CN107550684A - A kind of recovery exercising robot and its training method - Google Patents
A kind of recovery exercising robot and its training method Download PDFInfo
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- CN107550684A CN107550684A CN201710906209.8A CN201710906209A CN107550684A CN 107550684 A CN107550684 A CN 107550684A CN 201710906209 A CN201710906209 A CN 201710906209A CN 107550684 A CN107550684 A CN 107550684A
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Abstract
The present invention discloses a kind of recovery exercising robot and its training method, including the clamping device for clamping shoulder, elbow sheath, control device and air pump, connecting rod is provided with the clamping device, the connecting rod end is provided with support plate, the first L-shaped two-way shape memory alloy bar for driving arm to move forward is provided with the support plate, for driving the second L-shaped two-way shape memory alloy bar and the 3rd L-shaped two-way shape memory alloy bar for driving arm up to move that arm moves backward, the first two-way shape memory alloy bar, second two-way shape memory alloy bar and the 3rd two-way shape memory alloy bar end are provided with the first hoop body for waling arm, the 4th two-way shape memory alloy bar for driving arm bending He stretching is provided with the elbow sheath；The recovery exercising robot is simple in construction, easy to maintenance.
Description
Technical field
The present invention relates to medical instruments field, and in particular to a kind of recovery exercising robot and its training method.
Background technology
Medicine equipment refers to instrument, equipment, utensil, external diagnosis reagent and the calibration for being directly or indirectly used for human body
Thing, material and other similar or related articles, including required computer software.
Robot is had begun in terms of being applied to medical treatment at present, especially the robot of physics auxiliary rehabilitation exercise, is used
Existing more example, the robot of current physics auxiliary rehabilitation exercise typically using steering wheel, motor and coordinate rope and tooth
The driving arm such as wheel carries out rehabilitation training, but existing using steering wheel, motor and coordinates the driving arm such as rope and gear
Robot architecture is complicated, it is difficult to meets the needs of in the market.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of recovery exercising robot simple in construction.
To solve the above problems, the present invention adopts the following technical scheme that：
A kind of recovery exercising robot, including for clamping clamping device, elbow sheath, control device and the air pump of shoulder, institute
State and connecting rod is provided with clamping device, the connecting rod end is provided with support plate, is provided with the support plate for driving hand
The first L-shaped two-way shape memory alloy bar that arm moves forward, L-shaped second pair for driving arm to move backward
Journey shape memory alloy strip and the 3rd L-shaped two-way shape memory alloy bar for driving arm up to move, described
One round trip shape memory alloy strip, the second two-way shape memory alloy bar and the 3rd two-way shape memory alloy bar end are respectively provided with
There is the first hoop body for waling arm, the 4th round trip for driving arm bending He stretching is provided with the elbow sheath
Shape memory alloy strip, the 4th two-way shape memory alloy bar both ends are provided with the second hoop body for waling arm,
The first two-way shape memory alloy bar, the second two-way shape memory alloy bar, the 3rd two-way shape memory alloy bar and
The first patchhole and the second patchhole are provided with four two-way shape memory alloy bars, first patchhole is interior inserted with electricity
Heated filament, second patchhole is interior to be connected inserted with airduct, the airduct with the exhaust outlet of air pump, and the heating wire and air pump are equal
It is electrically connected with control device.
Preferably, the support plate includes first connecting portion, second connecting portion and hinge, the first connecting portion and
Two connecting portions are that integral type is set with the rotating shaft of hinge, are provided with the first guide rail and the second guide rail on the hinge, described the
The first universal joint and the second universal joint, first universal joint and second are respectively arranged with one guide rail and the second guide rail
Universal joint is threadedly coupled with the first two-way shape memory alloy bar and the second two-way shape memory alloy bar respectively, support plate activity
Ability is good, can meet arm forward, rearwardly and upwardly simulated training when activity need, and the first two-way shape memory close
Gold bar and the second two-way shape memory alloy bar convenient disassembly.
Preferably, the first connecting portion is set with connecting rod for integral type, the second connecting portion side is provided with
3rd universal joint, the 3rd two-way shape memory alloy bar and second connecting portion are threadedly coupled with the 3rd universal joint,
3rd two-way shape memory alloy bar and second connecting portion are connected reliably with the 3rd universal joint, and the 3rd round trip shape is remembered
It is simple to recall alloy bar dismounting, can be changed with convenient use person.
Preferably, the universal sizing gold agreed with the 4th two-way shape memory alloy bar is provided with the elbow sheath
Belong to flexible pipe, the universal shaped metal flexible pipe and elbow sheath riveted, the 4th two-way shape memory alloy bar passes through universal
Shaped metal flexible pipe is set, and the elbow sheath and the 4th two-way shape memory alloy bar are connected by universal shaped metal flexible pipe
Connecing, the 4th two-way shape memory alloy bar and elbow sheath connecting structure are simple, and due to the 4th two-way shape memory alloy
Bar agrees with universal shaped metal flexible pipe, and the 4th two-way shape memory alloy bar will not occur after inserting universal shaped metal flexible pipe
The situation of shake.
Preferably, the first two-way shape memory alloy bar, the second two-way shape memory alloy bar, the 3rd round trip shape
Shape memory alloys article and the 4th two-way shape memory alloy bar outer surface are disposed with heat-insulated film layer and silver fiber layer of cloth, lead to
Cross and be provided with heat-insulated film layer, good effect of heat insulation can be played, can effectively prevent heat transfer from being led to user
Cause user uncomfortable.
Preferably, the first two-way shape memory alloy bar, the second two-way shape memory alloy bar, the 3rd round trip shape
Temperature sensor, the temperature sensor and control are inlaid with shape memory alloys article and the 4th two-way shape memory alloy bar
Device is electrically connected with, and two-way shape memory alloy bar is detected by being provided with temperature sensor, can when temperature is too high
Stop heating with timely, prevent user from scalding.
Preferably, it is provided with first hoop body and the first two-way shape memory alloy bar, the second round trip shape note
Recall the first sleeve that alloy bar and the 3rd two-way shape memory alloy bar agree with, the first sleeve bonds with the first hoop body, institute
State the second sleeve pipe for being provided with the second hoop body and agreeing with the 4th two-way shape memory alloy bar both ends, the first hoop body and the second hoop
Body convenient disassembly between two-way shape memory alloy bar, connection are simple.
Preferably, first hoop body and the second hoop body include magic notice patch, VELCRO female patch and stretch fabric.
Another technical problem to be solved by the present invention is that provide a kind of its training method of recovery exercising robot, its feature
It is, comprises the following steps：
1）Arm travels forward：Control device controls the heating wire in the first two-way shape memory alloy bar to the first round trip shape
Memorial alloy bar is heated so that and the first two-way shape memory alloy bar becomes I types from L-type, so that arm is driven,
During first two-way shape memory alloy bar deforms, arm slowly moves forward；The 4th round trip is controlled with timed unit
Heating wire in shape memory alloy strip heats to the 4th two-way shape memory alloy bar so that the 4th two-way shape memory
Alloy bar becomes U-shaped from I types, so that arm is bent；Then control device by using air pump to the first round trip shape
Shape memory alloys article and the cooling of the 4th two-way shape memory alloy bar, make its reset；
2）Arm moves backward：Control device controls the heating wire in the second two-way shape memory alloy bar to the second round trip shape
Memorial alloy bar is heated so that and the second two-way shape memory alloy bar becomes I types from L-type, so that arm is driven,
During second two-way shape memory alloy bar deforms, arm is slowly moved rearwards；The 4th round trip is controlled with timed unit
Heating wire in shape memory alloy strip heats to the 4th two-way shape memory alloy bar so that the 4th two-way shape memory
Alloy bar becomes U-shaped from I types, so that arm is bent；Then control device by using air pump to the second round trip shape
Shape memory alloys article and the cooling of the 4th two-way shape memory alloy bar, make its reset；
3）Wrist-watch moves upwards：Control device controls the heating wire in the 3rd two-way shape memory alloy bar to the 3rd round trip shape
Memorial alloy bar is heated so that and the 3rd two-way shape memory alloy bar becomes I types from L-type, so that arm is driven,
During 3rd two-way shape memory alloy bar deforms, arm slowly moves up；The 4th round trip is controlled with timed unit
Heating wire in shape memory alloy strip heats to the 4th two-way shape memory alloy bar so that the first two-way shape memory
Alloy bar becomes U-shaped from I types, so that arm is bent；Then control device by using air pump to the 3rd round trip shape
Shape memory alloys article and the cooling of the 4th two-way shape memory alloy bar, make its reset, and completion is once trained.
Beneficial effects of the present invention are：By using the first L-shaped round trip shape for being used to drive arm to move forward
Shape memory alloys bar, for driving the second L-shaped two-way shape memory alloy bar that arm moves backward, for driving arm
The 3rd L-shaped two-way shape memory alloy bar up moved and the 4th round trip shape for driving arm bending and stretching
Shape memory alloys bar coordinate heating wire, air pump and control device realize the travelling forward of arm, backward motion, upwards motion and
Bending motion, it is simple with traditional robot structure compared using steering wheel, motor and the cooperation driving arm such as rope and gear,
Easy to maintenance, in addition, support plate includes first connecting portion, second connecting portion and hinge, first connecting portion and second connecting portion are equal
Rotating shaft with hinge is that integral type is set, and is provided with the first guide rail and the second guide rail on hinge, on the first guide rail and the second guide rail
Be respectively arranged with the first universal joint and the second universal joint, the first universal joint and the second universal joint respectively with the first round trip
Shape memory alloy strip and the second two-way shape memory alloy bar threaded connection, support plate mobility is good, can meet arm to
Before, rearwardly and upwardly simulated training when activity need, and the first two-way shape memory alloy bar and the second round trip shape note
Recall alloy bar convenient disassembly.First connecting portion is set with connecting rod for integral type, and it is universal that second connecting portion side is provided with the 3rd
Joint, the 3rd two-way shape memory alloy bar and second connecting portion are threadedly coupled with the 3rd universal joint, the 3rd round trip shape
Memorial alloy article and second connecting portion are connected reliably with the 3rd universal joint, and the 3rd two-way shape memory alloy bar dismounts
Simply, can be changed with convenient use person.Be provided with elbow sheath agree with the 4th two-way shape memory alloy bar it is universal fixed
Type metal hose, the universal shaped metal flexible pipe and elbow sheath riveted, the 4th two-way shape memory alloy bar pass through
Universal shaped metal flexible pipe is set, and elbow sheath and the 4th two-way shape memory alloy bar are connected by universal shaped metal flexible pipe
Connecing, the 4th two-way shape memory alloy bar and elbow sheath connecting structure are simple, and due to the 4th two-way shape memory alloy
Bar agrees with universal shaped metal flexible pipe, and the 4th two-way shape memory alloy bar will not occur after inserting universal shaped metal flexible pipe
The situation of shake.First two-way shape memory alloy bar, the second two-way shape memory alloy bar, the 3rd two-way shape memory alloy
Article and the 4th two-way shape memory alloy bar outer surface be disposed with heat-insulated film layer and silver fiber layer of cloth, by be provided with every
Hotting mask layer, good effect of heat insulation can be played, can effectively prevent heat transfer from causing user not to user
It is suitable.First two-way shape memory alloy bar, the second two-way shape memory alloy bar, the 3rd two-way shape memory alloy bar and the 4th
Temperature sensor is inlaid with two-way shape memory alloy bar, temperature sensor is electrically connected with control device, passes through setting
There is temperature sensor to detect two-way shape memory alloy bar, can in time stop heating when temperature is too high, prevent from making
User scalds.It is provided with first hoop body and the first two-way shape memory alloy bar, the second two-way shape memory alloy bar and
The first sleeve that three two-way shape memory alloy bars agree with, first sleeve and the first hoop body bond, be provided with the second hoop body with
The second sleeve pipe that 4th two-way shape memory alloy bar both ends are agreed with, the first hoop body and the second hoop body close with two-way shape memory
Convenient disassembly between gold bar, connection are simple.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, make required in being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is a kind of overall structure diagram of recovery exercising robot of the present invention；
Fig. 2 is a kind of partial structural diagram of recovery exercising robot of the present invention；
Fig. 3 is a kind of profile of first two-way shape memory alloy bar of recovery exercising robot of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.
Embodiment 1
As Figure 1-3, a kind of recovery exercising robot, including for clamping the clamping device 1, elbow sheath 2, control of shoulder
Device 3 and air pump 4, connecting rod 5 are provided with the clamping device 1, the end of connecting rod 5 is provided with support plate 6, the support plate
It is provided with 6 for driving the first L-shaped two-way shape memory alloy bar 7 that arm moves forward, for driving arm past
The the second L-shaped two-way shape memory alloy bar 8 moved afterwards and the 3rd L-shaped round trip for driving arm up to move
Shape memory alloy strip 9, the first two-way shape memory alloy bar 7, the second two-way shape memory alloy bar 8 and the 3rd round trip
The end of shape memory alloy strip 9 is provided with the first hoop body 10 for waling arm, is provided with and is used on the elbow sheath 2
Driving arm bending and the 4th two-way shape memory alloy bar 11 stretched, the both ends of the 4th two-way shape memory alloy bar 11
It is provided with the second hoop body 12 for waling arm, the first two-way shape memory alloy bar 7, the second two-way shape memory
The first patchhole is provided with alloy bar 8, the 3rd two-way shape memory alloy bar 9 and the 4th two-way shape memory alloy bar 11
（It is not shown）With the second patchhole（It is not shown）, inserted with heating wire 13 in first patchhole, in second patchhole
Inserted with airduct 14, the airduct 14 connects with the exhaust outlet of air pump 4, and the heating wire and air pump 4 are electrical with control device 3
Connection.By using the first L-shaped two-way shape memory alloy bar 7 for being used to drive arm to move forward, for driving
The second L-shaped two-way shape memory alloy bar 8 that arm moves backward, L-shaped for driving arm up to move
Three two-way shape memory alloy bars 9 and the 4th two-way shape memory alloy bar 11 for driving arm bending and stretching coordinate
Heating wire 13, air pump 4 and control device 3 realize the travelling forward of arm, backward motion, upwards motion and bending motion, with
Traditional robot structure compared using steering wheel, motor and the cooperation driving arm such as rope and gear is simple, easy to maintenance.
The present embodiment has the beneficial effect that：By using the first L-shaped round trip for being used to drive arm to move forward
Shape memory alloy strip, for driving the second L-shaped two-way shape memory alloy bar that arm moves backward, for driving hand
The 3rd L-shaped two-way shape memory alloy bar and the 4th round trip for driving arm bending and stretching that arm up moves
Shape memory alloy strip coordinate heating wire, air pump and control device realize the travelling forward of arm, backward motion, upwards motion with
And bending motion, with traditional using steering wheel, motor and the robot structure compared letter for coordinating the driving arm such as rope and gear
It is single, it is easy to maintenance.
Embodiment 2
As Figure 1-3, a kind of recovery exercising robot, including for clamping the clamping device 1, elbow sheath 2, control of shoulder
Device 3 and air pump 4, connecting rod 5 are provided with the clamping device 1, the end of connecting rod 5 is provided with support plate 6, the support plate
It is provided with 6 for driving the first L-shaped two-way shape memory alloy bar 7 that arm moves forward, for driving arm past
The the second L-shaped two-way shape memory alloy bar 8 moved afterwards and the 3rd L-shaped round trip for driving arm up to move
Shape memory alloy strip 9, the first two-way shape memory alloy bar 7, the second two-way shape memory alloy bar 8 and the 3rd round trip
The end of shape memory alloy strip 9 is provided with the first hoop body 10 for waling arm, is provided with and is used on the elbow sheath 2
Driving arm bending and the 4th two-way shape memory alloy bar 11 stretched, the both ends of the 4th two-way shape memory alloy bar 11
It is provided with the second hoop body 12 for waling arm, the first two-way shape memory alloy bar 7, the second two-way shape memory
The first patchhole is provided with alloy bar 8, the 3rd two-way shape memory alloy bar 9 and the 4th two-way shape memory alloy bar 11
（It is not shown）With the second patchhole（It is not shown）, inserted with heating wire 13 in first patchhole, in second patchhole
Inserted with airduct 14, the airduct 14 connects with the exhaust outlet of air pump 4, and the heating wire 13 and air pump 4 are electric with control device 3
Property connection.The support plate 6 includes first connecting portion 15, second connecting portion 16 and hinge 17, the first connecting portion 15 and
Two connecting portions 16 are set with the rotating shaft of hinge 17 for integral type, and the first guide rail 18 and the second guide rail are provided with the hinge 17
19, the first universal joint 20 and the second universal joint 21 are respectively arranged with the guide rail 19 of the first guide rail 18 and second, it is described
First universal joint 20 and the second universal joint 21 respectively with the first two-way shape memory alloy bar 7 and the second two-way shape memory
Alloy bar 8 is threadedly coupled, and the mobility of support plate 6 is good, can meet arm forward, rearwardly and upwardly simulated training when movable need
Ask, and the first two-way shape memory alloy bar 7 and the convenient disassembly of the second two-way shape memory alloy bar 8.First connection
Portion 15 and connecting rod 5 are integral type setting, and the side of second connecting portion 16 is provided with the 3rd universal joint 22, described 3rd pair
Journey shape memory alloy strip 9 and second connecting portion 16 are threadedly coupled with the 3rd universal joint 22, and the 3rd two-way shape memory closes
Gold bar 9 and second connecting portion 16 are connected reliably with the 3rd universal joint 22, and the 3rd two-way shape memory alloy bar 9 dismounts
Simply, can be changed with convenient use person.It is provided with what is agreed with the 4th two-way shape memory alloy bar 11 on the elbow sheath 2
Universal shaped metal flexible pipe（It is not shown）, the universal shaped metal flexible pipe and the riveted of elbow sheath 2, the 4th round trip shape
Memorial alloy bar 11 is set through universal shaped metal flexible pipe, and the two-way shape memory alloy bar 9 of elbow sheath 2 and the 4th is logical
Universal shaped metal flexible pipe connection is crossed, the 4th two-way shape memory alloy bar 9 and the attachment structure of elbow sheath 2 are simple, Er Qieyou
Agree with the 4th two-way shape memory alloy bar 11 and universal shaped metal flexible pipe, the 4th two-way shape memory alloy bar 11 inserts
Situation about will not be shaken after universal shaped metal flexible pipe.The first two-way shape memory alloy bar 7, the second round trip shape
Memorial alloy article 8, the 3rd two-way shape memory alloy bar 9 and the outer surface of the 4th two-way shape memory alloy bar 11 are set gradually
There are heat-insulated film layer 23 and silver fiber layer of cloth 24, by being provided with heat-insulated film layer 23, good effect of heat insulation, Ke Yiyou can be played
Effect prevents heat transfer from causing user uncomfortable to user.The first two-way shape memory alloy bar 7, second pairs
It is inlaid with journey shape memory alloy strip 8, the 3rd two-way shape memory alloy bar 9 and the 4th two-way shape memory alloy bar 11
Temperature sensor（It is not shown）, the temperature sensor is electrically connected with control device 3, by being provided with temperature sensor to double
Journey shape memory alloy strip is detected, and can in time be stopped heating when temperature is too high, be prevented user from scalding.Described first
It is provided with hoop body 10 and remembers with the first two-way shape memory alloy bar, the second two-way shape memory alloy bar and the 3rd round trip shape
Recall the first sleeve that alloy bar agrees with（It is not shown）, the first sleeve bonds with the first hoop body 10, on second hoop body 12
It is provided with the second sleeve pipe agreed with the both ends of the 4th two-way shape memory alloy bar 11（It is not shown）, the first hoop body 10 and the second hoop
The convenient disassembly between two-way shape memory alloy bar of body 12, connection are simple.The hoop body 12 of first hoop body 10 and second is equal
Include magic notice patch（It is not shown）, VELCRO female patch（It is not shown）And stretch fabric（It is not shown）.By using for driving
Start the first L-shaped two-way shape memory alloy bar 7 that arm moves forward, L-shaped for driving arm to move backward
Second two-way shape memory alloy bar 8, for drive the 3rd L-shaped two-way shape memory alloy bar 9 that arm up moves,
Coordinate heating wire 13, air pump 4 and control dress with the 4th two-way shape memory alloy bar 11 for driving arm bending and stretching
Put 3 and realize the travelling forward of arm, backward motion, upwards motion and bending motion, using steering wheel, motor and match somebody with somebody with traditional
It is simple to close the robot structure compared of the driving arm such as rope and gear, it is easy to maintenance.
The present embodiment has the beneficial effect that：By using the first L-shaped round trip for being used to drive arm to move forward
Shape memory alloy strip, for driving the second L-shaped two-way shape memory alloy bar that arm moves backward, for driving hand
The 3rd L-shaped two-way shape memory alloy bar and the 4th round trip for driving arm bending and stretching that arm up moves
Shape memory alloy strip coordinate heating wire, air pump and control device realize the travelling forward of arm, backward motion, upwards motion with
And bending motion, with traditional using steering wheel, motor and the robot structure compared letter for coordinating the driving arm such as rope and gear
Single, easy to maintenance, support plate includes first connecting portion, second connecting portion and hinge, first connecting portion and second connecting portion with
The rotating shaft of hinge is set for integral type, and the first guide rail and the second guide rail are provided with hinge, is divided on the first guide rail and the second guide rail
Be not provided with the first universal joint and the second universal joint, the first universal joint and the second universal joint respectively with the first round trip shape
Shape memory alloys bar and the second two-way shape memory alloy bar threaded connection, support plate mobility is good, can meet arm forward,
Rearwardly and upwardly activity need during simulated training, and the first two-way shape memory alloy bar and the second two-way shape memory close
Gold bar convenient disassembly.First connecting portion is set with connecting rod for integral type, and second connecting portion side is provided with the 3rd universal joint,
3rd two-way shape memory alloy bar and second connecting portion are threadedly coupled with the 3rd universal joint, and the 3rd two-way shape memory closes
Gold bar and second connecting portion are connected reliably with the 3rd universal joint, and the dismounting of the 3rd two-way shape memory alloy bar is simple,
It can be changed with convenient use person.The universal shaped metal agreed with the 4th two-way shape memory alloy bar is provided with elbow sheath
Flexible pipe, the universal shaped metal flexible pipe and elbow sheath riveted, it is universal fixed that the 4th two-way shape memory alloy bar passes through
Type metal hose is set, and elbow sheath and the 4th two-way shape memory alloy bar are connected by universal shaped metal flexible pipe, and the 4th
Two-way shape memory alloy bar and elbow sheath connecting structure are simple, and due to the 4th two-way shape memory alloy bar with it is universal
Shaped metal flexible pipe agrees with, and the 4th two-way shape memory alloy bar inserts after universal shaped metal flexible pipe the feelings that will not be shaken
Condition.First two-way shape memory alloy bar, the second two-way shape memory alloy bar, the 3rd two-way shape memory alloy bar and the 4th
Two-way shape memory alloy bar outer surface is disposed with heat-insulated film layer and silver fiber layer of cloth, by being provided with heat-insulated film layer,
Good effect of heat insulation can be played, can effectively prevent heat transfer from causing user uncomfortable to user.First
Two-way shape memory alloy bar, the second two-way shape memory alloy bar, the 3rd two-way shape memory alloy bar and the 4th round trip shape
Temperature sensor is inlaid with shape memory alloys bar, temperature sensor is electrically connected with control device, by being provided with temperature
Sensor detects to two-way shape memory alloy bar, can in time stop heating when temperature is too high, prevent user from scalding
Wound.It is provided with first hoop body and the first two-way shape memory alloy bar, the second two-way shape memory alloy bar and the 3rd round trip
The first sleeve that shape memory alloy strip agrees with, first sleeve bond with the first hoop body, are provided with and the 4th pair on the second hoop body
The second sleeve pipe that journey shape memory alloy strip both ends are agreed with, the first hoop body and the second hoop body with two-way shape memory alloy bar it
Between convenient disassembly, connection is simple.
Another technical problem to be solved by the present invention is that provide a kind of its training method of recovery exercising robot, its feature
It is, comprises the following steps：
1）Arm travels forward：Control device controls the heating wire in the first two-way shape memory alloy bar to the first round trip shape
Memorial alloy bar is heated so that and the first two-way shape memory alloy bar becomes I types from L-type, so that arm is driven,
During first two-way shape memory alloy bar deforms, arm slowly moves forward；The 4th round trip is controlled with timed unit
Heating wire in shape memory alloy strip heats to the 4th two-way shape memory alloy bar so that the 4th two-way shape memory
Alloy bar becomes U-shaped from I types, so that arm is bent；Then control device by using air pump to the first round trip shape
Shape memory alloys article and the cooling of the 4th two-way shape memory alloy bar, make its reset；
2）Arm moves backward：Control device controls the heating wire in the second two-way shape memory alloy bar to the second round trip shape
Memorial alloy bar is heated so that and the second two-way shape memory alloy bar becomes I types from L-type, so that arm is driven,
During second two-way shape memory alloy bar deforms, arm is slowly moved rearwards；The 4th round trip is controlled with timed unit
Heating wire in shape memory alloy strip heats to the 4th two-way shape memory alloy bar so that the 4th two-way shape memory
Alloy bar becomes U-shaped from I types, so that arm is bent；Then control device by using air pump to the second round trip shape
Shape memory alloys article and the cooling of the 4th two-way shape memory alloy bar, make its reset；
3）Wrist-watch moves upwards：Control device controls the heating wire in the 3rd two-way shape memory alloy bar to the 3rd round trip shape
Memorial alloy bar is heated so that and the 3rd two-way shape memory alloy bar becomes I types from L-type, so that arm is driven,
During 3rd two-way shape memory alloy bar deforms, arm slowly moves up；The 4th round trip is controlled with timed unit
Heating wire in shape memory alloy strip heats to the 4th two-way shape memory alloy bar so that the first two-way shape memory
Alloy bar becomes U-shaped from I types, so that arm is bent；Then control device by using air pump to the 3rd round trip shape
Shape memory alloys article and the cooling of the 4th two-way shape memory alloy bar, make its reset, and completion is once trained.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
The change or replacement expected without creative work, it should all be included within the scope of the present invention.
Claims (9)
- A kind of 1. recovery exercising robot, it is characterised in that：Including the clamping device for clamping shoulder, elbow sheath, control Device and air pump, connecting rod are provided with the clamping device, the connecting rod end is provided with support plate, set on the support plate Have for driving the first L-shaped two-way shape memory alloy bar that arm moves forward, move backward for driving arm The second L-shaped two-way shape memory alloy bar and the 3rd L-shaped two-way shape memory for driving arm up to move Alloy bar, the first two-way shape memory alloy bar, the second two-way shape memory alloy bar and the 3rd two-way shape memory close Gold bar end is provided with the first hoop body for waling arm, be provided with the elbow sheath for drive arm bending and The 4th two-way shape memory alloy bar stretched, the 4th two-way shape memory alloy bar both ends are provided with for waling hand Second hoop body of arm, the first two-way shape memory alloy bar, the second two-way shape memory alloy bar, the 3rd round trip shape note Recall and the first patchhole and the second patchhole are provided with alloy bar and the 4th two-way shape memory alloy bar, first insertion Inserted with heating wire in hole, second patchhole is interior to be connected inserted with airduct, the airduct with the exhaust outlet of air pump, the electricity Heated filament and air pump are electrically connected with control device.
- A kind of 2. recovery exercising robot according to claim 1, it is characterised in that：The support plate includes the first connection Portion, second connecting portion and hinge, the first connecting portion and second connecting portion are set with the rotating shaft of hinge for integral type, described The first guide rail and the second guide rail are provided with hinge, the first universal joint is respectively arranged with first guide rail and the second guide rail With the second universal joint, first universal joint and the second universal joint respectively with the first two-way shape memory alloy bar and Two two-way shape memory alloy bars are threadedly coupled.
- A kind of 3. recovery exercising robot according to claim 2, it is characterised in that：The first connecting portion and connecting rod Set for integral type, the second connecting portion side is provided with the 3rd universal joint, the 3rd two-way shape memory alloy bar It is threadedly coupled with second connecting portion with the 3rd universal joint.
- A kind of 4. recovery exercising robot according to claim 3, it is characterised in that：Be provided with the elbow sheath with The universal shaped metal flexible pipe that 4th two-way shape memory alloy bar agrees with, the universal shaped metal flexible pipe and elbow sheath riveting Close, the 4th two-way shape memory alloy bar is set through universal shaped metal flexible pipe, the elbow sheath and the 4th round trip Shape memory alloy strip is connected by universal shaped metal flexible pipe.
- A kind of 5. recovery exercising robot according to claim 4, it is characterised in that：First two-way shape memory closes Outside gold bar, the second two-way shape memory alloy bar, the 3rd two-way shape memory alloy bar and the 4th two-way shape memory alloy bar Surface is disposed with heat-insulated film layer and silver fiber layer of cloth.
- A kind of 6. recovery exercising robot according to claim 5, it is characterised in that：First two-way shape memory closes On gold bar, the second two-way shape memory alloy bar, the 3rd two-way shape memory alloy bar and the 4th two-way shape memory alloy bar Temperature sensor is inlaid with, the temperature sensor is electrically connected with control device.
- A kind of 7. recovery exercising robot according to claim 6, it is characterised in that：Be provided with first hoop body with First two-way shape memory alloy bar, the second two-way shape memory alloy bar and the 3rd two-way shape memory alloy bar agree with Sleeve, the first sleeve bond with the first hoop body, are provided with and the 4th two-way shape memory alloy on second hoop body The second sleeve pipe that bar both ends are agreed with.
- A kind of 8. recovery exercising robot according to claim 7, it is characterised in that：First hoop body and the second hoop body Include magic notice patch, VELCRO female patch and stretch fabric.
- 9. its training method of a kind of recovery exercising robot, it is characterised in that comprise the following steps：1）Arm travels forward：Control device controls the heating wire in the first two-way shape memory alloy bar to the first round trip shape Memorial alloy bar is heated so that and the first two-way shape memory alloy bar becomes I types from L-type, so that arm is driven, During first two-way shape memory alloy bar deforms, arm slowly moves forward；The 4th round trip is controlled with timed unit Heating wire in shape memory alloy strip heats to the 4th two-way shape memory alloy bar so that the 4th two-way shape memory Alloy bar becomes U-shaped from I types, so that arm is bent；Then control device by using air pump to the first round trip shape Shape memory alloys article and the cooling of the 4th two-way shape memory alloy bar, make its reset；2）Arm moves backward：Control device controls the heating wire in the second two-way shape memory alloy bar to the second round trip shape Memorial alloy bar is heated so that and the second two-way shape memory alloy bar becomes I types from L-type, so that arm is driven, During second two-way shape memory alloy bar deforms, arm is slowly moved rearwards；The 4th round trip is controlled with timed unit Heating wire in shape memory alloy strip heats to the 4th two-way shape memory alloy bar so that the 4th two-way shape memory Alloy bar becomes U-shaped from I types, so that arm is bent；Then control device by using air pump to the second round trip shape Shape memory alloys article and the cooling of the 4th two-way shape memory alloy bar, make its reset；3）Wrist-watch moves upwards：Control device controls the heating wire in the 3rd two-way shape memory alloy bar to the 3rd round trip shape Memorial alloy bar is heated so that and the 3rd two-way shape memory alloy bar becomes I types from L-type, so that arm is driven, During 3rd two-way shape memory alloy bar deforms, arm slowly moves up；The 4th round trip is controlled with timed unit Heating wire in shape memory alloy strip heats to the 4th two-way shape memory alloy bar so that the first two-way shape memory Alloy bar becomes U-shaped from I types, so that arm is bent；Then control device by using air pump to the 3rd round trip shape Shape memory alloys article and the cooling of the 4th two-way shape memory alloy bar, make its reset, and completion is once trained.
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| CN110037892A (en) * | 2019-04-30 | 2019-07-23 | 合肥工业大学 | The exercising apparatus for recovery of upper limb and method of marmem rope driving |
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| CN107550684B (en) | 2018-10-12 |
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Effective date of registration: 20190621 Address after: 226300 No. 68, Shigang Town Industrial Park, Tongzhou District, Nantong City, Jiangsu Province Patentee after: Nantong Medical Apparatus Co., Ltd. Address before: 211100 two, B unit 300, Zhihui Road, Kirin science and Technology Innovation Park, Jiangning District, Nanjing, Jiangsu. Patentee before: Nanjing Yusheng Robot Technology Co., Ltd. |