CN106390376A - Upper limb rehabilitation device and rehabilitation robot with upper limb rehabilitation device - Google Patents
Upper limb rehabilitation device and rehabilitation robot with upper limb rehabilitation device Download PDFInfo
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- CN106390376A CN106390376A CN201610987644.3A CN201610987644A CN106390376A CN 106390376 A CN106390376 A CN 106390376A CN 201610987644 A CN201610987644 A CN 201610987644A CN 106390376 A CN106390376 A CN 106390376A
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- Prior art keywords
- arm
- upper limb
- keeper
- healing device
- limb healing
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/06—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement
- A63B22/0605—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement performing a circular movement, e.g. ergometers
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/0002—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements involving an exercising of arms
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/0048—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with cantilevered support elements pivoting about an axis
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/06—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement
- A63B22/0605—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement performing a circular movement, e.g. ergometers
- A63B2022/0611—Particular details or arrangement of cranks
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/09—Adjustable dimensions
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- Health & Medical Sciences (AREA)
- Cardiology (AREA)
- Vascular Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses an upper limb rehabilitation device and a rehabilitation robot with the upper limb rehabilitation device. The upper limb rehabilitation device comprises a main body, a first arm and a second arm, wherein the first arm is rotationally connected with the main body; the second arm is rotationally connected with the main body; the first arm and the second arm are arranged corresponding to the main body and are used for assisting training; the rotary center axis of the second arm is coincided or parallel with the rotary center axis of the first arm; the second arm can be rotated corresponding to the first arm, so as to adjust an included angle between the first arm and the second arm. The upper limb rehabilitation device has the advantages that the parallel synchronous rehabilitation training of both hands of the upper limb is realized, the training intensity of the upper limbs of a patient at the same time is favorably improved, and the rehabilitation training effect is favorably improved.
Description
Technical field
The present invention relates to technical field of medical equipment, more particularly to a kind of upper limb healing device and the rehabilitation machines with it
Device people.
Background technology
In the upper limb healing device of correlation technique, during upper limb training, the upper limb such as hand of patient can only be real
The existing alternate rehabilitation training of both hands, the training strength of synchronization is less, and training effect is poor, is unfavorable for improving the rehabilitation of patient
Training effect.
Content of the invention
It is contemplated that at least solving one of technical problem in correlation technique to a certain extent.For this reason, the present invention
One purpose is to propose a kind of upper limb healing device, and described upper limb healing device can make patient preferably carry out rehabilitation instruction
Practice.
Further object is that proposing a kind of healing robot, described healing robot is provided with above-mentioned upper
Limb convalescence device.
The upper limb healing device of embodiment according to a first aspect of the present invention, including main body, the first arm, described first arm
It is rotatably coupled to described main body；Second arm, described second arm is rotationally connected with described main body, described second-hand
Arm is suitable to assist training, the Pivot axle of described second arm and institute with regard to described main body is positioned opposite with described first arm
State the center of rotation overlapping of axles or parallel of the first arm, described second arm rotatable with respect to the angle of described first arm with
Adjust the angle between described first arm and described second arm.
Upper limb healing device according to embodiments of the present invention, it is possible to achieve the parallel synchronous rehabilitation training of upper limb both hands, also
Be conducive to improving the upper limb training strength in synchronization patient, thus being favorably improved rehabilitation training effect.
In addition, upper limb healing device according to the above embodiment of the present invention also has the technical characteristic adding as follows：
According to some embodiments of the present invention, described upper limb healing device also includes：Arm axle sleeve, described arm axle sleeve with
The Pivot axle of described second arm is coaxial and relative position is fixed, in the rotation of described arm axle sleeve and described first arm
Heart axle is coaxial and relatively rotatable；Keeper, described keeper is switchably located at institute between locked position and released position
State on one of arm axle sleeve and described first arm, described keeper described arm axle sleeve and institute in described locked position
State the first arm relative position to fix, described keeper described arm axle sleeve and described first arm phase when described released position
To rotatable.
Further, described keeper is movably arranged at described first arm between locked position and released position
On, the direction that described arm axle sleeve is provided with along the Pivot axle around described first arm is spaced apart multiple spacing
Hole, described keeper inserts at least one described spacing hole in described locked position.
Further, described keeper is index pin, and described keeper is along the center of rotation parallel to described first arm
The direction of axle can movably be located on described first arm between locked position and released position.
According to some embodiments of the present invention, described keeper is connected with return unit, described return unit often has driving
Described keeper is towards the power of locked position movement.
In some embodiments of the invention, described arm axle sleeve has rotating shaft, described rotating shaft and described first arm
Rotatably shaft hole matching, the end of described rotating shaft passes through described first arm and is fixed by jump ring.
According to some embodiments of the present invention, in the rotation of the Pivot axle of described first arm and described second arm
Heart overlapping of axles.
According to some embodiments of the present invention, described second arm is with respect to described first arm in primary importance and second
Convertible between position, described second arm with respect to described first arm in described primary importance described in the first arm and institute
Stating the angle between the second arm is 0 °, described second arm with respect to described first arm in the described second position described in
Angle between one hand crank and described second arm is 180 °.
According to some embodiments of the present invention, described first arm includes the first arm crank and the first in command, and described
One arm crank is rotationally connected with described main body, and the described first in command is rotationally connected with described first arm crank,
Described second arm includes the second arm crank and the second in command, described second arm crank rotationally with described main body phase
Even, the described second in command is rotationally connected with described second arm crank.
The healing robot of embodiment according to a second aspect of the present invention, including：Support；Upper limb healing device, described upper limb
Convalescence device is installed on the bracket, and described upper limb healing device is upper limb healing device described above.
The additional aspect of the present invention and advantage will be set forth in part in the description, and partly will become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description
The above-mentioned and/or additional aspect of the present invention and advantage will become from reference to the description to embodiment for the accompanying drawings below
Substantially and easy to understand, wherein：
Fig. 1 is the part explosive view of upper limb healing device according to embodiments of the present invention；
Fig. 2 is upper limb healing device according to embodiments of the present invention schematic diagram under a state, the wherein second arm
With respect to the first arm in primary importance；
Fig. 3 is upper limb healing device according to embodiments of the present invention schematic diagram under another state, wherein second-hand
Arm is with respect to the first arm in the second position；
Fig. 4 is the structural representation of the healing robot of the embodiment of the present invention.
Reference：
Upper limb healing device 100,
First arm 21, the first arm crank 211, the first in command 212, the first defining flange 2121, the second arm 22, the
Two arm cranks 221, the second in command 222, the second defining flange 2221, arm axle sleeve 23, spacing hole 231, rotating shaft 232, positioning
Part 24,
Healing robot 200, support 210.
Specific embodiment
Embodiments of the invention are described below in detail, the example of described embodiment is shown in the drawings, wherein from start to finish
The element that same or similar label represents same or similar element or has same or like function.Below with reference to attached
The embodiment of figure description is exemplary it is intended to be used for explaining the present invention, and is not considered as limiting the invention.
Describe upper limb healing device 100 according to embodiments of the present invention with reference to Fig. 1 to Fig. 4 in detail.
Upper limb healing device 100 according to embodiments of the present invention, including main body (not shown), the first arm 21 and
Two arms 22, the first arm 21 and the second arm 22 are all rotatably provided in described main body and are used for assisting training, so favourable
Carrying out in order in rehabilitation training.
Specifically, the first arm 21 is rotationally connected with described main body.Second arm 22 is rotatable with described main body
Ground is connected, and the second arm 22 is arranged for assisting instruction with regard to described main body relative (relative etc. about for example) with the first arm 21
Practice.So pass through the cooperation of the second arm 22 and the first arm 21, it is possible to achieve the synchronous rehabilitation training of upper limb, thus contributing to
Improve rehabilitation training effect.
And the Pivot axle of the first arm 21 center of rotation overlapping of axles or parallel with the second arm 22, the second arm
22 rotatable with respect to the first arm 21 to adjust the angle between the first arm 21 and the second arm 22.In other words, second-hand
Arm 22 is rotatable with respect to the first arm 21, it can be provided the angle between the second arm 22 and the first arm 21 is predetermined
Value, such as 0 °, 90 °, 180 ° etc..The regulation of angle between first arm 21 and the second arm 22, it is possible to achieve different upper limb
Training mode, thus to be trained using different rehabilitation modalities, is conducive to improving the effect of training.
Wherein, the Pivot axle of the first arm 21 can overlap with the Pivot axle of the second arm 22, or the
The Pivot axle of one arm 21 is parallel with the Pivot axle of the second arm 22.For example, show the first arm 21 in Fig. 1
Pivot axle and the example of the center of rotation overlapping of axles of the second arm 22, so contribute to realization parallel to existing patient's upper limb
Synchronous rehabilitation training.
Upper limb healing device 100 according to embodiments of the present invention, the angle between the second arm 22 and the first arm 21 can
Adjust, different training modes can be realized by adjusting the angle between the first arm 21 and the second arm 22, meet different
Training requirement, realize the rehabilitation of patient's different parts.
Referring to figs. 1 to Fig. 3, according to some specific embodiments of the present invention, upper limb healing device 100 also includes：Arm axle
Set 23 and keeper 24.
Specifically, arm axle sleeve 23 coaxial with the Pivot axle of the second arm 22 that is to say, that in arm axle sleeve 23
Heart axis is coaxial with the Pivot axle of the second arm 22.And the relative position of arm axle sleeve 23 and the second arm 22 is fixed,
Arm axle sleeve 23 and the synchronization action of the second arm 22 so can be realized, and because arm axle sleeve 23 is coaxial with the first arm 21,
That is, the central axis of arm axle sleeve 23 is coaxial with the Pivot axle of the first arm 21, and arm axle sleeve 23 and
One arm 21 is relatively rotatable.During upper limb healing device 100 uses, arm can be driven by rotating the second arm 22
Axle sleeve 23 rotates with respect to the first arm 21, adjusts the angle between the first arm 21 and the second arm 22, to realize not similar shape
Formula or the rehabilitation training of different purpose, and by arranging arm axle sleeve 23, the structure of upper limb healing device 100 can be simplified,
The convenient different working modes to upper limb healing device 100 are adjusted.
Wherein, keeper 24 is switchably located at arm axle sleeve 23 and the first arm between locked position and released position
On one of 21.That is, keeper 24 is convertible between locked position and released position, keeper 24 can be located at
It is also possible to be located at keeper 24 on first arm 21 on arm axle sleeve 23, in addition, both set-up modes of keeper 24
Can combining that is to say, that being respectively provided with keeper 24 on the first arm 21 and arm axle sleeve 23, stablizing of positioning can be improved
Property and locating effect.
Keeper 24 when described locked position is locked, fix by the relative position of arm axle sleeve 23 and the first arm 21,
Relative position between exactly first arm 21 and the second arm 22 is fixed；Keeper 24 when described released position is unclamped, handss
Arm axle set 23 is relative rotatable with the first arm 21, that is, the first arm 21 is relative rotatable with the second arm 22.Thus, lead to
Cross relative position fixation and the relative position scalable that keeper 24 can be realized between the first arm 21 and the second arm 22, from
And opponent's arm axle can be realized and cover 23 Hes by the relative position between keeper 23 positioning the first arm 21 and the second arm 22
The control of relative position between first arm 21, improves the stability of positioning between the first arm 21 and the second arm 22, and
Facilitate the regulation of relative position between the first arm 21 and the second arm 22.
Further, in conjunction with Fig. 1, keeper 24 is movably arranged between described locked position and described released position
On first arm 21, arm axle sleeve 23 is provided with multiple spacing holes 231, and multiple spacing holes 231 are along the rotation around the first arm 21
Turn the direction arranged for interval of central shaft, keeper 24 inserts at least one spacing hole 231 in described locked position, so that
The relative position of arm axle sleeve 23 and the first arm 21 is fixed.And keeper 24 is wrong with spacing hole 231 in described released position
Open that is to say, that keeper 24 is extracted out in spacing hole 231 in released position, now arm axle sleeve 23 and the first arm 21 phase
To rotatable, the first arm 21 and the second arm 22 positioning are convenient, and positioning stablity.
Preferably can be to realize the using multiple keepers 24 or keeper 24 and the modes such as multiple spacing holes 231
The fixation of relative position between one arm 21 and the second arm 22.
Wherein, the spacing hole 231 on arm axle sleeve 23 can be two, three, four etc..Certainly, the present invention its
In his embodiment, the spacing hole 231 on arm axle sleeve 23 can also be one.The number in arm axle sleeve 23 upper limit hole 231 can
With the setting of adaptability according to actual needs.
Further, with reference to Fig. 1, keeper 24 can be index pin etc., and keeper 24 can be located on the first arm 21,
And keeper 24 along the Pivot axle parallel to the first arm 21 direction in described locked position and described released position
Between removable, so can realize the rotation that the second arm 22 is with respect to the first arm 21 further, for example, can be arranged to
The angle of the second arm 22 first arm 21 relatively is predetermined value (such as 0 °, 45 °, 90 °, 180 ° etc.).So, it is advantageously implemented
The parallel synchronous rehabilitation training of patient's upper limb both hands.
Wherein, index pin can simply be understood to apply to the pin of similar index dial structure positioning.With the market demand
Diversification, various words of customer demand, present index pin has been applied to more industry fields.As long as having multiple solid
The linear movement of fixed point demand and the mechanism of rotary motion, can apply index pin to position.The structure of index pin has pin
Body, plunger, handle, and built-in spring assembly form.
According to some specific embodiments of the present invention, keeper 24 can be connected with return unit (not shown), described multiple
Position part often has the power driving keeper 24 towards described locked position movement.As a result, keeper 24 is in described locked position
Conversion and described released position between is easily achieved.
Here, it should be noted that described return unit often has the power driving keeper 24 towards described locked position movement
Refer to return unit and there is power all the time that drive keeper 24 towards locked position movement.
With reference to Fig. 1 and with reference to Fig. 2 and Fig. 3, in some specific embodiments of the present invention, arm axle sleeve 23 has rotating shaft
232, rotatably shaft hole matching (wherein, the first arm 21 can be provided with and rotating shaft 232 phase for rotating shaft 232 and the first arm 21
The hole of adaptation), the end of rotating shaft 232 passes through the first arm 21 and is fixed by jump ring.Thus, it is easy to accomplish arm axle sleeve 23 and
Being fixedly connected between one arm 21, and arm axle sleeve 23 can be prevented with respect to the first arm 21 play vertically.
Wherein, jump ring is also back-up ring or clasp, belongs to one kind of securing member, for being contained in machine, the axial trough of equipment or hole slot
In, play a part to stop the part axial motion on axle or on hole.
In addition, can be connected by locating shaft between the second arm 22 and arm axle sleeve 23, described locating shaft is formed with
Key, described locating shaft and the second arm 22 and arm axle sleeve 23 bonded with transmitting torque such that it is able to realize further
Two arms 22 are with respect to the rotation of the first arm 21.
As shown in Figure 1 to Figure 3, some specific embodiments according to the present invention, the Pivot axle of the first arm 21 and
The Pivot axle of two arms 22 can overlap.Thus, can be realized by the cooperation of the first arm 21 and the second arm 22
The parallel synchronous rehabilitation training of limb such as both hands, can also improve the comfortable sexual experience of patient to a certain extent.
With reference to Fig. 2 and Fig. 3, according to some specific embodiments of the present invention, the second arm 22 exists with respect to the first arm 21
Convertible between primary importance (with reference to Fig. 2) and the second position (with reference to Fig. 3), the second arm 22 is with respect to the first arm 21 in institute
When stating primary importance, the angle between the first arm 21 and the second arm 22 is 0 °；Second arm 22 is with respect to the first arm 21
In the described second position, the angle between the first arm 21 and the second arm 22 is 180 °.As a result, the second arm 22 phase
Rotation for the first arm 21 is easily achieved such that it is able to preferably carry out rehabilitation training.
Referring to figs. 1 to Fig. 3, according to some specific embodiments of the present invention, the first arm 21 includes the first arm crank 211
With the first in command 212, the first arm crank 211 is rotationally connected with described main body, and the first in command 212 is rotationally with first
Arm crank 211 is connected, and the second arm 22 includes the second arm crank 221 and the second in command 222, and the second arm crank 221 can
Rotationally it is connected with described main body, the second in command 222 is rotationally connected with the second arm crank 221.So it is easily achieved
Two arms 22 are with respect to the rotation of the first arm 21, thus preferably carrying out rehabilitation training.
Referring to figs. 1 to Fig. 3, according to some specific embodiments of the present invention, the first in command 212 is rotatable with the first arm 21
Ground is connected, and the second in command 222 is rotatably coupled to the second arm 22.So pass through the first in command 212 and the second in command 222
Cooperation the parallel synchronous rehabilitation training of upper limb can be better achieved, thus improving rehabilitation training effect further.
In conjunction with Fig. 1 to Fig. 3, according to some specific embodiments of the present invention, the first in command 212 is adjacent to the one of the first arm 21
End has the first outwardly defining flange 2121, and the second in command 222 has outwardly adjacent to one end of the second arm 22
The second defining flange 2221.Thus, it is advantageously implemented between the first in command 212 and the first arm 21 and the second in command 222
Being reliably connected and the second arm 22 between, also advantageously improves the first in command 212 and the intensity of the second in command 222, thus entering
One step improves the dependability of upper limb healing device 100.
Reference Fig. 4 simultaneously combines Fig. 1 to Fig. 3, the healing robot 200 of embodiment according to a second aspect of the present invention, including：?
Frame 210 and upper limb healing device, described upper limb healing device is installed on the bracket 210, and described upper limb healing device is above-mentioned
Described upper limb healing device 100.Thus, by the upper limb of above-mentioned first aspect embodiment is arranged on healing robot 200
Convalescence device 100, it is possible to achieve the synchronous rehabilitation training of upper limb, thus be favorably improved rehabilitation training effect.
Describe a specific embodiment according to upper limb healing device 100 of the present invention with reference to Fig. 1 to Fig. 3 in detail.
Upper limb healing device 100 according to embodiments of the present invention, including main body (not shown), the first arm 21,
Leader 212, the second arm 22 and the second in command 222.First arm 21 is rotationally connected with described main body, the first in command
212 are connected with the first arm 21, and the second arm 22 is rotationally connected with described main body, the second arm 22 and the first arm 21 phase
To arrangement for assisting training, the second in command 222 is connected with the second arm 22, and the first in command 212 and the second in command 222 cooperation are suitable
In hands grasping.And the Pivot axle of the first arm 21 center of rotation overlapping of axles or parallel with the second arm 22, second
Arm 22 is with respect to the angle scalable of the first arm 21.
Upper limb healing device 100 also includes：Arm axle sleeve 23 and keeper 24.Arm axle sleeve 23 and the second arm 22 are same
Axle, and the relative position of arm axle sleeve 23 and the second arm 22 is fixed, and arm axle sleeve 23 is coaxial with the first arm 21, and handss
Arm axle set 23 is relative rotatable with the first arm 21.Wherein, keeper 24 between locked position and released position switchably
It is located on one of arm axle sleeve 23 and the first arm 21.Keeper 24 when described locked position is locked, arm axle sleeve 23
Fix with the relative position of the first arm 21, keeper 24 when described released position is unclamped, arm axle sleeve 23 and the first arm
21 is relatively rotatable.
Keeper 24 is movably arranged on the first arm 21 between described locked position and described released position, arm
Axle sleeve 23 is provided with multiple spacing holes 231, and keeper 24 inserts at least one spacing hole 231 in described locked position, and
Keeper 24 is staggered with spacing hole 231 in described released position.
Keeper 24 can be index pin etc., and keeper 24 can be located on the first arm 21, and keeper 24 is along flat
The direction of the Pivot axle in the first arm 21 for the row is removable between described locked position and described released position.Keeper
Return unit (not shown) can be connected with, described return unit often has driving keeper 24 towards described locked position movement on 24
Power.
Rotating shaft 232, rotating shaft 232 and the first arm 21 rotatably shaft hole matching (wherein, first are had on arm axle sleeve 23
The hole being adapted with rotating shaft 232 can be provided with arm 21), the end of rotating shaft 232 passes through the first arm 21 and is fixed by jump ring.
The Pivot axle of the Pivot axle of the first arm 21 and the second arm 22 can be coaxial.Second arm 22 is relatively
Convertible between the first position and the second position in the first arm 21, the second arm 22 is in described primary importance, first-hand
Angle between arm 21 and the second arm 22 is 0 °；Second arm 22 in the described second position, the first arm 21 and second-hand
Angle between arm 22 is 180 °.
The first in command 212 is rotatably coupled to the first arm 21, and the second in command 22 and the second arm 22 are rotatably
It is connected.The first in command 212 has the first outwardly defining flange 2121, the second in command adjacent to one end of the first arm 21
222 have the second outwardly defining flange 2221 adjacent to one end of the second arm 22.
Upper limb healing device 100 according to embodiments of the present invention, the second arm 22 is rotationally connected with described main body, the
Two arms 22 and the first arm 21 positioned opposite for assisting training, and the Pivot axle of the first arm 21 and the second arm
22 Pivot axle is coaxial or parallel, and the angle of the second arm 22 first arm 21 relatively can be predetermined value.So pass through
The first in command 212 and the cooperation of the second in command 222, it is possible to achieve the parallel synchronous rehabilitation training of upper limb both hands, also help and carry
The high upper limb training strength in synchronization patient, thus be favorably improved rehabilitation training effect.
In the description of this specification, reference term " embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the feature describing with reference to this embodiment or example
It is contained at least one embodiment or the example of the present invention.In this manual, need not to the schematic representation of above-mentioned term
Identical embodiment or example must be directed to.And, the specific features of description, structure, material or feature can be arbitrary
Combine in an appropriate manner in individual or multiple embodiment or example.Additionally, in the case of not conflicting, the technology of this area
The feature of the different embodiments described in this specification or example and different embodiment or example can be combined by personnel
And combination.
Although embodiments of the invention have been shown and described above it is to be understood that above-described embodiment is example
Property it is impossible to be interpreted as limitation of the present invention, those of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changes, replacing and modification.
Claims (10)
1. a kind of upper limb healing device is it is characterised in that include：
Main body；
First arm, described first arm and described main body are rotatably coupled to；
Second arm, described second arm is rotationally connected with described main body, and described first arm and described second arm close
In described main body positioned opposite be suitable to assist training, in the rotation of the Pivot axle of described second arm and described first arm
Heart overlapping of axles or parallel, described second arm rotatable with respect to described first arm to adjust described first arm and described the
Angle between two arms.
2. upper limb healing device according to claim 1 is it is characterised in that described upper limb healing device also includes：
Arm axle sleeve, described arm axle sleeve is coaxial with the Pivot axle of described second arm and relative position is fixed, described handss
Arm axle set is coaxial with the Pivot axle of described first arm and relative rotatable；
Keeper, described keeper is switchably located at described arm axle sleeve and described between locked position and released position
On one of one arm, described keeper described arm axle sleeve and described first arm relative position in described locked position
Fixing, described keeper described arm axle sleeve when described released position is relative rotatable with described first arm.
3. upper limb healing device according to claim 2 is it is characterised in that described keeper in locked position and unclamps position
It is movably arranged between putting on described first arm, described arm axle sleeve is provided with along in the rotation of described first arm
The spaced apart multiple spacing holes in direction of heart axle, it is described spacing that described keeper inserts at least one in described locked position
Hole.
4. upper limb healing device according to claim 3 it is characterised in that described keeper be index pin, described positioning
Part can movably set between locked position and released position along the direction of the Pivot axle parallel to described first arm
On described first arm.
5. upper limb healing device according to claim 2 is it is characterised in that be connected with return unit on described keeper, institute
State return unit and often there is the power driving described keeper towards locked position movement.
6. upper limb healing device according to claim 2 is it is characterised in that having rotating shaft on described arm axle sleeve, described
Rotating shaft and described first arm rotatably shaft hole matching, the end of described rotating shaft is through described first arm and solid by jump ring
Fixed.
7. the upper limb healing device according to any one of claim 1-6 is it is characterised in that the rotation of described first arm
Central shaft and the center of rotation overlapping of axles of described second arm.
8. the upper limb healing device according to any one of claim 1-7 it is characterised in that described second arm with respect to
Described first arm is convertible between the first position and the second position, and described second arm is with respect to described first arm in institute
Stating the angle between the first arm described in during primary importance and described second arm is 0 °, and described second arm is with respect to described
One arm, first arm described in the described second position and the angle between described second arm are 180 °.
9. the upper limb healing device according to any one of claim 1-8 is it is characterised in that described first arm includes
One arm crank and the first in command, described first arm crank is rotationally connected with described main body, and the described first in command can turn
Dynamic ground is connected with described first arm crank, and described second arm includes the second arm crank and the second in command, described second-hand
Arm crank is rotationally connected with described main body, and the described second in command is rotationally connected with described second arm crank.
10. a kind of healing robot is it is characterised in that include：
Support；
Upper limb healing device, described upper limb healing device is installed on the bracket, and described upper limb healing device is according to power
Profit requires the upper limb healing device any one of 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610987644.3A CN106390376A (en) | 2016-11-09 | 2016-11-09 | Upper limb rehabilitation device and rehabilitation robot with upper limb rehabilitation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610987644.3A CN106390376A (en) | 2016-11-09 | 2016-11-09 | Upper limb rehabilitation device and rehabilitation robot with upper limb rehabilitation device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106390376A true CN106390376A (en) | 2017-02-15 |
Family
ID=59230260
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610987644.3A Pending CN106390376A (en) | 2016-11-09 | 2016-11-09 | Upper limb rehabilitation device and rehabilitation robot with upper limb rehabilitation device |
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| CN107670232A (en) * | 2017-10-31 | 2018-02-09 | 广东美的安川服务机器人有限公司 | Trainer and the rehabilitation training system with the trainer |
| CN107737435A (en) * | 2017-11-17 | 2018-02-27 | 广东美的安川服务机器人有限公司 | Upper limb healing device and rehabilitation training equipment |
| CN108143589A (en) * | 2018-01-31 | 2018-06-12 | 深圳市第二人民医院 | Upper limb training device |
| CN109172258A (en) * | 2018-07-27 | 2019-01-11 | 王晓 | A kind of Neurology upper limb healing exerciser |
| CN111375179A (en) * | 2018-12-28 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Rehabilitation training device and vertical rotation structure for training upper limbs thereof |
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| CN111375179A (en) * | 2018-12-28 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Rehabilitation training device and vertical rotation structure for training upper limbs thereof |
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Application publication date: 20170215 |