A wire-driven upper limb rehabilitation training robotic arm

Abstract

The invention provides a linearly-driven upper limb rehabilitation training mechanical arm which comprises a supporting mechanism, a rotary holder mechanism arranged on a supporting frame of the supporting mechanism, an upper arm flexion and extension power transmission mechanism including a U-shaped plate, an upper arm dragging cable tensioning wheel, a mounting plate, an upper arm flexion and extension driving shaft, a driven gear, upper arm driving dragging cable pulley, an upper arm flexion and extension driven shaft, an upper arm torque sensor, an upper arm driven dragging cable pulley and an arc-shaped limiting guide groove; upper arm flexion and extension mechanism including a U-shaped hollow plate, an upper arm flexion and extension pin and an elbow driving dragging cable wheel; bidirectional tensioning mechanism including an upper arm connection rod, a tensioning wheel groove and an elbow dragging cable tensioning wheel; an elbow flexion and extension mechanism including a U-shaped joint, a flexion and extension rotation shaft, an elbow dragging cable pulley, an elbow steering limiting guide groove and a forearm connection rod; a forearm compensation mechanism including alinear guide rail, a slide block and a short connecting plate, and a wrist reversing mechanism connected with a forearm compensation mechanism through a Z-shaped connecting plate.

Description

technical field [0001] The invention belongs to the field of medical equipment, and in particular relates to a line-driven upper limb rehabilitation training mechanical arm. Background technique [0002] With the continuous advancement of science and technology, rehabilitation training has gradually shifted from artificial to intelligent fields. The emergence of rehabilitation robots has greatly facilitated people's lives, and new changes have also appeared in the rehabilitation and nursing work of the elderly and disabled. Rehabilitation training is not only suitable for hospitals, but also for families. The emergence of the concept of family rehabilitation has made rehabilitation robots more intelligent and miniaturized. Therefore, the wire-driven upper limb rehabilitation training robot arm for hemiplegic patients after stroke came into being. The traditional rehabilitation training mechanical arm needs to install a motor at each joint, which not only increases the burden...

AI Technical Summary

Problems solved by technology

[0003] At the forefront of science and technology, there are not many studies on wire-driven upper limb rehabilitation training robotic arms. The reason may be that on the one hand, the difficulty of designing the wire-driven method will increase, and on the other hand, the cable will be used for a long time. relaxation

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