CN110420096B - Upper limb rehabilitation robot with elastic right-angle rotating arm - Google Patents
Upper limb rehabilitation robot with elastic right-angle rotating arm Download PDFInfo
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- CN110420096B CN110420096B CN201811063264.6A CN201811063264A CN110420096B CN 110420096 B CN110420096 B CN 110420096B CN 201811063264 A CN201811063264 A CN 201811063264A CN 110420096 B CN110420096 B CN 110420096B
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- arm
- forearm
- upper arm
- servo motor
- sliding sleeve
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 18
- 210000000245 forearm Anatomy 0.000 claims abstract description 37
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 19
- 210000003857 wrist joint Anatomy 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000012549 training Methods 0.000 abstract description 6
- 230000005484 gravity Effects 0.000 abstract description 3
- 208000006011 Stroke Diseases 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000002560 therapeutic procedure Methods 0.000 description 4
- 206010008190 Cerebrovascular accident Diseases 0.000 description 3
- 206010019468 Hemiplegia Diseases 0.000 description 2
- 230000002490 cerebral effect Effects 0.000 description 2
- 206010023201 Joint contracture Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 210000001503 joint Anatomy 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
- 230000003578 releasing effect Effects 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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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 the field of rehabilitation medical instruments, and relates to an upper limb rehabilitation robot with an elastic right-angle rotating arm. The armrests on the two sides of the wheelchair are respectively provided with a containing groove, one side, close to the chair back, in each containing groove is provided with a lifting cylinder, and the output end of each lifting cylinder is provided with a mechanical arm; the mechanical arm comprises a base, an elastic right-angle rotating arm, an upper arm, an elbow joint and a forearm; the base is fixedly arranged at the output end of the lifting cylinder, one end of the elastic right-angle rotating arm is rotatably connected with the base, the other end of the elastic right-angle rotating arm is connected with one end of an upper arm, the other end of the upper arm is connected with one end of an elbow joint, and the other end of the elbow joint is connected with one end of a forearm; the elastic right-angle rotating arm can provide a passive joint for shoulder movement of a user and balance the gravity of the arm of the user when in use; the upper limb rehabilitation training device can provide a moderate upper limb rehabilitation training environment for a user, and provides assistance for the upper limb of the user through the mechanical arm.
Description
Technical Field
The invention relates to an upper limb rehabilitation robot with an elastic right-angle rotating arm, and belongs to the field of rehabilitation medical instruments.
Background
Cerebral apoplexy is a common disease in the elderly population, hemiplegia is the most common phenomenon of apoplexy patients, and most of the patients lose the motor ability of upper limbs. Relevant statistics show that over 1500 million people worldwide suffer from stroke, 85% of people who survive stroke are hemiplegic, and about 40% of patients are permanently disabled. Clinical verification shows that beneficial rehabilitation training of the patient as early as possible not only can maintain the activity of each joint and prevent joint contracture, but also can obviously improve the final rehabilitation degree of the patient. At present, rehabilitation therapy in China is mainly performed by assistance of physical therapists, and because the therapy mode is performed by the physical therapists and patients one by one, a large amount of time is needed for the therapy, only a few families can bear the therapy cost, and the final effect mainly depends on the experience of the physical therapists. Therefore, it is necessary to design an upper limb rehabilitation robot capable of helping the cerebral apoplexy hemiplegia patient to perform rehabilitation training.
The upper limb rehabilitation robot researched at home at present has the following defects: 1. the upper limb rehabilitation robot capable of realizing multi-degree-of-freedom movement has a small available working space and high robot workload when finishing preset working contents; 2. in the use process of the upper limb rehabilitation robot in the current market, the required strength of the shoulder of a user is large when the user lifts the arm, and the situation brings inconvenience to the user with weak shoulder strength and easily causes secondary injury.
Disclosure of Invention
The invention aims to provide an upper limb rehabilitation robot with an elastic right-angle rotating arm to solve the problems.
An upper limb rehabilitation robot with an elastic right-angle rotating arm comprises a wheelchair, a containing groove, a lifting cylinder and a mechanical arm;
the armrests on the two sides of the wheelchair are respectively provided with a containing groove, one side, close to the chair back, in each containing groove is provided with a lifting cylinder, and the output end of each lifting cylinder is provided with a mechanical arm;
the mechanical arm comprises a base, an elastic right-angle rotating arm, an upper arm, an elbow joint and a forearm;
base fixed mounting is on the output of lift cylinder, and the one end of elasticity right angle rocking arm is rotated with the base and is connected, and the other end of elasticity right angle rocking arm is connected with the one end of upper arm, and the other end of upper arm is connected with the one end of elbow joint, and the other end of elbow joint is connected with the one end of forearm.
Preferably: the base comprises a fixed frame, a motor bracket, a first servo motor and a coupling;
the mount is installed on the output of lift cylinder, installs the motor support on the inside wall of mount, and first servo motor installs on the motor support, and first servo motor's output is connected with elasticity right angle rocking arm through the shaft coupling.
Preferably: the elastic right-angle rotating arm comprises a right-angle frame, a pulley, a rotating arm and an elastic rope;
the one end of right-angle frame is connected with first servo motor's output through the shaft coupling, and the other end of right-angle frame is articulated with the right-hand member of swinging boom, and the left end of swinging boom is connected with the one end of upper arm, and the pulley is all installed at the upper and lower both ends of right-angle frame lateral wall and the left end of swinging boom lateral wall, is connected through an elastic cord between the three pulley.
Preferably: the upper arm comprises an upper arm sleeve, an upper arm sliding sleeve, an electric push rod, a connecting rod, a second servo motor and a first gear;
the telescopic stiff end of upper arm is connected with the left end of swinging boom, and second servo motor is installed to the telescopic bottom of upper arm, installs first gear on the output of second servo motor, and it has the spout to open on the telescopic outer wall of upper arm, and the upper arm sliding sleeve is installed in the spout, is equipped with the tooth with first gear matched with on the outer wall of upper arm sliding sleeve, and electric putter fixed mounting is in one side of upper arm sliding sleeve outer wall, and electric putter's output is connected with the elbow joint through the connecting rod.
Preferably: the elbow joint comprises a first bracket, a second bracket, an adjusting bolt and a telescopic rod;
the one end fixed mounting of first support is on the upper arm sliding sleeve, and the other end of first support is articulated with the right-hand member of second support, and the right-hand member of second support still is equipped with connecting portion, and connecting portion are connected with the connecting rod, and the left end of second support is equipped with the sliding sleeve, and the telescopic link is installed in the sliding sleeve, and adjusting bolt passes the outer wall of second support and offsets with the telescopic link and lean on.
Preferably: the forearm comprises a forearm sleeve, a forearm sliding sleeve, a wrist joint connecting rod, a handle, a third servo motor and a second gear;
the telescopic stiff end of forearm is connected with the telescopic link, third servo motor is installed to the telescopic bottom of forearm, install the second gear on third servo motor's the output, it has the recess to open on the telescopic outer wall of forearm, the forearm sliding sleeve is installed in the recess, be equipped with on the outer wall of forearm sliding sleeve with second gear matched with tooth, the one end of wrist joint connecting rod is connected with the forearm sliding sleeve, the other end of wrist joint connecting rod is articulated with the handle connecting rod, the handle is installed on the inside wall of the free end of handle connecting rod.
Compared with the existing product, the invention has the following effects: the wheelchair can provide a more comfortable rehabilitation training environment for a user, the mechanical arm can be used for simulating various activities of upper limbs, the servo motor on the mechanical arm can provide assistance for the user to help the user to complete training actions, the elastic right-angle rotating arm can balance the arm gravity of the user, the shoulder strength required when the user lifts the arm is reduced, the working space can be increased, and the workload of the robot when preset work content is completed is reduced.
Drawings
Fig. 1 is a schematic structural diagram of an upper limb rehabilitation robot with an elastic right-angle rotating arm according to the invention;
FIG. 2 is a schematic view of the inner structure of the receiving groove;
FIG. 3 is a schematic view of a robotic arm:
FIG. 4 is a side view of FIG. 3;
FIG. 5 is a top view of FIG. 3;
FIG. 6 is a schematic view of the structure of the base;
FIG. 7 is a schematic structural view of the resilient right-angle swivel arm;
FIG. 8 is a schematic view of the upper arm;
FIG. 9 is a schematic view of the elbow joint;
FIG. 10 is a schematic view of the structure of the forearm;
FIG. 11 is a schematic structural view of the upper arm sliding sleeve;
FIG. 12 is a schematic view of the structure of the forearm sliding sleeve;
fig. 13 is a schematic structural view of the upper arm socket.
In the figure: 1-a wheelchair; 2-a storage groove; 3, a lifting cylinder; 4-a mechanical arm; 5-a base; 6-elastic right-angle rotating arm and 7-upper arm; 8-elbow joint; 9-forearm; 51-fixed frame, 52-motor support, 53-first servo motor, 54-coupler, 61-right-angle frame, 62-pulley, 63-rotating arm, 64-elastic rope, 71-upper arm sleeve, 72-upper arm sliding sleeve, 73-electric push rod, 74-connecting rod, 75-second servo motor, 76-first gear, 81-first support, 82-second support, 83-connecting part, 84-adjusting bolt, 85-telescopic rod, 91-forearm sleeve, 92-forearm sliding sleeve, 93-wrist joint connecting rod, 94-handle connecting rod, 95-handle, 96-third servo motor and 97-second gear.
Detailed Description
Preferred embodiments of the present invention are explained in detail below with reference to the accompanying drawings.
As shown in fig. 1 to 13, the upper limb rehabilitation robot with an elastic right-angle rotating arm according to the present invention includes a wheelchair 1, a storage groove 2, a lifting cylinder 3 and a mechanical arm 4;
the two side armrests of the wheelchair 1 are respectively provided with a containing groove 2, one side of the containing groove 2 close to the chair back is provided with a lifting cylinder 3, and the output end of the lifting cylinder 3 is provided with a mechanical arm 4;
the mechanical arm 4 comprises a base 5, an elastic right-angle rotating arm 6, an upper arm 7, an elbow joint 8 and a forearm 9;
Further: the base 5 comprises a fixed frame 51, a motor bracket 52, a first servo motor 53 and a coupler 54;
the fixed frame 51 is arranged at the output end of the lifting cylinder 3, the motor support 52 is arranged on the inner side wall of the fixed frame 51, the first servo motor 53 is arranged on the motor support 52, and the output end of the first servo motor 53 is connected with the elastic right-angle rotating arm 6 through the coupler 54.
Further: the elastic right-angle rotating arm 6 comprises a right-angle frame 61, a pulley 62, a rotating arm 63 and an elastic rope 64;
one end of the right-angle frame 61 is connected with the output end of the first servo motor 53 through the coupler 54, the other end of the right-angle frame 61 is hinged with the right end of the rotating arm 63, the left end of the rotating arm 63 is connected with one end of the upper arm 7, pulleys 62 are mounted at the upper end and the lower end of the side wall of the right-angle frame 61 and the left end of the side wall of the rotating arm 63, and the three pulleys 62 are connected through an elastic rope 64.
Further: the upper arm 7 comprises an upper arm sleeve 71, an upper arm sliding sleeve 72, an electric push rod 73, a connecting rod 74, a second servo motor 75 and a first gear 76;
the fixed end of the upper arm sleeve 71 is connected with the left end of the rotating arm 63, the bottom end of the upper arm sleeve 71 is provided with a second servo motor 75, the output end of the second servo motor 75 is provided with a first gear 76, the outer wall of the upper arm sleeve 71 is provided with a sliding groove, the upper arm sliding sleeve 72 is arranged in the sliding groove, the outer wall of the upper arm sliding sleeve 72 is provided with teeth matched with the first gear 76, the electric push rod 73 is fixedly arranged on one side of the outer wall of the upper arm sliding sleeve 72, and the output end of the electric push rod 73 is connected with the elbow joint 8 through a connecting rod.
Further: the elbow joint 8 comprises a first bracket 81, a second bracket 82, an adjusting bolt 84 and a telescopic rod 85;
one end of the first support 81 is fixedly mounted on the upper arm sliding sleeve 72, the other end of the first support 81 is hinged to the right end of the second support 82, a connecting portion 83 is further arranged at the right end of the second support 82, the connecting portion 83 is connected with the connecting rod 74, the sliding sleeve is arranged at the left end of the second support 82, the telescopic rod 85 is mounted in the sliding sleeve, and the adjusting bolt 84 penetrates through the outer wall of the second support 82 and abuts against the telescopic rod 85.
Further: the forearm 9 comprises a forearm sleeve 91, a forearm sliding sleeve 92, a wrist joint connecting rod 93, a handle connecting rod 94, a handle 95, a third servo motor 96 and a second gear 97;
the stiff end of forearm sleeve 91 is connected with telescopic link 85, third servo motor 96 is installed to the bottom of forearm sleeve 91, install second gear 97 on third servo motor 96's the output, it has the recess to open on forearm sleeve 91's the outer wall, forearm sliding sleeve 92 installs in the recess, be equipped with on forearm sliding sleeve 92's the outer wall with second gear 97 matched with tooth, wrist joint connecting rod 93's one end is connected with forearm sliding sleeve 92, wrist joint connecting rod 93's the other end is articulated with handle connecting rod 94, handle 95 is installed on the inside wall of handle connecting rod 94's free end.
The working principle is as follows:
the horizontal opening and closing angle of the mechanical arm can be adjusted through the first servo motor 51, the user can be helped to do arm lifting movement through the pulley 62 and the elastic rope 64, the gravity of the arm can be balanced, the user can be helped to finish the action of the rotating arm through the second servo motor 75, the user can be helped to finish the rotating action of the wrist through the third servo motor 96, and the lifting and releasing action of the palm can be finished through the wrist joint connecting rod 93 and the handle connecting rod 94.
This embodiment is only illustrative of the patent and does not limit the scope of protection thereof, and those skilled in the art can make modifications to its part without departing from the spirit of the patent.
Claims (1)
1. The utility model provides an upper limbs rehabilitation robot with elasticity right angle rocking arm, including wheelchair (1), accomodate groove (2), lift cylinder (3) and arm (4), all be equipped with on the handrail of the both sides of wheelchair (1) and accomodate groove (2), it installs lift cylinder (3) to accomodate one side of groove (2) interior being close to the back of the chair, arm (4) are installed to the output of lift cylinder (3), arm (4) are including base (5), elasticity right angle rocking arm (6), upper arm (7), elbow joint (8) and forearm (9), base (5) fixed mounting is on the output of lift cylinder (3), the one end of elasticity right angle rocking arm (6) is connected with base (5) rotation, the other end of elasticity right angle rocking arm (6) is connected with the one end of upper arm (7), the other end of upper arm (7) is connected with the one end of elbow joint (8), the other end of elbow joint (8) is connected with the one end of forearm (9), the base (5) comprises a fixed frame (51), a motor bracket (52), a first servo motor (53) and a coupler (54); the fixing frame (51) is arranged at the output end of the lifting cylinder (3), the inner side wall of the fixing frame (51) is provided with a motor support (52), the first servo motor (53) is arranged on the motor support (52), and the output end of the first servo motor (53) is connected with the elastic right-angle rotating arm (6) through a coupler (54); the upper arm (7) comprises an upper arm sleeve (71), an upper arm sliding sleeve (72), an electric push rod (73), a connecting rod (74), a second servo motor (75) and a first gear (76); the fixed end of the upper arm sleeve (71) is connected with the left end of the rotating arm (63), the bottom end of the upper arm sleeve (71) is provided with a second servo motor (75), the output end of the second servo motor (75) is provided with a first gear (76), the outer wall of the upper arm sleeve (71) is provided with a sliding chute, the upper arm sliding sleeve (72) is arranged in the sliding chute, the outer wall of the upper arm sliding sleeve (72) is provided with teeth matched with the first gear (76), an electric push rod (73) is fixedly arranged on one side of the outer wall of the upper arm sliding sleeve (72), and the output end of the electric push rod (73) is connected with the elbow joint (8) through a connecting rod (74); the elbow joint (8) comprises a first bracket (81), a second bracket (82), an adjusting bolt (84) and a telescopic rod (85); one end of the first support (81) is fixedly arranged on the upper arm sliding sleeve (72), the other end of the first support (81) is hinged with the right end of the second support (82), the right end of the second support (82) is also provided with a connecting part (83), the connecting part (83) is connected with the connecting rod (74), the left end of the second support (82) is provided with the sliding sleeve, the telescopic rod (85) is arranged in the sliding sleeve, and the adjusting bolt (84) penetrates through the outer wall of the second support (82) and abuts against the telescopic rod (85); the forearm (9) comprises a forearm sleeve (91), a forearm sliding sleeve (92), a wrist joint connecting rod (93), a handle connecting rod (94), a handle (95), a third servo motor (96) and a second gear (97); the stiff end of forearm sleeve (91) is connected with telescopic link (85), third servo motor (96) are installed to the bottom of forearm sleeve (91), install second gear (97) on the output of third servo motor (96), it has the recess to open on the outer wall of forearm sleeve (91), install in the recess forearm sliding sleeve (92), be equipped with on the outer wall of forearm sliding sleeve (92) with second gear (97) matched with tooth, the one end of wrist joint connecting rod (93) is connected with forearm sliding sleeve (92), the other end and handle connecting rod (94) of wrist joint connecting rod (93) are articulated, install on the inside wall of the free end of handle connecting rod (94) handle (95), its characterized in that: the elastic right-angle rotating arm (6) comprises a right-angle frame (61), a pulley (62), a rotating arm (63) and an elastic rope (64); the one end of right angle frame (61) is connected with the output of first servo motor (53) through shaft coupling (54), and the other end of right angle frame (61) is articulated with the right-hand member of swinging boom (63), and the left end of swinging boom (63) is connected with the one end of upper arm (7), and pulley (62) are all installed at the upper and lower both ends of right angle frame (61) lateral wall and the left end of swinging boom (63) lateral wall, are connected through stretch cord (64) between three pulley (62).
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 CN110420096A (en) | 2019-11-08 |
| CN110420096B true 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112618254B (en) * | 2020-12-11 | 2022-11-11 | 重庆电子工程职业学院 | Upper limb assisting and rehabilitation training robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN101816603B (en) * | 2010-04-21 | 2012-10-17 | 上海交通大学 | Electrically powered wheelchair device with rehabilitation mechanical arm |
| CN102258849B (en) * | 2011-04-22 | 2012-11-28 | 上海交通大学 | Upper limb hemiplegia rehabilitation robot |
| CN203408186U (en) * | 2013-08-20 | 2014-01-29 | 洛阳理工学院 | Wheelchair with detachable mechanical arm |
| 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 |
| CN106924013B (en) * | 2017-04-15 | 2023-09-26 | 上海卓道医疗科技有限公司 | Exoskeleton type upper limb rehabilitation training robot |
| CN107049705B (en) * | 2017-05-12 | 2019-04-12 | 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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| CN110420096A (en) | 2019-11-08 |
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