CN217245395U - Detachable rehabilitation mechanical arm for upper limb - Google Patents
Detachable rehabilitation mechanical arm for upper limb Download PDFInfo
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- CN217245395U CN217245395U CN202220177797.2U CN202220177797U CN217245395U CN 217245395 U CN217245395 U CN 217245395U CN 202220177797 U CN202220177797 U CN 202220177797U CN 217245395 U CN217245395 U CN 217245395U
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Abstract
The utility model discloses a detachable rehabilitation mechanical arm for upper limbs, which comprises a first arm sleeve, a second arm sleeve, an elbow joint motion driving component, a shoulder joint motion driving component and a control mechanism; the elbow articulation drive assembly is disposed between the first cuff and the second cuff; the shoulder joint motion driving assembly is connected with the second arm sleeve; the elbow joint motion driving assembly and the shoulder joint motion driving assembly are electrically connected with the control mechanism. Wherein, a pressure sensor and an adjusting air bag body for tightly covering the hand of a user are arranged in the first arm sleeve and/or the second arm sleeve; this a can dismantle recovered arm for upper limbs is small, easy control, can realize the motion of a plurality of degrees of freedom, and has the regulation gasbag body, makes the arm cover more laminate people's arm through aerifing for the motion effect is better.
Description
Technical Field
The utility model relates to a rehabilitation apparatus technical field, concretely relates to a can dismantle rehabilitation arm for upper limbs.
Background
In stroke patients, about 70% of survivors are left with dysfunctions such as quadriplegia, inflexibility of hands and feet, etc. If these dysfunctions are treated with drugs alone, ideal recovery cannot be achieved, and correct rehabilitation is performed as early as possible, and most patients have obviously improved functions. In the recovery phase, the goal of rehabilitation therapy is to help the patient to recover the ability of activities of daily living as much as possible by improving gait, enhancing limb movement ability, and the like.
The cerebral apoplexy patient is the old person mostly, and the patient is because old, the body strength is rampant to under the impaired condition of upper limbs function, it is difficult to let the patient oneself carry out the recovered motion under the circumstances of not having the support, not having the external force and assisting, consequently, it is necessary to provide a recovered apparatus and supplies the recovered use of patient.
SUMMERY OF THE UTILITY MODEL
The utility model provides a detachable rehabilitation mechanical arm for upper limbs to solve the technical problems. Small, the easy control can realize the motion of a plurality of degrees of freedom, and has the regulation gasbag body, makes the arm cover more laminate people's arm through aerifing for the motion effect is better.
In order to solve the above problem, the utility model adopts the following technical scheme:
a detachable rehabilitation mechanical arm for an upper limb comprises a first arm sleeve, a second arm sleeve, an elbow joint motion driving assembly, a shoulder joint motion driving assembly and a control mechanism;
the elbow joint motion driving assembly is used for driving the first arm sleeve to move, and the elbow joint motion driving assembly is arranged between the first arm sleeve and the second arm sleeve;
the shoulder joint motion driving assembly is used for driving the second arm sleeve to move, and is fixedly connected with the second arm sleeve;
the elbow joint motion driving assembly and the shoulder joint motion driving assembly are electrically connected with the control mechanism.
Wherein, be provided with pressure sensor in first arm cover and/or the second arm cover and be used for the regulation gasbag body of tight user's hand of cover, pressure sensor with control mechanism electric connection, control mechanism is the same as according pressure sensor's signal control elbow joint motion drive assembly and shoulder joint motion drive assembly.
At least one embodiment of the present disclosure provides a detachable rehabilitation robot for upper limbs, wherein the elbow joint motion driving assembly comprises a first driving mechanism and a first connecting frame.
The first driving mechanism is fixedly arranged on the outer surface of the second arm sleeve and is electrically connected with the control mechanism;
one end of the first connecting frame is fixedly connected with the output end of the first driving mechanism, and the other end of the first connecting frame is fixedly connected with the first arm sleeve.
The elbow joint motion driving component has a simple structure, can drive a user to realize elbow bending motion, and is beneficial to maintaining and replacing accessories.
At least one embodiment of the present disclosure provides a detachable rehabilitation mechanical arm for upper limbs, wherein the shoulder joint movement driving assembly includes a second driving mechanism, a third driving mechanism and a second connecting frame;
the third driving mechanism is used for driving the second driving mechanism to move, and the output end of the third driving mechanism is fixedly connected with the second driving mechanism;
one end of the second connecting frame is fixedly connected with the output end of the second driving mechanism, and the other end of the second connecting frame is arranged on the second arm sleeve.
The shoulder joint motion driving assembly is simple in structure, is beneficial to maintenance, can drive the hands of a user to realize outward rotation, inward rotation, forward extension, backward extension and other actions, and is good in flexibility.
At least one embodiment of the present disclosure provides that the detachable rehabilitation mechanical arm for upper limbs further includes a frame, and the third driving mechanism is fixedly configured on the frame;
the frame can be used as the fulcrum of the shoulder joint motion driving assembly to play a supporting role.
At least one embodiment of the present disclosure provides a detachable rehabilitation mechanical arm for upper limbs, wherein a connecting plate is disposed on the second connecting frame, an adjusting frame is disposed on the second arm sleeve, and the connecting plate is slidably disposed on the adjusting frame around the periphery of the second arm sleeve.
Because the connecting plate can be arranged on the adjusting bracket in a sliding way around the periphery of the second arm sleeve, the flexibility of the whole device can be improved, and the user can adjust the direction of the elbow joint movement driving component conveniently.
The utility model has the advantages that: the motion trend of the arm of the patient can be sensed through the pressure sensor, and then the signal is transmitted to the control mechanism, so that the force can be assisted according to the actual motion condition; the first arm sleeve and the first arm sleeve are configured, so that the arm sleeve can be selectively used according to the requirements of a patient; the adjusting airbag body can be adjusted according to arms with different sizes, so that the arm can be better attached, and the comfortable sensation is better achieved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is the utility model relates to a each parts concatenation schematic diagram of recovered arm dismantled when not assembling the bolt part for upper limbs.
Fig. 2 is the utility model relates to a each part concatenation schematic diagram of recovered arm dismantled when not assembling the bolt part for upper limbs.
Fig. 3 is a schematic diagram of the local part of the detachable rehabilitation arm for upper limb of the present invention, which is assembled when the bolt component is not assembled.
Fig. 4 is a perspective view of the first arm sleeve of the detachable rehabilitation mechanical arm for upper limbs of the present invention.
Fig. 5 is a perspective view of the second arm sleeve of the detachable rehabilitation mechanical arm for upper limbs of the present invention.
Fig. 6 is a schematic diagram of the splicing between the first connecting frame of the detachable rehabilitation mechanical arm for the upper limb and the first double-shaft steering engine when the bolt component is not assembled.
Fig. 7 is the utility model discloses a concatenation sketch of shoulder joint motion drive assembly when its second link does not assemble the bolt part that can dismantle rehabilitation arm for upper limbs.
Fig. 8 is a perspective view of the connecting plate of the detachable rehabilitation mechanical arm for upper limbs of the present invention.
Fig. 9 is a sectional view of the joint of the connecting plate and the adjusting bracket of the detachable rehabilitation mechanical arm for the upper limb of the utility model.
Fig. 10 is a schematic view of the connection plate and the adjusting bracket of the detachable rehabilitation mechanical arm for upper limbs of the present invention.
Fig. 11 is a schematic structural view of an adjusting bracket of a detachable rehabilitation mechanical arm for upper limbs of the present invention.
Fig. 12 is a distribution schematic diagram of the adjusting air bag body and the pressure sensor of the detachable rehabilitation mechanical arm for the upper limb of the utility model.
In the figure:
10. a first arm cover; 11. a forearm first annular cuff; 12. a forearm second annular arm sleeve; 13. a third annular forearm sleeve; 14. adjusting the air bag body;
20. a second arm sleeve; 21. an upper arm first annular arm sleeve; 22. an upper arm second annular arm sleeve; 23. an adjusting bracket; 24. an adjustment groove; 25. a connecting table;
30. an elbow articulation drive assembly; 31. a first dual-axis steering engine; 32. a first link frame;
40. a shoulder articulation drive assembly; 41. a second dual-shaft steering engine; 42. a single-shaft steering engine; 43. a second link frame; 44. a connecting plate; 45. a connecting seat; 46. a limit bolt; 47. a limit nut;
50. a pressure sensor.
Detailed Description
The technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments, and it is obvious that the described embodiments are only a part of the embodiments, and not all of the embodiments.
In the embodiments, it should be understood that the terms "middle", "upper", "lower", "top", "right side", "left end", "above", "back", "middle", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description, and do not indicate or imply that the indicated device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention.
In addition, in the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, terms such as installation, connection, and linking should be construed broadly, for example, as being fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood as a specific case by those skilled in the art.
A detachable rehabilitation mechanical arm for an upper limb comprises a first arm sleeve, a second arm sleeve, an elbow joint motion driving assembly, a shoulder joint motion driving assembly and a control mechanism; the elbow joint motion driving assembly is used for driving the first arm sleeve to move, and the elbow joint motion driving assembly is arranged between the first arm sleeve and the second arm sleeve; the shoulder joint motion driving assembly is used for driving the second arm sleeve to move, and is fixedly connected with the second arm sleeve; the elbow joint motion driving assembly and the shoulder joint motion driving assembly are electrically connected with the control mechanism. Wherein, be provided with pressure sensor in first arm cover and/or the second arm cover and be used for the regulation gasbag body of tight user's hand of cover, pressure sensor with control mechanism electric connection, control mechanism is the same as according pressure sensor's signal control elbow joint motion drive assembly and shoulder joint motion drive assembly. The pressure sensor can detect the change of the pressure value, and the control device judges which direction the arm is going to move according to the change of the pressure value, so as to control the operation of the elbow joint movement driving assembly and the shoulder joint movement driving assembly. For example, when the upper arm is lifted upwards, the pressure value received by the pressure sensor in the second arm sleeve activity is changed, and then the signal is transmitted to the controller, so that the shoulder joint motion driving assembly is controlled to control the lifting direction of the upper arm, then the upper arm is lifted and then put down, and the whole motion process is uniform and slow, and meets the rehabilitation training requirements of the patient.
In at least one embodiment, the elbow motion drive assembly comprises: the first driving mechanism and the first connecting frame. The first driving mechanism is fixedly arranged on the outer surface of the second arm sleeve and is electrically connected with the control mechanism; one end of the first connecting frame is fixedly connected with the output end of the first driving mechanism, and the other end of the first connecting frame is fixedly connected with the first arm sleeve. The elbow joint motion driving component has a simple structure, can drive a user to realize elbow bending action, and is favorable for maintaining and replacing accessories.
In at least one embodiment, the shoulder articulation drive assembly comprises: the second driving mechanism, the third driving mechanism and the second connecting frame; the third driving mechanism is used for driving the second driving mechanism to move, and the output end of the third driving mechanism is fixedly connected with the second driving mechanism; one end of the second connecting frame is fixedly connected with the output end of the second driving mechanism, and the other end of the second connecting frame is arranged on the second arm sleeve. The shoulder joint motion driving assembly is simple in structure, is beneficial to maintenance, can drive the hand of a user to realize outward rotation, inward rotation, forward extension, backward extension and other actions, and is good in flexibility.
In at least one embodiment, the apparatus further comprises a frame, wherein the third driving mechanism is fixedly arranged on the frame; the frame can be as the fulcrum of shoulder joint motion drive assembly, plays the supporting role.
In at least one embodiment, a connecting plate is disposed on the second connecting frame, an adjusting frame is disposed on the second arm sleeve, and the connecting plate is slidably disposed on the adjusting frame around the periphery of the second arm sleeve. Because the connecting plate can be arranged on the adjusting frame in a sliding way around the periphery of the second arm sleeve, the flexibility of the whole device can be improved, and the user can conveniently adjust the direction of the elbow joint movement driving component.
The following generally describes a detection chip according to an embodiment of the present disclosure with reference to the drawings.
As shown in fig. 1 to 12, a detachable rehabilitation robot for upper limbs according to at least one embodiment of the present disclosure includes a first arm cover 10, a second arm cover 20, an elbow articulation drive assembly 30, a shoulder articulation drive assembly 40, a control mechanism (not shown), and a frame (not shown).
In this embodiment, the second arm sleeve 20 includes an upper arm first annular arm sleeve 21 and an upper arm second annular arm sleeve 22, and the upper arm first annular arm sleeve 21 and the upper arm second annular arm sleeve 22 are detachably connected. The upper arm second annular arm sleeve 22 is provided with a connecting table 25, and the connecting table 25 is fixedly connected with the upper arm second annular arm sleeve 22.
In this embodiment, the first arm sleeve 10 includes a forearm first annular arm sleeve 11, a forearm second annular arm sleeve 12 and a forearm third annular arm sleeve 13, and the forearm first annular arm sleeve 11 and the forearm third annular arm sleeve 13 are detachably connected to the forearm second annular arm sleeve 12.
In this embodiment, the elbow joint movement drive assembly 30 includes a first two-axis steering gear 31 and a first link 32. The first double-shaft steering engine 31 is electrically connected with the control mechanism; one end of the first connecting frame 32 is fixedly connected with the output end of the first double-shaft steering engine 31, and the other end of the first connecting frame 32 is fixedly connected with the first forearm annular arm sleeve 11. The elbow joint movement driving assembly 30 has a simple structure, is beneficial to maintenance and replacement of accessories, and can drive a user to realize elbow bending movement.
In this embodiment, the shoulder joint movement driving assembly 40 includes a second dual-axis steering engine 41, a single-axis steering engine 42, and a second connecting frame 43; the single-shaft steering engine 42 is used for driving the second double-shaft steering engine 41 to move, and one end of the second connecting frame 43 is fixedly connected with the output end of the second double-shaft steering engine 41. The second connecting frame 43 is provided with a connecting plate 44, the first annular arm sleeve 21 of the upper arm is provided with an adjusting frame 23, the adjusting frame 23 is arranged in a fan shape, an adjusting groove 24 is formed in the adjusting frame 23, the connecting plate 44 is provided with a connecting seat 45, the connecting seat 45 penetrates through the adjusting groove 24 and is provided with a limiting bolt 46 and a limiting nut 47, the connecting plate 44 can slide around the periphery of the first annular arm sleeve 21 of the upper arm, and a user can adjust the position of the elbow joint movement driving assembly 30 conveniently.
In the present embodiment, the inner walls of the upper arm first annular cuff 21, the upper arm second annular cuff 22, the forearm first annular cuff 11, the forearm second annular cuff 12 and the forearm third annular cuff 13 are all provided with pressure sensors 50. The first annular arm sleeve of upper arm, the second annular arm sleeve 22 of upper arm, the first annular arm sleeve 11 of forearm, all be provided with in forearm second annular arm sleeve 12 and the third annular arm sleeve 13 of forearm and adjust the gasbag body 14, the first annular arm sleeve of upper arm, the inner wall of upper arm second annular arm sleeve 22, the first annular arm sleeve 11 of forearm, forearm second annular arm sleeve 12 and the third annular arm sleeve 13 of forearm all with its respective regulation gasbag body fixed connection in, the regulation gasbag body covers pressure sensor 50.
In this embodiment, the first dual-axis steering engine 31, the second dual-axis steering engine 41, the single-axis steering engine 42 and the pressure sensor 50 are all electrically connected to the control device.
In this embodiment, the first connecting frame 32 and the second connecting frame 43 both include a plurality of splice plates, and the splice plates are connected by connecting bolts (not shown) and connecting nuts, and the first connecting frame 32 and the second connecting frame 43 are convenient to disassemble and assemble. The number of the splice plates can be set as required, so that the whole length can be adjusted, the flexibility is high, and the disassembly and the assembly are convenient.
In some embodiments, in order to improve the stability of the first dual-axis steering engine 31, the second dual-axis steering engine 41 and the single-axis steering engine 42, reinforcing frames are fixedly arranged on the first dual-axis steering engine 31, the second dual-axis steering engine 41 and the single-axis steering engine 42; the output end of the single-shaft steering engine 42 is fixedly connected with a reinforcing frame on the second double-shaft steering engine 41, the reinforcing frame on the single-shaft steering engine 42 is fixedly connected with the rack, and the reinforcing frame of the first double-shaft steering engine 31 is fixed on the connecting table 25.
In the description herein, references to the description of the term "present embodiment," "some embodiments," "other embodiments," or "specific examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described, the scope of the present invention is not limited thereto, and any changes or substitutions that are not thought of through the inventive work should be included within the scope of the present invention; no element, act, or instruction used herein should be construed as critical or essential unless explicitly described as such.
Claims (5)
1. A can dismantle recovered arm of arm for upper limbs which characterized in that includes:
a first arm sleeve;
a second arm cover;
a wrist motion drive assembly for driving movement of the first cuff, the wrist motion drive assembly being disposed between the first cuff and the second cuff;
the shoulder joint motion driving assembly is used for driving the second arm sleeve to move, and is connected with the second arm sleeve; and
the elbow joint motion driving assembly and the shoulder joint motion driving assembly are electrically connected with the control mechanism;
wherein, be provided with pressure sensor in first arm cover and/or the second arm cover and be used for the regulation gasbag body of tight user's hand of cover, pressure sensor, elbow joint motion drive assembly and shoulder joint motion drive assembly all with control mechanism electric connection.
2. The detachable rehabilitation robot arm for upper limbs according to claim 1, characterized in that said elbow joint movement driving assembly comprises:
the first driving mechanism is fixedly arranged on the outer surface of the second arm sleeve and is electrically connected with the control mechanism; and
and one end of the first connecting frame is fixedly connected with the output end of the first driving mechanism, and the other end of the first connecting frame is fixedly connected with the first arm sleeve.
3. The detachable rehabilitation robot arm for upper limbs according to claim 1, characterized in that said shoulder articulation drive assembly comprises:
a second drive mechanism;
the third driving mechanism is used for driving the second driving mechanism to move, and the output end of the third driving mechanism is fixedly connected with the second driving mechanism; and
and one end of the second connecting frame is fixedly connected with the output end of the second driving mechanism, and the other end of the second connecting frame is configured on the second arm sleeve.
4. The detachable rehabilitation robot arm for upper limbs according to claim 3, characterized in that it further comprises:
and a frame on which the third driving mechanism is fixedly arranged.
5. The detachable rehabilitation robot arm for upper limbs according to claim 3, characterized in that a connecting plate is arranged on the second connecting frame, an adjusting frame is arranged on the second arm sleeve, and the connecting plate is arranged on the adjusting frame in a manner of sliding around the periphery of the second arm sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220177797.2U CN217245395U (en) | 2022-01-21 | 2022-01-21 | Detachable rehabilitation mechanical arm for upper limb |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220177797.2U CN217245395U (en) | 2022-01-21 | 2022-01-21 | Detachable rehabilitation mechanical arm for upper limb |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217245395U true CN217245395U (en) | 2022-08-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220177797.2U Active CN217245395U (en) | 2022-01-21 | 2022-01-21 | Detachable rehabilitation mechanical arm for upper limb |
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|---|---|
| CN (1) | CN217245395U (en) |
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2022
- 2022-01-21 CN CN202220177797.2U patent/CN217245395U/en active Active
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