Elbow wrist rehabilitation robot connected in series and parallel

A rehabilitation robot, elbow-wrist technology, applied in passive exercise equipment, physical therapy and other directions, can solve the problem of difficult to achieve comprehensive treatment of elbow and wrist joints, lack of wrist and elbow traction functions, and poor targeting of elbow and wrist joints. and other problems, to achieve the effect of adding additional rehabilitation treatment functions, wide applicability, simple and compact structure

Active Publication Date: 2013-08-21
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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 rob...

Method used

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  • Elbow wrist rehabilitation robot connected in series and parallel
  • Elbow wrist rehabilitation robot connected in series and parallel
  • Elbow wrist rehabilitation robot connected in series and parallel

Examples

Experimental program
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Embodiment Construction

[0013] exist figure 1 with figure 2 In the schematic diagram of the series-parallel hybrid elbow-wrist rehabilitation robot shown, the arm base 1 is formed by connecting two U-shaped bases with 3-4 beams. On the upper part of one end of the U-shaped arm base, two upper motorized One end of the cylinder 4 is symmetrically connected to the boom base through the boom joint ball bearing 2 respectively, and the other ends of the two upper electric cylinders are connected to the annular wrist support 15 through the wrist rotation pair 6 respectively, and the above-mentioned U-shaped large At the bottom of the same end of the arm base, one end of the lower electric cylinder 5 is connected with the boom base through the boom rotating pair 3, and the other end of the lower electric cylinder is connected with the above-mentioned wrist support through the wrist joint ball bearing 7; the above-mentioned boom rotates The secondary axis is parallel to the line connecting the centers of th...

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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...

Claims

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Application Information

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IPC IPC(8): A61H1/02
Inventor 边辉王唱刘晓赵铁石
Owner YANSHAN UNIV
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