 to 5,
the second end of elbow pillar is provided with wrist and rotates ring and handle, the handle is followed the diameter direction that the wrist rotated the ring is installed wrist rotates the ring on, the rotatable formula of handle is installed wrist rotates the ring on.
7. The upper extremity rehabilitation exoskeleton mechanical arm of claim 6,
the two ends of the handle are provided with sleeving barrels, and the sleeving barrels are sleeved on the wrist rotating ring.
8. The upper extremity rehabilitation exoskeleton mechanical arm of any one of claims 1 to 5,
the central support comprises a lower cylinder and an upper cylinder, the lower cylinder is mounted on the fixing seat, and the upper cylinder is telescopically mounted on the lower cylinder.
9. The upper extremity rehabilitation exoskeleton mechanical arm of any one of claims 1 to 5,
the fixing base is provided with the universal wheel, the universal wheel is installed the bottom of fixing base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122637693.3U CN216365837U (en) | 2021-10-29 | 2021-10-29 | Exoskeleton mechanical arm for upper limb rehabilitation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122637693.3U CN216365837U (en) | 2021-10-29 | 2021-10-29 | Exoskeleton mechanical arm for upper limb rehabilitation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216365837U true CN216365837U (en) | 2022-04-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122637693.3U Active CN216365837U (en) | 2021-10-29 | 2021-10-29 | Exoskeleton mechanical arm for upper limb rehabilitation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216365837U (en) |
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2021
- 2021-10-29 CN CN202122637693.3U patent/CN216365837U/en active Active
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