CN106726353A - A kind of wrist joint rehabilitation training device in parallel based on self adaptation - Google Patents

Abstract

An adaptive parallel wrist joint rehabilitation training device relates to the field of rehabilitation medical equipment. The device adopts a parallel structure and has two rotational degrees of freedom when worn by a human body. The device consists of a hand support frame, a top support, a side support, a first branch chain, a second branch chain, a forearm support frame and a forearm support. The device itself has six degrees of freedom. When worn on the human body, the four degrees of freedom of the mechanism are limited by the two generalized rotational degrees of freedom of the wrist joint, so that the entire mechanism only has two generalized rotations of the wrist joint after being worn on the human body. Degree of freedom, after the human body is worn, the rotation center of the whole mechanism always coincides with the rotation center of the wrist joint of the human body during the movement process, which solves the problem of human-machine compatibility and provides better comfort. The device can avoid unnecessary interference during the training process, not only can fully meet the needs of wrist joint rehabilitation exercise, but also has the advantages of simple structure, compactness, convenient use, stable driving and low manufacturing cost.

Description

An Adaptive Parallel Wrist Joint Rehabilitation Training Device

technical field

The invention relates to the field of rehabilitation medical equipment, in particular to an adaptive parallel rehabilitation training device for assisting wrist joint rehabilitation.

Background technique

The wrist joint is one of the most complex joints in the human body. The wrist joint is located in the upper limb of the human body. The wrist joint bears a large load during the support, push-pull and other movements of the upper limb of the human body, so it is extremely vulnerable to damage in daily life and sports. . Plays an extremely important role in daily activities. With the frequent occurrence of natural disasters and casualties caused by accidents, the incidence of wrist fractures has also increased. In addition, the aggravation of the aging society has increased the number of stroke hemiplegia, causing the wrist joints to lose their mobility. Therefore, it is particularly important for the treatment of the human wrist joint. The traditional treatment method is that the rehabilitation therapist conducts one-on-one training for the patient. This treatment is not only expensive and time-consuming, but also cannot accurately control the training parameters and record real-time training data during the rehabilitation training process. No feedback The parameters and indicators of training, if the treating physician is inexperienced, may even cause secondary damage. Therefore, the use of wrist joint rehabilitation institutions in the process of wrist joint rehabilitation training can not only improve the efficiency of rehabilitation training, reduce expensive expenses, and reduce the workload of rehabilitation physicians, but also provide better feedback on the rehabilitation of patients by recording training parameters in real time Effect.

At present, most human wrist joint rehabilitation robots regard the human wrist joint model as a universal joint with fixed and intersecting axes. According to human anatomy, the wrist joint is one of the most complex joints in the human body. The movement of the wrist joint is not just simple ulnar/radial deviation, flexion/extension movement, that is to say, the wrist joint does ulnar/radial deviation, The axis of flexion/extension moves in space. If the center of rotation of ulnar/radial deviation and flexion/extension motion is still regarded as fixed when designing the rehabilitation device, it will inevitably lead to incompatibility between man and machine during the rehabilitation training process, and in severe cases may cause wrist injury. Secondary damage to joints. Therefore, it is very meaningful to design a wrist joint rehabilitation robot that can not only better solve the problem of human-machine compatibility, but also make people more comfortable during rehabilitation training.

Contents of the invention

The technical problem to be solved by the present invention is to invent a wrist joint rehabilitation exercise that can meet the needs of wrist joint rehabilitation (that is, wrist joint ulnar deviation/radial deviation, forward flexion/backward extension movement), and adapt to the axis of the wrist joint during the rehabilitation process. Movement makes the patient more comfortable and natural during the rehabilitation process. The device is composed of a hand support, a top support, a side support, a first branch chain, a second branch chain, a forearm support frame and a forearm support. The device itself has six degrees of freedom. When worn on the human body, the four degrees of freedom of the mechanism are limited by the two generalized rotational degrees of freedom of the wrist joint, so that the entire mechanism only has two generalized rotations of the wrist joint after being worn on the human body. degree of freedom, the rotation center of the whole mechanism coincides with the rotation center of the wrist joint of the human body during the movement process after the human body wears it, so the present invention better solves the compatibility problem between man and machine, and makes people feel better during the rehabilitation training process. comfort.

The scheme that the present invention solves technical problem adopts is:

A wrist joint rehabilitation training device, characterized in that it comprises a hand support (1), a top support (2), a side support (3), a first branch chain (4), a second branch chain (5), a forearm support frame (6), forearm support (7).

Further, a first threaded hole (11), a second threaded hole (12) and a hand binding hole (13) are provided on the hand support (1).

Further, the top bracket (2) is provided with the first threaded hole (21) of the top bracket and the second threaded hole (23) of the top bracket; the side bracket (3) is provided with the first threaded hole (31) of the side bracket , The second threaded hole of the side bracket (33).

Further, the top bracket (2) is connected with the hand bracket (1) through the top bracket fastening screws (22); the side bracket (3) is connected with the hand bracket (1) through the side bracket fastening screws (32) .

Further, the first branch chain (4) includes the first fastening screw (41), the first branch chain S subassembly one (42), the first branch chain S subassembly two (43), the first branch chain S subassembly S secondary assembly three (44), S secondary connecting rod one (45), first linear motor (46), U secondary connecting rod one (47), first branch chain U secondary assembly one (48), first branch Chain U subassembly two (49).

Further, the first branch chain S subassembly one (42) is fixedly connected with the top bracket (2) through the first fastening screw (41), the first branch chain S subassembly one (42), the first branch chain S subassembly Component two (43), the first branch chain S subassembly three (44) form a ball pair and the S secondary connecting rod one (45) is connected, the first branch chain U subassembly one (48), the first branch chain U subassembly Two (49) form Hooke pair and U secondary connecting rod one (47) and connect, wherein S secondary connecting rod one (45), U secondary connecting rod one (47) connect first linear motor (46).

Further, the second branch chain (5) includes a second fastening screw (51), a second branch chain S subassembly one (52), a second branch chain S subassembly two (53), a second branch chain S subassembly S secondary assembly three (54), S secondary connecting rod two (55), second linear motor (56), U secondary connecting rod two (57), second branch chain U secondary assembly one (58), second branch chain U subassembly two (59).

Further, the second branch chain S subassembly one (52) is fixedly connected with the side bracket (3) through the first fastening screw (51), the second branch chain S subassembly one (52), the second branch chain S subassembly Component two (53), second branch chain S subassembly three (54) form a ball pair and S secondary connecting rod two (55) to connect, second branch chain U subassembly one (58), second branch chain U subassembly Two (59) form Hooke's pair and connect with U secondary connecting rod two (57), wherein the second linear motor (56) is connected between S secondary connecting rod two (55) and U secondary connecting rod two (57).

Further, the forearm support frame (6) is provided with a forearm binding hole (61), a first threaded hole for the forearm support (62), a first bearing hole for the forearm support (63), a second threaded hole for the forearm support (64 ) the second bearing hole(65) of the forearm support.

Further, the first rotating bearing (103) and the second branch chain U subassembly (49) are placed in the first bearing hole (63) of the forearm support, and are fixed on the forearm support frame through the first bearing end cover (101). (6), the second rotating bearing (111) and the second branch chain U subassembly (59) are placed in the second bearing hole (65) of the forearm bracket, and are fixed on the forearm support frame through the second bearing end cover (115). (6) up.

Further, the first bearing end cover (101) is provided with a first bearing end cover threaded hole (104), which is fixed to the first threaded hole (62) of the forearm bracket through the first bearing end cover fastening screw (105) At the second bearing end cover (112), there is a first bearing end cover threaded hole (115), which is fixed to the second threaded hole (63) of the forearm bracket through the second bearing end cover fastening screw (117). .

Further, the first branch chain U subassembly one (48) and the first branch chain U subassembly two (49) use the U pair of first fastening screws (107) to pass through the U pair of the first assembly threaded hole one (106 ), the threaded hole two (102) of the second subassembly of the U pair is connected, and the U subassembly one (58) of the second branch chain and the U subassembly two (59) of the first branch chain pass through the second fastening screw (114) of the U pair The threaded hole three (113) of the first assembly of the U pair is connected with the fourth threaded hole (116) of the second assembly of the U pair.

The present invention adopts the above technical solutions, and innovatively designs an adaptive parallel wrist joint rehabilitation robot. The device can not only fully meet the needs of wrist joint rehabilitation exercise, but also has the advantages of simple structure, compact installation, convenient use, stable driving and low manufacturing cost. In addition, after the human body is worn, the rotation center of the whole mechanism always coincides with the rotation center of the wrist joint of the human body during the movement process, which better solves the problem of human-machine compatibility. Compared with the device, it has better stiffness and kinematic performance.

An adaptive parallel wrist joint rehabilitation robot based on the present invention will be further described below in conjunction with the accompanying drawings.

Description of drawings

Fig. 1 is the motion schematic diagram of wrist joint mannequin;

Fig. 2 is the general structural diagram of a kind of wrist rehabilitation robot of the present invention;

3 is a schematic diagram of the connection of the hand support module of a wrist joint rehabilitation device of the present invention;

Fig. 4 is a schematic diagram of the connection of the first branch chain and the second branch chain of a wrist joint rehabilitation device of the present invention;

Fig. 5 is a connection schematic diagram of a forearm support frame module of a wrist joint rehabilitation device of the present invention;

Fig. 6 is a schematic structural diagram of a forearm support of a wrist joint rehabilitation device of the present invention;

Figure 1—In Figure 5: J1-ulnar deviation/radial deviation axis, J2-flexion/extension axis, 1-hand support, 11-first threaded hole, 12-second threaded hole, 13-hand binding hole , 2—top bracket, 21—first threaded hole of top bracket, 22—fastening screw of top bracket, 23—second threaded hole of top bracket, 24—first fastening screw of S pair, 3—side bracket, 31—side The second threaded hole of the bracket, 32-the fastening screw of the side bracket, 33-the second threaded hole of the side bracket, 34-the second fastening screw of the S pair, 4-the first branch chain, 41-the first fastening screw, 42- The first branch chain S subassembly one, 43—the first branch chain S subassembly two, 44—the first branch chain S subassembly three, 45—S secondary connecting rod one, 46—the first linear motor, 47—the first A chain U secondary link one, 48-the first branch U subassembly one, 49-the first branch U subassembly two, 5-the second branch chain, 51-the second fastening screw, 52-the second Branch chain S subassembly 1, 53—second branch chain S subassembly 2, 54—second branch chain S subassembly 3, 55—S secondary connecting rod 2, 56—second linear motor, 57—U secondary connecting rod 2. 58-Second branch chain U subassembly 1, 59-Second branch U subassembly 2, 6-Forearm support frame, 61-Forearm binding hole, 62-First threaded hole of forearm support, 63-Forearm support The first bearing hole, 64-the second threaded hole of the forearm bracket, 65-the second bearing hole of the forearm bracket, 7-the forearm support, 101-the first bearing end cover, 102-the first U secondary threaded hole 1, 103-the first 1. Rolling bearing, 104-threaded hole of the first bearing end cover, 105-fastening screw of the first bearing end cover, 106-first U threaded hole 2, 107-first fastening screw of U pair, 111-second rolling bearing, 112-the second bearing end cover, 113-the second U secondary threaded hole one, 114-the second U secondary fastening screw, 115-the second bearing end cover threaded hole, 116-the second U secondary threaded hole two, 117- Second bearing cover fastening screws.

detailed description

As shown in Fig. 1-Fig. 5, the present invention is a kind of self-adaptive parallel wrist joint rehabilitation robot, which has two degrees of freedom of rotation and adopts a parallel structure: that is, a parallel mechanism of two driving branch chain UPSs. The device mainly includes a hand support (1), a top support (2), a side support (3), a first branch chain (4), a second branch chain (5), a forearm support frame (6), a forearm support (7 ). In the process of rehabilitation training, the patient's forearm is first bound to the forearm support (6) with an elastic strap, the patient's hand is bound to the hand support (1), and then the arm is placed on the forearm support (7) Before binding, try to adjust the posture of the patient's forearm and palm to prevent a large displacement between the man and the machine, which will make the patient feel uncomfortable during the rehabilitation process and cause secondary damage.

After the rehabilitation device is bound to the human body, rehabilitation training can be performed by placing the forearm on the forearm support (7), and the linear motors (46, 56) on the two driving branch chains (4, 5) can be driven The device rotates in two directions, that is, it realizes the rotation of the device around the J1 and J2 axes; since the mechanism can keep the dynamic coincidence of the rotation axis of the wrist joint and the rotation axis of the mechanism at all times during the rehabilitation exercise, it is relatively It solves the problem of human-machine compatibility and makes people feel more comfortable during rehabilitation training.

In summary, this wrist joint rehabilitation robot can realize the rotation around the J1 and J2 axes, that is, the ulnar/radial deviation of the wrist, and the flexion/extension movement, because the dynamic coincidence between the rotation center of the wrist joint and the rotation center of the mechanism is guaranteed. Therefore, the wrist joint rehabilitation robot can effectively realize the rehabilitation training of the wrist joint.

Claims (1)

1. A kind of rehabilitation training robot based on self-adaptation, it is characterized in that adopting parallel structure form, comprises hand support, top support, side support, the first branch chain, the second branch chain, forearm support, forearm support; A first threaded hole (11), a second threaded hole (12), and a hand binding hole (13) are provided on the hand support (1); The top bracket (2) is provided with the first threaded hole (21) of the top bracket and the second threaded hole (23) of the top bracket, and the top bracket (2) is connected with the hand bracket (1) by the fastening screw (22) of the top bracket ; The side bracket (3) is provided with the first threaded hole (31) of the side bracket and the second threaded hole (33) of the side bracket, and the side bracket (3) is connected with the hand bracket (1) through the side bracket fastening screw (32) ; The first branch chain (4) comprises the first fastening screw (41), the first branch chain S subassembly one (42), the first branch chain S subassembly two (43), the first branch chain S subassembly three ( 44), S secondary connecting rod one (45), first linear motor (46), U secondary connecting rod one (47), first branch chain U subassembly one (48), first branch chain U subassembly two (49); The first branch chain S subassembly one (42) is fixedly connected with the top bracket (2) by the first fastening screw (41), the first branch chain S subassembly one (42), the first branch chain S subassembly two ( 43), the first branch chain S subassembly three (44) forms a ball pair and is connected with the S secondary connecting rod one (45), the first branch chain U subassembly one (48), the first branch U subassembly two (49 ) to form Hooke pair and connect with U secondary connecting rod one (47), wherein the first linear motor (46) is connected between S secondary connecting rod one (45) and U secondary connecting rod one (47), and the first branch chain U subassembly one (48) and the first branch chain U subassembly two (49) pass the U pair first assembly threaded hole one (106) with the U pair first fastening screw (107), the U pair second assembly threaded hole two (102) connections; The second branch chain (5) comprises the second fastening screw (51), the second branch chain S subassembly one (52), the second branch chain S subassembly two (53), the second branch chain S subassembly three ( 54), S secondary connecting rod two (55), the second linear motor (56), U secondary connecting rod two (57), the second branch chain U subassembly one (58), the second branch chain U subassembly two ( 59); The second branch chain S subassembly one (52) is fixedly connected with the side bracket (3) by the first fastening screw (51), the second branch chain S subassembly one (52), the second branch chain S subassembly two ( 53), the second branch chain S subassembly three (54) forms a ball pair and is connected with the S secondary connecting rod two (55), the second branch chain U subassembly one (58), the second branch chain U subassembly two (59 ) to form the Hooke pair and connect the U secondary connecting rod two (57), wherein the second linear motor (56) is connected between the S secondary connecting rod two (55) and the U secondary connecting rod two (57), and the second branch chain U Subassembly one (58) and the first branch chain U subassembly two (59) pass U pair second fastening screw (114) through U pair first assembly threaded hole three (113), U pair second assembly threaded hole four (116) connect; The forearm support frame (6) is provided with a forearm binding hole (61), a first threaded hole for the forearm support (62), a first bearing hole for the forearm support (63), a second threaded hole for the forearm support (64), and a second threaded hole for the forearm support. bearing hole (65); It also includes placing the first rotating bearing (103) and the first branch chain U subassembly two (49) in the first bearing hole (33) of the forearm support, and is fixed on the forearm support frame (6) by the first bearing end cover (101) In the second bearing hole (65) of the forearm support, the second rotating bearing (111) and the second branch chain U subassembly (59) are placed, and are fixed on the forearm support frame (6) through the second bearing end cover (112). superior; It also includes that the first bearing end cover (101) is provided with a first bearing end cover threaded hole (104), which is fixed to the first threaded hole (62) of the forearm bracket through the first bearing end cover fastening screw (105). Offer the first bearing end cap threaded hole (115) on the two bearing end caps (112), be fixed to the forearm support second threaded hole (63) place by the second bearing end cap fastening screw (117).