CN109806110A - Arm rehabilitation device and healing robot - Google Patents
Arm rehabilitation device and healing robot Download PDFInfo
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- CN109806110A CN109806110A CN201910131879.6A CN201910131879A CN109806110A CN 109806110 A CN109806110 A CN 109806110A CN 201910131879 A CN201910131879 A CN 201910131879A CN 109806110 A CN109806110 A CN 109806110A
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- 230000035876 healing Effects 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 59
- 210000000245 forearm Anatomy 0.000 claims abstract description 47
- 210000000707 wrist Anatomy 0.000 claims description 127
- 230000008450 motivation Effects 0.000 claims 1
- 230000001225 therapeutic effect Effects 0.000 abstract description 3
- 230000009471 action Effects 0.000 description 5
- 230000001105 regulatory effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000009207 exercise therapy Methods 0.000 description 3
- 238000000554 physical therapy Methods 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 230000004064 dysfunction Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000002560 therapeutic procedure Methods 0.000 description 2
- 206010020651 Hyperkinesia Diseases 0.000 description 1
- 208000000269 Hyperkinesis Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 210000002310 elbow joint Anatomy 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000001584 occupational therapy Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000002630 speech therapy Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 230000009885 systemic effect Effects 0.000 description 1
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Abstract
The present invention relates to a kind of arm rehabilitation device and healing robot, arm rehabilitation device includes big arm mechanism, and big arm mechanism includes large arm plate and large arm adjustable plate, and large arm adjustable plate is flexibly connected with large arm plate and can move along large arm plate；And small arm mechanism, small arm mechanism include forearm plate, one end of forearm plate and one end of large arm adjustable plate are rotatablely connected.Healing robot includes arm rehabilitation device above-mentioned, there are two arm rehabilitation device is set and respectively left arm device and right arm device.Large arm adjustable plate can be moved along large arm plate, to realize the length adjustment to big arm mechanism, the patient for meeting different arm lengths carries out rehabilitation use, more preferably be matched with patient, to promote therapeutic effect and treatment experience.
Description
Technical field
The present invention relates to medical rehabilitation technical fields, more particularly to a kind of arm rehabilitation device and healing robot.
Background technique
Rehabilitation physical therapy is also known as rehabilitation physiotherapy, is collection exercise therapy, Occupational therapy, speech therapy, physiotherapy, needle
Moxibustion dials tank, massage in the comprehensive therapy mode of one.Exercise therapy be by passive movement therapy, initiative kinesitherapy and
Resistive drag force, kinesiatrics, so that the dysfunction and hypofunction to patient body play the one of prevention, improvement and restitution
Kind specific treatment.
Patient usually there are problems that one or more positions can not paleocinetic dysfunction, therefore, to patient into
When row exercise therapy, when especially carrying out the treatment of passive Physical rehabilitation, auxiliary implement progress is generallyd use.However, auxiliary implement
It can not preferably be matched for different patient's conditions, experience the rehabilitation of patient poor.
Summary of the invention
Based on this, it is necessary to which providing a kind of arm rehabilitation device and healing robot, the arm rehabilitation device can satisfy
The patient of different brachiums carries out rehabilitation use；The healing robot includes arm rehabilitation device above-mentioned, meets different situations
Patient uses.
Its technical solution is as follows:
On the one hand, a kind of arm rehabilitation device, including big arm mechanism are provided, big arm mechanism includes large arm plate and large arm tune
Plate is saved, large arm adjustable plate is flexibly connected with large arm plate and can move along large arm plate；And small arm mechanism, small arm mechanism include small
Arm plate, one end of forearm plate and one end of large arm adjustable plate are rotatablely connected.
Above-mentioned arm rehabilitation device, large arm adjustable plate can be moved along large arm plate, to realize the length to big arm mechanism
It adjusts, the patient for meeting different arm lengths carries out rehabilitation use, more preferably matches with patient, to promote therapeutic effect and treatment body
It tests.
Technical solution is illustrated further below:
Large arm plate is equipped with large arm and slides guide rail in one of the embodiments, and large arm slides guide rail along the length of large arm plate
Direction setting, large arm adjustable plate are equipped with large arm sliding block, and large arm sliding block is slidably matched with large arm sliding guide rail, and big arm mechanism further includes
Large arm locking member, large arm locking member are used to lock the position between large arm adjustable plate and large arm plate.
Big arm mechanism further includes that the large arm locking being slidably matched with large arm sliding guide rail is slided in one of the embodiments,
Block, large arm locking sliding block are fixedly arranged on large arm adjustable plate, and large arm locking sliding block is equipped with large arm locking screw pit, and locking member is and large arm
The large arm clamping screw that locking screw pit is threadedly engaged, large arm clamping screw cooperate with large arm locking screw pit and lock large arm
One end of tight bolt compresses large arm sliding guide rail；
Or large arm sliding block is equipped with large arm locking screw pit, locking member is that the large arm being threadedly engaged with large arm locking screw pit is locked
Tight bolt.
Arm rehabilitation device further includes large arm swing mechanism in one of the embodiments, and large arm swing mechanism includes big
Arm swing bracket, the first large arm driver and the second large arm driver, the first large arm driver is for driving large arm swinging mounting
Rotation, the rotation of large arm plate are set to large arm swinging mounting, and the second large arm driver is set to large arm swinging mounting and for driving large arm
Plate rotation, the shaft axis of large arm swinging mounting and the shaft axis of large arm plate are arranged in angle.
Large arm swing mechanism further includes connecting for the arm fixed with shoulder arm connecting plate in one of the embodiments,
Plate, the rotation of large arm swinging mounting are set to arm connecting plate, and large arm swinging mounting is additionally provided with the first large arm arc strip, arm connecting plate
It is additionally provided with the first large arm limited block, large arm swinging mounting rotates and the first large arm arc strip is driven to rotate, the first large arm limited block
The rotation of first large arm arc strip is limited；
Or large arm swinging mounting be equipped with the second large arm limited block, large arm plate be equipped with the second large arm arc strip, large arm plate rotation,
And the rotation of the second large arm arc strip is driven, the second large arm limited block limits the rotation of the second large arm arc strip.
Small arm mechanism further includes forearm adjustable plate in one of the embodiments, and forearm adjustable plate is equipped with forearm sliding block, small
Arm plate is equipped with the forearm being slidably matched with forearm sliding block and slides guide rail, and small arm mechanism further includes forearm locking member；Small arm mechanism is also
Including forearm driver, forearm driver is set to large arm adjustable plate and for driving forearm plate to rotate.
Arm rehabilitation device further includes Wrist mechanism in one of the embodiments, and Wrist mechanism includes being set to forearm tune
Save the wrist plate of plate and the first wrist driver of driving wrist plate rotation.
Wrist mechanism further includes wrist gear, wrist arc-shaped rack and the installation of wrist rack gear in one of the embodiments,
Frame, wrist gear engage cooperation with wrist arc-shaped rack, and wrist arc-shaped rack is slidably matched with wrist rack gear mounting rack, first-hand
Wrist driver driving wrist gear rotates and rotates wrist gear driving wrist arc-shaped rack around wrist rack gear mounting rack, hand
Brachialia is set to wrist arc-shaped rack.
Wrist mechanism further includes wrist mounting rack and the second wrist set on wrist mounting rack in one of the embodiments,
Driver, wrist mounting rack are fixedly arranged on wrist arc-shaped rack, and the rotation of wrist plate is set to wrist mounting rack, and the second wrist driver is used
In driving wrist plate rotation.
On the other hand, a kind of healing robot is additionally provided, including the arm health as described in any one above-mentioned technical solution
Apparatus for coating, there are two arm rehabilitation device is set and respectively left arm device and right arm device.
Above-mentioned healing robot, using arm rehabilitation mechanism above-mentioned, the length of left arm and the length of right arm are adjustable,
It is used to meet the patient of different arm lengths, matches it preferably with patient.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of right arm device in embodiment；
Fig. 2 is large arm swing mechanism schematic diagram in Fig. 1 embodiment；
Fig. 3 is the Structure explosion diagrams such as Fig. 1 embodiment large arm adjustable plate；
Fig. 4 is the structural schematic diagram of Wrist mechanism in Fig. 1 embodiment；
Fig. 5 is the overall structure figure of the healing robot in embodiment.
Attached drawing mark explanation:
10, healing robot, 100, head device, 200, shoulder breadth regulating device, 300, right arm device, 311, large arm plate,
3111, large arm slides guide rail, the 3112, second large arm arc strip, 312, large arm adjustable plate, 3121, large arm sliding block, 313, large arm lock
Tight sliding block, 314, large arm clamping screw, 321, forearm plate, 3211, forearm sliding guide rail, 322, forearm adjustable plate, 3221, forearm
Sliding block, 323, forearm clamping screw, 324, forearm driver, 331, large arm swinging mounting, the 3311, first large arm arc strip,
3312, the second large arm limited block, the 332, first large arm driver, the 333, second large arm driver, 334, arm connecting plate,
3341, the first large arm limited block, 341, wrist plate, the 342, first wrist driver, 343, wrist gear, 344, wrist arc-shaped gear
Item, 345, wrist rack gear mounting rack, 3451, wrist limit slide bar, 346, wrist mounting rack, the 347, second wrist driver,
400, left arm device, 500, hip device, 600, right leg device, 700, left leg device.
Specific embodiment
The embodiment of the present invention is described in detail with reference to the accompanying drawing:
It should be noted that it can be directly in another element when alleged element is with another element " fixation " in text
Above or there may also be elements placed in the middle.When an element is considered as with another element " connection ", it be can be directly
It is connected to another element in succession or may be simultaneously present centering elements.On the contrary, when element is referred to as " directly existing " another element
When "upper", intermediary element is not present.Term as used herein "vertical", "horizontal", "left" and "right" and similar table
It states for illustrative purposes only, is not meant to be the only embodiment.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more
Any and all combinations of relevant listed item.
Embodiment as shown in Figures 1 to 5 provides a kind of arm rehabilitation device (since left arm device 400 and right arm fill
It is identical to set 300 structures, for convenience of explanation, arm rehabilitation device is illustrated by taking right arm device 300 as an example), arm rehabilitation device
Including big arm mechanism, big arm mechanism includes large arm plate 311 and large arm adjustable plate 312, and large arm adjustable plate 312 and large arm plate 311 are living
It is dynamic to connect and be moved along large arm plate 311；And small arm mechanism, small arm mechanism include forearm plate 321, one end of forearm plate 321
It is rotatablely connected with one end of large arm adjustable plate 312.
Large arm adjustable plate 312 can be moved along large arm plate 311, to realize the length adjustment to big arm mechanism, be met not
Patient with arm length carries out rehabilitation use, more preferably matches with patient, to promote therapeutic effect and treatment experience.
Since the arm length of different patients is not identical, and arm passive movement rehabilitation is carried out wearing arm rehabilitation device
When, in fact it could happen that the case where wearing inconvenience, or even can not wearing causes the rehabilitation of patient to be experienced poor, is unable to reach preferable
Passive material rehabilitation efficacy.The present embodiment realizes large arm by the moving movement between large arm adjustable plate 312 and large arm plate 311
The brachium of mechanism is adjusted, to meet the patient worn demand of different brachiums, enable same set of arm rehabilitation device from it is different
Patient, which matches and completes wearing and rehabilitation, greatly reduces treatment cost compared to the mode of customization.
Embodiment as shown in Figure 3, large arm plate 311 are equipped with large arm and slide guide rail 3111, and large arm slides guide rail 3111 along big
The length direction of arm plate 311 is arranged, and large arm adjustable plate 312 is equipped with large arm sliding block 3121, and large arm sliding block 3121 is led with large arm sliding
Rail 3111 is slidably matched, and big arm mechanism further includes large arm locking member, and large arm locking member is for locking large arm adjustable plate 312 and large arm
Position between plate 311.
Large arm sliding block 3121 is moved along large arm sliding guide rail 3111, thus realize large arm adjustable plate 312 and large arm plate 311 it
Between moving operation, and then realize that the collapsing length of big arm mechanism is adjusted, when adjusting to suitable big arm lengths, pass through large arm
Locking member locks the position between large arm adjustable plate 312 and large arm plate 311.
Embodiment as shown in Figure 3, big arm mechanism further include that the large arm being slidably matched with large arm sliding guide rail 3111 is locked
Sliding block 313, large arm locking sliding block 313 are fixedly arranged on large arm adjustable plate 312, and large arm locking sliding block 313 is equipped with large arm locking screw pit,
Locking member is the large arm clamping screw 314 being threadedly engaged with large arm locking screw pit, large arm clamping screw 314 and large arm locking screw
Pit cooperates and one end of large arm clamping screw 314 is made to compress large arm sliding guide rail 3111.
As shown in figure 3, large arm locking sliding block 313 is moved along large arm sliding guide rail 3111, when large arm adjustable plate 312 and large arm
When suitable position is arrived in the adjusting of plate 311, it can be manually rotated large arm clamping screw 314, compress the end of large arm clamping screw 314 tightly
Large arm slides guide rail 3111, to realize some position that the second adjustable plate is locked in large arm plate 311.
It is, of course, also possible to be: large arm sliding block 3121 is equipped with large arm locking screw pit, and locking member is and large arm locking screw pit
The large arm clamping screw 314 being threadedly engaged.
Large arm locking screw pit is set up directly on large arm sliding block 3121, arrives some position when large arm adjustable plate 312 is adjusted
When, large arm clamping screw 314 is rotated, so that the end of large arm clamping screw 314 is tightly compressed large arm sliding guide rail 3111, realizes lock
Fixed technical effect.
Embodiment as depicted in figs. 1 and 2, arm rehabilitation device further include large arm swing mechanism, large arm swing mechanism packet
Large arm swinging mounting 331, the first large arm driver 332 and the second large arm driver 333 are included, the first large arm driver 332 is used for
Large arm swinging mounting 331 is driven to rotate, the rotation of large arm plate 311 is set to large arm swinging mounting 331, and the second large arm driver 333 is set
In large arm swinging mounting 331 and for driving large arm plate 311 to rotate, the shaft axis and large arm plate of large arm swinging mounting 331
311 shaft axis is arranged in angle.
As shown in Figure 1, Figure 2 and shown in Fig. 5, the first large arm driver 332 fixed setting, the first large arm driver 332 is driven greatly
Arm swing bracket 331 rotates and realizes that the inside and outside wobbling action of arm rehabilitation device, the second large arm driver 333 are installed in greatly
On arm swing bracket 331, the second large arm driver 333 driving large arm plate 311 rotates and realizes the front and back pendulum of arm rehabilitation device
Movement.
Further, large arm swinging mounting 331 is arranged in bending plate, and is equipped with and reinforces rib structure, to meet installation strength
And movement driving needs.
Embodiment as depicted in figs. 1 and 2, large arm swing mechanism further include for connecting with the fixed arm of shoulder arm connecting plate
Fishplate bar 334, the rotation of large arm swinging mounting 331 are set to arm connecting plate 334, and large arm swinging mounting 331 is additionally provided with the first large arm arc
Shape item 3311, arm connecting plate 334 are additionally provided with the first large arm limited block 3341, and large arm swinging mounting 331 rotates and drives first
Large arm arc strip 3311 rotates, and the first large arm limited block 3341 limits the rotation of the first large arm arc strip 3311.
Shoulder arm connecting plate is for connecting arm rehabilitation device and shoulder breadth regulating device 200, and when specifically used installation, shoulder arm connects
Fishplate bar may include the first shoulder arm mounting plate and the second shoulder arm mounting plate, as right arm device 300 by the first shoulder arm mounting plate with
Shoulder breadth regulating device 200 connects；Left arm device 400 is connect by the second shoulder arm mounting plate with shoulder breadth regulating device 200, no longer superfluous
It states.
Passive physics is flexible or bending motion for assisting patient to do for arm rehabilitation device, and machine may be due to various
No predictable reason is led to the problem of, such as hyperkinesia, may bring unexpected injury or major accident to patient at this time, thus,
First large arm limited block 3341 and the first large arm arc strip 3311 are set, and the first large arm driver 332 drives large arm swinging mounting
It drives the first large arm arc strip 3311 when 331 rotation while rotating, when turning to certain amplitude or unintentional rotation is to unexpected
When amplitude, the first large arm limited block 3341 plays position-limiting action by keeping out the end of the first large arm arc strip 3311, due to being in
Arc strip structure setting, when positive and negative rotation, can play position-limiting action, repeat no more.
Certainly, as shown in Figure 1 to Figure 3, large arm swinging mounting 331 is equipped with the second large arm limited block 3312, and large arm plate 311 is set
There is the second large arm arc strip 3112, large arm plate 311 rotates and drive the rotation of the second large arm arc strip 3112, the limit of the second large arm
Block 3312 limits the rotation of the second large arm arc strip 3112.
Embodiment as shown in Figure 1 and Figure 4, small arm mechanism further include forearm adjustable plate 322, and forearm adjustable plate 322 is equipped with
Forearm sliding block 3221, forearm plate 321 are equipped with the forearm being slidably matched with forearm sliding block 3221 and slide guide rail 3211, and small arm mechanism is also
Including forearm locking member；Small arm mechanism further includes forearm driver 324, and forearm driver 324 is set to large arm adjustable plate 312, simultaneously
For driving forearm plate 321 to rotate.
Forearm driver 324 drives forearm plate 321 to rotate, to realize the elbow joint rotational motion of arm rehabilitation device；It is small
Arm plate 321 and directly also can be set with large arm adjustable plate 312 limited block and limit arc strip, to play position-limiting action, no longer
It repeats.
Further, forearm locking member is forearm clamping screw 323, similarly with the working principle of large arm clamping screw 314,
It repeats no more.
Embodiment as shown in figures 1 and 3, arm rehabilitation device further include Wrist mechanism, and Wrist mechanism includes set on small
The first wrist driver 342 that the wrist plate 341 and driving wrist plate 341 of arm adjustable plate 322 rotate.
First wrist driver 342 is fixedly arranged on forearm adjustable plate 322, and the first wrist driver 342 drives 341 turns of wrist plate
It is dynamic, to realize the wrist plate 341 of arm rehabilitation device along the spinning motion of the length direction of patient's palm.
Embodiment as shown in Figure 1 and Figure 4, Wrist mechanism further include wrist gear 343, wrist arc-shaped rack 344 and hand
Wrist rack gear mounting rack 345, wrist gear 343 engage cooperation, wrist arc-shaped rack 344 and wrist tooth with wrist arc-shaped rack 344
Mounting rack 345 is slidably matched, and the first wrist driver 342 driving wrist gear 343, which rotates, simultaneously drives wrist gear 343
Wrist arc-shaped rack 344 is rotated around wrist rack gear mounting rack 345, and wrist plate 341 is set to wrist arc-shaped rack 344.
First wrist driver 342 drives wrist gear 343 to rotate, and wrist gear 343 drives 344 turns of wrist arc-shaped rack
It is dynamic, at this point, wrist arc-shaped rack 344 drives wrist plate 341 thereon to rotate.
As shown in figure 4, the U-shaped slot structure of wrist rack gear mounting rack 345 is arranged, the arc-shaped face in the bottom of U-type groove is arranged, simultaneously
It is correspondingly arranged with the back side of wrist arc-shaped rack 344, is slidably matched with realizing；Wrist rack gear mounting rack 345 is additionally provided with to wrist
The wrist that arc-shaped rack 344 is limited limits slide bar 3451, and wrist limits slide bar 3451 and is equipped with multiple and is arranged in spacing,
Wrist arc-shaped rack 344 is equipped with the arc track cooperated with wrist limit slide bar 3451, to play limit and planning sliding trajectory
Effect.
It is, of course, also possible to be: arc chute, wrist arc-shaped gear is directly arranged in the U-type groove side wall of wrist rack gear mounting rack 345
Arc-shaped slide rail corresponding with the arc chute is arranged in the side wall of item 344, equally to play the role of limit and programming movement track.
Embodiment as shown in Figure 1 and Figure 4, Wrist mechanism further include wrist mounting rack 346 and be set to wrist mounting rack 346
The second wrist driver 347, wrist mounting rack 346 is fixedly arranged on wrist arc-shaped rack 344, and the rotation of wrist plate 341 is set to wrist
Mounting rack 346, the second wrist driver 347 is for driving wrist plate 341 to rotate.
It is installed with wrist mounting rack 346 on wrist arc-shaped rack 344, the drive of the second wrist is installed on wrist mounting rack 346
Dynamic device 347, wrist plate 341 and wrist mounting rack 346 are rotatablely connected, the rotation of the second wrist driver 347 driving wrist plate 341,
And realize the wobbling action of palm.
Further, as shown in figure 4, the U-shaped plate structure setting of wrist plate 341, in order to the palm of fixed patient.
Certainly, above-mentioned each driver can configure retarder (tuning retarder), shaft coupling and flange in actual installation
Etc. structures, with meet actual needs, repeat no more.
Embodiment as shown in Figure 5 additionally provides a kind of healing robot 10, including as described in any one above-mentioned embodiment
Arm rehabilitation device, there are two arm rehabilitation device is set and respectively left arm device 400 and right arm device 300.
The healing robot 10, using arm rehabilitation mechanism above-mentioned, the length of left arm and the length of right arm are adjustable,
It is used to meet the patient of different arm lengths, matches it preferably with patient.
Further, as shown in figure 5, healing robot 10 further includes head device 100, shoulder breadth regulating device 200, hip
Device 500, right leg device 600 and left leg device 700, so that the healing robot 10 of apery type is cooperatively formed, to systemic
Carry out the rehabilitation of passive material movement.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of arm rehabilitation device characterized by comprising
Big arm mechanism, the big arm mechanism include large arm plate and large arm adjustable plate, and the large arm adjustable plate and the large arm plate are living
It is dynamic to connect and be moved along the large arm plate；And
Small arm mechanism, the small arm mechanism include forearm plate, and one end of one end of the forearm plate and the large arm adjustable plate turns
Dynamic connection.
2. arm rehabilitation device according to claim 1, which is characterized in that the large arm plate is equipped with large arm and slides guide rail,
The large arm sliding guide rail is arranged along the length direction of the large arm plate, and the large arm adjustable plate is equipped with large arm sliding block, described big
Arm sliding block is slidably matched with large arm sliding guide rail, and the big arm mechanism further includes large arm locking member, the large arm locking member
For locking the position between the large arm adjustable plate and the large arm plate.
3. arm rehabilitation device according to claim 2, which is characterized in that the big arm mechanism further includes and the large arm
The large arm locking sliding block that sliding guide rail is slidably matched, the large arm locking sliding block are fixedly arranged on the large arm adjustable plate, the large arm
Locking sliding block is equipped with large arm locking screw pit, and the locking member is that the large arm being threadedly engaged with the large arm locking screw pit is locked
Bolt, the large arm clamping screw cooperate with the large arm locking screw pit and compress one end of the large arm clamping screw
The large arm slides guide rail；
Or the large arm sliding block is equipped with large arm locking screw pit, the locking member is to be threadedly engaged with the large arm locking screw pit
Large arm clamping screw.
4. arm rehabilitation device according to claim 1, which is characterized in that the arm rehabilitation device further includes large arm pendulum
Motivation structure, the large arm swing mechanism include large arm swinging mounting, the first large arm driver and the second large arm driver, and described
For one large arm driver for driving the large arm swinging mounting to rotate, the large arm plate rotation is set to the large arm swinging mounting,
The second large arm driver is set to the large arm swinging mounting and for driving the large arm plate to rotate, the big arm swing
The shaft axis of the shaft axis of bracket and the large arm plate is arranged in angle.
5. arm rehabilitation device according to claim 4, which is characterized in that the large arm swing mechanism further include for
The fixed arm connecting plate of shoulder arm connecting plate, the large arm swinging mounting rotation are set to the arm connecting plate, the large arm pendulum
Dynamic bracket is additionally provided with the first large arm arc strip, and the arm connecting plate is additionally provided with the first large arm limited block, the big arm swing branch
Frame rotates and the first large arm arc strip is driven to rotate, and the first large arm limited block is to the first large arm arc strip
Rotation is limited；
Or the large arm swinging mounting is equipped with the second large arm limited block, the large arm plate is equipped with the second large arm arc strip, described big
Arm plate rotates and the second large arm arc strip is driven to rotate, and the second large arm limited block is to the second large arm arc strip
Rotation limited.
6. arm rehabilitation device according to claim 1-5, which is characterized in that the small arm mechanism further includes small
Arm adjustable plate, the forearm adjustable plate are equipped with forearm sliding block, and the forearm plate is small equipped with being slidably matched with the forearm sliding block
Arm slides guide rail, and the small arm mechanism further includes forearm locking member；The small arm mechanism further includes forearm driver, the forearm
Driver is set to the large arm adjustable plate and for driving the forearm plate to rotate.
7. arm rehabilitation device according to claim 6, which is characterized in that the arm rehabilitation device further includes wrist machine
Structure, the Wrist mechanism include the first wrist drive set on the wrist plate of the forearm adjustable plate and the driving wrist plate rotation
Dynamic device.
8. arm rehabilitation device according to claim 7, which is characterized in that the Wrist mechanism further include wrist gear,
Wrist arc-shaped rack and wrist rack gear mounting rack, the wrist gear engage cooperation, the wrist with the wrist arc-shaped rack
Arc-shaped rack is slidably matched with the wrist rack gear mounting rack, the first wrist driver drive the wrist gear rotation,
And making the wrist gear that the wrist arc-shaped rack be driven to rotate around the wrist rack gear mounting rack, the wrist plate is set to institute
State wrist arc-shaped rack.
9. arm rehabilitation device according to claim 8, which is characterized in that the Wrist mechanism further includes wrist mounting rack
With the second wrist driver for being set to the wrist mounting rack, the wrist mounting rack is fixedly arranged on the wrist arc-shaped rack, institute
It states the rotation of wrist plate and is set to the wrist mounting rack, the second wrist driver is for driving the wrist plate to rotate.
10. a kind of healing robot, which is characterized in that including the described in any item arm rehabilitation devices of such as claim 1-9, institute
State arm rehabilitation device set there are two and respectively left arm device and right arm device.
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|---|---|---|---|
| CN201910131879.6A CN109806110A (en) | 2019-02-22 | 2019-02-22 | Arm rehabilitation device and healing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910131879.6A CN109806110A (en) | 2019-02-22 | 2019-02-22 | Arm rehabilitation device and healing robot |
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| CN109806110A true CN109806110A (en) | 2019-05-28 |
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| CN201910131879.6A Pending CN109806110A (en) | 2019-02-22 | 2019-02-22 | Arm rehabilitation device and healing robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110123588A (en) * | 2019-06-25 | 2019-08-16 | 北京石油化工学院 | Upper limb healing system |
| CN112168532A (en) * | 2020-11-06 | 2021-01-05 | 宁波奥达智能家居有限公司 | Arm and hand rehabilitation device and nursing bed |
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| CN104473751A (en) * | 2014-12-25 | 2015-04-01 | 哈尔滨工程大学 | Left-hand/right-hand dual-purpose upper limb rehabilitation robot |
| CN104666049A (en) * | 2015-02-02 | 2015-06-03 | 南京理工大学 | Novel portable upper-limb rehabilitation robot |
| WO2018093448A2 (en) * | 2016-09-09 | 2018-05-24 | Qatar Foundation For Education, Science And Community Development | Robotic upper limb rehabilitation device |
| KR20180045558A (en) * | 2016-10-26 | 2018-05-04 | 재단법인대구경북과학기술원 | Modular upper limb exoskeleton robot |
| CN107822829A (en) * | 2017-10-26 | 2018-03-23 | 河海大学常州校区 | A kind of upper limb rehabilitation robot |
| CN108814905A (en) * | 2018-07-16 | 2018-11-16 | 东北大学 | A kind of upper limb healing platform |
| CN209996709U (en) * | 2019-02-22 | 2020-01-31 | 广州哈罗博康复机器人生产有限公司 | Arm rehabilitation device and rehabilitation robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110123588A (en) * | 2019-06-25 | 2019-08-16 | 北京石油化工学院 | Upper limb healing system |
| CN110123588B (en) * | 2019-06-25 | 2021-05-25 | 北京石油化工学院 | Upper limb rehabilitation system |
| CN112168532A (en) * | 2020-11-06 | 2021-01-05 | 宁波奥达智能家居有限公司 | Arm and hand rehabilitation device and nursing bed |
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