CN105919777A - Upper limb rehabilitation training robot capable of being grafted - Google Patents
Upper limb rehabilitation training robot capable of being grafted Download PDFInfo
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- CN105919777A CN105919777A CN201610426002.6A CN201610426002A CN105919777A CN 105919777 A CN105919777 A CN 105919777A CN 201610426002 A CN201610426002 A CN 201610426002A CN 105919777 A CN105919777 A CN 105919777A
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- upper arm
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 27
- 230000007246 mechanism Effects 0.000 claims abstract description 91
- 210000000245 forearm Anatomy 0.000 claims abstract description 77
- 230000033001 locomotion Effects 0.000 claims abstract description 58
- 210000000707 wrist Anatomy 0.000 claims abstract description 36
- 229910000831 Steel Inorganic materials 0.000 claims description 8
- 239000010959 steel Substances 0.000 claims description 8
- 239000000203 mixture Substances 0.000 claims description 3
- 230000008450 motivation Effects 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 1
- 230000036541 health Effects 0.000 description 4
- 208000034657 Convalescence Diseases 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000035876 healing Effects 0.000 description 2
- 230000007659 motor function Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 235000001674 Agaricus brunnescens Nutrition 0.000 description 1
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 235000012364 Peperomia pellucida Nutrition 0.000 description 1
- 240000007711 Peperomia pellucida Species 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
- 150000001875 compounds Chemical class 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 210000000323 shoulder joint Anatomy 0.000 description 1
- 208000020431 spinal cord injury Diseases 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Classifications
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- 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
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/005—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Biophysics (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses an upper limb rehabilitation training robot capable of being grafted. The upper limb rehabilitation training robot comprises a wrist movement mechanism, a forearm movement mechanism, an upper arm movement mechanism, a rotation mechanism and a strut which are sequentially serially connected with one another. The front end of the forearm movement mechanism is fixedly connected with a lower wrist end plate, and the rear end of the forearm movement mechanism is hinged to the front end of the upper arm movement mechanism to form rotation pairs; the rear end of the upper arm movement mechanism is fixedly connected with one end of the rotation mechanism, and the other end of the rotation mechanism is fixedly connected with a mechanism cantilever; a parallel mechanism with three degrees of freedom is arranged at the front end of the strut and comprises a front end plate, a rear end plate and three linear push rods, the three linear push rods are arranged between the front end plate and the rear end plate in a connected manner, and the mechanism cantilever is fixedly connected with the front end plate. The upper limb rehabilitation training robot has the advantages that the upper limb rehabilitation training robot is simple and compact in structure and wide in application range, can be grafted onto other rehabilitation and fitness machines and can be applied to upper limb rehabilitation and fitness training, and movement rehabilitation training in three-dimensional spaces can be implemented.
Description
Technical field:
The present invention relates to one can grafting upper-limbs rehabilitation training robot, belong to rehabilitation medical and sport and body-building apparatus field.
Background technology:
The reasons such as social senilization's degree is deepened day by day, apoplexy, spinal cord injury cause extremity motor function to reduce, the most entirely
Portion loses, and has had a strong impact on quality of life.Rehabilitation be recover motor function effective way, conventional physical therapist with
Patient's man-to-man rehabilitation mode exists that labor intensity is big, the high deficiency of medical expense, and therefore, rehabilitation training equipment becomes
For solving the effective way of this contradiction.Since the middle of last century, scientific research personnel achieves many on rehabilitation training equipment
Achievement, such as successful development and the commercialization of the rehabilitation training equipment such as single-degree-of-freedom formula, ectoskeleton, suspension.But they exist
Some shortcomings: operation is complicated, forms of motion is single, develop and a are capable of human upper limb three-dimensional motion rehabilitation training dress
Put and there is certain realistic meaning.
Summary of the invention:
For overcoming the defect of prior art, it is an object of the invention to provide a kind of simple and compact for structure, have wide range of applications,
Can be grafted onto on other rehabilitations and health and fitness facilities, can apply to rehabilitation and the fitness training of upper limb, three-dimensional space motion can be realized
Recovery exercising robot.
The present invention solves technical problem and adopts the following technical scheme that
One can grafting upper-limbs rehabilitation training robot, comprising:
Wrist-sport mechanism, forearm motion, humeral movement mechanism, rotating mechanism and the pillar being sequentially connected in series；
The structure of described Wrist-sport mechanism is: by wrist bottom plate, wrist upper head plate and be connected to wrist bottom plate and wrist
The 3-freedom parallel mechanism that three line handspikes between portion's upper head plate are constituted；
The front end of described forearm motion connects firmly with described wrist bottom plate, the rear end of forearm motion and humeral movement machine
The front end hinged composition revolute pair of structure；
The rear end of described humeral movement mechanism connects firmly with one end of described rotating mechanism, the other end of described rotating mechanism and mechanism
Cantilever connects firmly；
It is provided with in the upper end of described pillar by front end-plate, end plate and three straight lines being connected between front end-plate and end plate
The 3-freedom parallel mechanism that push rod is constituted, described mechanism cantilever connects firmly with described front end-plate.
In the 3-freedom parallel mechanism of described Wrist-sport mechanism, the lower end of each line handspike is by flat hinge and wrist lower end
Boss on plate is hinged, and the upper end of each line handspike is hinged with wrist upper head plate by spherical hinge.
Being provided with forearm rotation push rod between forearm motion and humeral movement mechanism promotes forearm motion to rotate.
Described forearm motion has forearm outer support bar and forearm inner bracing piece, and both connect and compose slip by chute
Pair, the front end of forearm inner bracing piece connects firmly with wrist bottom plate, the rear end of forearm outer support bar and the front end of humeral movement mechanism
Hinged；
Being installed with extension rod in the middle part of the bottom surface of forearm outer support bar, the end of this extension rod is hinged with forearm rotation push rod lower end,
Forearm rotation push rod upper end is hinged with the bottom surface, front end of humeral movement mechanism, constitutes four-bar mechanism；Forearm the first pallet, forearm
Second pallet is separately fixed on forearm inner bracing piece and forearm outer support bar by clamping device, and forearm bandage is fixed on forearm
On the groove of the first pallet.
Described humeral movement mechanism has upper arm front support rod and upper arm back support rod, and both connect and compose slip by chute
Pair, the front end of upper arm front support rod and forearm outer support bar, the upper end thereof of forearm rotation push rod；Upper arm back support rod with turn
One end of motivation structure connects firmly；
After upper arm front tray upper arm, pallet is separately fixed on upper arm front support rod, upper arm back support rod by clamping device, on
Arm bandage is fixed on the groove of upper arm front tray.
One end of described rotating mechanism connects firmly with upper arm back support rod, and the other end and mechanism cantilever connect firmly；The two ends of rotating mechanism
Between can relatively rotate.
It is provided with motor and reductor, the rotating machine being connected with upper arm back support rod in the rotating mechanism one end being connected with mechanism cantilever
One end of structure connects firmly with the output shaft of described reductor.
Described pillar is connected with frame, forms revolute pair；Gear is fixed on the pillar of inverted L-shaped, arrowhead-shaped pin one end card
In gear grooved, one end is connected with steel wire, and steel wire is walked around axle and is connected with foot-operated, and spring housing is on arrowhead-shaped pin.
Described Shelf External is provided with outer housing, and outer housing is a body structure, and there are four circular troughs inside, are respectively used to fix
Two big bearings on the pillar of inverted L-shaped and the little bearing at axle two ends, the baffle plate at arrowhead-shaped pin rear portion and casing pass through bolt
It is connected.
Compared with the prior art, beneficial effects of the present invention is embodied in:
The present invention can realize upper limb three-dimensional space motion, it is achieved upper limbs active-passive rehabilitation training and synchronous asynchronous are trained.
Present configuration is simple, be easy to be grafted onto on other rehabilitation and fitness training apparatus, seat, massage armchair and wheelchair.
Applied range of the present invention, can be used for upper limb and realizes rehabilitation training and exercise at three dimensions.
Rehabilitation training pattern of the present invention is various, is symmetrically arranged in two by left/right hand to device during use, it is possible to achieve
Synchronous/asynchronous is trained.
Present configuration is compact flexibly, can fold with freedom retractable, take up room little when not using.
The present invention has detachability, and wrist, forearm and upper arm three part can realize tandem compound and can also take apart and carry out respectively
To wrist, elbow, the rehabilitation training of shoulder joint.
The present invention can make lower limb realize different tracks, the training of different amplitude in three dimensions so that it is had both adapted to same
One trainer carries out health different convalescences and the situation of the exercise of physical training condition, the trainer that can meet again different height
Answer and the demand of exercise.
During active training, the control electric current by regulation motor self can resistance link, it is possible to realizes active training, not only may be used
To make for rehabilitation limbs as convalescence exerciser, and can make for health invigorating as health and fitness facilities.
Accompanying drawing illustrates:
Fig. 1 is the inside overall structure schematic diagram of the present invention；Fig. 2 is the outside overall structure schematic diagram of the present invention.
Label in figure: 1 pillar, 2 forearm rotation push rods, 3 cantilevers, 4 frames, 5 gears, 6 arrowhead-shaped pins, 7 gears
Plate, 8 steel wires, 9 ride, 10 Wrist-sport mechanisms, 101 wrist bottom plates, 102 wrist upper head plates, 20 forearm motions
Mechanism, 201 forearm inner bracing pieces, 202 forearm outer support bars, 203 clamping devices, 204A forearm the first pallet, 204B
Forearm the second pallet, 205 forearm bandages, 30 humeral movement mechanisms, 301 upper arm front support rods, 302 upper arm back support rods,
Pallet after 303A upper arm, 303B upper arm front tray, 304 upper arm bandages, 305 rotating mechanisms, 11 front end-plates, 12 rear ends
Plate, 13 outer housings, 14 springs.
Below by way of detailed description of the invention, and the invention will be further described to combine accompanying drawing.
Detailed description of the invention:
Embodiment: see Fig. 1,2, the present embodiment can grafting three-dimensional motion rehabilitation training of upper limbs mechanism, comprising:
The Wrist-sport mechanism 10 that is sequentially connected in series, forearm motion 20, humeral movement mechanism 30, rotating mechanism 305 with
And pillar 1.
In concrete structure, the structure of Wrist-sport mechanism 10 is: by wrist bottom plate 101, wrist upper head plate 102 and company
The 3-freedom parallel mechanism that three line handspikes being connected between wrist bottom plate and wrist upper head plate are constituted；
In the 3-freedom parallel mechanism of Wrist-sport mechanism, the lower end of each line handspike is by flat hinge and wrist bottom plate
Boss on 101 is hinged, and the upper end of each line handspike is hinged with wrist upper head plate 102 by spherical hinge, and three straight lines
Push rod is distributed in decile in a circumferential direction；The end face of wrist upper head plate 102 is hemisphere face (or in mushroom corona shape),
Three line handspike simultaneous retractables, then drive wrist upper head plate 102 to move up and down, i.e. drive wrist to move up and down, and one
Root or two line handspikes stretch, then drive wrist to do wobbling action.
Further, the front end of forearm motion 20 connects firmly with wrist bottom plate 101, the rear end of forearm motion 20
Hinged composition revolute pair, is provided with between forearm motion and humeral movement mechanism with the front end of humeral movement mechanism 30
Forearm rotation push rod 2 promotes forearm motion to rotate；
In concrete structure, forearm motion 20 has forearm outer support bar 202 and forearm inner bracing piece 201, and both pass through
Chute connects and composes sliding pair, and the front end of forearm inner bracing piece 201 connects firmly with wrist bottom plate 101, forearm outer support bar 202
Rear end hinged with the front end of humeral movement mechanism 30；
Humeral movement mechanism has upper arm front support rod 301 and upper arm back support rod 302, and both connect and compose cunning by chute
Dynamic pair, the front end of upper arm front support rod 301 and forearm outer support bar 202, the upper end thereof of forearm rotation push rod；After upper arm
Support bar 302 connects firmly with one end of rotating mechanism.
In concrete structure, being installed with extension rod in the middle part of the bottom surface of forearm outer support bar 202, the end of this extension rod turns with forearm
Dynamic push rod lower end is hinged, and forearm rotation push rod upper end is hinged with the bottom surface, front end of humeral movement mechanism, constitutes four-bar mechanism；Before
Arm the first pallet 204A, forearm the second pallet 204B are separately fixed at forearm inner bracing piece 201 and by clamping device 203
On forearm outer support bar 202, forearm bandage 205 is fixed on the groove of forearm the first pallet 204A.
After upper arm front tray 303B, upper arm pallet 303A by clamping device be separately fixed at upper arm front support rod 301, on
On arm back support rod 302, upper arm bandage 304 is fixed on the groove of upper arm front tray 303B.
Shown in Fig. 1, one end of rotating mechanism connects firmly with upper arm back support rod 302, and the other end connects firmly with mechanism cantilever 3；
Can relatively rotate between the two ends of rotating mechanism.In specifically arranging, in the rotating mechanism one end being connected with mechanism cantilever 3
Inside being provided with motor and reductor, the one end of rotating mechanism being connected with upper arm back support rod 302 connects firmly with the output shaft of reductor,
Supported humeral movement mechanism, forearm motion and wrist motion mechanism by output shaft, and driven these mechanisms by output shaft
Rotate, certainly, also can be connected by plane bearing between the two ends of rotating mechanism, from external drive.
Fig. 1, shown in 2, the upper end of pillar be provided with by front end-plate 11, end plate (12) and be connected to front end-plate with after
The 3-freedom parallel mechanism that three line handspikes between end plate are constituted, mechanism's cantilever 3 connects firmly with front end-plate 11.
Step down for realizing the rotation of whole mechanism, be designed as pillar 1 to rotate in frame 4 and locking, in concrete structure,
Pillar is connected with frame 4 by rolling bearing, forms revolute pair；Gear 5 is fixed on the pillar 1 of inverted L-shaped, arrowhead-shaped
Pin 6 one end is stuck in gear 5 groove, and one end is connected with steel wire 8, and steel wire is walked around axle 7 and is connected with foot-operated 9, spring 14
It is enclosed within arrowhead-shaped pin (6).When stepping on foot-operated, steel wire pulls arrowhead-shaped pin 6 to depart from the groove of gear 5, now may be used
Rotation post 1, after putting in place, unclamps foot-operated, and under the effect of the reset force of spring 14, arrowhead-shaped pin 6 inserts gear 5
Groove in, thus pillar 1 is locked in frame 4.
Frame 4 is outside is provided with outer housing 13, and outer housing 13 is a body structure, and there are four circular troughs inside, are respectively used to
Two big bearings on the pillar 1 of fixing inverted L-shaped and the little bearing at axle 7 two ends, the baffle plate 7 at arrowhead-shaped pin 6 rear portion with
Casing is connected by bolt.
Device for healing and training of the present invention can be applicable to upper extremity exercise function reduction or the rehabilitation training of the crowd of forfeiture, helps user
Realize the rehabilitation training of movement locus under three dimensions.For the general population that upper limb body function is sound, it is also possible to carry out
Healthy training, helps it to strengthen physical exercise ability, and it is more complicated that device for healing and training of the present invention can make patient's upper limb complete
Space motion, applied range, there is the biggest commercial application prospect.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for those skilled in the art
For Yuan, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, any amendment of being made,
Equivalent, improvement etc., should be included within the scope of the present invention.
Claims (9)
1. one kind can grafting upper-limbs rehabilitation training robot, it is characterised in that including:
The Wrist-sport mechanism (10) that is sequentially connected in series, forearm motion (20), humeral movement mechanism (30), rotating machine
Structure (305) and pillar (1)；
The structure of described Wrist-sport mechanism (10) is: by wrist bottom plate (101), wrist upper head plate (102) and
The 3-freedom parallel mechanism that three line handspikes being connected between wrist bottom plate and wrist upper head plate are constituted；
The front end of described forearm motion (20) connects firmly with described wrist bottom plate (101), forearm motion (20)
The front end hinged composition revolute pair of rear end and humeral movement mechanism (30)；
The rear end of described humeral movement mechanism connects firmly with one end of described rotating mechanism, the other end of described rotating mechanism and mechanism
Cantilever (3) connects firmly；
Be provided with in the upper end of described pillar by front end-plate (11), end plate (12) and be connected to front end-plate and end plate it
Between the 3-freedom parallel mechanism that constitutes of three line handspikes, described mechanism cantilever (3) is solid with described front end-plate (11)
Connection.
One the most according to claim 1 can grafting upper-limbs rehabilitation training robot, it is characterised in that described wrist
In the 3-freedom parallel mechanism of motion, the lower end of each line handspike is by flat hinge and wrist bottom plate (101)
Boss hinged, the upper end of each line handspike by spherical hinge hinged with wrist upper head plate (102).
One the most according to claim 1 can grafting upper-limbs rehabilitation training robot, it is characterised in that transport at forearm
Being provided with forearm rotation push rod (2) between motivation structure and humeral movement mechanism promotes forearm motion to rotate.
One the most according to claim 1 can grafting upper-limbs rehabilitation training robot, it is characterised in that described forearm
Motion (20) has forearm outer support bar (202) and forearm inner bracing piece (201), and both connect structure by chute
Becoming sliding pair, the front end of forearm inner bracing piece (201) connects firmly with wrist bottom plate (101), forearm outer support bar (202)
Rear end hinged with the front end of humeral movement mechanism (30)；
It is installed with extension rod, under the end of this extension rod and forearm rotation push rod in the middle part of the bottom surface of forearm outer support bar (202)
Holding hinged, forearm rotation push rod upper end is hinged with the bottom surface, front end of humeral movement mechanism, constitutes four-bar mechanism；Forearm the first torr
Dish (204A), forearm the second pallet (204B) are separately fixed at forearm inner bracing piece (201) by clamping device (203)
With on forearm outer support bar (202), forearm bandage (205) is fixed on the groove of forearm the first pallet (204A).
One the most according to claim 4 can grafting upper-limbs rehabilitation training robot, it is characterised in that described upper arm
Motion has upper arm front support rod (301) and upper arm back support rod (302), and both connect and compose slip by chute
Pair, the front end of upper arm front support rod (301) and forearm outer support bar (202), the upper end thereof of forearm rotation push rod；On
Arm back support rod (302) connects firmly with one end of rotating mechanism；
After upper arm front tray (303B), upper arm pallet (303A) by clamping device be separately fixed at upper arm front support rod (301),
On upper arm back support rod (302), upper arm bandage (304) is fixed on the groove of upper arm front tray (303B).
One the most according to claim 5 can grafting upper-limbs rehabilitation training robot, it is characterised in that described rotation
One end of mechanism connects firmly with upper arm back support rod (302), and the other end connects firmly with mechanism's cantilever (3)；The two ends of rotating mechanism
Between can relatively rotate.
One the most according to claim 6 can grafting upper-limbs rehabilitation training robot, it is characterised in that hang with mechanism
It is provided with motor and reductor in rotating mechanism one end that arm connects, the rotating mechanism being connected with upper arm back support rod (302)
One end connects firmly with the output shaft of described reductor.
One the most according to claim 1 can grafting upper-limbs rehabilitation training robot, it is characterised in that described pillar
It is connected with frame (4), forms revolute pair；Gear (5) is fixed on the pillar (1) of inverted L-shaped, arrowhead-shaped pin (6)
One end is stuck in gear (5) groove, and one end is connected with steel wire (8), and steel wire is walked around axle (7) and is connected with foot-operated (9), bullet
Spring (14) is enclosed within arrowhead-shaped pin (6).
One the most according to claim 8 can grafting upper-limbs rehabilitation training robot, it is characterised in that described frame
(4) outside is provided with outer housing (13), and outer housing (13) is a body structure, and there are four circular troughs inside, are respectively used to
Two big bearings on the pillar (1) of fixing inverted L-shaped and the little bearing at axle (7) two ends, arrowhead-shaped pin (6) rear portion
Baffle plate (7) is connected by bolt with casing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610426002.6A CN105919777B (en) | 2016-06-14 | 2016-06-14 | A kind of graftable upper-limbs rehabilitation training robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610426002.6A CN105919777B (en) | 2016-06-14 | 2016-06-14 | A kind of graftable upper-limbs rehabilitation training robot |
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| CN105919777A true CN105919777A (en) | 2016-09-07 |
| CN105919777B CN105919777B (en) | 2017-10-13 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107928990A (en) * | 2017-12-22 | 2018-04-20 | 洛阳理工学院 | A kind of recovery training robot for upper limb |
| CN109172263A (en) * | 2018-08-23 | 2019-01-11 | 大连理工大学 | A kind of upper limb nerve recovery training appliance for recovery |
| CN109529274A (en) * | 2018-11-13 | 2019-03-29 | 南京邮电大学 | Based on redundant mechanical arm upper limb joint initiative rehabilitation system and its training method |
| CN112569084A (en) * | 2020-11-16 | 2021-03-30 | 上海普协医疗科技有限公司 | Upper limb rehabilitation training robot |
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| CN201949284U (en) * | 2010-03-10 | 2011-08-31 | 广州一康医疗设备实业有限公司 | Robot used for upper limb rehabilitation |
| CN101869526A (en) * | 2010-06-07 | 2010-10-27 | 付风生 | Upper limb rehabilitation training robot |
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| CN107928990B (en) * | 2017-12-22 | 2024-01-19 | 洛阳理工学院 | Rehabilitation training robot for upper limbs |
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| CN109172263B (en) * | 2018-08-23 | 2019-08-20 | 大连理工大学 | A kind of upper limb nerve recovery training appliance for recovery |
| CN109529274A (en) * | 2018-11-13 | 2019-03-29 | 南京邮电大学 | Based on redundant mechanical arm upper limb joint initiative rehabilitation system and its training method |
| CN112569084A (en) * | 2020-11-16 | 2021-03-30 | 上海普协医疗科技有限公司 | Upper limb rehabilitation training robot |
| CN112569084B (en) * | 2020-11-16 | 2023-03-24 | 上海普协医疗科技有限公司 | Upper limb rehabilitation training robot |
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