CN107007429B - A kind of Three Degree Of Freedom forelimb healing robot based on parallel institution - Google Patents
A kind of Three Degree Of Freedom forelimb healing robot based on parallel institution Download PDFInfo
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- CN107007429B CN107007429B CN201710229058.7A CN201710229058A CN107007429B CN 107007429 B CN107007429 B CN 107007429B CN 201710229058 A CN201710229058 A CN 201710229058A CN 107007429 B CN107007429 B CN 107007429B
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- 210000003194 forelimb Anatomy 0.000 title claims abstract description 33
- 230000035876 healing Effects 0.000 title claims abstract description 28
- 235000004443 Ricinus communis Nutrition 0.000 claims abstract description 17
- 238000009434 installation Methods 0.000 claims description 8
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 2
- 229910052782 aluminium Inorganic materials 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims description 2
- 210000003414 extremity Anatomy 0.000 abstract description 6
- 206010019468 Hemiplegia Diseases 0.000 abstract description 5
- 238000000034 method Methods 0.000 abstract description 3
- 210000000245 forearm Anatomy 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000001225 therapeutic effect Effects 0.000 description 3
- 240000000528 Ricinus communis Species 0.000 description 2
- 208000006011 Stroke Diseases 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 210000004556 brain Anatomy 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000036651 mood Effects 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 208000028389 Nerve injury Diseases 0.000 description 1
- 206010029260 Neuroblastoma Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 206010044565 Tremor Diseases 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 208000029028 brain injury Diseases 0.000 description 1
- 244000309464 bull Species 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 210000003464 cuspid Anatomy 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000002651 drug therapy Methods 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
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- 230000008764 nerve damage Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000000638 stimulation Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- 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
- A61H1/0285—Hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
-
- 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
- A61H2201/1638—Holding means therefor
-
- 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
-
- 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
- A61H2205/065—Hands
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pain & Pain Management (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Epidemiology (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of Three Degree Of Freedom forelimb healing robot based on parallel institution, and in particular to medical rehabilitation field of mechanical technique carries out Rehabilitation Training in Treating for hemiplegia of limb caused by headstroke.The device includes two big components of main element and erection support；A part has been splitted in silent flatform one end of main element, and rehabilitation training patient is allowed to protrude into arm from side, by reaching gear wheel after the central axis of silent flatform, then holds handle and is acted；It is bolted between main element and erection support, and castor can be furnished with according to the mounting height for needing to adjust main element of hemiplegic patient, mounting seat when practical application, can arbitrarily move the place for carrying out rehabilitation training.
Description
Technical field
The invention mainly relates to medical rehabilitation field of mechanical technique more particularly to a kind of three based on parallel institution freely
Forelimb healing robot is spent, carries out rehabilitation training for hemiplegic patient's forelimb caused by headstroke.
Technical background
The typical disease that hemiplegia caused by cerebral apoplexy belongs to centrokinesis dysfunction and brain motor center is damaged
Shape, bone, the muscle function of patient itself there is no forfeiture or fails, only because motor center nerve damage, it cannot be right
Limb motion is effectively controlled.After stroke onset, within first trimester, therefore the best period of rehabilitation is
It to be transferred to the rehabilitation stage immediately after morbidity, gradually be restored in affected motion again by a series of rehabilitation training
Contacting between pivot nerve and limbs, limb motion row can be efficiently controlled to brain injury position stimulation purpose by reaching
For.At present traditional rehabilitation therapy method be it is artificial carry out with patient individually, long-time extremity help patient
Repetitive movement is carried out, and adds some environmental stimulis and drug therapy achievees the purpose that repair brain neuroblastoma, rehabilitation effect
Fruit is heavily dependent on the professional skill of doctor, this one-to-one rehabilitation training there are low efficiency, large labor intensity, at
This height is not suitable for operating in family.
The structure type of forelimb healing robot is mainly based on cascaded structure at present, and working space is bigger, branch
It is long, quality is big, the driving that needs biggish driving force to be acted executes, and machine construction is unstable when move,
It is extremely difficult to expected rehabilitation efficacy, it could even be possible to some undesirable consequences can be generated to the state of an illness of patient, influences hemiplegia trouble
The rehabilitation effect in person's later period.
Healing robot in parallel of the invention is simple and compact for structure, rigidity is big, precision is high, control is simple, easy to use, suitable
Front yard Rehabilitation Training in Treating of the whole family, and be more applicable for hemiplegic patient and used during the Rehabilitation Training in Treating of different times.
Summary of the invention
The present invention provides a kind of three based on parallel institution for some problems existing for existing healing robot technology
Freedom degree forelimb healing robot, can problem in view of the prior art, cover the shortage, in conjunction with the treatment of Rehabilitation Training in Treating teacher
Scheme and the actual conditions of hemiplegic patient realize limbs rehabilitation training target before hemiplegic patient, preferably reach expected rehabilitation
Therapeutic effect, meet treatment both sides movement desired effect, and be suitable in conjunction with rehabilitation doctor therapeutic scheme be in into
Row rehabilitation training, it is simple easily operated.
A kind of Three Degree Of Freedom forelimb healing robot based on parallel institution of the invention can be inputted by power and be realized
The rehabilitation exercise motion at hemiplegic patient's forelimb position, i.e., carpal flexion/extension, interior receipts/outreach, the internal/external rotations of forearm；With string
Connection healing robot is compared, and forelimb healing robot in parallel of the invention is compact-sized, control precision is high, movement is flat
It is slow, it is more suitable the rehabilitation training of hemiplegic patient's forelimb.
The technology of the present invention realization is realized by following scheme: a kind of Three Degree Of Freedom forelimb rehabilitation based on parallel institution
Robot, the parallel connection healing robot include main element and erection support two large divisions；The main element is mounted on installation
On support, and it can be moved up and down by adjusting the position of bolt in erection support；The main element includes silent flatform, rotation
Submount, electric pushrod, connecting rod, ball pair, gear wheel, gear wheel end cap, handle, handle mount, pinion gear, key, small tooth
Turbin generator mounting base, motor and revolute pair fixing axle；The gear wheel is connect with gear wheel end cap；The handle is mounted on handle
In mounting bracket and handle mounting bracket is mounted on gear wheel upper surface；The end of the electric pushrod and connecting rod passes through respectively
The form and revolute pair fixing axle that rotation Submount is installed with revolute pair are mounted on silent flatform；Three rotation Submounts are in
120 degree are uniformly distributed, and are connected by bolt with silent flatform, and central axis be intersected in same point；Electric pushrod and company
The head end of bar passes through ball pair and is mounted on the lower surface of gear wheel end cap, and ball pair is uniformly distributed in 120 °；The axis of motor with
The axis of pinion gear is overlapped, and motor is vertically mounted in pinion gear；Motor drives pinion rotation, is driven by engagement big
Gear rotates slowly together；When installing original state, the plane where silent flatform is parallel with the plane where gear wheel and quiet
The axis and gear wheel central axis in Platform center hole are overlapped；Start the motor being connected with pinion gear, pinion gear is with motor
Rotation drive gear wheel rotated together by engagement, realize handle rotated along X-direction；Start electric pushrod I, it can
To drive the handle on gear wheel to rotate along Y-axis；Start electric pushrod II, can drive with the handle on gear wheel along Z
Axis rotation.
Further, the erection support includes first support, second support, third bracket, the 4th bracket, mounting base
And castor；The lower end surface of the mounting base is equipped with castor, and second support, third bracket are vertically installed on upper surface；Institute
It states second support, be provided with slideway on the inside of third bracket, first support, the 4th bracket can slide up and down in slideway, and the
One bracket and the 4th bracket are parallel to each other to be arranged with mounting base.
Further, the first support, second support, third bracket, the 4th bracket are using aluminum profile.Further
, the electric pushrod and connecting rod are uniformly distributed on the upper surface for being mounted on silent flatform in 1200.The side of the silent flatform is set
Partly cut-away is counted into, so that arm can be translated into silent flatform from the partly cut-away when rehabilitation training, then passes through three
Branch reaches at the handle of gear wheel.
Three Degree Of Freedom forelimb healing robot based on parallel institution of the invention includes main element and erection support group
At the silent flatform of main element is bolted on the bracket of erection support, after being completed, in the side of main element
A seat is placed, hemiplegic patient sits on the seat, and required height and position, constantly regulate third bracket and the 4th when according to training
The position of bracket, until meeting the training demand of hemiplegic patient；Since erection support is equipped with four castors, hemiplegia can choose
The training place that patient comfort loosens carries out rehabilitation training, more humanized.
Three Degree Of Freedom forelimb healing robot based on parallel institution of the invention, can be inclined according to the difference of hemiplegic patient
Paralysed degree adjusts power input, so that hemiplegic patient inputs the training action for obtaining friction speed according to the power of friction speed,
Realize the rehabilitation exercise motion at hemiplegic patient's forelimb position, i.e., carpal flexion/extension, interior receipts/outreach, the internal/external rotations of forearm.
The silent flatform assembles together with main element, after waiting erection supports to be installed, main element and installation branch
Assembly is bolted in seat；Whole assembling and setting is carried out again.
The power has the motor being assembled together with pinion gear, two electric pushrods.
The utility model has the advantages that
1. a kind of Three Degree Of Freedom forelimb healing robot based on parallel institution of the invention can be inputted real by power
The rehabilitation exercise motion at existing hemiplegic patient's forelimb position, i.e., carpal flexion/extension, interior receipts/outreach, the internal/external rotations of forearm；With
Series connection healing robot is compared, and forelimb healing robot in parallel of the invention is compact-sized, control is simple, movement is flat
It is slow, it is more suitable the rehabilitation training of hemiplegic patient's forelimb；It is suitable for combining the therapeutic scheme of rehabilitation doctor to be in carry out rehabilitation
Training, it is simple easily operated.
It, can be with when operating with 2. the Three Degree Of Freedom forelimb healing robot of the invention based on parallel institution
Device side place a seat, hemiplegic patient institute on the seat, due to the height differences of different patients, adjustable bracket
The position of installation carries out rehabilitation training until adjusting to the position for being suitable for the height of hemiplegic patient again.
3. the Three Degree Of Freedom forelimb rehabilitation robot device of the invention based on parallel institution degree, mounting base are equipped with foot
Wheel, can push everywhere, and the place of rehabilitation training is carried out according to the hobby of user and mood selection, convenient and simple, not need
A large amount of manpower pushes the purpose that can realize displacement.
Detailed description of the invention
Fig. 1 show general assembly structural schematic diagram of the invention；
Fig. 2 show the structural schematic diagram of the main element in Fig. 1 of the present invention；
Fig. 3 show the structural schematic diagram of the other side Fig. 2 of the present invention；
Fig. 4 show the structural schematic diagram of the erection support in Fig. 1 of the present invention.
Appended drawing reference is as follows:
1- gear wheel end cap；2- canine tooth wheel sleeve；3- gear wheel；4- ball pair I；5- handle；6- handle mounting bracket；7- ball
Pair II；8- pinion gear motor mount；9- pinion gear；10- inputs motor；11- key；12- silent flatform；13- rotates Submount
Ⅰ；14- revolute pair fixing axle I；15- revolute pair fixing axle II；16- rotates Submount II；17- rotates Submount III；18-
Revolute pair fixing axle III；19- electric pushrod I；20- electric pushrod II；21- connecting rod；22- ball pair III；23- first support；24-
Two brackets；25- third bracket；The 4th bracket of 26-；27- castor I；28 castors II；29- castor III；30- mounting base；31- foot
Wheel IV.
Specific embodiment
The present invention is achieved by the following scheme: a kind of Three Degree Of Freedom forelimb healing robot based on parallel institution,
It includes main element and erection support two large divisions；Main element is the key that the execution rehabilitation training of forelimb healing robot
Component mainly includes silent flatform 12, electric pushrod I 19, electric pushrod II 20, connecting rod 21, gear wheel 3, pinion gear 9, input electricity
Machine 10, handle 5, handle mounting bracket 6, gear wheel end cap 1, rotation Submount I 13, rotation Submount II 16, revolute pair
Mounting base III 17, ball pair I 4, ball pair II 7, ball pair III 22, revolute pair fixing axle I 14, revolute pair fixing axle II 15, revolute pair are solid
Dead axle III 18, mounting base 30, first support 23, second support 24, third bracket 25 and the 4th bracket 26.When initial installation,
3 place plane of gear wheel and 12 place plane of silent flatform are in parallel position relationship；And the axis of 12 centre bore of silent flatform and
3 central axis of gear wheel is overlapped；It is installed respectively by revolute pair the end of electric pushrod I 19, electric pushrod II 20 and connecting rod 21
Form and revolute pair fixing axle I 14 that seat I 13, rotation Submount II 16, rotation Submount III 17 installs with revolute pair, turn
Dynamic pair fixing axle II 15, revolute pair fixing axle III 18 are mounted on silent flatform 12, and are uniformly distributed in 120 ° and are mounted on quiet put down
In the approximately the same plane of platform 12, rotation Submount I 13, rotation Submount II 16, rotation Submount III 17 are equal in 120 °
Even distribution, be connected by bolt with silent flatform, and with revolute pair fixing axle assembly after, the axis of three revolute pair installation axles
Line center is mutually met at a bit；The head end of electric pushrod I 19, electric pushrod II 20 and connecting rod 21 is by ball secondary I 4, ball pair
II 7, ball pair III 22 is mounted on gear wheel end cap 1, and three ball pairs are uniformly distributed in 120 °；The central axis and XY of three branches
The angle of place plane is 60 °；The side of silent flatform 12 is designed to partly cut-away's shape, and arm can be direct from the side place of splitting
Level puts in silent flatform, is then then passed through gear wheel and reaches at handle.
The erection support includes first support 23, second support 24, third bracket 25, the 4th bracket 26, mounting base
30 and castor I 27, castor II 28, castor III 29, castor IV 31；The lower end surface of the mounting base 30 is equipped with castor I 27, foot
II 28, castor III 29, castor IV 31 are taken turns, second support 24, third bracket 25 are vertically installed on upper surface；The second support
24, slideway is provided on the inside of third bracket 25, first support 23, the 4th bracket 26 can slide up and down in slideway, and first
Bracket 23 and the 4th bracket 26 are parallel to each other and mounting base 30, a side opening of the silent flatform 12, thus in silent flatform 12
Side opening at pass through gear wheel 3 on centre bore reach handle 5 so that arm can be from the silent flatform office when rehabilitation training
The place of splitting, portion is translated into silent flatform, then passes through three branches and reaches at the handle of gear wheel.First support 23 and second
The installation site of frame 24 is partial to the side of mounting base, and four brackets are biased into design in the side of mounting base 30
, bracket 24 and 25 is biased into the side of mounting base, and two such is vertical have been determined, then exactly four brackets are all
It is partial to side.It, can be in mounting base 30 if since the center of gravity of installation supporting plate 30 is partial to side and causing shakiness
Corrresponding quality is stacked at idle place, and mounting base is equipped with castor, can push movement everywhere, is selected according to the hobby of user and mood
The place for carrying out rehabilitation training is selected, does not need a large amount of manpower to push the purpose that can realize displacement.
Whole device mixes corresponding control system after the assembly is completed, to the device, after the completion of debugging, if driving and small tooth
The motor being connected is taken turns, motor drives pinion rotation, drives bull gear drive by engagement, holds the forelimb hand of handle
Arm can follow gear wheel slowly to rotate and carry out rehabilitation training；If starting electric pushrod, electric pushrod is by power along certainly
Body axis direction is flexible, realizes the rotation of gear wheel, and then drive the forelimb arm action that hold handle；Simultaneously start motor and
Electric pushrod can finally realize the flexion/extension of forelimb arm, interior receipts/outreach, the internal/external rotations movement of forearm.
Three Degree Of Freedom forelimb healing robot based on parallel institution of the invention, by driving branch, i.e., two electronic
Push rod and motor, can be with carpal flexion/extension, interior receipts/outreach, the rehabilitation exercise motion of the internal/external rotations of forearm.
The present invention is based on the Three Degree Of Freedom forelimb healing robot of parallel institution, overall stiffness is big, dimensional space is compact, control
System is simple and convenient to operate, can arbitrarily move the position of mounting seat, and can be according to the different height demands of hemiplegic patient
Adjust the mounting height of main element, it might even be possible to allow hemiplegic patient to sit and cooperate rehabilitation on the seat；The device of the invention
Control is simple, and the patient that can be adapted for different hemiplegia degree carries out rehabilitation training.
The embodiment is a preferred embodiment of the present invention, but present invention is not limited to the embodiments described above, not
In the case where substantive content of the invention, any conspicuous improvement that those skilled in the art can make, replacement
Or modification all belongs to the scope of protection of the present invention.
Claims (5)
1. a kind of Three Degree Of Freedom forelimb healing robot based on parallel institution, it is characterised in that: the parallel connection healing robot packet
Include main element and erection support two large divisions；The main element is mounted on erection support, and can be by adjusting bolt
Position moved up and down in erection support；The main element includes silent flatform (12), rotation Submount (13,16,17), electricity
Dynamic push rod (19,20), connecting rod (21), ball secondary (4,7,22), gear wheel (3), gear wheel end cap (1), handle (5), handle installation
Bracket (6), pinion gear (9), key (11), pinion gear motor mount (8), motor (10) and revolute pair fixing axle (14,15,
18)；The gear wheel (3) and gear wheel end cap (1) are connected；The handle (5) is mounted on handle mounting bracket (6) and handle
Mounting bracket (6) is mounted on gear wheel (3) upper surface；The end of the electric pushrod (19,20) and connecting rod (21) leads to respectively
Cross form that rotation Submount (13,16,17) is installed with revolute pair and revolute pair fixing axle (14,15,18) be mounted on it is quiet flat
On platform (12)；It is equally distributed in 120 ° to rotate Submount (13,16,17), and central axis is intersected in same point；It is electronic to push away
The head end of bar (19,20) and connecting rod (21) is mounted on the lower surface of gear wheel end cap (1) by ball secondary (4,7,22), ball pair
(4,7,22) it is uniformly distributed in 120 °；The axis of motor (10) is overlapped with the axis of pinion gear (9), and motor (10) is vertically mounted on
In pinion gear (9)；Motor (10) drives pinion gear (9) rotation, drives gear wheel (3) to rotate slowly together by engagement；
When installing original state, the plane where silent flatform (12) is parallel with the plane where gear wheel (3), and in silent flatform (12)
Axis and gear wheel (3) central axis in heart hole are overlapped；Start the motor (10) that is connected with pinion gear (9), pinion gear (9) with
Motor (10) rotation drive gear wheel (3) rotated together by engagement, realize handle (5) rotated along X-direction；
Start electric pushrod I (19), the handle (5) on gear wheel (3) can be driven to rotate along Y-axis；Start electric pushrod II (20),
The handle (5) on gear wheel (3) can be driven to rotate along Z axis.
2. the Three Degree Of Freedom forelimb healing robot according to claim 1 based on parallel institution, it is characterised in that: described
Erection support includes first support (23), second support (24), third bracket (25), the 4th bracket (26), mounting base (30)
With castor (27,28,29,31)；The lower end surface of the mounting base (30) is equipped with castor (27,28,29,31), on upper surface
It is vertically installed with second support (24), third bracket (25)；Cunning is provided on the inside of the second support (24), third bracket (25)
Road, first support (23), the 4th bracket (26) can slide up and down in slideway, and first support (23) and the 4th bracket (26)
It is parallel to each other and mounting base (30).
3. the Three Degree Of Freedom forelimb healing robot according to claim 2 based on parallel institution, it is characterised in that: described
First support (23), second support (24), third bracket (25), the 4th bracket (26) are using aluminum profile.
4. the Three Degree Of Freedom forelimb healing robot according to claim 1 based on parallel institution, it is characterised in that: described
Electric pushrod (19,20) and connecting rod (21) are uniformly distributed on the upper surface for being mounted on silent flatform (12) in 120 °.
5. the Three Degree Of Freedom forelimb healing robot according to claim 1 based on parallel institution, it is characterised in that: described
One side opening of silent flatform (12), so that rehabilitation training person can directly translation be put in from the side that silent flatform (12) is splitted
Silent flatform (12), and then pass through the centre bore that three branches reach on gear wheel (3) and hold handle (5).
Priority Applications (1)
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| IT202000003563A1 (en) * | 2020-02-20 | 2021-08-20 | Giuseppe Carbone | Portable device for the rehabilitation of the upper limbs |
| WO2021165929A1 (en) * | 2020-02-20 | 2021-08-26 | Università Della Calabria | A device for the rehabilitation of limbs |
| IT202100003941A1 (en) * | 2021-02-19 | 2022-08-19 | Univ Della Calabria | DEVICE FOR THE REHABILITATION OF THE LIMBS |
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