CN107296719B - A kind of five-freedom degree dermaskeleton type upper limb rehabilitation robot - Google Patents
A kind of five-freedom degree dermaskeleton type upper limb rehabilitation robot Download PDFInfo
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- CN107296719B CN107296719B CN201710346552.1A CN201710346552A CN107296719B CN 107296719 B CN107296719 B CN 107296719B CN 201710346552 A CN201710346552 A CN 201710346552A CN 107296719 B CN107296719 B CN 107296719B
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- mechanical arm
- postbrachium
- armed lever
- exoskeleton
- ancon
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 30
- 210000000245 forearm Anatomy 0.000 claims abstract description 33
- 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 abstract description 20
- 210000000707 wrist Anatomy 0.000 claims description 22
- 230000003139 buffering effect Effects 0.000 claims description 12
- 235000004443 Ricinus communis Nutrition 0.000 claims 1
- 239000000872 buffer Substances 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract description 3
- 208000006011 Stroke Diseases 0.000 description 4
- 206010008190 Cerebrovascular accident Diseases 0.000 description 3
- 230000002490 cerebral effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 206010019468 Hemiplegia Diseases 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 239000006101 laboratory sample Substances 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 238000000554 physical therapy Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
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
- A61H1/0274—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
- 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
-
- 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
- A61H2201/16—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
-
- 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
- A61H2205/062—Shoulders
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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 present invention provides a kind of five-freedom degree dermaskeleton type upper limb rehabilitation robot, including forearm exoskeleton-type mechanical arm, postbrachium exoskeleton-type mechanical arm, shoulder mechanical arm, pedestal, movable lifting platform；The forearm exoskeleton-type mechanical arm is fixedly connected with postbrachium exoskeleton-type mechanical arm, and the postbrachium exoskeleton-type mechanical arm and shoulder mechanical arm are hinged, and the shoulder mechanical arm is slidably connected with pedestal linear guide, and the pedestal is fixed on movable lifting platform.Upper limb rehabilitation robot of the present invention have the characteristics that it is removable, using comfortable, structure is simple, fitting human upper limb locomotion mode, to adapt to different patient body features, rehabilitation effect good.
Description
Technical field
The present invention relates to medical rehabilitation training equipment field, in particular to a kind of five-freedom degree dermaskeleton type upper limb rehabilitation machine
Device people.
Background technique
There is about 9,000,000 people of patients with cerebral apoplexy in China at present, every year more than newly-increased 1,500,000 people, wherein about 75% cerebral apoplexy
Patient causes to live on one's own life that can leave different degrees of sequelae after the onset.And in numerous sequelae of cerebral apoplexy
In, it is most, in the rehabilitation of hemiplegia, and the most difficult and important with the rehabilitation of upper extremity function with hemiplegia incidence.Modern rehabilitation
Theory and practice confirms that rehabilitation of stroke patients treatment is to reduce disability rate most efficient method.Effectively rehabilitation training of upper limbs can be
Mitigate function that is disabled and improving patient to the maximum extent, prevention reduces all kinds of complication and sequelae, improves daily life energy
Power, for its recurrence family, being socially reintegrated provides help.
Traditional rehabilitation training therapy is completed by physiatrist and patient by one-to-one prolonged extremity,
Physiatrist assists patient to carry out limb motion, and training hemiplegic patient carries out a large amount of repeatable motions repeatedly.So, no
Only rehabilitation training effect depends on the subjective clinical experience of physiatrist, and working strength is very big for doctor.Robot
The mechanical system to work as a kind of suitable long-time, repeated labor has had been widely recognized and has answered in medical industry
With.
There are no mature dermaskeleton type upper limb rehabilitation robots on domestic market, most of still in laboratory sample
The machine stage or because cost problem limit the marketization popularization, similar product is substantially at blank stage in the market on the whole.
It is trained therefore, it is necessary to research and develop a kind of rehabilitation physical therapy that dermaskeleton type upper limb rehabilitation robot is applied to hemiplegic patient, reduce nursing
Cost saves social resources, makes up upper limb rehabilitation robot in the blank in medical rehabilitation training equipment field.
Summary of the invention
The object of the present invention is to provide a kind of five-freedom degree dermaskeleton type upper limb rehabilitation robots, both adapt to difference
Use crowd and use environment, and good rehabilitation training effect can be reached, and its structure is simple, convenient for pushing away in the marketization
Extensively.
In order to achieve the above objectives, the invention adopts the following technical scheme:
A kind of five-freedom degree dermaskeleton type upper limb rehabilitation robot, including forearm exoskeleton-type mechanical arm, postbrachium ectoskeleton
Formula mechanical arm, shoulder mechanical arm, pedestal, movable lifting platform；The forearm exoskeleton-type mechanical arm and postbrachium exoskeleton-type
Mechanical arm is fixedly connected, and the postbrachium exoskeleton-type mechanical arm and shoulder mechanical arm are hinged, and the shoulder mechanical arm and pedestal are straight
Line guide rail is slidably connected, and the pedestal is fixed on movable lifting platform.
The forearm exoskeleton-type mechanical arm include wrist rotation handle, wrist bend and stretch bracket, forearm fupport arm, fupport arm bar,
Preceding armed lever sliding block, sliding block fixing button, preceding armed lever, servo motor three, ancon support；The wrist rotation handle and wrist bend and stretch branch
Frame is hinged, and the wrist bends and stretches bracket and forearm fupport arm is hinged, and the forearm fupport arm is fixedly connected with fupport arm bar, the fupport arm bar
It is fixedly connected with preceding armed lever sliding block, the preceding armed lever sliding block is slidably connected with preceding armed lever linear guide, and sliding block fixing button is installed
Fixed on preceding armed lever sliding block, the preceding armed lever is hinged on ancon support side, and is keyed with the shaft of servo motor three, institute
It states servo motor three to be fixed on ancon support, ancon holder top hole is fixed with postbrachium exoskeleton-type mechanical arm tail end axis
Connection.
The postbrachium exoskeleton-type mechanical arm includes buffering connecting rod, postbrachium after buffering connecting rod, ancon before elbow brace, ancon
Telescopic rod, rear armed lever, telescopic rod fixing button, postbrachium fupport arm；The elbow brace terminal shaft and forearm exoskeleton-type mechanical arm are solid
Fixed connection, the other end with that connecting rod is buffered before ancon is hinged, connecting rod is buffered before the ancon and buffering connecting rod is hinged after ancon, it is described
Connecting rod is buffered after ancon and postbrachium telescopic rod is hinged, and the postbrachium telescopic rod is slidably connected with rear armed lever, and telescopic rod fixing button
It is mounted on rear armed lever and fixes, the postbrachium fupport arm is hinged on postbrachium bar side face, rear armed lever topped hole and shoulder mechanical arm tail end
Hingedly, and with one shaft of servo motor it is keyed.
The shoulder mechanical arm includes servo motor one, shoulder bar, shoulder connecting rod, servo motor two, shoulder sliding support；
The servo motor one is fixed on shoulder bar, and its shaft is fixedly connected with postbrachium exoskeleton-type mechanical arm, the shoulder bar
End and postbrachium exoskeleton-type mechanical arm are hinged, and top is fixedly connected with shoulder connecting rod, the shoulder connecting rod and servo motor two
Shaft is fixedly connected, and hinged with shoulder sliding support, and the servo motor two is fixedly connected with shoulder sliding support, and shoulder is sliding
Dynamic support is slidably connected with pedestal linear guide.
The movable lifting platform includes universal wheel, trundle bracket, brake block, chassis, pneumaticpiston bar one, air pressure work
Stopper rod two, pneumaticpiston bar three, platform；The universal wheel is hinged among trundle bracket, and the brake block and trundle bracket are cut with scissors
It connects, the trundle bracket is hinged below chassis, and the chassis is fixedly connected with pneumaticpiston bar one, the pneumaticpiston bar one
It is slidably connected with pneumaticpiston bar two, the pneumaticpiston bar two is slidably connected with pneumaticpiston bar three, the pneumaticpiston bar
Three are fixed on platform underside, are fixedly connected on the upside of platform with pedestal.
The beneficial effects of the present invention are:
Upper limb rehabilitation robot of the invention uses movable lifting platform, can be used for adjusting patient and upper limb healing machine
Relative position between people；Entire dermaskeleton type upper limb rehabilitation robot is related to five freedom degrees, respectively corresponds shoulders of human body rotation
It is interior/rotation is outer, shoulder is anteflexion/and it extendes back, ancon is anteflexion, wrist medial rotation/choosing is outer and wrist is anteflexion/and extendes back five joint motion directions,
It is bonded upper extremity exercise mode；Extension adjustment device is installed on postbrachium and forearm exoskeleton-type mechanical arm, so that mechanical at two
Arm can carry out length adjustment according to the upper limb size of patient, make rehabilitation course more comfortable；Mechanical arm is all made of servo motor control
System driving realizes that rehabilitation training is more accurate efficiently, and rehabilitation efficacy is good.
Detailed description of the invention
Fig. 1 is overall structure of the present invention.
Fig. 2 is forearm exoskeleton-type mechanical arm structural schematic diagram of the present invention.
Fig. 3 is postbrachium exoskeleton-type mechanical arm structural schematic diagram of the present invention.
Fig. 4 is movable lifting platform structural schematic diagram of the present invention.
Specific embodiment
With reference to the accompanying drawing, specific embodiments of the present invention are described further.
As shown in Figure 1, a kind of five-freedom degree dermaskeleton type upper limb rehabilitation robot, including forearm exoskeleton-type mechanical arm 1,
Postbrachium exoskeleton-type mechanical arm 2, shoulder mechanical arm 3, pedestal 4, movable lifting platform 5；The forearm exoskeleton-type mechanical arm 1
It is fixedly connected with postbrachium exoskeleton-type mechanical arm 2, the postbrachium exoskeleton-type mechanical arm 2 and shoulder mechanical arm 3 are hinged, the shoulder
Portion's mechanical arm 3 is slidably connected with 4 linear guide of pedestal, and the pedestal 4 is fixed on movable lifting platform 5.
As shown in Fig. 2, the forearm exoskeleton-type mechanical arm 1 includes, wrist rotates handle 101, wrist bends and stretches bracket 102,
Forearm fupport arm 103, fupport arm bar 104, preceding armed lever sliding block 105, sliding block fixing button 106, preceding armed lever 107, servo motor 3 108, elbow
Portion's support 109；The wrist rotation handle 101 and wrist bend and stretch bracket 102 hingedly, and the wrist bends and stretches bracket 102 and forearm
Fupport arm 103 is hinged, and the forearm fupport arm 103 is fixedly connected with fupport arm bar 104, and the fupport arm bar 104 and preceding armed lever sliding block 105 are solid
Fixed connection, the preceding armed lever sliding block 105 is slidably connected with preceding 107 linear guide of armed lever, and sliding block fixing button 106 is mounted on forearm
Fixed on bar sliding block 105, the preceding armed lever 107 is hinged on 109 side of ancon support, and the shaft key with servo motor 3 108
Connection, the servo motor 3 108 are fixed on ancon support 109,109 topped hole of ancon support and postbrachium exoskeleton-type
2 terminal shaft of mechanical arm is fixedly connected.
Before patient carries out the training of rehabilitation forearm, first according to the good preceding armed lever sliding block 105 of patient's upper forearm size adjusting
Position on preceding armed lever 107, and it is fixed with sliding block fixing button 106；Human body actively rotates when patient carries out wrist recovery training
Wrist rotation handle 101 and wrist bend and stretch bracket 102, to carry out wrist medial rotation, and/rotation is outer and wrist is anteflexion/extendes back both direction
Active training；Patient carries out servo motor 3 108 when rehabilitation training of upper limbs and drives preceding armed lever 107, to drive and preceding armed lever
The 107 forearm fupport arms 103 fixed, guidance forearm carry out the passive rehabilitation training in the anteflexion direction of ancon；According to patient body machine
Energy situation and the rehabilitation course for the treatment of, controllable servo motor 3 108 rotate different angles with different rotating speeds.
As shown in figure 3, the postbrachium exoskeleton-type mechanical arm 2 includes buffering connecting rod 202, elbow before elbow brace 201, ancon
Connecting rod 203, postbrachium telescopic rod 204, rear armed lever 205, telescopic rod fixing button 206, postbrachium fupport arm 207 are buffered behind portion；The ancon
201 terminal shaft of bracket is fixedly connected with forearm exoskeleton-type mechanical arm 1, and buffering connecting rod 202 is hinged before the other end and ancon, described
Buffering connecting rod 203 is hinged after buffering connecting rod 202 and ancon before ancon, and connecting rod 203 and postbrachium telescopic rod 204 are buffered after the ancon
Hingedly, the postbrachium telescopic rod 204 is slidably connected with rear armed lever 205, and telescopic rod fixing button 206 is mounted on rear armed lever 205
Fixed, the postbrachium fupport arm 207 is hinged on rear 205 side of armed lever, and rear 205 topped hole of armed lever and 3 end of shoulder mechanical arm are hinged,
And it is keyed with one shaft of servo motor.
Before patient carries out the training of rehabilitation forearm, first according to the good postbrachium telescopic rod 204 of patient's upper forearm size adjusting
Position at rear armed lever 205, and it is fixed with telescopic rod fixing button 206；Patient carries out servo motor one when rehabilitation training of upper limbs
Drive the postbrachium fupport arm 207 fixed with rear armed lever 205 to rotate, guidance patient's postbrachium carry out shoulder it is anteflexion/extend back the quilt in direction
Dynamic rehabilitation training；When buffering connecting rod 202 can be used for mitigating the combination complexity training of forearm postbrachium before hinged elbow brace 201 and ancon
Upper limb rehabilitation robot pressure and sense of discomfort caused by human upper limb；It, can according to patient body function situation and the rehabilitation course for the treatment of
Control servo motor one rotates different angles with different rotating speeds.
As shown in Figure 1, the shoulder mechanical arm 3 includes servo motor one, shoulder bar, shoulder connecting rod, servo motor two, shoulder
Portion's sliding support；The servo motor one is fixed on shoulder bar, and its shaft and the fixed company of postbrachium exoskeleton-type mechanical arm 2
It connects, shoulder bar end and postbrachium exoskeleton-type mechanical arm 2 are hinged, and top is fixedly connected with shoulder connecting rod, and the shoulder connects
Bar is fixedly connected with two shaft of servo motor, and hinged with shoulder sliding support, the servo motor two and shoulder sliding support
It is fixedly connected, shoulder sliding support is slidably connected with 4 linear guide of pedestal.
When patient carries out rehabilitation training of upper limbs, servo motor two drives the shoulder bar fixed with shoulder connecting rod to rotate, and draws
It leads patient and carries out shoulder medial rotation/rotation outside direction passive rehabilitation training；Shoulder sliding support and pedestal 4 in rehabilitation training
It can produce relative rectilinear sliding, adjust patient and upper limb rehabilitation robot relative position in real time, increase training comfort；According to trouble
Person's physical function situation and the rehabilitation course for the treatment of, controllable servo motor two rotate different angles with different rotating speeds；Three servo electricity
Machine may make up complex space rehabilitation training of upper limbs with different rotating speeds/angle.
As shown in figure 4, the movable lifting platform 5 includes universal wheel 501, trundle bracket 502, brake block 503, chassis
504, pneumaticpiston bar 1, pneumaticpiston bar 2 506, pneumaticpiston bar 3 507, platform 508；The universal wheel 501 is hinged
Among trundle bracket 502, the brake block 503 is hinged with trundle bracket 502, and the trundle bracket 502 is hinged on chassis 504
Lower section, the chassis 504 are fixedly connected with pneumaticpiston bar 1, the pneumaticpiston bar 1 and pneumaticpiston bar two
506 are slidably connected, and the pneumaticpiston bar 2 506 is slidably connected with pneumaticpiston bar 3 507, the pneumaticpiston bar 3 507
It is fixed on 508 downside of platform, 508 upside of platform is fixedly connected with pedestal 4.
When moving upper limb rehabilitation robot position, universal wheel 501 drives chassis 504 to fast move, and reaches patient position
Afterwards, the fixed position of universal wheel 501 is locked by brake block 503, pneumaticpiston bar 1, pneumaticpiston bar 2 506 and air pressure are living
Stopper rod 3 507 drives the platform 508 being fixedly connected to complete lifting by pressure control collapsing length.
Claims (3)
1. a kind of five-freedom degree dermaskeleton type upper limb rehabilitation robot, it is characterised in that: including forearm exoskeleton-type mechanical arm
(1), postbrachium exoskeleton-type mechanical arm (2), shoulder mechanical arm (3), pedestal (4), movable lifting platform (5)；Outside the forearm
Skeleton-type mechanical arm (1) is fixedly connected with postbrachium exoskeleton-type mechanical arm (2), the postbrachium exoskeleton-type mechanical arm (2) and shoulder
Hingedly, the shoulder mechanical arm (3) is slidably connected portion's mechanical arm (3) with pedestal (4) linear guide, and the pedestal (4) is fixed on
On movable lifting platform (5)；
The forearm exoskeleton-type mechanical arm (1) includes that wrist rotates handle (101), wrist bends and stretches bracket (102), forearm fupport arm
(103), fupport arm bar (104), preceding armed lever sliding block (105), sliding block fixing button (106), preceding armed lever (107), servo motor three
(108), ancon support (109)；Wrist rotation handle (101) and wrist bend and stretch bracket (102) hingedly, and the wrist is bent and stretched
Hingedly, the forearm fupport arm (103) is fixedly connected with fupport arm bar (104), the fupport arm for bracket (102) and forearm fupport arm (103)
Bar (104) is fixedly connected with preceding armed lever sliding block (105), and the preceding armed lever sliding block (105) and preceding armed lever (107) linear guide are slided
Connection, and sliding block fixing button (106) is mounted on preceding armed lever sliding block (105) and fixes, the preceding armed lever (107) is hinged on ancon branch
Seat (109) side, and be keyed with the shaft of servo motor three (108), the servo motor three (108) is fixed on ancon support
(109) on, ancon support (109) topped hole is fixedly connected with postbrachium exoskeleton-type mechanical arm (2) terminal shaft.
2. five-freedom degree dermaskeleton type upper limb rehabilitation robot according to claim 1, it is characterised in that: outside the postbrachium
Skeleton-type mechanical arm (2) includes buffering connecting rod (203), postbrachium after buffering connecting rod (202), ancon before elbow brace (201), ancon
Telescopic rod (204), rear armed lever (205), telescopic rod fixing button (206), postbrachium fupport arm (207)；Elbow brace (201) end
Axis is fixedly connected with forearm exoskeleton-type mechanical arm (1), connecting rod (202) is buffered hingedly before the other end and ancon, before the ancon
Buffering connecting rod (203) hingedly, buffers connecting rod (203) and postbrachium telescopic rod after buffering connecting rod (202) and ancon after the ancon
(204) hingedly, the postbrachium telescopic rod (204) is slidably connected with rear armed lever (205), and telescopic rod fixing button (206) is mounted on
Fixed on armed lever (205) afterwards, the postbrachium fupport arm (207) is hinged on rear armed lever (205) side, rear armed lever (205) topped hole with
Shoulder mechanical arm (3) end is hinged, and is keyed with one shaft of servo motor.
3. five-freedom degree dermaskeleton type upper limb rehabilitation robot according to claim 1, it is characterised in that: described removable
Hoistable platform (5) includes universal wheel (501), trundle bracket (502), brake block (503), chassis (504), pneumaticpiston bar one
(505), pneumaticpiston bar two (506), pneumaticpiston bar three (507), platform (508)；The universal wheel (501) is hinged on castor
Bracket (502) is intermediate, and hingedly, the trundle bracket (502) is hinged on chassis for the brake block (503) and trundle bracket (502)
(504) lower section, the chassis (504) are fixedly connected with pneumaticpiston bar one (505), the pneumaticpiston bar one (505) and gas
Pressure piston rod two (506) is slidably connected, and the pneumaticpiston bar two (506) is slidably connected with pneumaticpiston bar three (507), described
Pneumaticpiston bar three (507) is fixed on the downside of platform (508), is fixedly connected on the upside of platform (508) with pedestal (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710346552.1A CN107296719B (en) | 2017-05-17 | 2017-05-17 | A kind of five-freedom degree dermaskeleton type upper limb rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710346552.1A CN107296719B (en) | 2017-05-17 | 2017-05-17 | A kind of five-freedom degree dermaskeleton type upper limb rehabilitation robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107296719A CN107296719A (en) | 2017-10-27 |
| CN107296719B true CN107296719B (en) | 2019-11-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710346552.1A Expired - Fee Related CN107296719B (en) | 2017-05-17 | 2017-05-17 | A kind of five-freedom degree dermaskeleton type upper limb rehabilitation robot |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108210246B (en) * | 2018-01-10 | 2020-04-03 | 北京工业大学 | Four-degree-of-freedom rehabilitation mechanical arm device |
| CN109044730B (en) * | 2018-07-26 | 2020-07-24 | 嘉兴美年大健康管理有限公司 | Vertical and horizontal dual-purpose shoulder joint rehabilitation training medical robot for patient |
| CN109330826A (en) * | 2018-11-02 | 2019-02-15 | 广西科技大学 | A kind of regulating mechanism of ectoskeleton |
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| CN109620640A (en) * | 2018-12-17 | 2019-04-16 | 贵州大学 | A kind of adjustable device for healing and training elbow joint of forearm |
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