Rehabilitation arm transmission mechanism and rehabilitation arm

Abstract

The utility model provides a rehabilitation arm transmission mechanism and a rehabilitation arm. The rehabilitation arm transmission mechanism comprises a front arm transmission part, an upper arm transmission part and a transmission assembly arranged between the front arm transmission part and the upper arm transmission part. The transmission assembly comprises a driving disc, the center of which is installed on the upper arm transmission piece through a fixing rod; the first driving rod and the second driving rod are coaxially hinged to the two sides of the driving disc, and the hinge point deviates from the circle center of the driving disc; the third driving rod is hinged to one end, far away from the driving disc, of the second driving rod; the end, away from the driving disc, of the first driving rod is hinged to a first connecting position of the front arm transmission piece, the end, away from the second driving rod, of the third driving rod is hinged to a second connecting position of the front arm transmission piece, and the middle of the third driving rod is hinged to the upper arm transmission piece through a pivot shaft. And the lightweight and flexibility of the robot are improved.

Description

Technical Field

[0001] This utility model belongs to the field of rehabilitation machine technology, specifically relating to a rehabilitation arm transmission mechanism and a rehabilitation arm. Background Technology

[0002] For patients with neurological injuries, medical theory suggests that they must undergo a certain intensity of limb training to prevent muscle atrophy and permanent loss of function in some muscles. However, these patients cannot independently complete limb rehabilitation and require continuous assistance from medical staff. This places very high demands on the number and skills of medical personnel. Currently, various rehabilitation robots have emerged on the market.

[0003] However, rehabilitation robots are still in a relatively heavy and fixed stage. Most rehabilitation robots use belt drives for their transmission structure, which to some extent limits the robot's lightweight and flexibility. Utility Model Content

[0004] To address the aforementioned technical problems, this utility model provides a rehabilitation arm transmission mechanism to solve the problems described in the background section.

[0005] This utility model provides the following technical solution: a rehabilitation arm transmission mechanism, including a forearm transmission component, an upper arm transmission component, and a transmission assembly disposed between the forearm transmission component and the upper arm transmission component;

[0006] The transmission assembly includes:

[0007] The drive disc is mounted on the upper arm transmission component via a fixing rod at its center;

[0008] The first drive rod and the second drive rod are coaxially hinged to both sides of the drive disk, and the hinge point is offset from the center of the drive disk.

[0009] The third drive rod is hinged to the end of the second drive rod away from the drive disc;

[0010] The first drive rod is hinged at the end away from the drive disc to the first connection position of the forearm transmission component, the third drive rod is hinged at the end away from the second drive rod to the second connection position of the forearm transmission component, and the middle part of the third drive rod is hinged to the upper arm transmission component via a pivot shaft.

[0011] Compared with existing technologies, the beneficial effects of this invention are as follows: A micro-motor (not shown) drives a drive disc, which in turn drives a first, second, and third drive rod in sequence. These three drive rods work together to change the angle between the forearm and upper arm transmission components, thus replacing the belt drive in existing rehabilitation robot transmission structures. This design improves the robot's lightweight and flexibility while ensuring correct trajectory execution. The detachable design of each component increases the overall average lifespan of the product, while suitable composite materials not only reduce weight but also increase overall strength and lower costs. This structural design emphasizes convenience and safety, saving materials while meeting requirements, achieving cost-effectiveness, and extending the product's lifespan.

[0012] Furthermore, the upper arm transmission component includes a transmission rod and a mounting portion disposed at the end of the transmission rod. The top of the mounting portion is formed in a receiving cavity, which is used to accommodate the transmission component.

[0013] Furthermore, the accommodating cavity extends through one side of the mounting portion to form a first mounting groove, and both ends of the pivot shaft are rotatably disposed within the first mounting groove. A second mounting groove is provided on the other side of the mounting portion, and the second mounting groove is used to mount the end of the fixing rod away from the drive disc.

[0014] Furthermore, the cross-section of the mounting portion is triangular.

[0015] Furthermore, the bottom of the mounting part extends with a connecting rod and a insert plate. The transmission rod has a slot that matches the insert plate. A fixing clip is installed on the connecting rod. The fixing clip is radially locked to the transmission rod by fastening bolts.

[0016] Furthermore, it also includes an auxiliary component, the structure of which is mirror-symmetrical to the plane where the second drive rod is located, and the auxiliary component is synchronously linked with the transmission component.

[0017] Furthermore, the forearm transmission component includes a fixing part and two mounting plates connected to one end of the fixing part and arranged in parallel. The first connecting position is disposed between the two mounting plates, and the second connecting position is disposed on the outside of the mounting plate.

[0018] This utility model also provides a rehabilitation arm, including the above-mentioned rehabilitation arm transmission mechanism, and a shell covering the outside of the transmission mechanism. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of the rehabilitation arm transmission mechanism in this utility model;

[0020] Figure 2This is a three-dimensional structural diagram of the transmission component in this utility model from a first-view perspective.

[0021] Figure 3 This is a three-dimensional structural diagram of the transmission component in this utility model from a second perspective.

[0022] Figure 4 This is an exploded three-dimensional view of the upper arm transmission component in this utility model.

[0023] Figure 5 This is a front view of the rehabilitation arm transmission mechanism in the stretched state of this utility model;

[0024] Figure 6 This is a front view of the rehabilitation arm transmission mechanism in this utility model when it is in an angled state;

[0025] Figure 7 This utility model is represented as such. Figure 5 Schematic diagram of the transmission assembly;

[0026] Figure 8 This utility model is represented as such. Figure 6 Schematic diagram of the transmission assembly;

[0027] Figure 9 This is a schematic diagram of the structure of the rehabilitation arm of this utility model.

[0028] Key component symbols: 10. Upper arm transmission component; 11. Transmission rod; 12. Mounting part; 13. Accommodating cavity; 14. First mounting slot; 15. Second mounting slot; 16. Connecting rod; 17. Insert plate; 18. Slot; 19. Fixing clip; 20. Forearm transmission component; 21. Fixing part; 22. Mounting plate; 30. Transmission assembly; 31. Drive disc; 311. Fixing rod; 32. First drive rod; 321. First connection position; 33. Second drive rod; 34. Third drive rod; 341. Pivot shaft; 342. Second connection position; 40. Auxiliary assembly; 50. Housing.

[0029] The following detailed description, in conjunction with the accompanying drawings, will further illustrate this utility model. Detailed Implementation

[0030] To facilitate understanding of this utility model, a more complete description of it will be provided below with reference to the accompanying drawings. Several embodiments of this utility model are shown in the drawings. However, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to make the disclosure of this utility model more thorough and complete.

[0031] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0033] Please see Figures 1 to 8 As shown, a rehabilitation arm transmission mechanism in an embodiment of this utility model includes:

[0034] Forearm drive component 20, upper arm drive component 10, and drive assembly 30 disposed between the forearm drive component 20 and the upper arm drive component 10;

[0035] The transmission assembly 30 includes:

[0036] The drive disc 31 is mounted on the upper arm transmission component 10 via a fixing rod 311 at its center.

[0037] The first drive rod 32 and the second drive rod 33 are coaxially hinged to both sides of the drive disk 31, and the hinge point is offset from the center of the drive disk 31.

[0038] The third drive rod 34 is hinged to the end of the second drive rod 33 away from the drive disk 31;

[0039] The end of the first drive rod 32 away from the drive disc 31 is hinged to the first connection position 321 of the forearm transmission member 20, the end of the third drive rod 34 away from the second drive rod 33 is hinged to the second connection position 342 of the forearm transmission member 20, and the middle part of the third drive rod 34 is hinged to the upper arm transmission member 10 through a pivot shaft 341.

[0040] It is worth noting that a micro-motor (not shown) drives the drive disk 31, which in turn drives the first drive rod 32, the second drive rod 33, and the third drive rod 34 in sequence. These three drive rods work together to change the angle between the forearm transmission component 20 and the upper arm transmission component 10, thus replacing the belt drive in existing rehabilitation robot transmission structures. This design improves the robot's lightweight and flexibility while ensuring correct trajectory execution. The detachable design of each component increases the overall average lifespan of the product, while suitable composite materials not only reduce weight but also increase overall strength and lower costs. This structural design prioritizes convenience and safety, saving materials while meeting requirements, achieving cost-effectiveness, and extending the product's lifespan.

[0041] Specifically, the upper arm transmission component 10 includes a transmission rod 11 and a mounting portion 12 disposed at the end of the transmission rod 11. The top of the mounting portion 12 is formed in a receiving cavity 13, which is used to receive the transmission assembly 30.

[0042] Specifically, the accommodating cavity 13 passes through one side of the mounting part 12 to form a first mounting groove 14, and the two ends of the pivot shaft 341 are rotatably disposed in the first mounting groove 14. A second mounting groove 15 is provided on the other side of the mounting part 12, and the second mounting groove 15 is used to install the end of the fixing rod 311 away from the drive disk 31.

[0043] Specifically, the mounting portion 12 has a triangular cross-section.

[0044] Specifically, the bottom of the mounting part 12 extends a connecting rod 16 and a insert plate 17. The transmission rod 11 has a slot 18 that matches the insert plate 17. A fixing clip 19 is installed on the connecting rod 16. The fixing clip 19 is radially locked to the transmission rod 11 by fastening bolts.

[0045] Furthermore, to improve the stability of the transmission assembly 30, an auxiliary assembly 40 is also included. The structure of the auxiliary assembly 40 is mirror-symmetrical to the plane where the second drive rod 33 is located, and the auxiliary assembly 40 is synchronously linked with the transmission assembly 30. Except for the second drive rod 33, the structure of the auxiliary assembly 40 is identical to that of the transmission assembly 30, and the remaining structure of the auxiliary assembly 40 is mirror-image of the structure of the second drive rod 33 and the transmission assembly 30.

[0046] Specifically, the forearm transmission component 20 includes a fixing part 21 and two mounting plates 22 connected to one end of the fixing part 21 and arranged in parallel. The first connection position 321 is disposed between the two mounting plates 22, and the second connection position 342 is disposed on the outside of the mounting plate 22.

[0047] In summary, the rehabilitation arm transmission mechanism in the above embodiments of this utility model has the following advantages:

[0048] A micro-motor (not shown) drives the drive disk 31, which in turn drives the first drive rod 32, the second drive rod 33, and the third drive rod 34 in sequence. These three drive rods work together to change the angle between the forearm transmission component 20 and the upper arm transmission component 10, thus replacing the belt drive in existing rehabilitation robot transmission structures. This design improves the robot's lightweight and flexibility while ensuring correct trajectory execution. The detachable design of each component increases the overall average lifespan of the product, while suitable composite materials not only reduce weight but also increase overall strength and lower costs. This structural design prioritizes convenience and safety, saving materials while meeting requirements, achieving cost-effectiveness, and extending the product's lifespan.

[0049] Please see Figure 9 As shown, another embodiment of the present invention also provides a rehabilitation arm, which includes the above-mentioned rehabilitation arm transmission mechanism and a housing 50 covering the outside of the transmission mechanism.

[0050] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0051] The embodiments described above are merely illustrative of several implementations of this utility model, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A rehabilitation arm transmission mechanism, characterized in that, include: Forearm drive component, upper arm drive component, and drive assembly disposed between the forearm drive component and the upper arm drive component; The transmission assembly includes: The drive disc is mounted on the upper arm transmission component via a fixing rod at its center; The first drive rod and the second drive rod are coaxially hinged to both sides of the drive disk, and the hinge point is offset from the center of the drive disk. The third drive rod is hinged to the end of the second drive rod away from the drive disc; The first drive rod is hinged at the end away from the drive disc to the first connection position of the forearm transmission component, the third drive rod is hinged at the end away from the second drive rod to the second connection position of the forearm transmission component, and the middle part of the third drive rod is hinged to the upper arm transmission component via a pivot shaft.

2. The rehabilitation arm transmission mechanism according to claim 1, characterized in that, The upper arm transmission component includes a transmission rod and a mounting portion disposed at the end of the transmission rod. The top of the mounting portion is formed in a receiving cavity, which is used to accommodate the transmission component.

3. The rehabilitation arm transmission mechanism according to claim 2, characterized in that, The accommodating cavity extends through one side of the mounting portion to form a first mounting groove. Both ends of the pivot shaft are rotatably disposed within the first mounting groove. A second mounting groove is provided on the other side of the mounting portion. The second mounting groove is used to mount the end of the fixing rod away from the drive disc.

4. The rehabilitation arm transmission mechanism according to claim 2, characterized in that, The cross-section of the mounting part is triangular.

5. The rehabilitation arm transmission mechanism according to claim 2, characterized in that, The bottom of the mounting part extends with a connecting rod and a insert plate. The transmission rod has a slot that matches the insert plate. A fixing clip is installed on the connecting rod. The fixing clip is radially locked to the transmission rod by fastening bolts.

6. The rehabilitation arm transmission mechanism according to claim 1, characterized in that, It also includes an auxiliary component, the structure of which is mirror-symmetrical to the plane where the second drive rod is located, and the auxiliary component is synchronously linked with the transmission component.

7. The rehabilitation arm transmission mechanism according to claim 1, characterized in that, The forearm transmission component includes a fixed part and two mounting plates connected to one end of the fixed part and arranged in parallel. The first connecting position is located between the two mounting plates, and the second connecting position is located on the outside of the mounting plate.

8. A rehabilitation arm, characterized in that, It includes the rehabilitation arm transmission mechanism as described in any one of claims 1-7, and a housing covering the outside of the transmission mechanism.

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