CN110339021A - Three Degree Of Freedom wrist healing robot - Google Patents
Three Degree Of Freedom wrist healing robot Download PDFInfo
- Publication number
- CN110339021A CN110339021A CN201910698534.9A CN201910698534A CN110339021A CN 110339021 A CN110339021 A CN 110339021A CN 201910698534 A CN201910698534 A CN 201910698534A CN 110339021 A CN110339021 A CN 110339021A
- Authority
- CN
- China
- Prior art keywords
- motor
- connecting rod
- degree
- fixing seat
- rod frame
- 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.)
- Granted
Links
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
- A61H1/0218—Drawing-out devices
-
- 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
-
- 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
-
- 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
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
Abstract
The invention belongs to rehabilitation medical instrument technical fields, more particularly to a kind of Three Degree Of Freedom wrist healing robot, including fixing seat, internal/external rotations mechanism, palmar flexion/dorsiflex mechanism, interior receipts/outreach mechanism and handle assembly, internal/external rotations mechanism includes: first motor, gear shaft, semicircle gear wheel and forearm support component；Palmar flexion/dorsiflex mechanism includes first connecting rod frame, the second motor, drive bevel gear, dynamic bevel gear, second connecting rod frame；Interior receipts/outreach mechanism includes third motor, driving pulley and driven pulley；Handle assembly is fixedly mounted in the shaft of driven pulley.The present invention can be realized Three Degree Of Freedom wrist rehabilitation training by simple structure, and installation just can be carried out rehabilitation training on the table, and same machine can be realized the rehabilitation training of right-hand man, at low cost, and family is suitble to promote the use of.
Description
Technical field
The invention belongs to rehabilitation medical instrument technical fields, and in particular to a kind of Three Degree Of Freedom wrist healing robot.
Background technique
Cerebral apoplexy is all a big threat of national health all the time, and in the hemiplegic patient crowd caused by cerebral apoplexy,
Hand exercise obstacle person occupies very big ratio again, and for cerebral apoplexy hand disability patient, the height of quality of life depends on hand
The recovery extent of portion's function.Since healing hand function instrument is treated, have cost of labor is low, flexibility ratio is high, operation is simple,
The features such as good effect, by the great attention of clinician and the favor of patient.Intelligent robot for healing hand function is as a kind of
Neural rehabilitation class advanced medical instrument can help patient to carry out the rehabilitation instruction of high-intensitive, repeatability, specific aim and interactivity
Practice, promotes brain to be damaged functional area and rebuild, the hand movement function of patient is made to obtain scientific and effective recovery.
The hand healing robot having already appeared at present carries out rehabilitation primarily directed to the finger of patient, lacks specially
Industry carries out the robot of rehabilitation for Wrist-sport.Drive patients wrist movable although some upper limb medical instruments have
Function, but ectoskeleton form is mostly used, structure is complicated, and it is expensive, it cannot achieve household.
Summary of the invention
The purpose of the present invention is overcoming, exoskeleton-type hand recovery exercising robot existing in the prior art is at high cost, nothing
Method realizes the defect of household, provides that a kind of structure is simple, Three Degree Of Freedom wrist rehabilitation machines of the installation of at low cost and convenient household
Device people.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of Three Degree Of Freedom wrist healing robot, it is characterised in that: including fixing seat, internal/external rotations mechanism, palmar flexion/
Dorsiflex mechanism, interior receipts/outreach mechanism and handle assembly, the internal/external rotations mechanism include: be mounted on by electric machine support it is described
First motor in fixing seat, is engaged with the gear shaft gear shaft coaxially connected with the output shaft of the first motor
Semicircle gear wheel and the forearm support component being fixed on above the fixing seat；The palmar flexion/dorsiflex mechanism includes that one end is solid
The first connecting rod frame that is scheduled on the semicircle gear wheel is fixed on the of the other end of the first connecting rod frame by electric machine support
Two motors, are coaxially engaged with the drive bevel gear drive bevel gear coaxially connected with the output shaft of second motor
Driven wheel of differential and the coaxially connected second connecting rod frame of the driven wheel of differential；Interior receipts/outreach the mechanism includes passing through motor
The coaxially connected main belt of the output shaft of third motor and the third motor that bracket is fixedly connected with the second connecting rod frame
It takes turns and passes through the driven pulley of synchronous band connection with the driving pulley；The handle assembly is fixedly mounted on the driven belt
In the shaft of wheel.
Further, the internal/external rotations mechanism further include: be fixed on arc-shaped guide rail on the semicircle gear wheel and solid
It is scheduled on the position limiting slide block of the upper end, there is limiting slot on the position limiting slide block, the arc-shaped guide rail is fastened on the limiting slot
It is interior.
Further, the handle assembly includes: the connecting flange being fixedly connected with the shaft of the driven pulley, rehabilitation
When training for grabbed for manpower handle, be fixed on it is described subordinate handle brackets, be arranged in the handle brackets lower end
Terminal pad and the six-dimension force sensor that is mounted between the connecting flange and the terminal pad.
Further, the second connecting rod frame is L shape, and the third motor is mounted on the corner of second connecting rod frame, institute
State interior receipts/outreach mechanism further include with the backplate of the second connecting rod frame being oppositely arranged on one side and be arranged outside the backplate
Protective cover；Pass through multiple positioning axis connections, the driving pulley, driven pulley between the backplate and the second connecting rod frame
And synchronous belt connecting the two is arranged in the space between the backplate and second connecting rod frame.
Further, the bottom end of the fixing seat is provided with slide track component, and the slide track component setting is on the table, described
Slide track component includes: to be fixed at least a pair of opposing guiding axis attachment base on the downside of desktop, be arranged in two and be oppositely arranged
Guiding axis between guiding axis attachment base and the guide runner being slidably connected with the guiding axis；The guide runner with it is described
Fixing seat is fixedly connected.
Further, the guide runner is fixedly connected by slider connecting plate with the fixing seat, the guiding axis and
Also there is sliding rail shell on the outside of guide runner；There is the elongated slot for passing through the fixing seat on the desktop.
Further, lifting column is installed on the downside of the desktop, the lower end of the lifting column is fixedly mounted on bottom plate,
Multiple universal wheels are installed below the bottom plate.
Further, organ shield is provided in the elongated slot, organ shield is divided into two sections, every section of organ shield
One end be fixed on the side of the fixing seat, the other end is fixed on the desktop of the elongated slot end.
Further, the forearm support component includes small fupport arm hand and the stickup being fixed on the position limiting slide block
Sponge filler on small fupport arm surface on hand.
A kind of beneficial effect of Three Degree Of Freedom wrist healing robot of the invention is:
1, it drives semicircle gear wheel to can be realized the inward turning and outward turning campaign of wrist by first motor, passes through the second motor
Driving second connecting rod frame movement can be realized palmar flexion and the dorsiflex campaign of wrist, move energy by third motor driven handle assembly
The interior receipts and abduction exercise for enough realizing wrist, can be realized Three Degree Of Freedom wrist rehabilitation training by simple structure.
2, the safety that on the one hand can guarantee trainer when passive exercise by six-dimension force sensor, avoids to instruction
White silk person causes secondary injury；On the other hand can be sentenced according to the direction and size of six-dimension force sensor institute stress in active training
Disconnected active training wants the direction of movement, to control corresponding motor movement supplemental training.
3, directly Three Degree Of Freedom wrist healing robot can be mounted on desktop and carries out rehabilitation training, small in size, structure
It is simple and easy for installation, it is suitble to family to promote the use of.
4, Three Degree Of Freedom wrist healing robot can be moved on the table by slide track component, to adapt to right-hand man respectively
Rehabilitation training requirement.
Detailed description of the invention
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is overall structure stereogram of the embodiment of the present invention；
Fig. 2 is wrist rehabilitation training part-structure perspective view of the embodiment of the present invention；
Fig. 3 is another view stereo figure in wrist rehabilitation training of embodiment of the present invention part；
Fig. 4 is internal/external rotations of embodiment of the present invention mechanism explosive view；
Fig. 5 is palmar flexion of the embodiment of the present invention/dorsiflex mechanism explosive view；
Fig. 6 is receipts in the embodiment of the present invention/outreach mechanism explosive view；
Fig. 7 is handle assembly perspective view of the embodiment of the present invention；
Fig. 8 is slide track component explosive view of the embodiment of the present invention.
In figure: 1, fixing seat, 2, internal/external rotations mechanism, 21, first motor, 22, gear shaft, 23, semicircle gear wheel, 24,
Arc-shaped guide rail, 25, position limiting slide block, 251, limiting slot, 26, gear casing, 3, palmar flexion/dorsiflex mechanism, 31, first connecting rod frame, 32,
Second motor, 33, drive bevel gear, 34, driven wheel of differential, 35, second connecting rod frame, 36, bevel gear shell, 4, interior receipts/outreach
Mechanism, 41, third motor, 42, driving pulley, 43, driven pulley, 44, backplate, 45, protective cover, 46, locating shaft, 47, shaft,
5, handle assembly, 51, connecting flange, 52, handle brackets, 53, terminal pad, 54, six-dimension force sensor, 55, handle, 6, forearm branch
Support component, 61, small fupport arm hand, 62, sponge filler, 7, slide track component, 71, guiding axis attachment base, 72, guiding axis, 73, guiding
Sliding block, 74, slider connecting plate, 75, sliding rail shell, 81, desktop, 811, elongated slot, 82, lifting column, 83, bottom plate, 84, universal wheel,
85, organ shield.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention.
A kind of specific embodiment of Three Degree Of Freedom wrist healing robot of the invention as Figure 1-Figure 8, is mounted on
On desktop 81, operation can be controlled it by the computer being arranged on desktop 81, as shown in Figure 1, having on desktop 81
Display, mouse and keyboard.The Three Degree Of Freedom wrist healing robot of the present embodiment includes: for being mounted on consolidating on desktop 81
Reservation 1, inward turning and outward turning mechanism 2, palmar flexion and dorsiflex mechanism 3, interior receipts and outreach mechanism 4 and handle assembly 5.
In conjunction with Fig. 1-Fig. 4, fixing seat 1 is two be oppositely arranged, and internal/external rotations mechanism 2 includes: to be pacified by electric machine support
First motor 21 in fixing seat 1, the gear shaft 22 coaxially connected with the output shaft of first motor 21 are nibbled with gear shaft 22
The semicircle gear wheel 23 of conjunction and the forearm support component 6 for being fixed on 1 top of fixing seat.First motor 21 passes through shaft coupling and tooth
Wheel shaft 22 connects, and 22 both ends of gear shaft are mounted on position limiting slide block 25 by deep groove ball bearing and end cap, are had on position limiting slide block 25
There is limiting slot 251, position limiting slide block 25 is fixedly connected with two fixing seats 1, arc-shaped guide rail 24 is fixedly installed on semicircle gear wheel,
Arc-shaped guide rail 24 is fastened in limiting slot 251.In order to wrap up semicircle gear wheel 23 and gear shaft 22, trouble is avoided contact to
Person is also equipped with gear casing 26 on semicircle gear wheel 23.Forearm support component 6 includes the forearm being fixed on position limiting slide block 25
Support hand 61 and the sponge filler 62 for being pasted onto small 61 upper surface of fupport arm hand.
Referring to Fig. 1, Fig. 2, Fig. 3 and Fig. 5, palmar flexion/dorsiflex mechanism 3 includes first that one end is fixed on semicircle gear wheel 23
Connecting rod rest 31, be fixed on by electric machine support first connecting rod frame 31 the other end the second motor 32, defeated with the second motor 32
The coaxially connected drive bevel gear 33 of shaft, the driven wheel of differential 34 and driven wheel of differential coaxially engaged with drive bevel gear 33
34 coaxially connected second connecting rod framves 35.Drive bevel gear 33, driven wheel of differential 34 are installed on the D-shaped output shaft of second motor 32
Shaft on have D-shaped axis, D-shaped axis is connect with second connecting rod frame 35, to avoid bevel gear exposed, drive bevel gear 33 and from
Bevel gear shell 36 is provided with outside dynamic bevel gear 34.
Referring to Fig. 1, Fig. 2, Fig. 3 and Fig. 6, interior receipts/outreach mechanism 4 includes fixed by electric machine support and second connecting rod frame 35
The third motor 41 of connection, the driving pulley 42 coaxially connected with the output shaft of third motor 41 and pass through with driving pulley 42
The driven pulley 43 of synchronous band connection；Handle assembly 5 is fixedly mounted in the shaft of driven pulley 43.Second connecting rod frame 35 is L
Shape, third motor 41 are mounted on the corner of second connecting rod frame 35, and interior receipts/outreach mechanism 4 further includes and second connecting rod frame 35
The backplate 44 being oppositely arranged on one side and the protective cover 45 being arranged in outside backplate 44；Pass through between backplate 44 and second connecting rod frame 35
Multiple locating shafts 46 connect, and driving pulley 42, driven pulley 43 and synchronous belt connecting the two are arranged in backplate 44 and second
In space between connecting rod rest 35.
Referring to fig. 2 and Fig. 7, handle assembly 5 include: the connecting flange 51 being fixedly connected with the shaft 47 of driven pulley 43,
When rehabilitation training for grabbed for manpower handle 55, be fixed on subordinate handle brackets 52, be arranged under handle brackets 52
The terminal pad 53 at end and the six-dimension force sensor 54 being mounted between connecting flange 51 and terminal pad 53.Driven pulley 43 turns
Axis 47 and connecting flange 51 are circumferential by D-shaped hole location and installation, position axially through positioning screw.
In order to realize a machine while meeting the rehabilitation training of right-hand man, the bottom end of fixing seat 1 is provided with sliding rail
Component 7, slide track component 7 are arranged on desktop 81, and slide track component 7 includes: to be fixed on two pairs of the downside of desktop 81 and be oppositely arranged to lead
It is slided to axis connection seat 71, the guiding axis 72 being arranged between the guiding axis attachment base 71 that two are oppositely arranged and with guiding axis 72
The guide runner 73 of connection；Guide runner 73 is fixedly connected with fixing seat 1.Guide runner 73 is by slider connecting plate 74 and fixes
Seat 1 is fixedly connected, and guiding axis 72 and 73 outside of guide runner also have sliding rail shell 75；Having on desktop 81 wears fixing seat 1
The elongated slot 811 crossed.Guiding axis 72 is two to be parallel to each other in the present embodiment, installs four guide runners 73 on guiding axis 72,
One of guide runner 73 is the sliding block with locking function, and four sliding blocks and slider connecting plate 74 are bolted on one
It rises, sliding rail shell 75 is bolted on guiding axis attachment base 71.In order to avoid sundries falls into slide rail group by elongated slot 811
In part, sliding rail performance is influenced, organ shield 85 is provided in elongated slot 811, it is two sections that organ shield 85, which is divided to, and every section of organ is anti-
One end of shield 85 is fixed on the side of fixing seat 1, and the other end is fixed on the desktop 81 of 811 end of elongated slot.
The downside of desktop 81 is equipped with lifting column 82, and the lower end of lifting column 82 is fixedly mounted on bottom plate 83, bottom plate 83
Lower section is equipped with multiple universal wheels 84.
The specific work process of the embodiment of the present invention are as follows:
The forearm of people is placed in forearm support component 6, the rotation of 21 gear shaft 22 of first motor, and then drive gear wheel
Rotation, gear wheel drive palmar flexion/dorsiflex mechanism 3, interior receipts/outreach mechanism 4 and handle assembly 5 to realize the inward turning and outside of wrist together
Rotation movement, position limiting slide block 25 play position-limiting action to arc-shaped guide rail 24.Second motor 32 drives drive bevel gear 33 to rotate, in turn
Driven wheel of differential 34 is driven to rotate, driven wheel of differential 34 drives the second connecting rod frame 35 being fixed in its shaft to rotate, thus real
The palmar flexion of existing wrist and dorsiflex campaign.Third motor 41 drives driving pulley 42 to rotate, and then drives driven pulley 43 and handle
Component 5 rotates, and realizes the interior receipts and abduction exercise of wrist.
There is six-dimension force sensor 54, when patient carries out passive exercise, patient is tight between connecting flange 51 and terminal pad 53
Handle, machine drive patients wrist's movement.When conditions of patients has certain strength for improving single patient to be also not enough to drive wrist
When movement, active training can be carried out, six-dimension force sensor 54 detects the movement tendency of patient, then controls corresponding motor and turns
It is dynamic.
Three Degree Of Freedom wrist healing robot of the invention passes through the internal/external rotations movement of forearm, palmar flexion/back of wrist
Bend movement, wrist interior receipts/abduction exercise structure design, realization device Three Degree Of Freedom work and it is small in size, only need to pacify
It can carry out rehabilitation training at home on desktop 81, it is suitable for home use, and a machine can adapt to simultaneously right-hand man's
Rehabilitation training, rehabilitation training is at low cost, and marketing is suitble to use.
It should be appreciated that described above, the specific embodiments are only for explaining the present invention, is not intended to limit the present invention.By
The obvious changes or variations that spirit of the invention is extended out are still in the protection scope of this invention.
Claims (9)
1. a kind of Three Degree Of Freedom wrist healing robot, it is characterised in that: including fixing seat (1) including fixing seat, inward turning/outer
Revolving mechanism, palmar flexion/dorsiflex mechanism, interior receipts/outreach mechanism and handle assembly, the internal/external rotations mechanism includes: by motor branch
Frame is mounted on the first motor (21) on the fixing seat (1), the tooth coaxially connected with the output shaft of the first motor (21)
It wheel shaft (22), the semicircle gear wheel (23) engaged with the gear shaft (22) and is fixed on small above the fixing seat (1)
Arm support component (6)；The palmar flexion/dorsiflex mechanism (3) includes the first connecting rod frame being fixed on the semicircle gear wheel (23)
(31), the second motor (32) of the first connecting rod frame (31) is fixed on, with second motor (32) by electric machine support
The coaxially connected drive bevel gear of output shaft (33), the driven wheel of differential (34) coaxially engaged with the drive bevel gear (33),
The second connecting rod frame (35) coaxially connected with the driven wheel of differential (34)；The interior receipts/outreach mechanism (4) includes passing through motor
It is third motor (41) that bracket is fixedly connected with the second connecting rod frame (35), coaxial with the output shaft of the third motor (41)
The driving pulley (42) of connection and the driven pulley (43) for passing through synchronous band connection with the driving pulley (42)；The handle
Component (5) is fixedly mounted in the shaft (47) of the driven pulley (43).
2. Three Degree Of Freedom wrist healing robot according to claim 1, it is characterised in that: the internal/external rotations mechanism
(2) further include: the arc-shaped guide rail (24) that is fixed on the semicircle gear wheel (23) and be fixed on the fixing seat (1) upper end
Position limiting slide block (25), has limiting slot (251) on the position limiting slide block (25), and the arc-shaped guide rail (24) is fastened on the limit
In slot (251).
3. Three Degree Of Freedom wrist healing robot according to claim 1, it is characterised in that: handle assembly (5) packet
It includes: being used to grab for manpower when the connecting flange (51) that is fixedly connected with the shaft (47) of the driven pulley (43), rehabilitation training
The handle (55) that takes, is arranged in the handle brackets (52) lower end the handle brackets (52) being fixed under the handle (55)
Terminal pad (53) and the six-dimension force sensor (54) being mounted between the connecting flange (51) and the terminal pad (53).
4. Three Degree Of Freedom wrist healing robot according to claim 1, it is characterised in that: the second connecting rod frame (35)
For L shape, the third motor (41) is mounted on the corner of second connecting rod frame (35), and the interior receipts/outreach mechanism (4) further includes
With the backplate (44) being oppositely arranged on one side of the second connecting rod frame (35) and protective cover in the backplate (44) outside is set
(45)；It is connect between the backplate (44) and the second connecting rod frame (35) by multiple locating shafts (46), the driving pulley
(42), driven pulley (43) and synchronous belt connecting the two are arranged between the backplate (44) and second connecting rod frame (35)
In space.
5. Three Degree Of Freedom wrist healing robot according to claim 1, it is characterised in that: the bottom of the fixing seat (1)
End is provided with slide track component (7), and the slide track component (7) is arranged on mounting surface (81), and the slide track component (7) includes: solid
It is scheduled at least a pair of opposing guiding axis attachment base (71) on the downside of desktop (81), the two guiding axis companies being oppositely arranged is set
Guiding axis (72) between joint chair (71) and the guide runner (73) being slidably connected with the guiding axis (72)；The guiding is slided
Block (73) is fixedly connected with the fixing seat (1).
6. Three Degree Of Freedom wrist healing robot according to claim 5, it is characterised in that: the guide runner (73) is logical
It crosses slider connecting plate (74) to be fixedly connected with the fixing seat (1), also have on the outside of the guiding axis (72) and guide runner (73)
There are sliding rail shell (75)；There is the elongated slot (811) for passing through the fixing seat (1) on the desktop (81).
7. Three Degree Of Freedom wrist healing robot according to claim 5, it is characterised in that: the downside of the desktop (81)
It is equipped with lifting column (82), the lower end of the lifting column (82) is fixedly mounted on bottom plate (83), the lower section of the bottom plate (83)
Multiple universal wheels (84) are installed.
8. Three Degree Of Freedom wrist healing robot according to claim 6, it is characterised in that: set in the elongated slot (811)
It is equipped with organ shield (85), organ shield (85) is divided into two sections, and one end of every section of organ shield (85) is fixed on described
The side of fixing seat (1), the other end are fixed on the desktop (81) of the elongated slot (811) end.
9. Three Degree Of Freedom wrist healing robot according to claim 1-8, it is characterised in that: the forearm branch
Support component (6) includes the small fupport arm hand (61) being fixed on the position limiting slide block (25) and is pasted onto the small fupport arm hand (61)
The sponge filler (62) of upper surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910698534.9A CN110339021B (en) | 2019-07-31 | 2019-07-31 | Wrist rehabilitation robot with three degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910698534.9A CN110339021B (en) | 2019-07-31 | 2019-07-31 | Wrist rehabilitation robot with three degrees of freedom |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110339021A true CN110339021A (en) | 2019-10-18 |
| CN110339021B CN110339021B (en) | 2021-11-23 |
Family
ID=68183449
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910698534.9A Active CN110339021B (en) | 2019-07-31 | 2019-07-31 | Wrist rehabilitation robot with three degrees of freedom |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110339021B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110974606A (en) * | 2019-12-06 | 2020-04-10 | 江苏理工学院 | Hand rehabilitation training device and control system |
| CN111067760A (en) * | 2019-12-31 | 2020-04-28 | 上海机器人产业技术研究院有限公司 | Upper limb rehabilitation training robot based on omnidirectional mobile platform |
| CN112370231A (en) * | 2020-11-12 | 2021-02-19 | 南京市中西医结合医院 | Medical hemodialysis upper limbs fixing device |
| CN113332099A (en) * | 2021-06-09 | 2021-09-03 | 常州大学 | Upper limb movement rehabilitation training device based on rope driving |
| CN113509350A (en) * | 2021-04-13 | 2021-10-19 | 阁步(上海)医疗科技有限公司 | Rehabilitation training mechanism and bedside rehabilitation training robot |
| CN113908014A (en) * | 2021-11-02 | 2022-01-11 | 复旦大学 | Hand function rehabilitation robot |
| WO2023004972A1 (en) * | 2021-07-30 | 2023-02-02 | 北京希迪克康复医学研究院有限公司 | Hand rehabilitation training device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102309393A (en) * | 2010-07-06 | 2012-01-11 | 赵奇 | Exoskeleton type upper limb rehabilitation robot |
| WO2015041618A2 (en) * | 2013-09-20 | 2015-03-26 | Akdogan Erhan | Upper limb therapeutic exercise robot |
| CN105520820A (en) * | 2016-01-11 | 2016-04-27 | 上海交通大学 | Three-freedom-degree wrist function rehabilitation robot |
| CN108743243A (en) * | 2018-07-16 | 2018-11-06 | 东北大学 | A kind of wrist convalescence device |
| CN109771222A (en) * | 2019-03-27 | 2019-05-21 | 燕山大学 | A kind of finger gymnastic robot with interior receipts outreach function |
-
2019
- 2019-07-31 CN CN201910698534.9A patent/CN110339021B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102309393A (en) * | 2010-07-06 | 2012-01-11 | 赵奇 | Exoskeleton type upper limb rehabilitation robot |
| WO2015041618A2 (en) * | 2013-09-20 | 2015-03-26 | Akdogan Erhan | Upper limb therapeutic exercise robot |
| CN105520820A (en) * | 2016-01-11 | 2016-04-27 | 上海交通大学 | Three-freedom-degree wrist function rehabilitation robot |
| CN108743243A (en) * | 2018-07-16 | 2018-11-06 | 东北大学 | A kind of wrist convalescence device |
| CN109771222A (en) * | 2019-03-27 | 2019-05-21 | 燕山大学 | A kind of finger gymnastic robot with interior receipts outreach function |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110974606A (en) * | 2019-12-06 | 2020-04-10 | 江苏理工学院 | Hand rehabilitation training device and control system |
| CN111067760A (en) * | 2019-12-31 | 2020-04-28 | 上海机器人产业技术研究院有限公司 | Upper limb rehabilitation training robot based on omnidirectional mobile platform |
| CN112370231A (en) * | 2020-11-12 | 2021-02-19 | 南京市中西医结合医院 | Medical hemodialysis upper limbs fixing device |
| CN113509350A (en) * | 2021-04-13 | 2021-10-19 | 阁步(上海)医疗科技有限公司 | Rehabilitation training mechanism and bedside rehabilitation training robot |
| CN113332099A (en) * | 2021-06-09 | 2021-09-03 | 常州大学 | Upper limb movement rehabilitation training device based on rope driving |
| WO2023004972A1 (en) * | 2021-07-30 | 2023-02-02 | 北京希迪克康复医学研究院有限公司 | Hand rehabilitation training device |
| CN113908014A (en) * | 2021-11-02 | 2022-01-11 | 复旦大学 | Hand function rehabilitation robot |
| CN113908014B (en) * | 2021-11-02 | 2024-02-20 | 复旦大学 | Hand function rehabilitation robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110339021B (en) | 2021-11-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110339021A (en) | Three Degree Of Freedom wrist healing robot | |
| CN102113949B (en) | Exoskeleton-wearable rehabilitation robot | |
| CN201743884U (en) | Robot for rehabilitating and training upper limb | |
| CN102379793B (en) | Upper limb rehabilitation training robot | |
| US10987271B2 (en) | Upper limb exoskeleton rehabilitation device with man-machine motion matching and side-to- side interchanging | |
| CN111345970B (en) | Seven-degree-of-freedom upper limb exoskeleton rehabilitation robot | |
| CN108743243B (en) | Wrist rehabilitation device | |
| CN102499857B (en) | Exoskeleton wearable upper limb rehabilitation robot | |
| CN106361537B (en) | A kind of seven freedom upper limb rehabilitation robot based on combination drive | |
| CN109009875A (en) | Personalized upper-limbs rehabilitation training robot | |
| CN106038175A (en) | Joint compound motion mechanical arm used for rehabilitation training of upper limb | |
| CN105662782A (en) | Exoskeletal rehabilitation robot for upper limbs | |
| CN111588590A (en) | Six-degree-of-freedom upper limb rehabilitation training arm and robot | |
| CN110960395B (en) | Exoskeleton type upper limb rehabilitation robot | |
| CN105520820A (en) | Three-freedom-degree wrist function rehabilitation robot | |
| CN107307972A (en) | A kind of New Type of Robot Arm for upper limb rehabilitation robot | |
| CN111588591A (en) | Eight-degree-of-freedom upper limb rehabilitation training arm and device | |
| CN109771222A (en) | A kind of finger gymnastic robot with interior receipts outreach function | |
| CN104224497A (en) | Traction-type hand rehabilitation trainer | |
| CN208958674U (en) | A kind of middle medical leg convalescence device | |
| CN111283661A (en) | Wearable single-motor-driven waist power assisting device | |
| CN212090714U (en) | Old person's rehabilitation nursing tempers device | |
| CN209301637U (en) | Personalized upper-limbs rehabilitation training robot | |
| CN212490676U (en) | Six-degree-of-freedom upper limb rehabilitation training arm and robot | |
| CN110613584B (en) | Flexible lower limb rehabilitation training mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |