CN109568085A - A kind of safety-type manipulator of rehabilitation training of upper limbs robot - Google Patents
A kind of safety-type manipulator of rehabilitation training of upper limbs robot Download PDFInfo
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- CN109568085A CN109568085A CN201811614212.3A CN201811614212A CN109568085A CN 109568085 A CN109568085 A CN 109568085A CN 201811614212 A CN201811614212 A CN 201811614212A CN 109568085 A CN109568085 A CN 109568085A
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- 238000012549 training Methods 0.000 title claims abstract description 44
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 15
- 238000013519 translation Methods 0.000 claims abstract description 25
- 229920000742 Cotton Polymers 0.000 claims abstract description 18
- 239000000463 material Substances 0.000 claims abstract description 13
- 238000010276 construction Methods 0.000 claims description 5
- 210000001145 finger joint Anatomy 0.000 claims description 3
- 239000011148 porous material Substances 0.000 claims description 3
- 239000013013 elastic material Substances 0.000 claims description 2
- 238000013461 design Methods 0.000 abstract description 5
- 230000001225 therapeutic effect Effects 0.000 abstract description 5
- 210000003811 finger Anatomy 0.000 description 15
- 230000000694 effects Effects 0.000 description 11
- 230000006870 function Effects 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 8
- 238000011084 recovery Methods 0.000 description 7
- 210000003414 extremity Anatomy 0.000 description 5
- 230000035876 healing Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 210000003857 wrist joint Anatomy 0.000 description 2
- 208000034657 Convalescence Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 206010062575 Muscle contracture Diseases 0.000 description 1
- 210000003423 ankle Anatomy 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 208000006111 contracture Diseases 0.000 description 1
- 235000011950 custard Nutrition 0.000 description 1
- 210000002310 elbow joint Anatomy 0.000 description 1
- 230000005520 electrodynamics Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 210000002683 foot Anatomy 0.000 description 1
- 210000002478 hand joint Anatomy 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 235000013372 meat Nutrition 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 210000000323 shoulder joint Anatomy 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 210000003813 thumb Anatomy 0.000 description 1
- 210000000707 wrist 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
- A61H1/0274—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
- A61H1/0285—Hand
- A61H1/0288—Fingers
-
- 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
- A61H2201/165—Wearable interfaces
-
- 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
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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 present invention relates to a kind of safety-type manipulators of upper limb rehabilitation training robot, including manipulator ontology, support device, bundling apparatus, hold by device, supporting plate, rotating device, translation cavity, folding and unfolding lever and linked hand, support front edge of board is fixedly connected with holding by device, and three sections of supporting plates are equipped in the middle part of support plate, it is rotatablely connected between supporting plate by rotating device, and is equipped with translation cavity in two supporting plate of front and back.The length setting that the present invention passes through the multistage flexible various pieces for realizing mechanical arm of automatic telescopic column; accurate adjustment ensures the security training therapeutic efficiency of patient; to the bigger real demand for adapting to patient; and rotation lifting and translation at multi-joint; realize the training to whole arm; and the range of rotation and translation can be limited by the connection of cross bar and sliding bar; to guarantee the traffic safety and riding comfort of patient's training; hold take device to be designed as can folding and unfolding type; the design of the soft inner core of cotton material and finger cavity, more meets the actual demand of patient.
Description
Technical field
The present invention relates to a kind of manipulators of healing robot, are exactly a kind of upper limb rehabilitation training robots
Safety-type manipulator.
Background technique
Recovery exercising robot is just mainly used in kinesiatrics, such as prevents quadruped locomotion degraded performance, contracture, allows joint
It is moved in scope of activities, enhances the movement of muscle strength, enhance the movement of endurance, harmony, ambulation training, gymnastics controls
Treat etc., if robot carries the instrument with measurement recovery function, so that it may quantitative collection training object functional recovery process
In data, to recovery process work determine custard；Preceding analysis and evaluation record the whole process of rehabilitation, if the person of being trained to is known from
Perhaps, oneself rehabilitation data in training, can generate certain positive feedback effects, the research of recovery exercising robot includes two
Aspect: upper-limbs rehabilitation training robot is used for the rehabilitation training of arm, hand and wrist；Lower limbs rehabilitation training robot band gives row swallow
Hook energy rehabilitation training.Healing robot is a seed type of rehabilitation equipment, and healing robot technology is already by countries in the world
The most attention of researcher and medical institutions, wherein it is the most significant with American-European and Japan achievement, in China's medical science of recovery therapy
Although engineering has obtained most attention, and healing robot research is still at an early stage, and some simple rehabilitation appliances are far from
Market is able to satisfy to intelligence, human body is connected directly, to drive limbs to carry out rehabilitation training, so the safety to driver,
It is flexible more demanding, mechanical limbs assembled robot with function of limbs recovery motion is a variety of same machines Genus Homos in
Robot field solves the patent of invention hemiplegia Rehabilitation walk learning machine of my invention, can only drive manpower wrist joint
The all movable robot blade in each joint of finger, being mounted on shank hinge-rod can be with the moving each pass of ankle toe
What section can be realized after movable machinery foot hold, purposes is rehabilitation extremity motor function, drives each joint of suffering limb, every piece of bone
Bone, every piece of meat etc. make patient's active movement function obtain rehabilitation by long-term passive exercise.
Upper limb healing equipment, product structure used at present have a single function, and effect application range is only limitted to local pass
Section, i.e. the rehabilitation of wrist joint, elbow joint and shoulder joint is completed by individual instrument, and it is each not can be realized entire arm
The integrated products of joint recovering have infull property, and they are electrodynamic mechanical type mostly, only are repeating to be set
Good movement, there is no the impressions for considering patient, and product is caused to have certain insecurity for patient, even if patient feels
When feeling that pain can not be movable, it still will continue to the activity for carrying out its original setting, be easy for the damage of making patients in this way, and work as
Patient hand can light activity can carry out it is shuttle activity when, such convalescence device can not perceive, also only weight
The movement of coming to be restored, patient can be made to lose independence, not each important joint is moving, especially the movement of hand, and
And hand joint is more more flexible, therefore it is essential for restoring hand, but most finger gymnastic instrument is all ignored
This point, and lack the device of thumb rehabilitation, it is this cannot the true training strength of proper patient and patient perceptions show
There is equipment, and ignore the multi-panel training of patient's finger, i.e. shortage margin of safety and the comprehensive status of training, so as to cause trouble
Person can not be vivid obtain trained true effect, be more likely to cause further training to deteriorate, etc. problem over time.
Therefore it is directed to this status, there is an urgent need to develop a kind of completely new safety-type manipulators, to meet the need of actual use
It wants.
Summary of the invention
In view of the shortcomings of the prior art, the present invention provides a kind of the safety-type of upper limb rehabilitation training robot
Manipulator, the invention pass through more supporting plate structures of support plate, the rotating device between multiple supporting plates, for realizing the vertical lift of arm
It rises, and the elastic cotton layer that rotating device is equipped in upper and lower ends, can play the role of protection, and one side of setting for the cavity that is translatable
On the other hand the mechanical space that face reduces realizes the translation work of mechanical arm, the main by weight of mechanical arm is supported by support column,
And the automatic telescopic column being equipped in the middle part of supporting plate, it is arranged by the multistage flexible length to realize the various pieces of mechanical arm,
To the bigger real demand for adapting to patient, accurate adjustment ensures the security training therapeutic efficiency of patient, at multi-joint
Rotation lifting and translation, realize training to whole arm, and by the connection of cross bar and sliding bar can limit rotation with
The range of translation, thus guarantee patient training traffic safety and riding comfort, hold by device be designed as can folding and unfolding type, cotton material it is soft in
The design of core and finger cavity, more meets the actual demand of patient, and the multi-servomotor of linked hand intrinsic articulation and connecting rod
Be arranged realize finger multi-activity associated working, it is more flexible and convenient, in the middle part of elastic bands and finger cavity to use
In the hand more safety of immobilized patients, soft baffle of arranging in pairs or groups makes the good fit property of training function with bandage.
To achieve the goals above, the present invention is to realize by the following technical solutions:
A kind of safety-type manipulator of rehabilitation training of upper limbs robot, including manipulator ontology, support device, binding dress
Set, hold by device, supporting plate, rotating device, translation cavity, folding and unfolding lever and linked hand, the manipulator ontology by support device,
Bundling apparatus and holding is formed by device, and the support device is equipped with support plate, the support front edge of board and is held by the fixed company of device
It connects, and is equipped with three sections of supporting plates in the middle part of support plate, be rotatablely connected between the supporting plate by rotating device, and be all provided in two supporting plate of front and back
There is translation cavity, the rotating device upper and lower ends are equipped with elastic cotton layer, and by motor output end and turn in the middle part of rotating device
Axis rotation connection, the shaft output end are fixedly connected with supporting plate left end, and support column is equipped in the translation cavity and rotation is solid
Earnest, support column middle part one end is equipped with protrusion post, and the other end is equipped with double end micromotor, the protrusion in the middle part of support column
Column both ends are rotatablely connected with the bearing being equipped in supporting plate, and double end micromotor both ends output end turns with rotation fixture
Dynamic connection, is equipped with automatic telescopic column in three supporting plates in two supporting plates of left position, automatic telescopic column both ends respectively with
Both ends are fixedly connected in the middle part of supporting plate, and automatic telescopic column upper and lower ends are equipped with foldable layer, and the foldable layer is by cotton elasticity material
Material is made, and three the bottom of the support plate are fixedly connected with sliding bar, the cross bar that the sliding bar is equipped with 1 bottom of manipulator ontology
It is slidably connected by slide construction, and sliding bar bottom is equipped with baffle, described hold is equipped with folding and unfolding lever and linked hand by device, described
Folding and unfolding lever jacket layer and interior jacket layer are cotton material, and folding and unfolding handle inner core is soft rubber material, and the periphery of inner core is equipped with four
Refer to lumen pore, be equipped at the linked hand finger-joint and watch motor, and watching number of motors is 13, it is described to watch motor
Output end is connected by connecting rod.
Further, the bundling apparatus is placed in support device, and bundling apparatus is equipped with several soft baffles and several
Bandage.
Further, the soft baffle is placed in branch board ends, and is set on soft baffle there are four bandage.
Further, folding and unfolding handle bottom end is equipped with slide, and slide both ends are equipped with rotation fixed ring, the folding and unfolding hand
Handle bottom end both ends are equipped with pillar.
Further, the linked hand middle inside is equipped with elastic bands, and linked hand is externally provided with finger-stall.
The present invention passes through more supporting plate structures of support plate, the rotating device between multiple supporting plates, for realizing the vertical of arm
Lifting, and the elastic cotton layer that rotating device is equipped in upper and lower ends can play the role of protection, and the setting one for the cavity that is translatable
On the other hand the mechanical space that aspect reduces realizes the translation work of mechanical arm, support the main heavy of mechanical arm by support column
Amount, and the automatic telescopic column being equipped in the middle part of supporting plate are set by the multistage flexible length to realize the various pieces of mechanical arm
It sets, thus the bigger real demand for adapting to patient, accurate adjustment ensures the security training therapeutic efficiency of patient, at multi-joint
Rotation lifting and translation, realize training to whole arm, and rotation can be limited by the connection of cross bar and sliding bar
With the range of translation, to guarantee the traffic safety and riding comfort of patient's training, hold by device be designed as can folding and unfolding type, cotton material is soft
The design of inner core and finger cavity, more meets the actual demand of patient, and the multi-servomotor and connecting rod of linked hand intrinsic articulation
Setting realize finger multi-activity associated working, it is more flexible and convenient, in the middle part of elastic bands and finger cavity make
Hand more safety for immobilized patients, soft baffle of arranging in pairs or groups make the good fit property of training function with bandage.
Detailed description of the invention
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 is schematic structural view of the invention；
Fig. 2 is overlooking structure diagram of the present invention；
Fig. 3 is linked hand appearance diagram of the present invention；
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
A kind of safety-type manipulator of rehabilitation training of upper limbs robot as shown in figure 1-3, including manipulator ontology, branch
Support arrangement, bundling apparatus are held by device, supporting plate, rotating device, translation cavity, folding and unfolding lever and linked hand, the manipulator sheet
Body is made of support device, bundling apparatus and holding by device, and the support device is equipped with support plate, the support front edge of board with hold
It is fixedly connected by device, and is equipped with three sections of supporting plates in the middle part of support plate, be rotatablely connected between the supporting plate by rotating device, and front and back
Translation cavity is equipped in two supporting plates, the rotating device upper and lower ends are equipped with elastic cotton layer, and by electricity in the middle part of rotating device
Machine output end and shaft are rotatablely connected, and the shaft output end is fixedly connected with supporting plate left end, and branch is equipped in the translation cavity
Dagger and rotation fixture, support column middle part one end is equipped with protrusion post, and the other end is miniature equipped with double end in the middle part of support column
Motor, the protrusion post both ends are rotatablely connected with the bearing being equipped in supporting plate, and double end micromotor both ends output end is equal
It is rotatablely connected with rotation fixture, is equipped with automatic telescopic column in two supporting plates of left position in three supporting plates, it is described to stretch automatically
Contracting column both ends are fixedly connected with both ends in the middle part of supporting plate respectively, and automatic telescopic column upper and lower ends are equipped with foldable layer, the folding
Layer is made of cotton elastic material, and three the bottom of the support plate are fixedly connected with sliding bar, the sliding bar and manipulator ontology
The cross bar that bottom is equipped with is slidably connected by slide construction, and sliding bar bottom is equipped with baffle, and described hold is held by device equipped with folding and unfolding
Handle and linked hand, the folding and unfolding lever jacket layer and interior jacket layer are cotton material, and folding and unfolding handle inner core is soft rubber material, interior
The periphery of core is equipped with four and refers to lumen pore, is equipped at the linked hand finger-joint and watches motor, and watching number of motors is 13
A, the motor output end of watching is connected by connecting rod.
In the present embodiment, the bundling apparatus is placed in support device, and if bundling apparatus be equipped with several soft baffles and
Dry bandage.
In the present embodiment, the soft baffle is placed in branch board ends, and is set on soft baffle there are four bandage.
In the present embodiment, folding and unfolding handle bottom end is equipped with slide, and slide both ends are equipped with rotation fixed ring, the folding and unfolding
Handle bottom end both ends are equipped with pillar.
In the present embodiment, the linked hand middle inside is equipped with elastic bands, and linked hand is externally provided with finger-stall.
The present invention in specific implementation, first to manipulator ontology, support device, bundling apparatus, hold by device, supporting plate,
Rotating device, translation cavity, folding and unfolding lever and linked hand are introduced.
By support device with bundling apparatus for placing to patient's arm, support device provides placement location, bundle
Benign binding of the device offer to arm is provided, thus realize the first step passively treated, it is more using more supporting plate structures of support plate
Rotating device between a supporting plate, for realizing the vertical lifting of arm, using the driving of motor and shaft, and rotating device is upper
The elastic cotton layer that lower both ends are equipped with, can play the role of protection, and not influence the normal operation of device, and the cavity that is translatable
Setting on the one hand reduce mechanical space, on the other hand realize mechanical arm translation work, mechanical arm is supported by support column
Main by weight, and with bearing be rotatablely connected, using double end micromotor with rotation fixture output connect, just realization be translatable
Work, and the automatic telescopic column being equipped in the middle part of supporting plate pass through the multistage flexible length to realize the various pieces of mechanical arm
Setting, so that the bigger real demand for adapting to patient, accurate adjustment ensure the security training therapeutic efficiency of patient, multi-joint
The rotation at place is lifted and translation, realizes the training to whole arm, and can limit and turn by the connection of cross bar and sliding bar
The dynamic range with translation, to guarantee the traffic safety and riding comfort of patient's training.
Carry out to hold by device, rotation fixed ring, folding and unfolding handle, linked hand, servo motor, elastic bands, soft gear
The equipment such as plate, bandage are introduced, hold by device be designed as can folding and unfolding type, the soft inner core of cotton material and finger cavity are set
Meter, more meets the actual demand of patient, slide construction can folding and unfolding into chamber, stretch out by the rotation of rotation fixed ring on slide
Pillar connects, and realizes that the orientation of folding and unfolding handle is fixed, and the setting of the multi-servomotor of linked hand intrinsic articulation and connecting rod is realized
The multi-activity of finger works together, more flexible and convenient, in the middle part of elastic bands and finger cavity to suffer from for fixed
The more safety of the hand of person, soft baffle of arranging in pairs or groups make the good fit property of training function with bandage.
The configuration of the present invention is simple design innovation is practical, by support device with bundling apparatus for putting to patient's arm
It sets, support device provides placement location, and bundling apparatus provides the benign binding to arm, to realize first passively treated
Step, using more supporting plate structures of support plate, the rotating device between multiple supporting plates utilizes electricity for realizing the vertical lifting of arm
The driving of machine and shaft, and the elastic cotton layer that rotating device is equipped in upper and lower ends, can play the role of protection, and do not influence
The normal operation of device, and on the one hand mechanical space that the setting for the cavity that is translatable reduces, on the other hand realize mechanical arm
Be translatable work, and the main by weight of mechanical arm is supported by support column, and is rotatablely connected with bearing, using double end micromotor and turns
The output connection of dynamic fixture, just realizes translation work, and the automatic telescopic column being equipped in the middle part of supporting plate, by it is multistage it is flexible from
And realize the length setting of the various pieces of mechanical arm, thus the bigger real demand for adapting to patient, accurate adjustment ensures to suffer from
The security training therapeutic efficiency of person, rotation lifting and translation at multi-joint, realizes the training to whole arm, and pass through
The connection of cross bar and sliding bar can limit the range of rotation and translation, to guarantee the traffic safety and riding comfort of patient's training, hold and take
Device be designed as can folding and unfolding type, the design of the soft inner core of cotton material and finger cavity more meets the actual demand of patient,
Slide construction can folding and unfolding into chamber, stretch out to be rotated by rotation fixed ring and connect with the pillar on slide, realization folding and unfolding handle
Orientation is fixed, and the setting of the multi-servomotor of linked hand intrinsic articulation and connecting rod realizes that the multi-activity of finger works together, more
Flexibly and easily, elastic bands and finger cavity in the middle part of make the hand more safety for immobilized patients, arrange in pairs or groups soft
Matter baffle and bandage make the good fit property of training function.
It should be understood by those skilled in the art that the present invention is not limited to the above embodiments.Above-described embodiment and explanation
It is merely illustrated the principles of the invention described in book.Without departing from the spirit and scope of the present invention, the present invention also has
Various changes and modifications.These changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention
It is defined by the appending claims and its equivalent thereof.
Claims (5)
1. a kind of safety-type manipulator of rehabilitation training of upper limbs robot, it is characterised in that: the upper limb rehabilitation training
Include manipulator ontology with the safety-type mechanical hand of robot, support device, bundling apparatus, hold by device, supporting plate, rotation dress
It sets, the cavity that is translatable, folding and unfolding lever and linked hand, the manipulator ontology is made of support device, bundling apparatus and holding by device,
The support device is equipped with support plate, and the support front edge of board is fixedly connected with holding by device, and support plate middle part is equipped with three sections
Supporting plate is rotatablely connected between the supporting plate by rotating device, and is equipped with translation cavity, the rotating device in two supporting plate of front and back
Upper and lower ends are equipped with elastic cotton layer, and are rotatablely connected in the middle part of rotating device by motor output end and shaft, the shaft output
End is fixedly connected with supporting plate left end, and support column and rotation fixture, one end in the middle part of the support column are equipped in the translation cavity
Equipped with protrusion post, and in the middle part of support column, the other end is equipped with double end micromotor, the protrusion post both ends be equipped in supporting plate
Bearing rotation connection, double end micromotor both ends output end is rotatablely connected with rotation fixture, left in three supporting plates
Automatic telescopic column is equipped in two supporting plates of middle position, automatic telescopic column both ends are fixedly connected with both ends in the middle part of supporting plate respectively,
And automatic telescopic column upper and lower ends are equipped with foldable layer, the foldable layer is made of cotton elastic material, three the bottom of the support plate
It is fixedly connected with sliding bar, the cross bar that the sliding bar is equipped with manipulator body bottom portion is slidably connected by slide construction, and
Sliding bar bottom is equipped with baffle, and described hold is equipped with folding and unfolding lever and linked hand, the folding and unfolding lever jacket layer and inner sleeve by device
Layer is cotton material, and folding and unfolding handle inner core is soft rubber material, and the periphery of inner core is equipped with four and refers to lumen pore, the linkage hand finger
Joint, which is equipped with, watches motor, and watching number of motors is 13, and the motor output end of watching is connected by connecting rod.
2. a kind of safety-type manipulator of rehabilitation training of upper limbs robot according to claim 1, it is characterised in that: institute
It states bundling apparatus to be placed in support device, and bundling apparatus is equipped with several soft baffles and several bandages.
3. a kind of safety-type manipulator of rehabilitation training of upper limbs robot according to claim 2, it is characterised in that: institute
It states soft baffle and is placed in branch board ends, and set on soft baffle there are four bandage.
4. a kind of safety-type manipulator of rehabilitation training of upper limbs robot according to claim 1, it is characterised in that: institute
Folding and unfolding handle bottom end is stated equipped with slide, and slide both ends are equipped with rotation fixed ring, folding and unfolding handle bottom end both ends are equipped with convex
Column.
5. a kind of safety-type manipulator of rehabilitation training of upper limbs robot according to claim 1, it is characterised in that: institute
Linked hand middle inside is stated equipped with elastic bands, and linked hand is equipped with finger-stall.
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| CN201811614212.3A CN109568085A (en) | 2018-12-27 | 2018-12-27 | A kind of safety-type manipulator of rehabilitation training of upper limbs robot |
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| CN201811614212.3A CN109568085A (en) | 2018-12-27 | 2018-12-27 | A kind of safety-type manipulator of rehabilitation training of upper limbs robot |
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| WO2018122886A1 (en) * | 2016-12-30 | 2018-07-05 | Signo Motus S.R.L. | Esoskeleton equipped with electro-or magneto- rheological fluid type semi-active joints" |
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2018
- 2018-12-27 CN CN201811614212.3A patent/CN109568085A/en active Pending
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|---|---|---|---|---|
| US5848979A (en) * | 1996-07-18 | 1998-12-15 | Peter M. Bonutti | Orthosis |
| US20120053498A1 (en) * | 2002-11-25 | 2012-03-01 | Horst Robert W | Intention-based therapy device and method |
| CN101797204A (en) * | 2010-03-26 | 2010-08-11 | 中国人民解放军第三军医大学第一附属医院 | Rehabilitative manipulator for hand burns and scalds |
| CN102113949A (en) * | 2011-01-21 | 2011-07-06 | 上海交通大学 | Exoskeleton-wearable rehabilitation robot |
| CN105919776A (en) * | 2016-06-14 | 2016-09-07 | 合肥工业大学 | Multi-working condition upper limb rehabilitation training robot |
| WO2018122886A1 (en) * | 2016-12-30 | 2018-07-05 | Signo Motus S.R.L. | Esoskeleton equipped with electro-or magneto- rheological fluid type semi-active joints" |
| CN106994087A (en) * | 2017-04-24 | 2017-08-01 | 杭州众禾自动化设备有限公司 | A kind of auxiliary power upper limbs ectoskeleton |
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