CN104905937A - Forearm moving-joint device for rehabilitation training of arm - Google Patents
Forearm moving-joint device for rehabilitation training of arm Download PDFInfo
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- CN104905937A CN104905937A CN201510293441.XA CN201510293441A CN104905937A CN 104905937 A CN104905937 A CN 104905937A CN 201510293441 A CN201510293441 A CN 201510293441A CN 104905937 A CN104905937 A CN 104905937A
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- elbow joint
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- carpal
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Abstract
The invention provides a forearm moving-joint device for rehabilitation training of the arm and belongs to the field of medical rehabilitation systems. The forearm moving-joint device comprises an elbow-joint driving unit and a wrist-joint driving unit, wherein the elbow-joint driving unit adopts the driving scheme of a flexible synchronous belt, so that the loading of the tail end of the arm rehabilitation device is reduced and a trainee is effectively protected to avoid secondary damage; the wrist-joint driving unit adopts the driving scheme of a bevel gear, so that the installation space is effectively saved; a user only needs to put the hands on a handle in the process of using the forearm moving-joint device to carry out the rehabilitation training, so that the operation is simple and the use is safe.
Description
Technical field
The present invention relates to a kind of arm rehabilitation device, particularly relate to a kind of arm rehabilitation training forearm movable joint device.
Background technology
The arm rehabilitation training of current hemiplegia and paralytic has obtained the concern of domestic and international research worker, increasing along with such patient and arm motion impaired patients, recover the viability of this kind of crowd and rehabilitation training become in the urgent need to.Therefore, design that a can to carry out the robot arm system of rehabilitation training and neurological functional recovery to disabled arm forearm joint and a muscle group of planes significant.
Patents is a lot of both at home and abroad at present, and function is also similar.A kind of exoskeletal rehabilitation mechanical arm for upper limb (patent No. 201110086977.6), propose a kind of rehabilitation mechanical arm hinged with each movable joint of forearm, owing to there is no driving device, its automaticity is not high, and in use, hands needs from centre through holding handle, inconvenient operation; Five-freedom degree dermaskeleton type upper limb rehabilitation robot (patent No. 200810064878.6), propose a kind of embodiment being driven each joint by five motors respectively, but the mode of user handle still from centre through holding, although this mode makes the arm of user more easily fix, but its safety is relatively low, easily causes secondary injury to user.
Summary of the invention
The object of the invention is to help user carry out elbow joint and carpal rehabilitation training and provide a kind of arm rehabilitation training forearm movable joint device.
The object of the present invention is achieved like this: comprise large arm elbow joint, be arranged on the elbow joint motor on large arm elbow joint one end, by the forearm elbow joint that the other end of rotating shaft and large arm elbow joint is articulated and connected, be arranged on the installing rack of forearm elbow joint end, leading screw, guide post and front carpal joint, and one end of described leading screw is through described installing rack, the other end is arranged on front carpal joint by leading screw fixed block, leading screw is also provided with nut, and described nut and installing rack are connected, one end of guide post is through described installing rack, the other end is arranged on below front carpal joint by guide post fixed block, the carpal end face of described forearm is also provided with carpal joint motor by flange, the output shaft of carpal joint motor is connected with the first bevel gear shaft being positioned at front carpal joint inside, first bevel gear shaft engages with the second bevel gear shaft, and described second bevel gear shaft is arranged in front carpal joint by bearing, the end of the second bevel gear is also fixed with hands handle, the output shaft of described elbow joint motor is set with driving pulley through on the end of large arm elbow joint, the end of rotating shaft is set with driven pulley, and between driving pulley and driven pulley, Timing Belt is installed.
The present invention also has such feature:
1. elbow joint motor and carpal joint motor are the motors with decelerator.
Compared with prior art, the invention has the beneficial effects as follows: the present invention in use, user carries out in rehabilitation training at this equipment of use, mechanical arm side is put in outside arm, hands is placed on above on handle, simple to operate effectively and safety, prevent the secondary injury that machinery causes user; And elbow joint driver element adopts Timing Belt drive scheme, synchronous belt mechanism can carry out compliant motion, mechanical arm can be made to operate steadily submissive, operating noise is little, for ease of maintenaince change, and make mounting position of motor more flexible, reduce arm rehabilitation device end load, ensure safety when patient uses and comfortableness; And carpal joint driver element adopts bevel gear driving scheme, effectively saves installing space.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention (handle upward time);
Fig. 2 is structural representation of the present invention two (handle down time);
Fig. 3 is the structural representation of carpal joint driver element of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing and detailed description of the invention, the present invention is described in further detail.
Composition graphs 1 to Fig. 3, the present invention includes large arm elbow joint 2, be arranged on the elbow joint motor 1 on large arm elbow joint 2 one end, by the forearm elbow joint 4 that rotating shaft 2 is articulated and connected with the other end of large arm elbow joint 2, be arranged on the installing rack 21 of forearm elbow joint 4 end, leading screw 10, guide post 5 and front carpal joint 7, and one end of described leading screw 10 is through described installing rack 21, the other end is arranged on front carpal joint 7 by leading screw fixed block 15, leading screw 10 is also provided with nut 11, and described nut 11 is connected with installing rack 21, one end of guide post 5 is through described installing rack 21, the other end is arranged on below front carpal joint 7 by guide post fixed block 6, the end face of described front carpal joint 7 is also provided with carpal joint motor 9 by flange 16, the output shaft of carpal joint motor 9 is connected with the first bevel gear shaft 17 being positioned at front carpal joint 7 inside, first bevel gear shaft 17 engages with the second bevel gear shaft 20, and described second bevel gear shaft 20 is arranged in front carpal joint 7 by bearing 19, the end of the second bevel gear 20 is also fixed with handle 8, the output shaft of described elbow joint motor 1 is set with driving pulley 12 through on the end of large arm elbow joint 2, the end of rotating shaft 3 is set with driven pulley 14, and between driving pulley 12 and driven pulley 14, Timing Belt 13 is installed.
Preferred, elbow joint motor 1 and carpal joint motor 9 are the motors with decelerator.
Elbow joint driver element of the present invention and carpal joint driver element specifically, elbow joint driver element adopts Timing Belt drive scheme, reduces arm rehabilitation device end load, and effective protection trainer is to avoid secondary injury.Carpal joint driver element adopts bevel gear driving scheme, effectively saves installing space.
Elbow joint driver element comprises elbow joint motor and decelerator 1 (the also namely described motor with decelerator), large arm elbow joint 2, driving pulley 12, driven pulley 14, Timing Belt 13 and forearm elbow joint 4 etc., elbow joint motor 1 is vertically mounted on large arm elbow joint 2, elbow joint motor 1 output shaft end connects driving pulley 12, forearm elbow joint 4 realizes being connected with large arm elbow joint 2 rotating shaft 3, and can revolute pair be had, and the end of described rotating shaft 3 suit driven pulley 14, driving pulley 12 and driven pulley 14 are by Timing Belt 13 transmission.Carpal joint driver element is made up of carpal joint motor and decelerator 9, front carpal joint 7, bevel gear shaft 17 and 20 and handle 8 etc., carpal joint motor 9 is vertically mounted on front carpal joint 7, carpal joint motor 9 output shaft end connects the first bevel gear shaft 17, handle 8 and the second bevel gear shaft 20 are connected, and carpal joint motor 9 is moved by Bevel Gear Transmission band fixed handle 8.
Composition graphs 1 and Fig. 2, in described elbow joint driver element, elbow joint motor and decelerator 1 are vertically mounted on large arm elbow joint 2, and elbow joint motor and decelerator 1 output shaft end connect driving pulley 12, and driving pulley 12 drives driven pulley 14 to rotate by Timing Belt 13.Forearm elbow joint 4 is connected driven pulley 14, and large arm elbow joint 2 and forearm elbow joint 4 form revolute pair by rotating shaft 3.
Composition graphs 1 and Fig. 2, described carpal joint driver element is connected with forearm elbow joint by length-adjustable device.Guide post 5 one end is arranged on front carpal joint 7 by guide post fixed block 6, and the other end is arranged in forearm elbow joint 4, slidably; Leading screw 10 one end is arranged on front carpal joint 7 by leading screw fixed block 15, and the other end is arranged in forearm elbow joint 4, regulates forearm by adjusting nut 11.
Composition graphs 1 and Fig. 3, in described carpal joint driver element.Carpal joint motor and decelerator 9 are fixed on front carpal joint 7 by flange 16.Carpal joint motor and decelerator 9 output shaft end are connected with the first bevel gear shaft 17, and the first bevel gear shaft 17 forms revolute pair by bearing 18 and front carpal joint 7.First bevel gear shaft 17 engages with the bevel gear of the second bevel gear shaft 20, and the second bevel gear shaft 20 forms revolute pair by bearing 19 and front carpal joint 7.Handle 8 and the second bevel gear shaft 20 are connected.User grasps handle 8 and carries out rehabilitation training, simple to operate, use safety.
Claims (2)
1. an arm rehabilitation training forearm movable joint device, it is characterized in that: comprise large arm elbow joint, be arranged on the elbow joint motor on large arm elbow joint one end, by the forearm elbow joint that the other end of rotating shaft and large arm elbow joint is articulated and connected, be arranged on the installing rack of forearm elbow joint end, leading screw, guide post and front carpal joint, and one end of described leading screw is through described installing rack, the other end is arranged on front carpal joint by leading screw fixed block, leading screw is also provided with nut, and described nut and installing rack are connected, one end of guide post is through described installing rack, the other end is arranged on below front carpal joint by guide post fixed block, the carpal end face of described forearm is also provided with carpal joint motor by flange, the output shaft of carpal joint motor is connected with the first bevel gear shaft being positioned at front carpal joint inside, first bevel gear shaft engages with the second bevel gear shaft, and described second bevel gear shaft is arranged in front carpal joint by bearing, the end of the second bevel gear is also fixed with hands handle, the output shaft of described elbow joint motor is set with driving pulley through on the end of large arm elbow joint, the end of rotating shaft is set with driven pulley, and between driving pulley and driven pulley, Timing Belt is installed.
2. a kind of arm rehabilitation training forearm movable joint device according to claim 1, is characterized in that: elbow joint motor and carpal joint motor are the motors with decelerator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510293441.XA CN104905937A (en) | 2015-06-02 | 2015-06-02 | Forearm moving-joint device for rehabilitation training of arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510293441.XA CN104905937A (en) | 2015-06-02 | 2015-06-02 | Forearm moving-joint device for rehabilitation training of arm |
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| Publication Number | Publication Date |
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| CN104905937A true CN104905937A (en) | 2015-09-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510293441.XA Pending CN104905937A (en) | 2015-06-02 | 2015-06-02 | Forearm moving-joint device for rehabilitation training of arm |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106038169A (en) * | 2016-06-13 | 2016-10-26 | 北京理工大学 | Arm length adjusting mechanism of rope-driven exoskeleton mechanical arm |
| CN108143521A (en) * | 2017-12-12 | 2018-06-12 | 常州大学 | A kind of apery humeroradial joint in elbow joint |
| CN109173173A (en) * | 2018-10-13 | 2019-01-11 | 孙淑文 | A kind of medical arm device for healing and training |
| CN110772401A (en) * | 2019-12-02 | 2020-02-11 | 苏州好博医疗器械有限公司 | Upper limb rehabilitation training device and using method thereof |
-
2015
- 2015-06-02 CN CN201510293441.XA patent/CN104905937A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106038169A (en) * | 2016-06-13 | 2016-10-26 | 北京理工大学 | Arm length adjusting mechanism of rope-driven exoskeleton mechanical arm |
| CN106038169B (en) * | 2016-06-13 | 2018-09-14 | 北京理工大学 | A kind of brachium regulating mechanism of rope driving ectoskeleton mechanical arm |
| CN108143521A (en) * | 2017-12-12 | 2018-06-12 | 常州大学 | A kind of apery humeroradial joint in elbow joint |
| CN109173173A (en) * | 2018-10-13 | 2019-01-11 | 孙淑文 | A kind of medical arm device for healing and training |
| CN110772401A (en) * | 2019-12-02 | 2020-02-11 | 苏州好博医疗器械有限公司 | Upper limb rehabilitation training device and using method thereof |
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Application publication date: 20150916 |
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| RJ01 | Rejection of invention patent application after publication |