CN107854277A - Wrist joint rehabilitation training device - Google Patents

Abstract

The present disclosure provides a wrist joint rehabilitation training device, comprising: a motor; a handle bracket connected to the first end of the output shaft of the motor; a gear connected to the first end of the output shaft of the motor passing through the handle bracket One end is connected; the arc guide rail assembly is provided with a rack, and the rack is engaged with the gear; and a base is connected with the arc guide rail assembly. The beneficial effect of the present disclosure is to achieve the amplification and transmission of the motor torque through the cooperation of the gear and the rack, so that the wrist joint rehabilitation training device can operate in a small space and is convenient to use; through the structural design of the tangent between the bearing and the guide rail, the movement process is realized The positioning in the center reduces the friction, eliminates the mechanism gap, and makes the movement smoother; the setting of the angle sensor is convenient for detecting the rotation angle of the motor and the rotation angle of the human wrist joint.

Description

Wrist joint rehabilitation training device

technical field

The present disclosure relates to the technical field of rehabilitation robots, in particular to a wrist joint rehabilitation training device.

Background technique

With the intensification of the aging of Chinese society, more and more elderly people suffer from upper limb paralysis due to stroke and other reasons, which brings great inconvenience to daily life. Paralyzed patients need a lot of rehabilitation training to stimulate brain plasticity and restore a certain amount of exercise ability in order to achieve self-care, improve the quality of life, and return to society to the greatest extent.

Robot-assisted rehabilitation training can save a lot of manpower and material resources, and can conduct real-time quantitative evaluation of the patient's rehabilitation level, and propose a training plan that is more suitable for the patient's individual, making the patient's training more targeted and more conducive to the patient's recovery. Patients with upper extremity hemiplegia are generally accompanied by motor dysfunction of the wrist joint. Since the wrist joint cannot rotate freely, it is difficult for the patient to manage his own life. However, the current upper limb rehabilitation robot mainly assists the gross motion training of the shoulder and elbow joints, and lacks auxiliary rehabilitation training for the wrist joint.

Therefore, adding a rehabilitation training device for the wrist joint on the basis of the existing upper limb rehabilitation robot plays a very important role in improving the patient's self-care ability.

public content

(1) Technical problems to be solved

In order to overcome the shortcomings of the existing upper limb rehabilitation robots that only have gross motion training of the shoulder and elbow joints and lack of wrist joint training, and at the same time overcome the shortcomings of the existing wrist joint training devices such as complex structure, bulky size, large friction, and poor smoothness of motion, the present disclosure provides A wrist joint rehabilitation training device is proposed to at least partially solve the technical problems raised above.

(2) Technical solution

According to one aspect of the present disclosure, there is provided a wrist joint rehabilitation training device, comprising: a motor; a handle bracket connected to the first end of the output shaft of the motor; a gear connected to the The first end of the output shaft of the motor is connected; the arc guide rail assembly is provided with a rack, and the rack is engaged with the gear; and the base is connected with the arc guide rail assembly.

In some embodiments of the present disclosure, the arc guide rail assembly includes: two I-shaped connectors; two arc guide rails arranged side by side, and the two ends of each arc guide rail respectively pass through the I-shaped connectors connection; the rack is set on the arc guide rail.

In some embodiments of the present disclosure, the arc guide rail includes: an inner arc surface; an outer arc surface nested outside the inner arc surface; a connecting surface connecting the inner arc surface and the outer arc surface. The arc surface forms an arc groove structure; the side of the inner surface of the outer arc surface connected to the connection surface is a smooth surface, and the side of the inner surface of the outer arc surface that is not connected to the connection surface is provided with a rack .

In some embodiments of the present disclosure, it also includes: a first positioning assembly, the first positioning assembly includes: a first shaft, both ends of which are connected to the handle bracket; a first bearing, which is sleeved on the first axis, and tangent to the arc guide rail.

In some embodiments of the present disclosure, the first bearings in the first positioning assembly are arranged in pairs, and are respectively tangent to the two arc guide rails.

In some embodiments of the present disclosure, it further includes: a second positioning assembly, the second positioning assembly includes: a second shaft, the first end of which is connected to the handle bracket; a second bearing, which is sleeved on the first On the second end of the two shafts, it is arranged at the gap between the two arc guide rails, and is tangent to the two arc guide rails at the same time.

In some embodiments of the present disclosure, the second positioning component is arranged symmetrically with respect to the first axis in the first component.

In some embodiments of the present disclosure, it further includes: a third positioning assembly, the third positioning assembly includes: a third shaft, the first end of which is connected to the handle bracket; a third bearing, which is sleeved on the first It is on the second end of the triaxial and is tangent to the arc guide rail.

In some embodiments of the present disclosure, the arc guide rail tangent to the third positioning component and the arc guide rail meshing with the gear are not the same arc guide rail.

In some embodiments of the present disclosure, it further includes: an angle sensor connected to the second end of the output shaft of the motor.

(3) Beneficial effects

It can be seen from the above technical solutions that the wrist joint rehabilitation training device of the present disclosure has at least one of the following beneficial effects:

(1) The torque amplification and transmission of the motor is achieved through the cooperation of the gear and the rack on the arc guide rail. At the same time, the arc guide rail structure is suitable for wrist rotation training. The structure design is simple, so that the wrist rehabilitation training device can be used in a relatively Operates in a small space and is easy to use.

(2) Through the tangential structural design of the bearing and the guide rail, the positioning during the movement is realized, the friction force is reduced as much as possible, the movement is more labor-saving, and the mechanism gap is eliminated to make the movement smoother.

(3) The setting of the angle sensor is convenient for detecting the rotation angle of the motor and the rotation angle of the wrist joint of the human body.

Description of drawings

FIG. 1 is a schematic diagram of the overall structure of the wrist joint rehabilitation training device of the present disclosure.

Fig. 2 is a schematic structural diagram of the arc guide rail assembly in the wrist joint rehabilitation training device shown in Fig. 1 .

Fig. 3 is a schematic diagram of the structure of the arc guide rail in the wrist joint rehabilitation training device shown in Fig. 1 .

FIG. 4 is a schematic diagram of positioning support structures fixed on the handle bracket in the wrist joint rehabilitation training device shown in FIG. 1 .

[Description of main component symbols of the embodiment of the present disclosure in the accompanying drawings]

100-arc guide rail assembly;

110-arc guide rail;

111-inner arc surface, 112-outer arc surface;

1121-rack, 1122-smooth surface, 113-connecting surface;

120-I-shaped connector;

200-base;

300 - gear;

400-motor;

500- handle bracket;

600-angle sensor;

710-the first shaft, 720-the first bearing;

810-the second shaft, 820-the second bearing;

910-the third shaft, 920-the third bearing.

Detailed ways

The disclosure provides a wrist joint rehabilitation training device. As shown in FIG. 1 , the first end of the output shaft of the motor 400 passes through the handle bracket 500 and is connected to the gear 300 , and the gear 300 is connected to the arc guide rail 110 in the arc guide rail assembly 100 The rack 1121 is meshed, and the base 200 is connected with the arc guide rail 110 . The angle sensor 600 is connected with the second end of the output shaft of the motor 400 .

In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

Fig. 2 is a schematic structural diagram of the arc guide rail assembly in the wrist joint rehabilitation training device shown in Fig. 1 . As shown in FIG. 2 , two arc guide rails 110 are arranged side by side, and the two ends of the two arc guide rails 110 are respectively connected by the I-shaped connector 120 ; the rack 1121 is arranged on the arc guide rail 110 .

Fig. 3 is a schematic diagram of the structure of the arc guide rail in the wrist joint rehabilitation training device shown in Fig. 1 . As shown in Figure 3, the arc guide rail assembly 100 is composed of an inner arc surface 111, an outer arc surface 112 nested outside the inner arc surface 111, and a connection surface connecting the inner arc surface 111 and the outer arc surface 112. 113 constitutes an arc groove structure, the side of the inner surface of the outer arc surface 112 connected to the connecting surface 113 is a smooth surface 1122, and the inner surface of the outer arc surface 112 is not connected to the connecting surface 113. There is a rack 1121.

The present disclosure has only one rotational degree of freedom, and the wrist joint can only rotate around one axis. As shown in FIG. 1 , FIG. 2 and FIG. 3 , the arc guide rail assembly 100 includes an inner arc surface 111 , an outer arc surface 112 nested outside the inner arc surface 111 , and a connecting inner arc surface 111 and an outer arc surface. The connecting surface 113 of the surface 112 forms an arc groove-like structure. One I-shaped connector 120 is connected to the ends of the two connecting surfaces 113 at one end of the two arc guide rails 110, and the other I-shaped connector 120 is connected to the ends of the two connecting surfaces 113 at the other ends of the two arc guide rails 110, An arc guide rail assembly 100 is formed. Here, in order to facilitate the connection between the arc guide rail 110 and the I-shaped connector 120, the arc length of the connecting surface 113 is generally designed to be greater than the arc length of the inner arc surface 111 and the arc length of the outer arc surface 112, and generally the arc length of the inner arc surface The arc length of 111 is equal to the arc length of 112 of the outer arc surface. The I-shaped connector 120 in the arc guide rail assembly 100 is connected to the base 200, so that the arc guide rail assembly 100 is supported by the base 200, and the base 200 can be placed on a desktop or assembled on an upper limb rehabilitation robot. The handle bracket 500 is used for supporting and grasping the palm, the first end of the output shaft of the motor 400 is coaxially fixed with the gear 300, and the gear 300 meshes with the rack 1121 provided on the outer arc surface 112 of the arc guide rail 110 to form a A gear reduction mechanism is used to reduce the speed on the output shaft of the motor 400 and drive the wrist joint to rotate.

In this embodiment, the amplification and transmission of the motor torque is realized through the cooperation of the gear and the rack on the arc guide rail. At the same time, the arc-shaped guide rail structure is suitable for realizing the rotation training of the wrist. At the same time, the structural design is simple, making the wrist joint rehabilitation training device It can operate in a small space and is convenient to use.

Please continue to refer to FIG. 1 , the angle sensor 600 is installed on the second end of the output shaft of the motor 400 for detecting the rotation angle of the motor and the wrist joint as the data basis of the control program.

FIG. 4 is a schematic diagram of positioning support structures fixed on the handle bracket in the wrist joint rehabilitation training device shown in FIG. 1 . As shown in FIG. 4 , each set of positioning components is composed of shafts and bearings, wherein each shaft is respectively connected and fixed to the handle bracket 500 , and each bearing is respectively tangent to the arc guide rail 110 .

Please continue to refer to FIG. 4 , the first positioning assembly includes a first shaft 710 , both ends of the first shaft 710 are connected to the handle bracket 500 , and at least two first bearings 720 are sheathed on the first shaft 710 . The first bearing 720 is tangent to the outer surface of the outer arc surface 112 of the two arc guide rails 110 . The second positioning assembly includes a second shaft 810, the first end of the second shaft 810 is connected to the handle bracket 500, the second end of the second shaft 810 is connected to the second bearing 820, and the second bearing 820 is arranged on both sides. At the gap between the arc guide rails 110 , the second bearing 820 is tangent to the outer surface of the connecting surface 113 of the two arc guide rails 110 at the same time. The second positioning component may be symmetrically arranged on both sides of the first axis 710 . The third positioning assembly includes a third shaft 910, the first end of the third shaft 910 is connected to the handle bracket 500, the second end of the third shaft 910 is connected to the third bearing 920, and the third bearing 920 is connected to the arc guide rail 110 The smooth surface 1122 on the inner surface of the outer arc surface 112 is tangent. When there are multiple sets of third positioning components, the third bearings 920 are generally evenly distributed around the arc guide rail 110 . The gear 300 moves along the arc guide rail 110 in the arc guide rail 110 and meshes with the rack 1121 provided on the outer arc surface 112 of the arc guide rail 110. The arc guide rail 110 is generally not tangent to the third bearing arc guide rail. In Fig. 4, the first bearing 720, the second bearing 820, and the third bearing 920 are respectively connected to the handle bracket 500 through the first shaft 710, the second shaft 810, and the third shaft 910, and the arrangement of each shaft should not interfere.

In this embodiment, through the tangential structural design of the bearing and the guide rail, the positioning during the movement is realized, the friction force is reduced as much as possible, the movement is more labor-saving, and the mechanism gap is eliminated to make the movement smoother.

During training, the motor drives the handle bracket 500 to rotate along the arc guide rail 110 through the rack and pinion transmission, thereby realizing the rotation training of the wrist joint. The wrist movement can be driven by controlling the motor 400 to realize passive rehabilitation training, or the patient can actively apply force to control the motor 400 to apply a certain amount of assistance or resistance to carry out active rehabilitation training. The rotation position of the motor 400 and the rotation angle of the wrist joint can be calculated and obtained through the output of the encoder.

So far, the embodiments of the present disclosure have been described in detail with reference to the accompanying drawings. It should be noted that, in the accompanying drawings or in the text of the specification, implementations that are not shown or described are forms known to those of ordinary skill in the art, and are not described in detail. In addition, the above definitions of each element and method are not limited to the various specific structures, shapes or methods mentioned in the embodiments, and those of ordinary skill in the art can easily modify or replace them, for example:

The I-shaped connector can be replaced by connectors of other shapes, as long as the two arc guide rails can be connected into an integral structure. The I-shaped connector is a commonly used connection structure in general, and any connector with a suitable shape can be selected to replace it according to actual needs.

Based on the above description, those skilled in the art should have a clear understanding of the wrist joint rehabilitation training device of the present disclosure.

To sum up, the disclosure realizes the amplification and transmission of motor torque through the cooperation of the gear and the rack on the arc guide rail. At the same time, the arc-shaped guide rail structure is suitable for realizing the rotation training of the wrist, and the structural design is simple, which makes the wrist joint rehabilitation The training device can operate in a small space and is convenient to use; at the same time, through the structural design of the tangent between the bearing and the guide rail, the positioning during the movement is realized, the friction force is reduced as much as possible, the movement is more labor-saving, and the mechanism gap is eliminated at the same time. The movement is smoother and has better promotion and application value.

It should also be noted that the directional terms mentioned in the embodiments, such as "up", "down", "front", "back", "left", "right", etc., are only referring to the directions of the drawings, not Used to limit the protection scope of this disclosure. Throughout the drawings, the same elements are indicated by the same or similar reference numerals. Conventional structures or constructions are omitted when they may obscure the understanding of the present disclosure.

And the shape and size of each component in the figure do not reflect the actual size and proportion, but only illustrate the content of the embodiment of the present disclosure. Furthermore, in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim.

Unless known to the contrary, the numerical parameters set forth in the specification and attached claims are approximations that can vary depending upon the desired properties obtained from the teachings of the present disclosure. Specifically, all numbers used in the specification and claims to represent the content of components, reaction conditions, etc. should be understood to be modified by the term "about" in all cases. In general, the expressed meaning is meant to include a variation of ±10% in some embodiments, a variation of ±5% in some embodiments, a variation of ±1% in some embodiments, a variation of ±1% in some embodiments, and a variation of ±1% in some embodiments ±0.5% variation in the example.

Furthermore, the word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements.

Words such as "first", "second", "third" and the like used in the description and claims to modify the corresponding elements do not in themselves mean that the elements have any ordinal numbers, nor The use of these ordinal numbers to represent the sequence of an element with respect to another element, or the order of manufacturing methods, is only used to clearly distinguish one element with a certain designation from another element with the same designation.

Similarly, it should be appreciated that in the above description of exemplary embodiments of the disclosure, in order to streamline the disclosure and to facilitate an understanding of one or more of the various disclosed aspects, various features of the disclosure are sometimes grouped together into a single embodiment, figure, or its description. This method of disclosure, however, is not to be interpreted as reflecting an intention that the claimed disclosure requires more features than are expressly recited in each claim. Rather, as the following claims reflect, disclosed aspects lie in less than all features of a single foregoing disclosed embodiment. Thus the claims following the Detailed Description are hereby expressly incorporated into this Detailed Description, with each claim standing on its own as a separate embodiment of this disclosure.

The specific embodiments described above further describe the purpose, technical solutions and beneficial effects of the present disclosure in detail. It should be understood that the above descriptions are only specific embodiments of the present disclosure, and are not intended to limit the present disclosure. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present disclosure shall be included within the protection scope of the present disclosure.

Claims (10)

1. a kind of wrist joint rehabilitation training device, including：

Motor；

Handle bracket, it is connected with the first end of the motor output shaft；

Gear, it is connected with the first end of the motor output shaft through the handle bracket；

Arc guide rail component, it is provided with rack, and the rack is meshed with the gear；And

Pedestal, it is connected with the arc guide rail component.

2. wrist joint rehabilitation training device according to claim 1, wherein, the arc guide rail component includes：

Two I-shaped connectors；

Two arc guide rails being arranged side by side, each arc guide rail both ends are connected by the I-shaped connector respectively；Institute Rack is stated to be arranged on arc guide rail.

3. wrist joint rehabilitation training device according to claim 2, wherein, the arc guide rail includes：

Inner arc surface；

Exterior arc surface, it is nested in outside the inner arc surface；

Joint face, it connects the inner arc surface and exterior arc surface, forms circular arc groove-like structure；

The side that the exterior arc surface inner surface is connected with joint face is shiny surface, the exterior arc surface inner surface not with joint face The side of connection is provided with rack.

4. wrist joint rehabilitation training device according to claim 1, in addition to：

First positioning component, first positioning component include：

First axle, its both ends are connected with the handle bracket；

Clutch shaft bearing, it is socketed in the first axle, and tangent with the arc guide rail.

5. wrist joint rehabilitation training device according to claim 4, wherein, the clutch shaft bearing in first positioning component It is arranged in pairs, it is tangent with two arc guide rails respectively.

6. wrist joint rehabilitation training device according to claim 1, in addition to：

Second positioning component, second positioning component include：

Second axle, its first end are connected with the handle bracket；

Second bearing, it is socketed on the end of the second axle second, and it is arranged at the gap location between two arc guide rails, and It is simultaneously tangent with two arc guide rails.

7. wrist joint rehabilitation training device according to claim 6, wherein, second positioning component relatively described first First axle in component is symmetrical arranged.

8. wrist joint rehabilitation training device according to claim 1, in addition to：

3rd positioning component, the 3rd positioning component include：

3rd axle, its first end are connected with the handle bracket；

3rd bearing, it is socketed on second end of the 3rd axle, and tangent with the arc guide rail.

9. wrist joint convalescence device according to claim 8, wherein, with the 3rd positioning component tangent arc guide rail and with The arc guide rail that gear is meshed, it is not same arc guide rail.

10. wrist joint rehabilitation training device according to any one of claim 1 to 9, in addition to：

Angular transducer, it is connected with the second end of the motor output shaft.