CN114712157B - Wrist joint training robot based on three-degree-of-freedom parallel mechanism - Google Patents
Wrist joint training robot based on three-degree-of-freedom parallel mechanism Download PDFInfo
- Publication number
- CN114712157B CN114712157B CN202210344213.0A CN202210344213A CN114712157B CN 114712157 B CN114712157 B CN 114712157B CN 202210344213 A CN202210344213 A CN 202210344213A CN 114712157 B CN114712157 B CN 114712157B
- Authority
- CN
- China
- Prior art keywords
- pair
- branch
- moving chain
- palm
- platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 210000003857 wrist joint Anatomy 0.000 title claims abstract description 10
- 230000033001 locomotion Effects 0.000 claims abstract description 40
- 210000000707 wrist Anatomy 0.000 claims abstract description 21
- 238000005452 bending Methods 0.000 abstract description 4
- 208000006011 Stroke Diseases 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 208000027669 Wrist injury Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000002542 deteriorative effect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0192—Specific means for adjusting dimensions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The wrist joint training robot based on the three-degree-of-freedom parallel mechanism comprises an arm supporting device, a parallel mechanism, a palm fixing device and a base, wherein the parallel mechanism comprises a fixed platform, a movable platform, a first branch moving chain, a second branch moving chain and a third branch moving chain, and the fixed platform is vertically arranged on the base; one end of the arm supporting device is fixed on the fixed platform, the other end of the arm supporting device is connected with the palm fixing device through the deformed ball pair, the palm fixing device is bent back and forth and folded back and forth and unfolded inside and outside relative to the arm supporting device through the deformed ball pair, and the palm fixing device is arranged on the movable platform; the motion of the three branch motion chains is provided with power by a hydraulic pump arranged on the base so as to drive the movable platform to drive the palm fixing device to move, thereby realizing the forward bending, backward stretching, inward folding and outward stretching motions of the wrist. The wrist rehabilitation medical instrument can effectively solve the problems that the existing wrist rehabilitation medical instrument is poor in decoupling performance, small in movement range, difficult to operate and the like.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to a wrist joint training robot based on a three-degree-of-freedom parallel mechanism.
Background
All kinds of activities in daily life and work involve movements of the wrist joint, which is one of the most important joints of the human body and also one of the joints that is most vulnerable to injury. In addition to certain wrist injuries caused by unreasonable exercise modes, sudden unexpected conditions and the like, the elderly are high-incidence people suffering from stroke, and in recent years, with the aggravation of social aging, more and more elderly are plagued by sequelae of stroke. The rehabilitation training of the wrist joint can effectively help the patient to recover and prevent the disease from deteriorating, and the rehabilitation training of the wrist joint is receiving more and more attention. At present, the common artificial massage can not meet the market demand, is difficult to coordinate the time of a patient and a physical therapist, and compared with the artificial massage wrist rehabilitation training robot, the artificial massage wrist rehabilitation training robot is low in cost, simple to operate and convenient for the patient to use at any time, and the medical rehabilitation instrument can gradually become the first choice of the patient.
The existing wrist rehabilitation medical instrument has the problems of poor decoupling, small movement range, difficult operation and the like, and cannot meet the use requirements of patients.
Disclosure of Invention
The invention aims to provide a wrist training robot based on a three-degree-of-freedom parallel mechanism, which is used for solving the problems of poor decoupling performance, small movement range, difficult operation and the like of a common wrist training robot.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: the wrist joint training robot based on the three-degree-of-freedom parallel mechanism comprises an arm supporting device, a parallel mechanism, a palm fixing device and a base, wherein the parallel mechanism comprises a fixed platform, a movable platform, a first branch moving chain, a second branch moving chain and a third branch moving chain, wherein the first branch moving chain, the second branch moving chain and the third branch moving chain are arranged between the fixed platform and the movable platform, and the fixed platform is vertically arranged on the base; one end of the arm supporting device is fixed on the fixed platform, the other end of the arm supporting device is connected with the palm fixing device through the deformed ball pair, the palm fixing device bends back and forth and stretches back and forth relative to the arm supporting device through the deformed ball pair, and the palm fixing device is arranged on the movable platform; the second branch moving chain is used for driving the movable platform to drive the palm fixing device to bend forwards and stretch backwards, and the third branch moving chain is used for driving the movable platform to drive the palm fixing device to retract and stretch outwards; the first branch moving chain is used for being matched with the movement of the other two branch moving chains; the movements of the first branch kinematic chain, the second branch kinematic chain and the third branch kinematic chain are powered by hydraulic pumps provided on the base.
The first branch kinematic chain comprises a first revolute pair, a first movable pair and a second revolute pair, wherein the first movable pair is connected with the fixed platform through the first revolute pair and is connected with the movable platform through the second revolute pair; the second branch kinematic chain comprises a third revolute pair, a second movable pair and a first ball pair, wherein the second movable pair is connected with the movable platform through the first ball pair, and is connected with the fixed platform through the third revolute pair; the third branch kinematic chain comprises a fourth revolute pair, a third movable pair and a second ball pair, wherein the third movable pair is connected with the movable platform through the fourth revolute pair, and is connected with the fixed platform through the second ball pair; the moving pairs in the first branch moving chain L1, the second branch moving chain L2 and the third branch moving chain L3 are all active pairs;
on the fixed platform, the rotation axis of the first revolute pair and the rotation axis of the third revolute pair are parallel to a horizontal plane, and the two revolute pairs are distributed in the same plumb face; on the movable platform, the rotation axis of the second revolute pair and the rotation axis of the fourth revolute pair are parallel to the plumb face and the two revolute pairs are distributed in the same horizontal plane.
The first revolute pair, the third revolute pair and the second ball pair which are connected with the fixed platform form a right triangle in pairs; the second revolute pair, the first ball pair and the fourth revolute pair which are connected with the movable platform form a right triangle in pairs; and the positions of the two revolute pairs of the first branch moving chain are right-angle triangular right-angle points.
The first branch kinematic chain and the second branch kinematic chain are located in the same vertical plane.
The arm supporting device comprises an arm supporting plate, an arm fixing piece and a smooth semicircular plate, one end of the arm supporting plate is fixed on the fixed platform, the other end of the arm supporting plate is provided with the smooth semicircular plate, the lower edge of the smooth semicircular plate is an arc edge, a groove for placing an arm is formed in the arm supporting plate, and the arm fixing piece is arranged on the arm supporting plate to fix the arm in the groove.
The arm supporting plate is of a telescopic structure.
The palm fixing device comprises a smooth semicircular clamping groove and a U-shaped bracket, wherein the smooth semicircular clamping groove and the U-shaped bracket are used for forming the deformed ball pair together with the smooth semicircular plate, the bottom of the smooth semicircular clamping groove is rotatably arranged in the U-shaped bracket, and the rotation axis of the smooth semicircular clamping groove is perpendicular to the horizontal plane; the smooth semicircular plate is rotatably arranged in the smooth semicircular clamping groove by means of the lower edge of the circular arc shape of the smooth semicircular plate, and the rotation axis of the smooth semicircular plate is perpendicular to the plumb plane; the palm fixing device further comprises a palm placing plate and palm fixing pieces, the proximal end of the palm placing plate is rotationally connected with the two sides of the U-shaped bracket, the rotation axis is horizontal and perpendicular to the rotation axis of the smooth semicircular plate, and the palm placing plate is located in the U-shaped notch of the movable platform and is connected to the movable platform through the connecting pieces.
The "proximal end of the palm rest plate" refers to the end of the palm rest plate near the arm support device.
The bottom of palm fixed plate is equipped with the spout, and spout direction is the same with arm layer board flexible direction, slides in the spout and is provided with the slider, wears to be equipped with smooth cylinder pole on the slider to form the cylinder pair, smooth cylinder pole is connected with movable platform rotation as the connecting piece, and the axis of rotation is the central axis of smooth cylinder pole. .
The arm fixing piece and the palm fixing piece are all magic tapes.
The beneficial effects of the invention are as follows: the invention utilizes the motion of the three-degree-of-freedom parallel mechanism to realize the motion required by the palm fixing mechanism, in use, the motion of the second branch motion chain is independently driven to realize the forward bending and backward stretching motion of the wrist of the user, the motion of the third branch motion chain is independently driven to realize the inward folding and outward stretching motion of the wrist of the user, the first branch motion chain is matched with the other two branch motion chains, and the three branch motion chains are simultaneously driven at different speeds, so that the sliding block can horizontally move, the initial position of the sliding block is adjusted, the length of the arm supporting device after the telescopic adjustment is adapted, and the use requirements of different patients are met. Therefore, the wrist rehabilitation medical instrument can effectively solve the problems that the existing wrist rehabilitation medical instrument is poor in decoupling performance, small in movement range, difficult to operate and the like. .
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of an arm support device according to the present invention;
FIG. 3 is a schematic diagram of a parallel mechanism according to the present invention;
FIG. 4 is a schematic view of a palm fixing device according to the present invention;
the marks in the figure: 1. the device comprises a control panel, 2, an arm supporting device, 3, a parallel mechanism, 4, a palm fixing device, 5, a base, 6 and a hydraulic pump; 201. screw, 202, arm support plate, 203, fixed arm magic tape, 204, smooth semicircle plate; 301. the movable platform comprises a fixed platform body and 302, wherein the movable platform body comprises an L1 branch moving chain, an L2 branch moving chain, a second branch moving chain, an L3 branch moving chain, a third branch moving chain, an R11 rotating pair, a P11 rotating pair, a first moving pair, an R12 rotating pair, a second rotating pair, an R21 rotating pair, a third rotating pair, an P21 moving pair, an S21 rotating pair, a first ball pair, an S31 rotating pair, a second ball pair, an P31 rotating pair, a third moving pair, an R31 rotating pair, a fourth rotating pair, a 401 rotating pair, a smooth semicircular clamping groove, a 402, a U-shaped bracket, a 403, a palm placing plate, a 404, a fixed palm magic tape, a 405, a chute, a 406, a smooth cylindrical rod, a 407, a sliding block, an R41, a fifth rotating pair, an R42 and a sixth rotating pair.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples, which are not intended to be limiting.
As shown in fig. 1, a wrist training robot based on a three-degree-of-freedom parallel mechanism includes: control panel 1, arm support device 2, parallel mechanism 3, palm fixing device 4, base 5, hydraulic pump 6 and solenoid valve.
The base 5 is used for being horizontally supported on the operating platform, the hydraulic pump 6 and the electromagnetic valve are both arranged on the base 5, the hydraulic pump 6 is used as a power source of the parallel mechanism 3, and the electromagnetic valve controls the opening and closing of an oil way so as to realize the movement of different branch movement chains in the parallel mechanism 3.
As shown in fig. 3, the parallel mechanism 3 includes a fixed platform 301, a movable platform 302, a first branch moving chain L1, a second branch moving chain L2, and a third branch moving chain L3. The fixed platform 301 is fixed on the base 5 by screws, the table top of the fixed platform 301 is vertical to the base 5, and an arm avoiding groove is formed in the fixed platform. The control panel 1 is installed on the fixed platform 301, and a user can select different movement modes through the control panel 1 to realize different rehabilitation movements. The movable platform 302 is U-shaped, and after the parallel structure 3 is installed on the base 5, the U-shaped notch of the movable platform 302 faces upwards.
With continued reference to fig. 3, the first branch moving chain L1, the second branch moving chain L2 and the third branch moving chain L3 are disposed between the fixed platform 301 and the movable platform 302, and two ends of the three branch moving chains are respectively connected to the fixed platform 301 and the movable platform 302.
The first branched chain L1 includes a first revolute pair R11, a first revolute pair P11, and a second revolute pair R12. The first pair of movement P11 is connected to the fixed platform 301 via the first pair of rotation R11, and is connected to the movable platform 302 via the second pair of rotation R12, and the axes of rotation of the first pair of rotation R11 and the second pair of rotation R12 are perpendicular.
The second branched kinematic chain L2 includes a third revolute pair R21, a second kinematic pair P21, and a first ball pair S21. The second movable pair P21 is connected to the movable platform 302 via the first ball pair S21, and is connected to the fixed platform 301 via the third revolute pair R21.
The third branched kinematic chain L3 includes a fourth revolute pair R31, a third kinematic pair P31 and a second ball pair S31. The third movable pair P31 is connected to the movable platform 302 via the fourth revolute pair R31, and is connected to the fixed platform 301 via the second ball pair S31.
Wherein, on the fixed platform 301, the rotation axis of the first revolute pair R11 and the rotation axis of the third revolute pair R21 are parallel to the horizontal plane and the two revolute pairs are distributed in the same plumb plane; on the movable platform 302, the rotation axis of the second revolute pair R12 and the rotation axis of the fourth revolute pair R31 are parallel to the plumb face, and the two revolute pairs are distributed in the same horizontal plane. In the three branch kinematic chains, the kinematic pair connecting lines connected with the movable platform 302 form a right triangle, the kinematic pair connecting lines connected with the fixed platform 301 form another right triangle, and the positions of the two revolute pairs of the first branch kinematic chain L1 are right angle points of the right triangle. The first branch moving chain L1 and the second branch moving chain L2 are located in the same vertical plane. The movable pairs in the first branch moving chain L1, the second branch moving chain L2 and the third branch moving chain L3 are all driving pairs, the movable pairs are powered by the hydraulic pump 6 on the base 5, and the opening and closing of oil ways corresponding to the movable pairs are controlled by the electromagnetic valve, so that the linear expansion of the movable pairs is realized.
As shown in fig. 2, the arm supporting device 2 is used for supporting the forearm of the user, the main body of the arm supporting device 2 is an arm supporting plate 202 for supporting the arm, the arm supporting plate 202 is a long plate with an arc-shaped groove on the upper surface, two or more fixed arm magic tapes 203 are arranged along the axial direction of the groove, the arc-shaped groove is used for attaching the arm, and the fixed arm magic tapes 203 are used for fixing the arm. One end of the arm support plate 202 is mounted on the fixed platform 301 of the parallel mechanism 3 through a screw 201, and the circular arc-shaped groove corresponds to the arm avoidance groove of the fixed platform 301, the other end of the arm support plate 202 is provided with a smooth semicircular plate 204, and the smooth semicircular plate 204 can be integrally designed and manufactured with the arm support plate 202, and can also be fastened on the arm support plate 202 through screws and the like.
Further, the arm support plate 202 may be configured as a telescopic structure, and the length of the arm support plate 202 is adjusted according to the arm length of the user, so as to meet the use requirements of different users.
As shown in fig. 4, the palm fixing device 4 includes a smooth semicircular clamping groove 401, a U-shaped bracket 402, a palm placing plate 403, a fixed palm magic tape 404, a sliding groove 405, a smooth cylindrical rod 406 and a sliding block 407. The palm placing plate 403 is used for supporting the palm of the user, a groove for placing the palm is formed in the upper surface of the palm placing plate 403, two parts of the fixed palm magic tape 404 are respectively arranged on two sides of the groove, and the palm in the groove can be fixed after the two parts of the fixed palm magic tape 404 are combined; the lower part of the palm placing plate 403 is provided with a chute 405, the direction of the chute 405 is parallel to the length direction of the palm placing plate 403, the sliding block 407 is in sliding fit with the chute 405 to form a moving pair, a smooth round hole is formed in the middle of the sliding block 407, a cylindrical pair is formed by the sliding block 407 and the smooth cylindrical rod 406, and the smooth cylindrical rod 406 is connected in a U-shaped notch of the movable platform 302 of the parallel mechanism 3 through a bearing; one end of the palm placing plate 403, which is close to the arm supporting plate 202, is rotatably connected with the U-shaped bracket 402 to form a fifth revolute pair R41, and the rotation axis of the fifth revolute pair R41 is parallel to the horizontal plane and perpendicular to the length direction of the arm supporting plate 202 so as to cooperate with the second branch moving chain L2 to realize forward bending and backward stretching of the wrist of the user; the middle point of the U-shaped bracket 402 is rotationally connected with the smooth semicircular clamping groove 401 to form a sixth revolute pair R42, so that the smooth semicircular clamping groove 401 can horizontally rotate in the U-shaped bracket 402, and the rotating shaft of the sixth revolute pair R42 is vertical to the horizontal plane to cooperate with the movement of a third branch movement chain L3 to realize the adduction and abduction of a wrist; the smooth semicircular plate 204 is engaged with the smooth semicircular plate groove 401, and can be rotated in the vertical plane. The smooth semicircular plate 204, the smooth semicircular plate clamping groove 401 and the U-shaped bracket 402 are mutually matched to form a deformed ball pair, so that the requirement of the palm placing plate 403 moving in multiple directions can be met. The upper surface of the palm rest plate 403 and the upper surface of the arm support plate 202 are positioned at the same horizontal plane when the arm avoiding groove on the fixed platform 301 is at the initial position.
The wrist joint training robot further comprises a control module and a feedback module, wherein the two modules are matched with each other to realize different movement requirements of wrist rehabilitation, and the movement process is detected.
When in use, a user can select different movement modes through the control panel 3 to realize different rehabilitation movements. The electromagnetic valve controls the hydraulic oil way to be opened and closed to realize the movement of each branch movement chain, and the second branch movement chain L2 is independently driven to move to realize the forward bending and backward stretching movement of the wrist; the wrist adduction and abduction movement can be realized by independently driving the third branch movement chain L3 to move. The first branch moving chain L1 does not move alone, but cooperates with the other two branch moving chains in the device and plays a supporting role. The initial position of the slide block 407 can be adjusted when the three branch kinematic chains are simultaneously driven so as to adapt to the arm supporting device after telescopic adjustment, thereby meeting the use requirements of different patients.
The above embodiments are only for illustrating the technical solution of the present invention and not for limiting it, and it should be understood by those skilled in the art that modifications and equivalents may be made to the specific embodiments of the present invention with reference to the above embodiments, and any modifications and equivalents not departing from the spirit and scope of the present invention are within the scope of the claims appended hereto.
Claims (4)
1. The wrist joint training robot based on the three-degree-of-freedom parallel mechanism is characterized in that: the device comprises an arm supporting device, a parallel mechanism, a palm fixing device and a base, wherein the parallel mechanism comprises a fixed platform, a movable platform, a first branch moving chain, a second branch moving chain and a third branch moving chain, wherein the first branch moving chain, the second branch moving chain and the third branch moving chain are arranged between the fixed platform and the movable platform, and the fixed platform is vertically arranged on the base; one end of the arm supporting device is fixed on the fixed platform, the other end of the arm supporting device is connected with the palm fixing device through the deformed ball pair, the palm fixing device bends back and forth and stretches back and forth relative to the arm supporting device through the deformed ball pair, and the palm fixing device is arranged on the movable platform; the second branch moving chain is used for driving the movable platform to drive the palm fixing device to bend forwards and stretch backwards, and the third branch moving chain is used for driving the movable platform to drive the palm fixing device to retract and stretch outwards; the first branch moving chain is used for being matched with the movement of the other two branch moving chains; the movements of the first branch moving chain, the second branch moving chain and the third branch moving chain are powered by a hydraulic pump arranged on the base;
the first branch kinematic chain comprises a first revolute pair, a first movable pair and a second revolute pair, wherein the first movable pair is connected with the fixed platform through the first revolute pair and is connected with the movable platform through the second revolute pair; the second branch kinematic chain comprises a third revolute pair, a second movable pair and a first ball pair, wherein the second movable pair is connected with the movable platform through the first ball pair, and is connected with the fixed platform through the third revolute pair; the third branch kinematic chain comprises a fourth revolute pair, a third movable pair and a second ball pair, wherein the third movable pair is connected with the movable platform through the fourth revolute pair, and is connected with the fixed platform through the second ball pair; the moving pairs in the first branch moving chain L1, the second branch moving chain L2 and the third branch moving chain L3 are all active pairs;
on the fixed platform, the rotation axis of the first revolute pair and the rotation axis of the third revolute pair are parallel to a horizontal plane, and the two revolute pairs are distributed in the same vertical plane; on the movable platform, the rotation axis of the second revolute pair and the rotation axis of the fourth revolute pair are parallel to the vertical plane, and the two revolute pairs are distributed in the same horizontal plane; the first revolute pair, the third revolute pair and the second ball pair which are connected with the fixed platform form a right triangle in pairs; the second revolute pair, the first ball pair and the fourth revolute pair which are connected with the movable platform form a right triangle in pairs; the positions of the two revolute pairs of the first branch moving chain are right-angle triangular right-angle points;
the arm supporting device comprises an arm supporting plate, an arm fixing piece and a smooth semicircular plate, one end of the arm supporting plate is fixed on the fixed platform, the other end of the arm supporting plate is provided with the smooth semicircular plate, the lower edge of the smooth semicircular plate is an arc edge, the arm supporting plate is provided with a groove for placing an arm, and the arm fixing piece is arranged on the arm supporting plate so as to fix the arm in the groove; the arm supporting plate is of a telescopic structure;
the palm fixing device comprises a smooth semicircular clamping groove and a U-shaped bracket, wherein the smooth semicircular clamping groove and the U-shaped bracket are used for forming the deformed ball pair together with the smooth semicircular plate, the bottom of the smooth semicircular clamping groove is rotatably arranged in the U-shaped bracket, and the rotation axis of the smooth semicircular clamping groove is perpendicular to the horizontal plane; the smooth semicircular plate is rotatably arranged in the smooth semicircular clamping groove by means of the lower edge of the circular arc shape of the smooth semicircular plate, and the rotation axis of the smooth semicircular plate is perpendicular to the plumb plane; the palm fixing device further comprises a palm placing plate and palm fixing pieces, the proximal end of the palm placing plate is rotationally connected with the two sides of the U-shaped bracket, the rotation axis is horizontal and perpendicular to the rotation axis of the smooth semicircular plate, and the palm placing plate is located in the U-shaped notch of the movable platform and is connected to the movable platform through the connecting pieces.
2. The wrist training robot based on the three-degree-of-freedom parallel mechanism according to claim 1, wherein: the first branch kinematic chain and the second branch kinematic chain are located in the same vertical plane.
3. The wrist training robot based on the three-degree-of-freedom parallel mechanism according to claim 1, wherein: the bottom of palm fixed plate is equipped with the spout, and spout direction is the same with arm layer board flexible direction, slides in the spout and is provided with the slider, wears to be equipped with smooth cylinder pole on the slider to form the cylinder pair, smooth cylinder pole is connected with movable platform rotation as the connecting piece, and the axis of rotation is the central axis of smooth cylinder pole.
4. The wrist training robot based on the three-degree-of-freedom parallel mechanism according to claim 1, wherein: the arm fixing piece and the palm fixing piece are all magic tapes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210344213.0A CN114712157B (en) | 2022-04-02 | 2022-04-02 | Wrist joint training robot based on three-degree-of-freedom parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210344213.0A CN114712157B (en) | 2022-04-02 | 2022-04-02 | Wrist joint training robot based on three-degree-of-freedom parallel mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114712157A CN114712157A (en) | 2022-07-08 |
| CN114712157B true CN114712157B (en) | 2024-01-12 |
Family
ID=82242208
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210344213.0A Active CN114712157B (en) | 2022-04-02 | 2022-04-02 | Wrist joint training robot based on three-degree-of-freedom parallel mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114712157B (en) |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202515948U (en) * | 2012-03-30 | 2012-11-07 | 东华大学 | Wrist joint rehabilitation training device |
| CN103083156A (en) * | 2013-01-21 | 2013-05-08 | 江苏大学 | Three-degree of freedom parallel serial upper limb rehabilitation robot |
| JP3184447U (en) * | 2013-04-16 | 2013-06-27 | サバンジ・ウニヴェルシテシ | Non-grounded ankle treatment and measurement exoskeleton type device |
| CN103961240A (en) * | 2014-05-16 | 2014-08-06 | 哈尔滨工程大学 | Ankle foot rehabilitation training device and balance training system |
| CN104306133A (en) * | 2014-09-26 | 2015-01-28 | 福州大学 | Isotropic ankle joint rehabilitation parallel connecting mechanism |
| CN104626122A (en) * | 2015-01-20 | 2015-05-20 | 江南大学 | (1T2R) and 1R four-degree-of-freedom decoupling series-parallel mechanism |
| CN104827463A (en) * | 2015-05-07 | 2015-08-12 | 上海交通大学 | Three-degree-of-freedom spherical parallel mechanism with arc-shaped movable pair |
| CN205614647U (en) * | 2016-03-30 | 2016-10-05 | 燕山大学 | Two degree of freedom spherical surface parallel mechanism of high rigidity |
| CN105997439A (en) * | 2016-07-26 | 2016-10-12 | 郑州轻工业学院 | Three-freedom-degree angle joint recovery assisting device controlled by electromyographic signals and provided with sphere pairs |
| CN107007429A (en) * | 2017-04-10 | 2017-08-04 | 江苏大学 | A kind of Three Degree Of Freedom forelimb healing robot based on parallel institution |
| CN108542703A (en) * | 2018-03-05 | 2018-09-18 | 北京工业大学 | A kind of double UPS types ankle joint rehabilitation devices |
| CN108703865A (en) * | 2018-05-25 | 2018-10-26 | 哈尔滨工程大学 | Rope drives robot for rehabilitation of anklebone |
| CN108852565A (en) * | 2018-03-14 | 2018-11-23 | 北京工业大学 | A kind of artificial hand wrist joint in parallel of achievable circumduction |
| CN112008700A (en) * | 2020-09-18 | 2020-12-01 | 河南科技大学 | Decoupling parallel mechanism with two rotation and one movement |
| CN114145964A (en) * | 2021-12-01 | 2022-03-08 | 复旦大学 | Man-machine compatible two-stage parallel type wrist exoskeleton rehabilitation robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2018273807B2 (en) * | 2017-05-26 | 2023-12-14 | The University Of Melbourne | Electromechanical robotic manipulandum device |
-
2022
- 2022-04-02 CN CN202210344213.0A patent/CN114712157B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202515948U (en) * | 2012-03-30 | 2012-11-07 | 东华大学 | Wrist joint rehabilitation training device |
| CN103083156A (en) * | 2013-01-21 | 2013-05-08 | 江苏大学 | Three-degree of freedom parallel serial upper limb rehabilitation robot |
| JP3184447U (en) * | 2013-04-16 | 2013-06-27 | サバンジ・ウニヴェルシテシ | Non-grounded ankle treatment and measurement exoskeleton type device |
| CN103961240A (en) * | 2014-05-16 | 2014-08-06 | 哈尔滨工程大学 | Ankle foot rehabilitation training device and balance training system |
| CN104306133A (en) * | 2014-09-26 | 2015-01-28 | 福州大学 | Isotropic ankle joint rehabilitation parallel connecting mechanism |
| CN104626122A (en) * | 2015-01-20 | 2015-05-20 | 江南大学 | (1T2R) and 1R four-degree-of-freedom decoupling series-parallel mechanism |
| CN104827463A (en) * | 2015-05-07 | 2015-08-12 | 上海交通大学 | Three-degree-of-freedom spherical parallel mechanism with arc-shaped movable pair |
| CN205614647U (en) * | 2016-03-30 | 2016-10-05 | 燕山大学 | Two degree of freedom spherical surface parallel mechanism of high rigidity |
| CN105997439A (en) * | 2016-07-26 | 2016-10-12 | 郑州轻工业学院 | Three-freedom-degree angle joint recovery assisting device controlled by electromyographic signals and provided with sphere pairs |
| CN107007429A (en) * | 2017-04-10 | 2017-08-04 | 江苏大学 | A kind of Three Degree Of Freedom forelimb healing robot based on parallel institution |
| CN108542703A (en) * | 2018-03-05 | 2018-09-18 | 北京工业大学 | A kind of double UPS types ankle joint rehabilitation devices |
| CN108852565A (en) * | 2018-03-14 | 2018-11-23 | 北京工业大学 | A kind of artificial hand wrist joint in parallel of achievable circumduction |
| CN108703865A (en) * | 2018-05-25 | 2018-10-26 | 哈尔滨工程大学 | Rope drives robot for rehabilitation of anklebone |
| CN112008700A (en) * | 2020-09-18 | 2020-12-01 | 河南科技大学 | Decoupling parallel mechanism with two rotation and one movement |
| CN114145964A (en) * | 2021-12-01 | 2022-03-08 | 复旦大学 | Man-machine compatible two-stage parallel type wrist exoskeleton rehabilitation robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114712157A (en) | 2022-07-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103536426B (en) | Pneumatic muscle-actuated wearable elbow joint rehabilitation training device | |
| CN111281741B (en) | Reconfigurable exoskeleton upper limb rehabilitation robot for different body types | |
| CN108309694B (en) | Foot-driven lower limb rehabilitation training device | |
| CN108744422B (en) | Four-degree-of-freedom wearable upper limb movement auxiliary device with optimized degree of freedom | |
| CN107648013B (en) | 4-degree-of-freedom forearm of upper limb exoskeleton robot | |
| CN204293444U (en) | A kind of exoskeleton-type shoulder girdle and upper limbs work in coordination with healing robot | |
| CN108478391B (en) | Wearable exoskeleton rehabilitation manipulator | |
| CA2107058A1 (en) | Continuous passive motion device for full extension of leg | |
| CN109875841A (en) | A kind of wrist convalescence device | |
| CN105496725A (en) | Three-degree-of-freedom thumb rehabilitation training mechanism | |
| JP2021512743A (en) | Upper limb nerve rehabilitation training equipment | |
| CN114712157B (en) | Wrist joint training robot based on three-degree-of-freedom parallel mechanism | |
| CN111759678B (en) | Four-degree-of-freedom parallel robot for leg rehabilitation | |
| CN211067796U (en) | Upper limb rehabilitation robot and finger and wrist training device thereof | |
| CN110123585B (en) | Wrist rehabilitation training mechanism for upper limb rehabilitation mechanical arm | |
| CN211067798U (en) | Universal exoskeleton rehabilitation mechanism | |
| CN108670721A (en) | A kind of multiple degrees of freedom master passively mixes whole body exoskeleton rehabilitation training system | |
| CN109288616B (en) | Exoskeleton upper limb rehabilitation robot | |
| CN115670866A (en) | Multifunctional hand rehabilitation robot | |
| CN207722051U (en) | A kind of ankle device for rehabilitation of the prismatic pair of branch containing flexural pivot | |
| CN209122785U (en) | Two translation of one kind, one rotation knee joint recovery robot | |
| CN110882131A (en) | Lower limb rehabilitation robot | |
| CN211023861U (en) | Post-stroke limb rehabilitation training device | |
| CN220070106U (en) | Wrist rehabilitation training device with three degrees of freedom | |
| CN213373512U (en) | Finger joint movement instrument for old people |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |