CN110314064A - Upper limb healing equipment - Google Patents
Upper limb healing equipment Download PDFInfo
- Publication number
- CN110314064A CN110314064A CN201810264243.4A CN201810264243A CN110314064A CN 110314064 A CN110314064 A CN 110314064A CN 201810264243 A CN201810264243 A CN 201810264243A CN 110314064 A CN110314064 A CN 110314064A
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- China
- Prior art keywords
- upper limb
- inner ring
- healing equipment
- limb rehabilitation
- limb healing
- Prior art date
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 112
- 230000035876 healing Effects 0.000 title claims abstract description 53
- 238000012549 training Methods 0.000 claims abstract description 58
- 210000000707 wrist Anatomy 0.000 claims abstract description 45
- 230000033001 locomotion Effects 0.000 claims abstract description 25
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 2
- 230000006378 damage Effects 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000002146 bilateral effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 230000003447 ipsilateral effect Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010019196 Head injury Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 238000007634 remodeling Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 210000000278 spinal cord Anatomy 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
Abstract
The present invention provides a kind of upper limb healing equipment, including display device, control device, seat and two groups of upper limb rehabilitation robots, the control device is electrically connected with upper limb rehabilitation robot described in the display device, two groups respectively, the display device is oppositely arranged with the seat, and upper limb rehabilitation robot described in two groups is respectively arranged on the two sides of the seat；The upper limb rehabilitation robot includes the wrist training device that can be carried out three-dimensional motion.The present invention can be carried out the wrist training device of three-dimensional motion by setting, can be directed in three-dimensional space the damage at wrist for user and carry out multivariant training；Meanwhile upper limb rehabilitation robot is respectively set by the way that the two sides of seat are arranged in the present invention, and the training simultaneously of double upper limbs can be carried out for patient, realizes synchronization and the exercise for coordination of pair upper limbs.
Description
Technical field
The present invention relates to medical rehabilitation equipment, and in particular to a kind of upper limb healing equipment.
Background technique
The damage as caused by apoplexy, head injury or operation on spinal cord frequently results in the multiple muscle group motor functions of patient
It is impaired.The verified repeating motion of nerve remodeling row theory and rehabilitation training can make patient recovered part or most of fortune again
Dynamic function.Repetitive training is very uninteresting, and is labour intensive and inefficient work for therapist, for treatment
For teacher, it is duplicate patient is trained be it is very uninteresting, it is high-intensitive and inefficient because therapist only patient is controlled
It treats, patient is assisted to carry out comprehensive rehabilitation training.
It has been proved to be currently, substituting artificial type rehabilitation using healing robot effectively, for upper limb healing
Robot device also increase year by year.Upper limb rehabilitation robot emphasis has been placed on mostly in the training of arm at present, and is neglected
Depending on the rehabilitation training of wrist multiple degrees of freedom can not be carried out for the damage at wrist in three-dimensional space using having a single function
Training；Also, lack the upper limb healing equipment that double upper limbs while training can be carried out for patient on the market at present.
Summary of the invention
The object of the present invention is to provide a kind of upper limb healing equipment, can carry out in three-dimensional space for the damage at wrist
Multivariant training, and the training simultaneously of double upper limbs can be carried out for patient.
In order to achieve the above objectives, the present invention provides a kind of upper limb healing equipment, wherein the upper limb healing equipment includes
Display device, control device, seat and two groups of upper limb rehabilitation robots, the control device respectively with the display device, two
The group upper limb rehabilitation robot electrical connection, the display device are oppositely arranged with the seat, upper limb rehabilitation machine described in two groups
Device people is respectively arranged on the two sides of the seat；The upper limb rehabilitation robot includes the wrist training cartridge that can be carried out three-dimensional motion
It sets.
As described above upper limb healing equipment, wherein upright projection of two upper limb rehabilitation robots in horizontal plane
Center forms the angle greater than 0 ° and less than 180 ° in the line of centres of the upright projection of horizontal plane with the seat respectively.
As described above upper limb healing equipment, wherein upright projection of two upper limb rehabilitation robots in horizontal plane
Center forms the angle greater than 90 ° and less than 150 ° in the line of centres of the upright projection of horizontal plane with the seat respectively.
Upper limb healing equipment as described above, wherein the wrist training device includes that outer ring, inner ring and support hold component,
The outer ring can horizontally rotate, and the inner ring is coaxially disposed within the inside of the outer ring, and the inner ring can be with its axis
Center is rotated, and the support holds the axially penetrate through inner ring of the component along the inner ring, and the support holds the both ends point of component
The two sides of the inner ring are not extended to, and the support holds the inner surface that component can vertically be rotationally connected with the inner ring.
Upper limb healing equipment as described above, wherein it includes bottom plate, fupport arm and handle, the bottom plate that the support, which holds component,
It can be vertically rotationally connected with the inner surface of the inner ring, the bottom plate is arranged along the axial direction of the inner ring, and the bottom plate
Both ends extend to the two sides of the inner ring respectively, on the upper surface for the first end that the fupport arm is set to the bottom plate with can be removably mounted,
The handle is vertical on the upper surface of the second end of the bottom plate in which can be removably mounted, and the handle can be centered on its axis
It is rotated.
Upper limb healing equipment as described above, wherein the second end of the bottom plate, which is located at the lower section of the handle, to be equipped with
Obliquity sensor.
Upper limb healing equipment as described above, wherein the handle is equipped with the triggering being electrically connected with the control device
Force snesor.
Upper limb healing equipment as described above, wherein the upper limb rehabilitation robot further includes lifting rotating shaft, lifting electricity
Machine, rotating electric machine, telescopic arm and telescope motor；The lifting rotating shaft can be along the vertical direction by the driving of the lifting motor
It moves back and forth up and down, and the lifting rotating shaft can be rotated by the driving of the rotating electric machine centered on its axis；
The telescopic arm is vertically connected at the top of the lifting rotating shaft, and the driving energy that the telescopic arm passes through the telescope motor
It stretches in the horizontal direction；The wrist training device is connected to the end of the telescopic arm.
Upper limb healing equipment as described above, wherein the end of the telescopic arm is located under the wrist training device
Multi-dimension force sensor is equipped at side.
Upper limb healing equipment as described above, wherein the upper limb rehabilitation robot further include the shell of bottom opening with
And the pedestal of the bottom opening of the shell can be closed, the lifting rotation is located on the pedestal, and the lifting rotation
The upper end of axis upwardly extends the outside that the shell is extended at the top of the shell, the lifting motor and the electric rotating
Machine is set to the inside of the shell.
Compared with prior art, advantages of the present invention is as follows:
The present invention can be carried out the wrist training device of three-dimensional motion by setting, can be directed in three-dimensional space for user
Damage at wrist carries out multivariant training；Meanwhile upper limb health is respectively set by the way that the two sides of seat are arranged in the present invention
Multiple robot, and the training simultaneously of double upper limbs can be carried out for patient, realize synchronization and the exercise for coordination of double upper limbs.
Detailed description of the invention
The following drawings are only intended to schematically illustrate and explain the present invention, not delimit the scope of the invention.Wherein:
Fig. 1 is the structural schematic diagram of upper limb healing equipment provided by the invention；
Fig. 2 is the structural schematic diagram of the upper limb rehabilitation robot of upper limb healing equipment provided by the invention；
Fig. 3 is the structural representation of the wrist training device of the upper limb rehabilitation robot of upper limb healing equipment provided by the invention
Figure；
Fig. 4 is another structural schematic diagram of the upper limb rehabilitation robot of upper limb healing equipment provided by the invention；
Fig. 5 is the cross-section structure signal of the telescopic arm of the upper limb rehabilitation robot of upper limb healing equipment provided by the invention
Figure；
Fig. 6 is the first movement of the wrist training device of the upper limb rehabilitation robot of upper limb healing equipment provided by the invention
Schematic diagram；
Fig. 7 is the second movement of the wrist training device of the upper limb rehabilitation robot of upper limb healing equipment provided by the invention
Schematic diagram；
Fig. 8 is the third movement of the wrist training device of the upper limb rehabilitation robot of upper limb healing equipment provided by the invention
Schematic diagram.
Drawing reference numeral explanation:
1, display device；
2, seat；
3, upper limb rehabilitation robot；
31, wrist training device；
311, outer ring；
312, inner ring；
313, support holds component；
3131, bottom plate；
3132, fupport arm；
3133, handle；
32, lifting rotating shaft；
33, lifting motor；
34, rotating electric machine；
35, telescopic arm；
351, turn-screw；
352, shaft coupling；
353, linear slide block；
36, telescope motor；
38, pedestal；
39, shell
391, moving handle；
392, radiator fan
Specific embodiment
In order to have clearer understanding to technical solution of the present invention, purpose and effect, now in conjunction with the Detailed description of the invention present invention
Specific embodiment.
As shown in Figure 1, the present invention provides a kind of upper limb healing equipment, wherein upper limb healing equipment includes display device
1, control device (not shown), seat 2 and two groups of upper limb rehabilitation robots 3, control device respectively with display device 1, two
Group upper limb rehabilitation robot 3 is electrically connected, wherein display device 1 and control device can integrate as an entirety, display device
1 is oppositely arranged with seat 2, can observe in display device 1 in real time during carrying out rehabilitation training convenient for user
The upper extremity exercise situation of oneself, display device 1 can be touch screen, order to input operation instruction to issue to control device；
Two groups of upper limb rehabilitation robots 3 are respectively arranged on the two sides of seat 2, so that double upper limbs of user are synchronously carried out rehabilitation instruction simultaneously
Practice, can be realized strong side in rehabilitation training and drive the bilaterals such as Ipsilateral, bilateral cooperative motion, strong side and Ipsilateral comparison evaluation and test
Synchronize trained core function；Upper limb rehabilitation robot 3 includes the wrist training device 31 that can be carried out three-dimensional motion, specifically,
Three-dimensional cartesian coordinate system is established by zero point of the bottom of wrist training device 31, wrist training device 31 can be respectively with three-dimensional straight
X-axis, Y-axis and the Z axis of angular coordinate system are that rotary shaft is rotated, and so can be realized wrist and carry out three in three dimensions freely
The flexible training of degree realizes that wrist is individually trained, the prior art is effectively overcome to be trained only for arm without special needle
The problem of device that wrist is trained.
Further, upper limb healing equipment provided by the invention, wherein two upper limb rehabilitation robots 3 hang down horizontal plane
The center for delivering directly shadow forms the folder greater than 0 ° and less than 180 ° in the line of centres of the upright projection of horizontal plane with seat 2 respectively
Angle.Since the space of human upper limb is located on front side of human body, by the position of two upper limb rehabilitation robots 3 and seat 2
Install for two upper limb rehabilitation robots 3 the center of the upright projection of horizontal plane respectively with seat 2 horizontal plane upright projection
The line of centres formed and be greater than 0 ° and the angle less than 180 °, substantially cover all empty of the upper extremity exercise on front side of human body
Between, rehabilitation training can be carried out in maximum magnitude for human upper limb.
Preferably, upper limb healing equipment provided by the invention, wherein two upper limb rehabilitation robots 3 hang down horizontal plane
The center for delivering directly shadow forms the folder greater than 90 ° and less than 150 ° in the line of centres of the upright projection of horizontal plane with seat 2 respectively
Angle.The positions of two upper limb rehabilitation robots 3 and seat 2 is set as two upper limb rehabilitation robots 3 in the upright projection of horizontal plane
Center forms the angle greater than 90 ° and less than 150 ° in the line of centres of the upright projection of horizontal plane with seat 2 respectively, can be to the greatest extent
Amount guarantee upper limb healing equipment of the invention there is the sufficiently large training enveloping space under the premise of, reduce by two upper limb rehabilitation machines
3 the space occupied of device people.
Further, as shown in Fig. 2, Fig. 3 and Fig. 6~Fig. 8, upper limb healing equipment provided by the invention, wherein wrist instruction
Practicing device 31 includes that outer ring 311, inner ring 312 and support hold component 313, and outer ring 311 can horizontally rotate (the motion mode of outer ring 311
It is the vertical view aspect view of wrist training device 31 see Fig. 6, in Fig. 6), preferably, the rotational angle of outer ring 311 is α, and
α≤120°；Inner ring 312 is coaxially disposed within the inside of outer ring 311, and inner ring 312 can be rotated centered on its axis it is (interior
The motion mode of ring 312 is the main view aspect view of wrist training device 31 see Fig. 7, Fig. 7), preferably, inner ring 312
Rotational angle is β, and β≤120 °；Support holds component 313 and axially penetrates through inner ring 312 along inner ring 312, and support holds the two of component 313
End extends to the two sides of inner ring 312 respectively, and support holds component 313 and can vertically be rotationally connected with the inner surface of inner ring 312 (support holds group
The motion mode of part 313 is the side view aspect view of wrist training device 31 see Fig. 8, Fig. 8), that is, hold in the palm the both ends for holding component 313
It can swing up and down, preferably, support holds the rotational angle of component 323 as γ, and γ≤45 °；.It can be seen from Fig. 6~Fig. 8
Wrist training device 31 of the invention can be that axis is rotated along three reference axis in same three-dimensional cartesian coordinate system, with full
The requirement that sufficient wrist multiple degrees of freedom is flexibly trained.
Further, as shown in Fig. 2, Fig. 3 and Fig. 6~Fig. 8, upper limb healing equipment provided by the invention, wherein support is held
Component 313 includes bottom plate 3131, fupport arm 3132 and handle 3133, and bottom plate 3131 can vertically be rotationally connected with the interior of inner ring 312
Side surface, the i.e. both ends of bottom plate 3131 can be swung up and down, and bottom plate 3131 is arranged along the axial direction of inner ring 312, and the two of bottom plate 3131
End extends to the two sides of inner ring 312 respectively, i.e. the first end of bottom plate 3131 is passed through by the axial direction of the first lateral edge inner ring 312 of inner ring 312
It wears inner ring 312 and extends to second side of inner ring 312, and the second end of bottom plate 3131 remains in the first side of inner ring 312, fupport arm
On the upper surface of 3132 first ends for being set to bottom plate 3131 with can be removably mounted, handle 3133 is vertical at bottom plate 3131 in which can be removably mounted
On the upper surface of second end, and handle 3133 can be rotated centered on its axis；The first end distance of bottom plate 3131 uses
Person is closer, and fupport arm 3132 is supported towards user for the arm to user, and the second end distance of bottom plate 3131 uses
Farther out, when in use, the upper limb of user is axially penetrated through in inner ring 312 extends to person by the first lateral edge inner ring 312 of inner ring 312
Second side of ring 312 holds handle 3133, and loosening arm falls in arm in fupport arm 3132, can start wrist rehabilitation instruction at this time
Practice.
Further, upper limb healing equipment provided by the invention, wherein the second end of bottom plate 3131 is located at handle 3133
Lower section at be equipped with obliquity sensor (not shown).By be arranged obliquity sensor, be able to detect arm three sides
Upward rotational angle and position, and control device is fed back in real time, phase is completed with software cooperation built-in in control device
The game training of pass increases the interest of wrist rehabilitation training.
Further, upper limb healing equipment provided by the invention, wherein handle 3133 is equipped with and is electrically connected with control device
The triggering force snesor (not shown) connect.Triggering force snesor of the user by grasping handle 3133, on handle 3133
It detecting and force signal is passed into control device after the grip of user, control device controls present invention operation after judgement,
Relative motion is completed, to realize the interaction between user and upper limb healing equipment of the present invention.
Further, as shown in figure 4, upper limb healing equipment provided by the invention, wherein upper limb rehabilitation robot 3 also wraps
Include lifting rotating shaft 32, lifting motor 33, rotating electric machine 34, telescopic arm 35 and telescope motor 36；Lifting rotating shaft 32 passes through liter
The driving of drop motor 33 can move back and forth up and down along the vertical direction, and lifting rotating shaft 32 can be with by the driving of rotating electric machine 34
It is rotated centered on its axis, in setting, rotating electric machine 34 is mounted on the top of lifting rotating shaft 32, is driven by synchronous belt
The dynamic synchronous pulley being connected in lifting rotating shaft 32, quickly and easily realizes the quick rotation of lifting rotating shaft 32；Telescopic arm
35 are vertically connected at the top of lifting rotating shaft 32, and telescopic arm 35 can be stretched in the horizontal direction by the driving of telescope motor 36
Contracting；Wrist training device 31 is connected to the end of telescopic arm 35, and telescope motor 36 can be installed on wrist training device 31 to be stretched
The same end of contracting arm 35 refers to Fig. 5, and telescope motor 36 is set to the inside of telescopic arm 35, and the inside of telescopic arm 35 is along its length
Direction is equipped with turn-screw 351 and is connect by shaft coupling 352 with telescope motor 36, is threadedly coupled on turn-screw 351 and is equipped with line
Property sliding block 353, the lower end of linear slide block 353 extends to the lower section of telescopic arm 35 through telescopic arm 35 and lifting rotating shaft 32 is connect,
In use, telescope motor 36 drives turn-screw 351 to rotate, and opposite position occurs for turn-screw 351 and linear slide block 353
It moves to drive 35 telescopic moving of telescopic arm.By the way that lifting rotating shaft 32 to be set as going up and down and rotating simultaneously, and cooperate peace
Retractable telescopic arm 35 loaded on 32 top of lifting rotating shaft enables the invention to the movement for carrying out three-dimensional space, telescopic arm
35 end (one end of wrist training device 31 is installed i.e. on telescopic arm 35) can reach in motion envelope space of the present invention
Any position.Training when, upper limb is placed in wrist training device 31, by lifting rotating shaft 32 it is upper and lower vertically move with
And the horizontal extension movement and the three-dimensional motion of wrist training device 31 of the telescopic arm 35 that is rotatably assorted in horizontal plane, Neng Goushi
The movement of existing six-freedom degree, it is thus possible to realize the arm rehabilitation training flexible and changeable in three-dimensional space.
Further, upper limb healing equipment provided by the invention, wherein the end of telescopic arm 35 is located at wrist training cartridge
It sets and is equipped with multi-dimension force sensor (not shown), specially three-dimensional force sensor at 31 lower section.Three-dimensional force sensor can
Three linear strength at dynamic detection wrist training device 31, no matter how telescopic arm 35 moves in the horizontal direction, vertically
The power in direction is always consistent with the movement in vertical direction, and no matter how telescopic arm 35 rotates, and the power detected in horizontal direction is total
It is from the power in horizontal direction in the correct direction of telescopic arm 35.The wrist training cartridge that control device feeds back obliquity sensor
It sets 31 posture to be shown in display device 1, the angle position that can allow user oneself that can feed back by obliquity sensor
The force signal of signal and multi-dimension force sensor feedback, sees the movement position and training effect of oneself arm in real time, can also make
Doctor easily sees arm position and the training effect of user, provides the execution and supervision of order for doctor.
Further, as shown in Figures 2 and 4, upper limb healing equipment provided by the invention, wherein upper limb rehabilitation robot 3
Further include bottom opening shell 39 and can closure 39 bottom opening pedestal 38, lifting rotating shaft 32 be set to pedestal
On 38, and the upper end of lifting rotating shaft 32 upwardly extends the outside that shell 39 is extended to through the top of shell 39, lifting motor 33
And rotating electric machine 34 is set to the inside of shell 39.The side of shell 39 is equipped with moving handle 391, facilitates upper limb healing machine
The overall movement of people 3.Shell 39 can wrap up the transmission parts such as lifting motor 33, rotating electric machine 34, protect these transmissions
Component also increases the safety of upper limb healing equipment of the invention, wherein shell 39 be equipped with radiator fan 392, for pair
It radiates the inside of shell 39.
It wherein, can be with installation settings lifting sliding rail and rotation slide rail (being not shown in figure), so that lifting inside shell 39
Rotary shaft 32 goes up and down along lifting sliding rail and is rotated along rotation slide rail, to guarantee that 32 motion stabilization of lifting rotating shaft is accurate.
Compared with prior art, advantages of the present invention is as follows:
The present invention can be carried out the wrist training device of three-dimensional motion by setting, can be directed in three-dimensional space for user
Damage at wrist carries out multivariant training；Meanwhile upper limb health is respectively set by the way that the two sides of seat are arranged in the present invention
Multiple robot, and the training simultaneously of double upper limbs can be carried out for patient, realize synchronization and the exercise for coordination of double upper limbs.
The foregoing is merely the schematical specific embodiment of the present invention, the range being not intended to limit the invention.It is any
Those skilled in the art, under the premise of not departing from design and the principle of the present invention made equivalent variations with repair
Change, should belong to the scope of protection of the invention.
Claims (10)
1. a kind of upper limb healing equipment, which is characterized in that the upper limb healing equipment includes display device, control device, seat
And two groups of upper limb rehabilitation robots, the control device are electric with upper limb rehabilitation robot described in the display device, two groups respectively
Connection, the display device are oppositely arranged with the seat, and upper limb rehabilitation robot described in two groups is respectively arranged on the seat
Two sides；The upper limb rehabilitation robot includes the wrist training device that can be carried out three-dimensional motion.
2. upper limb healing equipment according to claim 1, which is characterized in that two upper limb rehabilitation robots are in horizontal plane
The center of upright projection formed to be greater than in the line of centres of the upright projection of horizontal plane with the seat respectively and 0 ° and be less than
180 ° of angle.
3. upper limb healing equipment according to claim 1, which is characterized in that two upper limb rehabilitation robots are in horizontal plane
The center of upright projection formed to be greater than in the line of centres of the upright projection of horizontal plane with the seat respectively and 90 ° and be less than
150 ° of angle.
4. upper limb healing equipment according to claim 1, which is characterized in that the wrist training device includes outer ring, interior
Ring and support hold component, and the outer ring can horizontally rotate, and the inner ring is coaxially disposed within the inside of the outer ring, and the inner ring
It can be rotated centered on its axis, the support holds the axially penetrate through inner ring of the component along the inner ring, and the support is held
The both ends of component extend to the two sides of the inner ring respectively, and the support holds the inside that component can vertically be rotationally connected with the inner ring
Surface.
5. upper limb healing equipment according to claim 4, which is characterized in that it is described support hold component include bottom plate, fupport arm and
Handle, the bottom plate can vertically be rotationally connected with the inner surface of the inner ring, and the bottom plate is set along the axial direction of the inner ring
It sets, and the both ends of the bottom plate extend to the two sides of the inner ring respectively, the fupport arm is set to the first of the bottom plate with can be removably mounted
On the upper surface at end, the handle is vertical on the upper surface of the second end of the bottom plate in which can be removably mounted, and the handle energy
It is rotated centered on its axis.
6. upper limb healing equipment according to claim 5, which is characterized in that the second end of the bottom plate is located at the handle
Lower section at be equipped with obliquity sensor.
7. upper limb healing equipment according to claim 5 or 6, which is characterized in that the handle is equipped with and the control
The triggering force snesor of device electrical connection.
8. described in any item upper limb healing equipment according to claim 1~6, which is characterized in that the upper limb rehabilitation robot
It further include lifting rotating shaft, lifting motor, rotating electric machine, telescopic arm and telescope motor；The lifting rotating shaft passes through the liter
The driving of drop motor can move back and forth up and down along the vertical direction, and the driving energy that the lifting rotating shaft passes through the rotating electric machine
It is rotated centered on its axis；The telescopic arm is vertically connected at the top of the lifting rotating shaft, and the telescopic arm
It can be stretched in the horizontal direction by the driving of the telescope motor；The wrist training device is connected to the end of the telescopic arm
Portion.
9. upper limb healing equipment according to claim 8, which is characterized in that the end of the telescopic arm is located at the wrist
Multi-dimension force sensor is equipped at the lower section of training device.
10. upper limb healing equipment according to claim 8, which is characterized in that the upper limb rehabilitation robot further includes bottom
The shell of portion's opening and can close the shell bottom opening pedestal, the lifting rotation is located on the pedestal,
And the upper end of the lifting rotating shaft upwardly extends the outside that the shell is extended at the top of the shell, the lifting electricity
Machine and the rotating electric machine are set to the inside of the shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810264243.4A CN110314064A (en) | 2018-03-28 | 2018-03-28 | Upper limb healing equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN111714334A (en) * | 2020-07-13 | 2020-09-29 | 厦门威恩科技有限公司 | Upper limb rehabilitation training robot and control method |
| CN112569084A (en) * | 2020-11-16 | 2021-03-30 | 上海普协医疗科技有限公司 | Upper limb rehabilitation training robot |
| CN113208872A (en) * | 2021-05-07 | 2021-08-06 | 上海羿生医疗科技有限公司 | Upper limb rehabilitation training device and control method thereof |
| CN113331826A (en) * | 2021-05-31 | 2021-09-03 | 汤志华 | Limb joint function evaluation rehabilitation training system and using method thereof |
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