Elbow wrist rehabilitation robot connected in series and parallel

Abstract

An elbow wrist rehabilitation robot connected in series and parallel is mainly composed of a big arm supporting seat, a wrist supporting seat, three electric cylinders which are connected with the big arm supporting seat and the wrist supporting seat and a wrist rotary part, wherein one end of the U-shaped big arm base is connected at one end of one of two upper electric cylinders, the other end of one of the two upper electric cylinders is connected with the wrist supporting seat, one end of a lower electric cylinder is connected with the big arm supporting seat, the other end of the lower electric cylinder is connected with the wrist supporting seat, a big rotary wheel is installed on the wrist supporting seat, a small wheel is arranged on the outer side of the big rotary wheel, the big rotary wheel and the small wheel are connected through a synchronous belt, a servo motor is fixed on the wrist supporting seat and is fixedly connected with the small wheel, two hand portion adjusting bases with long adjusting holes are arranged on the big wheel, and two ends of a handle are fixed on the hand portion adjusting bases through two tightening screws. The elbow wrist rehabilitation robot connected in series and parallel is simple and compact in structure, low in cost, safe, reliable, comfortable, and also suitable for a left arm and a right arm. Movements with various freedom degrees are mutually coupled, so that the elbow wrist rehabilitation robot connected in series and parallel is easy to control.

Description

technical field [0001] The invention belongs to the field of rehabilitation training machines, in particular to an elbow-wrist rehabilitation training robot device. Background technique [0002] Fractures of the human forearm and its two ends of the elbow and wrist joints are relatively common surgical traumas in clinical practice, and its incidence is increasing year by year with the aging of society, traffic accidents, natural disasters and other factors. After a fracture has occurred, it is usually treated with reduction, immobilization, or surgery, and it usually takes several months to heal. Prolonged restriction of elbow and wrist motion to ensure solid healing of the fracture site will reduce stress on surrounding healthy tissues, leading to muscle atrophy, decreased bone density, and degeneration of tissues such as cartilage and joint capsule. Due to the large contact arc and tight anastomosis of the articular surfaces of the elbow and wrist joints, the fusion of co...

AI Technical Summary

Problems solved by technology

Among them, the human upper limb rehabilitation robot with multiple degrees of freedom usually adopts a series mechanism to help stroke patients achieve a wide range of movement of the shoulder joint, elbow joint, and wrist joint. The patient achieves very good therapeutic effect; the rehabilitation robot specially used for the rehabilitation of the elbow or wrist joint is relatively simple, usually only has one degree of freedom of rotation, does not have the pulling function of the wrist joint and elbow joint, and it is difficult to achieve elbow and wrist joint rehabilitation. holistic treatment of joints

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