CN107550684B - A kind of recovery exercising robot - Google Patents
A kind of recovery exercising robot Download PDFInfo
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- CN107550684B CN107550684B CN201710906209.8A CN201710906209A CN107550684B CN 107550684 B CN107550684 B CN 107550684B CN 201710906209 A CN201710906209 A CN 201710906209A CN 107550684 B CN107550684 B CN 107550684B
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Abstract
The present invention discloses a kind of recovery exercising robot and its training method, it include the clamping device for clamping shoulder, elbow sheath, control device and air pump, it is provided with connecting rod on 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 on the support plate, L-shaped the second two-way shape memory alloy bar for driving that arm moves backward and the L-shaped third two-way shape memory alloy bar for driving arm up to move, the first two-way shape memory alloy bar, second two-way shape memory alloy bar and third two-way shape memory alloy bar end are both 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 on the elbow sheath；The recovery exercising robot is simple in structure, easy to maintenance.
Description
Technical field
The present invention relates to medical instruments fields, and in particular to a kind of recovery exercising robot and its training method.
Background technology
Medical instrument refers to instrument, equipment, utensil, external diagnosis reagent and the calibration for being directly or indirectly used for human body
Object, material and other similar or relevant articles, including required computer software.
Robot has begun in terms of being applied to medical treatment at present, especially the robot of physics auxiliary rehabilitation exercise, uses
Has more example, the robot of current physics auxiliary rehabilitation exercise generally uses steering engine, motor and cooperation rope and tooth
The driving arm such as wheel carries out rehabilitation training, but existing drives arm using steering engine, motor and cooperation rope and gear etc.
Robot architecture is complicated, it is difficult to the needs of meeting in the market.
Invention content
The technical problem to be solved in the present invention is to provide a kind of recovery exercising robots simple in structure.
To solve the above problems, the present invention adopts the following technical scheme that：
A kind of recovery exercising robot includes gentle for clamping the clamping device of shoulder, elbow sheath, control device
It pumps, is provided with connecting rod on the clamping device, the connecting rod end is provided with support plate, is provided on the support plate for driving
It starts the first L-shaped two-way shape memory alloy bar that arm moves forward, L-shaped for driving arm to move backward
Two two-way shape memory alloy bars and L-shaped third two-way shape memory alloy bar for driving arm up to move, institute
It is equal to state the first two-way shape memory alloy bar, the second two-way shape memory alloy bar and third two-way shape memory alloy bar end
It is provided with the first hoop body for waling arm, the 4th for driving arm bending and stretching is provided on the elbow sheath
Two-way shape memory alloy bar, the 4th two-way shape memory alloy bar both ends are both provided with the second hoop for waling arm
Body, the first two-way shape memory alloy bar, the second two-way shape memory alloy bar, third two-way shape memory alloy bar and
Be both provided on 4th two-way shape memory alloy bar the first insertion hole and second be inserted into hole, described first insert in the hole inserted with
Heating wire, described second inserts in the hole inserted with air hose, and the air hose is connected with the exhaust outlet of air pump, the heating wire and air pump
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 interconnecting pieces are that integral type is arranged with the 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 on 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 are convenient for disassembly and assembly.
Preferably, the first connecting portion is arranged with connecting rod for integral type, the second connecting portion side is provided with
Third universal joint, the third two-way shape memory alloy bar and second connecting portion are threadedly coupled with third universal joint,
Third two-way shape memory alloy bar and second connecting portion are connect reliably with third universal joint, and third round trip shape is remembered
It is simple to recall alloy bar dismounting, it can be convenient for users to replacement.
Preferably, being provided with the universal sizing gold agreed with the 4th two-way shape memory alloy bar on the elbow sheath
Belong to hose, the universal shaped metal hose and elbow sheath riveted, the 4th two-way shape memory alloy bar passes through universal
Shaped metal hose is arranged, and the elbow sheath and the 4th two-way shape memory alloy bar are connected by universal shaped metal hose
It connects, 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
Item agrees with universal shaped metal hose, and the 4th two-way shape memory alloy bar will not occur after being inserted into universal shaped metal hose
The case where shake.
Preferably, the first two-way shape memory alloy bar, the second two-way shape memory alloy bar, third 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
It crosses and is provided with heat-insulated film layer, good heat insulation can be played, can effectively prevent heat transfer and led to user
Cause user uncomfortable.
Preferably, the first two-way shape memory alloy bar, the second two-way shape memory alloy bar, third round trip shape
Temperature sensor, the temperature sensor and control are inlaid on shape memory alloys article and the 4th two-way shape memory alloy bar
Device is electrically connected, and is detected to two-way shape memory alloy bar by being provided with temperature sensor, when the temperature is excessively high may be used
It is heated with timely stopping, preventing user from scalding.
Preferably, being provided on 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 third two-way shape memory alloy bar agree with, the first sleeve is bonded with the first hoop body, institute
State the second casing for being provided on 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 is convenient for disassembly and assembly between two-way shape memory alloy bar, and connection is 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 providing a kind of its training method of recovery exercising robot, feature
It is, includes the following steps：
1）Arm travels forward：Control device controls the first round trip of heating wire pair in the first two-way shape memory alloy bar
Shape memory alloy strip is heated so that the first two-way shape memory alloy bar becomes I types from L-type, so that arm quilt
It drives, during the first two-way shape memory alloy bar deforms, arm slowly moves forward；Control device control simultaneously the 4th
The 4th two-way shape memory alloy bar of heating wire pair in two-way shape memory alloy bar heats so that the 4th round trip shape
Memorial alloy item becomes U-shaped from I types, so that arm is bent；Then control device is by using air pump pair first pair
Journey shape memory alloy strip and the cooling of the 4th two-way shape memory alloy bar, make its reset；
2）Arm moves backward：Control device controls the second round trip of heating wire pair in the second two-way shape memory alloy bar
Shape memory alloy strip is heated so that the second two-way shape memory alloy bar becomes I types from L-type, so that arm quilt
It drives, during the second two-way shape memory alloy bar deforms, arm slowly moves backward；Control device control simultaneously the 4th
The 4th two-way shape memory alloy bar of heating wire pair in two-way shape memory alloy bar heats so that the 4th round trip shape
Memorial alloy item becomes U-shaped from I types, so that arm is bent；Then control device is by using air pump pair second pair
Journey shape memory alloy strip 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 third two-way shape memory alloy bar to third round trip
Shape memory alloy strip is heated so that third two-way shape memory alloy bar becomes I types from L-type, so that arm quilt
It drives, during third two-way shape memory alloy bar deforms, arm slowly moves up；Control device control simultaneously the 4th
The 4th two-way shape memory alloy bar of heating wire pair in two-way shape memory alloy bar heats so that the first round trip shape
Memorial alloy item becomes U-shaped from I types, so that arm is bent；Then control device is double to third by using air pump
Journey shape memory alloy strip and the cooling of the 4th two-way shape memory alloy bar, make its reset, complete primary training.
Beneficial effects of the present invention are：By using the first L-shaped round trip shape for driving arm to move forward
Shape memory alloys item, for driving the second L-shaped two-way shape memory alloy bar that arm moves backward, for driving arm
The L-shaped third two-way shape memory alloy bar up moved and the 4th round trip shape for driving arm bending and stretching
Shape memory alloys item cooperation heating wire, air pump and control device realize arm travel forward, move backward, moving upwards and
Bending motion drives the robot structure compared of arm simple with traditional using steering engine, motor and cooperation rope and gear etc.,
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
It is that integral type is arranged with the shaft of hinge, 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 are threadedly coupled, and 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
It is convenient for disassembly and assembly to recall alloy bar.First connecting portion is arranged with connecting rod for integral type, and it is universal that second connecting portion side is provided with third
Connector, third two-way shape memory alloy bar and second connecting portion are threadedly coupled with third universal joint, third round trip shape
Memorial alloy item and second connecting portion are connect reliably with third universal joint, and third two-way shape memory alloy bar dismounts
It simply, can be convenient for users to replacement.Be provided on elbow sheath agree with the 4th two-way shape memory alloy bar it is universal fixed
Type metal hose, the universal shaped metal hose and elbow sheath riveted, the 4th two-way shape memory alloy bar pass through
Universal shaped metal hose setting, elbow sheath and the 4th two-way shape memory alloy bar are connected by universal shaped metal hose
It connects, 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
Item agrees with universal shaped metal hose, and the 4th two-way shape memory alloy bar will not occur after being inserted into universal shaped metal hose
The case where shake.First two-way shape memory alloy bar, the second two-way shape memory alloy bar, third 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 can play good heat insulation, and can effectively prevent heat transfer leads to user not to user
It is suitable.First two-way shape memory alloy bar, the second two-way shape memory alloy bar, third two-way shape memory alloy bar and the 4th
Temperature sensor is inlaid on two-way shape memory alloy bar, temperature sensor is electrically connected with control device, passes through setting
There is temperature sensor to be detected two-way shape memory alloy bar, can stop heating when the temperature is excessively high in time, prevent from making
User scalds.It is provided on 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 on the second hoop body with
The second casing that 4th two-way shape memory alloy bar both ends are agreed with, the first hoop body and the second hoop body are closed with two-way shape memory
Convenient for disassembly and assembly between gold bar, connection is simple.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings
Attached 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 sectional view of first two-way shape memory alloy bar of recovery exercising robot of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Embodiment 1
As shown in Figs. 1-3, a kind of recovery exercising robot, include for clamp the clamping device 1 of shoulder, elbow sheath 2,
Control device 3 and air pump 4 are provided with connecting rod 5 on the clamping device 1, and 5 end of the connecting rod is provided with support plate 6, described
It is provided on support plate 6 for driving the first L-shaped two-way shape memory alloy bar 7 that arm moves forward, for driving hand
L-shaped the second two-way shape memory alloy bar 8 that arm moves backward and the L-shaped third for driving arm up to move
Two-way shape memory alloy bar 9, the first two-way shape memory alloy bar 7, the second two-way shape memory alloy bar 8 and third
9 end of two-way shape memory alloy bar is both provided with the first hoop body 10 for waling arm, is provided on the elbow sheath 2
The 4th two-way shape memory alloy bar 11 for driving arm bending He stretching, the 4th two-way shape memory alloy bar 11
Both ends are both provided with the second hoop body 12 for waling arm, the first two-way shape memory alloy bar 7, the second round trip shape
First is both provided on memorial alloy article 8, third two-way shape memory alloy bar 9 and the 4th two-way shape memory alloy bar 11 to insert
Enter hole（It is not shown）It is inserted into hole with second（It is not shown）, described first inserts in the hole is inserted into inserted with heating wire 13, described second
Connected with the exhaust outlet of air pump 4 inserted with air hose 14, the air hose 14 in hole, the heating wire and air pump 4 with control device 3
It is electrically connected.By using the first L-shaped two-way shape memory alloy bar 7 for being used to that arm to be driven to move forward, it is used for
The second L-shaped two-way shape memory alloy bar 8, L-shaped for driving arm up to move that driving arm moves backward
Third two-way shape memory alloy bar 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 the realization arm of control device 3 travels forward, moves backward, moves upwards and is bent fortune
It is dynamic, drive the robot structure compared of arm simple using steering engine, motor and cooperation rope and gear etc. with traditional, repair side
Just.
The present embodiment has the beneficial effect that：By using the first L-shaped round trip for driving 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 L-shaped third two-way shape memory alloy bar that arm up moves and the 4th round trip for driving arm bending and stretching
Shape memory alloy strip cooperation heating wire, air pump and control device realize the travelling forward, move backward of arm, move upwards with
And bending motion, with traditional robot structure compared letter for driving arm using steering engine, motor and cooperation rope and gear etc.
It is single, it is easy to maintenance.
Embodiment 2
As shown in Figs. 1-3, a kind of recovery exercising robot, include for clamp the clamping device 1 of shoulder, elbow sheath 2,
Control device 3 and air pump 4 are provided with connecting rod 5 on the clamping device 1, and 5 end of the connecting rod is provided with support plate 6, described
It is provided on support plate 6 for driving the first L-shaped two-way shape memory alloy bar 7 that arm moves forward, for driving hand
L-shaped the second two-way shape memory alloy bar 8 that arm moves backward and the L-shaped third for driving arm up to move
Two-way shape memory alloy bar 9, the first two-way shape memory alloy bar 7, the second two-way shape memory alloy bar 8 and third
9 end of two-way shape memory alloy bar is both provided with the first hoop body 10 for waling arm, is provided on the elbow sheath 2
The 4th two-way shape memory alloy bar 11 for driving arm bending He stretching, the 4th two-way shape memory alloy bar 11
Both ends are both provided with the second hoop body 12 for waling arm, the first two-way shape memory alloy bar 7, the second round trip shape
First is both provided on memorial alloy article 8, third two-way shape memory alloy bar 9 and the 4th two-way shape memory alloy bar 11 to insert
Enter hole（It is not shown）It is inserted into hole with second（It is not shown）, described first inserts in the hole is inserted into inserted with heating wire 13, described second
It is connected with the exhaust outlet of air pump 4 inserted with air hose 14, the air hose 14 in hole, the heating wire 13 and air pump 4 are filled with control
Set 3 electric connections.The support plate 6 includes first connecting portion 15, second connecting portion 16 and hinge 17, the first connecting portion 15
It is arranged for integral type with the shaft of hinge 17 with second connecting portion 16, the first guide rail 18 and second is provided on the hinge 17
Guide rail 19 is respectively arranged with the first universal joint 20 and the second universal joint 21 on first guide rail, 18 and second guide rail 19,
First universal joint, 20 and second universal joint 21 respectively with the first two-way shape memory alloy bar 7 and the second round trip shape
Memorial alloy item 8 be threadedly coupled, 6 mobility of support plate is good, can meet arm forward, rearwardly and upwardly simulated training when work
Dynamic demand, and the first two-way shape memory alloy bar 7 and the second two-way shape memory alloy bar 8 are convenient for disassembly and assembly.Described first
Interconnecting piece 15 and connecting rod 5 are integral type setting, and 16 side of the second connecting portion is provided with third universal joint 22, described the
Three two-way shape memory alloy bars 9 and second connecting portion 16 are threadedly coupled with third universal joint 22, third round trip shape note
Recall alloy bar 9 and second connecting portion 16 to connect with third universal joint 22 reliably, and third two-way shape memory alloy bar 9
Dismounting is simple, can be convenient for users to replacement.It is provided on the elbow sheath 2 and 11 contract of the 4th two-way shape memory alloy bar
The universal shaped metal hose closed（It is not shown）, the universal shaped metal hose and 2 riveted of elbow sheath, the 4th round trip
Shape memory alloy strip 11 is arranged across universal shaped metal hose, 2 and the 4th two-way shape memory alloy of the elbow sheath
Item 9 is connected by universal shaped metal hose, and the 4th two-way shape memory alloy bar 9 and 2 connection structure of elbow sheath are simple, and
And since the 4th two-way shape memory alloy bar 11 and universal shaped metal hose agree with, the 4th two-way shape memory alloy bar 11
Being inserted into after universal shaped metal hose will not there is a situation where shake.The first two-way shape memory alloy bar 7, the second round trip
Shape memory alloy strip 8, third two-way shape memory alloy bar 9 and 11 outer surface of the 4th two-way shape memory alloy bar are successively
It is provided with heat-insulated film layer 23 and silver fiber layer of cloth 24, by being provided with heat-insulated film layer 23, good heat insulation can be played, it can
Effectively to prevent heat transfer from causing user uncomfortable to user.The first two-way shape memory alloy bar 7,
It is inlayed on two two-way shape memory alloy bars 8, third two-way shape memory alloy bar 9 and the 4th two-way shape memory alloy bar 11
Embedded with temperature sensor（It is not shown）, the temperature sensor is electrically connected with control device 3, by being provided with temperature sensor
Two-way shape memory alloy bar is detected, can stop heating when the temperature is excessively high in time, prevent user from scalding.It is described
It is provided on first hoop body 10 and the first two-way shape memory alloy bar, the second two-way shape memory alloy bar and third round trip shape
The first sleeve that shape memory alloys item agrees with（It is not shown）, the first sleeve and the first hoop body 10 bond, second hoop body
The second casing agreed with 11 both ends of the 4th two-way shape memory alloy bar is provided on 12（It is not shown）, the first hoop body 10 and
Two hoop bodies 12 are convenient for disassembly and assembly between two-way shape memory alloy bar, and connection is simple.First hoop body, 10 and second hoop body
12 include magic notice patch（It is not shown）, velcro female patch（It is not shown）And stretch fabric（It is not shown）.By using use
The first L-shaped two-way shape memory alloy bar 7 for moving forward in driving arm for drive that arm moves is backward in L
Second two-way shape memory alloy bar 8 of type, the L-shaped third two-way shape memory alloy for driving arm up to move
Articles 9 and the 4th two-way shape memory alloy bar 11 cooperation heating wire 13, air pump 4 and control for driving arm bending and stretching
Device 3 processed realize arm travel forward, move backward, moving upwards and bending motion, with traditional using steering engine, motor
Drive the robot structure compared of arm simple with cooperation rope and gear etc., it is easy to maintenance.
The present embodiment has the beneficial effect that：By using the first L-shaped round trip for driving 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 L-shaped third two-way shape memory alloy bar that arm up moves and the 4th round trip for driving arm bending and stretching
Shape memory alloy strip cooperation heating wire, air pump and control device realize the travelling forward, move backward of arm, move upwards with
And bending motion, with traditional robot structure compared letter for driving arm using steering engine, motor and cooperation rope and gear etc.
Single, easy to maintenance, support plate includes first connecting portion, second connecting portion and hinge, first connecting portion and second connecting portion with
The shaft of hinge is arranged for integral type, and the first guide rail and the second guide rail are provided on 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 item and the second two-way shape memory alloy bar are threadedly coupled, and support plate mobility is good, can meet arm forward,
Rearwardly and upwardly activity need when simulated training, and the first two-way shape memory alloy bar and the second two-way shape memory close
Gold bar is convenient for disassembly and assembly.First connecting portion is arranged with connecting rod for integral type, and second connecting portion side is provided with third universal joint,
Third two-way shape memory alloy bar and second connecting portion are threadedly coupled with third universal joint, and third two-way shape memory closes
Gold bar and second connecting portion are connect reliably with third universal joint, and the dismounting of third two-way shape memory alloy bar is simple,
It can be convenient for users to replacement.The universal shaped metal agreed with the 4th two-way shape memory alloy bar is provided on elbow sheath
Hose, the universal shaped metal hose and elbow sheath riveted, it is universal fixed that the 4th two-way shape memory alloy bar passes through
Type metal hose is arranged, and elbow sheath and the 4th two-way shape memory alloy bar are connected by universal shaped metal hose, 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 hose agrees with, and the 4th two-way shape memory alloy bar is inserted into the feelings that will not be shaken after universal shaped metal hose
Condition.First two-way shape memory alloy bar, the second two-way shape memory alloy bar, third 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 heat insulation can be played, can effectively prevent heat transfer causes user uncomfortable to user.First
Two-way shape memory alloy bar, the second two-way shape memory alloy bar, third two-way shape memory alloy bar and the 4th round trip shape
Temperature sensor is inlaid on shape memory alloys item, temperature sensor is electrically connected with control device, by being provided with temperature
Sensor is detected two-way shape memory alloy bar, can stop heating when the temperature is excessively high in time, prevents user from scalding
Wound.It is provided on first hoop body and the first two-way shape memory alloy bar, the second two-way shape memory alloy bar and third round trip
The first sleeve that shape memory alloy strip agrees with, first sleeve are bonded with the first hoop body, are provided with and the 4th pair on the second hoop body
The second casing 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 it is convenient for disassembly and assembly, connection is simple.
Another technical problem to be solved by the present invention is that providing a kind of its training method of recovery exercising robot, feature
It is, includes the following steps：
1）Arm travels forward：Control device controls the first round trip of heating wire pair in the first two-way shape memory alloy bar
Shape memory alloy strip is heated so that the first two-way shape memory alloy bar becomes I types from L-type, so that arm quilt
It drives, during the first two-way shape memory alloy bar deforms, arm slowly moves forward；Control device control simultaneously the 4th
The 4th two-way shape memory alloy bar of heating wire pair in two-way shape memory alloy bar heats so that the 4th round trip shape
Memorial alloy item becomes U-shaped from I types, so that arm is bent；Then control device is by using air pump pair first pair
Journey shape memory alloy strip and the cooling of the 4th two-way shape memory alloy bar, make its reset；
2）Arm moves backward：Control device controls the second round trip of heating wire pair in the second two-way shape memory alloy bar
Shape memory alloy strip is heated so that the second two-way shape memory alloy bar becomes I types from L-type, so that arm quilt
It drives, during the second two-way shape memory alloy bar deforms, arm slowly moves backward；Control device control simultaneously the 4th
The 4th two-way shape memory alloy bar of heating wire pair in two-way shape memory alloy bar heats so that the 4th round trip shape
Memorial alloy item becomes U-shaped from I types, so that arm is bent；Then control device is by using air pump pair second pair
Journey shape memory alloy strip 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 third two-way shape memory alloy bar to third round trip
Shape memory alloy strip is heated so that third two-way shape memory alloy bar becomes I types from L-type, so that arm quilt
It drives, during third two-way shape memory alloy bar deforms, arm slowly moves up；Control device control simultaneously the 4th
The 4th two-way shape memory alloy bar of heating wire pair in two-way shape memory alloy bar heats so that the first round trip shape
Memorial alloy item becomes U-shaped from I types, so that arm is bent；Then control device is double to third by using air pump
Journey shape memory alloy strip and the cooling of the 4th two-way shape memory alloy bar, make its reset, complete primary training.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
The change or replacement expected without creative work, should be covered by the protection scope of the present invention.
Claims (8)
1. a kind of recovery exercising robot, it is characterised in that：Include for clamping the clamping device of shoulder, elbow sheath, control
Device and air pump are provided with connecting rod on the clamping device, and the connecting rod end is provided with support plate, is arranged on the support plate
It is useful for the first L-shaped two-way shape memory alloy bar for driving arm to move forward, for driving arm to move backward
The second L-shaped two-way shape memory alloy bar and the L-shaped third 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 third two-way shape memory close
Gold bar end is both provided with the first hoop body for waling arm, be provided on 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 both 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, third round trip shape note
Recall and be both provided with the first insertion hole and the second insertion hole on alloy bar and the 4th two-way shape memory alloy bar, described first is inserted into
It inserts in the hole inserted with air hose inserted with heating wire, described second in hole, the air hose is connected with the exhaust outlet of air pump, the electricity
Heated filament and air pump are electrically connected with control device.
2. a kind of 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 arranged with the shaft of hinge for integral type, described
It is provided with the first guide rail and the second guide rail on hinge, the first universal joint is respectively arranged on 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.
3. a kind of recovery exercising robot according to claim 2, it is characterised in that：The first connecting portion and connecting rod
It is arranged for integral type, the second connecting portion side is provided with third universal joint, the third two-way shape memory alloy bar
It is threadedly coupled with third universal joint with second connecting portion.
4. a kind of recovery exercising robot according to claim 3, it is characterised in that：Be provided on the elbow sheath with
The universal shaped metal hose that 4th two-way shape memory alloy bar agrees with, the universal shaped metal hose and elbow sheath riveting
It closes, the 4th two-way shape memory alloy bar is arranged across universal shaped metal hose, the elbow sheath and the 4th round trip
Shape memory alloy strip is connected by universal shaped metal hose.
5. a kind of 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, third 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.
6. a kind of 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, third two-way shape memory alloy bar and the 4th two-way shape memory alloy bar
It is inlaid with temperature sensor, the temperature sensor is electrically connected with control device.
7. a kind of recovery exercising robot according to claim 6, it is characterised in that：Be provided on first hoop body with
First two-way shape memory alloy bar, the second two-way shape memory alloy bar and third two-way shape memory alloy bar agree with
Sleeve, the first sleeve are bonded with the first hoop body, are provided with and the 4th two-way shape memory alloy on second hoop body
The second casing that both ends are agreed with.
8. a kind of 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN110037892B (en) * | 2019-04-30 | 2021-04-06 | 合肥工业大学 | Upper limb rehabilitation training device and method driven by shape memory alloy rope |
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| CN2306802Y (en) * | 1996-08-22 | 1999-02-10 | 梁华坚 | Device for exercising and strengthening arm force |
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| CN103622793A (en) * | 2013-11-28 | 2014-03-12 | 上海交通大学 | Self-service two-side synchronous external skeleton rehabilitation facility |
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| US4294036A (en) * | 1978-08-24 | 1981-10-13 | Magmate Australia Proprietary Limited | Figure for arrangement on magnetically attractive surface |
| CN2306802Y (en) * | 1996-08-22 | 1999-02-10 | 梁华坚 | Device for exercising and strengthening arm force |
| CN102895025A (en) * | 2012-09-07 | 2013-01-30 | 北京航空航天大学 | Wrist tail end actuating mechanism driven by three shape memory alloy wires |
| CN103622793A (en) * | 2013-11-28 | 2014-03-12 | 上海交通大学 | Self-service two-side synchronous external skeleton rehabilitation facility |
| CN105266798A (en) * | 2015-09-11 | 2016-01-27 | 国家康复辅具研究中心 | Telescopic device and rehabilitation training system based on combination of brain waves and memory alloys |
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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. |