Upper limb rehabilitation robot with three degrees of freedom for early-stage cerebral apoplexy
A rehabilitation robot and apoplexy technology, applied in passive exercise equipment, physical therapy, etc., to achieve the effect of low cost and compact structure
Inactive Publication Date: 2013-10-09
NORTH CHINA UNIVERSITY OF SCIENCE AND TECHNOLOGY
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Problems solved by technology
[0004] The present invention is aimed at the problems encountered in the early upper limb rehabilitation training of stroke patients in the prior art, and provides a simple structure that can assist patients to complete three movements of upper arm flexion / extension, forearm flexion / extension, forearm internal rotation / external rotation rehabilitation robot
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[0012] The present invention will be further described below in conjunction with the accompanying drawings.
[0013] See attached figure 1 , attached figure 2 , attached image 3 And attached Figure 4 , the three-degree-of-freedom upper limb rehabilitation robot for early stroke of the present invention includes a shoulder, an upper arm and a forearm. Its structure consists of two DC motors 5 and 14, two planetary reducers 6 and 15, two pairs of spur gears 24 and 25 and 16 and 18, a pair of bevel gears 7 and 8, two transmission shafts 9 and 12, the length of the upper arm Adjustment parts 26, 27, 3, 4, forearm length adjustment parts 20, 21, 22, 13, two sets of limit pins 10 and 19, limit baffle plate 11, support guide rail 17, pin shaft 2, shoulder support 1, Cotter pin 23 forms.
[0014] Planetary reducer 1 6, one end is directly connected to DC motor 1 5, and one end is fixedly connected to bevel gear 1 7; bevel gear 2 8, spur gear 1 25, and sector spur gear 2 24 are...
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The invention discloses an upper limb rehabilitation robot with three degrees of freedom for early-stage cerebral apoplexy, and relates to the field of medical devices. The upper limb rehabilitation robot is used for assisting a patient in finishing three actions, namely upper arm bending / stretching, forearm bending / stretching and forearm internal rotation / external rotation. The upper limb rehabilitation robot is structurally and mainly composed of a direct current motor, a planetary reducer, a pair of bevel gears, two pairs of straight gears, a transmission shaft, a pin shaft, a limiting pin, a limiting baffle, a shoulder part, an upper arm adjusting part, a forearm adjusting part and a supporting guide rail. The output end of the planetary reducer is fixedly connected with the gears. The limiting baffle is connected with a driven shaft. Through the adjustment of the position of the limiting pin, safe limit is realized when the forearm bending / stretching movement ranges are different. The actual length of a forearm and the actual length of an upper arm can be adjusted. The V-shaped structure of the supporting guide rail provides support and guide for the four fan-shaped straight gears. The upper limb rehabilitation robot with three degrees of freedom for the early-stage cerebral apoplexy is compact in structure, safe, low in cost and light in weight, conforms to the physiological structure of the upper limbs of a human body, can be worn on the patient, and can be used in hospital rehabilitation training or in a family.
Description
technical field [0001] The invention belongs to the field of medical devices, and relates to a rehabilitation training robot, which is especially suitable for early upper limb rehabilitation training of stroke patients. Background technique [0002] The disability rate of stroke is extremely high, and hemiplegia is the most important sequela of stroke. About 75% of patients have different degrees of upper limb motor dysfunction. The recovery of upper limb function has a great impact on the patient's daily life ability. Clinical medicine has proved that, in addition to early surgery and necessary drug treatment, as long as the vital signs of acute stroke patients are stable and the neurological symptoms do not progress, rehabilitation can be started 48 hours later. The earlier training begins, the greater the potential for motor function recovery. In order to promote the recovery of patients as soon as possible, clinically, therapists generally assist patients to complete a...
Claims
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Inventor 程秀芳况照飞韦国远蒋天文肖冲侯伟民
Owner NORTH CHINA UNIVERSITY OF SCIENCE AND TECHNOLOGY