CN116492202B - Three-dimensional upper limb rehabilitation training instrument - Google Patents
Three-dimensional upper limb rehabilitation training instrument Download PDFInfo
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- CN116492202B CN116492202B CN202310735482.4A CN202310735482A CN116492202B CN 116492202 B CN116492202 B CN 116492202B CN 202310735482 A CN202310735482 A CN 202310735482A CN 116492202 B CN116492202 B CN 116492202B
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims abstract description 121
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 239000003638 chemical reducing agent Substances 0.000 claims description 33
- 210000000245 forearm Anatomy 0.000 claims description 28
- 230000002146 bilateral effect Effects 0.000 claims description 2
- 238000004804 winding Methods 0.000 claims description 2
- 230000000630 rising effect Effects 0.000 claims 2
- 230000000149 penetrating effect Effects 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 13
- 230000004044 response Effects 0.000 abstract description 6
- 230000000694 effects Effects 0.000 abstract description 4
- 238000003780 insertion Methods 0.000 description 5
- 230000037431 insertion Effects 0.000 description 5
- 210000003414 extremity Anatomy 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000000712 assembly Effects 0.000 description 3
- 238000000429 assembly Methods 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 230000003993 interaction Effects 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 208000036487 Arthropathies Diseases 0.000 description 1
- 241001391944 Commicarpus scandens Species 0.000 description 1
- 206010028289 Muscle atrophy Diseases 0.000 description 1
- 208000012902 Nervous system disease Diseases 0.000 description 1
- 208000025966 Neurological disease Diseases 0.000 description 1
- 208000029028 brain injury Diseases 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000020763 muscle atrophy Effects 0.000 description 1
- 201000000585 muscular atrophy Diseases 0.000 description 1
- 210000000653 nervous system Anatomy 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000011514 reflex Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
-
- 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
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a three-dimensional upper limb rehabilitation training device, which belongs to the technical field of rehabilitation training devices and comprises a driving component, wherein the driving component drives a movable arm to move; the rotating connecting piece is rotatably arranged on the vertical plates at two sides, a first transmission sleeve is rotatably arranged in the mounting hole of the rotating connecting piece, and the first transmission sleeve is connected through a first transmission mechanism; the left arm is fixedly provided with a first driving component, the first driving component drives the rear arm to rotate left and right, the right arm is fixedly provided with a second driving component, and the lower end of the main shaft is provided with a third driving component. The three driving components respectively drive the movable arms to finish different actions, so that the structure is compact and ingenious, and the effects of the three driving components are avoided; when the motor is powered off or has a fault and suddenly runs away, the movable arm is in a safe position, so that the patient is not injured; the motion response of the movable arm is more timely, and the motion track of the movable arm is more accurate; and when the left hand training mode and the right hand training mode are switched, the switching is more firm and safer.
Description
Technical Field
The invention relates to a three-dimensional upper limb rehabilitation training device, and belongs to the technical field of rehabilitation training devices.
Background
For some patients with upper limb movement joint dysfunction caused by brain injury or neurological diseases, rehabilitation training is an important link for eliminating or relieving the upper limb dysfunction, and based on rehabilitation medical theory, through repeated movement training of the affected limb, on one hand, the body feeling of the affected limb is enhanced, the limb reflex is enhanced, muscle atrophy is prevented, the joint movement degree is improved, on the other hand, the rehabilitation of the nervous system is greatly promoted, and the function lost by the affected limb is assisted to be gradually recovered. The three-dimensional upper limb rehabilitation training device simulates the motion law of the upper limb of a human body in real time, can realize the motion of the upper limb in multiple dimensions, and can perform rehabilitation training under the condition of complete zero muscle force by combining scenario interaction, training feedback information and a powerful evaluation system, so that the progress of the rehabilitation training of the patient is advanced.
The three-dimensional upper limb rehabilitation training device comprises a movable arm, wherein the movable arm comprises a front arm and a rear arm, the movable arm is arranged on a driving assembly through the rear end of the rear arm, a left-right hand training mode can be switched through rotating the front arm, and the driving assembly drives the movable arm to move up and down and left and right.
In the prior art, the arrangement of the driving components is unreasonable, the structure is not compact enough, a plurality of driving components are mutually influenced, and when one driving component does not work, the work of other driving components is influenced, so that the safety is not enough; the movement of the front arm and the rear arm is realized by driving the belt wheels through the motor, and the belt wheels are driven to move through belt transmission, so that the rotation of the belt wheels needs to be frequently reversed in the movement process, and the slipping phenomenon is easy to occur; when the driving wheel pulls the driven wheel through the driving belt, one side of the belt wheel is in a tensioning state, the other side of the belt wheel is in a loosening state, and when the belt wheel reversely rotates, the belt on the loosening side is changed from loosening to tensioning, so that the motion response of the movable arm is not timely, when game interaction is carried out, the interaction progress and the equipment response matching degree are poor, the experience effect of a patient is influenced, and the training enthusiasm of the patient is reduced; the movement track of the movable arm is inaccurate, if the deviation is larger than the movable range of the patient, the patient may be damaged, and the control system cannot accurately acquire the position of the movable arm.
In addition, when the movable arm switches the left hand and the right hand in the prior art, as shown in fig. 1, the locking buckle 4 is released, and then the forearm is reversed in the vertical plane to lock the locking buckle 4 again, so that the left hand and the right hand are switched. The left hand training mode and the right hand training mode are switched under the condition of power failure, and the movable arm is movable, so that the movable arm is reversed in a vertical plane, the outer wall of the movable arm is smooth and has a height drop, and once the operation is not stable, people nearby can be hit and the front arm can be damaged if the front arm falls down; moreover, the forearm is not firmly fixed, and the risk of looseness exists, so that the training process is influenced.
Disclosure of Invention
Aiming at the defects in the background technology, the invention provides the three-dimensional upper limb rehabilitation training device, and the three driving components respectively drive the movable arms to finish different actions, so that the structure is compact and ingenious, and the effects of the three driving components are avoided; when the motor is powered off or has a fault and suddenly runs away, the movable arm is in a safe position, so that the patient is not injured; the motion response of the movable arm is more timely, and the motion track of the movable arm is more accurate; and when the left hand training mode and the right hand training mode are switched, the switching is more firm and safer.
In order to solve the technical problems, the invention adopts the following technical scheme:
the three-dimensional upper limb rehabilitation training device comprises a movable arm, wherein the movable arm comprises a front arm and a rear arm, the front ends of the front arm and the rear arm are connected with each other in a rotating way, the movable arm is arranged on a driving assembly, the driving assembly drives the movable arm to move, and the driving assembly comprises two vertical plates which are arranged in parallel on the left side and the right side;
a rotary connecting piece is arranged between the two vertical plates, the left side and the right side of the rotary connecting piece comprise a left arm and a right arm, and the rotary connecting piece is rotatably arranged on the vertical plates on the two sides by taking the left arm and the right arm as shafts;
the middle position of the rotary connecting piece is provided with a mounting hole, the axis of the mounting hole is vertical to the rotation axis of the rotary connecting piece, a first transmission sleeve is rotatably arranged in the mounting hole, and the first transmission sleeve is connected with the rear arm through a first transmission mechanism;
the left arm is fixedly provided with a first driving assembly, and the first driving assembly drives the first transmission sleeve to rotate, so that the rear arm is driven to rotate left and right;
the right arm is fixedly provided with a second driving assembly, the second driving assembly drives the rotating connecting piece to rotate, and the rotating connecting piece drives the first transmission sleeve and the rear arm to swing back and forth;
the first transmission sleeve is internally provided with a main shaft in a rotating way, the lower end of the main shaft is provided with a third driving assembly, and the third driving assembly drives the main shaft to rotate and drives the front arm to rotate relative to the rear arm through the main shaft;
the second driving component can drive the first driving component and the third driving component to swing back and forth while driving the rear arm to swing back and forth.
Further, the first driving assembly comprises a first motor, a first motor fixing piece, a first belt wheel, a tensioning belt wheel and a second belt wheel;
the first transmission mechanism comprises a second transmission sleeve, a first torque sensor and a transmission seat;
the end part of the left arm is fixedly provided with a first motor fixing part, the lower end of the first motor fixing part is fixedly provided with a first motor, the inside of the first motor fixing part is fixedly provided with a harmonic speed reducer, the power input end of the harmonic speed reducer is driven by the first motor, the power output end of the harmonic speed reducer is driven by a first transmission shaft, the upper end of the first transmission shaft is fixedly provided with a first belt wheel and a tensioning belt wheel, the tensioning belt wheel is positioned at the upper end of the first belt wheel, the first belt wheel and the tensioning belt wheel are coaxially and closely arranged, and the first motor drives the first belt wheel to rotate through the first transmission shaft and the harmonic speed reducer;
the top of the first transmission sleeve is fixedly provided with a second belt wheel, the upper end of the second belt wheel is fixedly provided with a second transmission sleeve, the top of the second transmission sleeve is provided with a first torque sensor, the upper end of the first torque sensor is fixedly provided with a transmission seat, and the transmission seat is fixedly connected with the rear arm;
the first belt pulley and the tensioning belt pulley drive the second belt pulley to rotate through the transmission belt, so that the first transmission mechanism and the rear arm are driven to rotate left and right.
Further, the second drive assembly includes a second motor, a third pulley, a fourth pulley, and a second motor mount;
the end part of the right arm of the rotating connecting piece is fixedly provided with a second torque sensor, the second torque sensor is fixedly connected with a fourth belt wheel, a second motor fixing piece is arranged below the right vertical plate of the second motor, a harmonic speed reducer is arranged inside the second motor fixing piece, the power input end of the harmonic speed reducer is connected with the second motor in a transmission manner, the power output end of the harmonic speed reducer is fixedly connected with a third belt wheel, and the third belt wheel is connected with the fourth belt wheel in a belt transmission manner.
Further, the third drive assembly includes a third motor, a fifth pulley, and a sixth pulley;
the lower end of the first transmission sleeve is fixedly provided with a harmonic speed reducer, the input end of the harmonic speed reducer is in transmission connection with a third motor, the output end of the harmonic speed reducer is in transmission connection with a main shaft, the third motor drives the main shaft to rotate through the harmonic speed reducer, the main shaft is rotationally arranged inside the second belt pulley and the first transmission mechanism, a fifth belt pulley and a tensioning belt pulley are arranged at the top of the main shaft, which passes through the first transmission mechanism, and the fifth belt pulley and the tensioning belt pulley are coaxially and closely arranged;
the front end rotation of rear arm is equipped with the sixth band pulley, and the lower extreme of sixth band pulley is fixed with third torque sensor, and third torque sensor is used for detecting the moment of torsion of third motor transmission, third torque sensor axis position is fixed to be equipped with the forearm pivot, forearm pivot and sixth band pulley clearance fit, the top and the forearm fixed connection of forearm pivot.
The fifth belt pulley and the tensioning belt pulley drive the sixth belt pulley to rotate, and the sixth belt pulley drives the forearm rotating shaft to rotate through the third torque sensor, so that the forearm is driven to rotate relative to the rear arm.
Further, the outside that first band pulley and tensioning band pulley are in opposite directions all is equipped with the drive belt fixed slot, the both sides of second band pulley respectively have a drive belt fixed slot, and first band pulley and tensioning band pulley pass through first drive belt and second drive belt and are connected with the second band pulley transmission, and the one end of first drive belt is fixed in the drive belt fixed slot of tensioning band pulley, and the other end is fixed in the drive belt fixed slot of second band pulley upside, and the one end of second drive belt is fixed in the drive belt fixed slot of first band pulley, and the other end is fixed in the drive belt fixed slot of second band pulley downside, and first drive belt and second drive belt are "8" font setting.
Further, the lower extreme of riser is fixed and is equipped with the base the vertical tension spring that installs in one side that is equipped with the fourth band pulley of base, the winding has the tension drive belt on the fourth band pulley, and the one end of tension drive belt is fixed on the fourth band pulley, and the other end is fixed at tension spring's top, and tension spring pulls fourth band pulley.
Further, two sides of the third belt wheel and the fourth belt wheel are respectively provided with a driving belt fixing groove, a first driving belt and a second driving belt are arranged between the third belt wheel and the fourth belt wheel, two ends of the first driving belt and two ends of the second driving belt are respectively fixed in the driving belt fixing grooves on two sides of the third belt wheel and the fourth belt wheel, and the first driving belt and the second driving belt are arranged in an 8 shape.
Further, the top of first transmission shaft and main shaft all is equipped with the toper screw hole, the diameter of toper screw hole reduces along with the deepening of degree of depth gradually, and the border of toper screw hole is equipped with a plurality of notches along the axial, install the tight nut that rises on the toper screw hole, with the tight nut that rises screw in the toper screw hole, can the top of first transmission shaft and main shaft strut, realize the fixed of tight band pulley that rises, first band pulley and fifth band pulley all are equipped with the sawtooth with the opposite side of the tight band pulley that rises that corresponds.
Further, the front arm rotating shaft is vertically arranged at the front end of the rear arm, the rear end of the front arm is rotationally provided with a front arm rotating seat, the front arm rotating seat is provided with a lock catch, the upper surface of the front end of the rear arm is provided with two bulges, the two bulges are symmetrically arranged relative to the front arm rotating shaft, and the lock catch is matched with the bulges;
the rear end of the front arm is provided with a first pull rod, two sides of the front arm rotating seat are symmetrically provided with two rotating seat jacks, and the first pull rod is inserted into the rotating seat jacks; the front end of the forearm is rotatably provided with an arm support seat, the front end of the forearm is provided with a second pull rod, two sides of the rear end of the arm support seat are symmetrically provided with two arm support seat jacks, and the second pull rod is matched with the arm support seat jacks.
Further, an arm fixing device is arranged at the front end of the arm supporting seat, a rotary table is arranged between the arm supporting seat and the arm fixing device, the arm fixing device is fixedly connected with the rotary table, and the arm fixing device is rotatably arranged at the front end of the arm supporting seat through the rotary table; the bottom of arm supporting seat is equipped with the third pull rod, and the bilateral symmetry of carousel is equipped with the arc sliding tray, is equipped with a circular jack between two arc sliding trays, the third pull rod with arc sliding tray and circular jack cooperate, under the normal operating condition, the third pull rod with one of them side arc sliding tray cooperates, under outage or transportation state, inserts the circular jack with the third pull rod in, fixes arm fixing device and carousel.
After the technical scheme is adopted, compared with the prior art, the invention has the following advantages:
1. the two vertical plates are provided with rotating connecting pieces, the middle positions of the rotating connecting pieces are provided with mounting holes, first transmission sleeves are rotatably mounted in the mounting holes, first transmission mechanisms are arranged at the upper ends of the first transmission sleeves, and the first driving assemblies and the second driving assemblies are movable through driving the rotating connecting pieces, the first transmission sleeves and the first transmission mechanisms, so that the rear arms are respectively driven to move left and right up and down, spindles are arranged in the first transmission sleeves, and the third driving assemblies drive the spindles to rotate so as to drive the front arms to move relative to the rear arms, so that the structure is compact and ingenious, and mutual influence is avoided.
2. When the first motor is powered off or has a fault and suddenly runs away, the movable arm cannot rotate left and right and can only swing back and forth at a certain position; when the second motor is powered off or has a fault and suddenly runs away, the movable arm cannot move up and down and generally falls to the lowest point, and can rotate left and right; when the first motor and the second motor are simultaneously powered off or have faults and suddenly run away, the movable arm is not moved after the original movable arm falls to the lowest point, so that when the first motor or the second motor is powered off or has faults and suddenly run away, the movable arm is in a safe position, secondary injury to a patient is avoided, and other people and the movable arm are prevented from being damaged.
3. The two belt wheels are driven by the two driving belts, the belt wheels are pulled by the different belts to rotate in different directions, when the movable arm needs to change direction in the moving process, the two ends of the driving belts are fixedly connected, the slipping phenomenon cannot occur, and the two belts are in a tensioning state, so that the reversing response of the movable arm is faster, and the moving track of the movable arm is more accurate.
4. In driving belt transmission cooperation, the two ends of the driving belt are fixed on the inner side of the belt wheel, and the first belt wheel and the fifth belt wheel are small in diameter, so that the tightness degree is inconvenient to adjust by adjusting the length of the driving belt on the inner side of the belt wheel, one end of the driving belt is fixed in the tensioning belt wheel, and after the tensioning nut is loosened, the tightness degree of the driving belt is adjusted by rotating the tensioning belt wheel.
5. The main shaft runs through and sets up in first transmission sleeve and second transmission sleeve's inside, and the third motor sets up in the lower extreme of main shaft, can reduce the focus for the rear arm is more nimble when the back-and-forth oscillation, can reduce second motor power.
6. When the left hand training mode and the right hand training mode are switched, the front arm rotates horizontally relative to the rear arm, and the front arm turns over in a vertical plane relatively, so that the left hand training mode and the right hand training mode are safer; and fix through the mode of buckle and jack, the location is more accurate more firm.
The invention will now be described in detail with reference to the drawings and examples.
Drawings
FIG. 1 is a schematic view of a prior art movable arm;
FIG. 2 is a schematic diagram of the structure of the present invention;
FIG. 3 is a partial side view of FIG. 2;
fig. 4 is an enlarged view of H in fig. 3;
FIG. 5 is a rear view of FIG. 3;
FIG. 6 is a right side view of FIG. 3;
FIG. 7 is an enlarged view at I in FIG. 6;
FIG. 8 is a schematic view of the structure of the movable arm of the present invention;
FIG. 9 is a schematic view of the structure of the swivel joint of the present invention;
FIG. 10 is a schematic diagram of a transmission of a first pulley and a second pulley;
FIG. 11 is a bottom view of the movable arm of the present invention;
fig. 12 is a schematic view of the structure of the turntable in the present invention.
In the figure, 1-turntable, 2-arc-shaped sliding groove, 3-circular jack, 4-locking buckle, 5-forearm, 6-trailing arm, 7-first motor, 701-first motor fixing piece, 702-first pulley, 703-second pulley, 704-first torque sensor, 705-first angle sensor, 706-first transmission shaft, 8-second motor, 801-third pulley, 802-fourth pulley, 803-second motor fixing piece, 804-second torque sensor, 805-second angle sensor, 806-tension transmission belt, 9-third motor, 901-main shaft, 902-fifth pulley, 903-sixth pulley, 904-third torque sensor, 905-forearm shaft, 906-third angle sensor, 10-riser, 11-rotation connector, 1101-left arm, 1102-right arm, 1103-mounting hole, 12-first drive sleeve, 13-second drive sleeve, 14-drive seat, 15-tension spring, 16-tensioning pulley, 17-notch, 18-tensioning nut, 19-latch, 20-bump, 21-forearm rotation seat, 22-first pull rod, 23-rotation seat jack, 24-second pull rod, 25-arm support seat, 2501-third pull rod, 26-drive belt fixing groove, 27-first drive belt, 28-second drive belt, 29-arm fixing device.
Detailed Description
For a clearer understanding of technical features, objects, and effects of the present invention, a specific embodiment of the present invention will be described with reference to the accompanying drawings.
As shown in fig. 2, the invention provides a three-dimensional upper limb rehabilitation training device, which comprises a movable arm, wherein the movable arm comprises a front arm 5 and a rear arm 6, the movable arm is arranged on a driving assembly through the rear end of the rear arm 6, and the driving assembly drives the rear arm 6 to enable the movable arm to move up and down and left and right.
As shown in fig. 3, 4 and 5, the driving assembly includes a first driving assembly, a second driving assembly and a third driving assembly;
the driving assembly comprises two vertical plates 10 which are arranged in parallel on the left side and the right side;
a rotary connecting piece 11 is arranged between the two vertical plates 10, the left side and the right side of the rotary connecting piece 11 comprise a left arm 1101 and a right arm 1102, and the rotary connecting piece 11 is rotatably arranged on the vertical plates 10 on the two sides by taking the left arm 1101 and the right arm 1102 as shafts;
a mounting hole 1103 is arranged in the middle of the rotary connecting piece 11, the axis of the mounting hole 1103 is vertical to the rotary axis of the rotary connecting piece 11, a first transmission sleeve 12 is rotatably arranged in the mounting hole 1103, and the first transmission sleeve 12 is connected with the rear arm 6 through a first transmission mechanism;
the left arm 1101 is fixedly provided with a first driving component, and the first driving component drives the first transmission sleeve 12 to rotate, so that the rear arm 6 is driven to rotate left and right;
the right arm 1102 is fixedly provided with a second driving assembly, the second driving assembly drives the rotary connecting piece 11 to rotate, and the rotary connecting piece 11 drives the first transmission sleeve 12 and the rear arm 6 to swing back and forth;
the first transmission sleeve 12 is provided with a main shaft 901 in a rotating manner, a third driving assembly is arranged at the lower end of the main shaft 901, and the third driving assembly drives the main shaft 901 to rotate and drives the front arm 5 to rotate relative to the rear arm 6 through the main shaft 901.
The first drive assembly comprises a first motor 7, a first motor mount 701, a first pulley 702, a tensioning pulley 16 and a second pulley 703.
As shown in fig. 9, the rotary connecting member 11 includes a left arm 1101 and a right arm 1102, the left arm 1101 and the right arm 1102 are disposed on two sides of the rotary connecting member 11, the left arm 1101 and the right arm 1102 are coaxially disposed, the left arm 1101 and the right arm 1102 are rotatably mounted on a riser 10 on the left and right sides, a first motor fixing member 701 is fixedly mounted at an end of the left arm 1101, a first motor 7 is fixed at a lower end of the first motor fixing member 701, a harmonic reducer is fixed inside the first motor fixing member 701, a power input end of the harmonic reducer is driven by the first motor 7, a power output end of the harmonic reducer is driven by a first driving shaft 706, a first pulley 702 and a tension pulley 16 are fixed at an upper end of the first driving shaft 706, the first pulley 702 is coaxially abutted against each other, the first motor 7 drives the first pulley 702 to rotate through the first driving shaft 706, a first angle sensor 705 is fixed at an upper end of the first pulley 702, and the first angle sensor 705 is used for detecting a rotation angle of the rear arm 6 and is transmitted to the real-time control system.
The top of the first transmission sleeve 12 is fixedly provided with a second belt pulley 703, the upper end of the second belt pulley 703 is fixedly provided with a first transmission mechanism, the first transmission mechanism is fixedly connected with the rear arm 6, and the first belt pulley 702 and the tensioning belt pulley 16 drive the second belt pulley 703 to rotate through a transmission belt, so that the first transmission mechanism and the rear arm 6 are driven to rotate left and right.
The first transmission mechanism comprises a second transmission sleeve 13, a first torque sensor 704 and a transmission seat 14, the upper end of a second belt pulley 703 is fixedly connected with the second transmission sleeve 13, the first torque sensor 704 is arranged at the top of the second transmission sleeve 13, the transmission seat 14 is fixed at the upper end of the first torque sensor 704, the transmission seat 14 is fixedly connected with the rear arm 6, and the first torque sensor 704 detects torque transmitted by the first motor 7 in real time.
The outside that first band pulley 702 and tensioning band pulley 16 are in opposite directions all is equipped with drive belt fixed slot 26, there is a drive belt fixed slot 26 respectively in the both sides of second band pulley 703, first band pulley 702 and tensioning band pulley 16 pass through first drive belt 27 and second drive belt 28 and are connected with the drive of second band pulley 703, the one end of first drive belt 27 is fixed in the drive belt fixed slot 26 of tensioning band pulley 16, the other end is fixed in the drive belt fixed slot 26 of second band pulley 703 upside, the one end of second drive belt 28 is fixed in the drive belt fixed slot 26 of first band pulley 702, the other end is fixed in the drive belt fixed slot 26 of second band pulley 703 downside, first drive belt 27 and second drive belt 28 are "8" font setting. When the first pulley 702 rotates clockwise, the second pulley 703 is pulled by the first belt 27 to rotate in one direction, and when the first pulley 702 rotates counterclockwise, the second pulley 703 is pulled by the second belt 28 to rotate in the other direction.
The second drive assembly includes a second motor 8, a third pulley 801, a fourth pulley 802, and a second motor mount 803.
The end of the right arm 1102 of the rotary connecting piece 11 is fixedly provided with a second torque sensor 804, the second torque sensor 804 is fixedly connected with a fourth belt pulley 802, a second motor fixing piece 803 is arranged below the right vertical plate 10 of the second motor 8, a harmonic speed reducer is arranged inside the second motor fixing piece 803, a power input end of the harmonic speed reducer is in transmission connection with the second motor 8, a power output end of the harmonic speed reducer is fixedly connected with the third belt pulley 801, and the third belt pulley 801 is in transmission connection with the fourth belt pulley 802 through a belt.
The two sides of the third belt pulley 801 and the fourth belt pulley 802 are respectively provided with a belt fixing groove 26, a first belt 27 and a second belt 28 are arranged between the third belt pulley 801 and the fourth belt pulley 802, two ends of the first belt 27 and the second belt 28 are respectively fixed in the belt fixing grooves 26 on the two sides of the third belt pulley 801 and the fourth belt pulley 802, and the first belt 27 and the second belt 28 are arranged in an 8 shape.
The fourth belt wheel 802 drives the rotary connecting piece 11 to rotate through the second torque sensor 804, so that the first transmission sleeve 12 is driven to swing back and forth, and the rear arm 6 is driven to swing back and forth, and the first driving component is connected with the left arm 1101 of the rotary connecting piece 11, so that the second driving component can drive the first driving component to rotate while driving the rear arm 6 to swing back and forth.
The end of the right arm 1102 of the rotary connecting member 11 is also provided with a second angle sensor 805, and the second angle sensor 805 is used for detecting the back-and-forth swing angle of the rear arm 6 and transmitting the detected back-and-forth swing angle to the control system in real time.
The first motor 7 and the second motor 8 are respectively used for driving the rear arm 6 to rotate left and right and swing back and forth, and when the first motor 7 is powered off or has a fault and suddenly runs away, the movable arm cannot rotate left and right and can only swing back and forth at a certain position; when the second motor 8 is powered off or has a fault and suddenly runs away, the movable arm cannot move up and down, generally falls to the lowest point and can rotate left and right; when the first motor 7 and the second motor 8 are powered off simultaneously or have faults and suddenly run away, the movable arm is not moved after the original movable arm falls to the lowest point, so that when the first motor 7 or/and the second motor 8 are powered off or have faults and suddenly run away, the movable arm is in a safe position, secondary injury to a patient is avoided, and other people and damage to the movable arm are avoided.
In some embodiments, as shown in fig. 3, a base is fixedly disposed at the lower end of the vertical plate 10, a tension spring 15 is vertically installed on one side of the base provided with a fourth belt pulley 802, a tension driving belt 806 is wound on the fourth belt pulley 802, one end of the tension driving belt 806 is fixed on the fourth belt pulley 802, the other end is fixed on the top of the tension spring 15, the tension spring 15 pulls the fourth belt pulley 802, and when the movable arm swings back and forth, the tension spring 15 can counteract a part of torsion by pulling the fourth belt pulley 802, so that the power of the second motor 8 can be reduced.
The third drive assembly comprises a third motor 9, a fifth pulley 902 and a sixth pulley 903.
The lower extreme fixed mounting of first drive sleeve 12 has the harmonic reducer, and the input and the third motor 9 transmission of harmonic reducer are connected, and the output and the main shaft 901 transmission of harmonic reducer are connected, and third motor 9 passes through the harmonic reducer drive main shaft 901 and rotates, and main shaft 901 rotates set up in inside second band pulley 703 and the first drive mechanism, main shaft 901 pass the top outside the first drive mechanism and are equipped with fifth band pulley 902 and tight band pulley 16 that rises, and tight band pulley 16 that rises is located the upper end of fifth band pulley 902, and the two coaxial hugs closely the setting.
As shown in fig. 6 and 7, the front end of the rear arm 6 is rotatably provided with a sixth pulley 903, the lower end of the sixth pulley 903 is fixed with a third torque sensor 904, the third torque sensor 904 is used for detecting the torque transmitted by the third motor 9, a forearm rotating shaft 905 is fixedly arranged at the central axis position of the third torque sensor 904, the forearm rotating shaft 905 is in clearance fit with the sixth pulley 903, and the top end of the forearm rotating shaft 905 is fixedly connected with the forearm 5.
A third angle sensor 906 is fixed on the top of the main shaft 901, the third angle sensor 906 is used for detecting the rotation angle of the forearm 5, and the third motor 9 drives the fifth belt pulley 902 to rotate through a harmonic reducer.
The outside that fifth band pulley 902 and tensioning band pulley 16 are in opposite directions all is equipped with drive belt fixed slot 26, there is a drive belt fixed slot 26 in the both sides of sixth band pulley 903 respectively, fifth band pulley 902 and tensioning band pulley 16 pass through first drive belt 27 and second drive belt 28 and are connected with sixth band pulley 903 transmission, the one end of first drive belt 27 is fixed in the drive belt fixed slot 26 of tensioning band pulley 16, the other end is fixed in the drive belt fixed slot 26 of sixth band pulley 903 upside, the one end of second drive belt 28 is fixed in the drive belt fixed slot 26 of fifth band pulley 902, the other end is fixed in the drive belt fixed slot 26 of sixth band pulley 903 downside, first drive belt 27 and second drive belt 28 are "8" font setting.
The fifth pulley 902 and the tension pulley 16 drive the sixth pulley 903 to rotate, and the sixth pulley 903 drives the forearm shaft 905 to rotate through the third torque sensor 904, thereby driving the forearm 5 to rotate relative to the rear arm 6.
The main shaft 901 runs through the inside that sets up in first transmission sleeve 12 and second transmission sleeve 13, and third motor 9 sets up in the lower extreme of main shaft 901, can reduce the focus for the back arm 6 is more nimble when swinging back and forth, can reduce second motor 8 power.
The transmission between the fifth belt pulley 902 and the tensioning belt pulley 16 and the sixth belt pulley 903, the transmission between the first belt pulley 702 and the tensioning belt pulley 16 and the second belt pulley 703 and the transmission between the third belt pulley 801 and the fourth belt pulley 802 are all transmitted through two transmission belts, the belt pulleys are pulled to rotate in different directions through different transmission belts respectively, when the movable arm needs to be reversed in the moving process, the slipping phenomenon cannot occur due to the fact that the two ends of the transmission belts are fixedly connected, the two belts are in a tensioning state, the reversing response of the movable arm is faster, and the moving track of the movable arm is more accurate.
The first driving component and the second driving component are driven to rotate through the rotary connecting piece 11, the first transmission sleeve 12 and the first transmission mechanism to respectively drive the rear arm 6 to move up and down left and right, the main shaft 901 is arranged in the first transmission sleeve, the third driving component drives the main shaft 901 to rotate so as to drive the front arm 5 to move relative to the rear arm 6, and the three driving components are compact and ingenious in structure and do not affect each other.
The top of first transmission shaft 706 and main shaft 901 all is equipped with the toper screw hole, the diameter of toper screw hole reduces along with the deepening of degree of depth gradually, and the circumference of toper screw hole is equipped with a plurality of notches 17 along the axial, install the tight nut 18 that rises on the toper screw hole, with the tight nut 18 that rises screw in the toper screw hole, can prop up the top of first transmission shaft 706 and main shaft 901, realize the fixed of tight band pulley 16 that rises, first band pulley 702 and fifth band pulley 902 all are equipped with the sawtooth with the opposite direction of its corresponding tight band pulley 16 that rises, prevent first band pulley 702 and fifth band pulley 902 and its corresponding tight band pulley 16 that rises skidding.
In the belt transmission cooperation, two ends of a transmission belt are fixed on the inner sides of pulleys, and as the diameters of a first pulley 702 and a fifth pulley 902 are smaller, the tightness degree is inconvenient to adjust by adjusting the length of the transmission belt on the inner sides of the pulleys, but one end of the transmission belt is fixed inside a tensioning pulley 16, after the first transmission belt 27 and a second transmission belt 28 are tensioned by rotating the tensioning pulley 16, a tensioning nut 18 is screwed into the conical threaded hole, the tops of a first transmission shaft 706 and a main shaft 901 are spread, and the tensioning pulley 16 is fixed; the diameters of the third pulley 801 and the fourth pulley 802 are large, and the lengths of the first belt 27 and the second belt 28 can be adjusted in the belt fixing grooves 26 inside the third pulley 801 and the fourth pulley 802 to adjust the tightness.
As shown in fig. 8, the forearm shaft 905 is vertically disposed at the front end of the rear arm 6, the rear end of the forearm 5 is rotatably provided with a forearm rotation seat 21, the forearm rotation seat 21 is provided with a latch 19, the upper surface of the front end of the rear arm 6 is provided with two protrusions 20, the two protrusions 20 are symmetrically disposed relative to the forearm shaft 905, and the latch 19 is matched with the protrusions 20; the rear end of the front arm 5 is provided with a first pull rod 22, two sides of the front arm rotating seat 21 are symmetrically provided with two rotating seat jacks 23, and the first pull rod 22 is inserted into the rotating seat jacks 23; the front end of the front arm 5 is rotatably provided with an arm support seat 25, the front end of the front arm 5 is provided with a second pull rod 24, two sides of the rear end of the arm support seat 25 are symmetrically provided with two arm support seat jacks, and the second pull rod 24 is matched with the arm support seat jacks.
As shown in fig. 11 and 12, an arm fixing device 29 is arranged at the front end of the arm support seat 25, a turntable 1 is arranged between the arm support seat 25 and the arm fixing device 29, the arm fixing device 29 is fixedly connected with the turntable 1, and the arm fixing device 29 is rotatably arranged at the front end of the arm support seat 25 through the turntable 1; the bottom of the arm support seat 25 is provided with a third pull rod 2501, two sides of the turntable 1 are symmetrically provided with arc-shaped sliding grooves 2, a circular insertion hole 3 is formed between the two arc-shaped sliding grooves 2, the third pull rod 2501 is matched with the arc-shaped sliding grooves 2 and the circular insertion hole 3, the third pull rod 2501 is matched with the arc-shaped sliding grooves 2 on one side in a normal working state, when the power is off or the turntable 1 is in a transportation state, the turntable 1 is not driven by power, and can freely move within a certain angle range, the arm fixing device 29 is easy to break, at the moment, the third pull rod 2501 is inserted into the circular insertion hole 3, and the arm fixing device 29 is fixed with the turntable 1.
When the left and right hand training mode is switched, the lock catch 19 is released, the forearm rotating seat 21 is rotated 180 degrees, the lock catch 19 is locked with the other protrusion, the forearm 5 is rotated 180 degrees, the first pull rod 22 is inserted into the other rotating seat insertion hole 23, the arm supporting seat 25 is rotated 180 degrees, the second pull rod 24 is inserted into the other arm supporting seat insertion hole, and the third pull rod 2501 is pulled to be matched with the arc-shaped sliding groove 2 on the other side, so that the left and right hand training mode is switched.
When the left-right hand training mode is switched, the front arm 5 rotates horizontally relative to the rear arm 6, and overturns in a vertical plane relatively, so that no height difference exists, and the safety is improved; and fix through the mode of buckle and jack, the location is more accurate more firm.
The foregoing is illustrative of the best mode of carrying out the invention, and is not presented in any detail as is known to those of ordinary skill in the art. The protection scope of the invention is defined by the claims, and any equivalent transformation based on the technical teaching of the invention is also within the protection scope of the invention.
Claims (7)
1. The utility model provides a three-dimensional upper limbs rehabilitation training device, includes the digging arm, the digging arm includes forearm (5) and trailing arm (6), and the front end of forearm (5) rear end and trailing arm (6) rotates the connection each other, and the digging arm is installed on drive assembly, and drive assembly drive digging arm moves its characterized in that:
the driving assembly comprises two vertical plates (10) which are arranged in parallel on the left side and the right side;
a rotary connecting piece (11) is arranged between the two vertical plates (10), the left side and the right side of the rotary connecting piece (11) comprise a left arm (1101) and a right arm (1102), and the rotary connecting piece (11) is rotatably arranged on the vertical plates (10) on the two sides by taking the left arm (1101) and the right arm (1102) as shafts;
a mounting hole (1103) is formed in the middle of the rotary connecting piece (11), the axis of the mounting hole (1103) is perpendicular to the rotation axis of the rotary connecting piece (11), a first transmission sleeve (12) is rotatably mounted in the mounting hole (1103), and the first transmission sleeve (12) is connected with the rear arm (6) through a first transmission mechanism;
the left arm (1101) is fixedly provided with a first driving assembly, and the first driving assembly drives the first transmission sleeve (12) to rotate, so that the rear arm (6) is driven to rotate left and right;
the right arm (1102) is fixedly provided with a second driving assembly, the second driving assembly drives the rotating connecting piece (11) to rotate, and the rotating connecting piece (11) drives the first transmission sleeve (12) and the rear arm (6) to swing back and forth;
the inside of the first transmission sleeve (12) is rotationally provided with a main shaft (901), the lower end of the main shaft (901) is provided with a third driving component, and the third driving component drives the main shaft (901) to rotate and drives the front arm (5) to rotate relative to the rear arm (6) through the main shaft (901);
the second driving component can drive the first driving component and the third driving component to swing back and forth while driving the rear arm (6) to swing back and forth;
the first driving assembly comprises a first motor (7), a first motor fixing piece (701), a first belt wheel (702), a tensioning belt wheel (16) and a second belt wheel (703);
the first transmission mechanism comprises a second transmission sleeve (13), a first torque sensor (704) and a transmission seat (14);
the end part of the left arm (1101) is fixedly provided with a first motor fixing part (701), the lower end of the first motor fixing part (701) is fixedly provided with a first motor (7), the inside of the first motor fixing part (701) is fixedly provided with a harmonic speed reducer, the power input end of the harmonic speed reducer is in transmission with the first motor (7), the power output end of the harmonic speed reducer is in transmission with a first transmission shaft (706), the upper end of the first transmission shaft (706) is fixedly provided with a first belt wheel (702) and a tensioning belt wheel (16), the tensioning belt wheel (16) is positioned at the upper end of the first belt wheel (702), the first belt wheel (702) and the first belt wheel and the tensioning belt wheel are coaxially abutted to each other, and the first motor (7) drives the first belt wheel (702) to rotate through the first transmission shaft (706) and the harmonic speed reducer;
the top of the first transmission sleeve (12) is fixedly provided with a second belt wheel (703), the upper end of the second belt wheel (703) is fixedly provided with a second transmission sleeve (13), the top of the second transmission sleeve (13) is provided with a first torque sensor (704), the upper end of the first torque sensor (704) is fixedly provided with a transmission seat (14), and the transmission seat (14) is fixedly connected with the rear arm (6);
the first belt wheel (702) and the tensioning belt wheel (16) drive the second belt wheel (703) to rotate through a transmission belt, so that the first transmission mechanism and the rear arm (6) are driven to rotate left and right;
the second driving assembly comprises a second motor (8), a third belt pulley (801), a fourth belt pulley (802) and a second motor fixing piece (803);
a second torque sensor (804) is fixed at the end part of a right arm (1102) of the rotary connecting piece (11), the second torque sensor (804) is fixedly connected with a fourth belt pulley (802), a second motor fixing piece (803) is arranged below a right side vertical plate (10) of the second motor (8), a harmonic speed reducer is arranged in the second motor fixing piece (803), a power input end of the harmonic speed reducer is in transmission connection with the second motor (8), a power output end of the harmonic speed reducer is fixedly connected with the third belt pulley (801), and the third belt pulley (801) is in transmission connection with the fourth belt pulley (802) through a belt;
the third drive assembly comprises a third motor (9), a fifth pulley (902) and a sixth pulley (903);
the lower end of the first transmission sleeve (12) is fixedly provided with a harmonic reducer, the input end of the harmonic reducer is in transmission connection with a third motor (9), the output end of the harmonic reducer is in transmission connection with a main shaft (901), the third motor (9) drives the main shaft (901) to rotate through the harmonic reducer, the main shaft (901) is rotationally arranged inside the second belt wheel (703) and the first transmission mechanism, a fifth belt wheel (902) and a tensioning belt wheel (16) are arranged at the top of the main shaft (901) except the first transmission mechanism in a penetrating way, the tensioning belt wheel (16) is positioned at the upper end of the fifth belt wheel (902), and the fifth belt wheel and the tensioning belt wheel are coaxially and tightly arranged;
the front end of the rear arm (6) is rotatably provided with a sixth belt wheel (903), the lower end of the sixth belt wheel (903) is fixedly provided with a third torque sensor (904), the third torque sensor (904) is used for detecting torque transmitted by a third motor (9), a front arm rotating shaft (905) is fixedly arranged at the central axis position of the third torque sensor (904), the front arm rotating shaft (905) is in clearance fit with the sixth belt wheel (903), and the top end of the front arm rotating shaft (905) is fixedly connected with the front arm (5);
the fifth belt pulley (902) and the tensioning belt pulley (16) drive the sixth belt pulley (903) to rotate, and the sixth belt pulley (903) drives the forearm shaft (905) to rotate through the third torque sensor (904), so that the forearm (5) is driven to rotate relative to the rear arm (6).
2. A three-dimensional upper limb rehabilitation training device according to claim 1, wherein: the two opposite sides of the second belt wheel (703) are respectively provided with a belt fixing groove (26), the first belt wheel (702) and the tension belt wheel (16) are in transmission connection with the second belt wheel (703) through a first belt (27) and a second belt (28), one end of the first belt (27) is fixed in the belt fixing groove (26) of the tension belt wheel (16), the other end of the first belt (27) is fixed in the belt fixing groove (26) of the upper side of the second belt wheel (703), one end of the second belt (28) is fixed in the belt fixing groove (26) of the first belt wheel (702), the other end of the second belt (28) is fixed in the belt fixing groove (26) of the lower side of the second belt wheel (703), and the first belt (27) and the second belt (28) are arranged in an 8 shape.
3. A three-dimensional upper limb rehabilitation training device according to claim 1, wherein: the lower extreme of riser (10) is fixed and is equipped with the base one side that is equipped with fourth band pulley (802) is vertical installs tension spring (15), and the winding has tension drive belt (806) on fourth band pulley (802), and tension drive belt (806) one end is fixed on fourth band pulley (802), and the other end is fixed at the top of tension spring (15), and fourth band pulley (802) are lived in tension spring (15).
4. A three-dimensional upper limb rehabilitation training device according to claim 1, wherein: the two sides of the third belt wheel (801) and the fourth belt wheel (802) are respectively provided with a driving belt fixing groove (26), a first driving belt (27) and a second driving belt (28) are arranged between the third belt wheel (801) and the fourth belt wheel (802), two ends of the first driving belt (27) and two ends of the second driving belt (28) are respectively fixed in the driving belt fixing grooves (26) on two sides of the third belt wheel (801) and the fourth belt wheel (802), and the first driving belt (27) and the second driving belt (28) are arranged in an 8 shape.
5. A three-dimensional upper limb rehabilitation training device according to claim 1, wherein: the top of first transmission shaft (706) and main shaft (901) all is equipped with the toper screw hole, the diameter of toper screw hole reduces along with the deepening of degree of depth gradually, and the border of toper screw hole is equipped with a plurality of notches (17) along the axial, install on the toper screw hole and rise tight nut (18), with rising tight nut (18) screw in the toper screw hole, can the top of first transmission shaft (706) and main shaft (901) strut, realize the fixed of rising tight band pulley (16), first band pulley (702) and fifth band pulley (902) all are equipped with the sawtooth with the opposite side of its corresponding tight band pulley (16) that rises.
6. A three-dimensional upper limb rehabilitation training device according to claim 1, wherein: the front arm rotating shaft (905) is vertically arranged at the front end of the rear arm (6), the rear end of the front arm (5) is rotationally provided with a front arm rotating seat (21), the front arm rotating seat (21) is provided with a lock catch (19), the upper surface of the front end of the rear arm (6) is provided with two bulges (20), the two bulges (20) are symmetrically arranged relative to the front arm rotating shaft (905), and the lock catch (19) is matched with the bulges (20);
the rear end of the front arm (5) is provided with a first pull rod (22), two sides of the front arm rotating seat (21) are symmetrically provided with two rotating seat jacks (23), and the first pull rod (22) is inserted into the rotating seat jacks (23); the front end of the front arm (5) is rotatably provided with an arm support seat (25), the front end of the front arm (5) is provided with a second pull rod (24), two sides of the rear end of the arm support seat (25) are symmetrically provided with two arm support seat jacks, and the second pull rod (24) is matched with the arm support seat jacks.
7. The three-dimensional upper limb rehabilitation training device according to claim 6, wherein: the front end of the arm support seat (25) is provided with an arm fixing device (29), a turntable (1) is arranged between the arm support seat (25) and the arm fixing device (29), the arm fixing device (29) is fixedly connected with the turntable (1), and the arm fixing device (29) is rotatably arranged at the front end of the arm support seat (25) through the turntable (1); the bottom of arm supporting seat (25) is equipped with third pull rod (2501), and the bilateral symmetry of carousel (1) is equipped with arc sliding tray (2), is equipped with a circular jack (3) between two arc sliding tray (2), third pull rod (2501) with arc sliding tray (2) and circular jack (3) cooperate, under the normal operating condition, third pull rod (2501) and one of them side arc sliding tray (2) cooperate, under outage or transportation condition, insert circular jack (3) with third pull rod (2501), fix arm fixing device (29) and carousel (1).
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| CN202310735482.4A CN116492202B (en) | 2023-06-21 | 2023-06-21 | Three-dimensional upper limb rehabilitation training instrument |
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| CN202310735482.4A CN116492202B (en) | 2023-06-21 | 2023-06-21 | Three-dimensional upper limb rehabilitation training instrument |
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| US10966893B2 (en) * | 2018-03-23 | 2021-04-06 | Hiwin Technologies Corp. | Exoskeleton apparatus for limb rehabilitation |
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| CN116492202A (en) | 2023-07-28 |
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