CN106924013A - A kind of dermaskeleton type upper limb rehabilitation image training robot - Google Patents
A kind of dermaskeleton type upper limb rehabilitation image training robot Download PDFInfo
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- CN106924013A CN106924013A CN201710246459.3A CN201710246459A CN106924013A CN 106924013 A CN106924013 A CN 106924013A CN 201710246459 A CN201710246459 A CN 201710246459A CN 106924013 A CN106924013 A CN 106924013A
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 66
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 50
- 210000000245 forearm Anatomy 0.000 claims abstract description 32
- 230000033001 locomotion Effects 0.000 claims abstract description 22
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 34
- 230000008878 coupling Effects 0.000 claims description 18
- 238000010168 coupling process Methods 0.000 claims description 18
- 238000005859 coupling reaction Methods 0.000 claims description 18
- 230000005540 biological transmission Effects 0.000 claims description 12
- 210000002310 elbow joint Anatomy 0.000 claims description 8
- 235000004443 Ricinus communis Nutrition 0.000 claims description 6
- 210000003857 wrist joint Anatomy 0.000 claims description 4
- 150000001875 compounds Chemical class 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 2
- 230000001447 compensatory effect Effects 0.000 abstract description 5
- 230000007246 mechanism Effects 0.000 abstract description 4
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 4
- 230000009471 action Effects 0.000 abstract description 3
- 210000003414 extremity Anatomy 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000007659 motor function Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004886 head movement Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 230000009466 transformation Effects 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
- A61H1/0218—Drawing-out devices
-
- 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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0277—Elbow
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- 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
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of dermaskeleton type upper limb rehabilitation image training robot, including base component, omoplate tape member, shoulder joint part, upper arm members and forearm part；Omoplate tape member of the invention can completely match the characteristics of motion of human body Glenohumeral joint, meet the free degree demand of human upper limb rehabilitation training in three dimensions.Patient's trunk and seat can be carried out a certain degree of fixation by free degree configuration mode, and patient's upper limbs can be adjacent to mechanical arm and be worn, and the trunk in reduction training process is compensatory, patient's upper limbs is obtained correct training action.Make mechanical part away from sufferer head using a kind of rotary shaft offsetting mechanism, mitigate the constriction of sufferer；Can also be moved by the omoplate tape member described in control, described shoulder joint part, described upper arm members and described forearm part, realize that the training mode of described dermaskeleton type upper limb rehabilitation image training robot or so upper limbs initially wears being switched fast for position, it is to avoid the existing cumbersome regulation program of robot.
Description
Technical field
The present invention relates to robot technology, biomethanics, medical science of recovery therapy and rehabilitation project field, more particularly to a kind of dermoskeleton
Bone formula upper-limbs rehabilitation training robot.
Background technology
Exoskeleton-type robot can be used for aiding in or extending the locomitivity and limb rehabilitation training of human body, the current world
Upper existing many moneys are used for the robot of patients with cerebral apoplexy limb rehabilitation training.Limb rehabilitating instruction is carried out using exoskeleton-type robot
Practice, fast with recovery time, effect is good, the low advantage of expense.
Existing dermaskeleton type upper limb rehabilitation image training robot does not coordinate omoplate mostly in the motion realization of shoulder joint
Mechanism with motion, there will necessarily be the mismatch of man-machine joint shaft in the training process.Under this kind of training situation, therapist will not be by
Patient's upper limbs is adjacent to the mechanical arm of robot and wears, and will not also fix patient's trunk, and the mismatch of man-machine joint shaft is by trouble
The compensatory activity of person's upper limbs or trunk makes up.This compensatory activity can cause some joints to be trained or not up to treated
The training area and intensity of teacher's setting, training effect obviously can be subject to a certain degree of influence.If but patient's upper limbs is adjacent to
Wear or be trained again after trunk is fixed, the mismatch of man-machine joint shaft easily causes patient's upper limbs secondary damage.Additionally, existing
The mechanical part of some dermaskeleton type upper limb rehabilitation image training robot control head movements has focused largely on patients head both sides very
Near position, can make patient produce strong constriction.Most patients head or can be leaned to one side away from machinery partially in the training process
Part, can deviate patient and correctly wear position or seat, cause the further mismatch of man-machine joint shaft, influence training effect, sternly
Patient's upper limbs secondary damage is will also result in during weight.In addition, existing dermaskeleton type upper limb rehabilitation image training robot is on left and right is realized
In the switching of limb training mode, step is more complicated cumbersome, and time-consuming.
The content of the invention
The purpose of the present invention：A kind of dermaskeleton type upper limb rehabilitation image training robot is provided, can be used to aid in human body any one
Side upper limbs is moved in three dimensions, carries out rehabilitation training.
To achieve these goals, the technical scheme is that：
A kind of dermaskeleton type upper limb rehabilitation image training robot, including base component, omoplate tape member, shoulder joint part, upper arm parts
Part and forearm part；Described base component includes lockable castor, pedestal bottom plate and electric lifting pole；Described pedestal bottom plate
Whole dermaskeleton type upper limb rehabilitation image training robot, described lockable castor is supported to be installed on described pedestal bottom plate bottom surface,
Described lifting column is arranged on described pedestal bottom plate；Described omoplate tape member is fixed with described electric lifting pole and connected
Connect, be a rectangular coordinate system moving component, including Z-direction moving parts, X are to moving parts and Y-direction moving parts, described Z
To moving parts, X to moving parts and Y-direction moving parts Union Movement；Described shoulder joint part is solid with described Y-direction slide plate
Fixed connection, described shoulder joint part includes receiving abduction component in the shoulder joint being connected with each other and shoulder joint bends and stretches component；It is described
Upper arm members be connected with described shoulder joint part, described upper arm members include the shoulder internal rotator outward turning group being connected with each other
Part and elbow joint bend and stretch component；Described forearm part is connected with described upper arm members, and described forearm part includes mutual
Supination component and handle assembly before the forearm rotation of connection.
Above-mentioned dermaskeleton type upper limb rehabilitation image training robot, wherein, described Z-direction moving parts include Z-direction base plate, Z
To motor rack, Z-direction shaft coupling, Z-direction electric rotating machine, Z-direction ball screw assembly, Z-direction line slideway auxiliary and ZX to common plate；Described
Z-direction base plate is fixedly connected with described electric lifting pole；Described Z-direction motor rack is fixedly connected with described Z-direction base plate；It is described
Z-direction electric rotating machine be fixedly connected with described Z-direction motor rack；Described ZX is to common plate by described Z-direction line slideway
It is secondary to be slidably connected with described Z-direction base plate；Described Z-direction base plate and described ZX to common plate respectively with described Z-direction ball
Lead screw pair is connected；Described Z-direction electric rotating machine is connected by described Z-direction shaft coupling with described Z-direction ball screw assembly,.
Above-mentioned dermaskeleton type upper limb rehabilitation image training robot, wherein, described X includes ZX to shared to moving parts
Plate, X to motor rack, X to shaft coupling, X to electric rotating machine, X to ball screw assembly, X to line slideway auxiliary, X to connecting plate and XY
To common plate；Described X is arranged on described X on motor rack to electric rotating machine, and by described X to shaft coupling with it is described
X it is coaxially connected to ball screw assembly,；Described XY is arranged on described ZX by described X to common plate to line slideway auxiliary
To in common plate, described X is connected with described X to connecting plate to ball screw assembly,.
Above-mentioned dermaskeleton type upper limb rehabilitation image training robot, wherein, described Y-direction moving parts include XY to shared
Plate, Y-direction motor rack, Y-direction shaft coupling, Y-direction electric rotating machine, Y-direction ball screw assembly, Y-direction line slideway auxiliary and Y-direction slide plate；It is described
Y-direction electric rotating machine described XY is arranged on in common plate by described Y-direction motor rack, described Y-direction ball screw assembly,
It is coaxially connected with described Y-direction electric rotating machine by described Y-direction shaft coupling；Described Y-direction slide plate is by described Y-direction straight line
Guideway is arranged on described XY in common plate；Described Y-direction slide plate is the output end of described omoplate tape member.
Above-mentioned dermaskeleton type upper limb rehabilitation image training robot, wherein, abduction component is received in described shoulder joint comprising interior
Receive outside abduction fixed arm, interior receipts abduction first rotating arm, the interior turning arm of receipts abduction second, the Y types connecting rod of interior receipts abduction the, interior receipts
Open up the 2nd Y types connecting rod, interior receipts abduction turning arm, interior receipts abduction reductor and interior receipts abduction electric rotating machine；Described interior receipts abduction
Fixed arm is fixedly connected with described Y-direction slide plate；Described interior receipts abduction reductor is fixedly installed in described interior receipts abduction and consolidates
Determine arm；The output end of described interior receipts abduction reductor is fixedly connected with described interior receipts abduction first rotating arm；Described is interior
Abduction electric rotating machine is received to be fixedly connected with described interior receipts abduction first rotating arm；Described interior receipts abduction electric rotating machine with it is described
Interior receipts abduction reductor transmission is connected by direct-connected mode；Described interior receipts abduction first rotating arm and interior receipts abduction second revolves
Pivoted arm respectively with described interior receipts abduction fixed arm chain connection, formed in receive the rotary shaft of abduction first and interior receipts abduction second and revolve
Rotating shaft；The interior receipts Y types connecting rod of abduction the first and described interior receipts abduction first rotating arm and the interior turning arm of receipts abduction second point
Other chain connection, forms interior the receipts rotary shaft of abduction the 3rd and the interior rotary shaft of receipts abduction the 4th；The described interior Y types of receipts abduction the 2nd connect
Bar distinguishes chain connection with described interior receipts abduction first rotating arm and the described interior turning arm of receipts abduction second, is formed outside interior receipts
Open up the 5th rotary shaft and the interior rotary shaft of receipts abduction the 6th；Described interior receipts abduction turning arm and the described interior Y types of receipts abduction the
Connecting rod link is connected, and forms the interior receipts rotary shaft of abduction the 7th；Described interior receipts abduction turning arm and the described interior Y of receipts abduction the 2nd
Type connecting rod link is connected, and forms the interior receipts rotary shaft of abduction the 8th；The described interior rotary shaft of receipts abduction first, interior receipts abduction second are revolved
Rotating shaft, the interior rotary shaft of receipts abduction the 3rd and the interior rotary shaft of receipts abduction the 4th have collectively constituted the interior receipts parallelogram of abduction first
Four rotating shafts；The described interior rotary shaft of receipts abduction the 3rd, the interior rotary shaft of receipts abduction the 4th, the interior rotary shaft of receipts abduction the 5th and interior receipts
The rotary shaft of abduction the 6th has collectively constituted four articles of rotating shafts of the interior receipts parallelogram of abduction second；The described interior receipts abduction rotation of control
Rotating motor drives described interior receipts abduction reductor, drives the described interior parallelogram of receipts abduction first and interior receipts abduction second
It is any while rotating around the axis, described interior receipts abduction turning arm all will be around a rotating shaft rotation, this turn in parallelogram
Axle is to drive in the shoulder for receiving abduction exercise in human body shoulder joint receives abduction rotating shaft；Received in described shoulder abduction rotating shaft with it is described
Shoulder bends and stretches rotating shaft and is intersected at a point in space；The compound motion that described joining passes through described omoplate tape member, whole
In individual rehabilitation training, keep overlapping with human body Glenohumeral joint center；Described joining is robot Glenohumeral joint center.
Above-mentioned dermaskeleton type upper limb rehabilitation image training robot, wherein, described shoulder joint is bent and stretched component and is bent and stretched comprising shoulder
Electric rotating machine, shoulder bend and stretch reductor, shoulder and bend and stretch that toothed belt transmission group, shoulder bend and stretch fixed seat and shoulder bends and stretches swing arm；Described shoulder is bent
Fixed seat is stretched to be fixedly connected with described interior receipts abduction turning arm；Described shoulder bends and stretches electric rotating machine and bends and stretches fixation with described shoulder
Seat is fixedly connected；Described shoulder bends and stretches reductor and bends and stretches fixed seat with described shoulder and is fixedly connected；Described shoulder bends and stretches electric rotating
Machine bends and stretches reductor and bends and stretches the transmission of toothed belt transmission group by described shoulder with described shoulder；Described shoulder bend and stretch swing arm with it is described
Shoulder bend and stretch the output end of reductor and be fixedly connected；The described shoulder of control bends and stretches electric rotating machine operation, drives described shoulder to bend and stretch
Reductor, drives described shoulder to bend and stretch swing arm around an axis of rotation, and described rotating shaft is driving human body shoulder joint flexion and extension
Shoulder bend and stretch rotating shaft.
Above-mentioned dermaskeleton type upper limb rehabilitation image training robot, wherein, described shoulder internal rotator outward turning component is comprising in
Rotation outward turning first rotating arm, the turning arm of inward turning outward turning second, the Y types connecting rod of inward turning outward turning the, the Y types connecting rod of inward turning outward turning the 2nd,
Inward turning outward turning fixed arm, inward turning outward turning turning arm, inward turning outward turning reductor, inward turning outward turning electric rotating machine, upper arm fupport arm and inward turning
Outward turning drive link；Described inward turning outward turning first rotating arm and the turning arm of inward turning outward turning second respectively with described inward turning outward turning
One end both sides connection of the 2nd Y type connecting rods, described inward turning outward turning electric rotating machine is set by described inward turning outward turning reductor
On the described Y type connecting rods of inward turning outward turning the 2nd；One end of described inward turning outward turning turning arm respectively with described inward turning outward turning
The other end connection of the first Y types connecting rod and the Y type connecting rods of inward turning outward turning the 2nd, described upper arm fupport arm is arranged on outside described inward turning
The other end of turning arm is revolved, and socket is adapted to abduction rotating shaft is received in described shoulder；Described inward turning outward turning drive link connection
Between the described Y types connecting rod of inward turning outward turning the first and the described Y type connecting rods of inward turning outward turning the 2nd；The described inward turning outward turning of control
Electric rotating machine, drives described inward turning outward turning reductor, and described shoulder joint is driven by described inward turning outward turning drive link
Inward turning outward turning component, described inward turning outward turning turning arm will be in driving human body shoulder joint around a rotating shaft rotation, the rotating shaft
Revolve the shoulder inward turning outer rotary shaft of outward turning campaign；Described inward turning outward turning fixed arm bends and stretches swing arm and is slidably connected with described shoulder.
Above-mentioned dermaskeleton type upper limb rehabilitation image training robot, wherein, described elbow joint bends and stretches component and is bent and stretched comprising elbow
Pedestal, elbow bend and stretch that electric rotating machine, elbow bend and stretch reductor and elbow bends and stretches swing arm；Described elbow bends and stretches pedestal with described inward turning outward turning
Turning arm is fixedly connected；Described elbow bends and stretches electric rotating machine and bends and stretches pedestal with described elbow and is fixedly connected；Described elbow bends and stretches and subtracts
Fast machine bends and stretches pedestal and is fixedly connected with described elbow；Described elbow bends and stretches electric rotating machine and bends and stretches reductor with direct-connected with described elbow
Mode connect transmission；The described elbow of control bends and stretches electric rotating machine and drives described elbow to bend and stretch reductor, drives elbow to bend and stretch swing arm
Around an axis of rotation, the elbow that the rotating shaft is the flexion and extension for driving human elbow bends and stretches rotating shaft.
Above-mentioned dermaskeleton type upper limb rehabilitation image training robot, wherein, before supination component is comprising rotation before described forearm rotation
The Y types connecting rod of supination the 2nd, rotation before the Y types connecting rod of supination the, rotation before the turning arm of supination second, rotation before supination first rotating arm, rotation
Supination drives and connects before supination electric rotating machine and rotation before supination reductor, rotation before supination turning arm, rotation before preceding supination fixed arm, rotation
Bar；Before described rotation before supination first rotating arm and rotation one end of supination second turning arm respectively with described rotation before supination first
The Y types connecting rod of supination the 2nd connection before Y types connecting rod and rotation, supination drive link is connected to the Y types of supination the before described rotation before rotation
Before connecting rod and rotation between the Y type connecting rods of supination the 2nd；Described preceding supination electric rotating machine is set by supination reductor before described rotation
Put before described rotation on the Y type connecting rods of supination the 2nd, supination fixed arm is connected to supination first before described rotation before described rotation
The other end of the turning arm of supination second before turning arm and rotation；Supination turning arm is arranged on before described rotation supination the before described rotation
On one Y type connecting rods；Supination electric rotating machine before the described rotation of control, drives supination reductor before described rotation, by described rotation
Preceding supination drive link drives supination component before described forearm rotation, and supination turning arm will be around a rotating shaft rotation before described rotation
Turn, the rotating shaft is supination rotating shaft before the forearm rotation for driving the preceding supination of human body forearm rotation；Supination fixed arm before described rotation
Swing arm is bent and stretched with described elbow to be slidably connected.
Above-mentioned dermaskeleton type upper limb rehabilitation image training robot, wherein, described handle assembly includes handle pedestal, handle
Swing arm and handlebar stem；Described handle pedestal is fixedly connected with supination turning arm before described rotation；Described handle swing arm is divided into
Two, and respectively with described handle pedestal chain connection, form a rotating shaft, described rotating shaft is carpal for matching human body
Wrist joint rotating shaft, described handlebar stem is fixedly connected with the handle swing arm described in two.
The present invention can aid in human body to complete, and shoulder joint is bent and stretched, shoulder joint is interior receives abduction, shoulder internal rotator outward turning, elbow joint
Bend and stretch the rehabilitation training with supination before forearm rotation.The omoplate tape member of present invention design can completely match human body Glenohumeral joint
The characteristics of motion, meets the free degree demand of human upper limb rehabilitation training in three dimensions.Free degree configuration mode of the invention,
Patient's trunk and seat can be carried out a certain degree of fixation, and patient's upper limbs can be adjacent to mechanical arm and wear, reduced and instruct
Trunk during white silk is compensatory, patient's upper limbs is obtained correct training action.The present invention utilizes a kind of rotary shaft offsetting mechanism,
Make mechanical part away from sufferer head, mitigate the constriction of sufferer；The present invention can also be by the omoplate tape member described in control, institute
Shoulder joint part, described upper arm members and the described forearm part motion stated, realize described dermaskeleton type upper limb rehabilitation
The training mode of image training robot or so upper limbs initially wears being switched fast for position, it is to avoid the existing cumbersome regulation program of robot.
Brief description of the drawings
Fig. 1 is a kind of structural representation of dermaskeleton type upper limb rehabilitation image training robot of the invention.
Fig. 2 is a kind of structural representation of the base component of dermaskeleton type upper limb rehabilitation image training robot of the invention.
Fig. 3 is a kind of structural representation of the omoplate tape member of dermaskeleton type upper limb rehabilitation image training robot of the invention.
Fig. 4 is a kind of structural representation of the shoulder joint part of dermaskeleton type upper limb rehabilitation image training robot of the invention.
Fig. 5 is a kind of one structural representation of angle of upper arm members of dermaskeleton type upper limb rehabilitation image training robot of the invention
Figure.
Fig. 6 is that a kind of structure of the upper arm members of dermaskeleton type upper limb rehabilitation image training robot of the invention another angles is shown
It is intended to.
Fig. 7 is a kind of one structural representation of angle of forearm part of dermaskeleton type upper limb rehabilitation image training robot of the invention
Figure.
Fig. 8 is that a kind of structure of the forearm part of dermaskeleton type upper limb rehabilitation image training robot of the invention another angle is shown
It is intended to.
Fig. 9 is a kind of use schematic diagram of dermaskeleton type upper limb rehabilitation image training robot of the invention.
Figure 10 is a kind of right arm training figure of dermaskeleton type upper limb rehabilitation image training robot of the invention.
Figure 11 is a kind of left arm training figure of dermaskeleton type upper limb rehabilitation image training robot of the invention.
Specific embodiment
Embodiments of the invention are further illustrated below in conjunction with accompanying drawing.
Refer to shown in accompanying drawing 1, accompanying drawing 9 to accompanying drawing 11, a kind of dermaskeleton type upper limb rehabilitation image training robot, including pedestal
Part 1000, omoplate tape member 2000, shoulder joint part 3000, upper arm members 4000 and forearm part 5000；Described pedestal
Part 1000 includes lockable castor 1001, pedestal bottom plate 1002 and electric lifting pole 1003；Described pedestal bottom plate 1002 is used
Described pedestal bottom plate is installed in whole dermaskeleton type upper limb rehabilitation image training robot, described lockable castor 1002 is supported
1002 bottom surfaces, for the movement and placement of dermaskeleton type upper limb rehabilitation image training robot；Described lifting column 1003 is arranged on institute
On the pedestal bottom plate 1002 stated, for adjusting dermaskeleton type upper limb rehabilitation image training robot highly, to be adapted to the trouble of different heights
Person.
Described omoplate tape member 2000 is fixedly connected with described electric lifting pole 1003, is a rectangular coordinate system fortune
Dynamic component, including Z-direction moving parts, X are to moving parts and Y-direction moving parts, by described Z-direction moving parts, X to motion
The Union Movement of component and Y-direction moving parts, it is possible to achieve the spatial movement of the described output end of omoplate tape member 2000, is used for
Match the motion of patient's shoulder girdle.
Described shoulder joint part 3000 is fixedly connected with described Y-direction slide plate 2306, for realizing in human body shoulder joint
Receive abduction and shoulder joint flexor.Described shoulder joint part 3000 include be connected with each other shoulder joint in receive abduction component and
Shoulder joint bends and stretches component.
Described upper arm members 4000 are connected with described shoulder joint part 3000, and described upper arm members 4000 include phase
The shoulder internal rotator outward turning component and elbow joint for connecting bend and stretch component.
Described forearm part 5000 is connected with described upper arm members 4000, and described forearm part 5000 includes mutual
Supination component and handle assembly before the forearm rotation of connection.
Described Z-direction moving parts include Z-direction base plate 2101, Z-direction motor rack 2102, the rotation of Z-direction shaft coupling 2103, Z-direction
Motor 2104, Z-direction ball screw assembly, 2105, Z-direction line slideway auxiliary 2106 and ZX are to common plate 2107；Described Z-direction base plate
2101 are fixedly connected with described electric lifting pole 1003；Described Z-direction motor rack 2102 is fixed with described Z-direction base plate 2101
Connection；Described Z-direction electric rotating machine 2104 is fixedly connected with described Z-direction motor rack 2102；Described ZX is to common plate 2107
It is slidably connected with described Z-direction base plate 2101 by described Z-direction line slideway auxiliary 2106；Described Z-direction base plate 2101 and institute
The ZX for stating is connected with described Z-direction ball screw assembly, 2105 respectively to common plate 2107；Described Z-direction electric rotating machine 2104 passes through
Described Z-direction shaft coupling 2103 is connected with described Z-direction ball screw assembly, 2105；The described Z-direction electric rotating machine 2104 of control is transported
OK, described Z-direction ball screw assembly, 2105 is driven, described ZX is driven to the relatively described Z-direction base plate 2101 of common plate 2107
Move back and forth, it is possible to achieve motor function of the described output end of omoplate tape member 2000 in Z-direction 2000A.
Described X to moving parts comprising ZX to common plate 2107, X to motor rack 2201, X to shaft coupling 2202, X to rotation
Rotating motor 2203, X to ball screw assembly, 2204, X to line slideway auxiliary 2205, X to connecting plate 2206 and XY to common plate 2207；
Described X is arranged on described X on motor rack 2201 to electric rotating machine 2203, and by described X to shaft coupling 2202 with
Described X is coaxially connected to ball screw assembly, 2204；Described XY is to common plate 2207 by described X to line slideway auxiliary
2205 are arranged on described ZX in common plate 2107, and described X is to connecting plate 2206 with described X to ball screw assembly, 2204
Connection；Described X is consistent with described Z-direction moving parts motion principle to moving parts；The described X of control is to electric rotating machine
2203 operations, drive described X to ball screw assembly, 2204, drive described XY to the relatively described ZX of common plate 2207 to altogether
Moved back and forth with plate 2107, it is possible to achieve motor function of the described output end of omoplate tape member 2000 in X-direction 2000B.
Described Y-direction moving parts revolve comprising XY to common plate 2207, Y-direction motor rack 2301, Y-direction shaft coupling 2302, Y-direction
Rotating motor 2303, Y-direction ball screw assembly, 2304, Y-direction line slideway auxiliary 2305 and Y-direction slide plate 2306；Described Y-direction electric rotating machine
2303 are arranged on described XY in common plate 2207 by described Y-direction motor rack 2301, described Y-direction ball screw assembly,
2304 is coaxially connected with described Y-direction electric rotating machine 2303 by described Y-direction shaft coupling 2302；Described Y-direction slide plate 2306
Described XY is arranged on in common plate 2207 by described Y-direction line slideway auxiliary 2305；Described Y-direction moving parts and institute
The Z-direction moving parts and described X stated are consistent to moving parts motion principle；The described Y-direction electric rotating machine 2303 of control is transported
OK, described Y-direction ball screw assembly, 2304 is driven, the relatively described XY of described Y-direction slide plate 2306 is driven to common plate 2207
Move back and forth, it is possible to achieve the described output end of omoplate tape member 2000 motor function in the Y direction；Described Y-direction slide plate
2306 output ends for being described omoplate tape member 2000.
Abduction component is received in described shoulder joint and includes interior receipts abduction fixed arm 3101, interior receipts abduction first rotating arm
3102nd, interior receipts abduction the second turning arm 3103, interior receipts abduction the Y types connecting rod 3104, interior receipts abduction the 2nd Y types connecting rod 3105,
Interior receipts abduction turning arm 3106, interior receipts abduction reductor 3107 and interior receipts abduction electric rotating machine 3108；Described interior receipts abduction is consolidated
Determine arm 3101 to be fixedly connected with described Y-direction slide plate 2306；Described interior receipts abduction reductor 3107 is fixedly installed in described
Interior receipts abduction fixed arm 3101；The output end of described interior receipts abduction reductor 3107 and described interior receipts abduction first rotating arm
3102 are fixedly connected；Described interior receipts abduction electric rotating machine 3108 is fixed with described interior receipts abduction first rotating arm 3102 and connected
Connect；Described interior receipts abduction electric rotating machine 3108 is connected transmission with described interior receipts abduction reductor 3107 by direct-connected mode；
Described interior receipts abduction first rotating arm 3102 and the second turning arm of interior receipts abduction 3103 is fixed with described interior receipts abduction respectively
The chain connection of arm 3101, forms interior receipts abduction the first rotary shaft 3000A and interior the second rotary shaft of receipts abduction 3000B；The interior receipts
The Y types connecting rod 3104 of abduction the is distinguished with described interior receipts abduction first rotating arm 3102 and the second turning arm of interior receipts abduction 3103
Chain connection, forms the interior receipts rotary shaft 3000C of abduction the 3rd and interior rotary shaft 3000D of receipts abduction the 4th；Described interior receipts abduction
2nd Y types connecting rod 3105 and described interior receipts abduction first rotating arm 3102 and described interior 3103 points of the second turning arm of receipts abduction
Other chain connection, forms the interior receipts rotary shaft 3000E of abduction the 5th and interior rotary shaft 3000F of receipts abduction the 6th；Outside described interior receipts
Exhibition turning arm 3106 and the described interior chain connection of the first Y types connecting rod of receipts abduction 3104, form the interior receipts rotary shaft of abduction the 7th
3000G；Described interior receipts abduction turning arm 3106 and the described interior chain connection of the 2nd Y types connecting rod of receipts abduction 3105, form interior
Receive the rotary shaft 3000H of abduction the 8th；Described interior the first rotary shaft of receipts abduction 3000A, interior the second rotary shaft of receipts abduction 3000B,
The interior receipts rotary shaft 3000C of abduction the 3rd and interior rotary shaft 3000D of receipts abduction the 4th has collectively constituted interior receipts abduction first parallel four
Four rotating shafts of side shape；The described interior rotary shaft 3000C of receipts abduction the 3rd, the interior rotary shaft 3000D of receipts abduction the 4th, interior receipts abduction
5th rotary shaft 3000E and the interior rotary shaft 3000F of receipts abduction the 6th have collectively constituted the four of the interior receipts parallelogram of abduction second
Bar rotating shaft；The described interior receipts abduction electric rotating machine 3108 of control drives described interior receipts abduction reductor 3107, drives described
It is any while rotating around the axis, described is interior in the interior receipts parallelogram of abduction first and the interior parallelogram of receipts abduction second
Receiving abduction turning arm 3106 all will be around a rotating shaft rotation, and the rotating shaft is and drives in the shoulder that abduction exercise is received in human body shoulder joint
Receive abduction rotating shaft 3000I.
Described shoulder joint is bent and stretched component and bends and stretches electric rotating machine 3201, shoulder comprising shoulder and bend and stretch reductor 3202, shoulder and bends and stretches together
Step V belt translation group 3203, shoulder bends and stretches fixed seat 3204 and shoulder bends and stretches swing arm 3205；Described shoulder bend and stretch fixed seat 3204 with it is described
Interior receipts abduction turning arm 3106 be fixedly connected；Described shoulder bends and stretches electric rotating machine 3201 and bends and stretches fixed seat 3204 with described shoulder
It is fixedly connected；Described shoulder bends and stretches reductor 3202 and bends and stretches fixed seat 3204 with described shoulder and is fixedly connected；Described shoulder bends and stretches
Electric rotating machine 3201 and described shoulder bend and stretch reductor 3202 and bend and stretch toothed belt transmission group 3203 by described shoulder and be driven；It is described
Shoulder bend and stretch the output end that swing arm 3205 bends and stretches reductor 3202 with described shoulder and be fixedly connected；The described shoulder of control bends and stretches rotation
Motor 3201 runs, and drives described shoulder to bend and stretch reductor 3202, drives described shoulder to bend and stretch swing arm 3205 and turns around a rotating shaft
Dynamic, described rotating shaft is that the shoulder for driving human body shoulder joint flexion and extension bends and stretches rotating shaft 3000J.
Receipts abduction rotating shaft 3000I bends and stretches rotating shaft 3000J and is intersected at a point in space with described shoulder in described shoulder；Institute
The compound motion that the joining stated passes through described omoplate tape member 2000, can be in whole rehabilitation training, with human body broad-mouthed receptacle for holding liquid
Upper arm articulation center keeps overlapping；Described joining is robot Glenohumeral joint center 3000P.
Described shoulder internal rotator outward turning component includes inward turning outward turning first rotating arm 4101, the turning arm of inward turning outward turning second
4102nd, the Y types connecting rod 4103 of inward turning outward turning the, the Y types connecting rod 4104 of inward turning outward turning the 2nd, inward turning outward turning fixed arm 4105, inward turning
Outward turning turning arm 4106, inward turning outward turning reductor 4107, inward turning outward turning electric rotating machine 4108, upper arm fupport arm 4109 and inward turning outward turning
Drive link 4110；Described inward turning outward turning first rotating arm 4101 and the second turning arm of inward turning outward turning 4102 respectively with it is described
One end both sides connection of the Y types connecting rod 4104 of inward turning outward turning the 2nd, described inward turning outward turning electric rotating machine 4108 is interior described in
Rotation outward turning reductor 4107 is arranged on the described Y types connecting rod 4104 of inward turning outward turning the 2nd；Described inward turning outward turning turning arm
4106 one end is another with described the Y types connecting rod 4103 of inward turning outward turning the first and the Y types connecting rod 4104 of inward turning outward turning the 2nd respectively
End connection, described upper arm fupport arm 4109 is arranged on the other end of described inward turning outward turning turning arm 4106, and with described shoulder
Interior receipts abduction rotating shaft 3000I adaptation sockets；Described inward turning outward turning drive link 4110 is connected to the described Y of inward turning outward turning the
Between type connecting rod 4103 and the described Y types connecting rod 4104 of inward turning outward turning the 2nd.Described shoulder internal rotator outward turning component with it is described
Shoulder joint in receive abduction modular construction principle it is consistent；The described inward turning outward turning electric rotating machine 4108 of control, drives described interior
Rotation outward turning reductor 4107, described shoulder internal rotator outward turning component is driven by described inward turning outward turning drive link 4110,
Described inward turning outward turning turning arm will be the shoulder for driving human body shoulder internal rotator outward turning campaign around a rotating shaft rotation, the rotating shaft
Inward turning outer rotary shaft 4000A.
Described inward turning outward turning fixed arm 4105 bends and stretches swing arm 3205 and is slidably connected with described shoulder, by adjusting what is slided
Size, changes the spacing that described elbow bends and stretches rotating shaft 4000B and described robot Glenohumeral joint center 3000P, for being adapted to
The patient of different upper arm brachiums.
Described elbow joint bends and stretches component and bends and stretches pedestal 4201, elbow comprising elbow and bend and stretch electric rotating machine 4202, elbow and bends and stretches deceleration
Machine 4203 and elbow bend and stretch swing arm 4204；Described elbow bends and stretches pedestal 4201 and is fixed with described inward turning outward turning turning arm 4106 and connects
Connect；Described elbow bends and stretches electric rotating machine 4202 and bends and stretches pedestal 4201 with described elbow and is fixedly connected；Described elbow bends and stretches reductor
4203 bend and stretch pedestal 4201 with described elbow is fixedly connected；Described elbow bends and stretches electric rotating machine 4202 and bends and stretches deceleration with described elbow
Machine 4203 connects transmission in direct-connected mode；The described elbow of control bends and stretches electric rotating machine 4202 and drives described elbow to bend and stretch reductor
4203, drive elbow to bend and stretch swing arm 4204 around an axis of rotation, the elbow that the rotating shaft is the flexion and extension for driving human elbow is bent
Stretch rotating shaft 4000B.
Supination component includes the turning arm of supination second before supination first rotating arm 5101, rotation before rotation before described forearm rotation
5102nd, before revolving before the Y types connecting rod 5103 of supination the, the preceding Y types connecting rod 5104 of supination the 2nd of rotation, rotation before supination fixed arm 5105, rotation
Supination reductor 5107, the preceding supination electric rotating machine 5108 of rotation and supination drive link 5109 before rotation before supination turning arm 5106, rotation；
One end of supination first rotating arm 5101 and the second turning arm of the preceding supination of rotation 5102 is revolved with before described rotation respectively before described rotation
A Y types connecting rod 5103 and the preceding Y types connecting rod 5104 of supination the 2nd of rotation are connected afterwards, and supination drive link 5109 is connected to described before rotation
Rotation before before the Y types connecting rod 5103 of supination the first and rotation between supination the 2nd Y types connecting rod 5104；Described preceding supination electric rotating machine
5108 are arranged on before described rotation on the Y types connecting rod 5104 of supination the 2nd by supination reductor 5107 before described rotation, described
Supination fixed arm 5105 is connected to supination first rotating arm 5101 and the second turning arm of the preceding supination of rotation 5102 before described rotation before rotation
The other end；Supination turning arm 5106 is arranged on before described rotation on the Y types connecting rod 5103 of supination the before described rotation.Described
Supination component receives abduction component with described shoulder joint and shoulder internal rotator outward turning modular construction principle is consistent before forearm rotation；Control
Supination electric rotating machine 5108 before the described rotation of system, drives supination reductor 5107 before described rotation, by supination before described rotation
Drive link 5109 drives supination component before described forearm rotation, and supination turning arm will rotate around a rotating shaft before described rotation,
The rotating shaft is supination rotating shaft 5000A before the forearm rotation for driving the preceding supination of human body forearm rotation.
Supination fixed arm 5105 bends and stretches swing arm 4204 and is slidably connected with described elbow before described rotation, by adjusting what is slided
Size, changes the spacing that described wrist joint rotating shaft 5000B bends and stretches rotating shaft 4000B with described machine elbow, not the same for being adapted to
The patient of arm brachium.
Described handle assembly includes handle pedestal 5201, handle swing arm 5202 and handlebar stem 5203；Described handle base
Frame 5201 is fixedly connected with supination turning arm 5106 before described rotation；5202 points described of handle swing arm is two, respectively with institute
The chain connection of handle pedestal 5201 stated, forms a rotating shaft, and the rotating shaft is the matching carpal wrist joint rotating shaft of human body
5000B, locks after being manually adjusted to correct position；Described handlebar stem 5203 and the handle swing arm 5202 described in two are fixed and connected
Connect.
In sum, the present invention can aid in human body completion shoulder joint to bend and stretch, shoulder joint is interior receives outside abduction, shoulder internal rotator
The rehabilitation training with supination before forearm rotation is bent and stretched in rotation, elbow joint.The omoplate tape member of present invention design can completely match human body
The characteristics of motion of Glenohumeral joint, meets the free degree demand of human upper limb rehabilitation training in three dimensions.Freedom of the invention
Degree configuration mode, can carry out a certain degree of fixation, and can be adjacent to patient's upper limbs and mechanical arm by patient's trunk and seat
Wear, the trunk reduced in training process is compensatory, patient's upper limbs is obtained correct training action.The present invention is rotated using a kind of
Axle offset mechanism, makes mechanical part away from sufferer head, mitigates the constriction of sufferer；The present invention can also be by the shoulder described in control
Shoulder blade tape member, described shoulder joint part, described upper arm members and described forearm part motion, realize described ectoskeleton
The training mode of formula upper-limbs rehabilitation training robot or so upper limbs initially wears being switched fast for position, it is to avoid existing robot is cumbersome
Regulation program.
The preferred embodiments of the present invention are the foregoing is only, the scope of the claims of the invention, every utilization is not thereby limited
The equivalent structure transformation that present specification is made, 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 (10)
1. a kind of dermaskeleton type upper limb rehabilitation image training robot, it is characterised in that：Including base component, omoplate tape member, shoulder joint
Section part, upper arm members and forearm part；Described base component includes lockable castor, pedestal bottom plate and electric lifting pole；
Described pedestal bottom plate supports whole dermaskeleton type upper limb rehabilitation image training robot, described lockable castor to be installed on described
Pedestal bottom plate bottom surface, described lifting column is arranged on described pedestal bottom plate；Described omoplate tape member is electronic with described
Lifting column is fixedly connected, and is a rectangular coordinate system moving component, including Z-direction moving parts, X are moved to moving parts and Y-direction
Component, described Z-direction moving parts, X is to moving parts and Y-direction moving parts Union Movement；Described shoulder joint part and institute
The Y-direction slide plate stated is fixedly connected, and described shoulder joint part includes receiving abduction component and shoulder joint in the shoulder joint being connected with each other
Bend and stretch component；Described upper arm members are connected with described shoulder joint part, and described upper arm members include the shoulder being connected with each other
Joint inward turning outward turning component and elbow joint bend and stretch component；Described forearm part is connected with described upper arm members, it is described before
Arm member includes supination component and handle assembly before the forearm rotation being connected with each other.
2. dermaskeleton type upper limb rehabilitation image training robot according to claim 1, it is characterised in that：Described Z-direction motion
Component comprising Z-direction base plate, Z-direction motor rack, Z-direction shaft coupling, Z-direction electric rotating machine, Z-direction ball screw assembly, Z-direction line slideway auxiliary and
ZX is to common plate；Described Z-direction base plate is fixedly connected with described electric lifting pole；Described Z-direction motor rack and described Z-direction
Base plate is fixedly connected；Described Z-direction electric rotating machine is fixedly connected with described Z-direction motor rack；Described ZX passes through to common plate
Described Z-direction line slideway auxiliary is slidably connected with described Z-direction base plate；Described Z-direction base plate and described ZX are to common plate point
It is not connected with described Z-direction ball screw assembly,；Described Z-direction electric rotating machine is rolled by described Z-direction shaft coupling with described Z-direction
The secondary connection of ballscrew.
3. dermaskeleton type upper limb rehabilitation image training robot according to claim 2, it is characterised in that：Described X is to motion
Component comprising ZX to common plate, X to motor rack, X to shaft coupling, X to electric rotating machine, X to ball screw assembly, X to line slideway
Secondary, X is to connecting plate and XY to common plate；Described X is arranged on described X on motor rack to electric rotating machine, and by described
X it is coaxially connected to ball screw assembly, with described X to shaft coupling；Described XY is led by described X to common plate to straight line
Rail is secondary to be arranged on described ZX in common plate, and described X is connected with described X to connecting plate to ball screw assembly,.
4. dermaskeleton type upper limb rehabilitation image training robot according to claim 3, it is characterised in that：Described Y-direction motion
Component is comprising XY to common plate, Y-direction motor rack, Y-direction shaft coupling, Y-direction electric rotating machine, Y-direction ball screw assembly, Y-direction line slideway
Secondary and Y-direction slide plate；Described Y-direction electric rotating machine is arranged on described XY in common plate by described Y-direction motor rack, described
Y-direction ball screw assembly, it is coaxially connected with described Y-direction electric rotating machine by described Y-direction shaft coupling；Described Y-direction slide plate leads to
Cross described Y-direction line slideway auxiliary and be arranged on described XY in common plate；Described Y-direction slide plate is described shoulder girdle portion
The output end of part.
5. dermaskeleton type upper limb rehabilitation image training robot according to claim 4, it is characterised in that：In described shoulder joint
Receive abduction component and include interior receipts abduction fixed arm, interior receipts abduction first rotating arm, the interior turning arm of receipts abduction second, interior receipts abduction the
One Y types connecting rod, the Y types connecting rod of interior receipts abduction the 2nd, interior receipts abduction turning arm, interior receipts abduction reductor and interior receipts abduction electric rotating
Machine；Described interior receipts abduction fixed arm is fixedly connected with described Y-direction slide plate；Described interior receipts abduction reductor is fixedly installed in
Described interior receipts abduction fixed arm；The output end of described interior receipts abduction reductor is solid with described interior receipts abduction first rotating arm
Fixed connection；Described interior receipts abduction electric rotating machine is fixedly connected with described interior receipts abduction first rotating arm；Outside described interior receipts
Exhibition electric rotating machine is connected transmission with described interior receipts abduction reductor by direct-connected mode；Described interior receipts abduction first rotating arm
With interior receipts abduction second turning arm respectively with described interior receipts abduction fixed arm chain connection, formed in receive the rotary shaft of abduction first
With the interior receipts rotary shaft of abduction second；Interior receipts the Y types connecting rod of abduction the first and described interior receipts abduction first rotating arm and the interior receipts
The turning arm of abduction second distinguishes chain connection, forms interior the receipts rotary shaft of abduction the 3rd and the interior rotary shaft of receipts abduction the 4th；Described
The interior receipts Y types connecting rod of abduction the 2nd cuts with scissors respectively with described interior receipts abduction first rotating arm and the described interior turning arm of receipts abduction second
Chain is connected, and forms interior the receipts rotary shaft of abduction the 5th and the interior rotary shaft of receipts abduction the 6th；Described interior receipts abduction turning arm with it is described
The Y types connecting rod link of interior receipts abduction a connection, formed in receive the rotary shaft of abduction the 7th；Described interior receipts abduction turning arm and institute
The Y types connecting rod link of interior receipts abduction the 2nd connection stated, forms the interior receipts rotary shaft of abduction the 8th；Described interior receipts abduction first rotates
Axle, the interior rotary shaft of receipts abduction second, the interior rotary shaft of receipts abduction the 3rd and the interior rotary shaft of receipts abduction the 4th have been collectively constituted outside interior receipts
Open up four rotating shafts of the first parallelogram；Outside the described interior rotary shaft of receipts abduction the 3rd, the interior rotary shaft of receipts abduction the 4th, interior receipts
Open up the 5th rotary shaft and the interior rotary shaft of receipts abduction the 6th has collectively constituted four articles of rotating shafts of the interior receipts parallelogram of abduction second；Control
The described interior receipts abduction electric rotating machine of system drives described interior receipts abduction reductor, drives described interior receipts abduction first parallel four
While rotate around the axis, described interior receipts abduction turning arm all will be around for any in side shape and the interior parallelogram of receipts abduction second
One rotating shaft rotation, the rotating shaft is to drive in the shoulder for receiving abduction exercise in human body shoulder joint receives abduction rotating shaft；In described shoulder
Receipts abduction rotating shaft is bent and stretched rotating shaft and is intersected at a point in space with described shoulder；Described joining is by described shoulder girdle portion
The compound motion of part, in whole rehabilitation training, keeps overlapping with human body Glenohumeral joint center；Described joining is machine
Device people's Glenohumeral joint center.
6. dermaskeleton type upper limb rehabilitation image training robot according to claim 1, it is characterised in that：Described shoulder joint is bent
Stretch component and bend and stretch electric rotating machine, shoulder comprising shoulder and bend and stretch reductor, shoulder and bend and stretch that toothed belt transmission group, shoulder bend and stretch fixed seat and shoulder bends and stretches
Swing arm；Described shoulder bends and stretches fixed seat and is fixedly connected with described interior receipts abduction turning arm；Described shoulder bend and stretch electric rotating machine with
Described shoulder bends and stretches fixed seat and is fixedly connected；Described shoulder bends and stretches reductor and bends and stretches fixed seat with described shoulder and is fixedly connected；Institute
The shoulder stated bends and stretches electric rotating machine and described shoulder and bends and stretches reductor and bend and stretch toothed belt transmission group by described shoulder and is driven；Described
Shoulder bends and stretches the output end that swing arm bends and stretches reductor with described shoulder and is fixedly connected；The described shoulder of control bends and stretches electric rotating machine operation,
Drive described shoulder to bend and stretch reductor, drive described shoulder to bend and stretch swing arm around an axis of rotation, described rotating shaft is to drive people
The shoulder of body shoulder joint flexion and extension bends and stretches rotating shaft.
7. the dermaskeleton type upper limb rehabilitation image training robot according to claim 5 or 6, it is characterised in that：Described shoulder joint
Section inward turning outward turning component comprising inward turning outward turning first rotating arm, the turning arm of inward turning outward turning second, the Y types connecting rod of inward turning outward turning the,
The Y types connecting rod of inward turning outward turning the 2nd, inward turning outward turning fixed arm, inward turning outward turning turning arm, inward turning outward turning reductor, inward turning outward turning rotation
Motor, upper arm fupport arm and inward turning outward turning drive link；Described inward turning outward turning first rotating arm and the turning arm of inward turning outward turning second
One end both sides with the described Y type connecting rods of inward turning outward turning the 2nd are connected respectively, and described inward turning outward turning electric rotating machine is by described
Inward turning outward turning reductor be arranged on the described Y type connecting rods of inward turning outward turning the 2nd；One end of described inward turning outward turning turning arm
The other end with the described Y types connecting rod of inward turning outward turning the first and the Y type connecting rods of inward turning outward turning the 2nd is connected respectively, described upper arm arm
Support is arranged on the other end of described inward turning outward turning turning arm, and is adapted to socket with abduction rotating shaft is received in described shoulder；Described
Inward turning outward turning drive link be connected to the described Y types connecting rod of inward turning outward turning the first and the described Y types connecting rod of inward turning outward turning the 2nd it
Between；The described inward turning outward turning electric rotating machine of control, drives described inward turning outward turning reductor, is driven by described inward turning outward turning
Connecting rod drives described shoulder internal rotator outward turning component, and described inward turning outward turning turning arm will be around a rotating shaft rotation, the rotating shaft
As drive the shoulder inward turning outer rotary shaft of human body shoulder internal rotator outward turning campaign；Described inward turning outward turning fixed arm and described shoulder
Swing arm is bent and stretched to be slidably connected.
8. dermaskeleton type upper limb rehabilitation image training robot according to claim 7, it is characterised in that：Described flexor of elbow joints
Stretch component and bend and stretch pedestal, elbow comprising elbow and bend and stretch that electric rotating machine, elbow bend and stretch reductor and elbow bends and stretches swing arm；Described elbow bends and stretches pedestal
It is fixedly connected with described inward turning outward turning turning arm；Described elbow bends and stretches electric rotating machine and bends and stretches pedestal and fix with described elbow and connects
Connect；Described elbow bends and stretches reductor and bends and stretches pedestal with described elbow and is fixedly connected；Described elbow bend and stretch electric rotating machine with it is described
Elbow bends and stretches reductor and connects transmission in direct-connected mode；The described elbow of control bends and stretches electric rotating machine and drives described elbow to bend and stretch deceleration
Machine, drives elbow to bend and stretch swing arm around an axis of rotation, and the elbow that the rotating shaft is the flexion and extension for driving human elbow bends and stretches rotating shaft.
9. dermaskeleton type upper limb rehabilitation image training robot according to claim 8, it is characterised in that：Before described forearm rotation
Supination component includes rotation before the Y types connecting rod of supination the, rotation before the turning arm of supination second, rotation before supination first rotating arm, rotation before rotation
Afterwards before the 2nd Y types connecting rod, rotation before supination fixed arm, rotation before supination turning arm, rotation before supination reductor, rotation supination electric rotating machine and
Supination drive link before rotation；Before described rotation before supination first rotating arm and rotation one end of supination second turning arm respectively with it is described
Rotation before supination the 2nd Y types connecting rod connection before the Y types connecting rod of supination the first and rotation, supination drive link is connected to described rotation before rotation
Before the Y types connecting rod of preceding supination the first and rotation between the Y type connecting rods of supination the 2nd；Before described preceding supination electric rotating machine is by described rotation
Supination reductor is arranged on before described rotation on the Y type connecting rods of supination the 2nd, and supination fixed arm is connected to described before described rotation
The other end of supination first rotating arm and the preceding turning arm of supination second of rotation before rotation；Supination turning arm is arranged on described before described rotation
Rotation before on the Y type connecting rods of supination the；Supination electric rotating machine before the described rotation of control, drives supination reductor before described rotation,
Supination component before driving described forearm to revolve by supination drive link before described rotation, supination turning arm will be around before described rotation
One rotating shaft rotation, the rotating shaft is supination rotating shaft before the forearm rotation for driving the preceding supination of human body forearm rotation；Before described rotation
Supination fixed arm bends and stretches swing arm and is slidably connected with described elbow.
10. dermaskeleton type upper limb rehabilitation image training robot according to claim 9, it is characterised in that：Described handle group
Part includes handle pedestal, handle swing arm and handlebar stem；Described handle pedestal is fixedly connected with supination turning arm before described rotation；
Described handle swing arm is divided into two, and respectively with described handle pedestal chain connection, form a rotating shaft, described rotating shaft
It is the matching carpal wrist joint rotating shaft of human body, described handlebar stem is fixedly connected with the handle swing arm described in two.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710246459.3A CN106924013B (en) | 2017-04-15 | 2017-04-15 | Exoskeleton type upper limb rehabilitation training robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710246459.3A CN106924013B (en) | 2017-04-15 | 2017-04-15 | Exoskeleton type upper limb rehabilitation training robot |
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| CN106924013B CN106924013B (en) | 2023-09-26 |
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