CN212261832U - Wrist two-degree-of-freedom flexible rope driven exoskeleton type upper limb rehabilitation training robot - Google Patents
Wrist two-degree-of-freedom flexible rope driven exoskeleton type upper limb rehabilitation training robot Download PDFInfo
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- CN212261832U CN212261832U CN202020020401.4U CN202020020401U CN212261832U CN 212261832 U CN212261832 U CN 212261832U CN 202020020401 U CN202020020401 U CN 202020020401U CN 212261832 U CN212261832 U CN 212261832U
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Abstract
Aiming at the defects of the prior art, the invention provides a wrist two-degree-of-freedom flexible rope driven exoskeleton type upper limb rehabilitation training robot, which adopts a flexible rope driving mode and does not realize the degree of freedom required by joints through a joint turntable and other large mechanisms, so that the device has high space utilization rate, is more comfortable and lighter to wear, can effectively and physically stimulate the muscles of each joint and the movement function nerve of the upper limb, better fits the movement characteristics of the upper limb of a human body, and avoids causing secondary injury to a patient, and the invention provides the wrist two-degree-of-freedom flexible rope driven exoskeleton type upper limb rehabilitation training robot, which comprises the following components: the wrist and elbow moving part, the arm supporting part and the ground fixing part, wherein the large arm wearing device in the wrist and elbow moving part is connected with the arc-shaped guide rail module in the arm supporting part, the upright post in the arm supporting part is connected with the reinforcing rib in the ground fixing part, and the large chassis in the ground fixing part is connected with the ground.
Description
Technical Field
The invention relates to the field of rehabilitation robots, in particular to a wrist two-degree-of-freedom flexible rope-driven exoskeleton type upper limb rehabilitation training robot.
Background
Hemiplegia is a common serious symptom in clinic, is mostly seen in the attack of acute cerebrovascular disease, and is usually caused by the damage of cranial nerves, hemiplegia appears on one limb of a patient, the symptom can be mild or severe, and mild patients can perform activities of some simple actions, but the actions are not flexible, the mobility of the patient is lost, the patient cannot perform self-care activities, and extremely serious influence is caused on the life. Especially, in recent years, the incidence of cerebrovascular diseases is increasing year by year, and together with the increasingly severe traffic, various accidents are frequent, so that the number of people with hemiplegia is increasing year by year, and accordingly, the incidence of upper limb dysfunction of patients with hemiplegia is increasing. The position of the upper limb movement function in human life is very important and special. Therefore, the upper limb dysfunction appears after the patient has hemiplegia, and the influence on the life quality of the patient is very large. The rehabilitation therapy is adopted for patients with upper limb dysfunction, the upper limb movement capacity of the patients can be greatly improved, the rehabilitation can be achieved only by stimulating nerves through continuously moving limbs, a plurality of rehabilitation therapists are available at present, and the general patients can carry out rehabilitation therapy through some semi-assisted methods, so that the upper limb rehabilitation training robot has great demand.
All rehabilitation training robots can be broadly classified into two types: one type is an end-driven upper limb rehabilitation training robot, which is a rehabilitation device taking a common link mechanism or a serial mechanism as a main mechanism and supporting the motion end of the upper limb of a patient with upper limb dysfunction to enable the patient with upper limb dysfunction to perform passive training or active training according to a preset track so as to achieve the aim of rehabilitation training. The other type is an exoskeleton type upper limb rehabilitation training robot which is designed based on human bionics and motion mechanisms of joints of a human upper limb and is used for assisting a patient with upper limb dysfunction to perform rehabilitation training, the robot is tightly attached to the upper limb of the patient with upper limb dysfunction according to a special mechanical structure of the robot and drives the patient with upper limb dysfunction to perform active and passive training of the upper limb, the device can perform custom movement on the wrist, but the movement mode is that a motor and a harmonic reducer are arranged on the upper limb part, so that the driving device moves, the device is large in size, not very flexible in movement, large in inertia in the movement process, and easy to cause secondary damage to the wrist.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a wrist two-degree-of-freedom flexible rope-driven exoskeleton type upper limb rehabilitation training robot, which solves the problems that the existing end-driven rehabilitation robot cannot accurately apply traction to each joint of an affected limb to stimulate nerves and has a single movement mode, and also solves the problems that the existing exoskeleton type rehabilitation robot has large inertia due to the fact that a motor-driven device directly adopts at the joint, is difficult to wear, has low space utilization rate due to the adoption of rope driving, has insufficient degree of freedom and the like. The device is more comfortable to wear, lighter and lighter, and smaller in size and weight, can effectively stimulate muscles of joints of the upper limbs and motor functional nerves, can better fit the motion characteristics of arms of people, and meets the rehabilitation training requirements of people with upper limb dysfunction.
The invention provides a wearable flexible rope-driven wrist rehabilitation training robot, which comprises the following components: the wrist and elbow moving part 1, the arm supporting part 2 and the ground fixing part 3, wherein the large arm wearing device 105 in the wrist and elbow moving part 1 is connected with the arc-shaped guide rail module 212 in the arm supporting part 2 through screws, the upright column 201 in the arm supporting part 2 is connected with the reinforcing rib 303 in the ground fixing part 3 through screws, and the large chassis 307 in the ground fixing part 3 is connected with the ground through bolts.
The device has the advantages that the device adopts a flexible rope driving mode, can effectively stimulate the muscles of joints and movement function nerves of the upper limbs, is more fit with the movement characteristics of the upper limbs of the human body, can plan a personalized rehabilitation scheme for different body function characteristics, and does not realize the degree of freedom required by the joints through larger mechanisms such as joint turntables, so that the device provided by the invention has high space utilization rate, is more comfortable and lighter to wear, and avoids secondary damage to patients.
Drawings
Fig. 1 is a schematic structural diagram of a wrist two-degree-of-freedom flexible rope-driven exoskeleton type upper limb rehabilitation training robot;
fig. 2 is a schematic structural diagram of a wrist and elbow moving part 1 of a wrist two-degree-of-freedom flexible rope-driven exoskeleton type upper limb rehabilitation training robot;
fig. 3 is a schematic structural diagram of an arm supporting part 2 in a wrist two-degree-of-freedom flexible rope-driven exoskeleton type upper limb rehabilitation training robot;
fig. 4 is a schematic structural diagram of a ground fixing part 3 in a wrist two-degree-of-freedom flexible rope-driven exoskeleton type upper limb rehabilitation training robot;
Detailed Description
1. Referring to fig. 1, 2, 3 and 4, the wrist two-degree-of-freedom flexible rope-driven exoskeleton type upper limb rehabilitation training robot provided by the invention comprises: the wrist and elbow moving part 1, the arm supporting part 2 and the ground fixing part 3, wherein the large arm wearing device 105 in the wrist and elbow moving part 1 is connected with the arc-shaped guide rail module 212 in the arm supporting part 2 through screws, the upright column 201 in the arm supporting part 2 is connected with the reinforcing rib 303 in the ground fixing part 3 through screws, and the large chassis 307 in the ground fixing part 3 is connected with the ground through bolts.
2. Referring to fig. 2, the wrist and elbow moving part 1 is composed of a hand fixing device 101, a supporting fixing device 102, a wrist adjusting wheel disc 103, a forearm wearing device 104, a forearm wearing device 105, an elbow limiting block 106, an elbow joint rotating disc 107, an arm fixing band 108, a wrist limiting block 109 and a wrist connecting block 110, the hand fixing device 101 is connected with the supporting fixing device 102 through screws, the supporting fixing device 102 is connected with the wrist connecting block 110 through screws, the wrist adjusting wheel disc 103 is connected with the supporting fixing device 102 in the circumferential direction, the other wrist adjusting wheel disc 103 is connected with the hand fixing device 101 through screws, the wrist limiting block 109 is connected with the supporting fixing device 102 through screws, the forearm wearing device 104 is connected with the wrist connecting block 110 through screws, the forearm wearing device 105 is connected with the forearm wearing device 104 through screws, the elbow limiting block 106 is connected with the upper arm wearing device 105 through screws, the elbow joint rotating disc 107 is connected with the upper arm wearing device 105 through screws, and the arm fixing band 108 is fixedly connected with the lower arm wearing device 104.
3. Referring to fig. 3, the arm supporting portion 2 is composed of a vertical column 201, a height adjusting device 202, an angle adjusting device 203, a cross beam 204, a shoulder outward expansion motor 205, a cross beam front connecting block 206, a shoulder transverse connecting member 207, a shoulder longitudinal connecting member 208, a shoulder circling motion motor 209, a front end connecting member 210, an arc guide rail control motor 211 and an arc guide rail module 212, wherein the vertical column 201 is slidably connected with the height adjusting device 202, the height adjusting device 202 is circumferentially connected with the angle adjusting device 203, the angle adjusting device 203 is connected with the cross beam 204 by screws, the cross beam 204 is connected with the cross beam front connecting block 206 by screws, the shoulder outward expansion motor 205 is connected with the cross beam front connecting block 206 by screws, the cross beam front connecting block 206 is circumferentially connected with the shoulder transverse connecting member 207, the shoulder transverse connecting member 207 is connected with the shoulder longitudinal connecting member 208, the shoulder longitudinal connecting piece 208 is circumferentially connected with the front end connecting piece 210, the shoulder longitudinal connecting piece 208 is connected with the shoulder circling motion motor 209 through screws, the front end connecting piece 210 is connected with the arc guide rail module 212 through screws, and the arc guide rail control motor 211 is connected with the arc guide rail module 212 through screws.
4. Referring to fig. 4, the ground fixing part 3 is composed of an elbow motor 301, an elbow motor controller 302, a reinforcing rib 303, a wrist motor controller i 304, a wrist motor i 305, a motor bracket 306, a large chassis 307, a small chassis 308, a wrist motor controller ii 309, a motor strut 310 and a wrist motor ii 311, wherein the elbow motor 301 is fixedly connected with the motor bracket 306, the motor bracket 306 is connected with the small chassis 308 through screws, the elbow motor controller 302 is connected with the small chassis 308 through screws, the wrist motor controller i 304 is connected with the small chassis 308 through screws, the wrist motor i 305 is fixedly connected with the motor bracket 306, the wrist motor ii 311 is fixedly connected with the motor bracket 306, the wrist motor controller ii 309 is connected with the small chassis 308 through screws, the reinforcing rib 303 is connected with the large chassis 307 through screws, the motor support 310 is connected with the large chassis 307 and the small chassis 308 through screws.
Claims (4)
1. A wrist two-degree-of-freedom flexible rope driven exoskeleton type upper limb rehabilitation training robot is composed of a wrist and elbow moving part (1), an arm supporting part (2) and a ground fixing part (3), and is characterized in that a large arm wearing device (105) in the wrist and elbow moving part (1) is connected with an arc-shaped guide rail module (212) in the arm supporting part (2), an upright post (201) in the arm supporting part (2) is connected with a reinforcing rib (303) in the ground fixing part (3), and a large chassis (307) in the ground fixing part (3) is connected with the ground.
2. The wrist two-degree-of-freedom flexible rope-driven exoskeleton type upper limb rehabilitation training robot as claimed in claim 1, wherein the wrist and elbow movable part (1) is composed of a hand fixing device (101), a supporting and fixing device (102), a wrist adjusting wheel disc (103), a forearm wearing device (104), an upper arm wearing device (105), an elbow limiting block (106), an elbow joint rotating disc (107), an arm fixing band (108), a wrist limiting block (109) and a wrist connecting block (110), the hand fixing device (101) is connected with the supporting and fixing device (102), the supporting and fixing device (102) is connected with the wrist connecting block (110), the wrist adjusting wheel disc (103) is connected with the supporting and fixing device (102), the other wrist adjusting wheel disc (103) is connected with the hand fixing device (101), the wrist limiting block (109) is connected with the hand fixing device (101), the wrist limiting block (109) is connected with the supporting and fixing device (102), the forearm wearing device (104) is connected with the wrist connecting block (110), the forearm wearing device (105) is connected with the forearm wearing device (104), the elbow limiting block (106) is connected with the forearm wearing device (105), the elbow joint rotating disc (107) is connected with the forearm wearing device (105), and the arm fixing band (108) is connected with the forearm wearing device (104).
3. The wrist two-degree-of-freedom flexible rope-driven exoskeleton type upper limb rehabilitation training robot as claimed in claim 1, wherein the arm supporting part (2) is composed of an upright post (201), a height adjusting device (202), an angle adjusting device (203), a cross beam (204), a shoulder outward expansion motor (205), a cross beam front connecting block (206), a shoulder transverse connecting piece (207), a shoulder longitudinal connecting piece (208), a shoulder circling motion motor (209), a front end connecting piece (210), an arc-shaped guide rail control motor (211) and an arc-shaped guide rail module (212), wherein the upright post (201) is connected with the height adjusting device (202), the height adjusting device (202) is connected with the angle adjusting device (203), the angle adjusting device (203) is connected with the cross beam (204), the cross beam (204) is connected with the cross beam front connecting block (206), the shoulder outward expansion motor (205) is connected with the cross beam front connecting block (206), the beam front connecting block (206) is connected with the shoulder transverse connecting piece (207), the shoulder transverse connecting piece (207) is connected with the shoulder longitudinal connecting piece (208), the shoulder longitudinal connecting piece (208) is connected with the front end connecting piece (210), the shoulder longitudinal connecting piece (208) is connected with the shoulder circling motion motor (209), the front end connecting piece (210) is connected with the arc guide rail module (212), and the arc guide rail control motor (211) is connected with the arc guide rail module (212).
4. The wrist two-degree-of-freedom flexible rope-driven exoskeleton type upper limb rehabilitation training robot as claimed in claim 1, wherein the ground fixing part (3) is composed of an elbow motor (301), an elbow motor controller (302), a reinforcing rib (303), a wrist motor controller I (304), a wrist motor I (305), a motor bracket (306), a large chassis (307), a small chassis (308), a wrist motor controller II (309), a motor strut (310) and a wrist motor II (311), wherein the elbow motor (301) is connected with the motor bracket (306), the motor bracket (306) is connected with the small chassis (308), the elbow motor controller (302) is connected with the small chassis (308), the wrist motor controller I (304) is connected with the small chassis (308), the wrist motor I (306) is connected with the motor bracket (306), the wrist motor II (311) is connected with the motor bracket (306), the wrist motor controller II (309) is connected with the small chassis (308), the reinforcing rib (303) is connected with the large chassis (307), and the motor strut (310) is connected with the large chassis (307) and the small chassis (308).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020020401.4U CN212261832U (en) | 2020-01-07 | 2020-01-07 | Wrist two-degree-of-freedom flexible rope driven exoskeleton type upper limb rehabilitation training robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020020401.4U CN212261832U (en) | 2020-01-07 | 2020-01-07 | Wrist two-degree-of-freedom flexible rope driven exoskeleton type upper limb rehabilitation training robot |
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| CN212261832U true CN212261832U (en) | 2021-01-01 |
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| CN202020020401.4U Expired - Fee Related CN212261832U (en) | 2020-01-07 | 2020-01-07 | Wrist two-degree-of-freedom flexible rope driven exoskeleton type upper limb rehabilitation training robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117919059A (en) * | 2024-03-25 | 2024-04-26 | 中国科学院长春光学精密机械与物理研究所 | Modularized rigidity-variable exoskeleton for limb rehabilitation training |
| CN117919058A (en) * | 2024-03-25 | 2024-04-26 | 中国科学院长春光学精密机械与物理研究所 | Flexible upper limb exoskeleton rehabilitation training system |
-
2020
- 2020-01-07 CN CN202020020401.4U patent/CN212261832U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117919059A (en) * | 2024-03-25 | 2024-04-26 | 中国科学院长春光学精密机械与物理研究所 | Modularized rigidity-variable exoskeleton for limb rehabilitation training |
| CN117919058A (en) * | 2024-03-25 | 2024-04-26 | 中国科学院长春光学精密机械与物理研究所 | Flexible upper limb exoskeleton rehabilitation training system |
| CN117919059B (en) * | 2024-03-25 | 2024-05-31 | 中国科学院长春光学精密机械与物理研究所 | Modularized rigidity-variable exoskeleton for limb rehabilitation training |
| CN117919058B (en) * | 2024-03-25 | 2024-05-31 | 中国科学院长春光学精密机械与物理研究所 | Flexible upper limb exoskeleton rehabilitation training system |
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| CF01 | Termination of patent right due to non-payment of annual fee |
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| CF01 | Termination of patent right due to non-payment of annual fee |