CN107822829A - A kind of upper limb rehabilitation robot - Google Patents
A kind of upper limb rehabilitation robot Download PDFInfo
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- CN107822829A CN107822829A CN201711011235.0A CN201711011235A CN107822829A CN 107822829 A CN107822829 A CN 107822829A CN 201711011235 A CN201711011235 A CN 201711011235A CN 107822829 A CN107822829 A CN 107822829A
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 59
- 210000000245 forearm Anatomy 0.000 claims abstract description 45
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 230000008520 organization Effects 0.000 claims abstract description 16
- 230000033001 locomotion Effects 0.000 claims description 15
- 230000008878 coupling Effects 0.000 claims description 8
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- 210000003414 extremity Anatomy 0.000 description 6
- 239000000463 material Substances 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 206010019468 Hemiplegia Diseases 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000035876 healing Effects 0.000 description 3
- 210000000323 shoulder joint Anatomy 0.000 description 3
- 235000012364 Peperomia pellucida Nutrition 0.000 description 2
- 240000007711 Peperomia pellucida Species 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 210000002310 elbow joint Anatomy 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 208000024891 symptom Diseases 0.000 description 2
- 230000001225 therapeutic effect Effects 0.000 description 2
- 208000012902 Nervous system disease Diseases 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000002651 drug therapy Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000001105 regulatory effect Effects 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
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
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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 invention discloses a kind of upper limb rehabilitation robot, it is characterised in that：Upper limbs mechanical arm including base, on the base；The upper limbs mechanical arm includes big arm mechanism, small arm mechanism, hand organization and drive device；The big arm mechanism includes big arm support, large arm sliding shoe, leading screw screw pair length adjustment device；The small arm mechanism includes small arm support, forearm lengths adjusting means；The hand organization include be sequentially connected shake hands, connecting rod of shaking hands, fix bar of shaking hands；The drive device includes large arm pneumatic actuation cylinder, forearm pneumatic actuation cylinder；Described large arm pneumatic actuation cylinder one end is fixed on base support, and the other end is connected with the big arm support, and described forearm pneumatic actuation cylinder one end is connected with big arm support, and the other end is connected with small arm support.It is compact overall structure of the present invention, dependable performance, easy to use and patient's medical expense can be reduced.
Description
Technical field
The present invention relates to medical robot technical field, and in particular to a kind of upper limb rehabilitation robot.
Background technology
As China's elderly population gradually increases, there are the increasing cerebrovascular or patient with nervous system disease, and it is this kind of
Most of patient suffers from different degrees of hemiplegia symptom simultaneously.Medical research shows, in addition to operation and drug therapy, appropriate
Treatment of the rehabilitation training to hemiplegia symptom plays the role of important, but many people do not grasp the treatment side of science in actual life
Method, timely and effectively rehabilitation training could not be received, cause limbs to lose locomitivity, caused to oneself and greatly perplex.
The development of healing robot cause in recent years effectively alleviates this problem, and healing robot can drive limbs of patient to move,
Complete predetermined rehabilitation action, and can timely feed back motion information, reaching stimulates human nerve muscle systems, final to recover to suffer from
The purpose of person's limb motion ability.Present invention is generally directed to upper limb hemiplegia patient, have devised a kind of new upper limb healing machine
People.
The content of the invention
To solve deficiency of the prior art, the present invention provides a kind of upper limb rehabilitation robot, the upper limb rehabilitation robot
It is compact overall structure, dependable performance, easy to use and patient's medical expense can be reduced, it is often more important that to improve rehabilitation
Success rate.
In order to realize above-mentioned target, the present invention adopts the following technical scheme that：A kind of upper limb rehabilitation robot, its feature exist
In：Upper limbs mechanical arm including base, on the base；The upper limbs mechanical arm include big arm mechanism, small arm mechanism,
Hand organization and drive device；
The big arm mechanism includes the large arm being slidably connected installed in base upper-large-arm supporting member, with the big arm support
The leading screw screw pair length adjustment device of sliding shoe, the driving relatively described big arm support smooth sliding of large arm sliding shoe；
The small arm mechanism includes small arm support, the forearm being connected with the small arm support for supporting and fixing forearm
Length adjustment device；The small arm support is connected with the other end of the large arm sliding shoe；
The hand organization is connected with the forearm lengths adjusting means；
The drive device includes the large arm pneumatic actuation cylinder of driving large arm motion, drives the forearm of arm movements pneumatic
Drive cylinder；Described large arm pneumatic actuation cylinder one end is fixed on base support, and the other end is connected with the big arm support,
Described forearm pneumatic actuation cylinder one end is connected with big arm support, and the other end is connected with small arm support；
A kind of foregoing upper limb rehabilitation robot, it is characterized in that：It is identical, symmetrical that the upper limbs mechanical arm includes structure
Upper limbs left mechanical arm, upper limbs right mechanical arm on base.
A kind of foregoing upper limb rehabilitation robot, it is characterized in that：The big arm support includes the first support plate, positioned at the
The rocker bar bearing at one support plate back, on the first support plate the first semi-circular structure of fixing arm, from the first support plate two
The first otic placode that side is stretched out, the back rocker bar bearing are connected by bolt with base, so as to which large arm support bar is around bolt axle
Line rotates.
A kind of foregoing upper limb rehabilitation robot, it is characterized in that：Described large arm pneumatic actuation cylinder one end passes through with base
Bolt connection, the other end is connected by bolt with the back rocker bar bearing of first otic placode, so as to drive the rotation of large arm.
A kind of foregoing upper limb rehabilitation robot, it is characterized in that：One end of the large arm sliding shoe is provided with rectangular block, institute
State and rectangular channel is provided with the first support plate of large arm support bar and the connection end of the large arm sliding shoe, the large arm is slided
Block is connected to by rectangular block in the rectangular channel of big arm support；The other end of the large arm sliding shoe passes through with small arm support
Bolt connection.
A kind of foregoing upper limb rehabilitation robot, it is characterized in that：The leading screw screw pair length adjustment device includes fixing
Stepper motor, shaft coupling, leading screw, bearing, bearing fixed block, the spiral shell positioned at the large arm sliding shoe back side below big arm support
Female seat, stepper motor are connected with leading screw by shaft coupling, leading screw one end by bearing be arranged on bearing fixed block on, leading screw it is another
One end is arranged on nut seat.
A kind of foregoing upper limb rehabilitation robot, it is characterized in that：The small arm support includes the second support plate, from second
Second otic placode of support plate both sides stretching, the second semi-circular structure on the second support plate for fixing arm.
A kind of foregoing upper limb rehabilitation robot, it is characterized in that：One end of the forearm pneumatic actuation cylinder is arranged on small
On the rocker bar bearing of the otic placode of arm support second, the other end is arranged on above the big otic placode of arm support first on rocker bar bearing, from
And drive forearm mechanism kinematic.
A kind of foregoing upper limb rehabilitation robot, it is characterized in that：The forearm lengths adjusting means includes being provided with T-slot
T-slot slide plate and can be in the T-slot of T-slot slide plate slidably T-shaped sliding block, T-slot slide plate and forearm support
Part is fixedly connected；The hand organization include be sequentially connected shake hands, connecting rod of shaking hands, fix bar of shaking hands；The fixation of shaking hands
Bar is arranged on T-shaped sliding block, and the hand organization moves with T-shaped sliding block.
A kind of foregoing upper limb rehabilitation robot, it is characterized in that：The motion of the pneumatic actuation cylinder controls gas by PLC
The solenoid directional control valve pushed back in road is realized, is realized synchronization action in loop changing-over using linked switch control magnetic valve, is realized
Double cylinders act on simultaneously.
The beneficial effect that the present invention is reached：Upper limb rehabilitation robot is used for rehabilitation training and the Traditional Rehabilitation of hemiplegic patient
Treatment is compared, and its advantage is mainly shown as the following aspects：
1st, drive limbs of patient to move by robot, cumbersome action training can be repeated several times for a long time, it is not necessary to control
The man-to-man guidance of teacher is treated, not only increases operating efficiency, and optimize the effect of rehabilitation；
2nd, rehabilitation instruction can be completed at home departing from necessary aspectant therapeutic modality during traditional treatment, patient
Practice, realize teletherapy；
3rd, there is the function of human-computer interaction, break away from the dry as dust of conventional exercises process, allow training process to become abundant more
Interest, mitigate the psychological burden of patient.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the front view of the present invention；
Fig. 3 is the top view of the present invention；
Fig. 4 is the upward view of the present invention；
Fig. 5 is the large arm structural scheme of mechanism of the present invention；
Fig. 6 is the big arm support schematic diagram of the present invention；
Fig. 7 is the small arm support schematic diagram of the present invention；
Fig. 8 is the hand organization schematic diagram of the present invention；
Fig. 9 is inventive drive means connection diagram；
The implication marked in figure：1st, base, 2, upper limbs left mechanical arm, 3, upper limbs right mechanical arm, 4, big arm mechanism, 5, forearm
Mechanism, 6, hand organization, 7, big arm support, 8, large arm sliding shoe, 9, stepper motor, 10, shaft coupling, 11, bearing, 12, axle
Hold fixed block, 13, screw mandrel, 14, nut seat, 15, small arm support, 16, T-slot slide plate, 17, T-shaped sliding block, 18, shake hands, 19,
Shake hands fix bar, 20, connecting rod of shaking hands, 21, large arm pneumatic actuation cylinder, 22, forearm pneumatic actuation cylinder.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following examples are only used for clearly illustrating the present invention
Technical scheme, and can not be limited the scope of the invention with this.
As Figure 1-4, a kind of upper limb rehabilitation robot, including base 1, upper limbs mechanical arm；Upper limbs mechanical arm includes knot
Structure is identical, is symmetrically mounted on base 1 upper limbs left mechanical arm 2, upper limbs right mechanical arm 3；Each upper limbs mechanical arm
Including big arm mechanism 4, small arm mechanism 5, hand organization 6, the drive device for driving upper limbs manipulator motion；
As seen in figs. 5-6, the big arm mechanism 4 is including being used to supporting and fixing the big arm support 7 of large arm, can slide tune
Save the large arm sliding shoe 8 of big arm lengths, the leading screw screw pair for driving big arm lengths even regulation positioned at the big back of arm support 7
Length adjustment device；
As shown in fig. 7, the small arm mechanism 5 includes supporting and fixing the small arm support 15 of forearm, realizes forearm lengths
The forearm lengths adjusting means of regulation；
As shown in figure 8, the hand organization 6 includes shake hands 18, connecting rod of shaking hands 20, fix bar of shaking hands 19；
The drive device is driven from air pressure, including driving large arm makees accurate easy motion so as to drive large arm to carry out health
Large arm pneumatic actuation cylinder 21, the forearm pneumatic actuation cylinder 22 of driving forearm bending and stretching moved again；The large arm branch
Bearing member 7 is bolted on base 1, and the one end of large arm pneumatic actuation cylinder 21 is fixed on the support of base 1, the other end
It is connected with big arm support 7, large arm sliding shoe 8 is connected to by the rectangular block of front end in the rectangular channel of big arm support 7, large arm
The other end of sliding shoe 8 is connected by bolt with small arm support 15, the one end of forearm pneumatic actuation cylinder 22 and big arm support 7
Connect, the other end is connected on small arm support 15, and forearm lengths adjusting means is connected on small arm support 15, hand organization
6 are arranged in forearm lengths adjusting means.
As shown in fig. 6, the big arm support 7 include the first support plate, the rocker bar bearing positioned at the first support plate back,
The first semi-circular structure of fixing arm, the first otic placode stretched out from the first support plate both sides on the first support plate are described big
The back rocker bar bearing of arm support 7 is connected by bolt with base 1, so as to which large arm support bar 7 can rotate around bolt axis,
The motion of upper limbs shoulder joint flexing stretching, extension is simulated, the big semicircular structure of arm support 7 first uses flexible material, such as rubber material
Material, in use fixes arm, and can play a part of fixing arm prevents from sliding；First support plate with it is described
Rectangular channel is provided with the connection end of large arm sliding shoe 8, there is rectangular block the front end of large arm sliding shoe 8, between rectangular block and rectangular channel
Gap coordinates, and is connected to by the rectangular block of front end in the rectangular channel of big arm support 7；The other end and forearm of large arm sliding shoe 8
Supporting member 15 is bolted；
The one end of large arm pneumatic actuation cylinder 21 is bolted with base 1, and the other end passes through bolt and the first otic placode
Back rocker bar bearing connection, so as to drive the rotation of large arm.
The leading screw screw pair length adjustment device includes stepper motor 9, the shaft coupling for being fixed on the big lower section of arm support 7
10th, leading screw 13, bearing 11, bearing fixed block 12, the nut positioned at the back side of large arm sliding shoe 8 positioned at the big back side of arm support 7
Seat 14, stepper motor 9 is connected with leading screw 13 by shaft coupling 10, and the one end of leading screw 13 is arranged on bearing fixed block 12 by bearing 11
On, the other end of leading screw 13 is arranged on nut seat 14, and when stepper motor 9 starts, rotation is passed into silk by shaft coupling 10
Thick stick 13, because stepper motor 9 is fixed, leading screw 13 does not axially have displacement, is transmitted so leading screw 13 will rotate as large arm sliding shoe 8
Mobile, stepper motor 9 rotates forward, and large arm elongation, stepper motor 9 inverts, and large arm shortens, and realizes the freely regulated work(of big arm lengths
Energy.
As shown in fig. 7, small arm support 15 include the second support plate, from the second support plate both sides stretch out the second otic placode,
Second semi-circular structure of fixing arm, the second support plate in forearm lengths adjusting means end with being provided with rectangular channel, forearm pneumatic driving
Take offence cylinder 22 one end be arranged on the small otic placode of arm support 15 second rocker bar bearing on, the other end is arranged on big arm support 7
Above first otic placode on rocker bar bearing, so as to drive small arm mechanism 5 to simulate the bending and stretching fortune that human elbow drives forearm
Dynamic, the second semi-circular structure is identical with the first semi-circular structure material on big arm support 7 and effect, is subject to flexible material covering just
It can play a part of supporting fixing arm.
As shown in Figures 2 and 8, forearm lengths adjusting means include be provided with T-slot T-slot slide plate 16 and can be in T
T-shaped sliding block 17 in the T-slot of type groove slide plate 16 slidably, T-slot slide plate 16 and the forearm branch of forearm lengths adjusting means
Rectangular channel in second support plate of bearing member 15 is fixedly connected.Patient can adjust its length on demand, be grown with big arm support 7
Spend that adjusting means is different to be, the adjusting means of hand is not required to extra application power, but the adaptive process of patient.
Hand organization 6 is arranged on T-shaped sliding block 17, shakes hands 18 installed in shaking hands in connecting rod 20, connecting rod of shaking hands 20 is logical
Cross bolt and be arranged on and shake hands in fix bar 19, fix bar of shaking hands 19 is arranged on T-shaped sliding block 17, so as to which hand organization 6 can be with
T-shaped sliding block 17 to move.
The 3 respective self-movement of upper limbs left mechanical arm 2 and upper limbs right mechanical arm, it is non-interference, user can be directed to
Demand controlled respectively, the motion of pneumatic actuation cylinder is realized by the solenoid directional control valve in PLC control pressures loop,
Synchronization action is realized in loop changing-over using linked switch control magnetic valve, realizes that double cylinders act on simultaneously, drives upper limbs machine
Tool arm moves.
The upper limb rehabilitation robot mode of operation of the present invention is as described below：Patient is sitting on chair or stool, rehabilitation training
Before, patient can freely adjust large arm and forearm lengths according to personal considerations, be adjusted by leading screw screw pair length adjustment device
The length of large arm is saved, stepper motor starts 9, drives leading screw 13 to rotate, and the rotation of leading screw 13 drives the movement of large arm sliding shoe 8,
So as at the uniform velocity smoothly adjust the length of large arm, the length adjustment of forearm is led to by the length automatic adjusument of patient's forearm
Cross T-slot and carry out free regulation, obtain optimal training position, will be upper using the semi-circular structure of flexible material after the completion of regulation
Limb is fixed on recovery bracket.Upper limb rehabilitation robot has three kinds of rehabilitation training patterns, one is large arm pneumatic actuation cylinder 21
Independent role, forearm pneumatic actuation cylinder 22 remain stationary as, and drive upper limbs to be rotated around shoulder joint；The second is forearm pneumatic driving is taken offence
The independent role of cylinder 22, large arm pneumatic actuation cylinder 21 remain stationary as, and forearm carries out rehabilitation exercise around elbow joint；The third is big forearm
Pneumatic actuation cylinder acts simultaneously, and large arm forearm rotates simultaneously carries out rehabilitation training to shoulder joint, elbow joint, upper limbs mechanical arm
Motion is controlled by PLC.
Upper limb rehabilitation robot is used for the rehabilitation training of hemiplegic patient compared with Traditional Rehabilitation is treated, and its advantage mainly shows
For the following aspects：
1st, drive limbs of patient to move by robot, cumbersome action training can be repeated several times for a long time, it is not necessary to control
The man-to-man guidance of teacher is treated, not only increases operating efficiency, and optimize the effect of rehabilitation；
2nd, rehabilitation instruction can be completed at home departing from necessary aspectant therapeutic modality during traditional treatment, patient
Practice, realize teletherapy；
3rd, there is the function of human-computer interaction, break away from the dry as dust of conventional exercises process, allow training process to become abundant more
Interest, mitigate the psychological burden of patient.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, some improvement and deformation can also be made, these are improved and deformation
Also it should be regarded as protection scope of the present invention.
Claims (10)
- A kind of 1. upper limb rehabilitation robot, it is characterised in that：Including base (1), the upper limbs mechanical arm on the base； The upper limbs mechanical arm includes big arm mechanism (4), small arm mechanism (5), hand organization (6) and drive device；The big arm mechanism (4) includes sliding company installed in base (1) upper-large-arm supporting member (7), with the big arm support (7) Large arm sliding shoe (8), the leading screw spiral shell of driving relatively described big arm support (7) smooth sliding of large arm sliding shoe (8) connect Revolve secondary length adjustment device；The small arm mechanism (5) includes supporting and fixing the small arm support (15) of forearm, connected with the small arm support (15) The forearm lengths adjusting means connect；The small arm support (15) is connected with the other end of the large arm sliding shoe (8)；The hand organization (6) is connected with the forearm lengths adjusting means；The drive device includes the large arm pneumatic actuation cylinder (21) of driving large arm motion, drives the forearm of arm movements pneumatic Drive cylinder (22)；Described large arm pneumatic actuation cylinder (21) one end is fixed on base (1) support, the other end and the large arm Supporting member (7) is connected, and described forearm pneumatic actuation cylinder (22) one end is connected with big arm support (7), the other end and forearm branch Bearing member (15) connects.
- 2. a kind of upper limb rehabilitation robot according to claim 1, it is characterized in that：It is complete that the upper limbs mechanical arm includes structure Upper limbs left mechanical arm (2), upper limbs right mechanical arm (3) exactly the same, be symmetrically mounted on base.
- 3. a kind of upper limb rehabilitation robot according to claim 1, it is characterized in that：The big arm support (7) includes the One support plate, the rocker bar bearing positioned at the first support plate back, on the first support plate the first semi-circular structure of fixing arm, The first otic placode stretched out from the first support plate both sides, the back rocker bar bearing are connected by bolt with base (1), so as to large arm Support bar (7) rotates around bolt axis.
- 4. a kind of upper limb rehabilitation robot according to claim 3, it is characterized in that：The large arm pneumatic actuation cylinder (21) One end is bolted with base, and the other end is connected by bolt with the back rocker bar bearing of first otic placode, so as to band The rotation of dynamic large arm.
- 5. a kind of upper limb rehabilitation robot according to claim 1, it is characterized in that：One end of the large arm sliding shoe (8) Rectangular block is provided with, the first support plate of the large arm support bar (7) in the connection end of the large arm sliding shoe (8) with setting There is rectangular channel, the large arm sliding shoe (8) is connected to by rectangular block in the rectangular channel of big arm support (7)；The large arm is slided The other end of motion block (8) is bolted with small arm support (15).
- 6. a kind of upper limb rehabilitation robot according to claim 1, it is characterized in that：The leading screw screw pair length adjustment dress Put solid including being fixed on stepper motor 9, shaft coupling (10), leading screw (13), bearing (11), bearing below big arm support (7) Determine block (12), the nut seat (14) positioned at large arm sliding shoe (8) back side, stepper motor (9) passes through shaft coupling with leading screw (13) (10) connect, leading screw (13) one end is arranged on bearing fixed block (12) by bearing (11), the other end installation of leading screw (13) On nut seat (14).
- 7. a kind of upper limb rehabilitation robot according to claim 1, it is characterized in that：The small arm support (15) includes the Two support plates, the second otic placode stretched out from the second support plate both sides, on the second support plate for fixing arm the second half Circle structure.
- 8. a kind of upper limb rehabilitation robot according to claim 7, it is characterized in that：The forearm pneumatic actuation cylinder (22) One end be arranged on the small otic placode of arm support (15) second rocker bar bearing on, the other end is arranged on big arm support (7) first Above otic placode on rocker bar bearing, so as to drive small arm mechanism (5) to move.
- 9. a kind of upper limb rehabilitation robot according to claim 1, it is characterized in that：The forearm lengths adjusting means includes Be provided with T-slot T-slot slide plate (16) and can be in the T-slot of T-slot slide plate slidably T-shaped sliding block (17), T Type groove slide plate (16) is fixedly connected with small arm support (15)；What the hand organization (6) included being sequentially connected shakes hands (18), holds Hand connecting rod (20), fix bar of shaking hands (19)；The fix bar of shaking hands (19) is arranged on T-shaped sliding block (17), the hand machine Structure (6) is mobile with T-shaped sliding block (17).
- 10. a kind of upper limb rehabilitation robot according to claim 1, it is characterized in that：The motion of the pneumatic actuation cylinder Realized by the solenoid directional control valve in PLC control pressures loop, realized using linked switch control magnetic valve in loop changing-over Synchronization action, realize that double cylinders act on simultaneously.
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| CN201711011235.0A CN107822829A (en) | 2017-10-26 | 2017-10-26 | A kind of upper limb rehabilitation robot |
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| CN201711011235.0A CN107822829A (en) | 2017-10-26 | 2017-10-26 | A kind of upper limb rehabilitation robot |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108652910A (en) * | 2018-02-09 | 2018-10-16 | 湖北工业大学 | A kind of joint of robot device of cylinder driving |
| CN108652920A (en) * | 2018-05-28 | 2018-10-16 | 吴淑霞 | A kind of orthopaedics patient medical treatment recovery device |
| CN108654007A (en) * | 2018-06-19 | 2018-10-16 | 武汉理工大学 | It is a kind of to stretch the column robot assisted device restored for upper limb |
| CN108721047A (en) * | 2018-04-25 | 2018-11-02 | 上海大学 | A kind of wearing type upper limb recovery training device |
| CN109288616A (en) * | 2018-10-12 | 2019-02-01 | 河海大学常州校区 | A kind of ectoskeleton upper limb rehabilitation robot |
| CN109464265A (en) * | 2018-12-20 | 2019-03-15 | 燕山大学 | A kind of upper limb rehabilitation robot based on Coupling System of Flexible Structures And Rigid Body |
| CN109718049A (en) * | 2018-12-27 | 2019-05-07 | 天水师范学院 | A kind of disabled person's limbs strength device for healing and training convenient for adjusting |
| CN109806110A (en) * | 2019-02-22 | 2019-05-28 | 广州哈罗博康复机器人生产有限公司 | Arm rehabilitation device and healing robot |
| CN110227020A (en) * | 2018-09-29 | 2019-09-13 | 广州哈罗博康复机器人生产有限公司 | A kind of fixed device of rehabilitation appliances folding |
| CN111096869A (en) * | 2020-01-07 | 2020-05-05 | 长春工业大学 | Rigid-flexible coupling rope-driven exoskeleton type upper limb rehabilitation training robot |
| CN111283692A (en) * | 2020-02-24 | 2020-06-16 | 湘潭大学 | Mechanical arm structure of baby service robot |
| CN111759662A (en) * | 2020-07-03 | 2020-10-13 | 浙江工业大学 | Arm auxiliary device |
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| CN108721047A (en) * | 2018-04-25 | 2018-11-02 | 上海大学 | A kind of wearing type upper limb recovery training device |
| CN108721047B (en) * | 2018-04-25 | 2021-02-23 | 上海大学 | Wearable upper limbs rehabilitation training device |
| CN108652920A (en) * | 2018-05-28 | 2018-10-16 | 吴淑霞 | A kind of orthopaedics patient medical treatment recovery device |
| CN108654007A (en) * | 2018-06-19 | 2018-10-16 | 武汉理工大学 | It is a kind of to stretch the column robot assisted device restored for upper limb |
| CN110227020A (en) * | 2018-09-29 | 2019-09-13 | 广州哈罗博康复机器人生产有限公司 | A kind of fixed device of rehabilitation appliances folding |
| CN109288616A (en) * | 2018-10-12 | 2019-02-01 | 河海大学常州校区 | A kind of ectoskeleton upper limb rehabilitation robot |
| CN109288616B (en) * | 2018-10-12 | 2021-07-13 | 河海大学常州校区 | Exoskeleton upper limb rehabilitation robot |
| CN109464265A (en) * | 2018-12-20 | 2019-03-15 | 燕山大学 | A kind of upper limb rehabilitation robot based on Coupling System of Flexible Structures And Rigid Body |
| CN109718049A (en) * | 2018-12-27 | 2019-05-07 | 天水师范学院 | A kind of disabled person's limbs strength device for healing and training convenient for adjusting |
| CN109806110A (en) * | 2019-02-22 | 2019-05-28 | 广州哈罗博康复机器人生产有限公司 | Arm rehabilitation device and healing robot |
| CN111096869A (en) * | 2020-01-07 | 2020-05-05 | 长春工业大学 | Rigid-flexible coupling rope-driven exoskeleton type upper limb rehabilitation training robot |
| CN111283692A (en) * | 2020-02-24 | 2020-06-16 | 湘潭大学 | Mechanical arm structure of baby service robot |
| CN111283692B (en) * | 2020-02-24 | 2023-02-14 | 湘潭大学 | Mechanical arm structure of baby service robot |
| CN111759662A (en) * | 2020-07-03 | 2020-10-13 | 浙江工业大学 | Arm auxiliary device |
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Application publication date: 20180323 |