CN107224385B - Active/passive both arms upper limb rehabilitation robot - Google Patents
Active/passive both arms upper limb rehabilitation robot Download PDFInfo
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- CN107224385B CN107224385B CN201710355054.3A CN201710355054A CN107224385B CN 107224385 B CN107224385 B CN 107224385B CN 201710355054 A CN201710355054 A CN 201710355054A CN 107224385 B CN107224385 B CN 107224385B
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- 210000000245 forearm Anatomy 0.000 claims abstract description 87
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 57
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 30
- 238000012549 training Methods 0.000 claims abstract description 22
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- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
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Classifications
-
- 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
- A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
-
- 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
- A61H1/0281—Shoulder
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/0355—A single apparatus used for either upper or lower limbs, i.e. with a set of support elements driven either by the upper or the lower limb or limbs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/1209—Involving a bending of elbow and shoulder joints simultaneously
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/1245—Primarily by articulating the shoulder joint
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/1281—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles primarily by articulating the elbow joint
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/14—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for wrist joints
-
- 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
- A61H2201/12—Driving means
- A61H2201/1253—Driving means driven by a human being, e.g. hand driven
- A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
- A61H2201/1269—Passive exercise driven by movement of healthy 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
Landscapes
- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Physical Education & Sports Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of active/passive both arms upper limb rehabilitation robots, belong to recovery exercising robot field.The active/passive both arms upper limb rehabilitation robot includes upper limb active training device, upper limb passive exercise device, overarm arm and pedestal, and upper limb active training device and upper limb passive exercise device are fixed on the base by overarm arm；Upper limb active training device includes active shoulder abduction, interior receipts component, and active shoulder joint bends and stretches component, the inside and outside rotation component of active upper arm, and active elbow bends and stretches component, the inside and outside rotation component of active forearm, and active wrist joint bends and stretches component；Upper limb passive exercise device includes passive shoulder abduction, interior receipts component, and passive shoulder joint bends and stretches component, the passive inside and outside rotation component of upper arm, and passive elbow bends and stretches component, the passive inside and outside rotation component of forearm, and passive wrist joint bends and stretches component.The present invention had not only been able to achieve the movement of multiple dimensions in multiple joints, but also patient can be helped to move according to the wish of oneself.
Description
Technical field
The present invention relates to recovery exercising robot fields, particularly relate to a kind of active/passive both arms upper limb rehabilitation robot.
Background technique
With the fast development of medical technology, cerebral apoplexy is no longer the disease of life threatening, but caused by cerebral injury partially
The dyskinesias such as paralysis bring heavy burden to the family of patient and society.Correctly, scientific rehabilitation training is to limbs
The recovery and raising of motor function are played the role of very important.Neurological rehabilitation treatment process is an arduous job, at present
It relies primarily on physiatrician to assess limbs of patient the one-to-one manual operations of patient's progress and subjective clinical experience, limit
The raising of rehabilitation outcome is made, the combination of medical science of recovery therapy and robot technology improves the efficiency of rehabilitation training and ensure that movement
Trained intensity, the rehabilitation technique to study new open new approach.
But current upper limb rehabilitation robot both domestic and external is used to treat upper extremity motor function disorder patient and health
There are a variety of deficiencies when refreshment is practiced: (1) motor function is single, only supports single joint or partial joint；(2) it can only realize one-dimensional
Or two dimensional motion, the function of rehabilitation training cannot be realized well；(3) single armed passive movement, cannot according to patient wish into
The problems such as row movement, interest and enthusiasm that patient can not be excited to train.
Summary of the invention
The present invention provides a kind of active/passive both arms upper limb rehabilitation robot, has both been able to achieve multiple dimensions in multiple joints
Movement, and patient can be helped to move according to the wish of oneself.
In order to solve the above technical problems, present invention offer technical solution is as follows:
A kind of active/passive both arms upper limb rehabilitation robot, including upper limb active training device 3, upper limb passive exercise device
4, overarm arm 2 and pedestal 1, in which:
The upper limb active training device 3 and upper limb passive exercise device 4 are fixed on the pedestal by the overarm arm 2
On 1；
The upper limb active training device 3 includes active shoulder abduction, interior receipts component, and active shoulder joint bends and stretches component,
The inside and outside rotation component of active upper arm, active elbow bend and stretch component, the inside and outside rotation component of active forearm, and active wrist joint bends and stretches component；
The upper limb passive exercise device 4 includes passive shoulder abduction, interior receipts component, and passive shoulder joint bends and stretches component,
The inside and outside rotation component of passive upper arm, passive elbow bend and stretch component, the passive inside and outside rotation component of forearm, and passive wrist joint bends and stretches component.
The invention has the following advantages:
Active/passive both arms upper limb rehabilitation robot of the invention includes upper limb active training device (i.e. principal arm) and upper limb
Passive exercise device (i.e. from arm) connect in use, principal arm is used as control device with the healthy arm of user, will from arm and
The handicapped arm connection of user, the arm motion for driving user handicapped, principal arm receive the action command of user's arm,
For controlling from arm, the control signal in addition to principal arm can also be received by controller from arm, drive user handicapped
Arm motion meets the motion requirement of patient, improves the science of rehabilitation exercise.Active/passive both arms upper limb healing of the invention
Robot can be realized shoulder abduction, interior receipts, bend and stretch, and the inside and outside rotation of upper arm, elbow is bent and stretched, and the inside and outside rotation of forearm, wrist joint is bent and stretched
The movement of the multiple dimensions in multiple joints is supported in the movement of six-freedom degree, can individually carry out matching with each joint coordination
It closing and completes normal movement, the present invention is driven from arm by principal arm and is moved, and patient can be helped to move according to the wish of oneself,
The interest and enthusiasm of patient's training can be excited, there is stronger practicability, and patient's tune of different times can be directed to
The rehabilitation exercise of whole patient, function are very comprehensive.
Detailed description of the invention
Fig. 1 is the overall structure figure of active/passive both arms upper limb rehabilitation robot of the invention；
Fig. 2 is the active training device installation diagram of active/passive both arms upper limb rehabilitation robot of the invention；
Fig. 3 is the passive exercise device installation diagram of active/passive both arms upper limb rehabilitation robot of the invention；
Fig. 4 is the shoulder joint component assembly of the active training device of active/passive both arms upper limb rehabilitation robot of the invention
Figure；
Fig. 5 is the forearm of active training device of active/passive both arms upper limb rehabilitation robot of the invention and carpal
Component installation diagram；
Fig. 6 is the shoulder joint component assembly of the passive exercise device of active/passive both arms upper limb rehabilitation robot of the invention
Figure；
Fig. 7 is the upper arm assembly assembly of the passive exercise device of active/passive both arms upper limb rehabilitation robot of the invention
Figure；
Fig. 8 is the forearm component assembly of the passive exercise device of active/passive both arms upper limb rehabilitation robot of the invention
Figure；
Fig. 9 is the installation diagram of the pedestal of active/passive both arms upper limb rehabilitation robot of the invention.
Specific embodiment
To keep the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
The present invention provides a kind of active/passive both arms upper limb rehabilitation robot, and as shown in Fig. 1 ~ Fig. 9, including upper limb is actively instructed
Practice device 3, upper limb passive exercise device 4, overarm arm 2 and pedestal 1, in which:
Upper limb active training device 3 and upper limb passive exercise device 4 are fixed on pedestal 1 by overarm arm 2；
Upper limb active training device 3 includes active shoulder abduction, interior receipts component, and active shoulder joint bends and stretches component, actively
The inside and outside rotation component of upper arm, active elbow bend and stretch component, the inside and outside rotation component of active forearm, and active wrist joint bends and stretches component；
Upper limb passive exercise device 4 includes passive shoulder abduction, interior receipts component, and passive shoulder joint bends and stretches component, passively
The inside and outside rotation component of upper arm, passive elbow bend and stretch component, the passive inside and outside rotation component of forearm, and passive wrist joint bends and stretches component.
Active/passive both arms upper limb rehabilitation robot of the invention includes upper limb active training device (i.e. principal arm) and upper limb
Passive exercise device (i.e. from arm) connect in use, principal arm is used as control device with the healthy arm of user, will from arm and
The handicapped arm connection of user, the arm motion for driving user handicapped, principal arm receive the action command of user's arm,
For controlling from arm, the control signal in addition to principal arm can also be received by controller from arm, drive user handicapped
Arm motion meets the motion requirement of patient, improves the science of rehabilitation exercise.Active/passive both arms upper limb healing of the invention
Robot can be realized shoulder abduction, interior receipts, bend and stretch, and the inside and outside rotation of upper arm, elbow is bent and stretched, and the inside and outside rotation of forearm, wrist joint is bent and stretched
The movement of the multiple dimensions in multiple joints is supported in the movement of six-freedom degree, can individually carry out matching with each joint coordination
It closing and completes normal movement, the present invention is driven from arm by principal arm and is moved, and patient can be helped to move according to the wish of oneself,
The interest and enthusiasm of patient's training can be excited, there is stronger practicability, and patient's tune of different times can be directed to
The rehabilitation exercise of whole patient, function are very comprehensive.
Preferably, as shown in figure 4, active shoulder abduction, interior receipts component may include active shoulder joint rotary shaft 301,
Active shoulder joint limiting device 302, active shoulder abduction, interior receipts angular displacement sensor 303 and crossbeam 304, active shoulder joint
Bending and stretching component may include vertical arm 305 in active shoulder joint, before vertical arm 307, active shoulder joint bend and stretch swing under active shoulder joint
Arm 309, active shoulder joint bend and stretch swing postbrachium 310, active shoulder joint bends and stretches angular displacement sensor 312 and active shoulder joint is bent and stretched
Limiting device 308, in which:
Active shoulder joint rotary shaft 301 is vertically arranged, and the upper end of active shoulder joint rotary shaft 301 is bolted on outstanding
On beam arm 2, the lower end of active shoulder joint rotary shaft 301 is connect with one end of crossbeam 304, outside active shoulder joint rotary shaft 301
Side is arranged with active shoulder joint limiting device 302, and active shoulder abduction, interior receipts angular displacement sensor 303 are bolted
On active shoulder joint limiting device 302, acquires the spin data of active shoulder joint rotary shaft 301 and fed back.
The upper end of vertical arm 305 is connect with the other end of crossbeam 304 in active shoulder joint, vertical arm 305 in active shoulder joint
Lower end with the upper end of vertical arm 307 is vertical under active shoulder joint fixes, vertical arm under vertical arm 305 and active shoulder joint in active shoulder joint
Be provided on 307 active shoulder joint bend and stretch adjust height devices 306(be specifically as follows lead screw regulating device, pass through rotating device
In button, carry out height adjustment, or other regulative modes that those skilled in the art are readily apparent that do not influence this
The implementation of inventive technique scheme), it is bent and stretched by active shoulder joint and adjusts height devices 306 to adjust vertical arm in active shoulder joint
305 and active shoulder joint under vertical arm 307 height, to adapt to different crowds, the lower end of vertical arm 307 and master under active shoulder joint
Dynamic shoulder joint bends and stretches one end connection for swinging forearm 309, and active shoulder joint bends and stretches the other end and active shoulder joint for swinging forearm 309
Section bends and stretches that swing postbrachium 310 fixed in parallel, and active shoulder joint bends and stretches to swing and is provided with active shoulder joint on postbrachium 310 and bends and stretches adjusting
Length device 311(is specifically as follows lead screw regulating device, by rotation, bends and stretches swing postbrachium 310 to adjust active shoulder joint
Length, or other regulative modes that those skilled in the art are readily apparent that do not influence the reality of technical solution of the present invention
Apply), active shoulder joint is bent and stretched angular displacement sensor 312 and is welded under active shoulder joint in vertical arm 307, and active shoulder joint bends and stretches limit
Position device 308 be located at active shoulder joint bend and stretch swing forearm 309 two sides be bolted under active shoulder joint erect
On arm 307, active shoulder joint is bent and stretched swing postbrachium 310 and is connect with the inside and outside rotation component of active upper arm.
In the present invention, portability, flexibility for robot, the adaptability of different crowd, shoulder joint is using connecting rod knot
Structure, while outreach, interior receipts component and component is bent and stretched using adjustment length device.
Further, as shown in figure 5, the inside and outside rotation component of active upper arm may include actively going up arm restraining board 313, upper arm
Connector 317 under bending track fixing piece 413, upper arm bending track 315, upper arm angular displacement sensor 314, upper arm upper connector 316, upper arm
With the inside and outside rotation limiting device 318 of active upper arm, it may include that elbow bends and stretches upper connector 321, elbow is bent and stretched down that active elbow, which bends and stretches component,
Connector 319 and elbow bend and stretch angular displacement sensor 320, in which:
It actively goes up arm restraining board 313 component is bent and stretched with active shoulder joint by bolt and connect, specifically, as shown in figure 5, main
Dynamic upper arm restraining board 313 can bend and stretch swing postbrachium 310 by bolt with active shoulder joint and connect, upper arm bending track fixing piece 413
It is bolted on and actively goes up on arm restraining board 313, upper arm bending track 315 is fixed on upper arm bending track fixing piece 413, the upper crook of the arm
Rail 315 can be rotated relative to upper arm bending track fixing piece 413, and upper arm angular displacement sensor 314 is bolted on active upper arm
In fixed plate 313, one end of upper arm bending track 315 is connect with upper arm upper connector 316, the other end and upper arm of upper arm bending track 315
Lower connector 317 connects, and the inside and outside rotation limiting device 318 of active upper arm, which is separately fixed under upper arm upper connector 316 and upper arm, to be connected
On fitting 317；
Elbow bends and stretches upper connector 321 and upper arm upper connector 316 is hinged, and elbow bends and stretches and connects under lower connector 319 and upper arm
Part 317 is hinged, and elbow bends and stretches angular displacement sensor 320 and is fixed under upper arm on connector 317, and elbow bends and stretches upper connector 321 and master
The dynamic inside and outside rotation component connection of forearm.
In the present invention, in order to guarantee that equipment is fixed during the inside and outside rotation of upper arm, using bending track structure, during the motion
Only upper arm bending track 315 reduces movement weight bearing relative to equipment relative motion, and active elbow bends and stretches structure using articulated form, side
Just it moves, while angular displacement sensor can acquire the movement angle information of relative axle, pass to from arm.
In the present invention, as shown in figure 5, the inside and outside rotation component of active forearm may include preceding arm restraining board 324, forearm bending track
322, forearm bending track fixing piece 413 ' and forearm angular displacement sensor 323, in which:
Preceding arm restraining board 324 bends and stretches upper connector 321 with elbow and connect, and one end of forearm bending track 322 and elbow bend and stretch connection
Part 321 connects, and the other end of forearm bending track 322 bends and stretches lower connector 319 with elbow and connect, and forearm bending track 322 is fixed on the preceding crook of the arm
On rail fixing piece 413 ', forearm bending track 322 can be rotated relative to forearm bending track fixing piece 413 ', and forearm bending track fixing piece 413 ' is logical
It crosses before bolt is fixed on arm restraining board 324, before forearm angular displacement sensor 323 is bolted on arm restraining board 324,
Preceding arm restraining board 324 bends and stretches component with active wrist joint and connect.
In the present invention, in order to guarantee that equipment is fixed during the inside and outside rotation of forearm, using bending track structure, during the motion
Only forearm bending track 322 reduces movement weight bearing relative to equipment relative motion.
Preferably, as shown in figure 5, it may include wrist joint connecting plate 325, wrist joint rotation that active wrist joint, which bends and stretches component,
Axis 328 and wrist joint angular displacement sensor 327, in which:
Wrist joint connecting plate 325 is welded on the inside and outside rotation component of active forearm, specifically, as shown in figure 5, wrist joint connects
Before fishplate bar 325 is welded on arm restraining board 324, one end of wrist joint rotary shaft 328 is connect with wrist joint connecting plate 325, and wrist closes
The other end of section rotary shaft 328 is installed with the first in command 329 by bolt, and it is long to be provided with wrist joint in wrist joint rotary shaft 328
Degree regulating device 326(can be specifically fixed by screw knob, compression, unclamp left and right adjusting length, or ability
Other regulative modes that field technique personnel are readily apparent that, do not influence the implementation of technical solution of the present invention), wrist joint angular displacement passes
Sensor 327 is welded on wrist joint length adjustment device 326.
The present invention passes through the active length of the adjustable wrist of wrist joint length adjustment device 326, adapts to different crowd, together
When wrist joint angular displacement sensor 327 passed to by the rotation angle information of wrist joint rotary shaft 328 from arm, carry out appropriate
Movement.
Further, as shown in fig. 6, passive shoulder abduction, interior receipts component may include first motor deceleration thermomechanical components
401, rotating beam 404 and passive shoulder abduction, interior receipts limiting device 403, it may include fixing that passive shoulder joint, which bends and stretches component,
Part 405, the second decelerating through motor thermomechanical components 406, shoulder joint connector 408 and bend and stretch beam 409, in which:
First motor deceleration thermomechanical components 401 are vertically arranged, and one end of first motor deceleration thermomechanical components 401 is bolted
In overarm arm 2, the other end outer sheath of first motor deceleration thermomechanical components 401 is equipped with speed reducer protective case 402, speed reducer protection
Set 402 is also bolted in overarm arm 2, and passive shoulder abduction, interior receipts limiting device 403 are welded on speed reducer protection
On set 402, the output shaft of first motor deceleration thermomechanical components 401 is drivingly connected one end of rotating beam 404, first motor deceleration unit
The motor rotation of part 401 drives rotating beam 404 to move, and realizes shoulder abduction, the movement of interior receipts；
The upper end of fixing piece 405 is connect by bolt with the other end of rotating beam 404, the second decelerating through motor thermomechanical components 406
It is bolted in the lower end of fixing piece 405, the output shaft of the second decelerating through motor thermomechanical components 406 is connect with connector 408, is bent
One end of beam 409 is installed on connector 408 by bolt, is bent and stretched and is installed with lead screw length adjustment device 410 on beam 409,
Passive shoulder joint is installed in the two sides for bending and stretching beam 409 on fixing piece 405 and bends and stretches limiting device 407, bends and stretches the other end of beam 409
It is connect with the inside and outside rotation component of passive upper arm, the motor rotation of the second decelerating through motor thermomechanical components 406, which drives, bends and stretches the movement of beam 409, real
Existing shoulder joint flexion and extension.
The present invention can control head movement range by receiving limiting device 403 in passive shoulder abduction, pass through control
401 velocity of rotation of first motor deceleration thermomechanical components processed, may be implemented the motion frequency of shoulder, the second decelerating through motor thermomechanical components 406
In motor rotation band follower link 408 move, connector 408 drive bends and stretches beam 409 movement, pass through lead screw length adjustment device
The 410 adjustable length for bending and stretching beam 409, guarantee the adaptation length of different crowd, passive shoulder joint bends and stretches limiting device 407 can
To control the scope of activities for bending and stretching beam 409.
In the present invention, as shown in fig. 7, the passive inside and outside rotation component of upper arm may include passive upper arm restraining board 412, third
Decelerating through motor thermomechanical components 411, bending track component 414, upper arm protection shell 434, upper arm bandage component 420(are specifically as follows fixation
The bandage of arm), upper arm upper junction plate 415 and upper arm lower connecting plate 418, it may include that the 4th motor subtracts that passive elbow, which bends and stretches component,
Fast thermomechanical components 419, elbow bend and stretch upper junction plate 421 and elbow bends and stretches lower connecting plate 422, in which:
Passively upper arm restraining board 412 is bolted on shoulder joint and bends and stretches on component, specifically, as shown in fig. 7, passively
Upper arm restraining board 412 can be fixed on by bolt and be bent and stretched on beam 409, and third decelerating through motor thermomechanical components 411 are bolted
On passive upper arm restraining board 412, the output shaft of third decelerating through motor thermomechanical components 411 is drivingly connected bending track component 414, and upper arm is protected
Shield shell 434 is installed on passively upper arm restraining board 412 by bolt, and upper arm bandage component 420 is installed in upper arm by bolt
It protects on shell 434, the upper end of bending track component 414 is connect with one end of upper arm upper junction plate 415, the lower end of bending track component 414
It is connect with one end of upper arm lower connecting plate 418, is installed with passive upper arm on upper arm upper junction plate 415 and upper arm lower connecting plate 418
The motor rotation of interior outward turning limiting device 416, third decelerating through motor thermomechanical components 411 drives bending track component 414 to move, and realizes upper arm
Inside and outside rotation movement.
4th decelerating through motor thermomechanical components 419 are bolted to connection on upper arm upper junction plate 415, the 4th decelerating through motor
The output shafts of thermomechanical components 419 is drivingly connected one end that elbow bends and stretches upper junction plate 421, elbow bend and stretch one end of lower connecting plate 422 with it is upper
Arm lower connecting plate 418 is hinged, elbow bends and stretches upper junction plate 421 and elbow bend and stretch the other end of lower connecting plate 422 respectively with passive forearm
The motor rotation of inside and outside rotation component connection, the 4th decelerating through motor thermomechanical components 419 drives elbow to bend and stretch the movement of upper junction plate 421, realizes
Elbow flexion and extension.
The present invention can control the motion range of bending track component 414 by outward turning limiting device 416 in passive upper arm, limit
The training degree of the inside and outside rotation of upper arm, elbow bends and stretches lower connecting plate 422 and upper arm lower connecting plate 418 is hinged, the 4th decelerating through motor unit
Part 419 drives elbow to bend and stretch the movement of upper junction plate 421, small arm component can integrally be followed movement.
Preferably, as shown in Figure 7 and Figure 8, the inside and outside rotation component of passive forearm may include forearm bending track component the 423, the 5th
Fixed board 433, forearm protection shell 425 and forearm bandage component 424 are rotated with inside and outside decelerating through motor thermomechanical components 432, forearm, in which:
The upper and lower ends of forearm bending track component 423 bend and stretch upper junction plate 421 with elbow respectively by bolt and elbow bends and stretches lower company
Fishplate bar 422 connects, and the 5th decelerating through motor thermomechanical components 432, which are bolted on inside and outside forearm, to be rotated on fixed board 433, the 5th motor
The output shaft of deceleration thermomechanical components 432 is drivingly connected the middle part of forearm bending track component 423, and forearm protects shell 425 solid by bolt
It is located inside and outside forearm and is rotated on fixed board 433, forearm bandage component 424 is installed in forearm by bolt and protects on shell 425, forearm
Fixed board 433 is rotated with inside and outside protection shell 425 and forearm to connect, and fixed board 433 is rotated with inside and outside forearm and passive wrist joint bends and stretches component
The motor rotation of connection, the 5th decelerating through motor thermomechanical components 432 drives forearm bending track component 423 to move, and realizes the inside and outside rotation fortune of forearm
It is dynamic.
The present invention drives forearm bending track component 423 to move by the 5th decelerating through motor thermomechanical components 432, guarantees remaining position not
In the case where dynamic, the only inside and outside rotation movement in the part of forearm.
Further, it may include wrist joint fixed plate 426, the 6th decelerating through motor thermomechanical components that passive wrist joint, which bends and stretches component,
428, swingle 429, second handle 430, passive wrist joint bend and stretch limiting device 427, in which:
Wrist joint fixed plate 426 is bolted on the inside and outside rotation component of forearm, specifically, as shown in Figure 7 and Figure 8,
Wrist joint fixed plate 426 can be fixed on inside and outside forearm by bolt and is rotated on fixed board 433, the 6th decelerating through motor thermomechanical components 428
It is bolted in wrist joint fixed plate 426, the output shaft of the 6th decelerating through motor thermomechanical components 428 is drivingly connected swingle
The other end of 429 one end, swingle 429 is connect by bolt with second handle 430, is being rotated in wrist joint fixed plate 426
The two sides of bar 429 are installed with passive wrist joint respectively and bend and stretch limiting device 427, the motor rotation of the 6th decelerating through motor thermomechanical components 428
Turn that swingle 429 is driven to move, realizes wrist joint flexion and extension.
The present invention can bend and stretch the motion range that limiting device 427 controls wrist component by passive wrist joint, realize wrist
Local joint flexion and extension.
In the present invention, as shown in figure 9, pedestal 1 may include chassis 105, castor 103, seat 104, mainframe box 101 and rise
Column 102 drops, in which:
The bottom surface on chassis 105 is arranged in castor 103, and the setting of seat 104 exists in the upper surface of chassis 105, the setting of mainframe box 101
The upper surface of chassis 105 and the rear for being located at seat 104, lifting column 102 is additionally provided on chassis 105, and the setting of overarm arm 2 is being gone up and down
On column 102.
The present invention can be carried out position movement, while the height of the adjustable device of lifting column 102, be fitted by castor 103
Answer different crowd.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, it can also make several improvements and retouch, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of active/passive both arms upper limb rehabilitation robot, which is characterized in that including upper limb active training device (3), upper limb
Passive exercise device (4), overarm arm (2) and pedestal (1), in which:
The upper limb active training device (3) and upper limb passive exercise device (4) are fixed on the bottom by the overarm arm (2)
On seat (1)；
The upper limb active training device (3) includes active shoulder abduction, interior receipts component, and active shoulder joint bends and stretches component, main
The dynamic inside and outside rotation component of upper arm, active elbow bend and stretch component, the inside and outside rotation component of active forearm, and active wrist joint bends and stretches component；
The upper limb passive exercise device (4) includes passive shoulder abduction, interior receipts component, and passive shoulder joint bends and stretches component, quilt
The dynamic inside and outside rotation component of upper arm, passive elbow bend and stretch component, the passive inside and outside rotation component of forearm, and passive wrist joint bends and stretches component,
It includes wrist joint connecting plate (325), wrist joint rotary shaft (328) and wrist joint angle position that the active wrist joint, which bends and stretches component,
Displacement sensor (327), in which:
The wrist joint connecting plate (325) is welded on the inside and outside rotation component of the active forearm, the wrist joint rotary shaft
(328) one end is connect with the wrist joint connecting plate (325), and the other end of the wrist joint rotary shaft (328) passes through bolt
It is installed with the first in command (329), is provided with wrist joint length adjustment device (326) on the wrist joint rotary shaft (328), it is described
Wrist joint angular displacement sensor (327) is welded on the wrist joint length adjustment device (326)；
The active shoulder abduction, interior receipts component include active shoulder joint rotary shaft (301), active shoulder joint limiting device
(302), active shoulder abduction, interior receipts angular displacement sensor (303) and crossbeam (304), the active shoulder joint bend and stretch component
Including vertical arm (307), active shoulder joint under vertical arm (305), active shoulder joint in active shoulder joint bend and stretch swing forearm (309),
Active shoulder joint bend and stretch swing postbrachium (310), active shoulder joint bends and stretches angular displacement sensor (312) and active shoulder joint bends and stretches limit
Position device (308), in which:
The active shoulder joint rotary shaft (301) is vertically arranged, and the upper end of the active shoulder joint rotary shaft (301) passes through bolt
It is fixed on the overarm arm (2), the lower end of the active shoulder joint rotary shaft (301) and the one end of the crossbeam (304) connect
It connects, the outer sheath of the active shoulder joint rotary shaft (301) is equipped with the active shoulder joint limiting device (302), the active
Shoulder abduction, interior receipts angular displacement sensor (303) are bolted on the active shoulder joint limiting device (302)；
The upper end of vertical arm (305) is connect with the other end of the crossbeam (304) in the active shoulder joint, the active shoulder joint
The lower end of upper vertical arm (305) with the upper end of vertical arm (307) is vertical under the active shoulder joint fixes, erected in the active shoulder joint
Active shoulder joint is provided under arm (305) and active shoulder joint in vertical arm (307) and bends and stretches adjusting height devices (306), the master
The lower end of vertical arm (307) is connect with one end that the active shoulder joint bends and stretches swing forearm (309) under dynamic shoulder joint, the active
Shoulder joint, which is bent and stretched, to be swung the other end and the active shoulder joint of forearm (309) and bends and stretches and swing postbrachium (310) parallel fixation, described
Active shoulder joint bends and stretches to swing and is provided with active shoulder joint on postbrachium (310) and bends and stretches adjustment length device (311), the active shoulder
Joint is bent and stretched angular displacement sensor (312) and is welded under the active shoulder joint in vertical arm (307), and active shoulder joint bends and stretches limit
Device (308) be located at the active shoulder joint bend and stretch swing forearm (309) two sides be bolted on the active
Under shoulder joint in vertical arm (307), the active shoulder joint, which is bent and stretched, swings postbrachium (310) and the inside and outside rotation component of the active upper arm
Connection.
2. active/passive both arms upper limb rehabilitation robot according to claim 1, which is characterized in that the active upper arm
Inside and outside rotation component includes actively going up arm restraining board (313), upper arm bending track fixing piece (413), upper arm bending track (315), upper arm angle position
Connector (317) and the inside and outside rotation limiting device of active upper arm under displacement sensor (314), upper arm upper connector (316), upper arm
(318), it includes that elbow bends and stretches upper connector (321), elbow bends and stretches lower connector (319) and elbow bends and stretches angle that the active elbow, which bends and stretches component,
Displacement sensor (320), in which:
Arm restraining board (313) bends and stretches component with the active shoulder joint by bolt and connect in the active, the upper arm bending track
Fixing piece (413) is bolted in the active on arm restraining board (313), and the upper arm bending track (315) is fixed on institute
It states on upper arm bending track fixing piece (413), the upper arm bending track (315) can rotate relative to the upper arm bending track fixing piece (413),
The upper arm angular displacement sensor (314) is bolted in the active on arm restraining board (313), the upper arm bending track
(315) one end is connect with the upper arm upper connector (316), under the other end and the upper arm of the upper arm bending track (315)
Connector (317) connection, the inside and outside rotation limiting device (318) of active upper arm are separately fixed at the upper arm upper connector
(316) and under the upper arm on connector (317)；
The elbow bends and stretches upper connector (321) and the upper arm upper connector (316) hingedly, and the elbow bends and stretches lower connector
(319) hingedly with connector (317) under the upper arm, the elbow bends and stretches angular displacement sensor (320) and is fixed under the upper arm
On connector (317), the elbow bends and stretches upper connector (321) and connect with the inside and outside rotation component of the active forearm.
3. active/passive both arms upper limb rehabilitation robot according to claim 2, which is characterized in that the active forearm
Inside and outside rotation component includes preceding arm restraining board (324), forearm bending track (322), forearm bending track fixing piece (413 ') and forearm angular displacement
Sensor (323), in which:
The preceding arm restraining board (324) is bent and stretched upper connector (321) with the elbow and is connect, one end of the forearm bending track (322)
It bends and stretches upper connector (321) with the elbow to connect, the other end and the elbow of the forearm bending track (322) bend and stretch lower connector
(319) it connects, the forearm bending track (322) is fixed on the forearm bending track fixing piece (413 '), the forearm bending track (322)
It can be rotated relative to the forearm bending track fixing piece (413 '), the forearm bending track fixing piece (413 ') is bolted on institute
It states on preceding arm restraining board (324), the forearm angular displacement sensor (323) is bolted on the preceding arm restraining board
(324) on, the preceding arm restraining board (324) is bent and stretched component with the active wrist joint and is connect.
4. active/passive both arms upper limb rehabilitation robot according to claim 1, which is characterized in that the passive shoulder joint
Outreach, interior receipts component include first motor deceleration thermomechanical components (401), rotating beam (404) and passive shoulder abduction, the limit of interior receipts
Device (403), it includes fixing piece (405), the second decelerating through motor thermomechanical components (406), shoulder joint that the passive shoulder joint, which bends and stretches component,
It saves connector (408) and bends and stretches beam (409), in which:
The first motor deceleration thermomechanical components (401) are vertically arranged, and one end of the first motor deceleration thermomechanical components (401) passes through
Bolt is fixed on the overarm arm (2), and the other end outer sheath of the first motor deceleration thermomechanical components (401) is equipped with speed reducer
Protective case (402), the speed reducer protective case (402) are also bolted on the overarm arm (2), the passive shoulder joint
Section outreach, interior receipts limiting device (403) are welded on the speed reducer protective case (402), the first motor deceleration thermomechanical components
(401) output shaft is drivingly connected one end of the rotating beam (404)；
The upper end of the fixing piece (405) is connect by bolt with the other end of the rotating beam (404), and second motor subtracts
Fast thermomechanical components (406) are bolted in the lower end of the fixing piece (405), the second decelerating through motor thermomechanical components (406)
Output shaft connect with the shoulder joint connector (408), described one end for bending and stretching beam (409) is installed in the shoulder by bolt
On joint connector (408), described bend and stretch is installed with lead screw length adjustment device (410), the fixing piece on beam (409)
(405) passive shoulder joint is installed in the two sides for bending and stretching beam (409) on to bend and stretch limiting device (407), it is described to bend and stretch beam
(409) the other end is connect with the passive inside and outside rotation component of upper arm.
5. active/passive both arms upper limb rehabilitation robot according to claim 1, which is characterized in that the passive upper arm
Inside and outside rotation component includes passive upper arm restraining board (412), third decelerating through motor thermomechanical components (411), bending track component (414), upper arm
Shell (434), upper arm bandage component (420), upper arm upper junction plate (415) and upper arm lower connecting plate (418) are protected, it is described passive
Elbow bend and stretch component include the 4th decelerating through motor thermomechanical components (419), elbow bends and stretches upper junction plate (421) and elbow bends and stretches lower connecting plate
(422), in which:
Passively upper arm restraining board (412) are bolted on the passive shoulder joint and bend and stretch on component, the third electricity
Machine deceleration thermomechanical components (411) are bolted on passively upper arm restraining board (412), the third decelerating through motor unit
The output shaft of part (411) is drivingly connected the bending track component (414), and upper arm protection shell (434) is installed in by bolt
On passively upper arm restraining board (412), the upper arm bandage component (420) is installed in the upper arm by bolt and protects shell
(434) on, the upper end of the bending track component (414) is connect with one end of the upper arm upper junction plate (415), the bending track component
(414) lower end is connect with one end of the upper arm lower connecting plate (418), the upper arm upper junction plate (415) and the upper arm
Outward turning limiting device (416) in passive upper arm are installed on lower connecting plate (418)；
The 4th decelerating through motor thermomechanical components (419) are bolted to connection on the upper arm upper junction plate (415), described
The output shaft of 4th decelerating through motor thermomechanical components (419) is drivingly connected one end that the elbow bends and stretches upper junction plate (421), and the elbow is bent
Hingedly, the elbow bends and stretches upper junction plate (421) and elbow for the one end for stretching lower connecting plate (422) and the upper arm lower connecting plate (418)
The other end for bending and stretching lower connecting plate (422) is connect with the passive inside and outside rotation component of forearm respectively.
6. active/passive both arms upper limb rehabilitation robot according to claim 5, which is characterized in that the passive forearm
Inside and outside rotation component includes forearm bending track component (423), the 5th decelerating through motor thermomechanical components (432), is rotated with fixed board inside and outside forearm
(433), forearm protection shell (425) and forearm bandage component (424), in which:
The upper and lower ends of the forearm bending track component (423) bend and stretch upper junction plate (421) and elbow by bolt with the elbow respectively
Lower connecting plate (422) connection is bent and stretched, the 5th decelerating through motor thermomechanical components (432) are bolted on outward turning in the forearm
In fixed plate (433), the output shaft of the 5th decelerating through motor thermomechanical components (432) is drivingly connected the forearm bending track component
(423) middle part, forearm protection shell (425) is installed in inside and outside the forearm by bolt to be rotated on fixed board (433), institute
It states forearm bandage component (424) to be installed on forearm protection shell (425) by bolt, the forearm protects shell
(425) be rotated with fixed board (433) inside and outside the forearm and connect, fixed board (433) are rotated with inside and outside the forearm and the passive wrist closes
Section bends and stretches component connection.
7. active/passive both arms upper limb rehabilitation robot according to claim 1, which is characterized in that the passive wrist joint
Bending and stretching component includes wrist joint fixed plate (426), the 6th decelerating through motor thermomechanical components (428), swingle (429), second handle
(430), passive wrist joint bends and stretches limiting device (427), in which:
The wrist joint fixed plate (426) is bolted on the inside and outside rotation component of the passive forearm, the 6th decelerating through motor
Thermomechanical components (428) are bolted on the wrist joint fixed plate (426), the 6th decelerating through motor thermomechanical components (428)
Output shaft be drivingly connected one end of the swingle (429), the other end of the swingle (429) passes through bolt and described the
Second chief (430) connection is installed in the two sides of the swingle (429) on the wrist joint fixed plate (426) described respectively
Passive wrist joint bends and stretches limiting device (427).
8. -7 any active/passive both arms upper limb rehabilitation robot according to claim 1, which is characterized in that the pedestal
It (1) include chassis (105), castor (103), seat (104), mainframe box (101) and lifting column (102), in which:
In the bottom surface of the chassis (105), the seat (104) is arranged in the chassis (105) for castor (103) setting
Above, mainframe box (101) setting is in the upper surface of the chassis (105) and positioned at the rear of the seat (104), the bottom
It is additionally provided on disk (105) lifting column (102), the overarm arm (2) is arranged on the lifting column (102).
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| CN201710355054.3A CN107224385B (en) | 2017-05-19 | 2017-05-19 | Active/passive both arms upper limb rehabilitation robot |
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| CN201710355054.3A CN107224385B (en) | 2017-05-19 | 2017-05-19 | Active/passive both arms upper limb rehabilitation robot |
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| CN107224385B true CN107224385B (en) | 2019-07-09 |
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| CN107714398B (en) * | 2017-11-24 | 2020-05-15 | 哈工大机器人（合肥）国际创新研究院 | Double-arm rehabilitation training robot system |
| CN107898595A (en) * | 2017-11-26 | 2018-04-13 | 宁波工程学院 | Upper-limb recovery training device |
| CN209220852U (en) * | 2018-04-25 | 2019-08-09 | 北京力泰克科技有限公司 | Elbow joint training adapter and healing and training elbow joint equipment |
| CN109011403B (en) * | 2018-08-16 | 2021-08-24 | 张润禾 | Medical shoulder joint rehabilitation training device |
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| CN109846673B (en) * | 2019-03-11 | 2020-05-15 | 上海大学 | Co-fusion type double-arm rehabilitation training robot |
| CN110292748B (en) * | 2019-07-02 | 2021-05-04 | 南方科技大学 | Bilateral coordination training system and control method |
| CN111150603B (en) * | 2019-12-27 | 2021-09-14 | 中国人民解放军陆军军医大学第一附属医院 | Power-assisted rehabilitation training device |
| CN112691000B (en) * | 2021-01-13 | 2023-04-11 | 上海理工大学 | Elbow joint rehabilitation exoskeleton with unpowered rotating forearms |
| CN113350750A (en) * | 2021-06-16 | 2021-09-07 | 浙江省肿瘤医院 | Nursing device suitable for breast cancer postoperative |
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