CN103393524A - Traction rehabilitation machine for waist, back and two arms - Google Patents
Traction rehabilitation machine for waist, back and two arms Download PDFInfo
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- CN103393524A CN103393524A CN201310348839XA CN201310348839A CN103393524A CN 103393524 A CN103393524 A CN 103393524A CN 201310348839X A CN201310348839X A CN 201310348839XA CN 201310348839 A CN201310348839 A CN 201310348839A CN 103393524 A CN103393524 A CN 103393524A
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Abstract
The invention provides a traction rehabilitation machine for the waist, the back and the two arms. The machine can perform targeted traction on the waist, the back and the two arms of a patient, and thus rehabilitation therapy is carried out. The traction rehabilitation machine for the waist, the back and the two arms comprises a waist and back system and two arm systems. The waist and back system comprises a buttock substrate, a middle back plate, a shoulder substrate, a left motion mechanism and a right motion mechanism. The waist and back system can make the waist move from side to side with power supplied by an electric push rod and make the waist do front-and-back pitching motion with the power supplied by an air cylinder. The arm systems respectively comprise a shoulder unit, an elbow unit and a wrist unit. The shoulder units can make the upper arms swing and twist relative to the shoulders, the elbow units can make the forearms swing and twist relative to the upper arms, and the wrist units can make the wrists swing relative the forearms. The rehabilitation machine locates the key joints of the human body by the adoption of a round ring wrapping structure. The air cylinder and the electric push rod are combined as a power source, and good effects can be achieved on the supplying of linear motion modes and adjustability of the velocity and the force.
Description
Technical field
The present invention relates to a kind of medical rehabilitation equipment, be specifically related to a kind of lower back and two arm traction recovering machines, belong to the electromechanical equipment technical field.
Background technology
Along with the quickening of people's rhythm of life, the increase of operating pressure, before increasing people is sitting in desk for a long time, and lacks motion and have a rest, and the joint disease probability that people suffer from lower back, shoulder and arm increases greatly.Many countries are are researching and developing various easy and simple to handle, multiple functional, traction recovering robots that security performance is high, and this robot, as with a kind of medical rehabilitation robot, more and more is subject to the attention in Europe, the U.S., Japan and other countries and area.Nowadays the various healing robots of foreign country have entered Chinese market, but involve great expense.And domestic existing healing robot exists that therapentic part is single, cost is high, precision is low, the deficiency such as personalized low.
Application number provides a kind of wearable 7 degree of freedom upper extremity exercise rehabilitation trainings to install outward for 201110076865.2 patent of invention, be included in support bar and ectoskeleton training devices on base, wherein the ectoskeleton training cartridge be equipped with receipts/abduction joint in shoulder, flexion/extension joint, medial rotation/revolve extrinsic articulation, ancon flexion/extension joint, medial rotation/revolve extrinsic articulation and the interior receipts/abduction joint of wrist and flexion/extension joint totally seven rotary joints be in series.This convalescence device adopts the motor direct-drive joint, by gear, realizes driving, and turn error is arranged, and common electric machine is difficult to meet the revolution of high pulling torque in this application.
Application number provides a kind of exoskeleton wearable upper limb rehabilitation robot for 201110352097.9 patent of invention, adopt heavy-duty motor to use harmonic speed reducer transmission and disc type electric machine, though turn error is little, but general motor can't meet its precision and power requirement, adopts the particular electrical chance to cause cost high; And this rocovery machine structure complexity, easy care not, the each several part replaceability is poor.
Application number provides a kind of exoskeleton-wearable rehabilitation robot for 201110029533.9 patent of invention, and this rehabilitation machines adopts the connected mode of binding to realize being connected of machine and human body, and comfortableness is poor, and physical activity is range limited.
Summary of the invention
In view of this, the invention provides a kind of lower back and both arms traction recovering machine, under this rehabilitation machines, adopt cylinder as power source, cylinder is rectilinear motion, there is no turn error, and power is greater than common electric machine, and cost is low; This rocovery machine structure is relatively simple simultaneously, is convenient to safeguard and replace.
This lower back and two arm traction recovering machines integral body are symmetrical structure, comprise lower back system and two arm systems, and two arm systems are arranged on respectively the right and left of back system; The one side that described lower back system and human body back fit is its front, and another side is the back side.
Described lower back system comprises buttocks substrate, back intermediate plate, shoulder substrate, left side motion and right side motion; Wherein buttocks substrate and back intermediate plate are positioned at same vertical plane, and the back intermediate plate is positioned at buttocks substrate top; Described shoulder substrate is arranged on the front of back intermediate plate, and the axis of symmetry of buttocks substrate and shoulder substrate overlaps; Described left side motion is identical with the version of right side motion, is arranged in the right and left at the rehabilitation machines back side.
Described right side motion comprises electric pushrod, waist load-bearing connecting rod, back transverse axis and back cylinder; Wherein electric pushrod vertically is arranged on the back side of buttocks substrate, and its stiff end and buttocks substrate are hinged, and the projection at clutch end and waist load-bearing connecting rod middle part is hinged; Bottom and the buttocks substrate of described waist load-bearing connecting rod are hinged, and upwards bending right-hand member rear and the back transverse axis is hinged for top vertical; The left end of described back transverse axis is hinged on the bottom on right side, the intermediate plate back side, back; Stiff end and the back transverse axis of described back cylinder are hinged, and the positive top of clutch end and back intermediate plate is hinged.
Described arm system comprises shoulder unit, ancon unit and wrist unit; Two arm systems are arranged symmetrically in respectively the left and right sides of shoulder substrate by the shoulder unit.
Described shoulder unit comprises three shoulder cylinders, support and three candan universal joints; Described support is semicircular structure, support is connected with the shoulder substrate by the projection of its outer circumference surface bottom, the stiff end of described three shoulder cylinders is arranged on the trisection point of support periphery by cylindrical hinge respectively, and clutch end respectively connects a candan universal joint by a shoulder cylinder connector after all sloping inwardly.
Described ancon unit comprises large sun gear, two major planet wheels, ancon steering wheel, major planet wheel outer shroud, major planet wheel end cap, ancon cylinder, two ancon connection rod set and annular armlets; Three universal joints in described shoulder unit are respectively affixed with large sun gear by a L-type plate; The centre position of described large sun gear outer circumference surface is processed with external tooth, and the smooth periphery by these external tooth both sides is arranged on large sun gear between major planet wheel end cap and major planet wheel outer shroud; The affixed ancon steering wheel in bottom of major planet wheel end cap, ancon steering wheel output gear and large sun gear engagement.Two major planet wheels are fixed on major planet wheel outer shroud, and described two major planets wheel all meshes with large sun gear, guarantees that two major planets and ancon steering wheel output gear are uniformly distributed at the circumferencial direction of large sun gear; The diameter of described annular armlet is less than the diameter of major planet wheel outer shroud, and the top of the stiff end of ancon cylinder and major planet wheel outer shroud outer circumference surface is hinged, after clutch end slopes inwardly, with the cylindrical hinge at annular armlet outer circumference surface top, is connected; Described ancon side plate and ancon transverse slat form the ancon connection rod set, and an end of described ancon side plate and major planet wheel outer shroud are affixed, the other end and ancon lagging hinge, and the other end of ancon transverse slat and annular armlet are affixed; The installation site of described two ancon connection rod set is respectively on two end points of corresponding circumference horizontal diameter.
Described wrist unit comprises small sun gear, two asteroid wheels, wrist steering wheel, asteroid wheel outer shroud, asteroid wheel end cap, wrist cylinder, two wrist connection rod set and wrister; Between wrist unit and ancon unit, by equally distributed three L-type plates, be connected, an end of described L-type plate and the outer circumference surface of wrister are affixed, and the end face of the other end and asteroid wheel outer shroud is affixed; The structure of described wrist unit is identical with the structure of ancon unit, difference is: in wrist unit, the top of the stiff end of wrist cylinder and asteroid wheel outer shroud outer circumference surface is hinged, and clutch end along continuous straight runs forward is connected with the cylindrical hinge at wrister outer circumference surface top; Described wrister is semicircle; In described wrist unit, at the installed in front jug of wrister, described handle comprises fixed axis and sleeve, and the two ends of fixed axis are affixed with the end of two wrist connection rod set respectively, sleeve set outside fixed axis, and with the fixed axis matched in clearance.
In described lower back system, also comprise height adjustment mechanism; Described height adjustment mechanism comprises screw mandrel, nut and motor; Processing screw mandrel mounting groove on the axis of symmetry in intermediate plate front, described back, described screw mandrel vertically is arranged in the screw mandrel mounting groove by the screw mandrel end cover of its top and bottom, and described leading screw end cover is fixed on the intermediate plate of back; The nut that coordinates with leading screw is fixed by screws on the shoulder substrate, and the bottom of leading screw is connected with the output shaft of motor on being fixed on the back intermediate plate by shaft coupling.
The left and right sides at described back intermediate plate upper screw rod mounting groove is processed with respectively the bar-shaped trough parallel with leading screw, holes in position corresponding with this bar-shaped trough on the shoulder substrate; By screw-nut body, adjust the height of shoulder substrate, described shoulder substrate is fixed by pad and fastening bolt.
Junction at described shoulder unit and shoulder substrate is designed with horizontal straight trough, and the projection of described support outer circumference surface bottom can be slided in this horizontal straight trough.
Electric pushrod in described lower back system should meet: during in range, the electric pushrod of opposite side just in time or does not also arrive its minimum stroke when a side electric pushrod, and this range makes back intermediate plate lateral deviation 24 degree.
Described shoulder unit medium-height trestle is hinged by projection and the shoulder substrate of its outer circumference surface bottom.
On the inner peripheral surface of described shoulder unit medium-height trestle, shoulder pad is installed.
In described ancon unit, on large sun gear inner peripheral surface, with the junction of described L-type plate, be processed with respectively rectangular preiection, described this rectangular preiection of large sun gear is connected with the L-type plate.
Beneficial effect:
(1) this rehabilitation machines adopts cylinder and electric pushrod to combine as power source, and its power way of output is rectilinear motion, there is no turn error, and power is greater than common electric machine, and cost is low; And overall structure is simple, and modularized design is convenient to safeguard and replace.
(2) in the lower back system, increased the governor motion of shoulder breadth and shoulder height, to adapt to the user of different heights, guaranteed that as far as possible user is comfortable when carrying out rehabilitation training, the training effect is good.
(3) shoulder unit medium-height trestle is hinged by projection and the shoulder substrate of its outer circumference surface bottom, and the user whole arm system that can rotate backward when this rehabilitation machines of wearing, make to dress more convenient.
The accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of this rehabilitation machines;
Fig. 2 is the structural representation in the front (with the one side of human body laminating) of lower back system;
Fig. 3 is the structural representation at the back side of lower back system;
Fig. 4 is arm system structure schematic diagram;
Fig. 5 is shoulder cellular construction schematic diagram;
Fig. 6 is ancon cellular construction schematic diagram;
Fig. 7 is the structural representation of large sun gear;
Fig. 8 is the wrist unit structural representation.
wherein: 1-lower back system, 2-arm system, 3-buttocks substrate, 4-back intermediate plate, 5-shoulder substrate, 6-waist load-bearing connecting rod, the 7-electric pushrod, 8-back transverse axis, 9-back cylinder, the 10-screw mandrel, 11-shoulder unit, 12-ancon unit, the 13-wrist unit, the 14-support, 15-shoulder cylinder, the 16-candan universal joint, the 17-shoulder pad, 18-major planet wheel outer shroud, 19-ancon cylinder, 20-annular armlet, 21-ancon side plate, 22-ancon steering wheel, the outer transverse slat of 23-ancon, 24-ancon inner horizontal plate, the large sun gear of 25-, 26-wrist cylinder, the 27-wrister, 28-wrist steering wheel, 29-wrist connection rod set, the 30-handle, 31-asteroid wheel outer shroud 1.
The specific embodiment
Below in conjunction with the accompanying drawing examples, the present invention is described in detail.
The present embodiment provides a kind of lower back and both arms traction recovering machine, the overall structure of this rehabilitation machines as shown in Figure 1, comprise that lower back system 1 and 2, two arm systems 2 of two arm systems are arranged on respectively the right and left of back system, and along its vertical centrage symmetry.
The one side that lower back system 1 and human body back are fitted is considered as its front, and another side is the back side.As shown in Figure 2, structure as shown in Figure 3 for lower back system 1 Facad structure.The whole left-right symmetric of lower back system 1, specifically comprise buttocks substrate 3, back intermediate plate 4, shoulder substrate 5, height adjustment mechanism, left side motion and right side motion.
Wherein buttocks substrate 3 and back intermediate plate 4 are positioned at same vertical plane, and back intermediate plate 4 is positioned at buttocks substrate 3 tops, and shoulder substrate 5 is positioned at the front of back intermediate plate 4; Wherein the axis of symmetry of buttocks substrate 3 and shoulder substrate 5 overlaps.The left side motion is identical with the version of right side motion, and is symmetrically arranged at the back side of rehabilitation machines.Below, only take the right side motion as example, specifically introduce its structure.
The right side motion comprises electric pushrod 7, waist load-bearing connecting rod 6, back transverse axis 8 and back cylinder 9.Wherein after an end bending of waist load-bearing connecting rod 6, form obtuse angle.Described electric pushrod 7 vertically is arranged on the back side of buttocks substrate 3, and its stiff end is hinged by push rod link and buttocks substrate 3, and the projection at clutch end and waist load-bearing connecting rod 6 middle parts is hinged.The bending end of waist load-bearing connecting rod 6 is hinged with the right-hand member of back transverse axis 8 straight up, and in this hinged place, bearing and the careful hubcap of waist is installed; The other end is hinged by buttocks axle and buttocks substrate 3, and the buttocks axle is arranged on buttocks substrate 3 by bearing, bearing block, bearing cover etc., realizes 6 rotations around the buttocks axle of waist load-bearing connecting rod.The left end of back transverse axis 8 is hinged on the bottom on back intermediate plate 4 right sides, the back side by bearing, waist axle end cap and back pitching axle bed.Above-described buttocks substrate 3, waist load-bearing connecting rod 6, back transverse axis 8 and back intermediate plate 4 have formed quadric chain, can under the effect of electric pushrod 7, realize the left and right sides pendular motion of human body.Medical research at present shows, the limit of normal human's side-sway is from midspinal line lateral deviation 24 degree to the left and right, effectiveness for guaranteeing that rehabilitation machines is used in the present embodiment, the range of selected electric pushrod 7 and minimum stroke should meet: when a side electric pushrod 7 during in range, the electric pushrod 7 of opposite side just in time or does not also arrive its minimum stroke, and this range makes back intermediate plate 4 lateral deviations 24 degree, thus with the limit match of human body side-sway.
The stiff end of described back cylinder 9 and the middle part of back transverse axis 8 are hinged, and the top in clutch end and back intermediate plate 4 fronts is hinged.Described back cylinder 9 provides the power of back front and back pitching, and forms revolute pairs by back pitching axle bed, bearing, back transverse axis 8, realizes the front and back pitching at back.
Consider that this rehabilitation machines should adapt to the needs of the different heights of user, has designed height adjustment mechanism in lower back system 1.This height adjustment mechanism is realized by screw mandrel 10 nut kinematic pairs.Be specially: processing screw mandrel 10 mounting grooves on the axis of symmetry in back intermediate plate 4 fronts, screw mandrel 10 vertically is arranged in screw mandrel 10 mounting grooves by the screw mandrel 10 end covers of its top and bottom, and described leading screw end cover is fixed on back intermediate plate 4 by bearing and bearing block.The nut that coordinates with leading screw is fixed by screws on shoulder substrate 5, the bottom of leading screw is connected with the output shaft of motor on being fixed on back intermediate plate 4 by shaft coupling, by the rotating of motor, adjust the height of shoulder substrate 5, thereby adapt to different users's shoulder height.In order to strengthen the stability of height adjustment mechanism, in the left and right sides of back intermediate plate 4 upper screw rod 10 mounting grooves, be processed with respectively the bar-shaped trough parallel with leading screw, hole in position corresponding with this bar-shaped trough on shoulder substrate 5.After by screw-nut body, shoulder substrate 5 being adjusted to suitable height, by the fixing shoulder substrate 5 of pad and fastening bolt.
The structure of arm system 2 as shown in Figure 4, comprises shoulder unit 11, ancon unit 12 and wrist unit 13.Two arm systems 2 are arranged symmetrically in respectively the left and right sides of shoulder substrate 5 by shoulder unit 11.
Wherein the structure of shoulder unit 11 as shown in Figure 5, comprises three shoulder cylinders 15, support 14 and three candan universal joints 16.Support described in the present embodiment 14 is semicircle mechanism, and the bottom of support 14 outer circumference surfaces is hinged by projection and shoulder substrate 5, and the user whole arm system 2 that can rotate backward when this rehabilitation machines of wearing, make to dress more convenient.The stiff end of three shoulder cylinders 15 is arranged on the trisection point of support 14 peripheries by cylindrical hinge respectively, and clutch end respectively connects a candan universal joint 16 by a shoulder cylinder 15 joints.Three shoulder cylinders 15 serve as power source and structural member simultaneously, and structure is more stable and power is sufficient.Three shoulder cylinder 15 structures in parallel that three shoulder cylinders 15 and universal joint form have three degree of freedom, can simulate the spherical hinge structure of people's shoulder, have simultaneously the function (realizing by shoulder cylinder 15) of length adjustment.Comfortable for guaranteeing this rehabilitation machines wearing, shoulder pad 17 is installed on the inner peripheral surface of support 14.For realizing the width adjusting of shoulder, 11 are designed with horizontal straight trough with the junction of shoulder substrate 5 in the shoulder unit, can regulate within the specific limits the distance between two arm systems 2 of shoulder.
The structure of ancon unit 12 as shown in Figure 6, comprises large sun gear 25, two major planet wheels, ancon steering wheel 22, major planet wheel outer shroud 18, major planet wheel end cap, ancon cylinder 19, two ancon connection rod set and annular armlets 20.Torsion and the swing of large arm with respect to shoulder can be simulated in ancon unit 12.Wherein as shown in Figure 7, the centre position of its outer circumference surface is processed with external tooth to the structure of large sun gear 25, and major planet wheel end cap and major planet wheel outer shroud 18 are installed respectively on the smooth periphery of these external tooth both sides, realizes the axial location of large sun gear 25.The affixed ancon steering wheel 22 in bottom of major planet wheel end cap, ancon steering wheel 22 output gears and large sun gear 25 engagements.Major planet wheel outer shroud 18 forms the planet carrier of planet circular system, two major planet wheels are separately fixed at major planet wheel outer shroud 18 about the vertical section symmetry and become 120 positions of spending, two major planet wheels all mesh with large sun gear 25, and two major planets and ancon steering wheel 22 output gears are laid respectively on the trisection point of large sun gear 25.Ancon steering wheel 22 output gears drive large sun gear 25 and rotate, and realize the motion of large arm with respect to shoulder, and by two major planet wheels, remain the normal operation of large sun gear 25, guarantee that its location is reliable.And three universal joints in shoulder unit 11 respectively fixedly connect by a L-type plate and the trisection point on large sun gear 25 inner peripheral surfaces, and guarantee to connect reliable, above-mentioned three junctions are processed with respectively rectangular preiection on large sun gear 25 inner peripheral surfaces, large sun gear 25 is connected with the L-type plate by this rectangular preiection, guarantees that its joint face is the plane of close contact.The diameter of described annular armlet 20 is less than the diameter of major planet wheel outer shroud 18, and the top of the stiff end of ancon cylinder 19 and major planet wheel outer shroud 18 outer circumference surfaces is hinged, after clutch end slopes inwardly, with the cylindrical hinge at annular armlet 20 outer circumference surface tops, is connected.Ancon side plate 21, the outer transverse slat 23 of ancon and ancon inner horizontal plate 24 form the ancon connection rod set, the outer transverse slat 23 of ancon and ancon inner horizontal plate 24 are parallel to each other, wherein an end of ancon side plate 21 and major planet wheel outer shroud 18 are affixed, the other end cuts with scissors hinged with the outer transverse slat 23 of ancon and ancon inner horizontal plate 24 respectively by post, the other end and the annular armlet 20 of the outer transverse slat 23 of ancon and ancon inner horizontal plate 24 are affixed.The installation site of two ancon connection rod set is respectively on the end points of corresponding circumference horizontal diameter.During use, described annular armlet 20 is positioned at the following position of elbow joint, by ancon cylinder 19 flexible, can promote the outer transverse slat 23 of ancon and ancon inner horizontal plate 24 rotates around the post hinge, thereby realize bending and stretching of elbow joint.
The structure of wrist unit 13 as shown in Figure 8, comprise small sun gear, two asteroid wheels, wrist steering wheel 28, asteroid wheel outer shroud 31, asteroid wheel end cap, wrist cylinder 26, two wrist connection rod set 29 and wristers 27, wrist unit 13 can be simulated forearm with respect to the swing with respect to forearm of the torsion of large arm and swing and wrist.The similar of the structure of wrist unit 13 and ancon unit 12, difference is: in wrist unit 13, the top of the stiff end of wrist cylinder 26 and asteroid wheel outer shroud 31 outer circumference surfaces is hinged, and clutch end along continuous straight runs forward is connected with the cylindrical hinge at wrister 27 outer circumference surface tops; Described wrister 27 is semicircle; In wrist unit 13, at the installed in front jug 30 of wrister 27, described handle 30 comprises fixed axis and sleeve, and the two ends of fixed axis are affixed with the end of two wrist connection rod set 29 respectively, sleeve set outside fixed axis, and with the fixed axis matched in clearance.Ancon unit 12 is connected by equally distributed three L-type plates with 13 of wrist unit, and an end of described L-type plate and the outer circumference surface of annular wrister 27 are affixed, and the end face of the other end and asteroid wheel outer shroud 31 is affixed.And guarantee to connect reliably, above-mentioned three junctions are processed with respectively rectangular preiection on annular wrister 27 outer circumference surfaces, and annular wrister 27 is connected with the L-type plate by this rectangular preiection, guarantee that its joint face is the plane of close contact.
The process that adopts this rehabilitation machines to carry out rehabilitation is:
Before carrying out the traction recovering treatment, first buttocks substrate 3 is fixed, according to rehabilitation personnel's height, shoulder breadth, brachium, regulate respectively the length of height, width and the arm system 2 of shoulder substrate 5.During adjusting, keep the invariant position of buttocks substrate 3, by the relative position of regulating shoulder substrate 5, regulate height, make shoulder pad 17 and rehabilitation personnel's shoulder same high.By regulating the position adjustments shoulder breadth of arm fixture, make shoulder pad 17 and rehabilitation personnel's shoulder with wide.By regulating the length adjustment brachium of each cylinder, ancon unit 12 and wrist motion are alignd with the corresponding position of rehabilitation personnel's health.
When carrying out rehabilitation, the rehabilitation personnel holds two ends handle 30.Change two electric pushrod 7 length that are hinged on buttocks matrix and waist load-bearing connecting rod 6 middle parts, realize swinging of health.Change the length of two cylinders of back part, realize the elevating movement of shoulder.By changing the length of two arm system 2 each cylinders, the tractive arm, and the drive arm is done corresponding action.
In sum, these are only preferred embodiment of the present invention, be not intended to limit protection scope of the present invention.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (8)
1. a lower back and two arm traction recovering machines is characterized in that: described rehabilitation machines is whole to be symmetrical structure to comprise lower back system and two arm systems, and two arm systems are arranged on respectively the right and left of back system; The one side that described lower back system and human body back fit is its front, and another side is the back side;
Described lower back system comprises buttocks substrate, back intermediate plate, shoulder substrate, left side motion and right side motion; Wherein buttocks substrate and back intermediate plate are positioned at same vertical plane, and the back intermediate plate is positioned at buttocks substrate top; Described shoulder substrate is arranged on the front of back intermediate plate, and the axis of symmetry of buttocks substrate and shoulder substrate overlaps; Described left side motion is identical with the version of right side motion, is arranged in the right and left at the rehabilitation machines back side;
Described right side motion comprises electric pushrod, waist load-bearing connecting rod, back transverse axis and back cylinder; Wherein electric pushrod vertically is arranged on the back side of buttocks substrate, and its stiff end and buttocks substrate are hinged, and the projection at clutch end and waist load-bearing connecting rod middle part is hinged; Bottom and the buttocks substrate of described waist load-bearing connecting rod are hinged, and upwards bending right-hand member rear and the back transverse axis is hinged for top vertical; The left end of described back transverse axis is hinged on the bottom on right side, the intermediate plate back side, back; Stiff end and the back transverse axis of described back cylinder are hinged, and the positive top of clutch end and back intermediate plate is hinged;
Described arm system comprises shoulder unit, ancon unit and wrist unit; Two arm systems are arranged symmetrically in respectively the left and right sides of shoulder substrate by the shoulder unit;
Described shoulder unit comprises three shoulder cylinders, support and three candan universal joints; Described support is semicircular structure, support is connected with the shoulder substrate by the projection of its outer circumference surface bottom, the stiff end of described three shoulder cylinders is arranged on the trisection point of support periphery by cylindrical hinge respectively, and clutch end respectively connects a candan universal joint by a shoulder cylinder connector after all sloping inwardly;
Described ancon unit comprises large sun gear, two major planet wheels, ancon steering wheel, major planet wheel outer shroud, major planet wheel end cap, ancon cylinder, two ancon connection rod set and annular armlets; Three universal joints in described shoulder unit are respectively affixed with large sun gear by a L-type plate; The centre position of described large sun gear outer circumference surface is processed with external tooth, and the smooth periphery by these external tooth both sides is arranged on large sun gear between major planet wheel end cap and major planet wheel outer shroud; The affixed ancon steering wheel in bottom of major planet wheel end cap, ancon steering wheel output gear and large sun gear engagement; Two major planet wheels are fixed on major planet wheel outer shroud, and described two major planets wheel all meshes with large sun gear, guarantees that two major planets and ancon steering wheel output gear are uniformly distributed at the circumferencial direction of large sun gear; The diameter of described annular armlet is less than the diameter of major planet wheel outer shroud, and the top of the stiff end of ancon cylinder and major planet wheel outer shroud outer circumference surface is hinged, after clutch end slopes inwardly, with the cylindrical hinge at annular armlet outer circumference surface top, is connected; Described ancon side plate and ancon transverse slat form the ancon connection rod set, and an end of described ancon side plate and major planet wheel outer shroud are affixed, the other end and ancon lagging hinge, and the other end of ancon transverse slat and annular armlet are affixed; The installation site of described two ancon connection rod set is respectively on two end points of corresponding circumference horizontal diameter;
Described wrist unit comprises small sun gear, two asteroid wheels, wrist steering wheel, asteroid wheel outer shroud, asteroid wheel end cap, wrist cylinder, two wrist connection rod set and wrister; Between wrist unit and ancon unit, by equally distributed three L-type plates, be connected, an end of described L-type plate and the outer circumference surface of wrister are affixed, and the end face of the other end and asteroid wheel outer shroud is affixed; The structure of described wrist unit is identical with the structure of ancon unit, difference is: in wrist unit, the top of the stiff end of wrist cylinder and asteroid wheel outer shroud outer circumference surface is hinged, and clutch end along continuous straight runs forward is connected with the cylindrical hinge at wrister outer circumference surface top; Described wrister is semicircle; In described wrist unit, at the installed in front jug of wrister, described handle comprises fixed axis and sleeve, and the two ends of fixed axis are affixed with the end of two wrist connection rod set respectively, sleeve set outside fixed axis, and with the fixed axis matched in clearance.
2. a kind of lower back as claimed in claim 1 and two arm traction recovering machines, is characterized in that: in described lower back system, also comprise height adjustment mechanism; Described height adjustment mechanism comprises screw mandrel, nut and motor; Processing screw mandrel mounting groove on the axis of symmetry in intermediate plate front, described back, described screw mandrel vertically is arranged in the screw mandrel mounting groove by the screw mandrel end cover of its top and bottom, and described leading screw end cover is fixed on the intermediate plate of back; The nut that coordinates with leading screw is fixed by screws on the shoulder substrate, and the bottom of leading screw is connected with the output shaft of motor on being fixed on the back intermediate plate by shaft coupling.
3. a kind of lower back as claimed in claim 2 and two arm traction recovering machines, it is characterized in that: the left and right sides at described back intermediate plate upper screw rod mounting groove is processed with respectively the bar-shaped trough parallel with leading screw, holes in position corresponding with this bar-shaped trough on the shoulder substrate; By screw-nut body, adjust the height of shoulder substrate, described shoulder substrate is fixed by pad and fastening bolt.
4. a kind of lower back as claimed in claim 1 and two arm traction recovering machines, it is characterized in that: the junction at described shoulder unit and shoulder substrate is designed with horizontal straight trough, and the projection of described support outer circumference surface bottom can be slided in this horizontal straight trough.
5. as claim 1,2 or 4 described a kind of lower back and two arm traction recovering machines, it is characterized in that: the electric pushrod in described lower back system should meet: when a side electric pushrod during in range, the electric pushrod of opposite side just in time or does not also arrive its minimum stroke, and this range makes back intermediate plate lateral deviation 24 degree.
6. as claim 1,2 or 4 described a kind of lower back and two arm traction recovering machines, it is characterized in that: described shoulder unit medium-height trestle is hinged by projection and the shoulder substrate of its outer circumference surface bottom.
7. as claim 1,2 or 4 described a kind of lower back and two arm traction recovering machines, it is characterized in that: on the inner peripheral surface of described shoulder unit medium-height trestle, shoulder pad is installed.
8. as claim 1,2 or 4 described a kind of lower back and two arm traction recovering machines, it is characterized in that: in described ancon unit, on large sun gear inner peripheral surface, with the junction of described L-type plate, be processed with respectively rectangular preiection, described this rectangular preiection of large sun gear is connected with the L-type plate.
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| CN103919659A (en) * | 2014-04-21 | 2014-07-16 | 安阳工学院 | Automatic shoulder joint rehabilitation training device |
| CN103976851A (en) * | 2014-04-21 | 2014-08-13 | 安阳工学院 | Self-rehabilitation training instrument for shoulder joints |
| CN105434144A (en) * | 2015-12-30 | 2016-03-30 | 哈尔滨工业大学 | Forearm turning and wrist bending rehabilitation device and turning and bending method thereof |
| CN107283405A (en) * | 2017-08-24 | 2017-10-24 | 上海岭先机器人科技股份有限公司 | A kind of mechanical arm |
| CN107648011A (en) * | 2017-10-31 | 2018-02-02 | 大连大学 | A kind of the elderly trains mechanical device with fixed exoskeleton rehabilitation |
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| CN107693305A (en) * | 2017-11-01 | 2018-02-16 | 河南理工大学 | A kind of leg training rehabilitation multi-function robot |
| CN108852740A (en) * | 2018-02-09 | 2018-11-23 | 湖北工业大学 | A kind of pneumatic upper limb rehabilitation robot |
| CN109044726A (en) * | 2018-07-24 | 2018-12-21 | 北京交通大学 | A kind of wearable upper limb healing ectoskeleton of serial-parallel mirror |
| CN109893398A (en) * | 2019-04-04 | 2019-06-18 | 广东铭凯医疗机器人有限公司 | A kind of bionical healing robot |
| CN110314065A (en) * | 2018-03-29 | 2019-10-11 | 京东方科技集团股份有限公司 | Exoskeleton rehabilitation power assisting device |
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| CN111449911A (en) * | 2020-04-26 | 2020-07-28 | 郑州大学 | Recovered device of taking exercise of cerebral apoplexy patient arm |
| CN112168532A (en) * | 2020-11-06 | 2021-01-05 | 宁波奥达智能家居有限公司 | Arm and hand rehabilitation device and nursing bed |
| CN112494273A (en) * | 2020-11-27 | 2021-03-16 | 山东海天智能工程有限公司 | Control device, method and system for brain-controlled wrist training |
| CN113146584A (en) * | 2021-04-23 | 2021-07-23 | 江苏科技大学 | Wearable series-parallel exoskeleton mechanical arm and operation method thereof |
| CN114571500A (en) * | 2022-03-14 | 2022-06-03 | 中国人民解放军国防科技大学 | Centralized driving type rigid humanoid mechanical arm |
| CN114800436A (en) * | 2017-09-07 | 2022-07-29 | 重庆市牛迪科技发展有限公司 | Exoskeleton |
| CN117898914A (en) * | 2024-03-18 | 2024-04-19 | 长春工业大学 | Arm training rehabilitation device |
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| CN103976851A (en) * | 2014-04-21 | 2014-08-13 | 安阳工学院 | Self-rehabilitation training instrument for shoulder joints |
| CN103919659B (en) * | 2014-04-21 | 2016-03-02 | 安阳工学院 | The autonomous recovery training appliance for recovery of a kind of shoulder joint |
| CN103976851B (en) * | 2014-04-21 | 2016-05-25 | 安阳工学院 | The autonomous recovery training appliance for recovery of a kind of shoulder joint |
| CN103919659A (en) * | 2014-04-21 | 2014-07-16 | 安阳工学院 | Automatic shoulder joint rehabilitation training device |
| CN105434144A (en) * | 2015-12-30 | 2016-03-30 | 哈尔滨工业大学 | Forearm turning and wrist bending rehabilitation device and turning and bending method thereof |
| CN107283405B (en) * | 2017-08-24 | 2024-01-30 | 上海岭先机器人科技股份有限公司 | Mechanical arm |
| CN107283405A (en) * | 2017-08-24 | 2017-10-24 | 上海岭先机器人科技股份有限公司 | A kind of mechanical arm |
| CN114800436A (en) * | 2017-09-07 | 2022-07-29 | 重庆市牛迪科技发展有限公司 | Exoskeleton |
| CN107648011A (en) * | 2017-10-31 | 2018-02-02 | 大连大学 | A kind of the elderly trains mechanical device with fixed exoskeleton rehabilitation |
| CN107648011B (en) * | 2017-10-31 | 2020-09-15 | 大连大学 | Fixed exoskeleton rehabilitation training mechanical device for old people |
| CN107693305A (en) * | 2017-11-01 | 2018-02-16 | 河南理工大学 | A kind of leg training rehabilitation multi-function robot |
| CN107693306A (en) * | 2017-11-01 | 2018-02-16 | 河南理工大学 | A kind of arm training rehabilitation multi-function robot |
| CN108852740A (en) * | 2018-02-09 | 2018-11-23 | 湖北工业大学 | A kind of pneumatic upper limb rehabilitation robot |
| CN108852740B (en) * | 2018-02-09 | 2020-08-07 | 湖北工业大学 | Pneumatic upper limb rehabilitation robot |
| CN110314065A (en) * | 2018-03-29 | 2019-10-11 | 京东方科技集团股份有限公司 | Exoskeleton rehabilitation power assisting device |
| CN109044726A (en) * | 2018-07-24 | 2018-12-21 | 北京交通大学 | A kind of wearable upper limb healing ectoskeleton of serial-parallel mirror |
| CN111374863B (en) * | 2018-12-28 | 2022-04-29 | 上海理工大学 | Hybrid driving type shoulder-elbow-wrist joint rehabilitation training device |
| CN111374863A (en) * | 2018-12-28 | 2020-07-07 | 上海理工大学 | Hybrid driving type shoulder-elbow-wrist joint rehabilitation training device |
| CN109893398A (en) * | 2019-04-04 | 2019-06-18 | 广东铭凯医疗机器人有限公司 | A kind of bionical healing robot |
| CN111449911B (en) * | 2020-04-26 | 2021-11-12 | 郑州大学 | Recovered device of taking exercise of cerebral apoplexy patient arm |
| CN111449911A (en) * | 2020-04-26 | 2020-07-28 | 郑州大学 | Recovered device of taking exercise of cerebral apoplexy patient arm |
| CN112168532A (en) * | 2020-11-06 | 2021-01-05 | 宁波奥达智能家居有限公司 | Arm and hand rehabilitation device and nursing bed |
| CN112494273A (en) * | 2020-11-27 | 2021-03-16 | 山东海天智能工程有限公司 | Control device, method and system for brain-controlled wrist training |
| CN113146584A (en) * | 2021-04-23 | 2021-07-23 | 江苏科技大学 | Wearable series-parallel exoskeleton mechanical arm and operation method thereof |
| CN113146584B (en) * | 2021-04-23 | 2024-08-06 | 江苏科技大学 | Wearable serial-parallel exoskeleton mechanical arm and operation method thereof |
| CN114571500A (en) * | 2022-03-14 | 2022-06-03 | 中国人民解放军国防科技大学 | Centralized driving type rigid humanoid mechanical arm |
| CN117898914A (en) * | 2024-03-18 | 2024-04-19 | 长春工业大学 | Arm training rehabilitation device |
| CN117898914B (en) * | 2024-03-18 | 2024-06-04 | 长春工业大学 | Arm training rehabilitation device |
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