Mechanical arm
By designing a combination of forearm-assisted rotation, wrist posture adjustment, and finger posture adjustment devices, the problem of limited movement in existing rehabilitation robotic arms has been solved, enabling multi-joint coordinated movement and improving the effectiveness of rehabilitation training.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- QINGDAO BINHAI UNIV
- Filing Date
- 2025-05-22
- Publication Date
- 2026-04-10
AI Technical Summary
Existing rehabilitation robotic arms have limited movement and joint freedom, making it impossible to achieve multi-joint coordinated movement, resulting in unsatisfactory rehabilitation training effects and low patient participation.
A robotic arm was designed, comprising a forearm-assisted rotation device, a wrist posture adjustment device, and a finger posture adjustment device. Through the combination of a worm gear, a rotary bearing, a controllable servo motor, and a pulley assembly, it achieves multi-joint coordinated movement of the forearm, wrist, and fingers.
It enables multi-joint coordinated movement of the patient's forearm, wrist, and fingers, improving the comprehensiveness and effectiveness of rehabilitation training.
Smart Images
Figure CN224102967U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to a rehabilitation auxiliary device technical field especially relates to a mechanical arm. BACKGROUND
[0002] With the development of rehabilitation medicine, the rehabilitation mechanical arm is widely used in the auxiliary treatment process of patients with nerve injury, limb dysfunction and the like. However, the existing rehabilitation mechanical arm generally has problems such as single movement, insufficient joint freedom, and inability to realize multi-joint coordinated movement, resulting in unsatisfactory rehabilitation training effect, low active participation of patients, and difficulty in adapting to diversified rehabilitation needs. Therefore, there is an urgent need for a rehabilitation mechanical arm with reasonable structure, flexible movement and capable of realizing coordinated movement of the forearm and hand. SUMMARY
[0003] The utility model aims at solving above -mentioned problem, provides a mechanical arm.
[0004] To achieve the above object, the utility model adopts the following technical scheme:
[0005] The utility model provides a kind of mechanical arm, comprising: forearm power-assisted rotating device, wrist posture adjusting device and finger posture adjusting device;The forearm power-assisted rotating device includes forearm holder, worm, rotary bearing and rocker mechanism, the rocker mechanism drives the worm to realize reciprocating rotation, to drive the rotary bearing outer ring reciprocating rotation in turn, to drive the periodic rotation of the forearm holder;The wrist posture adjusting device includes controllable servo motor, drive bevel gear I and bevel gear II, the controllable servo motor drives the bevel gear I and the bevel gear II, drive the wrist posture adjusting device to realize the reciprocating bending of wrist;The finger posture adjusting device includes pulley assembly and mechanical finger the bevel gear II drives the pulley assembly to drive the mechanical finger to complete the action of gripping and opening.
[0006] Further, the forearm power-assisted rotating device further includes: buckle, motor, shaft I, large pulley, small pulley, rotating disc;
[0007] The motor works, and reciprocating rotation is realized by the rocker mechanism driving the shaft I;The large pulley and the small pulley are fixed on the shaft I and the worm respectively using key connection;When the shaft I reciprocating rotation, power is transmitted to the worm, to drive the worm to realize synchronous reciprocating rotation;The rotary bearing is engaged with the worm;The forearm holder is installed on large arm support frame by the rotating disc, and relative rotation can be realized, and the buckle is fixed on the outer ring of the rotary bearing simultaneously;The worm reciprocating rotation drives the rotary bearing outer ring reciprocating rotation.
[0008] Further, the outer ring of the slewing bearing can rotate relative to the inner ring, and the shape feature is a worm wheel.
[0009] Further, the maximum periodic rotation angle of the forearm holder is 60°.
[0010] Further, the rocker mechanism comprises a rotating rod, an intermediate rod and a rocker; one end of the rotating rod is connected with the output end of the motor through a key to form a rotating pair; the two ends of the intermediate rod are respectively connected with the rotating rod and the rocker through hinges to form rotating pairs; the other end of the rocker is connected with the shaft I through interference fit.
[0011] Further, the wrist posture adjusting device further comprises a shaft II and a mechanical hand; the controllable servo motor base is fixedly installed on the forearm holder, and the output end thereof is connected with the bevel gear I through a key; the shaft II is installed on the forearm holder through a bearing; the mechanical hand is connected with the shaft II through interference fit; the bevel gear II is installed on the cantilever end of the shaft II and connected with the shaft II through a key; the controllable servo motor has the power output feature of clockwise unidirectional reciprocating rotation of 90°, and the power is transmitted through the bevel gear I and the bevel gear II to drive the shaft II to realize clockwise unidirectional reciprocating rotation synchronously, so that the wrist posture of the mechanical hand is adjusted.
[0012] Further, the finger posture adjusting device further comprises a pulley I, a pulley II, a pulley III, a pulley IV, a shaft III, a shaft IV, a connecting rod and a top rod; the pulley I is installed on the cantilever end of the shaft II through interference fit; the pulley II and the pulley III are installed on the shaft III through interference fit; the pulley IV is installed on the cantilever end of the shaft IV through interference fit; the connecting rod is connected with the shaft IV through interference fit; the two ends of the top rod are respectively connected with the connecting rod and the mechanical finger through cross hinges to form rotating pairs; when the wrist posture adjusting device operates, the pulley I on the shaft II transmits power to the shaft IV through the pulley set; when the shaft IV rotates clockwise, the connecting rod and the top rod pull the mechanical finger to realize a gripping action, and vice versa, the mechanical finger realizes a closing and opening action.
[0013] The mechanical arm has the advantages that:
[0014] The patient's forearm, wrist and fingers can realize multi-joint coordinated motion, which helps to improve the comprehensiveness and effectiveness of the patient's rehabilitation training. BRIEF DESCRIPTION OF DRAWINGS
[0015] Figure 1 It is a three-dimensional schematic view of the mechanical arm;
[0016] Figure 2 A mechanical arm small arm power-assisted rotating device structure schematic view of the utility model;
[0017] Figure 3 A mechanical arm wrist and finger posture adjusting device structure schematic view of the utility model;
[0018] In the figure: 1-small arm power-assisted rotating device, 2-wrist posture adjusting device, 3-finger posture adjusting device, 11-small arm holder, 12-buckle, 13-worm, 14-rotary bearing, 15-motor, 16-rocker mechanism, 17-shaft I, 18-large pulley, 19-small pulley, 20-rotary disc, 161-rotary rod, 162-intermediate rod, 163-rocker, 21-controllable servo motor, 22-bevel gear I, 23-bevel gear II, 24-shaft II, 25-mechanical hand, 31-pulley I, 32-pulley II, 33-pulley III, 34-pulley IV, 35-shaft III, 36-shaft IV, 37-connecting rod, 38-ejector rod, 39-mechanical finger; DETAILED DESCRIPTION
[0019] The utility model will be further described below in combination with the drawings.
[0020] As Figure 1 , 2, 3 shown, a mechanical arm, comprising: forearm assist rotation device 1, wrist posture adjustment device 2, finger posture adjustment device 3;The forearm assist rotation device 1 utilizes rocker mechanism 16 to drive the worm 13 to realize reciprocating rotation through belt drive structure, thereby driving the outer ring of the slewing bearing 14 to reciprocate, and then driving the periodic rotation of the forearm holder 11, realizing the rotation assist rehabilitation training of the forearm;The wrist posture adjustment device 2 and the finger posture adjustment device 3 drive bevel gear I 22 and bevel gear I 23 and belt drive through controllable servo motor 21, realize the reciprocating bending of wrist while accompanied by the gripping and opening and closing action of mechanical finger 39 respectively. The forearm assist rotation device 1 comprises: forearm holder 11, buckle 12, worm 13, slewing bearing 14, motor 15, rocker mechanism 16, shaft I 17, large pulley 18, small pulley 19;The rocker mechanism 16 comprises: rotating rod 161, intermediate rod 162, rocker 163;One end of the rotating rod 161 is connected with the output end of the motor 15 through the key, forming a rotating pair;Both ends of the intermediate rod 162 are connected with the rotating rod 161 and the rocker 163 through hinges, forming a rotating pair;The other end of the rocker 163 is connected with the shaft I 17 through interference fit;When the motor 15 works, the rotating rod 161, the intermediate rod 162 drive the rocker 163 to realize reciprocating swing, thereby driving the shaft I 17 to realize reciprocating rotation;The large pulley 18 and the small pulley 19 are fixed on the shaft I 17 and the worm 13 through key connection respectively;When the shaft I 17 reciprocates, the power is transmitted to the worm 13 through belt drive, driving it to realize synchronous reciprocating rotation;The outer ring of the slewing bearing 14 can rotate relative to the inner ring, and the shape feature is worm, which is meshed with the worm 13;The forearm holder 11 is installed on the large arm support frame through the rotating disc 20, which can realize relative rotation, and is fixed on the outer ring of the slewing bearing 14 through the buckle 12;The reciprocating rotation of the worm 13 drives the reciprocating rotation of the outer ring of the slewing bearing 14, so that the forearm holder 11 realizes maximum 60° periodic rotation.The wrist posture adjusting device 2 comprises a controllable servo motor 21, a bevel gear I 22, a bevel gear II 23, a shaft II 24 and a mechanical hand 25; the controllable servo motor 21 is fixedly installed on the small arm holder 11, and the output end thereof is connected with the bevel gear I 22 through a key; the shaft II 24 is installed on the small arm holder 11 through a bearing; the mechanical hand 25 is connected with the shaft II 24 through interference fit; the bevel gear II 23 is installed on the cantilever end of the shaft II 24, and the two are connected through a key; the controllable servo motor 21 is characterized by unidirectional and reciprocating rotation of 90°, and the power is transmitted through the bevel gear I 22 and the bevel gear II 23 to drive the shaft II 24 to realize unidirectional and reciprocating rotation, so as to adjust the wrist posture of the mechanical hand 25. The finger posture adjusting device 3 comprises a pulley I 31, a pulley II 32, a pulley III 33, a pulley IV 34, a shaft III 35, a shaft IV 36, a connecting rod 37, a top rod 38 and a mechanical finger 39; the pulley I 31 is installed on the cantilever end of the shaft II 24 through interference fit; the pulley II 32 and the pulley III 33 are installed on the shaft III 35 through interference fit; the pulley IV 34 is installed on the cantilever end of the shaft IV 36 through interference fit; the connecting rod 37 is connected with the shaft IV 36 through interference fit; the two ends of the top rod 38 are connected with the connecting rod 37 and the mechanical finger 39 through cross hinges, and the two form rotary pairs; when the wrist posture adjusting device 2 operates, the pulley I 31 on the shaft II 24 transmits power to the shaft IV 36 through a pulley set; when the shaft IV 36 rotates in time, the connecting rod 37 and the top rod 38 pull the mechanical finger 39 to realize a gripping action, and vice versa.
[0021] As Figure 1 、 2 , 3, the working method of the mechanical arm comprises the following specific steps:
[0022] When the motor 15 works, the rotating rod 161 and the intermediate rod 162 drive the swing rod 163 to realize reciprocating swing, so as to drive the shaft I 17 to realize reciprocating rotation; when the shaft I 17 reciprocates, power is transmitted to the worm 13 through belt transmission, so as to drive the worm 13 to realize synchronous reciprocating rotation; the outer ring of the slewing bearing 14 can rotate relative to the inner ring, and the shape feature is a worm wheel, which is engaged with the worm 13; the small arm holder 11 is installed on the large arm support frame through the rotating disc 20, and can realize relative rotation, and is fixed on the outer ring of the slewing bearing 14 by using the buckle 12; the worm 13 reciprocates to drive the outer ring of the slewing bearing 14 to reciprocate, so that the small arm holder 11 realizes periodic rotation of 60° at most, and realizes rehabilitation training of the small arm of the patient. The controllable servo motor 21 is arranged, and the power output feature is clockwise unidirectional reciprocating rotation of 90°; power is transmitted through the bevel gear I 22 and the bevel gear II 23, so that the shaft II 24 realizes synchronous clockwise unidirectional reciprocating rotation, so that the wrist posture of the mechanical hand 25 is adjusted; at the same time, when the wrist posture adjusting device 2 operates, the pulley I 31 on the shaft II 24 transmits power to the shaft IV 36 through the pulley set; when the shaft IV 36 rotates clockwise, the mechanical fingers 39 are pulled to realize gripping action through the connecting rod 37 and the top rod 38; on the contrary, the mechanical fingers 39 realize opening and closing action, so as to realize rehabilitation training of the wrist and the fingers of the patient.
[0023] The protection scope of the utility model is not limited to this, any skilled person in the technical field can easily think of changes or replacements within the technical range disclosed by the utility model, which should be covered in the protection scope of the utility model. Therefore, the protection scope of the utility model should be limited by the protection scope defined by the claims.
Claims
1. A robot arm, characterized in that, It includes: The forearm assisted rotating device (1), wrist posture adjusting device (2) and finger posture adjusting device (3); The forearm assisted rotating device (1) includes forearm holder (11), worm (13), slewing bearing (14) and rocker mechanism (16), the rocker mechanism (16) drives the worm (13) to realize reciprocating rotation, thereby driving the slewing bearing (14) outer ring reciprocating rotation, in turn drive the periodic rotation of the forearm holder (11); The wrist posture adjusting device (2) includes controllable servo motor (21), drive bevel gear I (22) and bevel gear II (23), the controllable servo motor (21) drives the bevel gear I (22) and the bevel gear II (23), drive the wrist posture adjusting device (2) to realize the reciprocating bending of wrist; The finger posture adjusting device (3) includes pulley assembly and mechanical finger (39), the bevel gear II (23) drives the pulley assembly drive the mechanical finger (39) to complete the action of gripping and opening.
2. The robot arm of claim 1, wherein, The forearm assisted rotating device (1) further includes: buckle (12), motor (15), shaft I (17), large pulley (18), small pulley (19), rotating disc (20); The motor (15) works, drives the shaft I (17) to realize reciprocating rotation through the rocker mechanism (16); The large pulley (18) and the small pulley (19) are fixed on the shaft I (17) and the worm (13) respectively by key connection; When the shaft I (17) reciprocating rotation, power is transmitted to the worm (13), drive the worm (13) to realize synchronous reciprocating rotation; The slewing bearing (14) and the worm (13) are engaged with each other; The forearm holder (11) is installed on the large arm support frame through the rotating disc (20), can realize relative rotation, at the same time, the buckle (12) is fixed on the outer ring of the slewing bearing (14); The worm (13) reciprocating rotation drives the slewing bearing (14) outer ring reciprocating rotation.
3. The robotic arm of claim 2, wherein, The slewing bearing (14) its outer ring can rotate relative to the inner ring, shape features for worm wheel.
4. The robotic arm of claim 2, wherein, The maximum periodic rotation angle of the forearm holder (11) is 60°.
5. A robot arm according to any of claims 2-4, characterized in that, The rocker mechanism (16) includes: rotating rod (161), intermediate rod (162), rocker (163); One end of the rotating rod (161) and the output end of the motor (15) are connected by key, forming a rotating pair; The two ends of the intermediate rod (162) are connected with the rotating rod (161) and the rocker (163) through hinge, forming a rotating pair; The other end of the rocker (163) and the shaft I (17) are connected by interference fit.
6. A robot arm as claimed in claim 1, characterized in that The wrist posture adjusting device (2) further comprises a shaft II (24) and a mechanical hand (25); the controllable servo motor (21) is fixedly installed on the forearm holder (11), and the output end thereof is connected with the bevel gear I (22) through a key; the shaft II (24) is installed on the forearm holder (11) through a bearing; the mechanical hand (25) and the shaft II (24) are connected through interference fit; the bevel gear II (23) is installed on the cantilever end of the shaft II (24) and connected with the shaft II (24) through a key; the controllable servo motor (21) is characterized by unidirectional and forward rotation of 90°, and the power is transmitted through the bevel gear I (22) and the bevel gear II (23) to drive the shaft II (24) to realize unidirectional and forward rotation, so as to adjust the wrist posture of the mechanical hand (25).
7. A robot arm as claimed in claim 1, characterized in that The finger posture adjusting device (3) further comprises a pulley I (31), a pulley II (32), a pulley III (33), a pulley IV (34), a shaft III (35), a shaft IV (36), a connecting rod (37) and a top rod (38); the pulley I (31) is installed on the cantilever end of the shaft II (24) and connected through interference fit; the pulley II (32) and the pulley III (33) are installed on the shaft III (35) and connected through interference fit; the pulley IV (34) is installed on the cantilever end of the shaft IV (36) and connected through interference fit; the connecting rod (37) is connected with the shaft IV (36) through interference fit; the two ends of the top rod (38) are connected with the connecting rod (37) and the mechanical finger (39) through cross hinges, and both form rotary pairs; when the wrist posture adjusting device (2) operates, the pulley I (31) on the shaft II (24) transmits power to the shaft IV (36) through the pulley set; when the shaft IV (36) rotates forward, the connecting rod (37) and the top rod (38) pull the mechanical finger (39) to realize a gripping action, and vice versa.