CN108186289A - A kind of variable freedom upper-limb recovery training device - Google Patents
A kind of variable freedom upper-limb recovery training device Download PDFInfo
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- CN108186289A CN108186289A CN201810129563.9A CN201810129563A CN108186289A CN 108186289 A CN108186289 A CN 108186289A CN 201810129563 A CN201810129563 A CN 201810129563A CN 108186289 A CN108186289 A CN 108186289A
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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
- A61H1/0218—Drawing-out devices
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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
- 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
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
- A61H2201/1215—Rotary 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
- A61H2203/00—Additional characteristics concerning the patient
- A61H2203/04—Position of the patient
- A61H2203/0406—Standing on the feet
-
- 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 present invention relates to a kind of variable freedom upper-limb recovery training devices, with main body rack, rotating platform, arm fixed station and draft gear, one side of rotating platform is turnably connect by self-locking connecting rod rack with main body rack, arm fixed station is installed on rotating platform, and draft gear is lifted on the top of rotating platform；The rotating platform includes link block, and the long axis direction of link block is X-axis, and short-axis direction is Y-axis, and long axis direction installs arm fixed station by X-axis transmission mechanism, and X-axis transmission mechanism is movably installed vertically in Y-axis transmission mechanism.The present invention is provided with self-locking connecting rod rack on the basis of existing tail end traction type upper limb healing Medical Devices, so that platform can rotate, increases the degree of freedom in the more direction of upper limb, realizes the training of variable freedom multiple degrees of freedom, and do not influence the terseness of mechanism；There is provided hanging rings, using the ancillary equipment as control upper extremity exercise range, and can adjust height according to the height of patient.
Description
Technical field
The present invention relates to a kind of recovery training appliance for recovery, specially a kind of variable freedom upper-limb recovery training device.
Background technology
Existing upper limb healing Medical Devices generally can be divided into two major class in function realization.One kind is dressed for ectoskeleton
Formula, such system is generally using wearable mechanical structure, the Multi-contact between suffering limb, due to needing to be in close contact with suffering limb,
Therefore it is too high to security of system requirement, it is not easy to realize, and its Design of Mechanical Structure and control strategy are all more complicated, it is inconvenient
Family is also not easy in production and hospital uses, because its joint drive is excessive, mechanical structure dead weight is bigger, and inertia is larger,
Speed cannot be changed at any time according to required.Another kind of is tail end traction type, i.e., the end haulage gear of upper limb healing equipment is with suffering from
Person's arm part is connected, and is moved by end haulage gear and suffering limb is driven to carry out rehabilitation training.Existing tail end traction type
Equipment shortcoming has：Only there are one levelling benches, so upper limb can only carry out the movement in a plane, the upper limb that can be trained is certainly
It is few by spending；In addition to platform, upper extremity exercise range is controlled without other ancillary equipments, if traction excessively easily makes patient's upper limb
Into secondary injury, meanwhile, if only ensureing safety with scram button, frequent emergency stop also influences the service life of equipment.
Invention content
For tail end traction type recovery training appliance for recovery of the prior art training degree of freedom deficiency, traction excessively easily to patient
The deficiencies of upper limb causes secondary injury, frequent emergency stop to influence the service life of equipment, the problem to be solved in the present invention is to provide
A kind of degree of freedom that can strengthen in the more direction of upper limb, change safe and reliable, that the training of variable freedom multiple degrees of freedom can be achieved
Degree of freedom upper-limb recovery training device.
In order to solve the above technical problems, the technical solution adopted by the present invention is：
A kind of variable freedom upper-limb recovery training device of the present invention, have main body rack, rotating platform, arm fixed station and
Draft gear, wherein, one side of rotating platform is turnably connect by self-locking connecting rod rack with main body rack, and arm is solid
Determine platform to be installed on rotating platform, draft gear is lifted on the top of rotating platform.
The rotating platform includes link block, and the long axis direction of link block is X-axis, and short-axis direction is Y-axis, and long axis direction leads to
X-axis transmission mechanism installation arm fixed station is crossed, X-axis transmission mechanism is movably installed vertically in Y-axis transmission mechanism.
The X-axis transmission mechanism includes the first motor, X-axis first gear, X-axis second gear, X-axis synchronous belt and X-axis
To surround strip cyclic structure, strip cyclic structure middle section is consolidated across arm for first and second feed rod, wherein X-axis synchronous belt
Determine platform, and with the tooth engagement inside arm fixed station, strip cyclic structure both ends are nibbled with X-axis first gear, X-axis second gear
It closes, X-axis first gear is driven by the first motor；First and second feed rod of X-axis is parallelly mounted to X-axis synchronous belt both sides, arm fixed station
It is slidably connected by sliding block and first and second feed rod of X-axis.
X-axis transmission mechanism also has link block, and below the X-axis synchronous belt, link block has through-hole, have in through-hole with
The axially vertical rack of X-axis synchronous belt, the rack are engaged with the Y-axis synchronous belt in Y-axis transmission mechanism.
Y-axis transmission mechanism has frame, the second motor, and Y-axis synchronous belt is equipped in frame, and Y-axis synchronous belt is passed across X-axis
The link block of motivation structure is simultaneously engaged with；Y-axis synchronous belt both sides are parallel respectively to be equipped with first and second feed rod of Y-axis.
The X-axis transmission mechanism includes first and second feed rod of the first motor, X-axis leading screw and X-axis, and wherein X-axis leading screw passes through
Screw and the sliding block being connect with screw are connected with arm fixed station, and the output shaft of the first motor is axially connect with X-axis leading screw one end,
The other end axis of X-axis leading screw, which is forwarded to move, to be installed on first end fixed block, and the end that X-axis leading screw installs the first motor is equipped with
The second end fixed block, first end fixed block lower part, which is equipped with, can pass through the through-hole of the first feed rod of Y-axis of Y-axis transmission mechanism；X-axis
First and second feed rod is installed between first and second end fixed block；It is equipped between first and second end fixed block, below X-axis leading screw
Connecting rod, connecting rod are fixedly connected with Y-axis screw.
Y-axis transmission mechanism has frame, is equipped with Y-axis leading screw in frame, Y-axis leading screw is engaged with Y-axis screw；Y-axis leading screw
Parallel installation first and second feed rod of Y-axis of both sides difference.
The draft gear includes third motor, first pulley, second pulley, wheel shaft, cross bar, strut and rope, wherein
Strut is set directly vertically, and first pulley is installed on strut upper end, and cross bar is horizontally installed in strut top, crossbar end installation second
Pulley, wheel shaft are installed on strut feet locations, and wheel shaft is fixedly connected with third motor output shaft, and rope one ends wound is outside wheel shaft
In week, the other end is sagging after first and second pulley, and connects hanging ring.
Cross bar is telescopic rod.
The main body rack uses U-shaped space framework, and including two U-shaped plane frameworks, two U-shaped plane frameworks are relatively flat
Row setting, two U-shaped plane framework homonymy stiles are connected by riser, and opposite side stile is horizontal-extending, horizontal continuation peace
Fill the frame of Y-axis transmission mechanism.
The invention has the advantages that and advantage：
1. the present invention is provided with self-locking connecting rod rack on the basis of existing tail end traction type upper limb healing Medical Devices,
So that platform can rotate, increase the degree of freedom in the more direction of upper limb, realize the training of variable freedom multiple degrees of freedom, and not shadow
Ring the terseness of mechanism；There is provided hanging ring, using the ancillary equipment as control upper extremity exercise range, and can be according to the body of patient
Top adjustment height, comfort are good.
2. motion range can cover the scope of activities of upper limb in the present invention, and the Patent design it is simple, it is easily controllable, can
It is relatively high and easy to install and use by property and repeatability.
Description of the drawings
Fig. 1 is overall structure diagram of the present invention；
Fig. 2 rotates to overall structure diagram during horizontal direction for the rotating platform in the present invention；
Fig. 3 is the Y-axis transmission mechanism structure diagram in the present invention；
Fig. 4 is the X-axis transmission mechanism structure diagram in the present invention；
Fig. 5 is the self-locking connecting rod rack structure diagram in the present invention；
Fig. 6 is hanging ring and its support construction schematic diagram in the present invention；
Fig. 7 is the X-axis transmission mechanism another kind structure diagram in the present invention.
Wherein, 1A is X-axis first gear, and 1B is X-axis second gear, and 2 first be motor, and 3 be X-axis synchronous belt, and 4 be connection
Block, 5 be arm fixed station, and 6A is the first feed rod of X-axis, and 6B is the second feed rod of X-axis, and 7 be rotating platform, and 8 be self-locking connecting rod rack,
9 be main body support frame, and 10 be rope, and 11 be strut, and 12 be hanging ring, and 13 be second pulley, and 14 be first pulley, and 15 be cross bar, and 16 are
Wheel shaft, 17 be the second motor, and 18 be Y-axis synchronous belt, and 19A is the first feed rod of Y-axis, and 19B is the second feed rod of Y-axis, and 20A is Y-axis the
One gear, 20B are Y-axis second gear, and 21 be X-axis leading screw, and 22 be the second motor.23A is first end fixed block, 23B the
Two end fixed blocks, 24 be connecting rod.
Specific embodiment
The present invention is further elaborated with reference to the accompanying drawings of the specification.
Embodiment 1
As shown in Fig. 1~2, variable freedom upper-limb recovery training device of the present invention has main body rack 9, rotating platform 7, hand
Arm fixed station 5 and draft gear, wherein, one side of rotating platform 7 passes through self-locking connecting rod rack 8 (as shown in Figure 5) and main body
Stent 9 is turnably connected, and arm fixed station 5 is installed on rotating platform 7, and draft gear is lifted on rotating platform 7
Top.
As shown in Fig. 2, rotating platform 7 includes fixed frame 4, the short-axis direction of fixed frame 4 is X-axis, and long axis direction is Y-axis,
Short-axis direction installs arm fixed station 5 by X-axis transmission mechanism, and X-axis transmission mechanism is movably installed vertically on Y-axis biography
On motivation structure.
As shown in figure 4, the X-axis transmission mechanism includes the first motor 2, X-axis first gear 1A, X-axis second gear 1B, X
Axis synchronous belt 3 and X-axis first and second feed rod 6A, 6B, wherein X-axis synchronous belt 3 are the strip cyclic structure being encircled into, strip ring
Shape structure middle section pass through arm fixed station 5, and in 5 hole of arm fixed station in tooth engagement, strip cyclic structure both ends
It is engaged with X-axis first gear 1A, X-axis second gear 1B, X-axis first gear 1A drives 2 by the first motor；First and second feed rod of X-axis
6A, 6B are parallelly mounted to 3 both sides of X-axis synchronous belt, and arm fixed station 5 is slided by sliding block and X-axis first and second feed rod 6A, 6B to be connected
It connects.
X-axis transmission mechanism also has link block 4, and set on 3 lower section of X-axis synchronous belt, link block 4 has through-hole, has in through-hole
There is the rack axially vertical with X-axis synchronous belt, which engages with the Y-axis synchronous belt 18 in Y-axis transmission mechanism.
As shown in figure 3, Y-axis transmission mechanism has frame, the second motor 22, Y-axis synchronous belt 18, Y-axis are installed in frame
Synchronous belt passes through the link block 4 of X-axis transmission mechanism and is engaged with；18 side of Y-axis synchronous belt respectively it is parallel be equipped with Y-axis first,
Two feed rod 19A, 19B.
As shown in fig. 6, draft gear include third motor 17, first pulley 14, second pulley 13, wheel shaft 16, cross bar 15,
Strut 11 and rope 10, wherein strut 11 is vertically arranged, and first pulley 14 is installed on 11 upper end of strut, and cross bar 15 is transversely mounted
In 11 top of strut, 15 end of cross bar installation second pulley 13, wheel shaft 16 is installed on 11 feet locations of strut, wheel shaft 16 and third
17 output shaft of motor is fixedly connected, and 10 one ends wounds of rope are in 16 periphery of wheel shaft, under the other end is after first and second pulley 14,13
It hangs down, and connects hanging ring 12.
In the present embodiment, cross bar 15 is telescopic rod.
For another example shown in Fig. 1~2, main body rack 9 uses U-shaped space framework, and including two U-shaped plane frameworks, two U-shaped flat
Surface frame frame is opposite to be arranged in parallel, and two U-shaped plane framework homonymy stiles are connected by riser, and opposite side stile is horizontal-extending, water
The frame of flat extension installation Y-axis transmission mechanism.
Variable freedom upper-limb recovery training device of the present invention is a variable freedom stereo-motion platform, including horizontal movement position and
Move vertically two kinds of position forms of motion.Main body rack 9 is connected into U-shaped vertical using U-shaped space framework using two U-shaped plane frameworks
Body frame plays whole device support fixed function, and rotating platform 7 and two stiles of U-shaped space framework homonymy are hinged, XY two
A direction degree of freedom device is fixedly connected in a manner of being superimposed, and provides power by two motors.It is the first motor 2 that X is electric to driving
X-axis first gear 1A, X-axis first gear 1A is driven to drive X-axis synchronous belt 3, allow arm fixed frame 5 in first and second feed rod of X-axis
For 6A, 6B upper edge X to movement, i.e. the second motor 22 of Y-direction driving motor drives Y-axis synchronous belt 18, allows arm fixed station 5 along Y-axis the
First, two feed rod 19A, 19B are moved in Y-direction, are rotated by manual overturning rotating platform 7 at 0 °~90 °, self-locking connecting rod rack 8 can
Rotating platform 7 is fixed on upright position, it is achieved thereby that variable freedom stereo-motion.
In use, patient sits on the seat, wrist is put into hanging ring 12, third motor 17 drives wheel shaft 16 to rotate, and restricts
10 are wrapped on wheel shaft 16, wheel shaft 16 rotates the length outside of tricing line 10, the height of hanging ring 12 are controlled to move back and forth with this
With the desired height for slinging patient's arm.First and second 14,13 pairs of pulley rope 10 plays gearing.15 useful telescopic rod of cross bar,
Controllable patient and the lateral distance of hanging ring 12.
To improve the comfort level of patient, the present embodiment liner sponge on arm fixed station 5, outside is tied up by multiple flexibilities
Forearm is connect by band with arm fixed station 5, plays certain cushioning effect.
The present invention is that self-locking connecting rod rack is provided on the basis of existing tail end traction type upper limb healing Medical Devices,
So that platform can rotate, increase the degree of freedom in the more direction of upper limb, realize the training of variable freedom multiple degrees of freedom, and not shadow
Ring the terseness of mechanism；Ancillary equipment of the hanging ring as control upper extremity exercise range, and can be adjusted according to the height of patient high
Degree.
The present invention since platform can rotate, can variable freedom, so upper limb can carry out the movement in two planes,
Trained upper limb degree of freedom increases, and improves training effect；There is hanging ring auxiliary control upper extremity exercise range, enhance the peace of equipment
Quan Xing.Equipment moving range can cover the scope of activities of upper limb substantially, and the Patent design is simple, easily controllable, reliability
It is relatively high with repeatability and easy to install and use.
Embodiment 2
The difference lies in the present invention, X-axis transmission mechanism can also be another alternative knot with embodiment 1
Structure, as shown in fig. 7, X-axis transmission mechanism includes the first motor 2, X-axis leading screw 21 and X-axis first and second feed rod 6A, 6B, wherein X
Axial filament thick stick 21 is connected by screw and the sliding block being connect with screw with arm fixed station 5, output shaft and the X-axis silk of the first motor 2
21 one end of thick stick axially connects, and the other end axis of X-axis leading screw 21, which is forwarded to move, to be installed on first end fixed block 23A, X-axis leading screw
The end of 21 the first motors 2 of installation is equipped with the second end fixed block 23B, and first end fixed block 23A lower parts, which are equipped with, can pass through Y-axis
The through-hole of the first feed rod of Y-axis 19A of transmission mechanism；X-axis first and second feed rod 6A, 6B be installed on first and second end fixed block 23A,
Between 23B；Between first and second end fixed block 23A, 23B, connecting rod 24, connecting rod 24 and Y-axis are equipped with below X-axis leading screw 21
Screw is fixedly connected.
In this scheme, Y-axis transmission mechanism also using screw structure, has frame, Y-axis leading screw, Y-axis silk is equipped in frame
Thick stick is engaged with Y-axis screw；The parallel installation Y-axis of Y-axis leading screw both sides difference first and second feed rod 19A, 19B.
The control principle of the present embodiment is same as Example 1, tooth 1 only is changed to feed screw apparatus with synchronous 3, arm is fixed
Platform 5 is fixed on leading screw, and motor drives leading screw rotation, so as to move arm fixed station, drives patient's upper extremity exercise.This scheme
It still can reach the effect of variable freedom rehabilitation training.
In the present embodiment, it can be that X-axis transmission mechanism or Y-axis transmission mechanism are individually replaced, can also replace, all may be used simultaneously
To reach arm fixed station stable movement, speed will not change too fast purpose.
Claims (10)
1. a kind of variable freedom upper-limb recovery training device, it is characterised in that：With main body rack, rotating platform, arm fixed station
And draft gear, wherein, one side of rotating platform is turnably connect by self-locking connecting rod rack with main body rack, hand
Arm fixed station is installed on rotating platform, and draft gear is lifted on the top of rotating platform.
2. variable freedom upper-limb recovery training device according to claim 1, it is characterised in that：The rotating platform includes connecting
Block is connect, the long axis direction of link block is X-axis, and short-axis direction is Y-axis, and long axis direction is installed arm by X-axis transmission mechanism and fixed
Platform, X-axis transmission mechanism are movably installed vertically in Y-axis transmission mechanism.
3. variable freedom upper-limb recovery training device according to claim 2, it is characterised in that：The X-axis transmission mechanism packet
Include the first motor, X-axis first gear, wherein first and second feed rod of X-axis second gear, X-axis synchronous belt and X-axis, X-axis synchronous belt
To surround strip cyclic structure, strip cyclic structure middle section passes through arm fixed station, and with inside arm fixed station
Tooth engagement, strip cyclic structure both ends are engaged with X-axis first gear, X-axis second gear, and X-axis first gear is driven by the first motor
It is dynamic；First and second feed rod of X-axis is parallelly mounted to X-axis synchronous belt both sides, and arm fixed station is slided by sliding block and first and second feed rod of X-axis
Dynamic connection.
4. variable freedom upper-limb recovery training device according to claim 3, it is characterised in that：X-axis transmission mechanism also has
Link block, below X-axis synchronous belt, link block has through-hole, has the rack axially vertical with X-axis synchronous belt in through-hole,
The rack is engaged with the Y-axis synchronous belt in Y-axis transmission mechanism.
5. variable freedom upper-limb recovery training device according to claim 2, it is characterised in that：Y-axis transmission mechanism has frame
Frame, the second motor, Y-axis synchronous belt is equipped in frame, and Y-axis synchronous belt passes through the link block of X-axis transmission mechanism and is engaged with；
Y-axis synchronous belt both sides are parallel respectively to be equipped with first and second feed rod of Y-axis.
6. variable freedom upper-limb recovery training device according to claim 2, it is characterised in that：The X-axis transmission mechanism packet
Include first and second feed rod of the first motor, X-axis leading screw and X-axis, wherein X-axis leading screw by screw and the sliding block being connect with screw with
Arm fixed station is connected, and the output shaft of the first motor is axially connect with X-axis leading screw one end, and the other end axis of X-axis leading screw is forwarded
Dynamic to be installed on first end fixed block, the end that X-axis leading screw installs the first motor is equipped with the second end fixed block, first end
Fixed block lower part, which is equipped with, can pass through the through-hole of the first feed rod of Y-axis of Y-axis transmission mechanism；First and second feed rod of X-axis is installed on first,
Between two end fixed blocks；Between first and second end fixed block, connecting rod, connecting rod and Y-axis screw are equipped with below X-axis leading screw
It is fixedly connected.
7. variable freedom upper-limb recovery training device according to claim 6, it is characterised in that：Y-axis transmission mechanism has frame
Frame is equipped with Y-axis leading screw in frame, and Y-axis leading screw is engaged with Y-axis screw；The parallel installation Y-axis first and second of Y-axis leading screw both sides difference
Feed rod.
8. variable freedom upper-limb recovery training device according to claim 1, it is characterised in that：The draft gear includes the
Three motors, first pulley, second pulley, wheel shaft, cross bar, strut and rope, wherein strut are set directly vertically, and first pulley is installed on
Strut upper end, cross bar are horizontally installed in strut top, crossbar end installation second pulley, and wheel shaft is installed on strut footing position
It puts, wheel shaft is fixedly connected with third motor output shaft, and rope one ends wound is in wheel shaft periphery, and the other end is after first and second pulley
It is sagging, and connect hanging ring.
9. variable freedom upper-limb recovery training device according to claim 8, it is characterised in that：Cross bar is telescopic rod.
10. the variable freedom upper-limb recovery training device stated according to claim 1, it is characterised in that：The main body rack is using U-shaped
Space framework, including two U-shaped plane frameworks, two U-shaped plane frameworks are opposite to be arranged in parallel, two U-shaped plane framework homonymies
Stile is connected by riser, and opposite side stile is horizontal-extending, and horizontal continuation installs the frame of Y-axis transmission mechanism.
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| CN201810129563.9A CN108186289A (en) | 2018-02-08 | 2018-02-08 | A kind of variable freedom upper-limb recovery training device |
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| CN201810129563.9A CN108186289A (en) | 2018-02-08 | 2018-02-08 | A kind of variable freedom upper-limb recovery training device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108814905A (en) * | 2018-07-16 | 2018-11-16 | 东北大学 | A kind of upper limb healing platform |
| CN110251364A (en) * | 2019-06-11 | 2019-09-20 | 山东建筑大学 | A kind of upper-limbs rehabilitation training robot |
| CN110292742A (en) * | 2019-06-28 | 2019-10-01 | 张凤枝 | A kind of medical paediatrics protection training rehabilitation device |
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