CN205994694U - One kind can grafting upper-limbs rehabilitation training robot - Google Patents

Abstract

The utility model discloses a graftable upper limb rehabilitation training robot, which comprises: a wrist movement mechanism, a forearm movement mechanism, an upper arm movement mechanism, a rotation mechanism and a pillar connected in series; the front end of the forearm movement mechanism is fixedly connected with the lower end plate of the wrist, The rear end of the forearm movement mechanism is hinged with the front end of the upper arm movement mechanism to form a rotating pair; the rear end of the upper arm movement mechanism is fixedly connected with one end of the rotation mechanism, and the other end of the rotation mechanism is fixedly connected with the mechanism cantilever; The three-degree-of-freedom parallel mechanism is composed of the front plate, the rear end plate and three linear push rods connected between the front end plate and the rear end plate, and the cantilever is fixedly connected with the front end plate. The utility model has the advantages of simple and compact structure, wide application range, can be grafted to other rehabilitation and fitness equipment, can be applied to rehabilitation and fitness training of upper limbs, and can realize rehabilitation training of three-dimensional space movement.

Description

A Graftable Upper Limb Rehabilitation Training Robot

Technical field:

The utility model relates to a rehabilitation training robot capable of grafting upper limbs, which belongs to the field of rehabilitation medicine and sports fitness equipment.

Background technique:

The increasing degree of aging society, cerebral apoplexy, spinal cord injury and other reasons lead to reduced or even complete loss of limb motor function, seriously affecting the quality of life. Rehabilitation treatment is an effective way to restore motor function. The traditional one-on-one rehabilitation treatment method between physical therapists and patients has the disadvantages of high labor intensity and high treatment costs. Therefore, rehabilitation training equipment has become an effective way to solve this contradiction. Since the middle of the last century, researchers have made many achievements in rehabilitation training equipment, such as the successful development and commercialization of rehabilitation training equipment such as single-degree-of-freedom type, exoskeleton, and suspension type. But they have some deficiencies: complex operation, single form of exercise, etc. It has certain practical significance to develop a rehabilitation training device that can realize three-dimensional movement of human upper limbs.

Utility model content:

In order to overcome the defects of the prior art, the purpose of this utility model is to provide a simple and compact structure, a wide range of applications, can be grafted to other rehabilitation and fitness equipment, can be applied to upper limb rehabilitation and fitness training, and can realize three-dimensional space movement rehabilitation training robot.

The utility model solves the technical problem and adopts the following technical solutions:

A graftable upper limb rehabilitation training robot, which includes:

The wrist movement mechanism, the forearm movement mechanism, the upper arm movement mechanism, the rotation mechanism and the pillar are sequentially connected in series;

The structure of the wrist movement mechanism is: a three-degree-of-freedom parallel mechanism composed of the lower end plate of the wrist, the upper end plate of the wrist, and three linear push rods connected between the lower end plate of the wrist and the upper end plate of the wrist;

The front end of the forearm movement mechanism is fixedly connected with the lower end plate of the wrist, and the rear end of the forearm movement mechanism is hinged with the front end of the upper arm movement mechanism to form a rotating pair;

The rear end of the upper arm movement mechanism is fixedly connected to one end of the rotating mechanism, and the other end of the rotating mechanism is fixedly connected to the mechanism cantilever;

A three-degree-of-freedom parallel mechanism consisting of a front end plate, a rear end plate, and three linear push rods connected between the front end plate and the rear end plate is provided on the upper end of the pillar, and the cantilever of the mechanism is fixedly connected with the front end plate .

In the three-degree-of-freedom parallel mechanism of the wrist motion mechanism, the lower end of each linear push rod is hinged to the boss on the lower end plate of the wrist through a flat hinge, and the upper end of each linear push rod is hinged to the upper end plate of the wrist through a ball hinge.

A forearm rotating push rod is arranged between the forearm moving mechanism and the upper arm moving mechanism to push the forearm moving mechanism to rotate.

The forearm movement mechanism has a forearm outer support rod and a forearm inner support rod, both of which are connected through a chute to form a sliding pair, the front end of the forearm inner support rod is fixedly connected with the lower end plate of the wrist, and the rear end of the forearm outer support rod moves with the upper arm The front end of the mechanism is hinged;

The middle part of the bottom surface of the forearm outer support rod is fixed with an extension rod. The end of the extension rod is hinged with the lower end of the forearm rotation push rod, and the upper end of the forearm rotation push rod is hinged with the bottom surface of the front end of the upper arm movement mechanism to form a four-bar mechanism; The second forearm tray is respectively fixed on the forearm inner support bar and the forearm outer support bar through the clamping device, and the forearm strap is fixed on the groove of the forearm first tray.

The upper arm movement mechanism has an upper arm front support rod and an upper arm rear support rod, both of which are connected through a chute to form a sliding pair, the front end of the upper arm front support rod is hinged with the upper end of the forearm outer support rod and the forearm rotation push rod; the upper arm rear support rod Fixed connection with one end of the rotating mechanism;

The upper arm front tray and the upper arm rear tray are respectively fixed on the upper arm front support bar and the upper arm rear support bar through the clamping device, and the upper arm strap is fixed on the groove of the upper arm front tray.

One end of the rotating mechanism is fixedly connected with the rear support rod of the upper arm, and the other end is fixedly connected with the cantilever of the mechanism; relative rotation can occur between the two ends of the rotating mechanism.

One end of the rotating mechanism connected with the cantilever of the mechanism is provided with a motor and a reducer, and one end of the rotating mechanism connected with the upper arm rear support rod is fixedly connected with the output shaft of the reducer.

The pillar is connected with the frame to form a rotating pair; the gear is fixed on the inverted L-shaped pillar, one end of the arrow-shaped pin is stuck in the gear groove, and the other end is connected with the steel wire, and the steel wire is connected to the pedal around the shaft. Arrowhead pins.

The outside of the frame is provided with an outer cover, which is a box structure with four circular grooves inside, which are respectively used to fix the two large bearings on the inverted L-shaped pillar and the small bearings at both ends of the shaft, and the arrow-shaped pins The baffle at the rear is connected to the box by bolts.

Compared with the prior art, the beneficial effects of the utility model are reflected in:

The utility model can realize the three-dimensional space movement of the upper limbs, realize the active and passive rehabilitation training and the synchronous and asynchronous training of the upper limbs.

The utility model has a simple structure and is convenient to be grafted onto other rehabilitation and fitness training equipment, seats, massage chairs and wheelchairs.

The utility model has a wide range of applications and can be used to realize rehabilitation training and exercise of upper limbs in three-dimensional space.

The utility model has various modes of rehabilitation training. During use, two pairs of devices are arranged symmetrically beside the left/right hand, so that synchronous/asynchronous training can be realized.

The utility model has a compact and flexible structure, can be retracted freely, can be folded when not in use, and occupies little space.

The utility model has detachability, and the three parts of the wrist, the forearm and the upper arm can be combined in series, and can also be disassembled to perform rehabilitation training on the wrist, elbow and shoulder joints respectively.

The utility model can realize exercise training with different trajectories and different amplitudes for the lower limbs in the three-dimensional space, so that it can not only adapt to the exercise of the same trainer in different rehabilitation periods and training states, but also satisfy trainers of different heights Needs for rehabilitation and fitness exercises.

During active training, active training can be realized by adjusting the control current and resistance link of the motor itself. It can not only be used as a rehabilitation exerciser to rehabilitate limbs, but also can be used as a fitness equipment to enhance physical fitness.

Description of drawings:

Figure 1 is a schematic diagram of the overall internal structure of the utility model; Figure 2 is a schematic diagram of the overall external structure of the utility model.

Symbols in the figure: 1 pillar, 2 forearm rotating push rod, 3 cantilever, 4 frame, 5 gear, 6 arrow pin, 7 baffle plate, 8 steel wire, 9 pedal, 10 wrist motion mechanism, 101 lower end plate of wrist , 102 wrist upper end plate, 20 forearm movement mechanism, 201 forearm inner support rod, 202 forearm outer support rod, 203 clamping device, 204A forearm first tray, 204B forearm second tray, 205 forearm strap, 30 upper arm movement mechanism , 301 upper arm front support bar, 302 upper arm rear support bar, 303A upper arm rear tray, 303B upper arm front tray, 304 upper arm straps, 305 rotating mechanism, 11 front end plate, 12 rear end plate, 13 outer cover, 14 spring.

The utility model will be further described below through specific embodiments in conjunction with the accompanying drawings.

detailed description:

Embodiment: Referring to Fig. 1 and 2, the graftable three-dimensional exercise upper limb rehabilitation training mechanism of this embodiment includes:

The wrist motion mechanism 10 , the forearm motion mechanism 20 , the upper arm motion mechanism 30 , the rotation mechanism 305 and the pillar 1 are sequentially connected in series.

In the specific structure, the structure of the wrist motion mechanism 10 is: a three-degree-of-freedom parallel mechanism composed of the lower end plate 101 of the wrist, the upper end plate 102 of the wrist, and three linear push rods connected between the lower end plate of the wrist and the upper end plate of the wrist. ;

In the three-degree-of-freedom parallel mechanism of the wrist movement mechanism, the lower end of each linear push rod is hinged to the boss on the lower end plate 101 of the wrist through a flat hinge, and the upper end of each linear push rod is hinged to the upper end plate 102 of the wrist through a ball hinge. And the three linear push rods are equally distributed in the circumferential direction; the top surface of the upper end plate 102 of the wrist is a hemispherical surface (or in the shape of a mushroom crown), and the three linear push rods expand and contract at the same time, then drive the upper end plate 102 of the wrist to do lifting. Movement, that is, drives the wrist to move up and down, and one or two linear push rods stretch, and drives the wrist to swing.

Further, the front end of the forearm motion mechanism 20 is fixedly connected with the wrist lower end plate 101, the rear end of the forearm motion mechanism 20 is hinged with the front end of the upper arm motion mechanism 30 to form a rotating pair, and a forearm motion mechanism is arranged between the forearm motion mechanism and the upper arm motion mechanism. Rotate the push rod 2 to promote the rotation of the forearm movement mechanism;

In the specific structure, the forearm movement mechanism 20 has the forearm outer support rod 202 and the forearm inner support rod 201, the two are connected by a chute to form a sliding pair, the front end of the forearm inner support rod 201 is fixedly connected with the lower end plate 101 of the wrist, The rear end of the rod 202 is hinged to the front end of the upper arm movement mechanism 30;

The upper arm movement mechanism has an upper arm front support rod 301 and an upper arm rear support rod 302, both of which are connected by a chute to form a sliding pair. The support rod 302 is fixedly connected with one end of the rotating mechanism.

In the specific structure, the middle part of the bottom surface of the forearm outer support rod 202 is fixed with an extension rod, the end of the extension rod is hinged to the lower end of the forearm rotating push rod, and the upper end of the forearm rotating push rod is hinged to the bottom surface of the front end of the upper arm movement mechanism to form a four-bar mechanism; The first forearm tray 204A and the second forearm tray 204B are respectively fixed on the inner forearm support bar 201 and the outer forearm support bar 202 by the clamping device 203, and the forearm strap 205 is fixed on the groove of the first forearm tray 204A.

The upper arm front tray 303B and the upper arm rear tray 303A are respectively fixed on the upper arm front support bar 301 and the upper arm rear support bar 302 by the clamping device, and the upper arm strap 304 is fixed on the groove of the upper arm front tray 303B.

As shown in Fig. 1, one end of the rotating mechanism is fixedly connected with the upper arm rear support rod 302, and the other end is fixedly connected with the mechanism cantilever 3; relative rotation can occur between the two ends of the rotating mechanism. In the specific setting, a motor and a speed reducer are provided in one end of the rotating mechanism connected with the mechanism cantilever 3, and one end of the rotating mechanism connected with the upper arm rear support rod 302 is fixedly connected with the output shaft of the speed reducer, and the upper arm motion mechanism is supported by the output shaft , the forearm movement mechanism and the wrist movement mechanism, and these mechanisms are driven by the output shaft to rotate. Of course, the two ends of the rotation mechanism can also be connected by plane bearings and driven from the outside.

As shown in Figures 1 and 2, the upper end of the pillar is provided with a three-degree-of-freedom parallel mechanism consisting of a front end plate 11, a rear end plate (12) and three linear push rods connected between the front end plate and the rear end plate. 3 is fixedly connected with the front-end board 11.

In order to realize the rotation of the whole mechanism, the pillar 1 is designed to be able to rotate and lock on the frame 4. In the specific structure, the pillar is connected with the frame 4 through rolling bearings to form a rotating pair; the gear 5 is fixed on the inverted L-shaped pillar 1, arrowhead pin 6 one end is stuck in gear 5 slots, and one end links to each other with steel wire 8, and steel wire walks around the axle and links to each other with pedal 9, and spring 14 is enclosed within on the arrowhead pin (6). When stepping on the pedal, the steel wire pulls the arrow-shaped pin 6 out of the groove of the gear 5. At this time, the pillar 1 can be rotated. After it is in place, release the pedal. Under the reset force of the spring 14, the arrow-shaped pin 6 is inserted In the groove of the gear 5, the pillar 1 is locked on the frame 4.

The outer cover 13 is arranged on the outside of the frame 4, the outer cover 13 is a box structure, and there are four circular grooves inside, which are respectively used to fix the two large bearings on the inverted L-shaped pillar 1 and the small bearings at both ends of the shaft, arrow-shaped The baffle plate 7 at the rear portion of the pin 6 is connected with the casing by bolts.

The rehabilitation training device of the utility model can be applied to the rehabilitation training of people whose motor function of the upper limbs has declined or lost, and helps users realize the rehabilitation training of the movement track in three-dimensional space. For ordinary people with sound upper limb functions, health training can also be carried out to help them enhance their physical ability. The utility model rehabilitation training device can enable patients to complete more complex spatial movements with a wide range of applications and has a very large industry. application prospects.

The above descriptions are only preferred embodiments of the present utility model, and are not intended to limit the present utility model. For those skilled in the art, the present utility model can have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present utility model shall be included in the protection scope of the present utility model.

Claims (9)

1. one kind can grafting upper-limbs rehabilitation training robot, it is characterised in that include：

The Wrist-sport mechanism (10) that is sequentially connected in series, forearm motion (20), humeral movement mechanism (30), rotating mechanism And pillar (1) (305)；

The structure of Wrist-sport mechanism (10) is：By wrist bottom plate (101), wrist upper head plate (102) and it is connected to The 3-freedom parallel mechanism that three line handspikes between wrist bottom plate and wrist upper head plate are constituted；

The front end of forearm motion (20) is connected firmly with wrist bottom plate (101), after forearm motion (20) Constitute hinged with the front end of humeral movement mechanism (30) of end rotates pair；

The rear end of the humeral movement mechanism is connected firmly with one end of the rotating mechanism, the other end of the rotating mechanism and mechanism Cantilever (3) is connected firmly；

It is provided with by front end-plate (11), end plate (12) in the upper end of the pillar and is connected between front end-plate and end plate The 3-freedom parallel mechanism that three line handspikes are constituted, mechanism's cantilever (3) are connected firmly with the front end-plate (11).

2. one kind according to claim 1 can grafting upper-limbs rehabilitation training robot, it is characterised in that the Wrist-sport In the 3-freedom parallel mechanism of mechanism, the lower end of each line handspike is by the boss on flat hinge and wrist bottom plate (101) Hinged, the upper end of each line handspike is hinged with wrist upper head plate (102) by spherical hinge.

3. one kind according to claim 1 can grafting upper-limbs rehabilitation training robot, it is characterised in that in forearm fitness machine Being provided with forearm rotation push rod (2) between structure and humeral movement mechanism promotes forearm motion to rotate.

4. one kind according to claim 1 can grafting upper-limbs rehabilitation training robot, it is characterised in that the forearm motion With forearm outer support bar (202) and forearm inner bracing piece (201), both connect and compose sliding pair by chute for mechanism (20), The front end of forearm inner bracing piece (201) is connected firmly with wrist bottom plate (101), and the rear end of forearm outer support bar (202) is transported with upper arm The front end of motivation structure (30) is hinged；

Extension rod is installed with the middle part of the bottom surface of forearm outer support bar (202), the end of the extension rod and forearm rotation push rod lower end Hinged, forearm rotation push rod upper end is hinged with the front end bottom surface of humeral movement mechanism, constitutes four-bar mechanism；The first pallet of forearm (204A), the second pallet of forearm (204B) is separately fixed at outside forearm inner bracing piece (201) and forearm by clamping device (203) On support bar (202), forearm bandage (205) is fixed on the groove of the first pallet of forearm (204A).

5. one kind according to claim 4 can grafting upper-limbs rehabilitation training robot, it is characterised in that the humeral movement Mechanism has upper arm front support rod (301) and upper arm back support rod (302), and both connect and compose sliding pair, upper arm by chute The front end of front support rod (301) is hinged with the upper end of forearm outer support bar (202), forearm rotation push rod；Upper arm back support rod (302) connect firmly with one end of rotating mechanism；

After upper arm front tray (303B), upper arm pallet (303A) by clamping device be separately fixed at upper arm front support rod (301), On upper arm back support rod (302), upper arm bandage (304) is fixed on the groove of upper arm front tray (303B).

6. one kind according to claim 5 can grafting upper-limbs rehabilitation training robot, it is characterised in that the rotating mechanism One end connect firmly with upper arm back support rod (302), the other end is connected firmly with mechanism's cantilever (3)；Can send out between the two ends of rotating mechanism Raw relative rotation.

7. one kind according to claim 6 can grafting upper-limbs rehabilitation training robot, it is characterised in that connect with mechanism cantilever Motor and reductor are provided with the rotating mechanism one end for connecing, the one end for the rotating mechanism being connected with upper arm back support rod (302) with The output shaft of the reductor is connected firmly.

8. one kind according to claim 1 can grafting upper-limbs rehabilitation training robot, it is characterised in that the pillar and machine Frame (4) is connected, and is formed and rotates pair；Gear (5) is fixed on the pillar (1) of inverted L-shaped, and arrowhead-shaped pin (6) one end is stuck in gear (5) in groove, one end is connected with steel wire (8), and steel wire is bypassed axle and is connected with foot-operated (9), and spring (14) is enclosed within arrowhead-shaped pin (6) On.

9. one kind according to claim 8 can grafting upper-limbs rehabilitation training robot, it is characterised in that frame (4) Outside is provided with outer cover (13), and outer cover (13) is a body structure, and there are four circular troughs inside, are respectively used to fix inverted L-shaped Pillar (1) on two big bearings and axle two ends little bearing, the baffle plate (7) at arrowhead-shaped pin (6) rear portion passed through with casing Bolt is connected.