CN105853141A - Shoulder rehabilitation system with gravity compensation mechanism - Google Patents
Shoulder rehabilitation system with gravity compensation mechanism Download PDFInfo
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- CN105853141A CN105853141A CN201610183962.4A CN201610183962A CN105853141A CN 105853141 A CN105853141 A CN 105853141A CN 201610183962 A CN201610183962 A CN 201610183962A CN 105853141 A CN105853141 A CN 105853141A
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- shoulder
- rehabilitation system
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- 230000005484 gravity Effects 0.000 title claims abstract description 70
- 230000007246 mechanism Effects 0.000 title abstract description 10
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 34
- 210000000245 forearm Anatomy 0.000 claims description 33
- 229910000831 Steel Inorganic materials 0.000 claims description 19
- 239000010959 steel Substances 0.000 claims description 19
- 230000033001 locomotion Effects 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 4
- 230000000452 restraining effect Effects 0.000 claims description 3
- 241000222712 Kinetoplastida Species 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 6
- 230000009916 joint effect Effects 0.000 abstract description 4
- 238000005452 bending Methods 0.000 abstract 2
- 238000012549 training Methods 0.000 description 19
- 210000001364 upper extremity Anatomy 0.000 description 5
- 230000001276 controlling effect Effects 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000011084 recovery Methods 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000035876 healing Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002232 neuromuscular Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 208000020431 spinal cord injury Diseases 0.000 description 1
- 230000000153 supplemental effect Effects 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H2001/0203—Rotation of a body part around its longitudinal axis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H2001/0207—Nutating movement of a body part around its articulation
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention provides a shoulder rehabilitation system with a gravity compensation mechanism. The system comprises a base, a support, a first rotating assembly, a second rotating assembly and a third rotating assembly. The first rotating assembly is used for achieving inward rotating/outward rotating of shoulder joints, the second rotating assembly is used for achieving outward unfolding/inward folding of the shoulder joints, and the third rotating assembly is used for achieving bending/stretching of the shoulder joints. One end of the support is arranged on the base, the other end of the support is provided with the first rotating assembly, the second rotating assembly is arranged at the end of the first rotating assembly, and the third rotating assembly is arranged at the end of the second rotating assembly. According to the shoulder rehabilitation system with the gravity compensation mechanism, the shoulder joints are designed to have three freedom degrees of inward rotating/outward rotating, outward unfolding/inward folding, and bending/stretching, all the freedom degrees of the shoulder joints of the human body are completely simulated in the design mode, and patients can be helped to complete shoulder joint actions capable of being finished by a healthy person. Through the arrangement of the gravity compensation mechanism, the output torque of a gravity compensation motor can be increased, and the patients can be protected.
Description
Technical field
The present invention relates to a kind of shoulder rehabilitation system with gravity compensation, belong to medical instruments field.
Background technology
Along with the progress of science and technology, the especially fast development of medical science, rehabilitation engineering increasingly comes into one's own.
Rehabilitation medicine research shows, for the patient of the limbs disturbance that apoplexy, spinal cord injury and all kinds of accident cause
For, if correct rehabilitation training can be carried out in time, the recovery to neuromuscular function can be very helpful,
This is very important for patient and family.
Traditional rehabilitation training of upper limbs method is dependent on the physiatrist of specialty and patient carries out training by doing and illustrating.
Sufferer this for hemiplegia, though the supplemental training of doctor has certain help, but will not be the most preferable, it is impossible to complete
Entirely reaching preferable rehabilitation efficacy, and there are problems: first, therapist once can only be to a patient
Carrying out training, training effectiveness is the highest；Secondly, lack and be accurately controlled index and record training parameter, no
Rational theoretical foundation can be provided for determining and improving therapeutic scheme；Further, Rehabilitation Assessment index is the most objective,
It is unfavorable for follow-up more in-depth study Recovery mechanism.
In view of the some shortcomings of current rehabilitation means, this work frequently, repeatedly of rehabilitation training, more
Applicable robot assisted completes, and the birth of healing robot brings Gospel to patient.Utilize robot and phase thereof
Pass technology carries out objective monitoring and evaluation to training process, improves specific aim and the science of hemiparalysis recovery training
Property, treating physician is freed from heavy physical work simultaneously, formulates more preferable rehabilitation scheme for patient,
Improve the efficiency of rehabilitation further.
Shoulder joint be human body the most flexibly and the joint of most fragile, be also the most unsteady pass of structure in human synovial
Joint, the hemiplegic patient of about 1/3rd is to be damaged at shoulder joint.And healing and training shoulder joint machine
Genus Homo is in medical robot category, and main function is that the hemiplegic arm of auxiliary patient carries out rehabilitation training, to reach
To more scientific, the training effect of more specification.At present, shoulder joint is carried out the rehabilitation machines of single special training
Mechanical arm is less, and simple in construction, and degree of freedom is less, it is impossible to meet the comprehensive training of shoulder joint, and for
The impact of mechanical arm and patient's upper limb self gravitation does not carry out suitable compensation, which results in rehabilitation mechanical arm and closes
The load of joint motor increases so that motor size increases the most therewith.More seriously when controlling motor failure,
Owing to lacking gravity compensation so that the upper limb of patient is easily caused secondary damage by rehabilitation mechanical arm.
The problems referred to above are the problems should paid attention to and solve in shoulder rehabilitation course.
Summary of the invention
For problem above, the present invention provides a kind of shoulder rehabilitation system with gravity compensation, it is possible to full
The shoulder rehabilitation training mechanism of foot different crowd, it can realize the motion of 3 degree of freedom of shoulder joint, have weight
Force compensating mechanism, multiple functional, the suitability is strong, solves the above-mentioned problems in the prior art.
The present invention adopts the following technical scheme that
A kind of shoulder rehabilitation system with gravity compensation, including support, in realizing shoulder joint
First rotary components of rotation/outward turning campaign, for realize the abduction/adduction motion of shoulder joint the second rotary components,
For realizing the 3rd rotary components that the flexion/extension of shoulder joint moves, one end of support is located on base, support
The other end is provided with the first rotary components, and the end of the first rotary components is provided with the second rotary components, the second rotation group
The end of part is provided with the 3rd rotary components；
3rd rotary components is additionally provided with gravity compensation, and gravity compensation includes gravity compensation motor, gear
Plate, cylinder, assembly pulley, steel wire rope and fixing bolt, gravity compensation motor is fixed on baffle plate, and cylinder is located at
In the rotary shaft of gravity compensation motor, one end of steel wire rope is connected on cylinder, and the other end of steel wire rope walks around cunning
Wheels also connect fixing bolt, and fixing bolt is located on the 3rd rotary components.
Further, the first rotary components includes that the first motor, waling stripe, the first motor are located on support,
Support uses inverted L-shaped support, and the first motor is connected with one end of waling stripe by decelerator, waling stripe
The other end be provided with the second rotary components.
Further, the second rotary components includes the second motor, vertical connecting rod, and the second motor is located at level even
The end of bar, the second motor is connected with one end of vertical connecting rod by decelerator, and the other end of vertical connecting rod is provided with
3rd rotary components.
Further, the 3rd rotary components includes that circular rotatable body, forearm fix connecting rod, forearm fixes slide block
With the 3rd motor for rotating circular rotor, forearm is fixed the end of connecting rod and is connected circular rotatable body, circular
Rotor is provided with fixing bolt, and forearm is fixed connecting rod and is provided with position-adjustable formula forearm and fixes slide block, and forearm is fixed
Slide block is provided with fixes, for forearm, the through hole that connecting rod passes.
Further, forearm is fixed slide block and is provided with restraining and holding rod.
Further, what described steel wire rope connected that one end of fixing bolt is provided with for gravity compensation motor is defeated
Go out the angular transducer of regulation.
Further, the first motor, the second motor, the 3rd motor all use direct current generator, the first motor,
Second motor, the 3rd motor are mounted on incremental optical-electricity encoder and force transducer.Photoelectric encoder is used for surveying
Turning to and rotating speed of amount motor；Force transducer is for measuring the power at cradle head and moment；Thus realize respectively
The control of motor.
Further, described support is provided with the stopping means one for limit levels link rotatable, described level
Connecting rod is provided with the stopping means two for limiting vertical link rotatable, and described vertical connecting rod is provided with for limiting circle
The stopping means three that rotor rotates.Each stopping means can be electric limiting switch, it is also possible to be mechanical position limitation
Device, primarily serves the effect of protection patient.
Further, described support uses lifting type support.
Further, this existing patient's left arm of shoulder rehabilitation system with gravity compensation and right arm
Switching, particularly as follows: the right hand to left hand switch time, by waling stripe around the first motor rotary shaft rotation 180 °,
Again circular rotatable body is rotated 180 ° around the rotary shaft of the 3rd motor.
This kind has the shoulder rehabilitation system of gravity compensation, shoulder joint is designed with internal/external rotations,
Abduction/adduction and flexion/extension three degree of freedom, this design simulates all degree of freedom of human body shoulder joint completely,
Patient can be helped to complete the shoulder joint action that Healthy People can complete.
This kind has in the shoulder rehabilitation system of gravity compensation, by the setting of gravity compensation, it is possible to
Avoid when controlling motor failure, owing to lacking gravity compensation so that rehabilitation mechanical arm easily upper limb to patient
The problem causing secondary damage.
Gravity compensation is provided driving force, gravity compensation motor to be fixed on baffle plate by DC micro-motor, and
Be connected with cylinder by reduction box, equipped with force transducer and be wound with steel wire rope on cylinder, by horizontal trolley and
The assembly pulley being fixed on vertical connecting rod is connected with the fixing bolt on circular rotatable body.This gravity compensation
The gravity of mechanical arm and patient's arm self can be compensated, simultaneously can also the output of gravity compensation motor
Moment.
Owing to shoulder joint is one of position of the most complicated most fragile of human body, the present invention is equipped with electricity at each rotary part
Gas is spacing or mechanical stop limiter, and the range of movement of limit mechanical arm is in the maximum rotation angle of human synovial and pole
Between limit rotational angle, play the purpose of protection patient.
This kind has the shoulder rehabilitation system of gravity compensation, for the rehabilitation training of satisfied different patients,
Base and fixed support are designed to liftable, to meet the patient of differing heights；Forearm is fixed slider designs
One-tenth can freely stretch, with the patient of satisfied different brachiums.
According to the different demands of patient, this rehabilitation system can realize the switching of patient's left arm and right arm, no
Need to re-assembly mechanism, convenient and swift, simple to operate.During switching, only need to be by waling stripe around the first motor
Rotary shaft rotate 180 °, then by circular rotatable body around the 3rd motor rotary shaft rotate 180 °.
The invention has the beneficial effects as follows: a kind of shoulder rehabilitation system with gravity compensation of the present invention, will shoulder
Joint designs becomes to have internal/external rotations, abduction/adduction and flexion/extension three degree of freedom, the complete mould of this design
All degree of freedom of anthropomorphic body shoulder joint, can help patient to complete the shoulder joint action that Healthy People can complete.Increase
Add a gravity compensation motor implementing displacement-force square complex controll, the main gravity of balancing mechanical arm, reduce
Joint motor loads, and improves rehabilitation exercise efficiency.This kind has the shoulder rehabilitation system of gravity compensation, behaviour
Make simple, multiple functional, safe and reliable to operation, it is suitable for kind crowd many, it is possible to meet medically to shoulder joint
Rehabilitation demands, beneficially popularization and application.
Accompanying drawing explanation
Fig. 1 is the structural representation that the embodiment of the present invention has the shoulder rehabilitation system of gravity compensation；
Fig. 2 is another structural representation that embodiment has the shoulder rehabilitation system of gravity compensation；
Fig. 3 is the structural representation of gravity compensation in embodiment；
Fig. 4 is the enlarged diagram in A portion in Fig. 3；
Wherein: 1-support, 2-the first motor, 3-the second motor, 4-the 3rd motor, 5-forearm fixes slide block,
6-forearm fixes connecting rod, 7-restraining, 8-holding rod, and 9-fixes bolt, 10-gravity compensation, and 11-level is even
Bar, the vertical connecting rod of 12-, 13-circular rotatable body, 14-bracket adjustment device, the tight latch fitting of 15-；
101-gravity compensation motor, 102-steel wire rope, 103-cylinder, 104-baffle plate, 105-pulley one, 106-
Pulley two, 107-pulley three, 108-pulley four, 109-pulley bracket.
Detailed description of the invention
Describe the preferred embodiments of the present invention below in conjunction with the accompanying drawings in detail.
A kind of shoulder rehabilitation system with gravity compensation of embodiment, for the shoulder rehabilitation training of patient,
The flexion/extension of shoulder joint, abduction/adduction and the motion of internal/external rotations three degree of freedom can be realized, there is weight simultaneously
Force compensating mechanism 10, is possible not only to increase the output torque of gravity compensation motor 101, it is also possible to play patient
To protective effect.
Embodiment
A kind of shoulder rehabilitation system with gravity compensation, such as Fig. 1 and Fig. 2, including base, support 1,
For realizing the first rotary components of the internal/external rotations motion of shoulder joint, for realizing the abduction/adduction of shoulder joint
The 3rd rotary components that the second rotary components moved, the flexion/extension being used for realizing shoulder joint move, support 1
One end is located on base, and the other end of support 1 is provided with the first rotary components, and the end of the first rotary components is provided with
Second rotary components, the end of the second rotary components is provided with the 3rd rotary components.
This kind has the shoulder rehabilitation system of gravity compensation, shoulder joint is designed with internal/external rotations,
Abduction/adduction and flexion/extension three degree of freedom, this design simulates all degree of freedom of human body shoulder joint completely,
Patient can be helped to complete the shoulder joint action that Healthy People can complete.
Such as Fig. 1 and Fig. 3, the 3rd rotary components is additionally provided with gravity compensation 10, such as Fig. 4, gravity compensation
Mechanism 10 includes gravity compensation motor 101, baffle plate 104, cylinder 103, assembly pulley, steel wire rope 102 and consolidates
Determining bolt 9, gravity compensation motor 101 is fixed on baffle plate 104, and baffle plate 104 is located at circular rotatable body 13
Top and be fixed on vertical connecting rod 12, cylinder 103 is located in the rotary shaft of gravity compensation motor 101,
One end of steel wire rope 102 is connected on cylinder 103, and the other end of steel wire rope 102 is walked around assembly pulley and connects solid
Determining bolt 9, fixing bolt 9 is located on circular rotatable body 13, and fixing bolt 9 is positioned close to forearm and fixes
At connecting rod 6, steel wire rope 102 and horizontal position is made to be equipped with certain angle, such as 30 °-120 °, preferably 90 °.
Assembly pulley is for regulating the trend of steel wire rope 102 and playing the certain positioning action to steel wire rope 102.Assembly pulley
Including pulley 1, pulley 2 106, pulley 3 107 and pulley 4 108, baffle plate is located at by pulley 1
On 104 or vertical connecting rods 12, pulley 3 107 and pulley 4 108 are respectively arranged on the both sides of steel wire rope 102.
Pulley 3 107 and pulley 4 108 are located on vertical connecting rod 12 by pulley bracket 1091.Steel wire rope 102
The one end connecting fixing bolt 9 is provided with the angular transducer of the output regulation for gravity compensation motor 101.
This kind has in the shoulder rehabilitation system of gravity compensation, by the setting of gravity compensation 10,
It can be avoided that when controlling motor failure, owing to lacking gravity compensation so that rehabilitation mechanical arm is easily to patient's
The problem that upper limb causes secondary damage.
This kind has in the shoulder rehabilitation system of gravity compensation, and gravity compensation 10 is by small DC
Machine provides driving force, and gravity compensation motor 101 is fixed on baffle plate 104, and by reduction box and cylinder 103
It is connected, equipped with force transducer and be wound with steel wire rope 102 on cylinder 103, by horizontal trolley be fixed on perpendicular
Assembly pulley on straight connecting rod 12 is connected with the fixing bolt 9 on circular rotatable body 13.This gravity compensation
The gravity of mechanical arm and patient's arm self can be compensated by 10, can also increase gravity compensation electricity simultaneously
The output torque of machine 101.
First rotary components includes that the first motor 2, waling stripe 11, the first motor 2 are located on support 1,
Support 1 uses inverted L-shaped support 1, the first motor 2 to be connected with one end of waling stripe 11 by decelerator,
The other end of waling stripe 11 is provided with the second rotary components.
Second rotary components includes that waling stripe 11 is located at by the second motor 3, vertical connecting rod 12, the second motor 3
End, the second motor 3 is connected with one end of vertical connecting rod 12 by decelerator, another of vertical connecting rod 12
End is provided with the 3rd rotary components.
3rd rotary components includes that circular rotatable body 13, forearm fix connecting rod 6, forearm fixes slide block 5 and uses
In the 3rd motor 4 of the circular rotor 13 of rotation, the 3rd motor 4 is located on vertical connecting rod 12, and forearm is fixed
The end of connecting rod 6 connects circular rotatable body 13, and circular rotatable body 13 is provided with fixing bolt 9, and forearm is fixing even
Bar 6 is provided with position-adjustable formula forearm and fixes slide block 5, and forearm is fixed slide block 5 and is provided with and fixes connecting rod for forearm
6 through holes passed.
Forearm being fixed slide block 5 be designed to freely to stretch, forearm fixes slide block 5 by tight latch fitting 15 such as
Regulation bolt etc. is fixed on forearm and fixes connecting rod 6, fixes slide block 5 by forearm and fixes shifting on connecting rod 6 at forearm
Move and regulate length, with the patient of satisfied different brachiums.
The end of vertical connecting rod 12 is located at by 3rd motor 4 of the 3rd rotary components, and the 3rd motor 4 is by slowing down
Device connects the middle part of circular rotatable body 13, improves driving force for circular rotatable body 13.Forearm fixes slide block 5
It is provided with restraining 7 and holding rod 8.Fixing for forearm and hand.
Support 1 is provided with the stopping means one rotated for limit levels connecting rod 11, and waling stripe 11 is provided with use
In limiting the stopping means two that vertical connecting rod 12 rotates, vertical connecting rod 12 is provided with for limiting circular rotatable body
13 stopping means three rotated, do not mark in stopping means figure.
Owing to shoulder joint is one of position of the most complicated most fragile of human body, embodiment is equipped with electricity at each rotary part
Gas is spacing or mechanical stop limiter, and the range of movement of limit mechanical arm is in the maximum rotation angle of human synovial and pole
Between limit rotational angle, play the purpose of protection patient.
Support 1 uses lifting type support 1.Support 1 and base grafting, and by bracket adjustment device 14
Fixing support 1 is realized as regulated screw etc..Embodiment is to meet the rehabilitation training of different patients, will
Base and fixed support 1 are designed to liftable, to meet the patient of differing heights；Forearm is fixed slide block 5
It is designed to freely to stretch, with the patient of satisfied different brachiums.
First motor the 2, second motor the 3, the 3rd motor 4 all uses direct current generator, the first motor 2, second
Motor the 3, the 3rd motor 4 is mounted on incremental optical-electricity encoder and force transducer.
To sum up, this shoulder rehabilitation system is it addition, the present invention can also realize doctor further by improving and extension
Treat family oriented and the simple operation of rehabilitation equipment.
The present invention is not limited to above-mentioned preferred forms, the structure change made under the enlightenment of the present invention, all
It is to there is same or like technical scheme, within each falling within protection scope of the present invention with the present invention.
Claims (10)
1. a shoulder rehabilitation system with gravity compensation, it is characterised in that: include support, for
Realize the first rotary components of the internal/external rotations motion of shoulder joint, for realizing the abduction/adduction motion of shoulder joint
The second rotary components, for realize shoulder joint flexion/extension motion the 3rd rotary components, one end of support sets
On base, the other end of support is provided with the first rotary components, and the end of the first rotary components is provided with the second rotation
Assembly, the end of the second rotary components is provided with the 3rd rotary components；
3rd rotary components is additionally provided with gravity compensation, and gravity compensation includes gravity compensation motor, gear
Plate, cylinder, assembly pulley, steel wire rope and fixing bolt, gravity compensation motor is fixed on baffle plate, and cylinder is located at
In the rotary shaft of gravity compensation motor, one end of steel wire rope is connected on cylinder, and the other end of steel wire rope walks around cunning
Wheels also connect fixing bolt, and fixing bolt is located on the 3rd rotary components.
There is the shoulder rehabilitation system of gravity compensation the most as claimed in claim 1, it is characterised in that:
First rotary components includes that the first motor, waling stripe, the first motor are located on support, and support uses inverted L
Shape support, the first motor is connected with one end of waling stripe by decelerator, and the other end of waling stripe is provided with the
Two rotary components.
There is the shoulder rehabilitation system of gravity compensation the most as claimed in claim 2, it is characterised in that:
Second rotary components includes the second motor, vertical connecting rod, and the second motor is located at the end of waling stripe, the second electricity
Machine is connected with one end of vertical connecting rod by decelerator, and the other end of vertical connecting rod is provided with the 3rd rotary components.
There is the shoulder rehabilitation system of gravity compensation the most as claimed in claim 4, it is characterised in that:
3rd rotary components includes that circular rotatable body, forearm fix connecting rod, forearm fixes slide block and turns for rotating circle
3rd motor of kinetoplast, forearm fix connecting rod end connect circular rotatable body, circular rotatable body is provided with fixing spiral shell
Bolt, forearm fixes connecting rod and is provided with position-adjustable formula forearm and fixes slide block, and forearm is fixed slide block and is provided with for forearm
The through hole that fixing connecting rod passes.
There is the shoulder rehabilitation system of gravity compensation the most as claimed in claim 4, it is characterised in that:
Forearm is fixed slide block and is provided with restraining and holding rod.
6. the shoulder rehabilitation system with gravity compensation as described in any one of claim 1-5, it is special
Levy and be: described steel wire rope connects one end of fixing bolt and is provided with the output regulation for gravity compensation motor
Angular transducer.
7. the shoulder rehabilitation system with gravity compensation as described in claim 4 or 5, its feature exists
In: the first motor, the second motor, the 3rd motor all use direct current generator, the first motor, the second motor,
Three motors are mounted on incremental optical-electricity encoder and force transducer.
8. the shoulder rehabilitation system with gravity compensation as described in claim 4 or 5, its feature exists
In: described support is provided with the stopping means one for limit levels link rotatable, described waling stripe be provided with for
Limiting the stopping means two of vertical link rotatable, described vertical connecting rod is provided with for limiting what circular rotatable body rotated
Stopping means three.
There is the shoulder rehabilitation system of gravity compensation the most as claimed in claim 1, it is characterised in that:
Described support uses lifting type support.
10. the shoulder rehabilitation system with gravity compensation as described in claim 4 or 5, its feature
It is: this existing patient's left arm of shoulder rehabilitation system with gravity compensation and the switching of right arm, specifically
For: when the right hand to left hand switches, waling stripe is rotated 180 ° around the rotary shaft of the first motor, then by circle
Rotor rotates 180 ° around the rotary shaft of the 3rd motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610183962.4A CN105853141B (en) | 2016-03-28 | 2016-03-28 | Shoulder rehabilitation system with gravity compensation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610183962.4A CN105853141B (en) | 2016-03-28 | 2016-03-28 | Shoulder rehabilitation system with gravity compensation |
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| Publication Number | Publication Date |
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| CN105853141A true CN105853141A (en) | 2016-08-17 |
| CN105853141B CN105853141B (en) | 2018-06-15 |
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| CN201610183962.4A Active CN105853141B (en) | 2016-03-28 | 2016-03-28 | Shoulder rehabilitation system with gravity compensation |
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| CN111728819A (en) * | 2020-07-10 | 2020-10-02 | 上海电气集团股份有限公司 | Multi-stage protection device and method for upper limb rehabilitation robot |
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| CN113849006B (en) * | 2021-10-14 | 2023-02-28 | 成都拟合未来科技有限公司 | Output force compensation method of strength type intelligent fitness equipment |
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