CN107928990B - Rehabilitation training robot for upper limbs - Google Patents
Rehabilitation training robot for upper limbs Download PDFInfo
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- CN107928990B CN107928990B CN201711408192.XA CN201711408192A CN107928990B CN 107928990 B CN107928990 B CN 107928990B CN 201711408192 A CN201711408192 A CN 201711408192A CN 107928990 B CN107928990 B CN 107928990B
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- connecting arm
- semicircular ring
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- connecting rod
- rehabilitation training
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- 238000012549 training Methods 0.000 title claims abstract description 27
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims abstract description 37
- 210000000245 forearm Anatomy 0.000 claims abstract description 30
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 230000000694 effects Effects 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 4
- 206010019468 Hemiplegia Diseases 0.000 description 3
- 230000009471 action Effects 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 206010061225 Limb injury Diseases 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 210000005036 nerve Anatomy 0.000 description 2
- 208000012661 Dyskinesia Diseases 0.000 description 1
- 208000028389 Nerve injury Diseases 0.000 description 1
- 208000012902 Nervous system disease Diseases 0.000 description 1
- 235000004443 Ricinus communis Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 210000002310 elbow joint Anatomy 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008764 nerve damage Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 210000000323 shoulder joint Anatomy 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 210000003857 wrist joint Anatomy 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0277—Elbow
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/062—Shoulders
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
Landscapes
- 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 relates to the field of rehabilitation medical equipment, in particular to a rehabilitation training robot for upper limbs. The device comprises a forearm clamping mechanism, a base and a connecting driving mechanism, wherein the connecting driving mechanism is used for connecting the forearm clamping mechanism to the base and controlling the movement of the forearm clamping mechanism; the forearm clamping mechanism comprises a first connecting arm, a friction semicircular ring rotationally arranged at one end of the first connecting arm and a deformation semicircular ring connected to the friction semicircular ring, wherein a sliding groove matched with one end of the first connecting arm to slide is arranged in the middle of the outer edge of the friction semicircular ring, and a friction wheel matched with the outer edge of the friction semicircular ring in a friction mode in a transmission mode is rotationally arranged on the first connecting arm.
Description
Technical Field
The invention relates to the field of rehabilitation medical equipment, in particular to a rehabilitation training robot for upper limbs.
Background
In recent years, the number of hemiplegia of middle-aged and elderly patients caused by cerebrovascular diseases or nervous system diseases is continuously increased, and the trend of younger age is presented; meanwhile, the number of people with nerve injury or limb injury caused by some accidents is increased, especially the loss of the movement function of the upper limbs greatly influences the daily life capacity of patients, and the rehabilitation training is an important and key medical means for patients with hemiplegia and limb injury.
In the rehabilitation training process of the related art, therapists are used to manual rehabilitation exercises, the patients are assisted by the sense of touch to train, and when the robots are used for setting the starting points, the starting points cannot be accurately corresponding to each other often, and mistakes have to be tried out frequently, so that time is wasted. With the progress of modern central nerve rehabilitation mechanism research, researchers at home and abroad develop a great deal of research on the aspect of exercise function rehabilitation based on a robot technology, and the research aim is to develop a robot with rehabilitation therapy and evaluation functions. The rehabilitation robot technology is a new motor nerve rehabilitation treatment technology, and the robot technology is applied to the rehabilitation field, so that not only can effective rehabilitation training be provided, but also the burden of clinical medical staff and the cost of health care are not increased; in addition, the robot can record detailed treatment data and figures, can provide objective and accurate treatment and evaluation parameters, is beneficial to the auxiliary treatment of hemiplegia by the robot, and can effectively improve rehabilitation effect and rehabilitation efficiency.
At present, the domestic and foreign upper limb rehabilitation training robot has a plurality of defects and shortcomings when being used for treating and rehabilitation training of patients with upper limb dyskinesia, and mainly comprises the following components: single or fewer joints supporting movement, especially without integrating forearm rotation into the system and apparatus; the individual adaptability is poor, and the device cannot be adjusted or is inconvenient to adjust according to different patients.
Disclosure of Invention
The invention aims to provide a rehabilitation training robot for upper limbs, which has multiple degrees of freedom, can particularly provide a forearm rotation function and can be adjusted in height for different patients.
In order to solve the technical problems, the invention adopts the following technical scheme: a rehabilitation training robot for upper limbs comprises a forearm clamping mechanism, a base and a connecting driving mechanism for connecting the forearm clamping mechanism to the base and controlling the movement of the forearm clamping mechanism; the forearm clamping mechanism comprises a first connecting arm, a friction semicircular ring rotationally arranged at one end of the first connecting arm and a deformation semicircular ring connected to the friction semicircular ring, wherein a sliding groove matched with one end of the first connecting arm to slide is formed in the middle of the outer edge of the friction semicircular ring, a friction wheel matched with the outer edge of the friction semicircular ring in a transmission manner is rotationally arranged on the first connecting arm, the friction wheel is in transmission connection with an output shaft of a first servo motor arranged on the first connecting arm through a belt, one end of the deformation semicircular ring is fixedly connected with one end of the friction semicircular ring through the first connecting rod, a second connecting rod is fixedly arranged at the other end of the deformation semicircular ring, a third connecting rod is fixedly arranged at the other end of the friction semicircular ring, the first connecting rod, the second connecting rod and the third connecting rod are mutually parallel, a second servo motor is fixedly arranged on the third connecting rod, a lead screw is arranged on the output shaft of the second servo motor, the lead screw is matched and arranged in a nut fixed on the second connecting rod, a fourth connecting rod is fixedly arranged on one side of the deformation semicircular ring opposite to the friction semicircular ring, and a handle is fixedly arranged on the fourth connecting rod; the connecting driving mechanism comprises a second connecting arm, a third connecting arm, a fourth connecting arm, a fifth connecting arm and a rotating shaft, wherein the second connecting arm is vertically and slidingly arranged on the first connecting arm, the third connecting arm is hinged to the second connecting arm, the fourth connecting arm is rotatably arranged on the third connecting arm, the fifth connecting arm is hinged to the fourth connecting arm, the rotating shaft is fixed on the fifth connecting arm, a shaft sleeve matched with the rotating shaft is arranged on the base, a third servo motor for driving the second connecting arm and the third connecting arm to rotate relatively along the vertical direction is arranged at the position of a hinge point between the second connecting arm and the third connecting arm, and a fourth servo motor for driving the fourth connecting arm and the fifth connecting arm to rotate relatively along the horizontal direction is arranged between the fourth connecting arm and the fifth connecting arm.
Preferably, the chute is a clamping groove with an inverted T-shaped cross section, and one end of the first connecting arm is fixedly provided with a sliding block which can be slidably clamped in the clamping groove.
Preferably, a sliding sleeve is fixedly arranged at one end, far away from the friction semicircular ring, of the first connecting arm, the second connecting arm is slidably sleeved in the sliding sleeve, a threaded hole is formed in the sliding sleeve, and a screw used for fixing the sliding sleeve and the second connecting arm is matched and installed in the threaded hole.
Preferably, the fourth connecting arm and the fifth connecting arm are both disposed in the horizontal direction.
Preferably, the rotating shaft and the shaft sleeve are arranged along the vertical direction, and a push-pull mechanism for controlling the lifting of the rotating shaft is arranged in the base.
Preferably, the push-pull mechanism is an air cylinder.
Preferably, a plurality of casters are arranged at intervals at the bottom of the base.
Preferably, the deformed semicircular ring is made of rubber materials.
Advantageous effects
The humanoid upper limb design of the rehabilitation training robot for the upper limb realizes perfect matching of human and machine, improves the comfort during rehabilitation training, comprises a plurality of connecting arms, and accordingly forms a plurality of degrees of freedom among the connecting arms, realizes the joint movement of the shoulder joint, the elbow joint, the wrist joint and the like of the upper limb of a human body, is integrated on the upper limb rehabilitation training robot, and particularly can fix the forearm of a patient through the forearm clamping mechanism and realize the rotation movement of the forearm of the patient, thereby improving the effectiveness of rehabilitation training.
According to the invention, the position distance between two joints of the upper limb rehabilitation training robot can be conveniently adjusted by adjusting the relative positions between the first connecting arm and the second connecting arm according to the sizes of the upper limbs of different patients, so that the adaptability of the rehabilitation training robot to individuals of different patients is enhanced.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is an enlarged schematic view of a portion A of FIG. 1;
FIG. 3 is an enlarged partial schematic view of a portion of the forearm clamp mechanism according to the invention from one perspective;
FIG. 4 is an enlarged partial schematic view of another view of a portion of the money item holding mechanism of the present invention;
the marks in the figure: 1. the three-dimensional wheel comprises a castor, 2, a base, 3, a shaft sleeve, 4, a rotating shaft, 5, a fifth connecting arm, 6, a fourth servo motor, 7, a fourth connecting arm, 8, a third connecting arm, 9, a third servo motor, 10, a second connecting arm, 11, a first servo motor, 12, a second servo motor, 13, a handle, 14, a fourth connecting rod, 15, a deformed semicircular ring, 16, a friction semicircular ring, 17, a first connecting arm, 18, a sliding sleeve, 19, a second connecting rod, 20, a nut, 21, a first connecting rod, 22, a friction wheel, 23, a belt, 24, a screw, 25, a sliding block, 26, a sliding groove, 27 and a third connecting rod.
Detailed Description
As shown in fig. 1 to 4, a rehabilitation training robot for an upper limb of the present invention includes a forearm clamping mechanism, a base 2, and a connection driving mechanism for connecting the forearm clamping mechanism to the base 2 and controlling movement of the forearm clamping mechanism. The forearm clamping mechanism clamps and fixes the forearm of the patient, and the upper limb of the patient is driven to perform rehabilitation training such as rotation, contraction, extension and the like with multiple degrees of freedom through the cooperation of the connecting driving mechanism and the forearm clamping mechanism. A plurality of gallons 1 are spaced at the bottom of the base 2 to facilitate the mobile transportation of the present invention.
The forearm fixture includes first linking arm 17, rotates the friction semicircle ring 16 that sets up in first linking arm 17 one end and connect the deformation semicircle ring 15 on friction semicircle ring 16, is equipped with along the middle part of friction semicircle ring 16 outer fringe with the gliding spout 26 of one end cooperation of first linking arm 17, spout 26 is the draw-in groove that the transversal cross-section personally submits the T shape, is equipped with the slider 25 that can freely slide in the draw-in groove and can not deviate from in the draw-in groove at first linking arm 17's corresponding tip. So that the friction semicircular ring 16 can be rotated perpendicularly to the rotation center line of the first connecting arm 17.
The driving force of the friction semicircular ring 16 comes from a friction wheel 22 rotatably arranged on the first connecting arm 17, the outer edge of the friction wheel 22 is in transmission fit with the outer edge of the friction semicircular ring 16 in a friction mode, the friction wheel 22 is in transmission connection with an output shaft of the first servo motor 11 arranged on the first connecting arm 17 through a belt 23, the rotation of the output shaft of the first servo motor 11 drives the friction wheel 22 to rotate through the belt 23, and then the friction wheel 22 drives the friction semicircular ring 16 to rotate.
The deformation semicircular ring 15 is made of rubber materials and is arranged parallel to the friction semicircular ring 16, and the deformation semicircular ring 15 is used for clamping and fixing the forearm of a patient. One end of the deformed semicircular ring 15 is fixedly connected with one end of the friction semicircular ring 16 through a first connecting rod 21, a second connecting rod 19 is fixedly arranged at the other end of the deformed semicircular ring 15, a third connecting rod 27 is fixedly arranged at the other end of the friction semicircular ring 16, the first connecting rod 21, the second connecting rod 19 and the third connecting rod 27 are arranged in parallel, and one end, far away from the deformed semicircular ring 15, of the second connecting rod 19 is partially overlapped with one end, far away from the friction semicircular ring 16, of the third connecting rod 27. The third connecting rod 27 is fixedly provided with a second servo motor 12, the output shaft of the second servo motor 12 is provided with a lead screw, and the lead screw is matched and installed in a nut 20 fixed on the second connecting rod 19. The deformation semicircular ring 15 is driven to deform by forward and reverse rotation of the second servo motor 12, and the second connecting rod 19 moves towards or back to the third connecting rod 27, so that the forearm clamping effect is achieved. A fourth connecting rod 14 is fixedly arranged on one side of the deformed semicircular ring 15, which is opposite to the friction semicircular ring 16, and a handle 13 is fixedly arranged on the fourth connecting rod 14 for the hand of a patient to hold, so that the forearm is driven by the first servo motor 11 to rotate, and the effect of forearm rehabilitation is achieved.
The connecting driving mechanism comprises a second connecting arm 10 vertically and slidingly arranged on a first connecting arm 17, a third connecting arm 8 hinged on the second connecting arm 10, a fourth connecting arm 7 rotatably arranged on the third connecting arm 8, a fifth connecting arm 5 hinged on the fourth connecting arm 7 and a rotating shaft 4 fixed on the fifth connecting arm 5, a shaft sleeve 3 matched with the rotating shaft 4 is arranged on the base 2, a third servo motor 9 for driving the second connecting arm 10 and the third connecting arm 8 to rotate relatively along the vertical direction is arranged at the hinge point position between the second connecting arm 10 and the third connecting arm 8, and a fourth servo motor 6 for driving the fourth connecting arm 7 and the fifth connecting arm 5 to rotate relatively along the horizontal direction is arranged between the fourth connecting arm 7 and the fifth connecting arm 5.
The end of the first connecting arm 17 far away from the friction semicircular ring 16 in this embodiment is fixedly provided with a sliding sleeve 18, the second connecting arm 10 is slidably sleeved in the sliding sleeve 18, a threaded hole is formed in the sliding sleeve 18, a screw 24 for fixing the sliding sleeve 18 and the second connecting arm 10 is mounted in the threaded hole in a matched manner, and rehabilitation treatment of patients with different arm lengths can be adapted through sliding adjustment of the sliding sleeve 18 on the second connecting arm 10. The fourth connecting arm 7 and the fifth connecting arm 5 are each disposed in the horizontal direction.
In order to further improve the adaptability of the invention to different patients, the rotating shaft 4 and the shaft sleeve 3 in the embodiment are arranged along the vertical direction, a push-pull mechanism for controlling the lifting of the rotating shaft 4 is arranged in the base 2, and the push-pull mechanism can be a mechanism such as an air cylinder, an oil cylinder or an electric push rod and can be freely adjusted according to the height of the patient.
It is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A rehabilitation training robot for upper limbs, its characterized in that: the device comprises a forearm clamping mechanism, a base (2) and a connecting driving mechanism, wherein the connecting driving mechanism is used for connecting the forearm clamping mechanism to the base (2) and controlling the movement of the forearm clamping mechanism;
the forearm fixture comprises a first connecting arm (17), a friction semicircular ring (16) rotationally arranged at one end of the first connecting arm (17) and a deformation semicircular ring (15) connected to the friction semicircular ring (16), a sliding chute (26) matched with one end of the first connecting arm (17) and sliding is arranged in the middle of the outer edge of the friction semicircular ring (16), a friction wheel (22) in transmission fit with the outer edge of the friction semicircular ring (16) in a friction mode is rotationally arranged on the first connecting arm (17), the friction wheel (22) is in transmission connection with an output shaft of a first servo motor (11) arranged on the first connecting arm (17) through a belt (23), one end of the deformation semicircular ring (15) is fixedly connected with one end of the friction semicircular ring (16) through the first connecting rod (21), a second connecting rod (19) is fixedly arranged at the other end of the deformation semicircular ring (15), a third connecting rod (27) is fixedly arranged at the other end of the friction semicircular ring (16), the first connecting rod (21), the second connecting rod (19) and the third connecting rod (27) are in transmission fit with the outer edge of the friction semicircular ring (16), the second connecting rod (19) is far away from the third connecting rod (27) and is fixedly arranged at the other end of the second semicircular ring (16), the output shaft of the second servo motor (12) is provided with a screw rod which is matched and installed in a nut (20) fixed on the second connecting rod (19), the deformation semicircular ring (15) is driven to deform through forward and reverse rotation of the second servo motor (12), and the second connecting rod (19) moves towards or back to the third connecting rod (27) so as to achieve the effect of clamping the forearm; a fourth connecting rod (14) is fixedly arranged on one side of the deformed semicircular ring (15) opposite to the friction semicircular ring (16), and a handle (13) is fixedly arranged on the fourth connecting rod (14);
the connecting driving mechanism comprises a second connecting arm (10) which is vertically and slidingly arranged on a first connecting arm (17), a third connecting arm (8) which is hinged to the second connecting arm (10), a fourth connecting arm (7) which is rotatably arranged on the third connecting arm (8), a fifth connecting arm (5) which is hinged to the fourth connecting arm (7) and a rotating shaft (4) which is fixed on the fifth connecting arm (5), wherein a shaft sleeve (3) which is matched with the rotating shaft (4) is arranged on the base (2), a third servo motor (9) which is used for driving the second connecting arm (10) and the third connecting arm (8) to relatively rotate along the vertical direction is arranged at the hinge point position between the second connecting arm (10) and the third connecting arm (8), and a fourth servo motor (6) which is used for driving the fourth connecting arm (7) and the fifth connecting arm (5) to relatively rotate along the horizontal direction is arranged between the fourth connecting arm (7) and the fifth connecting arm (5).
2. A rehabilitation training robot for an upper limb according to claim 1, wherein: the sliding groove (26) is a clamping groove with an inverted T-shaped cross section, and one end of the first connecting arm (17) is fixedly provided with a sliding block (25) which can be slidably clamped in the clamping groove.
3. A rehabilitation training robot for an upper limb according to claim 1, wherein: one end of the first connecting arm (17) far away from the friction semicircular ring (16) is fixedly provided with a sliding sleeve (18), the second connecting arm (10) is arranged in the sliding sleeve (18) in a sliding mode, a threaded hole is formed in the sliding sleeve (18), and a screw (24) used for fixing the sliding sleeve (18) and the second connecting arm (10) is matched and installed in the threaded hole.
4. A rehabilitation training robot for an upper limb according to claim 1, wherein: the fourth connecting arm (7) and the fifth connecting arm (5) are arranged along the horizontal direction.
5. A rehabilitation training robot for an upper limb according to claim 1, wherein: the rotating shaft (4) and the shaft sleeve (3) are arranged in the vertical direction, and a push-pull mechanism for controlling the lifting of the rotating shaft (4) is arranged in the base (2).
6. A rehabilitation training robot for an upper limb according to claim 5, wherein: the push-pull mechanism is an air cylinder.
7. A rehabilitation training robot for an upper limb according to claim 1, wherein: a plurality of casters (1) are arranged at intervals at the bottom of the base (2).
8. A rehabilitation training robot for an upper limb according to claim 1, wherein: the deformed semicircular ring (15) is made of rubber materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711408192.XA CN107928990B (en) | 2017-12-22 | 2017-12-22 | Rehabilitation training robot for upper limbs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711408192.XA CN107928990B (en) | 2017-12-22 | 2017-12-22 | Rehabilitation training robot for upper limbs |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107928990A CN107928990A (en) | 2018-04-20 |
| CN107928990B true CN107928990B (en) | 2024-01-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711408192.XA Active CN107928990B (en) | 2017-12-22 | 2017-12-22 | Rehabilitation training robot for upper limbs |
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| Country | Link |
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| CN (1) | CN107928990B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DK201800200A1 (en) * | 2018-05-07 | 2019-12-09 | Life Science Robotics Aps | Robot for use in rehabilitation of extremities |
| CN109620638A (en) * | 2018-12-17 | 2019-04-16 | 贵州大学 | A kind of height-adjustable device for healing and training elbow joint |
| CN109620640A (en) * | 2018-12-17 | 2019-04-16 | 贵州大学 | A kind of adjustable device for healing and training elbow joint of forearm |
| CN109692103B (en) * | 2018-12-25 | 2021-04-16 | 河海大学常州校区 | Human upper limb rehabilitation robot |
| CN110013422B (en) * | 2019-05-23 | 2021-05-11 | 河南医学高等专科学校 | Department of traditional chinese medicine uses rehabilitation training device |
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