CN104490565B - Seven freedom dermaskeleton type upper limb rehabilitation robot - Google Patents
Seven freedom dermaskeleton type upper limb rehabilitation robot Download PDFInfo
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- CN104490565B CN104490565B CN201410855081.3A CN201410855081A CN104490565B CN 104490565 B CN104490565 B CN 104490565B CN 201410855081 A CN201410855081 A CN 201410855081A CN 104490565 B CN104490565 B CN 104490565B
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Abstract
The invention provides a kind of seven freedom dermaskeleton type upper limb rehabilitation robot, including the forearm being sequentially connected and wrist joints sporting mechanism, elbow joint motion mechanism, humeral movement mechanism, gravity compensation motion, shoulder joint kinesitherapy mechanism, chair mechanism.The present invention passes through drive and control of electric machine, and upper limb suffering limb is carried out actively and passive exercise by auxiliary for hemiparalysis patient, including: carpal bent flexion/extension exhibition motion, carpal interior receipts/abduction exercise；The outer motion of the medial rotation/rotation of forearm；The bent flexion/extension exhibition motion of elbow joint；The bent flexion/extension exhibition motion of shoulder joint, the outer motion of medial rotation/rotation, outer pendulum/interior receipts motion.
Description
Technical field
The present invention relates to a kind of robot, in particular it relates to a kind of for the training of upper limb hemiplegia Rehabilitation seven from
By skeleton-type robot of being outside one's consideration.
Background technology
Apoplexy, is commonly called as apoplexy, is a kind of acute cerebrovascular disease, has that sickness rate is high, mortality rate is high, disability rate is high
Feature.In recent years, the sickness rate of apoplexy has the trend increased year by year, becomes the 3rd death after wound, cancerous protuberance former
Cause, after wound, second is disabled reason.In the stroke patient of survival, there are about 3/4 have motor function in various degree and
Other functional disabilities, wherein dyskinesia incidence rate is the highest, and hemiplegia causes life-long disabilities to patients with cerebral apoplexy, seriously
Person loses self care ability and ability to work, assists existence by society and other people, the substantial amounts of man power and material of annual cost
Looking after their daily life, these are mainly undertaken by society and family.Exercise therapy is outside operation with medicine,
Mostly important and safe a kind of rehabilitation mode, and it is proved to that there is positive curative effect.
Traditional exercise rehabilitation training mode is that rehabilitation therapist assists patient to complete a series of motion by manpower, can not
That avoids also exists many drawbacks, as big in training process physical demands, and training effectiveness is low, and training effect is according to therapist's
Different and uneven, it is impossible to accurately controlled training parameter, training method machinery repeats.
Combination by Industrial Robot Technology Yu rehabilitation training, it is possible to realize physiatrician's medical requirement to rehabilitation training,
Patient is helped to realize the motor relearning that active consciousness combines with multiple stimulation.Current ectoskeleton upper limb rehabilitation robot is
Through being applied to clinical rehabilitation, but in view of the rehabilitation exercise security consideration to ectoskeleton upper limb rehabilitation robot, outside adding
The cramped construction of skeleton robot uniqueness and the space motion requirement of rehabilitation training, control mode based on mechanics feedback is external
Skeleton robot proposes higher design in the application of passive exercise, power-assist motion and resistive exercise and controls requirement.
This is also to affect the key research that power-assisted is in progress in healing robot field.True only by simple position sensing
Determine motion mode, can not meet far away the requirement of safety, also affect the auxiliomotor effect of rehabilitation.And be to ensure rehabilitation
Moving higher safety, upper limb rehabilitation robot needs to grasp in real time the mechanics parameter of each joint freedom degrees motion, logical
Cross the collection to mechanics parameter and computing, feed back in control system, and as benchmark with reference to controlling ectoskeleton machine
The assisted movement of people.
Through prior art retrieval is found, Chinese invention patent publication number CN101357097A, title: outside five degree of freedom
Skeleton-type upper limb rehabilitation robot, this design structure includes the installing rack of robot, and installing rack is designed with guide rail, on guide rail
Installing crane, with height adjustment mechanism on crane, rotatable installation arm is arranged on crane by rotary shaft,
The rehabilitation mechanical arm body being made up of horizontal shoulder, upper arm, forearm and handle is arranged on rotatable installation arm, and 5 joints are certainly
By spending, 5 drive electronics to be separately mounted in the rotary shaft in each joint, with four moment sensings driving motor cascade
Device is separately mounted to shoulder, ancon and wrist, and wherein, shoulder two, ancon one, wrist bend and stretch one, place, moment
Sensor is as actuating device and checks that device connects motor reducer and actuator.This machine artificial patient provide each pass
The single dof mobility of joint and three-dimensional multi-joint compound motion, and provide simple, basic activities of daily life to train.
This invention can assist the training of five degree of freedom of upper limb, but can do nothing to help auxiliary patient and carry out upper limb shoulder joint
The outer motion of medial rotation/rotation, and outside the medial rotation/rotation of forearm, and the motion of both degree of freedom is incorporated in the compound fortune of upper limb
Among Dong.Further, control motor and torque sensor that this invention is selected cause structure the compactest, and overall weight is excessive,
Being unfavorable for using, the mechanism of round sealed is unfavorable for that the safety of sufferer is dressed and departs from, and meanwhile, does not accounts for robot
Body and the gravity compensation of suffering limb.Therefore, this mechanism, when assisting upper limb to carry out rehabilitation training, has certain limitation.
Summary of the invention
For defect of the prior art, it is an object of the invention to provide a kind of seven freedom dermaskeleton type upper limb rehabilitation machine
Device people, can pass through drive and control of electric machine, and upper limb suffering limb is carried out actively and passive exercise by auxiliary for hemiparalysis patient, including:
Carpal flexion/extension, abduction/adduction；Outside the medial rotation/rotation of forearm；The flexion/extension of elbow joint；The flexion/extension of shoulder joint, rotation
In/revolve outer, outer pendulum/interior receipts.
For realizing object above, the present invention provides a kind of seven freedom dermaskeleton type upper limb rehabilitation robot, including: depend on
Secondary connected forearm and wrist joints sporting mechanism, elbow joint motion mechanism, humeral movement mechanism, gravity compensation motion,
Shoulder joint kinesitherapy mechanism, chair mechanism；
Described forearm and wrist joints sporting mechanism, auxiliary for hemiparalysis patient realizes the medial rotation/rotation outward transport of forearm to upper limb suffering limb
Bent flexion/extension exhibition motion dynamic, carpal, carpal interior receipts/abduction exercise；
Described elbow joint motion mechanism, auxiliary for hemiparalysis patient realizes the bent flexion/extension exhibition motion of elbow joint to upper limb suffering limb；
Described humeral movement mechanism, auxiliary for hemiparalysis patient realizes the outer motion of medial rotation/rotation of shoulder joint to upper limb suffering limb；
Described gravity compensation motion: according to the difference of stress, for the forearm linked together and wrist joints sporting machine
Structure, elbow joint motion mechanism, humeral movement mechanism and upper limb provide elastic support；Shoulder is realized in the range of elastic movement
The bent flexion/extension exhibition motion in joint, provides a passive freedom degree simultaneously, assists its indefinite axle center of shoulder joint self adaptation；
Described shoulder joint kinesitherapy mechanism, auxiliary for hemiparalysis patient realizes the outer pendulum/interior receipts motion of shoulder joint to upper limb suffering limb；
Described chair mechanism, it is provided that user sitting posture uses, limits user position.
Preferably, described forearm and wrist joints sporting mechanism, including holding rod, the first knee, the first axle, clutch shaft bearing,
Second knee, the first belt pulley, the first belt, the second belt pulley, the second axle, the second bearing, shaft coupling, the first electricity
Support, the second motor cabinet, the 3rd motor cabinet, the first motor, the 3rd knee, forearm plate, the 3rd bearing, the 3rd axle,
3rd belt pulley, the second belt, the 4th belt pulley, the 4th axle, cylindrical bearing, the first bevel gear, the second bevel gear,
Second motor, the 4th motor cabinet, the 5th motor cabinet, the 6th motor cabinet and U-loop, wherein: holding rod afterbody inserts first
In knee and fasten；First knee and the first belt pulley are fastened by the first axle, equipped with first between the first axle and the second knee
Bearing；First motor cabinet, the second motor cabinet, the 3rd motor cabinet are fastened on the second knee, and the first motor is fixed on first
In motor cabinet, the second motor cabinet, the 3rd motor cabinet, the first motor and the second axle are connected by shaft coupling, the second axle and
Equipped with the second bearing between two knees, the second belt pulley is fixed on the second axle top, between the second belt pulley and the first belt pulley
Equipped with the first belt；3rd knee one end and the second knee are fastenedly connected, the other end fastens with the 3rd axle, the one of the 3rd axle
Hold and be connected by the 3rd bearing with forearm plate with the 3rd belt pulley fastening, the other end；Forearm plate inserts in U-loop, and can
Drag relative position according to concrete length to be adjusted, connected by cylindrical bearing between the 4th axle and the first bevel gear, the
One bevel gear is fastened in the 4th belt pulley, and the 4th the tip of the axis is fixed in U-loop notch；3rd belt pulley and the 4th
Belt pulley is connected by the second belt；4th motor cabinet, the 5th motor cabinet, the 6th motor cabinet are fastened on forearm plate, the
Two motors are fixed in the 4th motor cabinet, the 5th motor cabinet, the 6th motor cabinet, and the second bevel gear is fastened on the second motor.
It is highly preferred that described holding rod is provided with holding rod rubber sleeve, rubber sleeve customizes according to hand-type during people's hand-held pole, convenient
The screens of tiger's jaw, and drive Wrist-sport, holding rod rubber sleeve is locked on holding rod.
Preferably, described elbow joint motion mechanism, including the first elbow joint plate, the second elbow joint plate, the first elbow joint
Half U-board, the second elbow joint half U-board, the first elbow joint bearing, the second elbow joint bearing, the first elbow joint axle,
Second elbow joint axle, the first elbow joint belt pulley, the second elbow joint belt pulley, elbow joint belt, elbow joint motor mounting,
First elbow joint motor cabinet, the second elbow joint motor cabinet, the 3rd elbow joint belt pulley, elbow joint motor, wherein: first
Elbow joint plate one end fastens with one end of the first elbow joint axle；The other end of the first elbow joint axle and the first elbow joint belt pulley
Fastening；First elbow joint axle and the first elbow joint half U-board are connected by bearing；Second elbow joint plate one end and the second elbow
One end fastening of joint shaft, the other end of the second elbow joint axle and the fastening of the second elbow joint belt pulley；Second elbow joint axle with
Second elbow joint half U-board is connected by bearing fit；First elbow joint half U-board and the second elbow joint half U-board
Symmetry is fixed on elbow joint motor mounting；First elbow joint motor cabinet, the second elbow joint motor cabinet are fixed on elbow joint electricity
On base frame；Elbow joint motor is fixed in the first elbow joint motor cabinet, the second elbow joint motor cabinet；3rd elbow joint skin
Belt wheel is fastened on elbow joint motor output end；Second elbow joint belt pulley and the 3rd elbow joint belt pulley are by elbow joint skin
Band connects；When elbow joint motor carries out upset switching installation, the 3rd elbow joint belt pulley, the first elbow that are fixed thereon close
Economize on electricity support will be connected by elbow joint belt and the first elbow joint belt pulley；
The first elbow joint plate other end of elbow joint motion mechanism is tight with the U-loop lower end of wrist joints sporting mechanism with forearm
Gu, the second elbow joint plate other end of elbow joint motion mechanism fastens with the U-loop upper end of forearm with wrist joints sporting mechanism,
Thus realize the connection of elbow joint motion mechanism and forearm and wrist joints sporting mechanism.
It is highly preferred that the side vertical direction correspondence position that the first described support frame component is relative with the 3rd support frame component
The side vertical direction correspondence position being provided with groove, the second support frame component relative with the 4th support frame component is also equipped with
Groove, in the first cylindrical bar, the second cylindrical bar and the 3rd left and right end of cylindrical bar are positioned over described groove and by fastening
Part clamps.
It is highly preferred that the first described elbow joint plate, the second elbow joint plate, the first elbow joint half U-board, the second elbow close
Save and securing member is respectively installed in half U-board, for the machinery safe spacing when motion.
Preferably, described humeral movement mechanism, including half-dome base, the first semicircle cover plate, the second semicircle cover plate,
One arc-shaped guide rail external member, the second arc-shaped guide rail external member, upper arm plate, upper arm bracing frame, the first stand, the second stand,
Baffle plate, the second straight baffle plate, the first U-shaped baffle plate, the second U-shaped baffle plate, the first upper arm motor cabinet, the second upper arm always
Motor cabinet, upper arm motor, upper arm shaft coupling, upper arm bearing, upper arm axle, wherein: first, second arc-shaped guide rail external member
Track be fixed on half-dome base both sides and symmetrically mirror-image arrangement, the slide block of first, second arc-shaped guide rail external member is respectively
Being fixed on the second, first semicircle cover plate, first, second stand is separately fixed on first, second semicircle cover plate, on
Arm bracing frame is fixed on the first stand, and the first U-shaped baffle plate, the second U-shaped baffle plate are fixed on the second, first semicircle cover
On plate, half-dome base and upper arm plate fastening, first, second upper arm motor cabinet is fastened on upper arm plate, and upper arm motor is placed in
In first, second upper arm motor cabinet, upper arm motor output shaft is connected by upper arm shaft coupling with upper arm axle, upper arm axle and half
Physa seat is connected by upper arm bearing；First straight baffle plate two ends are fixed on the first stand and the second stand by securing member respectively
Upper end, the second straight baffle plate two ends are separately fixed at the first stand and the second stand lower end by securing member；
The second stand on second semicircle cover plate of humeral movement mechanism and the elbow joint motor mounting of elbow joint motion mechanism
One end is fixing to be connected, thus realizes humeral movement mechanism and be connected with elbow joint motion mechanism.
Preferably, described gravity compensation motion, including the first supporting rod seat, support bar, the second supporting rod seat,
First support frame component, the second support frame component, the 3rd support frame component, the 4th support frame component, the first cylindrical bar,
Second cylindrical bar, the 3rd cylindrical bar, column tube, rotating seat, the first Upright post base, the second Upright post base；Wherein: support bar
One end be connected with the first supporting rod seat, the other end and the second supporting rod seat are connected；First supporting rod seat is enclosed within column tube
And lock；Second supporting rod seat and the second support frame component and the 4th support frame component are connected；Second support frame component and
Four support frame component are connected and cooperate, and the first support frame component is connected with the 3rd support frame component and cooperates, the
One cylindrical bar, the second cylindrical bar and the 3rd cylindrical bar respectively by the first support frame component and the 3rd support frame component, second
Support parts and the clamping of the 4th support frame component；One end phase of the first support frame component and the 3rd support frame component and rotating seat
Even, the other end of rotating seat connects column tube, and the middle part of column tube and bottom are separately installed with the first Upright post base, second stand
Column base, and the first supporting rod seat is between the first Upright post base, the second Upright post base；
First support frame component of gravity compensation motion, the second support frame component connect with the upper arm plate of humeral movement mechanism
Connect fixing, thus realize the connection of gravity compensation motion and humeral movement mechanism.
Preferably, described shoulder joint kinesitherapy mechanism, including shoulder joint motor, the first shoulder joint support, the second shoulder joint
Support, the first shoulder joint prop up stay tube, universal wheel, wheel seat, the 3rd shoulder joint support, the 4th shoulder joint support, the second shoulder
Articular branches stay tube, wherein: one end fastening of shoulder joint motor output shaft and the first shoulder joint support；First shoulder joint support
The other end, one end of the second shoulder joint support is all enclosed within the first shoulder joint and props up on stay tube and lock；Wheel seat is screwed in the first shoulder
The bottom of articular branches stay tube；Universal wheel is fastened on wheel seat；One end set of the 3rd shoulder joint support and the 4th shoulder joint support
Prop up on stay tube in the first shoulder joint, the other end is enclosed within the second shoulder joint and props up on stay tube and lock；
First Upright post base of gravity compensation motion, the second Upright post base are enclosed within the second shoulder joint of shoulder joint kinesitherapy mechanism and prop up
On stay tube and lock, thus realize the connection of shoulder joint kinesitherapy mechanism and gravity compensation motion.
Preferably, described chair mechanism, including seat frame, seat frame flat board, medicated cushion, back cushion, motor frame plate, seat
Chair axle and motor cabinet, wherein: seat frame flat board is fixed on seat frame；Medicated cushion is placed on seat frame flat board；Back cushion covers on
On the backrest of seat frame；Motor cabinet is fixed on seat frame side；Motor frame plate is fixed on motor cabinet；The flange of seat axle
Dish is fixed on seat frame flat board；
The shoulder joint motor of shoulder joint kinesitherapy mechanism is placed in the motor frame plate of chair mechanism, the of shoulder joint kinesitherapy mechanism
The two shoulder joint support other ends are enclosed within the seat axle of chair mechanism, thus realize shoulder joint kinesitherapy mechanism and chair mechanism
Connect.
Compared with prior art, the present invention has a following beneficial effect:
The present invention passes through drive and control of electric machine, and upper limb suffering limb is carried out actively and passive exercise by auxiliary for hemiparalysis patient, including:
Carpal flexion/extension, abduction/adduction；Outside the medial rotation/rotation of forearm；The flexion/extension of elbow joint；The flexion/extension of shoulder joint, rotation
In/revolve outer, outer pendulum/interior receipts.The present invention is used to improve training effectiveness, accurate training parameter, and compact conformation,
It is beneficial to promote.
Accompanying drawing explanation
By the detailed description non-limiting example made with reference to the following drawings of reading, the further feature of the present invention,
Purpose and advantage will become more apparent upon:
Fig. 1 is the overall structure schematic diagram of the present invention；
Fig. 2 is forearm and the structural representation of wrist joints sporting mechanism of the present invention；
Fig. 3 is the structural representation of the elbow joint motion mechanism of the present invention；
Fig. 4 is the structural representation of the humeral movement mechanism of the present invention；
Fig. 5 is the structural representation of the gravity compensation motion of the present invention；
Fig. 6 is the structural representation of the shoulder joint kinesitherapy mechanism of the present invention；
Fig. 7 is the structural representation of the chair mechanism of the present invention；
In figure:
Forearm and wrist joints sporting mechanism 1, elbow joint motion mechanism 2, humeral movement mechanism 3, gravity compensation motion
4, shoulder joint kinesitherapy mechanism 5, chair mechanism 6；
Holding rod rubber sleeve 101, holding rod 102, the first knee 103, the first axle 104, clutch shaft bearing 105, the second knee
106, the first belt pulley 107, the first belt 108, the second belt pulley 109, the second axle 110, the second bearing 111, connection
Axial organ 112, the first motor cabinet 113, the second motor cabinet 114, the 3rd motor cabinet 115, the first motor 116, the 3rd is curved
Bar 117, forearm plate 118, the 3rd bearing 119, the 3rd axle 120, the 3rd belt pulley 121, the second belt 122, the
Four belt pulleys 123, the 4th axle 124, cylindrical bearing 125, the first bevel gear 126, the second bevel gear 127, the second electricity
Machine 128, the 4th motor cabinet 129, the 5th motor cabinet 130, the 6th motor cabinet 131, block 132, U-loop 133；
First elbow joint plate the 201, second elbow joint plate the 202, first elbow joint half U-board the 203, second elbow joint half
U-board the 204, first elbow joint axle the 205, second elbow joint axle the 206, first elbow joint belt pulley the 207, second elbow closes
Joint belt pulley 208, elbow joint belt the 209, the 3rd elbow joint belt pulley the 210, first elbow joint motor cabinet 211, second
Elbow joint motor cabinet 212, elbow joint motor mounting 213, elbow joint motor 214；
Half-dome base 301, the first semicircle cover plate 302, the second semicircle cover plate 303, the first arc-shaped guide rail external member 304, the
Two arc-shaped guide rail external members 305, upper arm plate 306, the first upper arm motor cabinet 307, the second upper arm motor cabinet 308, upper arm electricity
Machine 309, upper arm shaft coupling 310, upper arm bearing 311, upper arm axle 312, wire 313, the first U-shaped baffle plate 314,
Second U-shaped baffle plate 315, the first straight baffle plate 316, the second straight baffle plate 317, upper arm bracing frame 318, the first stand 319,
Second stand 320；
First supporting rod seat 401, support bar the 402, second supporting rod seat the 403, first support frame component 404, second
Support parts the 405, the 3rd support frame component the 406, the 4th support frame component the 407, first cylindrical bar the 408, second cylinder
Bar the 409, the 3rd cylindrical bar 410, axle 411, column tube 412, rotating seat 413, bearing 414, bearing 415, first
Upright post base 416, bearing the 417, second Upright post base 418, bearing 419, support shaft 420 and bearing 421；
Shoulder joint motor 51, the first shoulder joint support 52, the second shoulder joint support 53, the first shoulder joint props up stay tube 54,
Universal wheel 55, wheel seat 56, the 3rd shoulder joint support 57, the 4th shoulder joint support 58, the second shoulder joint props up stay tube 59；
Chair mechanism 6, including seat frame 61, seat frame flat board 62, medicated cushion 63, back cushion 64, motor frame plate 65, seat
Chair axle 66 and motor cabinet 67.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following example will assist in those skilled in the art
Member is further appreciated by the present invention, but limits the present invention the most in any form.It should be pointed out that, the common skill to this area
For art personnel, without departing from the inventive concept of the premise, it is also possible to make some deformation and improvement.These broadly fall into
Protection scope of the present invention.
As in figure 2 it is shown, the rotation axis that rotary shaft J1 is the first axle 104；Rotary shaft J2 is that the first motor 116 rotates
Axis；The rotation axis of rotary shaft J3 the 3rd axle the 120, the 3rd belt pulley 121；Rotary shaft J4 is the 4th belt pulley 123
Rotation axis.
As it is shown on figure 3, rotary shaft J5 is elbow joint motor 214 rotation axis；Rotary shaft J6 is the first elbow joint axle 205
With the second elbow joint axle 206 rotation axis.
As shown in Figure 4, rotary shaft J7 is upper arm motor 309 rotation axis；Rotary shaft J8 be half-dome base 301,
Center of arc's axis of one semicircle cover plate the 302, second semicircle cover plate 303.
As it is shown in figure 5, rotary shaft J9 is axle 414 rotation axis.
As shown in Figure 6, rotary shaft J10 is shoulder joint motor 51 rotation axis.
As it is shown in figure 1, the present embodiment provides a kind of seven freedom dermaskeleton type upper limb rehabilitation robot, including forearm and
Wrist joints sporting mechanism 1, elbow joint motion mechanism 2, humeral movement mechanism 3, gravity compensation motion 4, shoulder joint
Motion 5 and chair mechanism 6, wherein, forearm is connected with elbow joint motion mechanism 2 with wrist joints sporting mechanism 1,
Elbow joint motion mechanism 2 is connected with humeral movement mechanism 3, and humeral movement mechanism 3 is connected with gravity compensation motion 4,
Gravity compensation motion 4 is connected with shoulder joint kinesitherapy mechanism 5, and shoulder joint kinesitherapy mechanism 5 is connected with chair mechanism 6.
Described forearm and wrist joints sporting mechanism, auxiliary for hemiparalysis patient realizes the medial rotation/rotation outward transport of forearm to upper limb suffering limb
Bent flexion/extension exhibition motion dynamic, carpal, carpal interior receipts/abduction exercise；
Described elbow joint motion mechanism, auxiliary for hemiparalysis patient realizes the bent flexion/extension exhibition motion of elbow joint to upper limb suffering limb；
Described humeral movement mechanism, auxiliary for hemiparalysis patient realizes the outer motion of medial rotation/rotation of shoulder joint to upper limb suffering limb；
Described gravity compensation motion: according to the difference of stress, for the forearm linked together and wrist joints sporting machine
Structure, elbow joint motion mechanism, humeral movement mechanism and upper limb provide elastic support；Shoulder is realized in the range of elastic movement
The bent flexion/extension exhibition motion in joint, provides a passive freedom degree simultaneously, assists its indefinite axle center of shoulder joint self adaptation；
Described shoulder joint kinesitherapy mechanism, auxiliary for hemiparalysis patient realizes the outer pendulum/interior receipts motion of shoulder joint to upper limb suffering limb；
Described chair mechanism, it is provided that user sitting posture uses, limits user position.
As a preferred embodiment of the present invention, as in figure 2 it is shown, described forearm and wrist joints sporting mechanism 1
Including holding rod rubber sleeve 101, holding rod the 102, first knee the 103, first axle 104, clutch shaft bearing the 105, second knee
106, first belt pulley the 107, first belt the 108, second belt pulley the 109, second axle the 110, second bearing 111, connection
Axial organ the 112, first motor cabinet the 113, second motor cabinet the 114, the 3rd motor cabinet the 115, first motor the 116, the 3rd is curved
Bar 117, forearm plate 118, the 3rd bearing 119, the 3rd axle 120, the 3rd belt pulley the 121, second belt 122,
Four belt pulley the 123, the 4th axles 124, cylindrical bearing the 125, first bevel gear the 126, second bevel gear the 127, second electricity
Machine the 128, the 4th motor cabinet the 129, the 5th motor cabinet the 130, the 6th motor cabinet 131, block 132 and U-loop 133,
Wherein:
Holding rod rubber sleeve 101 is locked on holding rod 102, and holding rod 102 afterbody inserts in the first knee 103 and passes through screw thread
Fastening；First knee 103 other end and the first belt pulley 107 are fastened by the first axle 104；First axle 104 and second
Equipped with clutch shaft bearing 105 between knee 106, the first axle 104 rotates around rotary shaft J1；First motor cabinet the 113, second electricity
Support the 114, the 3rd motor cabinet 115 is fastened on the second knee 106 by screw, and the first motor 116 is fixed on first
In motor cabinet the 113, second motor cabinet the 114, the 3rd motor cabinet 115, the first motor cabinet guarantees axially to position, but due to
Parts and fixing screw sizes are less herein, need the second motor cabinet and the 3rd motor cabinet to play auxiliary fixation, the first electricity
Machine is embedded in motor cabinet, will not be collided with by external force and affect.First motor 116 and the second axle 110 are by shaft coupling 112
Connect；Equipped with the second bearing 111 between the second axle 110 and the second knee 106, the second axle 110 rotates around rotary shaft J2；
Second belt pulley 109 is fixed on the second axle 110 top, equipped with between the second belt pulley 109 and the first belt pulley 107
One belt 108；3rd knee 117 one end and the second knee 106 are tight by screw fastening, the other end and the 3rd axle 120
Gu；3rd axle 120 one end and the 3rd belt pulley 121 fasten, the other end passes through the 3rd bearing 119 with forearm plate 118 one end
Connecting, the 3rd axle 120 rotates around rotary shaft J3；Forearm plate 118 other end inserts in U-loop 133, and can basis
Concrete length drags relative position and is adjusted；By cylindrical bearing 125 between 4th axle 124 and the first bevel gear 126
Connecting, the first bevel gear 126 is fastened in the 4th belt pulley 123；4th axle 124 end is fixed on U-loop 133
In notch, the 4th axle 124 rotates around rotary shaft J4；3rd belt pulley 121 and the 4th belt pulley 123 are by the second skin
Band 122 connection；4th motor cabinet the 129, the 5th motor cabinet the 130, the 6th motor cabinet 131 is fastened on forearm by screw
On plate 118, the second motor 128 is fixed in the 4th motor cabinet the 129, the 5th motor cabinet the 130, the 6th motor cabinet 131；
Second bevel gear 127 is fastened on the second motor 128；Block 132 is fixed on forearm plate 118, when the 3rd knee 117
With the 3rd axle 120 when rotary shaft J3 rotates, in the range of the 3rd knee 117 is limited to finite motion by block 132,
As machine security position-limit mechanism.
In the present embodiment, under the drive of the first motor 116 and the second motor 128, described forearm and wrist joints sporting
Mechanism 1 can realize the passive exercise of forearm and carpal joint three degree of freedom altogether:
1, the outer motion of the medial rotation/rotation of forearm: the first motor 116 rotates around rotary shaft J2, in the drive of the first motor 116
Under, the second belt pulley 109 drives the first belt pulley 107 to rotate by the first belt 108, thus drives the first axle 104
Rotate around rotary shaft J1, i.e. realize forearm and rotate around rotary shaft J1；
2, carpal bent flexion/extension exhibition motion: the first motor 116 drives handle 102 to rotate around rotary shaft J1, works as handle
102 with rotary shaft J3 be in same plane and be fixed on this angle time, the second motor 128 rotates, by the first bevel gear
126 and second bevel gear 127 engaged transmission, drive the 4th belt pulley 123 to rotate, the 4th belt pulley 123 is by second
Belt 122 drives the 3rd belt pulley the 121, the 3rd axle the 120, the 3rd knee 117 to rotate around rotary shaft J3,
3, carpal interior receipts/abduction exercise: the first motor 116 drives handle 102 to rotate around J1, when handle 102
Vertical with rotary shaft J3 and when being fixed on this angle, the second motor 128 drives carpal joint to rotate around rotary shaft J3.
As a preferred embodiment of the present invention, as it is shown on figure 3, described elbow joint motion mechanism 2 includes
One elbow joint plate the 201, second elbow joint plate plate the 202, first elbow joint half U-board the 203, second elbow joint half U-shaped
Plate the 204, first elbow joint axle the 205, second elbow joint axle the 206, first elbow joint belt pulley the 207, second elbow joint skin
Belt wheel 208, elbow joint belt the 209, the 3rd elbow joint belt pulley the 210, first elbow joint motor cabinet the 211, second elbow close
Economize on electricity support 212, elbow joint motor mounting 213 and elbow joint motor 214, wherein:
First elbow joint plate 201 one end fastens with one end of the first elbow joint axle 205；Another of first elbow joint axle 205
End fastens with the first elbow joint belt pulley 207；First elbow joint axle 205 and the first elbow joint half U-board 203 pass through axle
Hold and be connected；Second elbow joint plate 202 one end fastens with one end of the second elbow joint axle 206, the second elbow joint axle 206
The other end and the second elbow joint belt pulley 208 fasten；Second elbow joint axle 206 and the second elbow joint half U-board 204
Connected by bearing fit；First elbow joint half U-board 203 is fixed on the second elbow joint half U-board 204 symmetry
On elbow joint motor mounting 213；First elbow joint motor cabinet the 211, second elbow joint motor cabinet 212 is fixed on elbow joint
On motor mounting 213；Elbow joint motor 214 is fixed on first elbow joint motor cabinet the 211, second elbow joint motor cabinet 212
In；3rd elbow joint belt pulley 210 is fastened on elbow joint motor 214 outfan；Second elbow joint belt pulley 208 with
3rd elbow joint belt pulley 210 is connected by elbow joint belt 209.Install when elbow joint motor 214 carries out upset switching
Time, the 3rd elbow joint belt pulley the 210, the first elbow joint motor cabinet 211 being fixed thereon will be by elbow joint belt 209
It is connected with the first elbow joint belt pulley 207；First elbow joint motor cabinet plays axial positioning action, the second elbow joint motor cabinet
Auxiliary positioning, it is ensured that elbow joint motor is embedded in two motor cabinets, is not affected by external force.
First elbow joint plate 201 other end of 2 and forearm and the U in wrist joints sporting mechanism 1 in elbow joint motion mechanism
Shape ring 133 lower end is fastened by screw；Second elbow joint plate 202 other end in elbow joint motion mechanism and forearm and wrist
U-loop 133 upper end in articulation mechanism 1 is fastened by screw, achieves elbow joint motion machine in this way
The connection of structure 2 and forearm and wrist joints sporting mechanism 1.
In the present embodiment, described elbow joint motor 214 axle drives the 3rd elbow joint belt pulley 210 to rotate around rotary shaft J5,
Rotated around J6 axle by elbow joint belt 209 transmission, the first elbow joint plate 201 and the second elbow joint plate 202, described
Elbow joint motion mechanism 2 can realize the bent flexion/extension exhibition motion of elbow joint, i.e. elbow joint rotates around rotary shaft J6.
In the present embodiment, first described elbow joint plate the 201, second elbow joint plate the 202, first elbow joint half U-board
203, in the second elbow joint half U-board 204, trip bolt is respectively installed, when motion, does the spacing use of machine security.
As a preferred embodiment of the present invention, as shown in Figure 4, described humeral movement mechanism 3 includes half
Physa seat the 301, first semicircle cover plate the 302, second semicircle cover plate the 303, first arc-shaped guide rail external member the 304, second arc
Guiding rail set 305, upper arm plate the 306, first upper arm motor cabinet the 307, second upper arm motor cabinet 308, upper arm motor 309,
Upper arm shaft coupling 310, upper arm bearing 311, upper arm axle 312, wire the 313, first U-shaped baffle plate the 314, the 2nd U
The straight baffle plate of type baffle plate 315, first 316, second straight baffle plate 317, upper arm bracing frame the 318, first stand 319 and second
Stand 320, wherein:
The track of first, second arc-shaped guide rail external member 304,305 is fixed by screws on half-dome base 301 both sides also
Symmetrically mirror-image arrangement；The slide block of first, second arc-shaped guide rail external member 304,305 is separately fixed at second, the first half
On dome plate 303,302；First, second stand 319,320 be separately fixed at first, second semicircle cover plate 302,
On 303；Upper arm bracing frame 318 is fixed by screws on the first stand 319；First U-shaped baffle plate the 314, the 2nd U
Type baffle plate 315 is fixed by screws on the second, first semicircle cover plate 303,302；Half-dome base 301 and upper arm plate
306 are fastened by screw；First, second upper arm motor cabinet 307,308 is fastened in upper arm plate 306 by screw；On
Arm motor 309 is placed in first, second upper arm motor cabinet 307,308；Upper arm motor 309 output shaft and upper arm axle
312 are connected by upper arm shaft coupling 310；Upper arm axle 312 is connected by upper arm bearing 311 with half-dome base 301；The
Baffle plate 316 two ends are fixed by screws in the first stand 319 and the second stand 320 epimere, the second straight baffle plate respectively always
317 two ends are separately fixed at the first stand 319 and the second stand 320 lower end by screw.
In the present embodiment, described humeral movement mechanism 3 it is achieved that under the drive of upper arm motor 309, upper arm axle
312 rotate around rotary shaft J7, are driven the outer motion of medial rotation/rotation of shoulder joint by wire 313: i.e. upper arm is around rotary shaft
J8 rotates.
As a preferred embodiment of the present invention, as it is shown in figure 5, described gravity compensation motion 4 includes
First supporting rod seat 401, support bar the 402, second supporting rod seat the 403, first support frame component the 404, second bracing frame
Parts the 405, the 3rd support frame component the 406, the 4th support frame component the 407, first cylindrical bar the 408, second cylindrical bar 409,
3rd cylindrical bar 410, axle 411, column tube 412, rotating seat 413, axle 414, bearing the 415, first Upright post base 416,
Bearing the 417, second Upright post base 418, bearing 419, support shaft 420 and bearing 421, wherein:
One end of support bar 402 is connected with axle 420 by bearing 421 with the first supporting rod seat 401, the other end and second
Supporting rod seat 403 is connected by axle；First supporting rod seat 401 is enclosed within column tube 412 and locks；Second supporting rod seat
403 are connected by bolt with the second support frame component 405 and the 4th support frame component 407；Second support frame component 405
It is connected by bolt with the 4th support frame component 407；First support frame component 404 and the 3rd support frame component 406 are passed through
Bolt is connected；First cylindrical bar the 408, second cylindrical bar 409 and the 3rd cylindrical bar 410 are respectively by the first support frame component
404 are clamped by bolt with the 4th support frame component 407 with the 3rd support frame component the 406, second support frame component 405；
First support frame component 404 is connected by bolt with one end of rotating seat 413 with the 3rd support frame component 406；Rotating seat
The other end of 413 connects column tube 412 by axle 411；Axle 411 and rotating seat 413 are by bearing 414, bearing 415
Linking, rotating seat 413 can rotate around the axis of axle 411；Middle part and the bottom of column tube 412 are separately installed with first
Upright post base the 416, second Upright post base 418, and the first supporting rod seat 401 is at first Upright post base the 416, second Upright post base 418
Between；First Upright post base the 416, second Upright post base 418 and column tube 412 are held in the mouth by bearing 417, bearing 419 respectively
Connecing, first Upright post base the 416, second Upright post base 418 can rotate around the axis of column tube 412；
The side of first support frame component the 404, second support frame component 405 of gravity compensation motion 4 is transported with upper arm
The upper arm plate 306 of motivation structure 3 is bolted fixing, thus realizes gravity compensation motion 4 and humeral movement machine
The connection of structure 3.
In the present embodiment, the vertically side, side that the first described support frame component 404 is relative with the 3rd support frame component 406
Correspondence position is provided with vertically side, groove, the second support frame component 405 side relative with the 4th support frame component 407
Be also equipped with groove to correspondence position, described first cylindrical bar the 408, second cylindrical bar 409 and the 3rd cylindrical bar 410 is left,
Right part is positioned in described groove and clamps.
In the present embodiment, described gravity compensation motion 4 can realize three effects:
1, according to the difference of stress, for forearm and wrist joints sporting mechanism 1, elbow joint motion mechanism 2, humeral movement machine
Structure 3 and upper limb provide elastic support；
2, in the range of elastic movement, it is achieved the bent flexion/extension exhibition motion of shoulder joint: shoulder joint rotates around rotary shaft J9；
3, simultaneously, the spin of the column tube 412 of gravity compensation motion 4 a, it is provided that passive freedom degree, auxiliary
Its indefinite axle center of shoulder joint self adaptation.
In the present embodiment, the described forearm being connected together and wrist joints sporting mechanism 1, elbow joint motion mechanism 2, on
Arm motion 3, can turn over turnback around the second cylindrical bar 409, and exchanging for left and right upper limb provides change.
As a preferred embodiment of the present invention, as shown in Figure 6, described shoulder joint mechanism 5 includes: shoulder joint
Joint motor the 51, first shoulder joint support the 52, second shoulder joint support the 53, first shoulder joint prop up stay tube 54, universal wheel 55,
Wheel seat the 56, the 3rd shoulder joint support the 57, the 4th shoulder joint support 58 and the second shoulder joint prop up stay tube 59, wherein:
The output shaft of shoulder joint motor 51 and one end fastening of the first shoulder joint support 52；First shoulder joint support 52
The other end, one end of the second shoulder joint support 53 are all enclosed within the first shoulder joint and prop up on stay tube 54 and locked by bolt；Wheel
Seat 56 props up the bottom of stay tube 54 by being threaded onto the first shoulder joint；Universal wheel 55 is fastened on wheel seat 56 by screw；
One end of 3rd shoulder joint support 57 and the 4th shoulder joint support 58 be enclosed within the first shoulder joint prop up on stay tube 54, the other end
It is enclosed within the second shoulder joint prop up on stay tube 59 and locked by bolt；
First Upright post base the 416, second Upright post base 418 of gravity compensation motion 4 is enclosed within shoulder joint kinesitherapy mechanism 5
Second shoulder joint is propped up on stay tube 59 and locks, thus realizes described shoulder joint kinesitherapy mechanism 5 and move with described gravity compensation
The connection of mechanism 4.
In the present embodiment, described shoulder joint mechanism 5 it is achieved that shoulder joint motor 51 around rotary shaft J10 rotate,
Driving the outer pendulum/interior receipts motion of shoulder joint, now shoulder joint rotates around rotary shaft J10 in the horizontal plane.
As a preferred embodiment of the present invention, as it is shown in fig. 7, described chair mechanism 6 include seat frame 61,
Seat frame flat board 62, medicated cushion 63, back cushion 64, motor frame plate 65, seat axle 66 and motor cabinet 67, wherein:
Seat frame flat board 62 is fixed on seat frame 61；Medicated cushion 63 is placed on seat frame flat board 62；Back cushion 64 covers on
On the backrest of seat frame 61；Motor cabinet 67 is fixed on seat frame 61 side, and motor frame plate 65 is fixed by screws in electricity
On support 67；The ring flange of seat axle 66 is fixed by screws on seat frame flat board 62；
The shoulder joint motor 51 of shoulder joint kinesitherapy mechanism is placed in motor frame plate 65, the second of shoulder joint kinesitherapy mechanism 5
Shoulder joint support 53 other end is enclosed within seat axle 66, thus realizes described shoulder joint kinesitherapy mechanism 5 and described seat machine
The connection of structure 6.
In the present embodiment, the effect of described chair mechanism 6: provide user sitting posture to use, limit user position,
Location shoulder joint is in rotary shaft J10.
To sum up, the present invention passes through drive and control of electric machine, and upper limb suffering limb is carried out actively and passive exercise by auxiliary for hemiparalysis patient,
Including: carpal bent flexion/extension exhibition motion, carpal interior receipts/abduction exercise；The outer motion of the medial rotation/rotation of forearm；Elbow
The bent flexion/extension exhibition motion in joint；The bent flexion/extension exhibition motion of shoulder joint, the outer motion of medial rotation/rotation, outer pendulum/interior receipts motion.
Above the specific embodiment of the present invention is described.It will be appreciated that, the invention is not limited in
State particular implementation, those skilled in the art can make various deformation within the scope of the claims or amendment,
This has no effect on the flesh and blood of the present invention.
Claims (8)
1. a seven freedom dermaskeleton type upper limb rehabilitation robot, it is characterised in that include the forearm that is sequentially connected and
Wrist joints sporting mechanism, elbow joint motion mechanism, humeral movement mechanism, gravity compensation motion, shoulder joint exercise machine
Structure, chair mechanism；
Described forearm and wrist joints sporting mechanism, auxiliary for hemiparalysis patient realizes the medial rotation/rotation outward transport of forearm to upper limb suffering limb
Bent flexion/extension exhibition motion dynamic, carpal, carpal interior receipts/abduction exercise；
Described elbow joint motion mechanism, auxiliary for hemiparalysis patient realizes the bent flexion/extension exhibition motion of elbow joint to upper limb suffering limb；
Described humeral movement mechanism, auxiliary for hemiparalysis patient realizes the outer motion of medial rotation/rotation of shoulder joint to upper limb suffering limb；
Described gravity compensation motion: according to the difference of stress, for the forearm linked together and wrist joints sporting machine
Structure, elbow joint motion mechanism, humeral movement mechanism and upper limb provide elastic support；Shoulder is realized in the range of elastic movement
The bent flexion/extension exhibition motion in joint, provides a passive freedom degree simultaneously, assists its indefinite axle center of shoulder joint self adaptation；
Described shoulder joint kinesitherapy mechanism, auxiliary for hemiparalysis patient realizes the outer pendulum/interior receipts motion of shoulder joint to upper limb suffering limb；
Described chair mechanism, it is provided that user sitting posture uses, limits user position；
Described gravity compensation motion, including the first supporting rod seat, support bar, the second supporting rod seat, the first support
Frame parts, the second support frame component, the 3rd support frame component, the 4th support frame component, the first cylindrical bar, the second cylinder
Bar, the 3rd cylindrical bar, column tube, rotating seat, the first Upright post base, the second Upright post base；Wherein: one end of support bar with
First supporting rod seat is connected, the other end and the second supporting rod seat are connected；First supporting rod seat is enclosed within column tube and locks；
Second supporting rod seat and the second support frame component and the 4th support frame component are connected；Second support frame component and the 4th bracing frame
Parts are connected and cooperate, and the first support frame component is connected with the 3rd support frame component and cooperates, the first cylindrical bar,
Second cylindrical bar and the 3rd cylindrical bar respectively by the first support frame component and the 3rd support frame component, the second support frame component with
4th support frame component clamping；First support frame component is connected with one end of rotating seat with the 3rd support frame component, rotating seat
The other end connect column tube, the middle part of column tube and bottom are separately installed with the first Upright post base, the second Upright post base, and the
One supporting rod seat is between the first Upright post base, the second Upright post base.
A kind of seven freedom dermaskeleton type upper limb rehabilitation robot the most according to claim 1, it is characterised in that
Described forearm and wrist joints sporting mechanism, including holding rod, the first knee, the first axle, clutch shaft bearing, the second knee,
First belt pulley, the first belt, the second belt pulley, the second axle, the second bearing, shaft coupling, the first motor cabinet, second
Motor cabinet, the 3rd motor cabinet, the first motor, the 3rd knee, forearm plate, the 3rd bearing, the 3rd axle, the 3rd belt pulley,
Second belt, the 4th belt pulley, the 4th axle, cylindrical bearing, the first bevel gear, the second bevel gear, the second motor,
Four motor cabinets, the 5th motor cabinet, the 6th motor cabinet and U-loop, wherein: holding rod afterbody inserts in the first knee and fastens；
First knee and the first belt pulley are fastened by the first axle, equipped with clutch shaft bearing between the first axle and the second knee；First motor
Seat, the second motor cabinet, the 3rd motor cabinet are fastened on the second knee, and the first motor is fixed on the first motor cabinet, the second electricity
In support, the 3rd motor cabinet, the first motor and the second axle are connected by shaft coupling, equipped with between the second axle and the second knee
Two bearings, the second belt pulley is fixed on the second axle top, equipped with the first belt between the second belt pulley and the first belt pulley；
3rd knee one end and the second knee are fastenedly connected, the other end fastens with the 3rd axle, one end of the 3rd axle and the 3rd belt pulley
Fastening, the other end are connected by the 3rd bearing with forearm plate；Forearm plate inserts in U-loop, the 4th axle and the first bevel gear
Between connected by cylindrical bearing, the first bevel gear is fastened in the 4th belt pulley, and the 4th the tip of the axis is fixed on U-loop
In notch；3rd belt pulley and the 4th belt pulley are connected by the second belt；4th motor cabinet, the 5th motor cabinet, the 6th
Motor cabinet is fastened on forearm plate, and the second motor is fixed in the 4th motor cabinet, the 5th motor cabinet, the 6th motor cabinet, the
Two bevel gears are fastened on the second motor.
A kind of seven freedom dermaskeleton type upper limb rehabilitation robot the most according to claim 1, it is characterised in that
Described elbow joint motion mechanism, including the first elbow joint plate, the second elbow joint plate, the first elbow joint half U-board,
Two elbow joint half U-board, the first elbow joint bearing, the second elbow joint bearing, the first elbow joint axle, the second elbow joint axle,
First elbow joint belt pulley, the second elbow joint belt pulley, elbow joint belt, elbow joint motor mounting, the first elbow joint electricity
Support, the second elbow joint motor cabinet, the 3rd elbow joint belt pulley, elbow joint motor, wherein: first elbow joint plate one end
Fasten with one end of the first elbow joint axle；The other end of the first elbow joint axle and the fastening of the first elbow joint belt pulley；First elbow
Joint shaft and the first elbow joint half U-board are connected by the first elbow joint bearing；Second elbow joint plate one end is closed with the second elbow
One end fastening of nodal axisn, the other end of the second elbow joint axle and the fastening of the second elbow joint belt pulley；Second elbow joint axle and
Two elbow joint half U-board are connected by the second elbow joint bearing fit；First elbow joint half U-board and the second elbow joint
Half U-board symmetry is fixed on elbow joint motor mounting；First elbow joint motor cabinet, the second elbow joint motor cabinet are fixed on
On elbow joint motor mounting；Elbow joint motor is fixed in the first elbow joint motor cabinet, the second elbow joint motor cabinet, and the 3rd
Elbow joint belt pulley is fastened on elbow joint motor output end；Second elbow joint belt pulley and the 3rd elbow joint belt pulley pass through
Elbow joint belt connects；When elbow joint motor carry out upset switching install time, the 3rd elbow joint belt pulley that is fixed thereon,
First elbow joint motor cabinet will be connected by elbow joint belt and the first elbow joint belt pulley.
A kind of seven freedom dermaskeleton type upper limb rehabilitation robot the most according to claim 3, it is characterised in that
The first described support frame component side vertical direction correspondence position relative with the 3rd support frame component be provided with groove,
The two support frame component side vertical direction correspondence position relative with the 4th support frame component is also equipped with groove, the first cylinder
In bar, the second cylindrical bar and the 3rd left and right end of cylindrical bar are positioned over described groove and clamped by securing member.
A kind of seven freedom dermaskeleton type upper limb rehabilitation robot the most according to claim 3, it is characterised in that
In described the first elbow joint plate, the second elbow joint plate, the first elbow joint half U-board, the second elbow joint half U-board
Securing member is respectively installed, for the machinery safe spacing when motion.
A kind of seven freedom dermaskeleton type upper limb rehabilitation robot the most according to claim 3, it is characterised in that
Described humeral movement mechanism, including half-dome base, the first semicircle cover plate, the second semicircle cover plate, the first arc-shaped guide rail set
Part, the second arc-shaped guide rail external member, upper arm plate, upper arm bracing frame, the first stand, the second stand, the first straight baffle plate,
Two straight baffle plates, the first U-shaped baffle plate, the second U-shaped baffle plate, the first upper arm motor cabinet, the second upper arm motor cabinet, upper arm
Motor, upper arm shaft coupling, upper arm bearing, upper arm axle, wherein: the track of first, second arc-shaped guide rail external member is fixed on
On half-dome base both sides and symmetrically mirror-image arrangement, the slide block of first, second arc-shaped guide rail external member is separately fixed at second,
On first semicircle cover plate, first, second stand is separately fixed on first, second semicircle cover plate, and upper arm bracing frame is fixed
On the first stand, the first U-shaped baffle plate, the second U-shaped baffle plate are fixed on the second, first semicircle cover plate, half physa
Seat and upper arm plate fasten, and first, second upper arm motor cabinet is fastened on upper arm plate, and upper arm motor is placed on first, second
In arm motor cabinet, upper arm motor output shaft is connected by upper arm shaft coupling with upper arm axle, and upper arm axle and half-dome base are by upper
Arm axle holds connection；First straight baffle plate two ends are fixed on the first stand and the second stand upper end by securing member respectively, and second is straight
Baffle plate two ends are separately fixed at the first stand and the second stand lower end by securing member.
7., according to a kind of seven freedom dermaskeleton type upper limb rehabilitation robot described in any one of claim 1-6, it is special
Levy and be, described shoulder joint kinesitherapy mechanism, including shoulder joint motor, the first shoulder joint support, the second shoulder joint support,
First shoulder joint props up stay tube, universal wheel, wheel seat, the 3rd shoulder joint support, the 4th shoulder joint support, the second shoulder joint are propped up
Stay tube, wherein: one end fastening of shoulder joint motor output shaft and the first shoulder joint support；Another of first shoulder joint support
End, one end of the second shoulder joint support are all enclosed within the first shoulder joint and prop up on stay tube and lock；Wheel seat is screwed in the first shoulder joint and props up
The bottom of stay tube；Universal wheel is fastened on wheel seat；One end of 3rd shoulder joint support and the 4th shoulder joint support is enclosed within first
Shoulder joint is propped up on stay tube, the other end is enclosed within the second shoulder joint and props up on stay tube and lock.
8., according to a kind of seven freedom dermaskeleton type upper limb rehabilitation robot described in any one of claim 1-6, it is special
Levying and be, described chair mechanism, including seat frame, seat frame flat board, medicated cushion, back cushion, motor frame plate, seat axle
And motor cabinet, wherein: seat frame flat board is fixed on seat frame；Medicated cushion is placed on seat frame flat board；Back cushion covers on seat
On the backrest of frame；Motor cabinet is fixed on seat frame side；Motor frame plate is fixed on motor cabinet；The ring flange of seat axle is solid
It is scheduled on seat frame flat board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410855081.3A CN104490565B (en) | 2014-12-26 | 2014-12-26 | Seven freedom dermaskeleton type upper limb rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410855081.3A CN104490565B (en) | 2014-12-26 | 2014-12-26 | Seven freedom dermaskeleton type upper limb rehabilitation robot |
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| CN104490565A CN104490565A (en) | 2015-04-08 |
| CN104490565B true CN104490565B (en) | 2016-12-07 |
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