CN220070106U - Wrist rehabilitation training device with three degrees of freedom - Google Patents
Wrist rehabilitation training device with three degrees of freedom Download PDFInfo
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- CN220070106U CN220070106U CN202321325449.6U CN202321325449U CN220070106U CN 220070106 U CN220070106 U CN 220070106U CN 202321325449 U CN202321325449 U CN 202321325449U CN 220070106 U CN220070106 U CN 220070106U
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- 210000000707 wrist Anatomy 0.000 title claims abstract description 87
- 230000005540 biological transmission Effects 0.000 claims abstract description 78
- 230000007246 mechanism Effects 0.000 claims abstract description 53
- 230000001360 synchronised effect Effects 0.000 claims abstract description 30
- 230000033001 locomotion Effects 0.000 claims abstract description 20
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 18
- 208000006358 Hand Deformities Diseases 0.000 claims abstract description 12
- 229910000831 Steel Inorganic materials 0.000 claims description 12
- 239000010959 steel Substances 0.000 claims description 12
- 210000003857 wrist joint Anatomy 0.000 claims description 11
- 239000003638 chemical reducing agent Substances 0.000 claims description 8
- 238000005452 bending Methods 0.000 abstract description 4
- 150000001875 compounds Chemical class 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 5
- 210000003205 muscle Anatomy 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 210000000988 bone and bone Anatomy 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 210000000245 forearm Anatomy 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 206010062575 Muscle contracture Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 208000006111 contracture Diseases 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
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- 230000003387 muscular Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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Abstract
The utility model provides a three-degree-of-freedom wrist rehabilitation training device which comprises a mounting frame, a frame, an elbow joint supporting mechanism, a palm combination mechanism and a wrist combined rehabilitation mechanism. The wrist training rehabilitation device has three rotational degrees of freedom, the three rotational degrees of freedom are respectively responsible for three transmission systems, and the first transmission system adopts a wheel train structure to realize the internal rotation or the external rotation of the wrist; synchronous belts are symmetrically arranged on two sides of the second transmission system to realize palm bending or dorsiflexion movement of the wrist; the third transmission system realizes the ulnar deviation or radial deviation movement of the wrist by using worm gear and gear transmission. The utility model relates to a wrist rehabilitation training device with three degrees of freedom, which can respectively realize internal rotation/external rotation, palmar flexion/dorsal extension and ulnar deviation/radial deviation of the wrist, can simultaneously realize two or three compound movements, provides various wrist rehabilitation training modes and can meet various requirements of wrist rehabilitation training.
Description
Technical Field
The utility model relates to the technical field of rehabilitation medical appliances, in particular to a three-degree-of-freedom wrist rehabilitation training device.
Background
When the human is used for finely mastering the wrist without leaving the use capability of the tool, the wrist is one of the most easily damaged parts during daily activities, such as fracture, stroke, hemiplegia or high muscular tension, and the like, can cause wrist dysfunction or loss, which can bring great inconvenience to life, and the wrist rehabilitation device can assist a patient to carry out effective wrist training so as to help the patient to recover normal wrist functions.
However, there are few products for wrist function rehabilitation training in the market, and there is still room for improvement in the existing wrist rehabilitation training device. For example, some products implement less than three degrees of freedom training; secondly, most of the existing wrist rehabilitation devices drive the wrist to rotate through the rotation of the forearm when training the internal rotation/external rotation of the wrist, and the wrist rehabilitation devices do not have a sufficient training effect; in addition, when the palmar flexion/dorsal extension of the wrist and the ulnar deviation/radial deviation training of the wrist are carried out, the handle is held by fingers, and the fingers exert force to drive the wrist to move, but researches show that the wrist can swing 135 degrees when the hands grip a fist, and the wrist can swing 150 degrees when the fingers are extended, so that the wrist rehabilitation training effect of the fingers in a relaxed state is better; finally, the rotatable angle of the wrist is limited in range, and the conventional product is not accurate enough when limiting the rotation angle range, so that the wrist can be possibly damaged.
Disclosure of Invention
Aiming at the problems, the utility model provides a three-degree-of-freedom wrist rehabilitation training device. The rehabilitation training device is a training device with three independent degrees of freedom, can realize independent or composite movements of internal rotation/external rotation, palmar flexion/dorsal extension and ulnar deviation/radial deviation of the wrist, can provide various wrist rehabilitation training modes, and meets various requirements of wrist rehabilitation training.
The technical scheme adopted for solving the technical problems is as follows: the utility model provides a three degree of freedom wrist rehabilitation training device which characterized in that: comprises a mounting rack, a frame, an elbow joint supporting mechanism, a palm combination mechanism and a wrist combined rehabilitation mechanism.
The wrist joint rehabilitation mechanism has three degrees of rotation freedom and is respectively realized by three transmission systems: a first transmission system, a second transmission system and a third transmission system; the first transmission system drives the palm combination mechanism through the frame to drive the wrist to do internal rotation or external rotation; the second transmission system is arranged on the frame and is used for driving a palm combination mechanism arranged on the frame to drive the wrist to do palm bending or back stretching movement; the third transmission system is arranged on the palm combination mechanism and drives the palm combination mechanism to drive the wrist to do ulnar deviation or radial deviation movement.
Further, the first transmission system comprises a first motor frame installed on the installation frame, a first motor installed on the first motor frame, a first small lifting belt wheel installed on an output shaft of the first motor, a first large lifting belt wheel connected with the first small lifting belt wheel through a planetary synchronous belt, a support frame installed on the installation frame, a sun wheel coaxially arranged with the first large lifting belt wheel through a transmission shaft, three planetary gears connected with the sun wheel in an external meshing manner, and a gear ring connected with the planetary gears in an internal meshing manner.
Further, the second transmission system is a transmission structure symmetrically arranged on two sides of the palm combination mechanism and comprises two second motor frames installed on the frame, two second motors installed on the two second motor frames, a second small lifting belt wheel installed on an output shaft of the second motor, a second large lifting belt wheel connected with the second small lifting belt wheel through a synchronous belt, and a second large lifting belt wheel is in transmission connection with a second synchronous belt through a steering device and is clamped with a belt connected with the second synchronous belt.
Further, the third transmission system comprises a bearing seat arranged on the frame, bearings arranged on two sides of the bearing seat and hinged with a connecting piece through a hand support rotating shaft, a third motor arranged on a third motor frame, a worm arranged on an output shaft of the third motor, a worm wheel meshed with the worm, a belt wheel connected with a worm wheel shaft belt in a transmission manner, a pinion coaxial with the belt wheel, and a large gear connected with the pinion in an internal meshing manner; the steel ball baffle is fixedly arranged on the large gear; the steel ball baffle plate contains steel balls.
Further, the elbow joint bearing mechanism comprises a dovetail groove sliding rail arranged on the mounting frame, a sliding block arranged on the dovetail groove sliding rail in a sliding mode, an elbow joint supporting frame arranged on the sliding block, an elbow joint supporting base arranged on the elbow joint supporting frame, a screw rod for controlling the sliding block to move and an adjusting knob.
Further, the palm combination mechanism comprises a palm bracket, a binding belt, a palm bottom plate, a palm bracket bearing and a pull rod; the palm bracket is provided with a binding band for fixing fingers and a palm; the palm bottom plate is provided with a groove for the steel balls to roll; the palm bracket bearing is arranged between the palm bracket and the palm bottom plate; the pull rod is arranged on the palm bottom plate and fixedly connected with the belt clamp.
Further, the frame comprises a speed reducer connecting plate, a transverse and vertical plate frame and an outer ring bearing; one side of the transverse and vertical plate frame is fixedly arranged on the speed reducer connecting plate, and the other side of the transverse and vertical plate frame is fixedly arranged on the outer ring bearing.
Further, the steering device comprises a Z-axis bearing seat, a pulley shaft and a small pulley; the Z-axis bearing seat is fixedly arranged on the transverse and vertical plate frames.
Compared with the prior art, the utility model has the following beneficial effects:
(1) The wrist rehabilitation training device provided by the utility model has three rotational degrees of freedom, the three rotational degrees of freedom are respectively responsible for three transmission systems, and the first transmission system adopts a gear train structure to realize the internal rotation or the external rotation of the wrist; synchronous belts are symmetrically arranged on two sides of the second transmission system to realize palm bending or dorsiflexion movement of the wrist; the third transmission system realizes the ulnar deviation or radial deviation movement of the wrist by using worm gear and gear transmission. The wrist rehabilitation training device can respectively realize internal rotation/external rotation, palmar flexion/dorsal extension and ulnar deviation/radial deviation of the wrist, can simultaneously realize two or three compound movements, provides various wrist rehabilitation training modes, and can meet various requirements of wrist rehabilitation training.
(2) The first transmission system of the wrist rehabilitation training device provided by the utility model adopts a gear train structure to obtain a larger transmission ratio, meets the requirements of speed change and direction change, and realizes the internal rotation or external rotation of the wrist joint.
(3) The synchronous belts with constant transmission ratio are symmetrically arranged on two sides of the second transmission system of the wrist rehabilitation training device, so that the palm combination mechanism is driven to rotate up and down more stably, and palm bending or back stretching movement of the wrist joint is realized.
(4) The third transmission system of the wrist rehabilitation training device realizes the ulnar deviation or radial deviation movement of the wrist joint by using the gear transmission with high transmission precision, and can realize self-locking at any position when the wrist joint is folded inwards or outwards on the coronal plane by using the worm gear and the worm, so that the wrist can keep the rotatable maximum angle in the training stage, the training angle is kept, the muscles are stretched to relieve the tension of the muscles, and in addition, the palm bottom plate is provided with the sliding groove to completely meet the range of the activity degree of the wrist joint, the range is limited, and secondary injury is avoided.
(5) The palm bracket of the wrist rehabilitation training device enables fingers to be in a relaxed state for rehabilitation training, enables the wrist to reach the maximum range capable of swinging, and fully meets training requirements.
Drawings
FIG. 1 is a front view of a three degree of freedom wrist rehabilitation training device of the present utility model;
fig. 2 and 3 are perspective views of the wrist rehabilitation training device with three degrees of freedom of the utility model;
FIG. 4 is a side view of the three degree of freedom wrist rehabilitation training device of the present utility model;
FIG. 5 is an exploded view of the planetary gear reducer of the present utility model;
FIG. 6 is a diagram of a first timing belt and a second timing belt configuration of the present utility model;
FIG. 7 is a schematic diagram of a palm assembly mechanism of the present utility model;
FIG. 8 is a schematic view of the structure of the screw and dovetail rail of the present utility model;
reference numerals illustrate.
The device comprises a first transmission system (A), a second transmission system (B), a third transmission system (C), a palm combination mechanism (D), an elbow joint bearing mechanism (E), a first motor (1), a first motor frame (2), a supporting frame (3), a first small lifting belt pulley (4), a planetary synchronous belt (5), a first large lifting belt pulley (6), a transmission shaft (7), a sun gear (8), three planet gears (9), a gear ring (10), a frame (11), a speed reducer connecting plate (1101), a transverse vertical plate frame (1102), an outer ring bearing (1103), a second motor (12), a second motor frame (13), a second small lifting belt pulley (14), a first synchronous belt (15), a second large lifting belt pulley (16), a steering device (17), a Z-axis bearing seat (1701), a belt wheel shaft (1702), a small belt pulley (1703), a second synchronous belt (18), a belt clamping (19), a third motor (20), a third motor frame (21), a worm gear (22), a worm wheel (23), a worm wheel shaft (24), a worm wheel (25), a pinion (26), a pinion (27), a large gear (27), a baffle plate (29), a steel ball (31), a rotating ball bearing (30) and a rotating lever (30), the device comprises two side bearings (32), a bearing seat (33), a palm bracket (34), a binding belt (35), a palm bottom plate (36), a palm bracket bearing (37), a pull rod (38), an elbow joint supporting base (39), an elbow joint supporting frame (40), a sliding block (41), a screw rod (42), an adjusting knob (43), a dovetail groove sliding rail (44) and a mounting frame (45).
Detailed Description
The technical scheme of the utility model is further specifically described below through examples and with reference to the accompanying drawings. The drawings are simplified schematic diagrams for illustrating the basic structure of the present utility model, and the following examples are merely for more clearly illustrating the technical solution of the present utility model, so that they are merely examples, and are not intended to limit the scope of the present utility model.
1-3, a specific embodiment of a three degree-of-freedom wrist rehabilitation training device of the utility model comprises a mounting rack 45, a frame 11, an elbow joint supporting mechanism E, a palm combining mechanism D and a wrist combined rehabilitation mechanism; the wrist joint rehabilitation mechanism has three rotational degrees of freedom and is respectively realized by three transmission systems: a first transmission system A, a second transmission system B and a third transmission system C; the first transmission system A drives the palm combination mechanism D through the frame 11 to drive the wrist to do internal rotation or external rotation; the second transmission system B is arranged on the frame 11 and is used for driving the palm combination mechanism D arranged on the frame 11 to drive the wrist to do palmar flexion or dorsiflexion; the third transmission system C is arranged on the palm combination mechanism D and drives the palm combination mechanism D to drive the wrist to do ulnar deviation or radial deviation movement.
Further, as shown in fig. 4, the first transmission system a includes a first motor frame 2 mounted on a mounting frame 45, a first motor 1 mounted on the first motor frame 2, a first small lifting pulley 4 mounted on an output shaft of the first motor 1, a first large lifting pulley 6 connected with the first small lifting pulley 4 through a planetary synchronous belt 5, a supporting frame 3 mounted on the mounting frame 45, a sun gear 8 coaxially arranged with the first large lifting pulley 6 through a transmission shaft 7, three planetary gears 9 externally engaged with the sun gear 8, and a gear ring 10 internally engaged with the planetary gears 9. In this embodiment, the first motor 1 is fixed to the first motor frame 2, the first motor frame 2 is fixed to the mounting frame 45, the supporting frame 3 is fixed to the mounting frame 45 through bolts, the output shaft of the first motor 1 is connected to the first small lifting belt pulley 4 through a key, power is transmitted to the first large lifting belt pulley 6 through the planetary synchronous belt 5, and the rotation axis is lifted during deceleration. As shown in fig. 5, the first large lifting belt wheel 6 transmits power to a sun wheel 8 coaxially arranged through a transmission shaft 7, the sun wheel 8 is externally engaged with three planetary wheels 9, the planetary wheels 9 are internally engaged with a gear ring 10, and the gear ring 10 is fixed with a speed reducer connecting plate 1101 through bolts.
So, first motor 1 gives first little lifting belt wheel 4 with power transmission, gives first big lifting belt wheel 6 with power transmission through planetary synchronous belt 5, and rethread transmission shaft 7 gives the train structure with power transmission, drives frame 11 and rotates, and then drives palm combined mechanism D rotation, uses the train structure to obtain great transmission ratio and satisfies the requirement of variable speed and diversion, realizes the internal rotation or the external rotation motion of wrist. The wrist rotating inwards or outwards means rotating around the vertical axis of the bone, the frame 11 is similar to a cylindrical bearing and can rotate on the mounting frame 45, the axis of the frame 11 is approximately coincident with the vertical axis of the palm arranged on the palm combination mechanism D, the problem that the training axis is not aligned with the physiological rotation axis is avoided, and the over-constraint problem caused by man-machine isomerism is avoided. It should be noted that, a bearing is arranged in the top of the supporting frame 3, and the transmission shaft 7 is installed in a deep groove ball bearing arranged in the supporting frame 3, i.e. the top of the supporting frame 3 plays a role of a bearing seat; the planet wheel 9 is connected with the planet carrier through a planet wheel bearing.
Further, as shown in fig. 6, the second transmission system B is a transmission structure symmetrically disposed at both sides of the palm combining mechanism D, and includes two second motor frames 13 mounted on the frame 11, two second motors 12 mounted on the two second motor frames 13, a second small lifting pulley 14 mounted on an output shaft of the second motor 12, a second large lifting pulley 16 connected to the second small lifting pulley 14 through a first synchronous belt 15, and a belt clamp 19 connected to the second synchronous belt 18 through a steering device 17, wherein the second large lifting pulley 16 is belt-driven connected to the second synchronous belt 18. In the present embodiment, the second motor 12 is fixed to the second motor frame 13, the second motor frame 13 is fixed to the mounting frame 45, the steering device 17 is fixed to the mounting frame 45 by bolts, the output shaft of the second motor 12 is connected to the second small lifting pulley 14 by a key, and the second large lifting pulley 16 is connected to the pulley shaft 1702 by a key.
In this way, the second motor 12 transmits power to the second small lifting belt pulley 14, the power is transmitted to the second large lifting belt pulley 16 through the first synchronous belt 15, the power is transmitted to the small belt pulley 1703 coaxially arranged through the belt pulley shaft 1702, the second synchronous belt 18 is driven to drive, two ends of the second synchronous belt 18 are both arranged on the palm combining mechanism D, when the small belt pulley 1703 moves, the second synchronous belt 18 generates tension, the connection position of the second synchronous belt 18 and the palm is far away from the transmission shaft, because the small belt pulley 1703 is close to the palm transmission shaft, the direction of the tension is along the direction of the second synchronous belt 18 pointing to the direction of the small belt pulley 1703, the force point of the tension is the connection position of the second synchronous belt 18 and the palm, because the force point of the tension generates torque to drive the palm to rotate, namely, when the small belt pulley 1703 drives the second synchronous belt 18 to move clockwise, the connection position of the second synchronous belt 18 and the palm combining mechanism D generates tension along the rotation shaft in the direction of the movement mechanism D, because the small belt pulley 1703 is located at the position close to the movement mechanism D, the direction of the connection position of the small belt pulley 1703 and the palm combining mechanism D is inclined to the palm, and the palm can move upwards along the direction of the rotation direction of the palm combining mechanism, and the palm can rotate upwards along the direction of the rotation direction of the palm combining mechanism is turned upwards, and the palm can rotate along the direction of the rotation direction of the palm. The palm combination mechanism D rotates around the hand support rotating shaft 31, the axis of the hand support rotating shaft 31 approximately coincides with the physiological axis of the outer side of the triangular bone of the palm, and the problem of over-constraint caused by man-machine isomerism is avoided. The synchronous belt with constant transmission ratio is symmetrically arranged on two sides of the second transmission system, the palm combination mechanism is driven to rotate up and down more stably, the device in the embodiment adopts large reduction ratio transmission, the rotation angle can be precisely controlled, the physiological space of palm flexion and dorsi extension of the wrist of a human body is completely covered, and secondary injury caused by excessive training angle is avoided.
Further, as shown in fig. 7, the third transmission system C includes a bearing housing 33 mounted on the frame 11, bearings 32 mounted on both sides of the bearing housing 33 and hinged to the connecting member 30 through a hand rest rotation shaft 31, a third motor 20 mounted on the third motor frame 21, a worm 22 mounted on an output shaft of the third motor 20, a worm wheel 23 meshed with the worm 22, a pulley 25 belt-driven connected with the worm wheel shaft 24, a pinion 26 coaxial with the pulley 25, and a large gear 27 internally meshed with the pinion 26; a steel ball baffle 28 fixedly mounted on the gearwheel 27; the steel ball baffle 28 contains steel balls 29. In the present embodiment, the third motor 20 and the third motor frame 21, the third motor frame 21 and the connector 30, the bearing block 33 and the frame 11, and the large gear 27 and the palm bracket 34 are fixed by bolts, and the output shaft of the third motor 20 is connected to the worm 22 by a key.
In this way, the third motor 20 transmits power to the worm gear, the worm wheel shaft 24 transmits power to the pinion 26 coaxial with the belt wheel 25 in a belt transmission manner, and the internal engagement transmits power to the large gear 27 to drive the palm rest 34 to drive the wrist to do ulnar or radial movement. The third transmission system uses the worm and gear to realize self-locking at any position when the wrist joint is retracted or extended on the coronal plane, so that the wrist can be kept at the rotatable maximum angle in the training stage, the training angle is kept, the muscles are stretched to relieve the tension of the muscles, in addition, the palm bottom plate is provided with a sliding groove to completely meet the range of the activity degree of the wrist joint, and the limiting range avoids secondary injury.
Further, as shown in fig. 2 and 8, the elbow supporting mechanism E includes a dovetail rail 44 mounted on a mounting frame 45, a slider 41 slidably mounted on the dovetail rail 44, an elbow supporting frame 40 mounted on the slider 41, an elbow supporting base 39 mounted on the elbow supporting frame 40, a screw 42 for controlling movement of the slider, and an adjusting knob 43. The elbow joint support frame 40 is fixedly connected with the sliding block 41 through insertion, the sliding block 41 can slide on the dovetail groove sliding rail 44, and the sliding block is controlled to move through the lead screw 42 and the adjusting knob 43 so as to adapt to arms with different lengths.
Further, as shown in fig. 7, the palm combining mechanism D includes a palm rest 34, a strap 35, a palm rest bearing 37, and a pull rod 38. The palm bracket 34 is provided with a binding band 35 for fixing fingers and a palm, the palm bottom plate 36 is provided with a groove for rolling the steel balls 29, a palm bracket bearing 37 is arranged between the palm bracket 34 and the palm bottom plate 36, and the pull rod 38 is fixed with the palm bottom plate 36 through bolts.
In the embodiment, the elbow joint is arranged on the elbow joint supporting base, so that the free and unconstrained forearm is ensured, and the internal rotation or external rotation of the wrist is not interfered; during training, fingers are in a relaxed state, the buckling tension of the fingers is restrained, and the buckling contracture of the fingers is prevented during training, so that the wrist reaches the maximum range capable of swinging. The first transmission system, the second transmission system, the third transmission system and the palm combined mechanism are used for arranging the wrist internal rotation/external rotation, the palm flexion/dorsal extension and the ulnar deviation/radial deviation training mechanism, so that the problem that the training axis is aligned with the physiological rotation axis is fully considered, the physiological motion rule of the wrist joint in human engineering is met, and the over-constraint problem caused by man-machine isomerism is avoided.
As shown in fig. 7, the frame 11 includes a reduction gear coupling plate 1101, a cross-stand 1102, and an outer race bearing 1103. The cross-strut frame 1102 is bolted to the reducer coupling 1101 on one side and to the outer race bearing 1103 on the other side, and the frame 11 is rotatable on the mounting frame 45, generally similar to a bearing. The steering device 17 includes a Z-axis bearing block 1701, a pulley shaft 1702, and a small pulley 1703. The Z-axis bearing block 1701 is fixed to the horizontal/vertical plate frame 1102 by bolts.
The wrist rehabilitation training device can respectively perform rehabilitation training of three degrees of freedom of internal rotation/external rotation, palmar flexion/dorsal extension and ulnar deviation/radial deviation of the wrist, can simultaneously realize two or three compound motions, provides various wrist rehabilitation training modes, and can meet various requirements of wrist rehabilitation training.
The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.
Claims (7)
1. The utility model provides a three degree of freedom wrist rehabilitation training device which characterized in that: comprises a mounting rack (45), a frame (11), an elbow joint supporting mechanism (E), a palm combination mechanism (D) and a wrist combined rehabilitation mechanism;
the wrist joint rehabilitation mechanism has three degrees of rotation freedom and is respectively realized by three transmission systems: a first transmission system (A), a second transmission system (B) and a third transmission system (C); the first transmission system (A) drives the palm combination mechanism (D) through the frame (11) to drive the wrist to do internal rotation or external rotation; the second transmission system (B) is arranged on the frame (11) and is used for driving a palm combination mechanism (D) arranged on the frame (11) to drive the wrist to do palmar flexion or dorsiflexion; the third transmission system (C) is arranged on the palm combination mechanism (D) and drives the palm combination mechanism (D) to drive the wrist to do ulnar deviation or radial deviation movement.
2. The three degree of freedom wrist rehabilitation training device according to claim 1, wherein: the first transmission system (A) comprises a first motor frame (2) arranged on a mounting frame (45), a first motor (1) arranged on the first motor frame (2), a first small lifting belt wheel (4) arranged on an output shaft of the first motor (1), a first large lifting belt wheel (6) connected with the first small lifting belt wheel (4) through a planetary synchronous belt (5), a supporting frame (3) arranged on the mounting frame (45), a sun wheel (8) coaxially arranged with the first large lifting belt wheel (6) through a transmission shaft (7), three planetary gears (9) externally meshed with the sun wheel (8) and a gear ring (10) internally meshed with the planetary gears (9).
3. The three degree of freedom wrist rehabilitation training device according to claim 1, wherein: the second transmission system (B) is a transmission structure symmetrically arranged on two sides of the palm combination mechanism (D), and comprises two second motor frames (13) arranged on the frame (11), two second motors (12) arranged on the two second motor frames (13), a second small lifting belt wheel (14) arranged on an output shaft of the second motor (12), a second large lifting belt wheel (16) connected with the second small lifting belt wheel (14) through a first synchronous belt (15), and a second large lifting belt wheel (16) connected with a second synchronous belt (18) through a steering device (17) in a belt transmission manner and a belt clamp (19) connected with the second synchronous belt (18).
4. The three degree of freedom wrist rehabilitation training device according to claim 1, wherein: the third transmission system (C) comprises a bearing seat (33) arranged on the frame (11), bearings (32) arranged on two sides of the bearing seat (33) and hinged with a connecting piece (30) through a hand support rotating shaft (31), a third motor (20) arranged on a third motor frame (21), a worm (22) arranged on an output shaft of the third motor (20), a worm wheel (23) meshed with the worm (22), a belt wheel (25) in belt transmission connection with a worm wheel shaft (24), a pinion (26) coaxial with the belt wheel (25) and a large gear (27) in inner meshing connection with the pinion (26); a steel ball baffle (28) fixedly arranged on the large gear (27); the steel ball baffle (28) contains steel balls (29).
5. The three degree of freedom wrist rehabilitation training device according to claim 1, wherein: the elbow joint bearing mechanism (E) comprises a dovetail groove sliding rail (44) arranged on the mounting frame (45), a sliding block (41) slidably arranged on the dovetail groove sliding rail (44), an elbow joint supporting frame (40) arranged on the sliding block (41), an elbow joint supporting base (39) arranged on the elbow joint supporting frame (40), a screw rod (42) for controlling the sliding block to move and an adjusting knob (43).
6. The three degree of freedom wrist rehabilitation training device according to claim 1, wherein: the palm combination mechanism (D) comprises a palm bracket (34), a binding belt (35), a palm bottom plate (36), a palm bracket bearing (37) and a pull rod (38); the palm bracket (34) is provided with a binding band (35) for fixing fingers and a palm; the palm bottom plate (36) is provided with a groove; the palm bracket bearing (37) is arranged between the palm bracket (34) and the palm bottom plate (36); the pull rod (38) is mounted on the palm bottom plate (36).
7. A three degree of freedom wrist rehabilitation training device according to claim 3, wherein: the frame (11) comprises a speed reducer connecting plate (1101), a transverse and vertical plate frame (1102) and an outer ring bearing (1103); one side of the transverse and vertical plate frame (1102) is fixedly arranged on the speed reducer connecting plate (1101), and the other side of the transverse and vertical plate frame is fixedly arranged on the outer ring bearing (1103); the steering device (17) comprises a Z-axis bearing seat (1701), a pulley shaft (1702) and a small pulley (1703); the Z-axis bearing seat (1701) is fixedly arranged on the transverse and vertical plate frame (1102).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321325449.6U CN220070106U (en) | 2023-05-29 | 2023-05-29 | Wrist rehabilitation training device with three degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321325449.6U CN220070106U (en) | 2023-05-29 | 2023-05-29 | Wrist rehabilitation training device with three degrees of freedom |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220070106U true CN220070106U (en) | 2023-11-24 |
Family
ID=88826285
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321325449.6U Active CN220070106U (en) | 2023-05-29 | 2023-05-29 | Wrist rehabilitation training device with three degrees of freedom |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220070106U (en) |
-
2023
- 2023-05-29 CN CN202321325449.6U patent/CN220070106U/en active Active
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