CN105853141B - Shoulder rehabilitation system with gravity compensation - Google Patents
Shoulder rehabilitation system with gravity compensation Download PDFInfo
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- CN105853141B CN105853141B CN201610183962.4A CN201610183962A CN105853141B CN 105853141 B CN105853141 B CN 105853141B CN 201610183962 A CN201610183962 A CN 201610183962A CN 105853141 B CN105853141 B CN 105853141B
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- 230000005484 gravity Effects 0.000 title claims abstract description 72
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 34
- 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 8
- 210000000245 forearm Anatomy 0.000 claims description 35
- 229910000831 Steel Inorganic materials 0.000 claims description 19
- 239000010959 steel Substances 0.000 claims description 19
- 230000007246 mechanism Effects 0.000 claims description 4
- 230000000452 restraining effect Effects 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 6
- 238000013461 design Methods 0.000 abstract description 5
- 230000009916 joint effect Effects 0.000 abstract description 4
- 230000001681 protective effect Effects 0.000 abstract description 2
- 238000012549 training Methods 0.000 description 19
- 210000001364 upper extremity Anatomy 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 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
- 238000011161 development Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000035876 healing Effects 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
- 241000222712 Kinetoplastida Species 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 208000027418 Wounds and injury 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
- 239000003814 drug Substances 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002232 neuromuscular Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005096 rolling process Methods 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 present invention provides a kind of shoulder rehabilitation system with gravity compensation, including pedestal, stent, be used to implement shoulder joint internal/external rotations movement the first rotary components, be used to implement shoulder joint abduction/adduction movement the second rotary components, be used to implement shoulder joint flexion/extension movement third rotary components, one end of stent is set on pedestal, the other end of stent is equipped with the first rotary components, the end of first rotary components is equipped with the second rotary components, and the end of the second rotary components is equipped with third rotary components；This kind has the shoulder rehabilitation system of gravity compensation, shoulder joint is designed to internal/external rotations, abduction/adduction and flexion/extension three degree of freedom, this design method simulates all degree of freedom of human body shoulder joint completely, and patient can be helped to complete the shoulder joint action that Healthy People can be completed.And by the setting of gravity compensation, it can not only increase the output torque of gravity compensation motor, can also play a protective role to patient.
Description
Technical field
The present invention relates to a kind of shoulder rehabilitation systems with gravity compensation, belong to medical instruments field.
Background technology
With the development of science and technology especially the fast development of medicine, rehabilitation engineering are increasingly taken seriously.Rehabilitation is cured
Learn research shows that, for the patient of limbs disturbance caused by apoplexy, spinal cord injury and all kinds of accidents, if can in time
Correct rehabilitation training is carried out, can be very helpful to the recovery of neuromuscular function, this right and wrong for patient and family
It is often important.
Traditional rehabilitation training of upper limbs method is to carry out the training of teach-by-doing to patient by the physiatrist of profession.For
This sufferer of hemiplegia, will not be too preferable though the supplemental training of doctor has certain help, it is impossible to ideal health be fully achieved
Multiple effect, and there are problems：First, therapist once can only carry out training to a patient, and training effectiveness is not
It is high；Secondly, lack and be accurately controlled index and record training parameter, it is impossible to provide rational reason to determine and improving therapeutic scheme
By foundation；Further more, Rehabilitation Assessment index is not objective enough, it is unfavorable for follow-up more in-depth study Recovery mechanism.
In view of some shortcomings of the means of rehabilitation at present, rehabilitation training is this frequently, work repeatedly, is more suitable for machine
Device people assists completing, and the birth of healing robot brings Gospel to patient.Using robot and its relevant technologies to training
The objective monitoring and evaluations of Cheng Jinhang improve the specific aim and science of hemiparalysis recovery training, while by treating physician from heavy
Manual labor in free, formulate better rehabilitation scheme for patient, further improve the efficiency of rehabilitation.
Shoulder joint is the most unsteady joint of structure in most flexible and most fragile the joint of human body and human synovial, greatly
About 1/3rd hemiplegic patient is damaged at shoulder joint.And healing and training shoulder joint robot belongs to medical machine
People's scope, main function are that the hemiplegic arm of patient is assisted to carry out rehabilitation training, are imitated with reaching more scientific, more specification training
Fruit.At present, the rehabilitation mechanical arm that individual special training is carried out to shoulder joint is less and simple in structure, and degree of freedom is less, nothing
Method meets the comprehensive training of shoulder joint, and the influence for mechanical arm and patient's upper limb its own gravity is without carrying out suitably
Compensation, which results in the load increases of rehabilitation mechanical arm joint motor so that motor size also increases therewith.More seriously
When controlling motor failure, due to lacking gravity compensation so that rehabilitation mechanical arm easily causes secondary damage to the upper limb of patient.
The above problem is should to pay attention to and solve the problems, such as in shoulder rehabilitation course.
Invention content
In view of the above problems, the present invention provides a kind of shoulder rehabilitation system with gravity compensation, disclosure satisfy that not
With the shoulder rehabilitation training mechanism of crowd, it can realize the movement of 3 degree of freedom of shoulder joint, have gravity compensation, work(
Complete, the strong applicability of energy, 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 stent, is used to implement the internal/external rotations of shoulder joint
Movement the first rotary components, be used to implement shoulder joint abduction/adduction movement the second rotary components, be used to implement shoulder joint
Flexion/extension movement third rotary components, one end of stent is set on pedestal, and the other end of stent is equipped with the first rotary components,
The end of first rotary components is equipped with the second rotary components, and the end of the second rotary components is equipped with third rotary components；
Third rotary components are additionally provided with gravity compensation, and gravity compensation includes gravity compensation motor, baffle, rolling
Cylinder, pulley blocks, steel wire rope and fixing bolt, gravity compensation motor are fixed on baffle, and roller is set on turning for gravity compensation motor
On moving axis, one end of steel wire rope is connected on roller, and the other end of steel wire rope around pulley blocks and connects fixing bolt, fixed spiral shell
Bolt is set on third rotary components.
Further, the first rotary components include the first motor, waling stripe, and the first motor is set on stent, and stent is adopted
With inverted L-shaped stent, the first motor is connected by one end of retarder and waling stripe, and the other end of waling stripe is equipped with the second rotation
Turn component.
Further, the second rotary components include the second motor, vertical connecting rod, and the second motor is set on the end of waling stripe
Portion, the second motor are connect by retarder with one end of vertical connecting rod, and the other end of vertical connecting rod is equipped with third rotary components.
Further, third rotary components fix connecting rod, forearm fixation sliding block and for turning including circular rotatable body, forearm
The third motor of dynamic circular rotatable body, forearm fix the end connection circular rotatable body of connecting rod, and circular rotatable body is equipped with fixed spiral shell
Bolt, forearm fix connecting rod and are equipped with position-adjustable formula forearm fixation sliding block, and forearm fixation sliding block is equipped with fixes connecting rod for forearm
The through-hole passed through.
Further, forearm fixes sliding block and is equipped with restraining and holding rod.
Further, one end of the steel wire rope connection fixing bolt is equipped with the output adjusting for gravity compensation motor
Angular transducer.
Further, the first motor, the second motor, third motor be using direct current generator, the first motor, the second motor,
Third motor is mounted on incremental optical-electricity encoder and force snesor.Photoelectric encoder is used for the steering of measurement motor and turns
Speed；Force snesor is used to measure the power and torque at cradle head；So as to fulfill the control to each motor.
Further, the branch is provided with the limiting device one for limit levels link rotatable, and the waling stripe is set
It is useful for limiting the limiting device two of vertical link rotatable, the vertical connecting rod is equipped with the limit for limiting the rotation of circular rotatable body
Position device three.Each limiting device can be electric limiting switch or mechanical stop limiter, primarily serve protection patient's
Effect.
Further, the stent uses Liftable type stent.
Further, the switching of patient's left arm and right arm should be showed with the shoulder rehabilitation system of gravity compensation,
Specially：The right hand to left hand switch when, by waling stripe around the first motor rotation axis rotate 180 °, then by circular rotatable body around
The rotation axis of third motor rotates 180 °.
This kind have gravity compensation shoulder rehabilitation system, by shoulder joint be designed to internal/external rotations, abduction/
Interior receipts and flexion/extension three degree of freedom, this design method simulate all degree of freedom of human body shoulder joint, can help patient completely
Complete the shoulder joint action that Healthy People can be completed.
This kind has in the shoulder rehabilitation system of gravity compensation, by the setting of gravity compensation, can avoid
When controlling motor failure, due to lacking gravity compensation so that rehabilitation mechanical arm easily causes secondary damage to the upper limb of patient
The problem of.
Gravity compensation provides driving force by DC micro-motor, and gravity compensation motor is fixed on baffle, and is passed through
Reduction box is connected with roller, and equipped with force snesor and steel wire rope is wound on roller, is connected vertically by horizontal trolley and being fixed on
Pulley blocks on bar are connected with the fixing bolt on circular rotatable body.The gravity compensation can be to mechanical arm and patient's hand
The gravity of arm itself compensates, at the same can also gravity compensation motor output torque.
Since shoulder joint is one of position of the most complicated most fragile of human body, the present invention is equipped with electrical limit in each rotary part
Position or mechanical stop limiter, the motion range of limit mechanical arm human synovial maximum rotation angle and extreme rotational angle it
Between, play the purpose for protecting patient.
This kind has the shoulder rehabilitation system of gravity compensation, to meet the rehabilitation training of different patients, the bottom of by
Seat and fixing bracket are designed to liftable, to meet the patient of different height；Forearm is fixed into slider designs into can freely stretch
Contracting, to meet the patient of different brachiums.
According to the different demands of patient, which can realize the switching of patient's left arm and right arm, not need to
Mechanism is re-assemblied, it is convenient and efficient, it is easy to operate.During switching, rotation axis of the waling stripe around the first motor need to only be rotated
180 °, then rotation axis of the circular rotatable body around third motor is rotated 180 °.
The beneficial effects of the invention are as follows：A kind of shoulder rehabilitation system with gravity compensation of the present invention, by shoulder joint
It is designed to internal/external rotations, abduction/adduction and flexion/extension three degree of freedom, this design method simulates human body shoulder joint completely
All degree of freedom, can help patient complete Healthy People can complete shoulder joint action.Increase an implementation displacement-force square to answer
The gravity compensation motor of control is closed, the main gravity of balancing mechanical arm reduces joint motor load, improves rehabilitation exercise efficiency.
This kind has the shoulder rehabilitation system of gravity compensation, easy to operate, multiple functional, safe and reliable to operation, is applicable in type people
Group is more, disclosure satisfy that medically to the rehabilitation demands of shoulder joint, is conducive to promote and apply.
Description of the drawings
Fig. 1 is the structure diagram for the shoulder rehabilitation system that the embodiment of the present invention has gravity compensation；
Fig. 2 is another structure diagram for the shoulder rehabilitation system that embodiment has gravity compensation；
Fig. 3 is the structure diagram of gravity compensation in embodiment；
Fig. 4 is the enlarged diagram in A portions in Fig. 3；
Wherein：1- stents, the first motors of 2-, the second motors of 3-, 4- third motors, 5- forearms fix sliding block, and 6- forearms are consolidated
Determine connecting rod, 7- restrainings, 8- holding rods, 9- fixing bolts, 10- gravity compensations, 11- waling stripes, the vertical connecting rods of 12-, 13-
Circular rotatable body, 14- stent regulating devices, the tight latch fittings of 15-；
101- gravity compensation motors, 102- steel wire ropes, 103- rollers, 104- baffles, 105- pulleys one, 106- pulleys two,
107- pulleys three, 108- pulleys four, 109- pulley brackets.
Specific embodiment
The preferred embodiment that the invention will now be described in detail with reference to the accompanying drawings.
A kind of shoulder rehabilitation system with gravity compensation of embodiment, can be with for the shoulder rehabilitation training of patient
It realizes the movement of the flexion/extension of shoulder joint, abduction/adduction and internal/external rotations three degree of freedom, while there is gravity compensation
10, it can not only increase the output torque of gravity compensation motor 101, can also play a protective role to patient.
Embodiment
A kind of shoulder rehabilitation system with gravity compensation such as Fig. 1 and Fig. 2, including pedestal, stent 1, is used to implement
First rotary components of the internal/external rotations movement of shoulder joint are used to implement the second rotation group that the abduction/adduction of shoulder joint moves
Part, be used to implement shoulder joint flexion/extension movement third rotary components, one end of stent 1 is set on pedestal, stent 1 it is another
End is equipped with the first rotary components, and the end of the first rotary components is equipped with the second rotary components, and the end of the second rotary components is equipped with
Third rotary components.
This kind have gravity compensation shoulder rehabilitation system, by shoulder joint be designed to internal/external rotations, abduction/
Interior receipts and flexion/extension three degree of freedom, this design method simulate all degree of freedom of human body shoulder joint, can help patient completely
Complete the shoulder joint action that Healthy People can be completed.
Such as Fig. 1 and Fig. 3, third rotary components are additionally provided with gravity compensation 10, and such as Fig. 4, gravity compensation 10 includes
Gravity compensation motor 101, baffle 104, roller 103, pulley blocks, steel wire rope 102 and fixing bolt 9, gravity compensation motor 101 are solid
It is scheduled on baffle 104, baffle 104 is set on the top of circular rotatable body 13 and is fixed on vertical connecting rod 12, and roller 103 is set on weight
In the rotation axis of force compensating motor 101, one end of steel wire rope 102 is connected on roller 103, and the other end of steel wire rope 102 bypasses
Pulley blocks simultaneously connect fixing bolt 9, and fixing bolt 9 is set on circular rotatable body 13, and fixing bolt 9 is positioned close to forearm and fixes
At connecting rod 6, steel wire rope 102 is made to be equipped with certain angle with horizontal position, such as 30 ° -120 °, preferably 90 °.Pulley blocks are used to adjust
The trend of steel wire rope 102 simultaneously plays certain positioning action to steel wire rope 102.Pulley blocks include pulley 1, pulley 2 106,
Pulley 3 107 and pulley 4 108, pulley 1 are set on baffle 104 or vertical connecting rod 12, pulley 3 107 and pulley 4 108
It is respectively arranged on the both sides of steel wire rope 102.Pulley 3 107 and pulley 4 108 are set on by pulley bracket 1091 on vertical connecting rod 12.
One end that steel wire rope 102 connects fixing bolt 9 is equipped with the angular transducer adjusted for the output of gravity compensation motor 101.
This kind has in the shoulder rehabilitation system of gravity compensation, by the setting of gravity compensation 10, can keep away
Exempt from when controlling motor failure, due to lacking gravity compensation so that rehabilitation mechanical arm easily causes secondary damage to the upper limb of patient
The problem of hindering.
This kind has in the shoulder rehabilitation system of gravity compensation, and gravity compensation 10 is provided by DC micro-motor
Driving force, gravity compensation motor 101 are fixed on baffle 104, and are passed through reduction box and be connected with roller 103, are equipped on roller 103
Force snesor is simultaneously wound with steel wire rope 102, passes through horizontal trolley and the pulley blocks and circular rotatable that are fixed on vertical connecting rod 12
Fixing bolt 9 on body 13 is connected.The gravity compensation 10 can carry out the gravity of mechanical arm and patient's arm itself
Compensation, while the output torque of gravity compensation motor 101 can also be increased.
First rotary components include the first motor 2, waling stripe 11, and the first motor 2 is set on stent 1, and stent 1 uses
L bracket 1, the first motor 2 are connect by retarder with one end of waling stripe 11, and the other end of waling stripe 11 is equipped with second
Rotary components.
Second rotary components include the second motor 3, vertical connecting rod 12, and the second motor 3 is set on the end of waling stripe 11, the
Two motors 3 are connect by retarder with one end of vertical connecting rod 12, and the other end of vertical connecting rod 12 is equipped with third rotary components.
Third rotary components include circular rotatable body 13, forearm fixation connecting rod 6, forearm and fix sliding block 5 and for rotating circle
The third motor 4 of shape rotor 13, third motor 4 are set on vertical connecting rod 12, and forearm fixes round turn of the end connection of connecting rod 6
Kinetoplast 13, circular rotatable body 13 are equipped with fixing bolt 9, and forearm fixes connecting rod 6 and is equipped with position-adjustable formula forearm fixation sliding block 5,
Forearm fixes sliding block 5 and is equipped with the through-hole fixed connecting rod 6 for forearm and passed through.
Forearm fixation sliding block 5 is designed to freely to stretch, forearm fixes sliding block 5 and passes through tight latch fitting 15 such as adjusting bolt
Connecting rod 6 is fixed etc. forearm is fixed on, is fixed on connecting rod 6 and moved come adjustment length in forearm by forearm fixation sliding block 5, to meet
The patient of different brachiums.
The third motor 4 of third rotary components is set on the end of vertical connecting rod 12, and third motor 4 is connected by retarder to be justified
Driving force is improved in the middle part of shape rotor 13 for circular rotatable body 13.Forearm fixes sliding block 5 and is equipped with restraining 7 and holding rod 8.With
In the fixation of forearm and hand.
Stent 1 is equipped with the limiting device one rotated for limit levels connecting rod 11, and waling stripe 11 is equipped with perpendicular for limiting
The limiting device two that straight connecting rod 12 rotates, vertical connecting rod 12 are equipped with the limiting device three for limiting the rotation of circular rotatable body 13,
It is not marked in limiting device figure.
Since shoulder joint is one of position of the most complicated most fragile of human body, embodiment is equipped with electrical limit in each rotary part
Position or mechanical stop limiter, the motion range of limit mechanical arm human synovial maximum rotation angle and extreme rotational angle it
Between, play the purpose for protecting patient.
Stent 1 is using Liftable type stent 1.Stent 1 and pedestal grafting, and pass through stent regulating device 14 such as adjusting screw
Deng the fixation realized to stent 1.Embodiment is to meet the rehabilitation training of different patients, and pedestal and fixing bracket 1 are designed
Into liftable, to meet the patient of different height；Forearm fixation sliding block 5 is designed to freely to stretch, to meet dissimilar arm
Long patient.
First motor 2, the second motor 3, third motor 4 are using direct current generator, the first motor 2, the second motor 3, third
Motor 4 is mounted on incremental optical-electricity encoder and force snesor.
To sum up, this shoulder rehabilitation system is in addition, the present invention can also further realize medical rehabilitation by improving and extending
The family oriented and simple operation of equipment.
The present invention is not limited to above-mentioned preferred forms, the structure change made under the enlightenment of the present invention, it is every with
The present invention has same or similar technical solution, each falls within protection scope of the present invention.
Claims (9)
1. a kind of shoulder rehabilitation system with gravity compensation, it is characterised in that：Including stent, it is used to implement shoulder joint
Internal/external rotations movement the first rotary components, be used to implement shoulder joint abduction/adduction movement the second rotary components, be used for
Realize the third rotary components of the flexion/extension movement of shoulder joint, one end of stent is set on pedestal, and the other end of stent is equipped with first
Rotary components, the end of the first rotary components are equipped with the second rotary components, and the end of the second rotary components is equipped with third rotation group
Part；
The branch is provided with the limiting device one for limit levels link rotatable, and the waling stripe is equipped with vertical for limiting
The limiting device two of link rotatable, the vertical connecting rod are equipped with the limiting device three for limiting the rotation of circular rotatable body；
Third rotary components are additionally provided with gravity compensation, and gravity compensation includes gravity compensation motor, baffle, roller, cunning
Wheel group, steel wire rope and fixing bolt, gravity compensation motor are fixed on baffle, and roller is set on the rotation axis of gravity compensation motor
On, one end of steel wire rope is connected on roller, and the other end of steel wire rope around pulley blocks and connects fixing bolt, and fixing bolt is set
In on third rotary components.
2. there is the shoulder rehabilitation system of gravity compensation as described in claim 1, it is characterised in that：First rotary components
Including the first motor, waling stripe, the first motor is set on stent, and stent uses inverted L-shaped stent, and the first motor passes through retarder
It is connect with one end of waling stripe, the other end of waling stripe is equipped with the second rotary components.
3. there is the shoulder rehabilitation system of gravity compensation as claimed in claim 2, it is characterised in that：Second rotary components
Including the second motor, vertical connecting rod, the second motor is set on the end of waling stripe, and the second motor passes through retarder and vertical connecting rod
One end connection, the other end of vertical connecting rod is equipped with third rotary components.
4. there is the shoulder rehabilitation system of gravity compensation as claimed in claim 3, it is characterised in that：Third rotary components
Connecting rod is fixed including circular rotatable body, forearm, forearm fixes sliding block and the third motor for rotating circular rotatable body, forearm are solid
Determine the end connection circular rotatable body of connecting rod, circular rotatable body is equipped with fixing bolt, and forearm fixes connecting rod and is equipped with position-adjustable
Formula forearm fixes sliding block, and forearm fixes sliding block and is equipped with the through-hole fixed connecting rod for forearm and passed through.
5. there is the shoulder rehabilitation system of gravity compensation as claimed in claim 4, it is characterised in that：Forearm fixes sliding block
Equipped with restraining and holding rod.
6. as claim 1-5 any one of them has the shoulder rehabilitation system of gravity compensation, it is characterised in that：It is described
One end of steel wire rope connection fixing bolt is equipped with the angular transducer adjusted for the output of gravity compensation motor.
7. there is the shoulder rehabilitation system of gravity compensation as described in claim 4 or 5, it is characterised in that：First motor,
Using direct current generator, the first motor, the second motor, third motor are mounted on increment photoelectric for second motor, third motor
Encoder and force snesor.
8. there is the shoulder rehabilitation system of gravity compensation as described in claim 1, it is characterised in that：The stent uses
Liftable type stent.
9. there is the shoulder rehabilitation system of gravity compensation as described in claim 4 or 5, it is characterised in that：There should be weight
The shoulder rehabilitation system of force compensating mechanism can realize the switching of patient's left arm and right arm, specially：The right hand is cut to left hand
When changing, waling stripe is rotated 180 °, then rotation axis of the circular rotatable body around third motor is revolved around the rotation axis of the first motor
Turn 180 °.
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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105853141A CN105853141A (en) | 2016-08-17 |
| CN105853141B true CN105853141B (en) | 2018-06-15 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610183962.4A Active CN105853141B (en) | 2016-03-28 | 2016-03-28 | Shoulder rehabilitation system with gravity compensation |
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| CN (1) | CN105853141B (en) |
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Application publication date: 20160817 Assignee: Zhangjiagang Institute of Zhangjiagang Assignor: Nanjing Post & Telecommunication Univ. Contract record no.: X2019980001251 Denomination of invention: Shoulder rehabilitation system with gravity compensation mechanism Granted publication date: 20180615 License type: Common License Record date: 20191224 |