Wrist rehabilitation robot

Abstract

The invention is realized through the following technical scheme: a power-assisted type two-degree-of-freedom wrist joint rehabilitation robot, comprising a base, a joint flexion and extension branch chain, a joint adduction and abduction branch chain and an executive branch chain. The robot can realize rotations in two directions, namely wrist joint flexion / extension and wrist joint abduction / adduction, wherein the wrist flexion / extension is realized by a branch chain consisting of a wrist joint flexion and extension motor, a wrist flexion and extension gear, a gear rack, a bulb square bar, a half-wrapped ball connecting piece, and an auxiliary ball sliding block, the wrist joint abduction / adduction is realized by a branch chain consisting of a wrist adduction and abduction motor, a wrist adduction and abduction gear, an arc-shaped gear, an L-shaped connecting rod, a sliding block, a sliding block fixing piece, a small supporting platform, a joint articulation piece and a rotational joint, and the two branch chains both act on the executive branch chain to make an anti-skidding handle realize complex space motion trail. The wrist joint rehabilitation robot can not only realize rehabilitation training of the wrist joint, but also have a simple and compact structure, good manufacturing and processing performance, and a low processing cost.

Description

technical field [0001] The invention relates to the field of medical rehabilitation robots, in particular to an assisting two-degree-of-freedom wrist joint rehabilitation robot. technical background [0002] How to efficiently and cost-effectively solve the rehabilitation treatment of patients with upper limb central nervous movement disorders caused by stroke, traumatic brain injury and other etiologies has become a major problem in society. The traditional rehabilitation treatment method is mainly one-on-one manual treatment by the treating physician, and simple rehabilitation equipment is attached. With the increasing number of stroke patients, it is difficult to solve the rehabilitation needs of patients by relying on simple traditional treatment methods. In order to solve these problems, many experts and scholars at home and abroad are designing rehabilitation robots for rehabilitation training, and gradually replacing traditional doctor treatment. These rehabilitatio...

AI Technical Summary

Problems solved by technology

However, in the rehabilitation equipment only for wrist joint treatment, it often only has a passive working mode and a damping working mode based on the amount of exercise, such as a wrist joint CPM machine, and a wrist joint rehabilitation robot that lacks a power-assisted working mode.

For the research on the assisting whole upper limb rehabilitation robot, there are many auxiliary rehabilitation treatment robot equipment at home and abroad, such as: a kind of upper limb rehabilitation training robot patent number designed by Fu Fengsheng and others of Anyang Shenfang Rehabilitation Robot Co., Ltd.: CN102379793A, A rope traction upper limb rehabilitation robot designed by Song Rong of Sun Yat-Sen University, patent number: CN102525712A, etc. All upper limb rehabilitation robots are multi-joint rehabilitation instruments. These rehabilitation equipment focus on the complexity of movement, but often ignore the single joint rehabilitation treatment. Importance, especially the rehabilitation training of upper limb wrist joint

Few research departments have studied the power-assisted rehabilitation training equipment for the wrist joint

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