CN110420096A - A kind of upper limb rehabilitation robot with elastic right angle pivoted arm - Google Patents
A kind of upper limb rehabilitation robot with elastic right angle pivoted arm Download PDFInfo
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- CN110420096A CN110420096A CN201811063264.6A CN201811063264A CN110420096A CN 110420096 A CN110420096 A CN 110420096A CN 201811063264 A CN201811063264 A CN 201811063264A CN 110420096 A CN110420096 A CN 110420096A
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- forearm
- sleeve
- pivoted arm
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 21
- 210000000245 forearm Anatomy 0.000 claims abstract description 40
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 20
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 19
- 210000003857 wrist joint Anatomy 0.000 claims description 11
- 230000008878 coupling Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- 230000001174 ascending effect Effects 0.000 claims description 2
- 230000005484 gravity Effects 0.000 abstract description 3
- 230000004886 head movement Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 11
- 230000000694 effects Effects 0.000 description 4
- 206010019468 Hemiplegia Diseases 0.000 description 3
- 206010008190 Cerebrovascular accident Diseases 0.000 description 2
- 208000006011 Stroke Diseases 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000035876 healing Effects 0.000 description 2
- 206010023201 Joint contracture Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001769 paralizing effect Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 238000012795 verification Methods 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
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/12—Rests specially adapted therefor, e.g. for the head or the feet
- A61G5/125—Rests specially adapted therefor, e.g. for the head or the feet for arms
-
- 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
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0149—Seat or chair
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention belongs to rehabilitation medical instrument fields, are a kind of upper limb rehabilitation robots with elastic right angle pivoted arm, are made of wheelchair, accommodating groove, lifting cylinder and mechanical arm.Accommodating groove is equipped on two side handrails of wheelchair, the side of the close chair back is equipped with lifting cylinder in accommodating groove, and the output end of lifting cylinder is equipped with mechanical arm；Mechanical arm includes pedestal, elastic right angle pivoted arm, upper arm, elbow joint and forearm；Pedestal is fixedly mounted on the output end of lifting cylinder, one end of elastic right angle pivoted arm and pedestal are rotatablely connected, the other end of elastic right angle pivoted arm is connected with one end of upper arm, and the other end of upper arm is connected with one end of elbow joint, and the other end of elbow joint is connected with one end of forearm；Elastic right angle pivoted arm can provide passive joint for user's head movement, and balance the arm gravity of user when in use；The present invention can provide appropriate rehabilitation training of upper limbs environment for user, provide power-assisted by mechanical arm for user's upper limb.
Description
Technical field
The present invention relates to a kind of upper limb rehabilitation robots with elastic right angle pivoted arm, belong to rehabilitation medical instrument field.
Background technique
Headstroke is a kind of very common disease in the aged, and it is also most common existing that hemiplegia, which occurs, in paralytic
As most of patients can also lose the locomitivity of upper limb.It is shown according to relevant statistics, the whole world has more than 1,500 ten thousand people trouble every year
There is cerebral apoplexy, hemiplegia occurs in the people that 85% is also had in the people that headstroke survives, and about 40% patient will appear
Permanent deformity.Clinical verification shows that patient carries out beneficial rehabilitation training not only as early as possible and can maintain the activity in each joint
Degree, the prevention contracture of joint, and the final rehabilitation degree of patient can be significantly improved.Currently, the rehabilitation in China is mainly
Physical Therapist assists carrying out because this therapeutic modality is Physical Therapist and the one-to-one progress of patient, treatment in this way
It needs to take a significant amount of time, and only a small number of families can bear medical expense, and final effect also relies primarily on reason
Treat the experience of teacher.Therefore, it is necessary to design a upper limb healing machine that apoplexy hemiplegia patient can be helped to carry out rehabilitation
People carries out rehabilitation training.
The upper limb rehabilitation robot that the country is studied at present suffers a disadvantage in that 1. can realize the upper of multifreedom motion
The available work space of limb healing robot is smaller, and when completing predetermined work content machine manually measure it is higher；2. at present
In use, strength needed for its shoulder is larger when user lifts arm for upper limb rehabilitation robot in the market, this feelings
Condition can make troubles to the weaker user of shoulder strength, be easy to cause secondary damage.
Summary of the invention
The object of the present invention is to provide a kind of upper limb rehabilitation robots with elastic right angle pivoted arm, to solve above-mentioned ask
Topic.
A kind of upper limb rehabilitation robot with elastic right angle pivoted arm includes wheelchair, accommodating groove, lifting cylinder and mechanical arm；
Accommodating groove is equipped on two side handrails of wheelchair, the side of the close chair back is equipped with lifting cylinder in accommodating groove, rises
The output end of sending down abnormally ascending cylinder is equipped with mechanical arm；
Mechanical arm includes pedestal, elastic right angle pivoted arm, upper arm, elbow joint and forearm；
Pedestal is fixedly mounted on the output end of lifting cylinder, and one end of elastic right angle pivoted arm and pedestal are rotatablely connected, bullet
The other end of property right angle pivoted arm is connected with one end of upper arm, and the other end of upper arm is connected with one end of elbow joint, elbow joint
The other end be connected with one end of forearm.
Preferred: pedestal includes fixed frame, electric machine support, first servo motor and shaft coupling；
Fixed frame is mounted on the output end of lifting cylinder, and electric machine support is equipped on the inner sidewall of fixed frame, and first watches
It takes motor to be mounted on electric machine support, the output end of first servo motor is connected by shaft coupling with elastic right angle pivoted arm.
Preferred: elastic right angle pivoted arm includes right angle frame, pulley, rotating arm and stretch cord；
One end of right angle frame is connected by shaft coupling with the output end of first servo motor, the other end of right angle frame and rotation
The right end of pivoted arm is hinged, and the left end of rotating arm is connected with one end of upper arm, the upper and lower ends of right angle frame side wall and rotating arm side
The left end of wall is mounted on pulley, is connected between three pulleys by a stretch cord.
Preferred: upper arm includes upper arm sleeve, upper arm sliding sleeve, electric pushrod, connecting rod, the second servo motor and the first tooth
Wheel；
The fixing end of upper arm sleeve is connected with the left end of rotating arm, and the bottom end of upper arm sleeve is equipped with the second servo electricity
Machine is equipped with first gear on the output end of the second servo motor, and sliding slot, the installation of upper arm sliding sleeve are provided on the outer wall of upper arm sleeve
In sliding slot, the outer wall of upper arm sliding sleeve is equipped with the teeth matched with first gear, and it is sliding that electric pushrod is fixedly mounted on upper arm
The side of outer wall is covered, the output end of electric pushrod is connected by connecting rod with elbow joint.
Preferred: elbow joint includes first support, second support, adjusts bolt and telescopic rod；
One end of first support is fixedly mounted on upper arm sliding sleeve, and the other end of first support and the right end of second support are cut with scissors
It connects, the right end of second support is additionally provided with interconnecting piece, and interconnecting piece is connected with connecting rod, and the left end of second support is equipped with sliding sleeve, stretches
Bar is mounted in sliding sleeve, and the outer wall for adjusting bolt across second support leans with telescopic rod.
Preferred: forearm includes forearm sleeve, forearm sliding sleeve, wrist joint connecting rod, handle and connecting rod, handle, third servo electricity
Machine and second gear；
The fixing end of forearm sleeve is connected with telescopic rod, and the bottom end of forearm sleeve is equipped with third servo motor, third
Second gear is installed on the output end of servo motor, groove is provided on the outer wall of forearm sleeve, forearm sliding sleeve is mounted on groove
Interior, the outer wall of forearm sliding sleeve is equipped with the teeth matched with second gear, and one end of wrist joint connecting rod is connected with forearm sliding sleeve
It connects, the other end and handle and connecting rod of wrist joint connecting rod are hinged, and handle is mounted on the inner sidewall of the free end of handle and connecting rod.
The present invention has the effect that compared with existing product can provide more comfortable rehabilitation by wheelchair for user
Training environment can simulate the various activities of upper limb using mechanical arm, can be user using the servo motor on mechanical arm
Power-assisted is provided, helps user to complete training action, the arm gravity of user can be balanced using elastic right angle pivoted arm, reduction makes
Required shoulder strength when user's carry arm, increase can working space, reduce complete predetermined work content when robot workload.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of upper limb rehabilitation robot with elastic right angle pivoted arm of the present invention；
Fig. 2 is accommodating groove schematic diagram of internal structure；
Fig. 3 is the structural schematic diagram of mechanical arm:
Fig. 4 is the side view of Fig. 3；
Fig. 5 is the top view of Fig. 3；
Fig. 6 is the structural schematic diagram of pedestal；
Fig. 7 is the structural schematic diagram of elastic right angle pivoted arm；
Fig. 8 is the structural schematic diagram of upper arm；
Fig. 9 is the structural schematic diagram of elbow joint；
Figure 10 is the structural schematic diagram of forearm；
Figure 11 is the structural schematic diagram of upper arm sliding sleeve；
Figure 12 is the structural schematic diagram of forearm sliding sleeve；
Figure 13 is the structural schematic diagram of upper arm sleeve.
In figure: 1- wheelchair；2- accommodating groove；3- lifting cylinder；4- mechanical arm；5- pedestal；On 6- elasticity right angle pivoted arm, 7-
Arm；8- elbow joint；9- forearm；51- fixed frame, 52- electric machine support, 53- first servo motor, 54- shaft coupling, 61- right angle frame,
62- pulley, 63- rotating arm, 64- stretch cord, 71- upper arm sleeve, 72- upper arm sliding sleeve, 73- electric pushrod, 74- connecting rod, 75-
Two servo motors, 76- first gear, 81- first support, 82- second support, 83- interconnecting piece, 84- adjust bolt, 85- stretches
Bar, 91- forearm sleeve, 92- forearm sliding sleeve, 93- wrist joint connecting rod, 94- handle and connecting rod, 95- handle, 96- third servo motor,
97- second gear.
Specific embodiment
The preferred embodiment of the present invention is elaborated below according to attached drawing.
As shown in figure 1 to figure 13, a kind of upper limb rehabilitation robot with elastic right angle pivoted arm of the present invention includes
Wheelchair 1, accommodating groove 2, lifting cylinder 3 and mechanical arm 4；
Accommodating groove 2 is equipped on two side handrails of wheelchair 1, the side of the close chair back is equipped with lifting cylinder in accommodating groove 2
3, the output end of lifting cylinder 3 is equipped with mechanical arm 4；
Mechanical arm 4 includes pedestal 5, elastic right angle pivoted arm 6, upper arm 7, elbow joint 8 and forearm 9；
Pedestal 5 is fixedly mounted on the output end of lifting cylinder 3, and one end of elastic right angle pivoted arm 6 and the rotation of pedestal 5 connect
It connects, the other end of elastic right angle pivoted arm 6 is connected with one end of upper arm 7, and the other end of upper arm 7 is connected with one end of elbow joint 8
It connects, the other end of elbow joint 8 is connected with one end of forearm 9.
Further, pedestal 5 includes fixed frame 51, electric machine support 52, first servo motor 53 and shaft coupling 54；
Fixed frame 51 is mounted on the output end of lifting cylinder 3, and electric machine support 52 is equipped on the inner sidewall of fixed frame 51,
First servo motor 53 is mounted on electric machine support 52, and the output end of first servo motor 53 passes through shaft coupling 54 and elastic right angle
Pivoted arm 6 is connected.
Further, elastic right angle pivoted arm 6 includes right angle frame 61, pulley 62, rotating arm 63 and stretch cord 64；
One end of right angle frame 61 is connected by shaft coupling 54 with the output end of first servo motor 53, right angle frame 61 it is another
One end and the right end of rotating arm 63 are hinged, and the left end of rotating arm 63 is connected with one end of upper arm 7, above and below 61 side wall of right angle frame
The left end of 63 side wall of both ends and rotating arm is mounted on pulley 62, is connected between three pulleys 62 by a stretch cord 64.
Further, upper arm 7 includes upper arm sleeve 71, upper arm sliding sleeve 72, electric pushrod 73, connecting rod 74, the second servo motor
75 and first gear 76；
The fixing end of upper arm sleeve 71 is connected with the left end of rotating arm 63, and the bottom end of upper arm sleeve 71 is equipped with second and watches
Motor 75 is taken, first gear 76 is installed on the output end of second servo motor 75, is provided with sliding slot on the outer wall of upper arm sleeve 71,
Upper arm sliding sleeve 72 is mounted in sliding slot, and the outer wall of upper arm sliding sleeve 72 is equipped with the teeth matched with first gear 76, electronic to push away
Bar 73 is fixedly mounted on the side of 72 outer wall of upper arm sliding sleeve, and the output end of electric pushrod 73 is connected by connecting rod 74 with elbow joint 8
It connects.
Further, elbow joint 8 includes first support 81, second support 82, adjusts bolt 84 and telescopic rod 85；
One end of first support 81 is fixedly mounted on upper arm sliding sleeve 72, the other end and second support 82 of first support 81
Right end it is hinged, the right end of second support 82 is additionally provided with interconnecting piece 83, and interconnecting piece 83 is connected with connecting rod 74, second support 82
Left end is equipped with sliding sleeve, and telescopic rod 85 is mounted in sliding sleeve, adjusts outer wall and 85 phase of telescopic rod that bolt 84 passes through second support 82
Against.
Further, forearm 9 include forearm sleeve 91, forearm sliding sleeve 92, wrist joint connecting rod 93, handle and connecting rod 94, handle 95,
Third servo motor 96 and second gear 97；
The fixing end of forearm sleeve 91 is connected with telescopic rod 85, and the bottom end of forearm sleeve 91 is equipped with third servo motor
96, second gear 97 is installed on the output end of third servo motor 96, groove is provided on the outer wall of forearm sleeve 91, forearm is sliding
Set 92 is mounted in groove, and the outer wall of forearm sliding sleeve 92 is equipped with the teeth matched with second gear 97, wrist joint connecting rod 93
One end be connected with forearm sliding sleeve 92, the other end of wrist joint connecting rod 93 and handle and connecting rod 94 are hinged, and handle 95 is mounted on hand
On the inner sidewall of the free end of handle connecting rod 94.
Working principle:
The angle opened and closed by the adjustable mechanical arm level of first servo motor 51, can by pulley 62 and stretch cord 64
To help user to do carry arm movement, plays the role of balancing arm gravity, employment may help to by the second servo motor 75
The movement for completing pivoted arm may help to the spinning movement that wrist is completed in employment by third servo motor 96, pass through wrist joint
Connecting rod 93 and handle and connecting rod 94 can complete the lift of palm, put movement.
This embodiment is just an exemplary description of this patent, does not limit its protection scope, those skilled in the art
Member can also be changed its part, as long as it does not exceed the essence of this patent, within the protection scope of the present patent.
Claims (6)
1. a kind of upper limb rehabilitation robot with elastic right angle pivoted arm, it is characterised in that: including wheelchair (1), accommodating groove (2),
Lifting cylinder (3) and mechanical arm (4)；
It is equipped with accommodating groove (2) on two side handrails of the wheelchair (1), the side in accommodating groove (2) close to the chair back is equipped with liter
Sending down abnormally ascending cylinder (3), the output end of lifting cylinder (3) are equipped with mechanical arm (4)；
The mechanical arm (4) includes pedestal (5), right angle pivoted arm (6), upper arm (7), elbow joint (8) and forearm (9)；
The pedestal (5) is fixedly mounted on the output end of lifting cylinder (3), one end and pedestal (5) of elastic right angle pivoted arm (6)
Rotation connection, the other end of elastic right angle pivoted arm (6) are connected with one end of upper arm (7), the other end and elbow joint of upper arm (7)
(8) one end is connected, and the other end of elbow joint (8) is connected with one end of forearm (9).
2. a kind of upper limb rehabilitation robot with elastic right angle pivoted arm according to claim 1, it is characterised in that: described
Pedestal (5) includes fixed frame (51), electric machine support (52), first servo motor (53) and shaft coupling (54)；
The fixed frame (51) is mounted on the output end of lifting cylinder (3), is equipped with motor on the inner sidewall of fixed frame (51)
Bracket (52), first servo motor (53) are mounted on electric machine support (52), and the output end of first servo motor (53) passes through connection
Axis device (54) is connected with elastic right angle pivoted arm (6).
3. a kind of upper limb rehabilitation robot with elastic right angle pivoted arm according to claim 2, it is characterised in that: described
Elastic right angle pivoted arm (6) includes right angle frame (61), pulley (62), rotating arm (63) and stretch cord (64)；
One end of the right angle frame (61) is connected by shaft coupling (54) with the output end of first servo motor (53), right angle frame
(61) the other end and the right end of rotating arm (63) are hinged, and the left end of rotating arm (63) is connected with one end of upper arm (7), right angle
The upper and lower ends of frame (61) side wall and the left end of rotating arm (63) side wall are mounted on pulley (62), are led between three pulleys (62)
A stretch cord (64) is crossed to be connected.
4. a kind of upper limb rehabilitation robot with elastic right angle pivoted arm according to claim 3, it is characterised in that: described
Upper arm (7) include upper arm sleeve (71), upper arm sliding sleeve (72), electric pushrod (73), connecting rod (74), the second servo motor (75) and
First gear (76)；
The fixing end of the upper arm sleeve (71) is connected with the left end of rotating arm (63), and the bottom end of upper arm sleeve (71) is equipped with
Second servo motor (75) is equipped with first gear (76) on the output end of the second servo motor (75), upper arm sleeve (71)
Sliding slot is provided on outer wall, upper arm sliding sleeve (72) is mounted in sliding slot, and the outer wall of upper arm sliding sleeve (72) is equipped with and first gear
(76) teeth matched, electric pushrod (73) are fixedly mounted on the side of upper arm sliding sleeve (72) outer wall, electric pushrod (73)
Output end is connected by connecting rod (74) with elbow joint (8).
5. a kind of upper limb rehabilitation robot with elastic right angle pivoted arm according to claim 4, it is characterised in that: described
Elbow joint (8) includes first support (81), second support (82), adjusts bolt (84) and telescopic rod (85)；
One end of the first support (81) is fixedly mounted on upper arm sliding sleeve (72), the other end and second of first support (81)
The right end of bracket (82) is hinged, and the right end of second support (82) is additionally provided with interconnecting piece (83), interconnecting piece (83) and connecting rod (74) phase
The left end of connection, second support (82) is equipped with sliding sleeve, and telescopic rod (85) is mounted in sliding sleeve, adjusts bolt (84) and passes through second
The outer wall of frame (82) leans with telescopic rod (85).
6. a kind of upper limb rehabilitation robot with elastic right angle pivoted arm according to claim 5, it is characterised in that: described
Forearm (9) includes forearm sleeve (91), forearm sliding sleeve (92), wrist joint connecting rod (93), handle and connecting rod (94), handle (95),
Three servo motors (96) and second gear (97)；
The fixing end of the forearm sleeve (91) is connected with telescopic rod (85), and the bottom end of forearm sleeve (91) is equipped with third and watches
It takes motor (96), is equipped on the output end of third servo motor (96) second gear (97), on the outer wall of forearm sleeve (91)
It is provided with groove, forearm sliding sleeve (92) is mounted in groove, and the outer wall of forearm sliding sleeve (92) is equipped with to match with second gear (97)
One end of the teeth of conjunction, wrist joint connecting rod (93) is connected with forearm sliding sleeve (92), the other end and hand of wrist joint connecting rod (93)
Hingedly, handle (95) is mounted on the inner sidewall of the free end of handle and connecting rod (94) handle connecting rod (94).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811063264.6A CN110420096B (en) | 2018-09-12 | 2018-09-12 | Upper limb rehabilitation robot with elastic right-angle rotating arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811063264.6A CN110420096B (en) | 2018-09-12 | 2018-09-12 | Upper limb rehabilitation robot with elastic right-angle rotating arm |
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| Publication Number | Publication Date |
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| CN110420096A true CN110420096A (en) | 2019-11-08 |
| CN110420096B CN110420096B (en) | 2020-07-21 |
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| CN201811063264.6A Expired - Fee Related CN110420096B (en) | 2018-09-12 | 2018-09-12 | Upper limb rehabilitation robot with elastic right-angle rotating arm |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112618254A (en) * | 2020-12-11 | 2021-04-09 | 重庆电子工程职业学院 | Upper limb assistance and rehabilitation training robot |
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| CN105997427A (en) * | 2016-05-03 | 2016-10-12 | 广州康医疗设备实业有限公司 | Upper limb rehabilitation robot |
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| CN107049705A (en) * | 2017-05-12 | 2017-08-18 | 北京工业大学 | A kind of upper limb healing exoskeleton mechanism containing passive sliding pair |
| CN108433940A (en) * | 2018-04-02 | 2018-08-24 | 上海理工大学 | Upper limb exoskeleton robot based on wheel-chair |
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| DE102008053410A1 (en) * | 2008-10-27 | 2010-04-29 | Ferrobotics Compliant Robot Technology Gmbh | Training device for implementation of passive movement of shoulder joint of body part of patient, has light source that is arranged at rotation axis such that produced light ray propagates toward patient along axis for visualizing point |
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| CN107049705A (en) * | 2017-05-12 | 2017-08-18 | 北京工业大学 | A kind of upper limb healing exoskeleton mechanism containing passive sliding pair |
| CN108433940A (en) * | 2018-04-02 | 2018-08-24 | 上海理工大学 | Upper limb exoskeleton robot based on wheel-chair |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112618254A (en) * | 2020-12-11 | 2021-04-09 | 重庆电子工程职业学院 | Upper limb assistance and rehabilitation training robot |
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| CN110420096B (en) | 2020-07-21 |
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