CN109009871A - A kind of upper-limbs rehabilitation training robot - Google Patents
A kind of upper-limbs rehabilitation training robot Download PDFInfo
- Publication number
- CN109009871A CN109009871A CN201810935093.5A CN201810935093A CN109009871A CN 109009871 A CN109009871 A CN 109009871A CN 201810935093 A CN201810935093 A CN 201810935093A CN 109009871 A CN109009871 A CN 109009871A
- Authority
- CN
- China
- Prior art keywords
- rehabilitation training
- pedestal
- operating platform
- limbs rehabilitation
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- 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
- A61H2201/01—Constructive details
- A61H2201/0192—Specific means for adjusting dimensions
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
- A61H2201/5043—Displays
Abstract
The invention discloses a kind of upper-limbs rehabilitation training robots, including operating platform (3), it is placed on the robot body (2) that can be moved on the operating platform (3) and on the operating platform (3), the robot body (2) includes pedestal (23) and the exercising apparatus for recovery of upper limb that is installed on the pedestal (23), the bottom of the pedestal (23) is equipped with multiple omni-directional wheels contacted with the operating platform (3), the pedestal (23) is internally provided with multiple motors (25) for driving the universal wheel (26) to move, the robot body (2) further includes the controller being connect with the motor (25) for controlling the motor (25) running, the controller is connect with display (1).The upper-limbs rehabilitation training robot efficiently solves the problems such as general joint training aids is unable to satisfy complicated rehabilitation training requirement.
Description
Technical field
The present invention relates to rehabilitation training equipment technical fields, more particularly to a kind of upper-limbs rehabilitation training robot.
Background technique
Existing upper-limbs rehabilitation training robot product technology realization on require ectoskeleton greatly as mechanical arm and
Bulky support base；Or joint position only fed back with sensor for more easy joint training aids etc., but cannot be according to
Complicated rehabilitation training requirement is realized by technologies such as motor controls.
The shortcomings that conventional ectoskeleton upper limb rehabilitation robot product is: ectoskeleton mechanical arm size is big, training joint number
More multiple-length direction size is bigger.The support base of installation and the fixation of mechanical arm dimensionally in weight all very greatly and very
Weight.The shortcomings that joint training aids of routine is: the driving of joint training is seldom to be driven and carried out position control by motor
It makes to complete, so that general joint training aids is unable to satisfy complicated rehabilitation training requirement.
It is asked in conclusion how to efficiently solve general joint training aids and be unable to satisfy complicated rehabilitation training requirement etc.
Topic, is current those skilled in the art's urgent problem.
Summary of the invention
The object of the present invention is to provide a kind of upper-limbs rehabilitation training robot, which is effectively solved
General joint training aids of having determined is unable to satisfy the problems such as complicated rehabilitation training requirement.
In order to solve the above technical problems, the invention provides the following technical scheme:
A kind of upper-limbs rehabilitation training robot, including operating platform, be placed on the operating platform and can be described
The robot body moved on operating platform, the robot body include pedestal and the upper limb healing that is installed on the pedestal
Training device, the bottom of the pedestal are equipped with multiple omni-directional wheels contacted with the operating platform, and the inside of the pedestal is set
Multiple motors for driving the universal wheel to move are equipped with, the robot body further includes connecting with the motor for controlling
The controller of the motor running is made, the controller is connect with display.
Preferably, a controller controls a motor, and a motor passes through deceleration device driving one
A omni-directional wheel.
It preferably, further include the display being connect with the controller, the display is for showing the controller
Training game content.
Preferably, station location marker two dimensional code is disposed on the operating platform, the bottom of the pedestal is provided with identification institute
State the camera of station location marker two dimensional code.
Preferably, the operating platform is lifting platform.
Preferably, the exercising apparatus for recovery of upper limb includes the fixed device of forearm, wrist joint training device and hand instruction
Practice device, the fixed device of the forearm, the wrist joint training device and the hand exercise device are fixed on a stringer
On, the controllable power being applied on the stringer of patient carries out the calibration of power before training starts.
Upper-limbs rehabilitation training robot provided by the present invention, including operating platform, robot body and controller, machine
Human body places on the operational platform, and can move on the operational platform.Robot body includes pedestal and upper limb healing instruction
Practice device, exercising apparatus for recovery of upper limb is installed on pedestal.The bottom of pedestal is equipped with multiple omni-directional wheels, and omni-directional wheel and operation are flat
Platform contact, can be mobile in operating platform.Pedestal is internally provided with multiple motors, and motor is for driving universal wheel to move.Control
Device processed is connected to motor, and for controlling motor running, controller is connect with display.
Upper-limbs rehabilitation training robot provided by the present invention, to realize the pedestal of upper-limbs rehabilitation training robot in level
The movement of any direction on face, the training for making the upper limb of patient that interaction training game be followed to carry out corresponding joint.The upper limb health
Multiple image training robot can carry out the assessment and training of the actively and passively upper limb of aspect, including shoulder joint, elbow joint, wrist joint
With the assessment and training of articulations digitorum manus.In the passive mode, it is controlled by controller, motor driven omni-directional wheel, drives omni-directional wheel, make to suffer from
The upper limb of person, which follows, interacts the training that training game carries out corresponding joint.Motor control omni-directional wheel allows robot body to exist
It is mobile to any direction in operating platform.In the active mode, it drives omni-directional wheel to carry out game training by patient and then reaches pair
The effect that corresponding joint is trained.
Each joint auxiliary stand is combined the fan to form Portable movable formula by upper-limbs rehabilitation training robot with pedestal
The upper-limbs rehabilitation training robot of your type, with general upper-limbs rehabilitation training robot and wearing with separate machine arm fulcrum bearing
The joint training aids of formula is completely different in shape, and structure is simple, easily controllable, convenient for operation, there is very high identification.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is a kind of structural schematic diagram of upper-limbs rehabilitation training robot provided by specific embodiment in the present invention；
Fig. 2 is the first structure diagram of robot body in Fig. 1；
Fig. 3 is the second structural schematic diagram of robot body；
Fig. 4 is the third structural schematic diagram of robot body；
Fig. 5 is the 4th structural schematic diagram of robot body；
Fig. 6 is the structural schematic diagram of robot body and operating platform.
It is marked in attached drawing as follows:
1- display, 2- robot body, 3- operating platform, 21- wrist joint training device, 22- hand exercise device,
23- pedestal, 24- forearm fixed device, 25- motor, 26- universal wheel, 27- camera, 31- station location marker two dimensional code.
Specific embodiment
Core of the invention is to provide a kind of upper-limbs rehabilitation training robot, which effectively solves
General joint training aids of having determined is unable to satisfy the problems such as complicated rehabilitation training requirement.
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1 to Fig. 6 is please referred to, Fig. 1 is rehabilitation training of upper limbs machine provided by specific embodiment a kind of in the present invention
The structural schematic diagram of people；Fig. 2 is the first structure diagram of robot body in Fig. 1；Fig. 3 is the second structure of robot body
Schematic diagram；Fig. 4 is the third structural schematic diagram of robot body；Fig. 5 is the 4th structural schematic diagram of robot body；Fig. 6 is
The structural schematic diagram of robot body and operating platform.
In a specific embodiment, upper-limbs rehabilitation training robot provided by the present invention, including operating platform 3,
Robot body 2 and controller, robot body 2 are placed on operating platform 3, and can be moved on operating platform 3.Machine
Human body 2 includes pedestal 23 and exercising apparatus for recovery of upper limb, and exercising apparatus for recovery of upper limb is installed on pedestal 23.The bottom of pedestal 23
Portion is equipped with multiple omni-directional wheels, and omni-directional wheel is contacted with operating platform 3, can be mobile in operating platform 3.The inside of pedestal 23 is arranged
There are multiple motors 25, motor 25 is for driving universal wheel 26 to move.Controller is connect with motor 25, is transported for controlling motor 25
Make, controller is connect with display 1.
Upper-limbs rehabilitation training robot provided by the present invention, to realize the pedestal 23 of upper-limbs rehabilitation training robot in water
The movement of any direction in plane, the training for making the upper limb of patient that interaction training game be followed to carry out corresponding joint.The upper limb
Recovery exercising robot can carry out the assessment and training of the actively and passively upper limb of aspect, including shoulder joint, elbow joint, and wrist closes
The assessment and training of section and articulations digitorum manus.In the passive mode, it being controlled by controller, motor 25 drives omni-directional wheel, omni-directional wheel is driven,
The training for making the upper limb of patient that interaction training game be followed to carry out corresponding joint.Motor 25, which controls omni-directional wheel, makes robot body
2 can be mobile to any direction in operating platform 3.In the active mode, by patient drive omni-directional wheel carry out game training into
And achieve the effect that be trained corresponding joint.
Each joint auxiliary stand is combined to form Portable movable formula by upper-limbs rehabilitation training robot with pedestal 23
Mini upper-limbs rehabilitation training robot, and the general upper-limbs rehabilitation training robot with separate machine arm fulcrum bearing and wears
The joint training aids for wearing formula is completely different in shape, and structure is simple, easily controllable, convenient for operation, there is very high identification.
Above-mentioned upper-limbs rehabilitation training robot is only a kind of preferred embodiment, is specifically not limited thereto, and on this basis may be used
It makes having according to actual needs and targetedly adjust, to obtain different embodiments, a controller controls an electricity
Machine 25, a motor 25 drive an omni-directional wheel, one-to-one control, driving, the movement of multiple universal wheels 26 by deceleration device
Independently of each other, it is independent of each other, reduces failure, it is easy to control.
On the basis of above-mentioned specific embodiment, those skilled in the art can be according to the difference of specific occasion, to upper
Limbs rehabilitation training robot carries out several changes, further includes display 1, and display 1 is connect with controller, and display 1 is for showing
Show the training game content of controller, intuitive display interaction training game interface and selection course, observation is convenient, more directly
It sees.Display 1 can be liquid crystal display, relatively clear.
Obviously, under the guidance of this thought, those skilled in the art can be according to the difference of specific occasion to above-mentioned
Specific embodiment carries out several changes, is disposed with station location marker two dimensional code 31 on operating platform 3, the bottom of pedestal 23 is provided with
Camera 27, camera 27 can identify that station location marker two dimensional code 31, camera 27 are connect with controller, controller control camera shooting
31 position of first 27 pairs of station location marker two dimensional codes is read out and identifies, to obtain current location, and controls motor by controller
25 driving omni-directional wheels make robot body 2 be moved to next position from position, and final robot body 2 is controlling
Device control is lower to drive upper limb to complete doctor/therapist's setting oint motion trajectory.Station location marker two dimensional code 31 and camera 27
Realize position control and position feedback that the pedestal 23 of upper-limbs rehabilitation training robot is moved in levels operation platform 3.
It is important to note that upper-limbs rehabilitation training robot provided by the present invention is not intended to be limited to such feelings
Shape, operating platform 3 is lifting platform, height-adjustable, and the height of operating platform 3 can be adjusted according to patient's requirement for height,
It is more convenient.Operating platform 3 is that lifting platform is a kind of preferred embodiment, be not it is unique, can also cannot
Lifting, height is fixed, and structure is simpler, and easy to process, cost is relatively low.
Upper-limbs rehabilitation training robot provided by the present invention, in the immovable situation of other components, upper limb healing instruction
Practicing device includes the fixed device 24 of forearm, wrist joint training device 21 and hand exercise device 22, forearm fixed device 24, wrist
Joint training device 21 and hand exercise device 22 are fixed on a stringer, and patient is controllable before training starts is applied to
Power on stringer carries out the calibration of power.The fixed arm of the fixed device 24 of forearm, can be adjusted according to the length of patient forearm makes
With conveniently.Wrist joint training device 21 can be trained wrist joint, hand exercise device 22 can allow patient carry out thumb and
Remaining four finger is trained.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (6)
1. a kind of upper-limbs rehabilitation training robot, which is characterized in that including operating platform (3), be placed on the operating platform (3)
Robot body (2) that is upper and can moving on the operating platform (3), the robot body (2) includes pedestal (23)
With the exercising apparatus for recovery of upper limb being installed on the pedestal (23), the bottom of the pedestal (23) is equipped with the multiple and behaviour
Make the omni-directional wheel of platform (3) contact, being internally provided with for the pedestal (23) is multiple for driving the universal wheel (26) to move
Motor (25), the robot body (2) further include connect with the motor (25) for control the motor (25) running
Controller, the controller connect with display (1).
2. upper-limbs rehabilitation training robot according to claim 1, which is characterized in that a controller controls one
The motor (25), a motor (25) drive an omni-directional wheel by deceleration device.
3. upper-limbs rehabilitation training robot according to claim 1, which is characterized in that further include being connect with the controller
Display (1), the display (1) is used to show the training game content of the controller.
4. upper-limbs rehabilitation training robot according to claim 1, which is characterized in that arranged on the operating platform (3)
Have station location marker two dimensional code (31), the bottom of the pedestal (23) is provided with the camera shooting for identifying the station location marker two dimensional code (31)
Head (27).
5. upper-limbs rehabilitation training robot according to claim 1, which is characterized in that the operating platform (3) is that can rise
Platform drops.
6. upper-limbs rehabilitation training robot according to claim 1-5, which is characterized in that the upper limb healing instruction
Practicing device includes forearm fixed device (24), wrist joint training device (21) and hand exercise device (22), and the forearm is solid
Determine device (24), the wrist joint training device (21) and the hand exercise device (22) to be fixed on a stringer,
The controllable power being applied on the stringer of patient carries out the calibration of power before training starts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810935093.5A CN109009871A (en) | 2018-08-16 | 2018-08-16 | A kind of upper-limbs rehabilitation training robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810935093.5A CN109009871A (en) | 2018-08-16 | 2018-08-16 | A kind of upper-limbs rehabilitation training robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109009871A true CN109009871A (en) | 2018-12-18 |
Family
ID=64631687
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810935093.5A Pending CN109009871A (en) | 2018-08-16 | 2018-08-16 | A kind of upper-limbs rehabilitation training robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN109009871A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110680678A (en) * | 2019-10-23 | 2020-01-14 | 四川大学 | Hand dysfunction rehabilitation training guides device based on thing networking |
| CN113069324A (en) * | 2021-04-07 | 2021-07-06 | 哈尔滨理工大学 | Upper limb rehabilitation robot for home use |
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| JP2007185325A (en) * | 2006-01-13 | 2007-07-26 | Nagoya Institute Of Technology | Upper limb rehabilitation exercise system |
| CN102088945A (en) * | 2008-05-23 | 2011-06-08 | 法特罗尼克基金会 | Portable device for upper limb rehabilitation |
| CN102989124A (en) * | 2012-12-19 | 2013-03-27 | 上海交通大学 | Portable body movement rehabilitation training device and using method thereof |
| CN104848858A (en) * | 2015-06-01 | 2015-08-19 | 北京极智嘉科技有限公司 | Two-dimensional code and vision-inert combined navigation system and method for robot |
| CN105437251A (en) * | 2016-01-04 | 2016-03-30 | 杭州亚美利嘉科技有限公司 | Method and device for locating position of robot |
| CN209405193U (en) * | 2018-08-16 | 2019-09-20 | 常州市钱璟康复股份有限公司 | A kind of upper-limbs rehabilitation training robot |
-
2018
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007185325A (en) * | 2006-01-13 | 2007-07-26 | Nagoya Institute Of Technology | Upper limb rehabilitation exercise system |
| CN102088945A (en) * | 2008-05-23 | 2011-06-08 | 法特罗尼克基金会 | Portable device for upper limb rehabilitation |
| CN102989124A (en) * | 2012-12-19 | 2013-03-27 | 上海交通大学 | Portable body movement rehabilitation training device and using method thereof |
| CN104848858A (en) * | 2015-06-01 | 2015-08-19 | 北京极智嘉科技有限公司 | Two-dimensional code and vision-inert combined navigation system and method for robot |
| CN105437251A (en) * | 2016-01-04 | 2016-03-30 | 杭州亚美利嘉科技有限公司 | Method and device for locating position of robot |
| CN209405193U (en) * | 2018-08-16 | 2019-09-20 | 常州市钱璟康复股份有限公司 | A kind of upper-limbs rehabilitation training robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110680678A (en) * | 2019-10-23 | 2020-01-14 | 四川大学 | Hand dysfunction rehabilitation training guides device based on thing networking |
| CN113069324A (en) * | 2021-04-07 | 2021-07-06 | 哈尔滨理工大学 | Upper limb rehabilitation robot for home use |
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