CN102908239A - Robot for early-stage recovery of cerebral apoplexy - Google Patents
Robot for early-stage recovery of cerebral apoplexy Download PDFInfo
- Publication number
- CN102908239A CN102908239A CN2012103886975A CN201210388697A CN102908239A CN 102908239 A CN102908239 A CN 102908239A CN 2012103886975 A CN2012103886975 A CN 2012103886975A CN 201210388697 A CN201210388697 A CN 201210388697A CN 102908239 A CN102908239 A CN 102908239A
- Authority
- CN
- China
- Prior art keywords
- pedal
- axle
- electromagnetic clutch
- robot
- bearing pin
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The invention discloses a robot for early-stage recovery of cerebral apoplexy, which relates to the technical field of medical devices, and is used for assisting cerebral apoplexy patients in accomplishing stretching and bending as well as varus-valgus rotation of ankle joints, and for simulating a way of 'breaking off of ankles' of a therapist to perform recovery training. The robot mainly comprises a servomotor, a harmonic reducer, a pair of straight gears, a pair of bevel gears, two electromagnetic clutches, shafts, a connecting rod, a base, a pedal, a support plate, springs and pin shafts, wherein the first magnetic clutch is connected with a first straight gear shaft and a support plate shaft; the second magnetic clutch is connected with a second straight gear shaft and a first bevel gear shaft; the connecting rod is fixedly connected with a second bevel gear shaft and a larger pin shaft; the pedal is in hinge connection with the support plate by the two pin shafts; the support plate is fixedly connected with one of the shafts; and the springs are fixed between the pedal and the base. The robot is compact in structure, convenient and safe to operate, and low in cost, can be used for the hospital recovery training, and can also be used at home directly.
Description
Technical field
The invention belongs to medical instruments field, it relates to a kind of recovery exercising robot, is specially adapted to the early stage rehabilitation training of cerebral apoplexy patient.
Background technology
China Cerebral Haemorrhage Invasion Rate is annual about 2,00/,100,000, and disability rate is high, and about 2/3 patients with cerebral apoplexy is left hospital in rear 3 months can not independent ambulation, and hemiplegia is the topmost sequela of apoplexy, and life in patients descends, and brings heavy burden for family and society.Clinical medicine proves, as long as the acute stroke patients vital signs stable, neurological symptom no longer makes progress can begin rehabilitation after 48 hours.Training begins more early, and the plasticity of brain is larger, and the potentiality of motor function recovery are larger.At present the early rehabilitative intervention of patients with cerebral apoplexy mainly depended on the one to one free-hand training that the therapist carries out " breaking ankle off with the fingers and thumb " formula, and the training family members be that the patient " breaks ankle off with the fingers and thumb " and trains.China's patient's quantity is many, therapist's resource shortage, and simultaneously this training strength is high, and a lot of family members can not finish and abandoning cure, make patient lose the preferably opportunity of rehabilitation.For this reason, design safety, early rehabilitation robot quantitative, effective, that can carry out repetition training have practical significance.People's ankle joint relate to altogether stretch in the wrong, in turn up, interior outward turning three degree of freedom, patient's rehabilitation training effect depend primarily on stretch in the wrong, in two degree of freedom that turn up.At present, the existing ankle joint of training is stretched the rehabilitation institution of bending one degree of freedom, is used for the early stage rehabilitation training poor effect of cerebral apoplexy patient.
Summary of the invention
The present invention be directed to the problem that the cerebral apoplexy patient early rehabilitation training runs in the prior art, provide a kind of simple in structure, can assist the patient finish ankle joint stretch in the wrong, in the turn up healing robot of two kinds of motions, the mode that the simulation therapist " breaks ankle off with the fingers and thumb " is carried out rehabilitation training.
Realize that the technical scheme that above-mentioned purpose adopts is: a kind of apoplexy early rehabilitation robot, comprise drive part, running part, operating part, described drive part adopts AC servo motor; Running part is comprised of harmonic speed reducer, pair of straight gear, bevel-gear sett, two electromagnetic clutchs, five axles, connecting rod, bases, and described harmonic speed reducer outfan connects with the axle of spur gear one; Described electromagnetic clutch one connects axle and the gripper shoe axle of spur gear one; Described electromagnetic clutch two connects the axle of spur gear two and the axle of bevel gear one; The axle of described connecting rod and bevel gear two and large bearing pin are fixedly connected respectively; Operating part is comprised of pedal, gripper shoe, spring, bearing pin, and described pedal consists of hinge-coupled by two bearing pins and gripper shoe, and pedal and large bearing pin also consist of hinge-coupled; Described gripper shoe and axle are fixedly connected; Described spring is fixed between pedal and the base.
The invention has the beneficial effects as follows: the present invention simulated model of human ankle stretch in the wrong, in the two kinds of main rehabilitation exercises that turn up, the patient can be for self practical situation, only carry out a certain rehabilitation exercise, or switch at any time the joint button of two clutches, carry out two kinds of rehabilitation exercises, this apparatus structure is compact, easy to operate, safety, cost is low, can replace loaded down with trivial details artificial physical therapy, can be used for the hospital rehabilitation training, also can directly use in family.
Description of drawings
Fig. 1 is overall structure sketch map of the present invention.
Fig. 2 is pedal supporting construction partial schematic diagram.
Among the figure: the 1-servomotor; The 2-harmonic speed reducer; The 3-axle; 4-spur gear one; 5-electromagnetic clutch one; The 6-axle; The 7-gripper shoe; The 8-bearing pin; The 9-pedal; The 10-spring; The large bearing pin of 11-; The 12-connecting rod; 13-bevel gear two; The 14-axle; 15-bevel gear one; The 16-axle; 17-electromagnetic clutch two; 18-spur gear two; The 19-axle; The 20-base.
The specific embodiment
The present invention will be further described below in conjunction with accompanying drawing.
Referring to accompanying drawing 1 and accompanying drawing 2, apoplexy early rehabilitation of the present invention robot comprises drive part, running part, operating part.Its structure is comprised of servomotor 1, harmonic speed reducer 2, pair of straight gear 4 and 18, bevel-gear sett 13 and 15, two electromagnetic clutchs 5 and 17, gripper shoe 7, pedal 9, connecting rod 12, five power transmission shafts 3,6,14,16 and 19, two bearing pins 8, large bearing pin 11, two springs 10, bases 20.Harmonic speed reducer 2, one ends connect servomotor 1, one end coupling spindle 3; Electromagnetic clutch 1 is installed between axle 3 and the axle 6, swings together for control pin pedal 9 and gripper shoe 7 when it engages; Electromagnetic clutch 2 17 is installed between axle 19 and the axle 16, is used for control pin pedal 9 when it engages and swings up and down; Five axles 3 in the mechanism, 6,14,16,19 are supported by anti-wear sleeve, and axle sleeve is installed in the dead eye of firm banking 20; Connecting rod 12 is the square-section, and an end and axle 14 usefulness bolts are fixedly connected, and the other end is fixedly connected with large bearing pin 11 usefulness attachment pegs; Be fixedly connected with attachment pegs between pedal 9 and two bearing pins 8, and large bearing pin 11 consists of hinge-coupled; Gripper shoe 7 and axle 6 usefulness attachment pegs are fixedly connected, and bearing pin 8 consists of hinge-coupled; Spring 10 is fixed between pedal 9 and the base 20, and its effect is when pedal swings up and down, and the pivot center of keeping pedal is horizontal.
Specific works process of the present invention:
When electromagnetic clutch 1 engages, when electromagnetic clutch 2 17 separates, servomotor 1 rotates by harmonic speed reducer 2 driving shafts 3, swing together through electromagnetic clutch one 5 drive gripper shoes 7 and pedal 9, form first via drive path, people's foot is fixed on the pedal, and model of human ankle is along with pedal swings, namely realize foot in the motion of turning over, turn up.
When electromagnetic clutch 2 17 engages, when electromagnetic clutch 1 separates, servomotor 1 rotates by harmonic speed reducer 2 driving shafts 3, spur gear 4 and 19 motions of 18 engagement band moving axis, by electromagnetic clutch 2 17 axle 16 is passed in motion, bevel gear 15 and 13 engagements realize 90 ° of motion conversions of axle, axle 14, connecting rod 12, large bearing pin 11 are fixedly connected, driving pedal swings up and down in gripper shoe, form the second road drive path, model of human ankle is namely realized stretching, bending and move of foot along with pedal swings up and down.
When electromagnetic clutch 1 engaged, pedal 9, gripper shoe 7 swung together, at this moment, electromagnetic clutch 2 17 separates, 19 idle running of spur gear 2 18 and axle, two bevel gears 15,13, connecting rod 12, large bearing pin 11 transfixions, large bearing pin 11 play fixed supporting role; When electromagnetic clutch 2 17 engaged, at this moment, electromagnetic clutch 1 separated, and gripper shoe 7 is as fixed support, and pedal 9 relative gripper shoes swing up and down, and simultaneously, the pivot center that two springs 10 are kept pedal is horizontal.
Claims (4)
1. an apoplexy early rehabilitation robot comprises drive part, running part, operating part, it is characterized in that: described drive part adopts AC servo motor (1); Running part is comprised of harmonic speed reducer (2), pair of straight gear (4) (18), bevel-gear sett (13) (15), two electromagnetic clutchs (5) (17), five power transmission shafts (3) (6) (14) (16) (19), connecting rod (12), base (20), and described electromagnetic clutch one (5) connects with axle (3) and axle (6); Described electromagnetic clutch two (17) connects with axle (16) and axle (19); Described connecting rod (12) is the square-section, is fixedly connected with axle (14), large bearing pin (11); Operating part is comprised of pedal (9), gripper shoe (7), spring (10), bearing pin (8), large bearing pin (11), described pedal (9) consists of hinge-coupled by two bearing pins (8) and gripper shoe (7), and large bearing pin (11) also consists of hinge-coupled; Described gripper shoe (7) and axle (6) are fixedly connected; Described spring (10) is fixed between pedal (9) and the base (20).
2. apoplexy early rehabilitation according to claim 1 robot, it is characterized in that: electromagnetic clutch one (5) engages, when electromagnetic clutch two (17) separates, servomotor (1) rotates by harmonic speed reducer (2) driving shaft (3), swing together through electromagnetic clutch one (5) drive gripper shoe (7) and pedal (9), form first via drive path, model of human ankle is along with pedal swings, namely realize foot in the motion of turning over, turn up.
3. apoplexy early rehabilitation according to claim 1 robot, it is characterized in that: electromagnetic clutch two (17) engages, when electromagnetic clutch one (5) separates, servomotor (1) rotates by harmonic speed reducer (2) driving shaft (3), spur gear (4) and (18) engagement band moving axis (19) motion, by electromagnetic clutch two (17) axle (16) is passed in motion, bevel gear (15) and (13) engagement realize 90 ° of motion conversions of axle, connecting rod (12) drives pedal (9) by large bearing pin (11) and swings up and down, form the second road drive path, model of human ankle is namely realized stretching of foot along with pedal swings up and down, bend motion.
According to claim 1 with 3 described apoplexy early rehabilitation robots, it is characterized in that: described spring (10) is fixed between pedal (9) and the base (20), when pedal (9) when swinging up and down, the pivot center that two springs are kept pedal is horizontal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210388697.5A CN102908239B (en) | 2012-10-15 | 2012-10-15 | Robot for early-stage recovery of cerebral apoplexy |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210388697.5A CN102908239B (en) | 2012-10-15 | 2012-10-15 | Robot for early-stage recovery of cerebral apoplexy |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102908239A true CN102908239A (en) | 2013-02-06 |
| CN102908239B CN102908239B (en) | 2014-08-06 |
Family
ID=47606982
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210388697.5A Expired - Fee Related CN102908239B (en) | 2012-10-15 | 2012-10-15 | Robot for early-stage recovery of cerebral apoplexy |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102908239B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103948485A (en) * | 2014-05-08 | 2014-07-30 | 河北联合大学 | Exoskeleton-type upper limb rehabilitant robot |
| CN105310860A (en) * | 2015-07-26 | 2016-02-10 | 广东铭凯医疗机器人有限公司 | Ankle joint inversion/eversion rehabilitation training device integrating training with movement state detection |
| CN105342804A (en) * | 2015-07-26 | 2016-02-24 | 广东铭凯医疗机器人有限公司 | Internal and external ankle rotation rehabilitation training apparatus integrating training and motion state detections |
| CN106618968A (en) * | 2017-02-20 | 2017-05-10 | 安阳市翔宇医疗设备有限责任公司 | Ankle joint training device |
| CN106625605A (en) * | 2017-01-06 | 2017-05-10 | 清华大学 | Light ankle joint exoskeleton |
| CN112451308A (en) * | 2020-10-29 | 2021-03-09 | 雷德宝 | Lower limb rehabilitation instrument |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4637379A (en) * | 1984-12-05 | 1987-01-20 | Toronto Medical Corporation | Device for imparting continuous passive motion to leg joints |
| US20040121885A1 (en) * | 2002-12-18 | 2004-06-24 | Edgar Garcia-Rill | Motorized bicycle exercise trainer |
| CN201500258U (en) * | 2009-09-29 | 2010-06-09 | 上海理工大学 | Lower limb training mechanism |
| CN202859589U (en) * | 2012-10-15 | 2013-04-10 | 河北联合大学 | Stroke early stage rehabilitation robot |
-
2012
- 2012-10-15 CN CN201210388697.5A patent/CN102908239B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4637379A (en) * | 1984-12-05 | 1987-01-20 | Toronto Medical Corporation | Device for imparting continuous passive motion to leg joints |
| US20040121885A1 (en) * | 2002-12-18 | 2004-06-24 | Edgar Garcia-Rill | Motorized bicycle exercise trainer |
| CN201500258U (en) * | 2009-09-29 | 2010-06-09 | 上海理工大学 | Lower limb training mechanism |
| CN202859589U (en) * | 2012-10-15 | 2013-04-10 | 河北联合大学 | Stroke early stage rehabilitation robot |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103948485A (en) * | 2014-05-08 | 2014-07-30 | 河北联合大学 | Exoskeleton-type upper limb rehabilitant robot |
| CN105310860A (en) * | 2015-07-26 | 2016-02-10 | 广东铭凯医疗机器人有限公司 | Ankle joint inversion/eversion rehabilitation training device integrating training with movement state detection |
| CN105342804A (en) * | 2015-07-26 | 2016-02-24 | 广东铭凯医疗机器人有限公司 | Internal and external ankle rotation rehabilitation training apparatus integrating training and motion state detections |
| CN106625605A (en) * | 2017-01-06 | 2017-05-10 | 清华大学 | Light ankle joint exoskeleton |
| CN106625605B (en) * | 2017-01-06 | 2019-02-05 | 清华大学 | A kind of light-duty ankle-joint ectoskeleton |
| CN106618968A (en) * | 2017-02-20 | 2017-05-10 | 安阳市翔宇医疗设备有限责任公司 | Ankle joint training device |
| CN112451308A (en) * | 2020-10-29 | 2021-03-09 | 雷德宝 | Lower limb rehabilitation instrument |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102908239B (en) | 2014-08-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102908239B (en) | Robot for early-stage recovery of cerebral apoplexy | |
| CN103006416B (en) | Mechanical lower-limb rehabilitation robot walker device | |
| CN105943308B (en) | A kind of hand exoskeleton device for rehabilitation training | |
| CN203263743U (en) | Elbow medical rehabilitation device based on pneumatic artificial muscle drive | |
| CN102764188B (en) | Controllable variable-stiffness flexible elbow joint rehabilitation robot | |
| CN101584636B (en) | Double-output shaft active passive upper and lower limbs rehabilitation training mechanism | |
| CN102670381B (en) | Full-automatic lower limb rehabilitation treatment instrument | |
| CN202437606U (en) | Lower extremity rehabilitation training device | |
| CN204723352U (en) | A kind of horizontal upper and lower limbs rehabilitation training device | |
| CN105832498B (en) | Lower jaw healing robot | |
| CN104398365A (en) | Three-degree-of-freedom ankle joint exercising device | |
| CN203244559U (en) | Three-degree of freedom parallel serial upper limb rehabilitation robot | |
| CN201422989Y (en) | Exoskeleton with three degree of freedom for auxiliary ankle joint exercises | |
| CN202128671U (en) | Phalanx knuckle rehabilitating mechanism of pedal type tread rehabilitation trainer | |
| CN201033143Y (en) | Intelligent limb guiding healing and training therapeutic machine | |
| CN101816603B (en) | Electrically powered wheelchair device with rehabilitation mechanical arm | |
| CN105167959A (en) | Multifunctional gait rehabilitation training device | |
| CN103006414A (en) | Upper limb rehabilitation robot | |
| CN104887456A (en) | Wearable rehabilitation training device for upper limbs driven by pneumatic artificial muscles | |
| CN103070756A (en) | Upper limb rehabilitation exoskeleton mechanism with man-machine kinematic compatibility | |
| CN103126851A (en) | Gait training mechanical leg | |
| CN108354783A (en) | A kind of movable type upper limb recovering aid robot | |
| CN104287942A (en) | Wearable elbow joint rehabilitation robot device | |
| CN104055650B (en) | Interactive paraplegia walking aid external skeleton with horizontal swinging function | |
| CN103340734B (en) | Upper limb rehabilitation robot with three degrees of freedom for early-stage cerebral apoplexy |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140806 Termination date: 20151015 |
|
| EXPY | Termination of patent right or utility model |