CN105832491B - Upper limbs rehabilitation equipment - Google Patents
Upper limbs rehabilitation equipment Download PDFInfo
- Publication number
- CN105832491B CN105832491B CN201510013901.9A CN201510013901A CN105832491B CN 105832491 B CN105832491 B CN 105832491B CN 201510013901 A CN201510013901 A CN 201510013901A CN 105832491 B CN105832491 B CN 105832491B
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- Prior art keywords
- rotating shaft
- linear
- outer tube
- axle part
- braking
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 37
- 238000006073 displacement reaction Methods 0.000 claims abstract description 46
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 23
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
Abstract
The invention discloses a kind of upper limbs rehabilitation equipment, comprising：One pedestal；One rotating shaft unit, the pedestal is hubbed on, and there is a first axle part and a second axle part；One rotating driver, it is arranged on the pedestal and with the drive division of the power connector the first axle part；One brake unit, have one to be arranged on the braking outer tube of the rotating shaft and one can be located at braking inner tube in the braking outer tube with displacement；One linear displacement unit, have one to be hubbed on the linear base of the second axle part and one can be located to linear displacement the linear stage of the linear base；One hand grips module, and group is located at the linear stage；One is hubbed on first and second connecting rod between the braking inner tube and linear base.Use and reach reduction cost of manufacture, lift product competitiveness, and be applicable the purpose of various rehabilitation patterns.
Description
Technical field
The present invention relates to a kind of rehabilitation equipment, particularly relates to a kind of upper limbs rehabilitation equipment.
Background technology
In general upper limbs rehabilitation equipment is mainly to aid in rehabilitation person to be directed to the arm upper limbs being hurt to carry out proper exercise, is made
The position being hurt can early restore and recover strength and action.
As shown in fig.1, the upper limbs rehabilitation device of display TaiWan, China application the 100129108th, it includes：One base
11st, a driver element 12, a swing arm 13 and a swing arm travel settings unit 14.Wherein driver element 12 is to be mounted on base
On 11.Swing arm 13 is coupled on driver element 12, and this swing arm 13 is to be driven the driving of unit 12 and to carry out one past
Multiple motion, to drive the upper limbs of rehabilitation person to carry out reciprocally swinging.Rehabilitation person's is upper except that can drive for the function of the driver element 12
Limb can also give the resistance of swing arm 13 1 outside swinging, and allow rehabilitation person when the reciprocating motion of upper limbs is carried out, and train the flesh of upper limbs
Endurance.And swing arm travel settings unit 14 is disposed on a side surface of driver element 12, and it is single positioned at swing arm 13 and driving
Between member 12, swung with setting swing arm 13.
However, the free degree deficiency that the patent case can be carried out, can only be carried out front and rear (or left and right) on a single plane
Face is mobile and face rotation forward or backwards, therefore, the form constrained of rehabilitation.
As shown in fig.2, showing another upper limbs rehabilitation device, it is with skeleton form design outside machinery, by multiple linear
One driver of each collocation of displacement unit 16, to reach the rehabilitation function of high-freedom degree, meanwhile, multiple senses of being arranged in pairs or groups at each joint 17
Device 18 is surveyed, to sense the amplitude swung during rehabilitation person's rehabilitation, speed, number etc..However, excessive driver and sensor
18 configuration will cause overall cost of manufacture too high, reduce product competitiveness.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of upper limbs rehabilitation equipment, and it mainly reduces cost of manufacture,
Lift product competitiveness.
Another technical problem to be solved by this invention is to provide a kind of upper limbs rehabilitation equipment, and it mainly increases freedom
Degree, to be applicable various rehabilitation patterns.
To solve the above problems, the present invention provides a kind of upper limbs rehabilitation equipment, comprising：One pedestal；One rotating shaft unit, is pivoted
In the pedestal, and there is a first axle part and a second axle part；One rotating driver, it is arranged on the pedestal and connects with a power
Connect the drive division of the first axle part；One brake unit, have one to be arranged on the braking outer tube of the rotating shaft unit and one being capable of displacement
Ground is located in the braking outer tube and with the braking inner tube of a braking connecting portion；One linear displacement unit, have one to be hubbed on this
The linear base of the second axle part and a linear stage that can be located to linear displacement the linear base；One hand grips module,
Group is located at the linear stage；One first connecting rod, there is first bar portion and one second bar portion for being hubbed on the braking connecting portion；With
And a second connecting rod, have one to be hubbed on the 3rd bar portion of second bar portion and one be hubbed on the 4th bar portion of the linear base.
It is preferred that the first axle part of the rotating shaft unit is gear, the drive division of the rotating driver is and the first axle part
Meshed gears.
It is preferred that the rotating shaft unit has more a rotating shaft extension between the first axle part and the second axle part,
The braking outer tube of the brake unit is installed in the rotating shaft extension, and the zigzag tread patterns in the braking outer tube are arranged on more one
Device, a brake screw driven by the longitudinal drive original place, the braking inner tube is to be arranged in the brake screw.
It is preferred that the linear displacement unit, which further includes one, is arranged on the Linear actuator of the linear base, one linear by this
Linear screw that driver original place drives, a linear nut that can be arranged in linear displacement the linear screw, this is linear flat
Platform is to be installed in the linear nut.
It is installed in the gripping seat of the linear stage it is preferred that the hand grips module comprising one, one alternatively group can set
In the gripping hand handle of the gripping seat and a sensing module.
It is preferred that the rotating shaft unit has more a rotating shaft outer tube, a rotating shaft inner tube and a tumbler, wherein outside the rotating shaft
Pipe is hubbed on the pedestal, and comprising the first axle part, the rotating shaft inner tube can be located at displacement in the rotating shaft outer tube, and comprising
The second axle part, and there is a tooth-strip part；The tumbler is rotationally group can be located at the rotating shaft outer tube, and is arranged on one
Rotation head outside the rotating shaft outer tube and the connection rotation head and be arranged within the rotating shaft outer tube and with the tooth-strip part
Nibble the rotation teeth portion of sum.
It is preferred that the first axle part of the rotating shaft outer tube is gear, the drive division of the rotating driver is and the first axle part
Meshed gears.
It is preferred that the rotating shaft unit has more a rotating shaft inner tube, a rotating shaft outer tube and a telescopic brake, wherein this turn
Axle inner tube is hubbed on the pedestal, and comprising the first axle part, and there is an inner tube extension, the rotating shaft outer tube is can be with displacement
The rotating shaft inner tube is set in, and comprising the second axle part, and there is an outer tube extension；The telescopic brake is arranged on the inner tube
Between extension and the outer tube extension, and it is installed in the flexible braking outer tube of the inner tube extension with one and one being capable of position
It is located at moving in the flexible braking outer tube and with a flexible braking inner tube for connecting the outer tube extension.
It is preferred that the first axle part of the rotating shaft inner tube is gear, the drive division of the rotating driver is and the first axle part
Meshed gears.
In addition, a kind of control method of upper limbs rehabilitation equipment provided by the present invention, comprising：Setting procedure, set the rotation
The driver drives rotating shaft unit pivot track, the braking inner tube with respect to the braking outer tube upper and lower displacement track, this is linear
Track of the platform along the linear base left and right displacement；Starting step, start the upper limbs rehabilitation equipment start, allow the upper limbs rehabilitation to set
The standby rehabilitation track carried out set by setting procedure.
Brief description of the drawings
Fig. 1 is a upper limbs rehabilitation device wherein schema for TaiWan, China application the 100129108th.
Fig. 2 is the stereogram of common upper limbs rehabilitation equipment.
Fig. 3 is the stereogram of first embodiment of the invention.
Fig. 4 is the side view of first embodiment of the invention.
Fig. 5 is Fig. 4 part sectioned view, shows the state inside brake unit.
Fig. 6 is the front view of first embodiment of the invention.
Fig. 7 is Fig. 6 line segments 7-7 profile.
Fig. 8 is the illustrative view of first embodiment of the invention, and display rehabilitation person grips the state that hand grips module.
Fig. 9 is the illustrative view of first embodiment of the invention, and display carries out the state of the first free degree rehabilitation.
Figure 10 is the illustrative view of first embodiment of the invention, and display carries out the state of the second free degree rehabilitation.
Figure 11 is the illustrative view of first embodiment of the invention, and display carries out the state of Three Degree Of Freedom rehabilitation.
Figure 12 is the stereogram of first embodiment of the invention, and the state for gripping hand handle is replaced in display.
Figure 13 is the front view of second embodiment of the invention.
Figure 14 is Figure 13 part sectioned view.
Figure 15 is the front view of third embodiment of the invention.
Figure 16 is the actuator state schematic diagram of third embodiment of the invention.
Figure 17 is the use block diagram of the present invention.
Description of reference numerals
Base 11
Driver element 12
Swing arm 13
Swing arm travel settings unit 14
Linear displacement unit 16
Joint 17
Sensor 18
Pedestal 20
Short tube 21
Long tube 22
Rotating shaft unit 30
The first axle part 31
The second axle part 32
Trunnion mount 33
Rotating shaft 34
Rotating shaft extension 35
Rotating shaft outer tube 301
Rotating shaft inner tube 302
Tooth-strip part 3021
Tumbler 303
Rotate head 3031
Rotate teeth portion 3032
Rotating shaft inner tube 306
Inner tube extension 3061
Rotating shaft outer tube 307
Outer tube extension 3071
Telescopic brake 308
Flexible braking outer tube 3081
Flexible braking inner tube 3082
Rotating driver 40
Drive division 41
Brake unit 50
Brake outer tube 51
Brake inner tube 52
Brake connecting portion 521
Brake inner tube swivel nut portion 522
Longitudinal drive 53
Brake screw 54
Linear displacement unit 60
Linear base 61
Linear stage 62
Linear actuator 63
Linear screw 64
Linear nut 65
Hand grips module 70
Grip seat 71
Grip hand handle 72,73
Sense module 74
First connecting rod 81
First bar portion 811
Second bar portion 812
Second connecting rod 82
3rd bar portion 821
4th bar portion 822
Palmar hand 91
Elbow fulcrum 92
Hand fulcrum 93
Shoulder fulcrum 94
Setting procedure 101
Grip step 102
Starting step 103
Embodiment
Refering to a kind of upper limbs rehabilitation equipment that shown in Fig. 3 to Fig. 7, first embodiment of the invention is provided, mainly by one
Pedestal 20, a rotating shaft unit 30, a rotating driver 40, a brake unit 50, a linear displacement unit 60, a hand grip mould
70, one first connecting rod 81 of group and a second connecting rod 82 are formed, wherein：
The pedestal 20, it is that the short tube 21 and one being be arranged in parallel by two rides upon 22 groups of long tube between two short tube 21
Into.
The rotating shaft unit 30, the pedestal 20 is hubbed on, and there is a first axle part 31 and a second axle part 32；The present embodiment
In, the rotating shaft unit 30 includes the rotating shaft that a trunnion mount 33 and one for being installed in the long tube 22 is through the trunnion mount 33 in longitudinally pivot
34, and the first axle part 31 is located at the bottom of rotating shaft 34 and positioned at the lower section of the long tube 22 and is gear, the second axle part
32 are located at the upper end of rotating shaft 34；In addition, the rotating shaft unit 30 is with more one in laterally setting and position is in the first axle part 31
And the rotating shaft extension 35 between the second axle part 32.
The rotating driver 40, the long tube 22 of the pedestal 20 is arranged on, and there is the power connector the first axle part 31
Drive division 41；In the present embodiment, the drive division 41 be with the 31 direct meshed gears of the first axle part, certain drive division 41 with
Also a belt pulley (not showing on figure) can be nested between the first axle part 31 to reach power connector.
The brake unit 50, there is a braking outer tube 51 and one for being arranged on the rotating shaft 34 can be located at the system with displacement
In dynamic outer tube 51 and with the braking inner tube 52 of a braking connecting portion 521；In the present embodiment, please refer to Fig. 5, the braking list
The braking outer tube 51 of member 50 is in longitudinally to be installed in the rotating shaft extension 35, and is arranged on more one in the braking outer tube 51
The brake screw 54 that longitudinal drive 53, one is driven by the original place of longitudinal drive 53, the braking inner tube 52 have one to be arranged in
The braking inner tube swivel nut portion 522 of the brake screw 54, the start longitudinal drive 53 can drive the pirouette of brake screw 54
It is dynamic, and then make the braking inner tube 52 in longitudinally shift reciprocately.
The linear displacement unit 60, have a linear base 61 and one for being hubbed on the second axle part 32 being capable of linear position
It is located at the linear stage 62 of the linear base 61 with moving；In the present embodiment, please refer to Fig. 7, the linear displacement unit 60 is more
The linear screw driven comprising a Linear actuator 63, one for being arranged on the linear base 61 by the original place of Linear actuator 63
64th, a linear nut 65 that can be arranged in linear displacement the linear screw 64, the linear stage 62 are that to be installed in this linear
Nut 65, the start Linear actuator 63 can drive the original place of linear screw 64 to rotate, and then drive the linear nut 65
The linear stage 62 is along the axial reciprocating displacement of linear screw 64.
The hand grips module 70, and group is located at the linear stage 62；In the present embodiment, the hand grips module 70 and includes one
Be installed in the linear stage 62 gripping seat 71, one can alternatively group be located at the gripping seat 71 gripping hand handle 72 and two feel
Survey module 74 (such as force sensing device)；In the present embodiment, the sensing module 74 is to be located at the gripping hand handle gripped for rehabilitation person
In 72.
The first connecting rod 81, there is first bar portion 811 for being hubbed on the brake unit 50 braking connecting portion 521 and one the
Two bar portions 812.
The second connecting rod 82, there is the 3rd bar portion 821 and one for being hubbed on second bar portion 812 to be hubbed on the linear bottom
4th bar portion 822 of seat 61.
Described above is the structure and its configuration explanation of each main member of first embodiment of the invention.Thereby, this implementation
Example can carry out the upper limbs rehabilitation of Three Degree Of Freedom, and it is as described below that it makees flowing mode, but is not limited.
One, the state of the first free degree rehabilitation.Refering to shown in Fig. 8 and Fig. 9, when palmar hand 91 is gripped this by rehabilitation person
Hand grips module 70, and when controlling 40 start of rotating driver, the rotating driver 40 can drive the rotating shaft unit 30 former
Ground rotates, and then drives the brake unit 50, linear displacement unit 60 and the hand gripping for being arranged on the linear displacement unit 60
Module 70 is with rotating shaft unit 30 for axle center and the angle of beat one, and now, rehabilitation person is then with elbow fulcrum 92 for shaft core driving hand branch
Point 93 reaches the upper limbs rehabilitation of original place transverse direction beat laterally toward shoulder fulcrum 94 close to (or remote) one distance.
Secondly, the state of the second free degree rehabilitation.Refering to shown in Fig. 8 and Figure 10, when rehabilitation person grips palmar hand 91
The hand grips module 70, and when controlling 50 start of brake unit, the braking inner tube 52 of the brake unit 50 can be relative to this
Brake outer tube 51 and rise a distance, and simultaneously through the gearing of the first connecting rod 81 and second connecting rod 82, and then drive this linear
Displacement unit 60 is with the second axle part 32 of the rotating shaft unit 30 for axle center and the angle of beat one, and now, rehabilitation person is then with elbow fulcrum
92 be that shaft core driving hand fulcrum 93 longitudinally answer upwards by the angle of (or downward) beat one, the upper limbs for reaching original place longitudinal direction beat
It is strong.
Thirdly, the state of Three Degree Of Freedom rehabilitation.Refering to shown in Fig. 8 and Figure 11, when rehabilitation person grips palmar hand 91
The hand grips module 70, and when controlling linear displacement 60 start of unit, the meeting of linear stage 62 of the linear displacement unit 60
Drive the hand to grip module 70 and horizontal linear displacement is carried out along the direction of linear base 61, now, rehabilitation person is then with shoulder
Fulcrum 94 is fixing point, makes the hand fulcrum 93 and elbow the fulcrum 92 laterally distance of (or forward) displacement one backward, reaches transverse direction
The upper limbs rehabilitation of shift reciprocately.
Accordingly,, can be by setting by the upper limbs rehabilitation equipment of the present invention in the use step of actual rehabilitation refering to Figure 17
Determine step 101, gripping step 102 and starting step 103 to reach, wherein：
The setting procedure 101, set the rotating driver and drive the pivot track of the rotating shaft unit 30, the braking inner tube 52
The track of track, the linear stage 62 along the left and right displacement of linear base 61 with respect to the upper and lower displacement of braking outer tube 51.
The gripping step 102, rehabilitation person's palmar hand 91 is gripped into the hand and grips module 70.
The starting step 103, start the upper limbs rehabilitation equipment start, allow the upper limbs rehabilitation equipment to drive rehabilitation person to be set
Determine the rehabilitation track set by step, make to carry out single degree of freedom rehabilitation track or more each and every one free degree rehabilitation track collocation
With.
As shown in the above description, the present invention is by pedestal 20, rotating shaft unit 30, rotating driver 40, brake unit 50, line
Property displacement unit 60, hand grips module 70, first connecting rod 81 and second connecting rod 82 are formed, you can reach multiple frees degree
Rehabilitation operation, not only used driver is few, and attainable free degree rehabilitation pattern is more, can reach really reduction make
Cost, product competitiveness is lifted, and be applicable the purpose of various rehabilitation patterns.
In addition, gripping the sensing module 74 set by module 70 by the hand, rehabilitation person can be detected immediately in rehabilitation
During, its muscle is using the state contributed, and feedback signal is analyzed in the data bank of rear end to carry out record with rehabilitation.
Refering to shown in Figure 12, the present embodiment can be directed to the difference of rehabilitation person's palm grip portion size during rehabilitation
And the gripping hand handle 73 that the hand grips module 70 is changed, to meet actual demand.
Refering to a kind of upper limbs rehabilitation equipment that shown in Figure 13, Figure 14, second embodiment of the invention is provided, its be equally by
Pedestal 20, rotating shaft unit 30, rotating driver 40, brake unit 50, linear displacement unit 60, hand grip module 70, first
Connecting rod 81 and second connecting rod are formed, and because its configuration and effect are same as first embodiment, therefore are repeated no more, real as second
Apply example difference be in：
The rotating shaft unit 30 has more a rotating shaft outer tube 301, a rotating shaft inner tube 302 and a tumbler 303, wherein this turn
Axle outer tube 301 is hubbed on the pedestal 20, and is that can be located at this turn with displacement comprising the first axle part 31, the rotating shaft inner tube 302
In axle outer tube 301, and comprising the second axle part 32, and there is a tooth-strip part 3021；The tumbler 303 is rotationally group to set
In the rotating shaft outer tube 301, and there is a rotation head 3031 and one being arranged on outside the rotating shaft outer tube 301 to connect the rotation
Head 3031 and be arranged within the rotating shaft outer tube 301 and nibbled with the tooth-strip part 3021 and rotation teeth portion 3032.
Accordingly, the tumbler 303 is transferred in rotation, enables the rotating shaft inner tube 302 relative to the rotating shaft outer tube 301 and longitudinal direction
Ground rises or falls, and may finally change the height of the linear displacement unit 60, and to meet the height of rehabilitation person, or increase by one is high
Spend the exclusive use of the free degree or be used cooperatively with other frees degree.
Refering to a kind of upper limbs rehabilitation equipment that shown in Figure 15, Figure 16, third embodiment of the invention is provided, its be equally by
Pedestal 20, rotating shaft unit 30, rotating driver 40, brake unit 50, linear displacement unit 60, hand grip module 70, first
Connecting rod 81 and second connecting rod are formed, and because its configuration and effect are same as first embodiment, therefore are repeated no more, real as the 3rd
Apply example difference be in：
The rotating shaft unit 30 has more a rotating shaft inner tube 306, a rotating shaft outer tube 307 and a telescopic brake 308, wherein
The rotating shaft inner tube 306 is hubbed on the pedestal 20, and comprising the first axle part 31, and there is an inner tube extension 3061, the rotating shaft
Outer tube 307 is can be set in the rotating shaft inner tube 306 with displacement, and comprising the second axle part 32, and there is an outer tube extension
3071；The telescopic brake 308 is arranged between the inner tube extension 3061 and the outer tube extension 3071, and fixed with one
Can be located at displacement in the flexible braking outer tube 3081 in the flexible braking outer tube 3081 and one of the inner tube extension 3061 and
With a flexible braking inner tube 3082 for connecting the outer tube extension 3071.
Accordingly, the flexible arrester 38 is controlled, enables the rotating shaft outer tube 307 relative to the rotating shaft inner tube 306 and longitudinal direction
Ground rises or falls, and may finally change the height of the linear displacement unit 60, and to meet the height of rehabilitation person, or increase by one is high
Spend the exclusive use of the free degree or be used cooperatively with other frees degree.
In summary, the various embodiments described above and schema are only presently preferred embodiments of the present invention, when can not with restriction
The scope of implementation of the invention, i.e., the equivalent changes and modifications made generally according to scope of the present invention patent, should all belong to the present invention
In patent covering scope.
Claims (8)
1. a kind of upper limbs rehabilitation equipment, it is characterized in that, comprising：
One pedestal；
One rotating shaft unit, the pedestal is hubbed on, and there is a first axle part and a second axle part；
One rotating driver, it is arranged on the pedestal and with the drive division of the power connector the first axle part；
One brake unit, have one to be arranged on the braking outer tube of the rotating shaft unit and one can be located at the braking outer tube with displacement
Braking inner tube interior and that there is a braking connecting portion；
One linear displacement unit, have one to be hubbed on the linear base of the second axle part and one can be located at this to linear displacement
The linear stage of linear base；
One hand grips module, and group is located at the linear stage；
One first connecting rod, there is first bar portion and one second bar portion for being hubbed on the braking connecting portion；And
One second connecting rod, have one to be hubbed on the 3rd bar portion of second bar portion and one be hubbed on the 4th bar of the linear base
Portion；
The rotating shaft unit has more a rotating shaft extension between the first axle part and the second axle part, the brake unit
Braking outer tube be installed in the rotating shaft extension, and be arranged on longitudinal drive in the braking outer tube, one by this with more one
The brake screw that longitudinal drive original place drives, the braking inner tube is to be arranged in the brake screw.
2. upper limbs rehabilitation equipment as claimed in claim 1, it is characterized in that, the first axle part of the rotating shaft unit is gear, should
The drive division of rotating driver be and the first axle part meshed gears.
3. upper limbs rehabilitation equipment as claimed in claim 1, it is characterized in that, the linear displacement unit further includes one and is arranged on this
The Linear actuator of linear base, one by the Linear actuator original place drive linear screw, one can linear displacement spiral shell set
In the linear nut of the linear screw, the linear stage is to be installed in the linear nut.
4. upper limbs rehabilitation equipment as claimed in claim 1, it is characterized in that, the hand grips module and is installed in the line comprising one
The gripping seat of mild-natured, one can alternatively group be located at the gripping seat gripping hand handle and one sensing module.
5. upper limbs rehabilitation equipment as claimed in claim 1, it is characterized in that, the rotating shaft unit is with more a rotating shaft outer tube, one
Rotating shaft inner tube and a tumbler, wherein the rotating shaft outer tube are hubbed on the pedestal, and are comprising the first axle part, the rotating shaft inner tube
It can be located at displacement in the rotating shaft outer tube, and comprising the second axle part, and there is a tooth-strip part；The tumbler is to rotate
Ground group is located at the rotating shaft outer tube, and rotation head and the connection rotation head outside the rotating shaft outer tube are arranged on one
And the rotation teeth portion for being arranged within the rotating shaft outer tube and being engaged with the tooth-strip part.
6. upper limbs rehabilitation equipment as claimed in claim 5, it is characterized in that, the first axle part of the rotating shaft outer tube is gear, should
The drive division of rotating driver be and the first axle part meshed gears.
7. upper limbs rehabilitation equipment as claimed in claim 1, it is characterized in that, the rotating shaft unit is with more a rotating shaft inner tube, one
Rotating shaft outer tube and a telescopic brake, wherein the rotating shaft inner tube are hubbed on the pedestal, and comprising the first axle part, and with one
Inner tube extension, the rotating shaft outer tube are can be set in the rotating shaft inner tube with displacement, and comprising the second axle part, and have outside one
Pipe extension；The telescopic brake is arranged between the inner tube extension and the outer tube extension, and to be installed in this interior with one
The flexible braking outer tube of pipe extension and one it can with displacement be located in the flexible braking outer tube and prolong with the connection outer tube
The flexible braking inner tube of extending portion.
8. upper limbs rehabilitation equipment as claimed in claim 7, it is characterized in that, the first axle part of the rotating shaft inner tube is gear, should
The drive division of rotating driver be and the first axle part meshed gears.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510013901.9A CN105832491B (en) | 2015-01-12 | 2015-01-12 | Upper limbs rehabilitation equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510013901.9A CN105832491B (en) | 2015-01-12 | 2015-01-12 | Upper limbs rehabilitation equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105832491A CN105832491A (en) | 2016-08-10 |
| CN105832491B true CN105832491B (en) | 2018-03-27 |
Family
ID=57178131
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510013901.9A Expired - Fee Related CN105832491B (en) | 2015-01-12 | 2015-01-12 | Upper limbs rehabilitation equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105832491B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109646252B (en) * | 2019-02-28 | 2021-01-22 | 王兆会 | Department of neurology upper limbs rehabilitation equipment |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101288620A (en) * | 2008-06-13 | 2008-10-22 | 哈尔滨工程大学 | Three freedom shoulder, elbow joint force feedback type healing robot |
| CN102631277A (en) * | 2012-03-31 | 2012-08-15 | 中国科学院宁波材料技术与工程研究所 | Rocker type upper limb rehabilitation device and method for performing rehabilitation training by aid of rocker type upper limb rehabilitation device |
| CN103463796A (en) * | 2013-07-12 | 2013-12-25 | 芜湖天人智能机械有限公司 | Adjustable-trajectory limb health training device with sliding pair |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4235437A (en) * | 1978-07-03 | 1980-11-25 | Book Wayne J | Robotic exercise machine and method |
| US20030028130A1 (en) * | 2001-08-04 | 2003-02-06 | Craig Wunderly | Machine for upper limb physical therapy |
| WO2006039403A1 (en) * | 2004-09-29 | 2006-04-13 | Northwestern University | System and methods to overcome gravity-induced dysfunction in extremity paresis |
-
2015
- 2015-01-12 CN CN201510013901.9A patent/CN105832491B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101288620A (en) * | 2008-06-13 | 2008-10-22 | 哈尔滨工程大学 | Three freedom shoulder, elbow joint force feedback type healing robot |
| CN102631277A (en) * | 2012-03-31 | 2012-08-15 | 中国科学院宁波材料技术与工程研究所 | Rocker type upper limb rehabilitation device and method for performing rehabilitation training by aid of rocker type upper limb rehabilitation device |
| CN103463796A (en) * | 2013-07-12 | 2013-12-25 | 芜湖天人智能机械有限公司 | Adjustable-trajectory limb health training device with sliding pair |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105832491A (en) | 2016-08-10 |
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