CN102499858B - Safety shoulder joint of rehabilitation robot - Google Patents
Safety shoulder joint of rehabilitation robot Download PDFInfo
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- CN102499858B CN102499858B CN 201110357482 CN201110357482A CN102499858B CN 102499858 B CN102499858 B CN 102499858B CN 201110357482 CN201110357482 CN 201110357482 CN 201110357482 A CN201110357482 A CN 201110357482A CN 102499858 B CN102499858 B CN 102499858B
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Abstract
A safety shoulder joint of a rehabilitation robot comprises a big arm of the rehabilitation robot, and a motor arranged on a front panel. A sleeve is arranged on the big arm of the rehabilitation robot, a first spring damper, a second spring damper, a third spring damper and a fourth spring damper are arranged between the sleeve and the front panel, one end of each of the first spring damper, the second spring damper, the third spring damper and the fourth spring damper is respectively connected with the sleeve, the other end of each of the first spring damper, the second spring damper, the third spring damper and the fourth spring damper is connected with the front panel, a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod are arranged between the front panel and the big arm of the rehabilitation robot and respectively adopt a link mechanism comprising a link, a first universal joint and a second universal joint are arranged at two ends of each link respectively, the first universal joint is connected with the big arm of the rehabilitation robot, and the second universal joint is connected with the front panel. The shoulder joint mechanism can synchronously move with a shoulder joint to be rehabilitated in rehabilitation training, and conforms to the properties of rehabilitation training so that rehabilitation training is more comfortable and safer.
Description
One, technical field
The present invention relates to a kind of upper limb rehabilitation robot, in particular for the safety shoulder joint of rehabilitation robot of healing and training shoulder joint.
Two, background technology
For apoplexy wind disease sequela patient, it is very crucial important medical procedure that rehabilitation training is carried out at its hemiplegia position, carries out early rehabilitation training and can obviously reduce disabled probability.In traditional rehabilitation, the therapist carries out rehabilitation training to the patient usually by doing and illustrating at home, takes time and effort, and there is no again quantitative rehabilitation evaluating standard.Therefore, robotics is applied to rehabilitation field, develop a kind of recovery exercising robot that satisfies the rehabilitation needs to improve rehabilitation training efficient and effect, have great using value and actual urgency.
The healing robot technology has obtained the generally attention of robot research person and medical institutions in China, many research institutions have all carried out relevant research work, and has obtained some valuable achievements.Because the direct effect target of healing robot is patient's trouble limb, how not only to guarantee the efficient of rehabilitation but also can guarantee that the safety of rehabilitation is the emphasis of recovery exercising robot research in rehabilitation training.
At present, mostly to be the axle center constant for the frame for movement of the shoulder joint of the upper-limbs rehabilitation training robot of domestic development.Yet clinical experiment finds in during rehabilitation training, because the athletic meeting of upper arm drives a series of skeleton of shoulder and the musculatioies such as scapula, clavicle, thereby changes the axle center of shoulder joint.Using in this case the constant rehabilitation training apparatus in axle center to carry out the rehabilitation training meeting is the effect that unnecessary restraint is received in the joint, even causes the problems such as muscle sprain.So develop a kind of can be in subrange be unusual urgent problems with the rehabilitation institution of shoulder joint axe movement in rehabilitation training.
Three, summary of the invention
The object of the present invention is to provide a kind of safety shoulder joint of rehabilitation robot of safety in utilization, this structure can be when patient carries out rehabilitation exercise, motion according to shoulder joint, change the axle center of output shaft, thereby better follow the motion of patient's arm, realize the training modes such as active training and passive exercise.
The present invention adopts following technical scheme:
a kind of safety shoulder joint of rehabilitation robot comprises: the large arm of healing robot and the motor that is located on front panel, be provided with sleeve on the large arm of healing robot, and be provided with the first spring-damper between sleeve and front panel, the second spring-damper, the 3rd spring-damper and the 4th spring-damper, the first spring-damper, the second spring-damper, one end of the 3rd spring-damper and the 4th spring-damper is connected with sleeve respectively, the first spring-damper, the second spring-damper, the other end of the 3rd spring-damper and the 4th spring-damper is connected with front panel respectively, is provided with first connecting rod between the large arm of plate and healing robot in front, second connecting rod, third connecting rod and the 4th connecting rod, first connecting rod, second connecting rod, third connecting rod and the 4th connecting rod adopt linkage, and described linkage comprises connecting rod, is respectively equipped with the first universal joint and the second universal joint at the two ends of connecting rod, and the first universal joint is connected with the large arm of healing robot, and the second universal joint is connected with front panel.
The frame for movement of upper limb rehabilitation robot of the present invention has following advantage:
1. the patient is when using healing robot to carry out rehabilitation training of upper limbs, at upper half the circumference of the sleeve where it joins the shoulder wing especially in when action of praising of carrying out arm, the axle center of shoulder joint can change because of the motion of shoulder skeleton or muscle, and that the axle center in the joint designs of existing robot is is immutable, when the axis deviation of the axle center of robot and shoulder joint, can involve rehabilitation and suffer from limb, cause pain, even pull the trouble limb.Utilize four parallel linkages in the present invention, electrical axis can be moved on vertical plane YOZ, this kind design can make electrical axis coordinate the motion in shoulder joint axle center, and the shoulder joint of fitting more closely makes patient's body sense more comfortable.
2. simultaneously, the structure of four parallel rods has guaranteed that the inclination angle with vertical plane can not appear in the motor joint face, has guaranteed can not cause the pressure of side direction to sick limb, has guaranteed the safety in the rehabilitation training.
3. be fixed on the principal arm of robot by 4 spring-dampers on the motor train junction, adding of spring can guarantee that not only system automatically resets, and can overcome the impact of gravity, and adding of antivibrator can absorb unnecessary energy, overcoming the impact of vibration, is that motor process is more steadily releived.
Four, description of drawings
Fig. 1 is the structure chart in the safe joint of healing robot of the present invention, in figure, take motor output shaft axially as the OX direction.
Fig. 2 is the A-A partial sectional view in the safe joint of healing robot of the present invention.
Fig. 3 is the front view in the safe joint of healing robot of the present invention.
Fig. 4 is the structure chart of the bar linkage structure in the present invention.
Fig. 5 is the schematic diagram (without sleeve) in the safe joint of healing robot of the present invention.
Five, specific embodiments
Hereinafter by reference to the accompanying drawings and specific embodiment the structure of four-degree-of-freedom upper and lower limbs rehabilitation training of the present invention robot is described in detail.
a kind of safety shoulder joint of rehabilitation robot, comprise: the large arm 1 of healing robot and the motor 9 that is located on front panel 3, be provided with sleeve 2 on the large arm 1 of healing robot, be provided with the first spring-damper 5 between sleeve 2 and front panel 3, the second spring-damper 6, the 3rd spring-damper 7 and the 4th spring-damper 8, the first spring-damper 5, the second spring-damper 6, one end of the 3rd spring-damper 7 and the 4th spring-damper 8 is connected with sleeve 2 respectively, the first spring-damper 5, the second spring-damper 6, the other end of the 3rd spring-damper 7 and the 4th spring-damper 8 is connected with front panel 3 respectively, be provided with first connecting rod 10 between the large arm 1 of plate 3 and healing robot in front, second connecting rod 11, third connecting rod 12 and the 4th connecting rod 13, first connecting rod 10, second connecting rod 11, third connecting rod 12 and the 4th connecting rod 13 adopt linkage, described linkage comprises connecting rod 131, be respectively equipped with the first universal joint 132 and the second universal joint 133 at the two ends of connecting rod 131, and the first universal joint 132 is connected with the large arm 1 of healing robot, the second universal joint 133 is connected with front panel 3.
The below specifically describes whole system and how to work:
Motor 9 is connected with front panel 3 is coaxial, front panel 3 is being connected with first connecting rod 10, second connecting rod 11, third connecting rod 12 and the 4th connecting rod 13 respectively on four direction up and down, and four isometric first connecting rods 10, second connecting rod 11, third connecting rod 12 and the 4th connecting rod 13 rear ends are connected with the large arm 1 of healing robot respectively.Simultaneously, the large arm 1 of healing robot closely is connected with sleeve 2 rear ends, and the front end of sleeve 2 is being connected with front panel by the first spring-damper 5, the second spring-damper 6, the 3rd spring-damper 7 and the 4th spring-damper 8 respectively on four direction up and down.Motor output shaft 4 can be connected with rehabilitation machine component (as rehabilitation mechanical arm).
The below simply introduces the operation principle of native system.
Claims (1)
1. safety shoulder joint of rehabilitation robot, comprise: the large arm of healing robot (1) and be located at motor (9) on front panel (3), it is characterized in that, be provided with sleeve (2) on the large arm of healing robot (1), be provided with the first spring-damper (5) between sleeve (2) and front panel (3), the second spring-damper (6), the 3rd spring-damper (7) and the 4th spring-damper (8), the first spring-damper (5), the second spring-damper (6), one end of the 3rd spring-damper (7) and the 4th spring-damper (8) is connected with sleeve (2) respectively, the first spring-damper (5), the second spring-damper (6), the other end of the 3rd spring-damper (7) and the 4th spring-damper (8) is connected with front panel (3) respectively, be provided with first connecting rod (10) between plate (3) and the large arm of healing robot (1) in front, second connecting rod (11), third connecting rod (12) and the 4th connecting rod (13), first connecting rod (10), second connecting rod (11), third connecting rod (12) and the 4th connecting rod (13) adopt linkage, described linkage comprises connecting rod (131), be respectively equipped with the first universal joint (132) and the second universal joint (133) at the two ends of connecting rod (131), and the first universal joint (132) is connected with the large arm of healing robot (1), the second universal joint (133) is connected with front panel (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110357482 CN102499858B (en) | 2011-11-11 | 2011-11-11 | Safety shoulder joint of rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110357482 CN102499858B (en) | 2011-11-11 | 2011-11-11 | Safety shoulder joint of rehabilitation robot |
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| Publication Number | Publication Date |
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| CN102499858A CN102499858A (en) | 2012-06-20 |
| CN102499858B true CN102499858B (en) | 2013-06-26 |
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| CN 201110357482 Active CN102499858B (en) | 2011-11-11 | 2011-11-11 | Safety shoulder joint of rehabilitation robot |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103070756B (en) * | 2013-01-06 | 2014-10-15 | 北京工业大学 | Upper limb rehabilitation exoskeleton mechanism with man-machine kinematic compatibility |
| CN103417361A (en) * | 2013-09-03 | 2013-12-04 | 东南大学 | Two-degree-of-freedom upper limb rehabilitation training robot system |
| CN104440934A (en) * | 2014-11-24 | 2015-03-25 | 江苏大学 | Flexible elastic joint capable of achieving forward-backward rotating |
| CN108078733B (en) * | 2017-11-17 | 2020-12-15 | 中国科学院宁波材料技术与工程研究所 | Training equipment and method for relieving upper limb tremor and muscular rigidity of Parkinson patient |
| CN112535614B (en) * | 2020-12-04 | 2023-05-12 | 济南国科医工科技发展有限公司 | Multi-degree-of-freedom parallel rehabilitation robot joint |
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| US6007500A (en) * | 1998-01-28 | 1999-12-28 | Quintinskie, Jr.; John J. | Shoulder, rotator cuff, and elbow stretching machine |
| CN1605328A (en) * | 2003-10-10 | 2005-04-13 | 三洋电机株式会社 | Adjustable bed |
| CN101181177A (en) * | 2007-11-28 | 2008-05-21 | 华中科技大学 | Device for healing and training shoulder joint |
| WO2008131563A1 (en) * | 2007-05-01 | 2008-11-06 | Queen's University At Kingston | Robotic exoskeleton for limb movement |
| CN101407059A (en) * | 2008-11-06 | 2009-04-15 | 燕山大学 | Four-freedom degree industrial robot |
| CN101869526A (en) * | 2010-06-07 | 2010-10-27 | 付风生 | Upper limb rehabilitation training robot |
| CN202386927U (en) * | 2011-11-11 | 2012-08-22 | 东南大学 | Safe shoulder joint of rehabilitation robot |
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2011
- 2011-11-11 CN CN 201110357482 patent/CN102499858B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6007500A (en) * | 1998-01-28 | 1999-12-28 | Quintinskie, Jr.; John J. | Shoulder, rotator cuff, and elbow stretching machine |
| CN1605328A (en) * | 2003-10-10 | 2005-04-13 | 三洋电机株式会社 | Adjustable bed |
| WO2008131563A1 (en) * | 2007-05-01 | 2008-11-06 | Queen's University At Kingston | Robotic exoskeleton for limb movement |
| CN101181177A (en) * | 2007-11-28 | 2008-05-21 | 华中科技大学 | Device for healing and training shoulder joint |
| CN101407059A (en) * | 2008-11-06 | 2009-04-15 | 燕山大学 | Four-freedom degree industrial robot |
| CN101869526A (en) * | 2010-06-07 | 2010-10-27 | 付风生 | Upper limb rehabilitation training robot |
| CN202386927U (en) * | 2011-11-11 | 2012-08-22 | 东南大学 | Safe shoulder joint of rehabilitation robot |
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| CN102499858A (en) | 2012-06-20 |
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