CN102283761A - Upper limb recovery robot - Google Patents
Upper limb recovery robot Download PDFInfo
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- CN102283761A CN102283761A CN201110176549A CN201110176549A CN102283761A CN 102283761 A CN102283761 A CN 102283761A CN 201110176549 A CN201110176549 A CN 201110176549A CN 201110176549 A CN201110176549 A CN 201110176549A CN 102283761 A CN102283761 A CN 102283761A
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Abstract
The invention relates to medical appliances, in particular to an upper limb recovery robot, which comprises a base, a linear guide rail which is fixed on the base, a sliding block which is arranged on the linear guide rail in a sliding way, a first driving mechanism which is used for driving the sliding block, a frame which is fixed on the sliding block, a rocker bar which is arranged on the frame in a rotatable way, a second driving mechanism which is used for driving the rocker bar, a hand binding device which moves along the extension direction of the rocker bar and a third driving mechanism which is used for driving the hand binding device. The recovery robot has the degree of freedom of motion in three directions, and the motion in the three directions can be performed simultaneously and can also be performed separately, so that the sufficiency of recovery motion is ensured. The recovery robot has a simple structure, low cost and a simple and compact structural design; and by controlling a singlechip, the recovery robot has high motion autonomy, so that the dependence of hemiplegia patients on nursing personnel is greatly reduced.
Description
Technical field
The present invention relates to medical apparatus, be specially the upper limb rehabilitation robot that a kind of design has space motion.
Background technology
At present aging society problem and apoplexy and the hemiplegia problem that causes is more and more, people are also more and more higher to its attention rate, occurred the device for healing and training of numerous species then.At present, many recovery exercising robots that are in the treatment hemiplegia of experiment or starting stage have been developed abroad, experimental results show that by these patient is undertaken after the rehabilitation training by these robots, many patients' symptom has obtained tangible improvement, even the example of recovery from illness is quite a few, utilizes the healing robot treatment hemiplegia very attractive that just becomes like this.The upper limb healing device is a kind of healing robot with extensive practical value.
Research approach about the upper limb healing device is diversified at present, and for example, Taiwan National Chenggong University has designed a kind of healing robot that is applied to elbow joint flexion/extension motion on the plane, utilizes fuzzy controller to finish position and power control accurately; At home, Tsing-Hua University has developed the complex rehabilitation device of two linkages, the patient can hold mechanism's end hand grip, drives upper limb by device and finish the motion of upper limb Planar Compound on the horizontal plane of certain area, also can be fixed on the training respectively that 3 degree of freedom of shoulder are finished in the arm outside.Present reasonable like product is the novel upper limb rehabilitation robot of 5DOF (5DOF), the design of this robot is a theoretical foundation with human upper limb anatomy, adopt the exoskeleton-type structure, the degree of freedom in each joint meets each joint freedom degrees distribution condition of human upper limb, and from rehabilitation patient's actual rehabilitation training angle, selected upper extremity exercise substantially the most also is most important 5 degree of freedom: the shoulder flexion/extension, the shoulder abduction/adduction, the ancon flexion/extension, wrist flexion/extension and wrist medial rotation/revolve, and set each degree of freedom range of activity in conjunction with robot architecture and training requirement.
More or less all there is certain problem in research approach about present existence, there are certain limitation in the healing robot of elbow joint flexion/extension motion and the rehabilitation efficacy of two linkage complex rehabilitation devices on the plane, all be confined to a planar motion, the rehabilitation efficacy of upper limb is also abundant inadequately like this; The novel upper limb rehabilitation robot of relative 5DOF can make upper limb obtain sufficient rehabilitation exercise, but its structure is more complicated, and cost price is also more expensive.
Summary of the invention
Technical problem to be solved by this invention is big or expensive deficiency at existing upper limb healing device rehabilitation efficacy limitation, provides a kind of and can guarantee the adequacy of rehabilitation exercise, can take into account lower-cost novel upper limb rehabilitation robot again.
The technical solution adopted in the present invention is: a kind of upper limb rehabilitation robot comprises base; Be fixed on the line slideway on the described base, be slidingly arranged in the slide block on the described line slideway, drive first driving mechanism of described slide block; Be fixed on the frame on the described slide block, rotate the rocking bar that is arranged on the described frame, drive second driving mechanism of described rocking bar; Tie up the hands device along what the bearing of trend of described rocking bar moved, drive described the 3rd driving mechanism of tying up the hands device.
Preferably, described first driving mechanism comprises first motor that is fixed on the described base, be rotatably connected on the crank on described first motor output shaft, be rotatably connected on the connecting rod on the described crank, described connecting rod also is rotationally connected with slide block, and described crank, connecting rod and slide block are formed slider-crank mechanism.Be fixed with the line slideway seat on the described base, described line slideway is fixed on the line slideway seat.
Preferably, described second driving mechanism comprises second motor that is fixed on the described frame, rotates to be arranged on the described frame and the turning cylinder of fixedlying connected with described rocking bar, is connected the output shaft of described second motor and the gear pair between the described turning cylinder.The output shaft of described second motor is connected to an input gear with gear pair by shaft coupling and is fixedly coupled axle, and described and input gear gear pair is fixedly coupled the axle rotation and is arranged on the frame.
Preferably, described the 3rd driving mechanism comprises the belting that is arranged on the rocking bar, and the 3rd motor that is used to drive described belting, described belting comprises driving pulley, driven pulley, is with synchronously, the described hands device of tying up is fixed on synchronously and is with, and the output shaft of described the 3rd motor is connected with driving pulley.The output shaft of described the 3rd motor is connected to one by shaft coupling and is fixedly coupled axle with described driving pulley, and described and driving pulley are fixedly coupled axle and rotate and be arranged on the frame.The rotational axis line of described driving pulley overlaps with the rotational axis line of rocking bar, and described the 3rd motor is fixed on the frame.
The beneficial effect that the present invention reached is: this healing robot has the freedom of motion of three directions, and the space motion of upper limb both can be carried out, be realized to the motion of three directions simultaneously, also can carry out, selectively realize the plane motion of certain direction respectively separately, guarantee the adequacy of rehabilitation exercise.The slider-crank mechanism that designs in this healing robot, the rocking bar that can swing, and realize in the rocking bar that the simple cost of synchronous band drive mechanism that seesaws is also low.And structural design is simply compact, pass through Single-chip Controlling, motion autonomy height, make hemiplegic patient reduce greatly to nursing staff's dependency, even can break away from the auxiliary of stranger fully, only need dub button can independently carry out rehabilitation exercise, time saving and energy saving, conveniently needs the crowd of upper limb healing.
Description of drawings
By the more specifically explanation of the preferred embodiments of the present invention shown in the accompanying drawing, above-mentioned and other purpose, feature and advantage of the present invention will be more clear.Reference numeral identical in whole accompanying drawings is indicated identical part.Painstakingly do not draw accompanying drawing, focus on illustrating purport of the present invention by actual size equal proportion convergent-divergent.
Fig. 1 is overall structure master's cutaway view of the present invention.
The specific embodiment
Referring to the overall structure figure of upper limb rehabilitation robot shown in Figure 1, this upper limb rehabilitation robot comprises base 4, is connected by a series of moving components and ties up hands device 5 on the base 4, ties up hands device 5 and patient's wrist binding.Described motion of tying up three directions of relative base 4 realizations of hands device 5 energy: move up and down-corresponding to the above-below direction among Fig. 1, seesaw-corresponding to the left and right directions among Fig. 1, swing-corresponding to the vertical direction of Fig. 1, and then realize the motion of patient's wrist on three directions.Below will describe in detail to these a series of moving components.
Be fixed with line slideway 12 on the described base 4, sliding on the described line slideway 12 is provided with slide block 13, and described slide block 13 is by first drive mechanism.Particularly, described first driving mechanism comprises: be fixed on first motor 16 on the base 4, be rotatably connected on crank 15 on the output shaft of first motor 16, be rotatably connected on the connecting rod 14 on the described crank 15, described connecting rod 14 also is rotationally connected with slide block 13.Described crank 15, connecting rod 14 and slide block 13 are formed slider-crank mechanism, realize converting the rotation of first motor 16 slip of slide block 13 on line slideway 12 to.In order to strengthen the intensity of line slideway 12, also be fixed with line slideway seat 11 on the described base 4, line slideway 12 fixedly is fitted on the line slideway seat 11.
Be fixed with frame 21 on the described slide block 13, rotate on the described frame 21 and be provided with rocking bar 27, described rocking bar 27 is by second drive mechanism.Described second driving mechanism comprises: be fixed on second motor 22 on the frame 21, rotation is arranged on the frame 21 and the turning cylinder 26 of fixedlying connected with rocking bar 27, be connected by gear pair 25 between the output shaft of described turning cylinder 26 and described second motor 22, described gear pair 25 can directly be connected with the output shaft of second motor 22, also can be connected with the output shaft of second motor 22 by connecting axle 24 and shaft coupling 23, described connecting axle 24 is fixed with the input gear of gear pair 25, and connecting axle 24 rotations are arranged on the frame 21.Can also realize being connected by bindiny mechanisms such as band mechanism, turbine and worm mechanism synchronously between the output shaft of described turning cylinder 26 and described second motor 22.Described frame 21 is assembled by modes such as welding, be threaded by a plurality of monolithics, according to robot concrete structure design needs, can be designed to have frame 21 structures of size, differences in shape.
The described hands device 5 of tying up is arranged on the rocking bar 27 and can moves along the bearing of trend of rocking bar 27, and the described hands device 5 of tying up is by the 3rd drive mechanism.In the present embodiment, described the 3rd driving mechanism comprises the belting 34 that is arranged on the rocking bar 27, and the 3rd motor 31 that is used to drive described belting 34.Described belting 43 comprises driving pulley 341, driven pulley 342, is with 343 synchronously, and the described hands device 5 of tying up is fixed on and is with synchronously on 343, and the output shaft of described the 3rd motor 31 is connected with driving pulley 341.The output shaft of described the 3rd motor 31 can directly be connected with driving pulley 341, also can be connected with driving pulley 341 by connecting axle 33 and shaft coupling 32, adopts the latter among Fig. 1.Especially it should be noted that, the rotational axis line of described driving pulley 341 overlaps with the rotational axis line of rocking bar 27, thus, the 3rd motor 31 just can be fixed on the frame 21, but not be fixed on the rocking bar 27, the 3rd motor 31 is fixed on to be compared on the frame 21 on the rocking bar 27, can be so that this robot architecture is more stable.In Fig. 1, tie up hands device 5 and drive by belting 34, can also pass through screw rod, the realization of nut slider structure in other embodiments.
It more than is structure introduction to the present embodiment upper limb rehabilitation robot, its motion principle is: first motor 16 drives crank 15 rotations, drivening rod 14 swings, and then make slide block 13 be with frame 21 to slide along line slideway 12, thereby and realize tying up hands device 5 and pinion wrist and drive upper limb and move up and down; Second motor 22 drives shaft coupling 23, connecting axle 24 rotations, drives turning cylinders 26 by gear pair 25 and rotates, and then make that rocking bar 27 is that rotate in the axle center with turning cylinder 26, realizes tying up hands device 5 drive upper limb and swings; The 3rd motor 31 drives shaft couplings 32, connecting axle 33 rotates, and then drives driving pulley 341 and rotate, thereby drives synchronously the motion with 343, makes that tying up hands device 5 moves along rocking bar 27 bearing of trends, realizes that the front and back of upper limb are shunk.During motion, under the control of single-chip microcomputer, can realize that the moving up and down of upper limb, front and back shrink and swing, when three motors are worked simultaneously, make the motion of arm become space motion; When three motors start separately respectively, form single plane motion.The adequacy of rehabilitation can be reached like this, the plane motion of certain aspect can be selectively carried out again.
Though the present invention with preferred embodiment openly as above; but it is not to be used for limiting claim; any those skilled in the art without departing from the spirit and scope of the present invention; can make possible change and modification, so protection scope of the present invention should be as the criterion with the scope that claim of the present invention was defined.
Claims (8)
1. a upper limb rehabilitation robot comprises base, it is characterized in that, also comprises: be fixed on the line slideway on the described base, be slidingly arranged in the slide block on the described line slideway, drive first driving mechanism of described slide block; Be fixed on the frame on the described slide block, rotate the rocking bar that is arranged on the described frame, drive second driving mechanism of described rocking bar; Tie up the hands device along what the bearing of trend of described rocking bar moved, drive described the 3rd driving mechanism of tying up the hands device.
2. upper limb rehabilitation robot as claimed in claim 1, it is characterized in that: described first driving mechanism comprises first motor that is fixed on the described base, be rotatably connected on the crank on described first motor output shaft, be rotatably connected on the connecting rod on the described crank, described connecting rod also is rotationally connected with slide block, and described crank, connecting rod and slide block are formed slider-crank mechanism.
3. upper limb rehabilitation robot as claimed in claim 1 is characterized in that: be fixed with the line slideway seat on the described base, described line slideway is fixed on the line slideway seat.
4. upper limb rehabilitation robot as claimed in claim 1, it is characterized in that: described second driving mechanism comprises second motor that is fixed on the described frame, rotation is arranged on the described frame and the turning cylinder of fixedlying connected with described rocking bar, is connected the output shaft of described second motor and the gear pair between the described turning cylinder.
5. upper limb rehabilitation robot as claimed in claim 4, it is characterized in that: the output shaft of described second motor is connected to an input gear with gear pair by shaft coupling and is fixedly coupled axle, and described and input gear gear pair is fixedly coupled the axle rotation and is arranged on the frame.
6. upper limb rehabilitation robot as claimed in claim 1, it is characterized in that: described the 3rd driving mechanism comprises the belting that is arranged on the rocking bar, and the 3rd motor that is used to drive described belting, described belting comprises driving pulley, driven pulley, is with synchronously, the described hands device of tying up is fixed on synchronously and is with, and the output shaft of described the 3rd motor is connected with driving pulley.
7. upper limb rehabilitation robot as claimed in claim 6 is characterized in that: the output shaft of described the 3rd motor is connected to one by shaft coupling and is fixedly coupled axle with described driving pulley, and described and driving pulley are fixedly coupled axle and rotate and be arranged on the frame.
8. upper limb rehabilitation robot as claimed in claim 6 is characterized in that: the rotational axis line of described driving pulley overlaps with the rotational axis line of rocking bar, and described the 3rd motor is fixed on the frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110176549A CN102283761A (en) | 2011-06-28 | 2011-06-28 | Upper limb recovery robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110176549A CN102283761A (en) | 2011-06-28 | 2011-06-28 | Upper limb recovery robot |
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| CN102283761A true CN102283761A (en) | 2011-12-21 |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102805697A (en) * | 2012-08-08 | 2012-12-05 | 中国科学院宁波材料技术与工程研究所 | Cross universal rocker type upper limb rehabilitation machine |
| CN102988151A (en) * | 2012-11-23 | 2013-03-27 | 上海电机学院 | Upper limb trainer |
| CN103519972A (en) * | 2013-10-22 | 2014-01-22 | 四川旭康医疗电器有限公司 | Joint traction device and control method thereof |
| CN103845182A (en) * | 2014-01-15 | 2014-06-11 | 安阳工学院 | Shoulder joint rehabilitation trainer |
| CN104814857A (en) * | 2015-05-09 | 2015-08-05 | 安阳工学院 | Rehabilitation training device of unilateral upper limb dysfunction |
| CN104814858A (en) * | 2015-05-09 | 2015-08-05 | 安阳工学院 | Passive rehabilitation training device of unilateral upper limb |
| CN105125378A (en) * | 2015-08-25 | 2015-12-09 | 广西大学 | Horizontal leg tendon relaxing and collateral activating physiotherapy device |
| CN105193581A (en) * | 2015-08-14 | 2015-12-30 | 广西大学 | Horizontal leg slimming device |
| CN105979919A (en) * | 2013-09-27 | 2016-09-28 | 巴莱特技术有限责任公司 | Multi-active-axis, non-exoskeletal rehabilitation device |
| CN106038175A (en) * | 2016-07-07 | 2016-10-26 | 国家康复辅具研究中心 | Joint compound motion mechanical arm used for rehabilitation training of upper limb |
| CN106618964A (en) * | 2017-01-19 | 2017-05-10 | 河南省中瑞机器人科技有限公司 | Rehabilitation robot realizing neck movement |
| CN108392373A (en) * | 2018-03-30 | 2018-08-14 | 南京市鼓楼区建宁路社区卫生服务中心 | Exercising apparatus for recovery of upper limb |
| CN109646252A (en) * | 2019-02-28 | 2019-04-19 | 王兆会 | A kind of Neurology upper limb healing therapeutic equipment |
| CN110202555A (en) * | 2019-07-10 | 2019-09-06 | 贵州大学 | Mechanical structure and driving method suitable for upper limb exoskeleton mechanism wrist motion |
| WO2020038123A1 (en) * | 2018-08-23 | 2020-02-27 | 大连理工大学 | Upper limb neurological rehabilitation training apparatus |
| CN112972092A (en) * | 2021-02-25 | 2021-06-18 | 徐州生物工程职业技术学院 | Cervical and lumbar vertebra traction bed for traditional Chinese medicine rehabilitation |
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Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102805697B (en) * | 2012-08-08 | 2014-06-04 | 中国科学院宁波材料技术与工程研究所 | Cross universal rocker type upper limb rehabilitation machine |
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| CN102988151A (en) * | 2012-11-23 | 2013-03-27 | 上海电机学院 | Upper limb trainer |
| CN105979919A (en) * | 2013-09-27 | 2016-09-28 | 巴莱特技术有限责任公司 | Multi-active-axis, non-exoskeletal rehabilitation device |
| US10925797B2 (en) | 2013-09-27 | 2021-02-23 | Barrett Technology, Llc | Multi-active-axis, non-exoskeletal rehabilitation device |
| CN105979919B (en) * | 2013-09-27 | 2019-09-20 | 埃斯顿(南京)医疗科技有限公司 | The non-exoskeleton-type rehabilitation equipment of multi-activity axis |
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| CN103519972A (en) * | 2013-10-22 | 2014-01-22 | 四川旭康医疗电器有限公司 | Joint traction device and control method thereof |
| CN103519972B (en) * | 2013-10-22 | 2015-03-11 | 四川旭康医疗电器有限公司 | Joint traction device and control method thereof |
| CN103845182A (en) * | 2014-01-15 | 2014-06-11 | 安阳工学院 | Shoulder joint rehabilitation trainer |
| CN104814858B (en) * | 2015-05-09 | 2017-04-05 | 安阳工学院 | A kind of unilateral upper limb passive rehabilitation training device |
| CN104814858A (en) * | 2015-05-09 | 2015-08-05 | 安阳工学院 | Passive rehabilitation training device of unilateral upper limb |
| CN104814857A (en) * | 2015-05-09 | 2015-08-05 | 安阳工学院 | Rehabilitation training device of unilateral upper limb dysfunction |
| CN105193581A (en) * | 2015-08-14 | 2015-12-30 | 广西大学 | Horizontal leg slimming device |
| CN105125378A (en) * | 2015-08-25 | 2015-12-09 | 广西大学 | Horizontal leg tendon relaxing and collateral activating physiotherapy device |
| CN106038175B (en) * | 2016-07-07 | 2018-05-08 | 国家康复辅具研究中心 | A kind of joint compound motion mechanical arm for rehabilitation training of upper limbs |
| CN106038175A (en) * | 2016-07-07 | 2016-10-26 | 国家康复辅具研究中心 | Joint compound motion mechanical arm used for rehabilitation training of upper limb |
| CN106618964A (en) * | 2017-01-19 | 2017-05-10 | 河南省中瑞机器人科技有限公司 | Rehabilitation robot realizing neck movement |
| CN108392373A (en) * | 2018-03-30 | 2018-08-14 | 南京市鼓楼区建宁路社区卫生服务中心 | Exercising apparatus for recovery of upper limb |
| WO2020038123A1 (en) * | 2018-08-23 | 2020-02-27 | 大连理工大学 | Upper limb neurological rehabilitation training apparatus |
| CN109646252B (en) * | 2019-02-28 | 2021-01-22 | 王兆会 | Department of neurology upper limbs rehabilitation equipment |
| CN109646252A (en) * | 2019-02-28 | 2019-04-19 | 王兆会 | A kind of Neurology upper limb healing therapeutic equipment |
| CN110202555A (en) * | 2019-07-10 | 2019-09-06 | 贵州大学 | Mechanical structure and driving method suitable for upper limb exoskeleton mechanism wrist motion |
| CN110202555B (en) * | 2019-07-10 | 2024-05-10 | 贵州大学 | Mechanical structure suitable for wrist movement of upper limb exoskeleton mechanism and driving method |
| CN112972092A (en) * | 2021-02-25 | 2021-06-18 | 徐州生物工程职业技术学院 | Cervical and lumbar vertebra traction bed for traditional Chinese medicine rehabilitation |
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Application publication date: 20111221 |