CN102908241A - Centrally-driven upper limb rehabilitation training mechanical arm - Google Patents
Centrally-driven upper limb rehabilitation training mechanical arm Download PDFInfo
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- CN102908241A CN102908241A CN2012104293854A CN201210429385A CN102908241A CN 102908241 A CN102908241 A CN 102908241A CN 2012104293854 A CN2012104293854 A CN 2012104293854A CN 201210429385 A CN201210429385 A CN 201210429385A CN 102908241 A CN102908241 A CN 102908241A
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- mobile jib
- shoulder joint
- bevel gear
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Abstract
The invention relates to a centrally-driven upper limb rehabilitation mechanical arm. A main rod component is connected with an elbow joint component through a shoulder joint component; a large arm outer rod of the elbow joint component is fixedly connected with a middle U-shaped barrel of the shoulder joint component; a large arm inner rod of the elbow joint component is connected with a third small conical gear of the shoulder joint part; a large straight gear, a middle straight gear and a small straight gear of the main rod component are connected with a main rod large conical gear, a main rod middle conical gear and a main rod small conical gear through a large rod, a middle rod and a small rod respectively; the main rod large conical gear is in transmission connection with the large U-shaped barrel in the shoulder joint component through the large conical gear, so that extension and contraction movement of the shoulder joint are realized; the main rod middle conical gear is in transmission with the middle U-shaped barrel through a first middle conical gear, a shoulder middle rod, a second middle conical gear and a third middle conical gear, so that the inward contraction/outward extension movement of the shoulder joint are realized; and the main rod small conical gear is in transmission connection with the handle through a first small conical gear, a third small conical gear, a fourth small conical gear, a fifth small conical gear and a U-shaped barrel, so that bending and extension movement of the elbow joint are realized.
Description
Technical field
The present invention relates to a kind of mechanical arm for rehabilitation training of upper limbs, especially a kind of upper limb disorder mechanical arm for rehabilitation training that apoplexy causes (comprising the neural rehabilitation of upper extremity function) that is applied to; Also can be applied to the upper limb disorder mechanical arm for rehabilitation training that cerebral palsy, wound, diabetes etc. cause.
Background technology
Apoplexy survival patient is numerous, and wherein hemiplegia, locomotor activity forfeiture are topmost sequela.Nearly 85% patient is damaged with upper extremity function for post-stroke, the recovery problem of research post-stroke upper extremity function had become the most challenging problem in the clinical rehabilitation field to 55-75% patient among them 3-6 after morbidity still with upper limb disorder in individual month.
Domestic and international electronic upper limb healing arm generally all is that motor is installed in joint at present, so not only attractive in appearance not, also often bring noise to the patient, the arm volume that the while motor is caused increases also can bring pressure at heart to the patient, in addition, general electronic upper limb healing arm can only carry out the single armed rehabilitation training, can not allow both arms have handicapped patient that the left/right upper arm is trained respectively, greatly reduce the application efficiency of product, thereby research and develop that a kind of left/right arm all can use separately, the Novel rehabilitation training mechanical arm of the upper limb disorder of central drive system structure, make rehabilitation training of upper limbs arm lightness, to improving patients with cerebral apoplexy upper limb disorder rehabilitation outcome, promote that innovation and the industry development of China's rehabilitation training of upper limbs equipment are significant.
Summary of the invention
The present invention is placed on the inconvenience that joint causes in order to overcome motor, reduce the volume of mechanical arm, improve simultaneously the utilization rate of mechanical arm, realize the function that the left/right arm all can use separately, a kind of center driven formula upper limb healing machinery arm is provided, the mechanical arm of this center driven formula upper limb healing machinery arm is by axle sleeve and gear, and the output torque of motor is transferred to each joint, controls the motion in each joint.
The technical solution adopted for the present invention to solve the technical problems is: a kind of center driven formula upper limb healing machinery arm, comprise the mobile jib parts, and shoulder joint parts and elbow joint parts are characterized in: mobile jib parts top connects the elbow joint parts by the shoulder joint parts; The outer bar of the large arm of elbow joint parts is fixedly connected with U-shaped cylinder in the shoulder joint parts, and bar is fixedly connected with the 3rd bevel pinion of shoulder joint parts in the large arm of elbow joint parts; Mobile jib parts lower end power intake is equipped with large straight gear, middle spur gear and small Spur gear, large straight gear, middle spur gear and small Spur gear are respectively by large bar, mobile jib bevel gear wheel on king-rod and little bar and the mobile jib parts overhead power outfan, bevel gear in the mobile jib, the mobile jib bevel pinion connects, and is used for three kinds of parallel power sources by large bar, king-rod, little bar is sent to respectively the mobile jib bevel gear wheel, and bevel gear in the mobile jib is on the mobile jib bevel pinion.
The mobile jib bevel gear wheel is in transmission connection by the large U type cylinder in the bevel gear wheel in the shoulder joint parts and the shoulder joint parts, realizes stretching/Qu Yundong of shoulder joint.
Bevel gear is in transmission connection the interior receipts/abduction exercise of realization shoulder joint by U-shaped cylinder in bevel gear in the bevel gear and the 3rd in bevel gear in first in the shoulder joint parts, the shoulder king-rod, second and the shoulder joint parts in the mobile jib.
The mobile jib bevel pinion by the first bevel pinion in the shoulder joint parts, take on that bevel gear and the 3rd bevel pinion are in transmission connection in little bar, the second bevel pinion, the 4th, the 3rd bevel pinion is in transmission connection with handle by the 4th bevel pinion in the elbow joint parts, the 5th bevel pinion and U-shaped cylinder, realizes the song of elbow joint/stretch motion.
The mobile jib parts also comprise and rotate up and down dish, wherein going up rolling disc links to each other with mobile jib, lower rolling disc is fixed on the mechanical arm mount pad, relatively rotate or be fixedly connected with by screw between upper and lower two rolling discs, mobile jib rotates the driving mechanical arm and rotates, and realizes the function that the left/right arm all can be trained separately.
The invention has the beneficial effects as follows:
The present invention is by adopting form of sleeve and Bevel Gear Transmission, with mutual glitch-free shoulder joint and the elbow joint of passing to of three kinds of power sources of central centralized, realized elbow joint one degree of freedom (bent/as to stretch), the motion of two degree of freedom of shoulder joint (interior receipts/abduction, bent/as to stretch).Therefore, the center driven formula structure of the present invention's design not only can make arm away from motor, reduces the impact of radiation and noise, can also change easily the left/right arm and train separately.
Description of drawings
Fig. 1 is structural upright schematic diagram of the present invention;
Fig. 2 is mobile jib parts front views;
Fig. 3 is along the cutaway view of A-A among Fig. 2;
Fig. 4 is shoulder joint parts front views;
Fig. 5 is along the cutaway view of A-A among Fig. 4;
Fig. 6 is elbow joint parts front views;
Fig. 7 is along the cutaway view along A-A among Fig. 6.
The specific embodiment
The present invention is further described below in conjunction with drawings and Examples.
To shown in Figure 7, center driven formula upper limb healing machinery arm of the present invention comprises mobile jib parts 100, shoulder joint parts 101 and elbow joint parts 102 such as Fig. 1.
Such as Fig. 2, shown in 3, mobile jib parts 100 comprise mobile jib bevel pinion 1, bevel gear 2 in the mobile jib, mobile jib bevel gear wheel 3, large straight gear 4, middle spur gear 5, small Spur gear 6 rotates up and down dish 8,7, mobile jib 12, large bar 11, king-rod 10 and little bar 9, mobile jib 12 lower ends are fixedly connected with rolling disc 8, rotate between upper rolling disc 8 and the lower rolling disc 7 or are fixedly connected with, and lower rolling disc 7 is fixed on the mechanical arm mount pad.Mobile jib 12 interior little bar 9, king-rod 10 and the large bars 11 of being equipped with respectively, and little bar 9 and king-rod 10 are socketed in the large bar 11 successively, mobile jib bevel pinion 1 is installed by bearing respectively in little bar 9, king-rod 10 and large bar 11 upper ends, bevel gear 2 in the mobile jib, mobile jib bevel gear wheel 3, lower end are installed respectively small Spur gear 6, middle spur gear 5 and large straight gear 4.
Mobile jib bevel pinion 1 links to each other by little bar 9 with small Spur gear 6, and middle bevel gear 2 links to each other by king-rod 10 with middle spur gear 5, and mobile jib bevel gear wheel 3 links to each other by large bar 11 with large straight gear 4, all utilizes flat key to carry out power transmission.Simultaneously, in mobile jib bevel pinion 1 and the mobile jib between the bevel gear 2, in the mobile jib between bevel gear 2 and the mobile jib bevel gear wheel 3, all utilize bearing to keep relative motion, so that large straight gear 4, middle spur gear 5, mutually noninterfere between three kinds of power that small Spur gear 6 transmits is independent of each other.Outer bar mainly plays a supportive role.
Can keep between lower rolling disc 7 and the upper rolling disc 8 relatively rotating, also can fix by screw, and upper rolling disc 8 is fixedly connected with by screw with mobile jib 12, therefore, rolling disc 8 in the rotation, the relatively large bar 11 of mobile jib 12 meetings, king-rod 10 and little bar 9 rotate, and have realized the function that the left/right arm all can use separately.
Such as Fig. 4, shown in 5, U-shaped cylinder 13 during shoulder joint parts 101 comprise, bevel gear 14 in the 3rd, shoulder axle 15, bevel gear 17 in the large U type cylinder 16, the second, take on little bar 18, shoulder king-rod 19, bevel gear 21, the first to the 3rd bevel pinions 22 in the bevel gear wheel 20, the first, 23,25, large U type cylinder 16 is fixedly connected with bevel gear wheel 20, by bearing shoulder king-rod 19 is installed in large U type cylinder 16 and the bevel gear wheel 20, shoulder king-rod 19 left sides, right-hand member is fixedly connected with respectively in second bevel gear 21 in the bevel gear 17 and first, the little bar 18 of shoulder is housed in the shoulder king-rod 19, and takes on little bar 18 left sides, right-hand member is flexibly connected by bevel gear in the bevel gear 17 and first in bearing and second 21 respectively, takes on little bar 18 left sides, be fixedly connected with respectively the second bevel pinion 23 and the first bevel pinion 22 on the right-hand member; In the large U type cylinder 16 by shoulder axle 15 and during bearing is connected U-shaped 13, be arranged on shoulder axle 15 upper and lower parts of U-shaped cylinder 13 and connect the 3rd bevel gear 14 and the 4th bevel gear 24 by bearing respectively, in the 3rd bevel gear 14 with in U-shaped cylinder 13 be fixedly connected with, and with second in bevel gear 17 be connected with a joggle, bevel gear 24 is connected with a joggle with the second bevel pinion 23 and the 3rd bevel pinion 25 respectively in the 4th.
Bevel pinion 1, middle bevel gear 2, bevel gear wheel 3 respectively with Fig. 3 in bevel pinion 22, middle bevel gear 21, bevel gear wheel 20 engagement has realized the right angle drive of power.
Bevel gear wheel 20 links to each other with large U type cylinder 16 screw threads, be screwed simultaneously, thereby power, passes on the large U type cylinder 16 through large bar 11, mobile jib bevel gear wheel 3, bevel gear wheel 20 from large straight gear 4, has realized stretching/Qu Yundong of shoulder joint.
Such as Fig. 6, shown in 7, elbow joint parts 102 comprise handle 26, bar 27 in the forearm, the outer bar 28 of forearm, U-shaped cylinder 29, elbow axle 30, little U-shaped cylinder 31, the 4th bevel pinion 32, bar 33 in the large arm, large arm king-rod 34, the outer bar 35 of large arm, the 5th bevel pinion 36, be fixedly connected with large arm king-rod 34 in the outer bar 35 of large arm, large arm king-rod 34 front ends are fixedly connected with little U-shaped cylinder 31, in the little U-shaped cylinder 31 bar 33 in the large arm are housed, bar 33 front ends are fixedly connected with the 4th bevel pinion 32 in the large arm, and is connected with little U-shaped cylinder 31 by bearing, little U-shaped cylinder 31 is flexibly connected U-shaped cylinder 29 by elbow axle 30, is fixedly connected with the 5th bevel pinion 36 above U-shaped 29, the 5th bevel pinion 36 and the 4th bevel pinion 32 are connected with a joggle, U-shaped cylinder 29 front ends are fixedly connected with the outer bar 28 of forearm, in the outer bar 28 of forearm bar 27 in the forearm are housed, and bar 27 front ends are equipped with handle 26 in the forearm.
Claims (5)
1. center driven formula upper limb healing machinery arm, comprise mobile jib parts (100), shoulder joint parts (101) and elbow joint parts (102) is characterized in that: described mobile jib parts (100) top connects elbow joint parts (102) by shoulder joint parts (101); The outer bar (35) of the large arm of elbow joint parts (102) is fixedly connected with U-shaped cylinder (13) in the shoulder joint parts (101), and bar (33) is fixedly connected with the 3rd bevel pinion (25) of shoulder joint parts (101) in the large arm of elbow joint parts (102); Mobile jib parts (100) lower end power intake is equipped with large straight gear (4), middle spur gear (5) and small Spur gear (6), large straight gear (4), middle spur gear (5) and small Spur gear (6) are respectively by large bar (11), mobile jib bevel gear wheel (3) on king-rod (10) and little bar (9) and mobile jib parts (100) the overhead power outfan, bevel gear in the mobile jib (2), mobile jib bevel pinion (1) connects, be used for three kinds of parallel power sources by large bar (11), king-rod (10), little bar (9) is sent to respectively mobile jib bevel gear wheel (3), bevel gear in the mobile jib (2) is on the mobile jib bevel pinion (1).
2. center driven formula upper limb healing according to claim 1 machinery arm, it is characterized in that: described mobile jib bevel gear wheel (3) is in transmission connection by the large U type cylinder (16) in the bevel gear wheel (20) in the shoulder joint parts (101) and the shoulder joint parts (101), realizes stretching/Qu Yundong of shoulder joint.
3. center driven formula upper limb healing according to claim 1 machinery arm, it is characterized in that: bevel gear in the described mobile jib (2) is in transmission connection the interior receipts/abduction exercise of realization shoulder joint by U-shaped cylinder (13) in bevel gear (14) in the bevel gear (17) and the 3rd in bevel gear (21) in first in the shoulder joint parts (101), the shoulder king-rod (19), second and the shoulder joint parts (101).
4. center driven formula upper limb healing according to claim 1 machinery arm, it is characterized in that: described mobile jib bevel pinion (1) by the first bevel pinion (22) in the shoulder joint parts (101), take on that bevel gear (24) and the 3rd bevel pinion (25) are in transmission connection in little bar (18), the second bevel pinion (23), the 4th, the 3rd bevel pinion (25) is in transmission connection with handle (26) by the 4th bevel pinion (32) in the elbow joint parts (102), the 5th bevel pinion (36) and U-shaped cylinder (29), realizes the song of elbow joint/stretch motion.
5. center driven formula upper limb healing according to claim 1 machinery arm, it is characterized in that: described mobile jib parts (100) also comprise and rotate up and down dish (8,7), wherein go up rolling disc (8), link to each other with mobile jib (12), lower rolling disc (7) is fixed on the mechanical arm mount pad, upper and lower two rolling discs (8,7) relatively rotate between or be fixedly connected with by screw, mobile jib (12) rotates the driving mechanical arm and rotates, and realizes the function that the left/right arm all can be trained separately.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210429385.4A CN102908241B (en) | 2012-11-01 | 2012-11-01 | Centrally-driven upper limb rehabilitation training mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210429385.4A CN102908241B (en) | 2012-11-01 | 2012-11-01 | Centrally-driven upper limb rehabilitation training mechanical arm |
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| Publication Number | Publication Date |
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| CN102908241A true CN102908241A (en) | 2013-02-06 |
| CN102908241B CN102908241B (en) | 2014-06-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210429385.4A Active CN102908241B (en) | 2012-11-01 | 2012-11-01 | Centrally-driven upper limb rehabilitation training mechanical arm |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103552088A (en) * | 2013-10-12 | 2014-02-05 | 杨兆奎 | Mechanical wrist |
| CN110074945A (en) * | 2019-06-10 | 2019-08-02 | 上海理工大学 | A kind of forearm adaptive mechanism for center driven upper limb rehabilitation robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100010396A1 (en) * | 2001-12-13 | 2010-01-14 | Ermi Corporation | Shoulder extension control device |
| CN202069819U (en) * | 2011-05-03 | 2011-12-14 | 上海理工大学 | Upper limb rehabilitation training device |
| CN202875743U (en) * | 2012-11-01 | 2013-04-17 | 上海理工大学 | Light-duty upper limb rehabilitation training device |
-
2012
- 2012-11-01 CN CN201210429385.4A patent/CN102908241B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100010396A1 (en) * | 2001-12-13 | 2010-01-14 | Ermi Corporation | Shoulder extension control device |
| CN202069819U (en) * | 2011-05-03 | 2011-12-14 | 上海理工大学 | Upper limb rehabilitation training device |
| CN202875743U (en) * | 2012-11-01 | 2013-04-17 | 上海理工大学 | Light-duty upper limb rehabilitation training device |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103552088A (en) * | 2013-10-12 | 2014-02-05 | 杨兆奎 | Mechanical wrist |
| CN103552088B (en) * | 2013-10-12 | 2016-06-22 | 杨兆奎 | A kind of wrist |
| CN110074945A (en) * | 2019-06-10 | 2019-08-02 | 上海理工大学 | A kind of forearm adaptive mechanism for center driven upper limb rehabilitation robot |
| CN110074945B (en) * | 2019-06-10 | 2021-10-26 | 上海理工大学 | Forearm self-adaptive mechanism for central driving upper limb rehabilitation robot |
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| CN102908241B (en) | 2014-06-18 |
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Effective date of registration: 20160919 Address after: Shanghai city 201203 Bibo Road, Pudong New Area Zhangjiang hi tech Park No. 500 Room 102 Patentee after: JINHO ROBOT (SHANGHAI) CO., LTD. Address before: 200093 Shanghai military road, Yangpu District, No. 516 Patentee before: University of Shanghai for Science and Technology |