CN101869526A - Upper limb rehabilitation training robot - Google Patents
Upper limb rehabilitation training robot Download PDFInfo
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- CN101869526A CN101869526A CN201010222010A CN201010222010A CN101869526A CN 101869526 A CN101869526 A CN 101869526A CN 201010222010 A CN201010222010 A CN 201010222010A CN 201010222010 A CN201010222010 A CN 201010222010A CN 101869526 A CN101869526 A CN 101869526A
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Abstract
The invention discloses an upper limb rehabilitation training robot. The upper limb rehabilitation training robot comprises a pedestal, an ergonomic seat, a rehabilitation mechanical arm and a man-machine interaction control cabinet, wherein the pedestal is provided with a height adjusting mechanism and a transversing mechanism; the transversing mechanism is provided with a suspending arm; the rehabilitation mechanical arm comprises a shoulder abduction/adduction joint, a shoulder bending/stretching joint, an upper arm, an elbow joint, a front arm inward turning/outward turning joint, a front arm, a wrist bending/stretching joint, a palm and fingers, wherein the shoulder abduction/adduction joint is arranged on the suspending arm; the shoulder bending/stretching joint is connected with the shoulder abduction/adduction joint; the front arm is connected with the upper arm by the elbow joint and provided with the front arm inward turning/outward turning joint; the palm is connected with the front arm by the wrist bending/stretching joint and connected with the fingers by a connecting rod; the upper arm, the front arm and the palm are fixedly connected with three force sensors; and the sensor fixedly connected to the upper arm is a two-dimensional sensor. The robot provides composite rehabilitation motion for each joint of the upper limb of a patient in a three-dimensional space and can finish the rehabilitation training of the upper limb with high quality.
Description
Technical field
The present invention relates to a kind of upper-limbs rehabilitation training robot, belong to medical rehabilitation exercising device technical field.
Background technology
Be on the increase because of suffering from the number that cerebrovascular disease or nervous system disease cause the middle-older patient hemiplegia in recent years, and present rejuvenation trend in years; Simultaneously, because something so cause nerve injury or the number of limb injury also more and more.Especially the forfeiture of upper extremity exercise function has greatly influenced the ability of patient's daily life.For the patient of these hemiplegias and limbs damaged, carrying out rehabilitation training is very important and crucial medical procedure.
Along with modern nervus centralis rehabilitation mechanism progress of research, research worker is being carried out big quantity research based on robotics aspect the motion function rehabilitation both at home and abroad, and its goal in research is the robot that development has rehabilitation and Function of Evaluation.
The healing robot technology is a kind of new nervus motorius rehabilitation technology, and robotics is applied to rehabilitation field, both can provide effective rehabilitation training, does not increase clinical treatment personnel's the burden and the cost of health care again; In addition, robot can write down full and accurate treatment data and figure, and objective, treatment and evaluating accurately can be provided, and helps the carrying out of robot auxiliary treatment hemiplegia, can effectively improve rehabilitation efficacy and improve rehabilitation efficient.
At present, both at home and abroad upper-limbs rehabilitation training robot is being used for there are many shortcoming and defect when upper extremity exercise dysfunction patient treats with rehabilitation training, mainly contains: the joint of support activities is single or less, especially the motion in joints such as forearm rotation and wrist finger is not integrated in system and the device; Individual adaptability is poor, can not carry out the adjustment of device or adjust inconvenient according to different patients; The motor pattern of supporting is single, can only carry out passive exercise or install not possessing the driving function; Comfortableness is relatively poor, can not realize man-machine harmony and unification preferably; The interest that can not excite the patient to train; Can not solve safety problems such as strength and position overload preferably.CN101357097A has announced a kind of five-freedom degree dermaskeleton type upper limb rehabilitation robot, this robot comprises installing rack, switch board, rehabilitation mechanical arm body, rehabilitation mechanical arm is made of horizontal shoulder, upper arm, forearm and handle, 5 degree-of-freedom joints provide the simple joint motion and three dimensions multi-joint compound motion in each joint of patient.The mechanical arm structure of this invention is single, light and handy compact inadequately, and rotary inertia is big; Adjust very inconveniently, individual adaptability is poor; Can not support the rehabilitation exercise of patient's upper limb, especially can not realize the rehabilitation training of patient's articulations digitorum manus than multi-joint; Exist not enough at the safety design aspect.
Summary of the invention
The present invention is intended to overcome above-mentioned the deficiencies in the prior art, and a kind of upper-limbs rehabilitation training robot is provided, and this robot can be used for that upper extremity exercise dysfunction patient treats, rehabilitation training, rehabilitation recruitment evaluation.Structure is lightly attractive in appearance, and individual adaptability is good and easy to adjust, supports the upper limb multi-joint and comprises the rehabilitation training of finger-joint, uses handling safety effective.
Technical scheme of the present invention is:
This upper-limbs rehabilitation training robot, comprise: (1) can carry out the base that two-dimensional direction is adjusted, (2) be fixed in Ergonomic chair on the described base, (3) mechanical arm of each joint motions of support human upper limb, the switch board that (4) connect and control described manipulator motion, carry out date processing and man-machine interaction.
Height adjustment mechanism and transverse-moving mechanism are installed on the chassis of described base, on this transverse-moving mechanism cantilevered leg are installed; Described rehabilitation mechanical arm has 5 degree-of-freedom joints, and strong/torque sensor is set, and the drive motors in its shoulder abduction/adduction joint and shoulder flexion/extension joint is installed in respectively on the pivot center in their joints.
Technical characterstic of the present invention is: described rehabilitation mechanical arm comprises shoulder abduction/adduction joint, shoulder flexion/extension joint, upper arm, elbow joint, forearm inward turning/the joint of turning up, forearm, wrist flexion/extension joint, palm and finger, its shoulder abduction/adduction joint is installed on the described cantilevered leg, shoulder flexion/extension joint is connected with shoulder abduction/adduction joint by a connecting seat, upper arm is fixed on the rotating shaft in shoulder flexion/extension joint, forearm is connected with upper arm by elbow joint, on the forearm and the forearm inward turning/joint of turning up is installed, palm is connected with palm by wrist flexion/extension joint, and palm connects finger by a connecting rod; The drive motors of described elbow joint is installed on the crank that drives the elbow joint rotation, and the drive motors in forearm inward turning/turn up joint and wrist flexion/extension joint rotates by its joint of gear drive, and finger motion is driven by the drive motors in wrist flexion/extension joint; 3 force transducers that are connected on described upper arm, forearm and palm, the pick off that wherein is fixed on upper arm is a dimension sensor.
Described base comprises chassis, height adjustment mechanism, transverse-moving mechanism and cantilevered leg; Described height adjustment mechanism is the electric up-down post, and described transverse-moving mechanism is made up of line slideway and linear bearing, and linear bearing moves at line slideway upper edge line slideway, and described cantilevered leg is fixed on the linear bearing, on the transverse-moving mechanism and be provided with locking device.
Above-mentioned locking device comprises bearing pin, set lever, fixedly fixture block and tensioner fixture block, and described set lever is connected with the tensioner fixture block, and the tensioner fixture block rotates around bearing pin, and bearing pin is fixed on the described cantilevered leg and is connected with fixing fixture block.
Be provided with length adjusting mechanism on described upper arm, forearm, palm and the finger.
Described elbow joint is driven by a parallel four-bar linkage, and its drive motors and reductor place near shoulder position, and length of connecting rod can be adjusted.
Described palm and finger are slider-crank mechanisms, and the motion of wrist flexion/extension is directly driven by crank, and finger motion is driven by a connecting rod that is fixed on the described slider-crank mechanism.
Electric spacing and/or mechanical hard stopping means is installed on each cradle head of described rehabilitation mechanical arm.
Compared with prior art, the invention has the beneficial effects as follows:
1) rehabilitation mechanical arm apery upper limb design has realized man-machine Perfect Matchings, the comfortableness when having improved rehabilitation training;
2) realization of joint motions such as human upper limb shoulder joint, elbow joint and carpal joint and finger motion has been integrated on the rehabilitation mechanical arm, especially can have realized the motion of wrist and finger;
3) owing to adopt member structure, can adjust the length of each section of rehabilitation mechanical arm easily, strengthen the adaptability of recovery exercising robot different individual patients according to the size of different patient's upper limb;
4) because the more employing linkage of mechanical arm of recovery exercising robot makes mechanism compact, attractive in appearance more, also significantly reduce the rotary inertia of each simultaneously, improved mechanism precision;
5) motion of wrist and finger is realized by the slider-crank mechanism of a cover biasing, is equipped with a cover motor and a decelerator, makes and has also reduced cost simultaneously by compact conformation;
6) 3 force transducers are arranged between rehabilitation mechanical arm and human upper limb, can be to overload (driving force) and abnormal conditions detect and security protection;
7) electric spacing and/or mechanical hard stopping means is installed on each cradle head of rehabilitation mechanical arm, has guaranteed when the patient carries out rehabilitation training safe and effective.
Description of drawings
Fig. 1 is a population structure sketch map of the present invention;
Fig. 2 is the structural representation of base;
Fig. 3 is the structural representation of locking device among Fig. 2;
Fig. 4 is the structural representation of rehabilitation mechanical arm.
The specific embodiment
Further introduce embodiments of the invention below in conjunction with accompanying drawing.
Following embodiment is illustrative, is not determinate, can not limit protection scope of the present invention with following embodiment.
As shown in Figure 1, upper-limbs rehabilitation training robot by the base I that can carry out the two-dimensional direction adjustment, Ergonomic chair II, support the rehabilitation mechanical arm III of each joint motions of human upper limb and control manipulator motion, four parts such as switch board IV of carrying out date processing and man-machine interaction form.
As Fig. 2, shown in Figure 3, the base of upper limb rehabilitation robot is made up of chassis 1, height adjustment mechanism 3, transverse-moving mechanism 5 and cantilevered leg 6 etc.Height adjustment mechanism 3 is an electric up-down post (built-in direct current generators, not shown), is fixed on the chassis 1 by column 2, can adjust the height of rehabilitation mechanical arm with respect to base when the lifting of electric up-down post; Transverse-moving mechanism 5 is made up of line slideway 5-1 and linear bearing 5-2, linear bearing 5-2 moves at line slideway 5-1 upper edge line slideway 5-1, line slideway 5-1 on the transverse-moving mechanism 5 is connected with the electric up-down post by fixing head 4, and cantilevered leg 10 is fixed on the linear bearing 5-2.Transverse-moving mechanism 5 is provided with locking device, locking device is by bearing pin 6, set lever 8, fixedly fixture block 7 and tensioner fixture block 9 are formed, set lever 8 is connected with tensioner fixture block 9, tensioner fixture block 9 rotates around bearing pin 6, bearing pin 6 is fixed on the cantilevered leg 10 and is connected with fixing fixture block 7, when rotational lock handle 8, the fixing line slideway 5-1 that clamps on the transverse-moving mechanisms 5 of fixture block 7 and tensioner fixture block 9, cantilevered leg 10 is locked.
Shown in Figure 4, rehabilitation mechanical arm is made up of shoulder abduction/adduction joint III-1, shoulder flexion/extension joint III-2, upper arm III-3, elbow joint III-4, the forearm inward turning/joint III-5 of turning up, forearm III-6, wrist flexion/extension joint III-7, palm III-8 and finger III-9 etc.Rehabilitation mechanical arm is fixed on the cantilevered leg 10 by the bearing block 11 on the shoulder abduction/adduction joint, shoulder flexion/extension joint III-2 is connected with shoulder abduction/adduction joint III-1 by a connecting seat 12, upper arm III-3 is fixed on the spill spin block 28 of shoulder flexion/extension joint III-2, forearm III-6 is connected with upper arm III-3 by elbow joint III-4, forearm inward turning/joint the III-5 of turning up is installed on forearm III-6, palm III-8 is connected with forearm III-6 by wrist flexion/extension joint III-7, and palm III-8 connects finger III-9 by a connecting rod 20; 5 degree-of-freedom joints, the drive motors 29,27 of shoulder abduction/adduction joint III-1 and shoulder flexion/extension joint III-2 is installed in respectively on the pivot center in their joints, elbow joint III-4 is driven by a parallel four-bar linkage, its drive motors 13 is installed on the crank 14 that drives the elbow joint rotation by reductor, and near shoulder position, the length of connecting rod 15 can be adjusted, and the drive motors (not shown) of the forearm inward turning/joint III-5 of turning up is connected with gear 17; Palm III-8 and finger III-9 are slider-crank mechanisms of a cover biasing, the drive motors 18 of wrist flexion/extension joint III-7 drives wrist flexion/extension joint III-7 by a pair of bevel gear (not shown) and rotates, when wrist flexion/extension joint III-7 is rotated, connecting rod 19 is also driven by the drive motors 18 of wrist flexion/extension joint III-7, thereby realizes the motion of finger-joint III-9; 3 force transducers 16,25,23 are connected on upper arm III-3, forearm III-6 and palm III-8, the pick off 16 that wherein is fixed on upper arm III-3 is dimension sensors, and force transducer detects mechanical arm and puts on the power of human upper limb each several part and the human upper limb power to mechanical arm; Upper arm III-3 is provided with brachium governor motion 26, and forearm III-6 is provided with brachium governor motion 24, and palm III-8 is provided with brachium governor motion 22, and finger III-9 is provided with brachium governor motion 21.
Each cradle head of rehabilitation mechanical arm is all adopted DC servo motor, and each is furnished with external or built-in encoder, carries out position probing and control; On each cradle head electric spacing and/or mechanical hard stopping means is installed simultaneously, has guaranteed when the patient carries out rehabilitation training safe and effective.
Claims (7)
- One kind be used for that upper extremity exercise dysfunction patient treats, the upper-limbs rehabilitation training robot of rehabilitation training, rehabilitation recruitment evaluation, comprising:Can carry out the base that two-dimensional direction is adjusted;Be fixed in the Ergonomic chair on the base;Support the rehabilitation mechanical arm of each joint motions of human upper limb;The switch board that control described rehabilitation mechanical arm motion, carries out date processing and man-machine interaction;Height adjustment mechanism and transverse-moving mechanism are installed on the chassis of described base, on this transverse-moving mechanism cantilevered leg are installed; Described rehabilitation mechanical arm has 5 degree-of-freedom joints, and strong/torque sensor is set, and the drive motors in its shoulder abduction/adduction joint and shoulder flexion/extension joint is installed in respectively on the pivot center in their joints;It is characterized in that: described rehabilitation mechanical arm comprises shoulder abduction/adduction joint, shoulder flexion/extension joint, upper arm, elbow joint, forearm inward turning/the joint of turning up, forearm, wrist flexion/extension joint, palm and finger, its shoulder abduction/adduction joint is installed on the described cantilevered leg, shoulder flexion/extension joint is connected with shoulder abduction/adduction joint by a connecting seat, upper arm is fixed on the rotating shaft in shoulder flexion/extension joint, forearm is connected with upper arm by elbow joint, on the forearm and the forearm inward turning/joint of turning up is installed, palm is connected with palm by wrist flexion/extension joint, and palm connects finger by a connecting rod; The drive motors of described elbow joint is installed on the crank that drives the elbow joint rotation, and the drive motors in forearm inward turning/turn up joint and wrist flexion/extension joint rotates by its joint of gear drive, and finger motion is driven by the drive motors in wrist flexion/extension joint; 3 force transducers that are connected on described upper arm, forearm and palm, the pick off that wherein is fixed on upper arm is a dimension sensor.
- 2. upper-limbs rehabilitation training robot according to claim 1, it is characterized in that: the height adjustment mechanism on described base chassis is the electric up-down post, described transverse-moving mechanism comprises line slideway and linear bearing, linear bearing moves at line slideway upper edge line slideway, described cantilevered leg is fixed on the linear bearing, on the described transverse-moving mechanism and be provided with locking device.
- 3. upper-limbs rehabilitation training robot according to claim 2, it is characterized in that: described locking device comprises bearing pin, set lever, fixedly fixture block and tensioner fixture block, described set lever is connected with the tensioner fixture block, the tensioner fixture block rotates around bearing pin, and bearing pin is fixed on the described cantilevered leg and is connected with fixing fixture block.
- 4. upper-limbs rehabilitation training robot according to claim 1 is characterized in that: be provided with length adjusting mechanism on described upper arm, forearm, palm and the finger.
- 5. upper-limbs rehabilitation training robot according to claim 1 is characterized in that: described elbow joint is driven by a parallel four-bar linkage, and its drive motors and reductor place near shoulder position, and length of connecting rod can be adjusted.
- 6. upper-limbs rehabilitation training robot according to claim 1 is characterized in that: described palm and finger are slider-crank mechanisms, and the motion of wrist flexion/extension is directly driven by crank, and finger motion is driven by a connecting rod that is fixed on the described slider-crank mechanism.
- 7. upper-limbs rehabilitation training robot according to claim 1 is characterized in that: electric spacing and/or mechanical hard stopping means is installed on each cradle head of described mechanical arm.
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| CN201010222010A CN101869526A (en) | 2010-06-07 | 2010-07-09 | Upper limb rehabilitation training robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201010193189.2 | 2010-06-07 | ||
| CN201010193189 | 2010-06-07 | ||
| CN201010222010A CN101869526A (en) | 2010-06-07 | 2010-07-09 | Upper limb rehabilitation training robot |
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| CN101869526A true CN101869526A (en) | 2010-10-27 |
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| CN201010222010A Pending CN101869526A (en) | 2010-06-07 | 2010-07-09 | Upper limb rehabilitation training robot |
| CN2010202528866U Expired - Fee Related CN201743884U (en) | 2010-06-07 | 2010-09-01 | Robot for rehabilitating and training upper limb |
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| CN2010202528866U Expired - Fee Related CN201743884U (en) | 2010-06-07 | 2010-09-01 | Robot for rehabilitating and training upper limb |
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2010
- 2010-07-09 CN CN201010222010A patent/CN101869526A/en active Pending
- 2010-09-01 CN CN2010202528866U patent/CN201743884U/en not_active Expired - Fee Related
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