CN106512329A - Planar upper limb rehabilitation training robot with flexible joints - Google Patents
Planar upper limb rehabilitation training robot with flexible joints Download PDFInfo
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- CN106512329A CN106512329A CN201710001772.0A CN201710001772A CN106512329A CN 106512329 A CN106512329 A CN 106512329A CN 201710001772 A CN201710001772 A CN 201710001772A CN 106512329 A CN106512329 A CN 106512329A
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- training robot
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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
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/1209—Involving a bending of elbow and shoulder joints simultaneously
-
- 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
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
-
- 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
- A61H2201/50—Control means thereof
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a planar upper limb rehabilitation training robot with flexible joints. The planar upper limb rehabilitation training robot comprises an electric lifting column component, a working plane, a motor drive component, transmission components and a support component, wherein the working plane is horizontally mounted at the top of the electric lifting column component, and the motor drive component, the transmission components and the support component are respectively mounted on the working plane; the support component is arranged at the tail ends of the transmission components, and the transmission components and the motor drive component form a five-linkage mechanism. The planar upper limb rehabilitation training robot has the advantages that flexible drive parts are used, transmission torque can be calculated through spring deformation, certain compliance is provided, and use safety and comfortableness of a patient are increased; in addition, the support component of the planar upper limb rehabilitation training robot provides various training modules, and fast switching can be achieved to satisfy the rehabilitation requirements of different patients.
Description
Technical field
A kind of a kind of the present invention relates to robot, more particularly to plane upper-limbs rehabilitation training robot with flexible joint.
Background technology
China there are about the apoplexy survivor of 70-80% and leave different degrees of deformity.Stroke patient to its hemiplegia position and
Early carry out targetedly rehabilitation training to improve or even recover to live on one's own life and work capacity, greatly reduce the possibility of deformity
Property.Plane rehabilitation training is exactly a kind of training method therein.
Existing plane exercising device such as matte board and slide plate, function are simple, and form is single, be only applicable to 3 grades of muscular strengths with
On patient, be the rehabilitation demands for meeting early stage patient, design and a possesses the plane rehabilitation trainer that main passive exercise is combined
Device people is very necessary.
The content of the invention
The purpose of the present invention：A kind of plane upper-limbs rehabilitation training robot with flexible joint is provided, flexible rotating machine is used
Tool joint replacement torque sensor, can be used to aid in patient's upper limb to carry out rehabilitation training in plane space, preferably can monitor
Rehabilitation training, it is to avoid secondary damage, and with outstanding back drive-ability, realize more smooth man-machine interaction.
To achieve these goals, the technical scheme is that：
A kind of plane upper-limbs rehabilitation training robot with flexible joint, drives including electric up-down column assembly, working face, motor
Dynamic component, transmission component and support component；Described working face is horizontally arranged at the top of described electric up-down column assembly,
Described motor drive component, transmission component and support component are separately mounted on described working face；Described support group
Part is arranged on the end of described transmission component, and described transmission component constitutes five connecting rod machines with described motor drive component
Structure.
The above-mentioned plane upper-limbs rehabilitation training robot with flexible joint, wherein, described motor drive component is by base
Seat, two groups of motors, two groups of rotating shafts and two groups of soft drive part compositions；Described pedestal is fixed under described working face
Side, two groups of described motors are separately fixed on described pedestal, and are installed on the lower section of described working face；Described two
Group rotating shaft is corresponding with two groups of described motors respectively to be connected, and is installed in described pedestal；Two groups of described soft drive portions
Part is separately mounted in two groups of described rotating shafts.
The above-mentioned plane upper-limbs rehabilitation training robot with flexible joint, wherein, the soft drive part described in per group
Including housing, rotor, the first groups of springs, second spring group and end cap；Described housing is connected as moment of torsion with described rotating shaft
Input；Described rotor is arranged on described housing central authorities, and the center of described rotor is rounded and outwards prolongs in triangle
Stretch, described rotor is relatively rotated with described housing；The first described groups of springs and second spring group include three bullets respectively
Spring, and it is separately positioned on the triangle extension both sides of described rotor；Described end cap is fixed on described rotor, as torsion
The outfan of square.
The above-mentioned plane upper-limbs rehabilitation training robot with flexible joint, wherein, described transmission component is by quarter butt, length
Curved connecting seat composition under bar, terminal pad, quarter butt connecting seat, stock connecting seat and stock；The two ends of described quarter butt respectively with institute
The terminal pad and quarter butt connecting seat stated is fixedly connected, and described terminal pad is connected with the end cap fixation of described soft drive part
Connect；One end of two described stocks is fixedly connected with described terminal pad respectively, and the other end of two described stocks is distinguished
Curved connecting seat under the described stock connecting seat of connection and stock；By described connection between described quarter butt and described stock
Disk and quarter butt connecting seat are realized rotating connection；Pass through curved company under described stock connecting seat and stock between stock described in two
Joint chair is realized rotating connection.
The above-mentioned plane upper-limbs rehabilitation training robot with flexible joint, wherein, described support component includes supporting
Plate, cushion, bandage and module interface；Described cushion is arranged on the upper surface side of described gripper shoe, and described bandage is tied up
In described gripper shoe and cushion；Described module interface is arranged on the upper surface opposite side of described gripper shoe, described
Module interface is columnar structures, and handle or finger-separating plate component are connected on described module interface.
The above-mentioned plane upper-limbs rehabilitation training robot with flexible joint, wherein, the lower end of described handle is pass
Structure, and socket is adapted to described module interface.
The above-mentioned plane upper-limbs rehabilitation training robot with flexible joint, wherein, described finger-separating plate component includes bottom
Plate and five points of finger blocks；The bottom of described base plate is provided with pass structure, and by described pass structure and described module
Interface adaptation socket；Described base plate is provided with guide rail, described five points refer to blocks by described guide rail be arranged on described in
On base plate and along described slide.
Soft drive part is present invention employs, transmitting torque can be calculated by the deformation of spring, while providing certain
Compliance, improves safety and comfortableness that patient uses；Additionally, the support of above-mentioned plane upper-limbs rehabilitation training robot system
Component additionally provides various training modules, it is possible to achieve be switched fast, and meets the rehabilitation demands of different patients.
Description of the drawings
Fig. 1 is a kind of structural representation of the plane upper-limbs rehabilitation training robot with flexible joint of the present invention.
Fig. 2 is a kind of structure of the motor drive component of the plane upper-limbs rehabilitation training robot with flexible joint of the present invention
Schematic diagram.
Fig. 3 is a kind of structure of the soft drive part of the plane upper-limbs rehabilitation training robot with flexible joint of the present invention
Schematic diagram.
Fig. 4 is a kind of structural representation of the transmission component of the plane upper-limbs rehabilitation training robot with flexible joint of the present invention
Figure.
Fig. 5 is a kind of structural representation of the support component of the plane upper-limbs rehabilitation training robot with flexible joint of the present invention
Figure.
Fig. 6 is that a kind of structure of the finger-separating plate component of the plane upper-limbs rehabilitation training robot with flexible joint of the present invention is shown
It is intended to.
Specific embodiment
Embodiments of the invention are further illustrated below in conjunction with accompanying drawing.
Refer to shown in accompanying drawing 1, a kind of plane upper-limbs rehabilitation training robot with flexible joint, including electric lifting pole
Component 1000, working face 2000, motor drive component 3000, transmission component 4000 and support component 5000；Described work
Plane 2000 is horizontally arranged at the top of described electric up-down column assembly 1000, described motor drive component 3000, transmission
Component 4000 and support component 5000 are separately mounted on described working face 2000；Described support component 5000 is arranged on
The end of described transmission component 4000, described transmission component 4000 constitute five connecting rods with described motor drive component 3000
Mechanism.For rotating connection between linkage, there is bearing centre, operates smooth.
Refer to shown in accompanying drawing 2, described motor drive component 3000 is turned by 3200, two groups of pedestal, 3100, two groups of motor
Axle 3300 and two groups of soft drive parts 3400 are constituted；Described pedestal 3200 is fixed under described working face 2000
Side, two groups of described motors 3100 are separately fixed on described pedestal 3200, and are installed on described working face 2000
Lower section；Two groups of described rotating shafts 3300 are corresponding with described two groups of motors 3100 respectively to be connected, and is installed on described pedestal
In 3200；Two groups of described soft drive parts 3400 are separately mounted in two groups of described rotating shafts 3300.Motor drive component
3000 by controlled motor 3100, can provide various training modes for patient to adapt to the patient of different muscular strength grades, including by
Dynamic training, impedance training, guiding power-assisting training etc..
Refer to shown in accompanying drawing 3, the soft drive part 3400 described in per group includes housing 3401, rotor 3402, first
Groups of springs 3403, second spring group 3404 and end cap 3405；Described housing 3401 is connected with described rotating shaft 3300 as torsion
The input of square；Described rotor 3402 is arranged on that described housing 3401 is central, and the center of described rotor 3402 is rounded
And outwards extend in triangle, described rotor 3402 is relatively rotated with described housing 3401；The first described groups of springs 3403
And second spring group 3404 includes three springs respectively, and it is separately positioned on the triangle extension both sides of described rotor 3402；
Described end cap 3405 is fixed on described rotor 3402, as the outfan of moment of torsion；After moment of torsion is input to housing 3401,
Compress the first groups of springs 3403 and second spring group 3404, when the first groups of springs 3403 and second spring group 3404 be compressed to it is default
Size when, be delivered on rotor 3402 and end cap 3405, rotor 3402 is rotated therewith, and realizes the output of torque.
Refer to shown in accompanying drawing 4, described transmission component 4000 is by quarter butt 4001, stock 4002, terminal pad 4003, quarter butt
Under connecting seat 4004, stock connecting seat 4005 and stock, curved connecting seat 4006 is constituted；The two ends of described quarter butt 4001 respectively with
Described terminal pad 4003 and quarter butt connecting seat 4004 are fixedly connected, and described terminal pad 4003 and described soft drive portion
The end cap 3405 of part 3400 is fixedly connected；One end of two described stocks 4002 is fixed with described terminal pad 4003 respectively and is connected
Connect, the other end of two described stocks 4002 connects curved connecting seat under described stock connecting seat 4005 and stock respectively
4006；It is real by described terminal pad 4003 and quarter butt connecting seat 4004 between described quarter butt 4001 and described stock 4002
Connection is rotated now；Pass through curved connecting seat 4006 under described stock connecting seat 4005 and stock between stock 4002 described in two
Realize rotating connection；Connecting rod junction is rotation connection, completes a range of motion of plane by two motors 3100.
Refer to shown in accompanying drawing 5, described support component 5000 include gripper shoe 5001, cushion 5002, bandage 5003 and
Module interface 5004；Described cushion 5002 is arranged on the upper surface side of described gripper shoe 5001, described bandage 5003
Tie up in described gripper shoe 5001 and cushion 5002；Described module interface 5004 is arranged on the upper of described gripper shoe 5001
End face opposite side, described module interface 5004 are columnar structures, and handle 5100 or finger-separating plate component 5200 are connected to institute
On the module interface 5004 stated.Can be by the forearm of patient and support group using gripper shoe 5001, cushion 5002 and bandage 5003
Part 5000 is fixed, and had both been provided comfortable support in training, and can have been prevented patient from using wrist power-assisted again, so as to avoid accident
It is injured；Module interface 5004 can be connected with various grasping modules respectively（Such as handle module 5100, finger-separating plate component 5200）Connection,
Adapt to the grasping demand of the patient of different hand situations.
The lower end of described handle 5100 is pass structure, and is adapted to socket with described module interface 5004, by setting
The meter magnitude of interference, only need to be directly sleeved on module interface 5004 and just can complete module installation；Equally, only directly need to extract during dismounting；
Grip when its upper end is trained as patient, can allow patient when comfortable grip, efficiently carry out rehabilitation training task.
Refer to shown in accompanying drawing 6, described finger-separating plate component 5200 includes base plate 5201 and five points of finger blocks 5202；It is described
The bottom of base plate 5201 be provided with pass structure, it is identical with the pass structure on handle 5100, and by described pass structure
Socket is adapted to described module interface 5004；Described base plate 5201 is provided with guide rail, and described five points refer to that block 5202 leads to
Cross described guide rail to be arranged on described base plate 5201 and along described slide, to be adapted to not homochirality（Including left and right
Handss）.
Electric up-down column assembly 1000 provides support for whole system, may be installed on mobile platform or ground, and height
It is adjustable.
Two groups of soft drive parts 3400 can be according to the deformation of spring, when passive exercise is carried out, on moment detection patient
The training of limb, effectively prevents antispasmodic generation；The motion intention of patient when active training is carried out, is predicted, is that training is carried
For certain power-assisted and damping, patient is helped preferably to carry out upper limb healing.
The present invention is not construed as limiting to the form for grasping module, every to allow what patient comfort was grasped in training, and can be with
Grasping module in the support component is arranged on by the module interface, within the scope of the present invention.
In sum, soft drive part is present invention employs, transmitting torque can be calculated by the deformation of spring, while
Certain compliance is provided, safety and comfortableness that patient uses is improved；Additionally, above-mentioned plane upper-limbs rehabilitation training robot
The support component of system additionally provides various training modules, it is possible to achieve be switched fast, and meets the rehabilitation demands of different patients.
The preferred embodiments of the present invention are the foregoing is only, the scope of the claims of the present invention, every utilization is not thereby limited
The equivalent structure transformation made by present specification, or directly or indirectly with the technology neck for being attached to other Related products
Domain, is included within the scope of the present invention.
Claims (7)
1. a kind of plane upper-limbs rehabilitation training robot with flexible joint, it is characterised in that：Including electric up-down column assembly, work
Make plane, motor drive component, transmission component and support component；Described working face is horizontally arranged at described electric up-down
The top of column assembly, described motor drive component, transmission component and support component are separately mounted on described working face；
Described support component is arranged on the end of described transmission component, described transmission component and described motor drive component group
Into five-bar mechanism.
2. the plane upper-limbs rehabilitation training robot with flexible joint according to claim 1, it is characterised in that：Described
Motor drive component is made up of pedestal, two groups of motors, two groups of rotating shafts and two groups of soft drive parts；Described pedestal is fixed on institute
The lower section of the working face stated, two groups of described motors are separately fixed on described pedestal, and it is flat to be installed on described work
The lower section in face；Two groups of described rotating shafts are corresponding with two groups of described motors respectively to be connected, and is installed in described pedestal；It is described
Two groups of soft drive parts be separately mounted in two groups of described rotating shafts.
3. the plane upper-limbs rehabilitation training robot with flexible joint according to claim 2, it is characterised in that：Per group institute
The soft drive part stated includes housing, rotor, the first groups of springs, second spring group and end cap；Described housing with it is described
Rotating shaft connects the input as moment of torsion；Described rotor is arranged on described housing central authorities, and the center of described rotor is in circle
Shape simultaneously outwards extends in triangle, and described rotor is relatively rotated with described housing；The first described groups of springs and second spring
Group includes three springs respectively, and is separately positioned on the triangle extension both sides of described rotor；Described end cap is fixed on institute
On the rotor stated, as the outfan of moment of torsion.
4. the plane upper-limbs rehabilitation training robot with flexible joint according to claim 1, it is characterised in that：Described
Transmission component is made up of curved connecting seat under quarter butt, stock, terminal pad, quarter butt connecting seat, stock connecting seat and stock；Described is short
The two ends of bar are fixedly connected with described terminal pad and quarter butt connecting seat respectively, and described terminal pad and described soft drive
The end cap of part is fixedly connected；One end of two described stocks is fixedly connected with described terminal pad respectively, described two
The other end of stock connects curved connecting seat under described stock connecting seat and stock respectively；Described quarter butt and described stock it
Between realize rotating connection by described terminal pad and quarter butt connecting seat；Connected by described stock between stock described in two
Under joint chair and stock, curved connecting seat is realized rotating connection.
5. the plane upper-limbs rehabilitation training robot with flexible joint according to claim 1, it is characterised in that：Described
Support component includes gripper shoe, cushion, bandage and module interface；Described cushion is arranged on the upper surface one of described gripper shoe
Side, described bandage are tied up in described gripper shoe and cushion；Described module interface is arranged on the upper end of described gripper shoe
Face opposite side, described module interface are columnar structures, and handle or finger-separating plate component are connected on described module interface.
6. the plane upper-limbs rehabilitation training robot with flexible joint according to claim 5, it is characterised in that：Described
The lower end of handle is pass structure, and is adapted to socket with described module interface.
7. the plane upper-limbs rehabilitation training robot with flexible joint according to claim 5, it is characterised in that：Described
Finger-separating plate component includes base plate and five points of finger blocks；The bottom of described base plate is provided with pass structure, and by described pass
Structure is adapted to socket with described module interface；Described base plate is provided with guide rail, and described five points refer to block by described
Guide rail is arranged on described base plate and along described slide.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710001772.0A CN106512329A (en) | 2017-01-03 | 2017-01-03 | Planar upper limb rehabilitation training robot with flexible joints |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710001772.0A CN106512329A (en) | 2017-01-03 | 2017-01-03 | Planar upper limb rehabilitation training robot with flexible joints |
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| CN106512329A true CN106512329A (en) | 2017-03-22 |
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| CN201710001772.0A Pending CN106512329A (en) | 2017-01-03 | 2017-01-03 | Planar upper limb rehabilitation training robot with flexible joints |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109199789A (en) * | 2018-10-18 | 2019-01-15 | 长春工业大学 | Upper limb end guiding type rehabilitation structure based on I type gear planar five-bar mechanism |
| CN110169894A (en) * | 2019-06-24 | 2019-08-27 | 深圳睿瀚医疗科技有限公司 | Drawing-type upper limb integrated training device |
| CN110464604A (en) * | 2019-09-09 | 2019-11-19 | 西南医科大学附属医院 | A kind of automatic limb rehabilitating machine |
| CN110997084A (en) * | 2017-08-21 | 2020-04-10 | 国立再活院 | Upper limb exerciser and control method thereof |
| CN112656637A (en) * | 2019-10-15 | 2021-04-16 | 深圳市迈步机器人科技有限公司 | Hand rehabilitation device and control method thereof |
| CN113425548A (en) * | 2021-04-23 | 2021-09-24 | 北京工业大学 | Mirror image upper limb rehabilitation robot |
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Cited By (9)
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