CN200987756Y - Rehabilitation exercising mechanical arm - Google Patents
Rehabilitation exercising mechanical arm Download PDFInfo
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- CN200987756Y CN200987756Y CN 200620165247 CN200620165247U CN200987756Y CN 200987756 Y CN200987756 Y CN 200987756Y CN 200620165247 CN200620165247 CN 200620165247 CN 200620165247 U CN200620165247 U CN 200620165247U CN 200987756 Y CN200987756 Y CN 200987756Y
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Abstract
The utility model discloses a manipulator for rehabilitation training, includes a parallelogram part, which includes two long rods (13, 16) and two short rods (14, 17), all the rods connect with each other from head to tail, one end of one of the long rods (13) is provided with a threaded rod which connects with a vertical movement output end of a vertical movement part, the other end of the long rod (13) with the threaded rod is provided with a short rod (14) which connects with a rehabilitation training end (18), one end of a short rod (17) connecting with the long rod (13) with the threaded rod, the other end connecting with a horizontal movement output end of a horizontal movement part, the vertical movement part and the horizontal movement part are provided on a rotary table (2) which connects with a rotary movement output end of a rotary movement part, the utility model comprises a main side and a secondary side, thus both a rehabilitation training scheme with medical staff participation and a rehabilitation training scheme conducted automatically by a robot are possible.
Description
Technical field
This utility model relates to a kind of limbs disturbance rehabilitation of patients exercising device of causing because of apoplexy, spinal cord injury and various accident of being applied to, and relates in particular to a kind of mechanical arm for rehabilitation training.
Background technology
Rehabilitation medicine is one of four big medical science subjects, development along with rehabilitation engineering, returning to one's perfect health of patient more and more paid attention to, exercise rehabilitation training is present most widely used rehabilitation medical project, the rehabilitation medicine clinical research shows that it is very important and crucial medical procedure that the paralytic carries out the affected limb rehabilitation training.Patient for the limb function disability that causes because of apoplexy, spinal cord injury and various accident, in time carry out rehabilitation training, especially carry out correct rehabilitation training in the first trimester after disease is decreased, the nervimuscular function of efficient recovery just can be arranged substantially, alleviate disabled degree greatly, improve its quality of life.Great majority among China physical disabilities person belong to acquired disability at present, and wherein quite a few people's deformity then causes because fail to obtain timely, correct rehabilitation training.Therefore, the research of limb rehabilitation training robot will bring glad tidings for these patients, have extremely important social meaning, and everybody enjoys the important goal that therefore rehabilitation service also becomes China's Eleventh Five-Year Plan.
The method that an important feature in this field is rehabilitation training is very big to the influential effect of rehabilitation training, and the method for rehabilitation training depends on the apparatus that rehabilitation training is adopted, therefore, the intelligent robot technology becomes in the rehabilitation engineering very one of important techniques in the rehabilitation medical robot technology, on the other hand, also become the forward position and the focus of current robot area research as medical science and the crystalline rehabilitation medical robot technology of engineering.
Rehabilitation training needs four kinds of training modes or process usually, i.e. passive exercise pattern, power-assisted training mode, active training mode, damping training mode.Existing device for healing and training mainly is various types of CPM (Continuous Passive Motion, continuous passive motion) machine, the CPM machine can be realized Passive Mode, be that mechanical arm drive people joints of hand carries out reciprocal motion, a spot of CPM machine can be realized initiatively training mode, but generally speaking, CPM machine structure is too simple and crude, function singleness can not be carried out the rehabilitation training of various modes, also can not satisfy the clinical requirement of rehabilitation medicine far away; Have the recovery exercising robot of more research also to be in the exploratory stage now, great majority have all been considered multiple rehabilitation training pattern, but the many series connection joints with industrial robot of structure are source, do not consider the characteristics of rehabilitation training process well.At first, patient's rehabilitation training at first is to finish in the guidance of medical practitioner with under participating in, instruct by doing and illustrating down from medical practitioner under most situations, then by patient's healthy upper limb or its family members, the nurse is manually to sick limb pulling motion repeatedly, this process is very long and labor intensity is very big, they are two years old, an important feature doctor of this process will lean on " feedback " that " sensation " know patient so that training method is made assessment when patient directions is trained, therefore the passive rehabilitation training of people's formula mode is difficult to do quantitative at patient's training method, accurate assessment can not be formulated rehabilitation training scheme targetedly at patient's individual variation; Its three, by last these 2 as can be known, should have doctor's participation to instruct under the passive exercise pattern, and be not only that robot draws by the limbs of certain path to patient, and present recovery exercising robot is monolateral structure, can't embody these characteristics; They are four years old, the cascaded structure of industrial robot has good motility, but be applied to the rehabilitation training comparison heaviness that just seems, control is complicated, and cost is also higher, can only realize four kinds of partial mode or functions in the pattern, at last, based on the placed in-line structure of series connection or part joint of industrial robot, there is multi-solution in its reverse movement, therefore on principle, this structure is not suitable for patient's active training mode.In sum, there is multiple shortcoming in present rehabilitation training apparatus, is necessary to study the requirement that new multifunctional comprehensive rehabilitation appliances satisfy rehabilitation training.
Summary of the invention
This utility model provides a kind of mechanical arm for rehabilitation training that can be used for rehabilitation training of upper limbs at the characteristics of rehabilitation training, the motion that it can any track in implementation space, and have simple in structure, with low cost, multiple functional, adaptable characteristics.
This utility model adopts following technical scheme:
A kind of mechanical arm for rehabilitation training that is used for limb rehabilitation training, comprise parallel-crank mechanism, this parallel-crank mechanism is made up of 2 stocks and 2 quarter butts of being end-to-end, an end of 1 stock is connected with the outfan that moves both vertically that extension rod and this extension rod are connected in vertical movement mechanism therein, with quarter butt that the stock other end that is connected with extension rod links to each other on be connected with the rehabilitation training end, the other end of the quarter butt that links to each other with stock one end that is connected with extension rod is connected in the horizontal movement outfan of horicontal motion mechanism, above-mentioned vertical movement mechanism and horicontal motion mechanism are located on the rotating disk, and this rotating disk is connected in the rotation outfan of rotating mechanism.
Compared with prior art, the utlity model has following advantage:
1, this utility model has main limit and from limit two parts, therefore can realize the rehabilitation training scheme that medical personnel participate in, and also can realize the rehabilitation training scheme of being finished by robot autonomous;
2, the mode of the employing mechanical couplings on principal and subordinate limit is only realized by slide block, small rod and slide block, makes the kinematic similitude on both sides, than be easier to realize and cheap to have characteristics simple in structure, easy to operate, directly perceived in electric connection;
3,, can guarantee that the medical personnel that are in main limit can accurately, directly know from experience patient's sensation because structure and motion are all symmetrical fully.Be convenient to the rehabilitation training that the doctor directly instructed or participated in patient, after adopting computer recording doctor's action, can reappear the training program under the physician guidance fully, can formulate rehabilitation training scheme targetedly according to patient's characteristics, and in three dimensions, realize automatic passive rehabilitation training pattern, alleviate medical personnel's labor intensity greatly;
4, by slide block control, two degree of freedom are independent of each other respectively for movement in vertical direction of the present utility model and horizontal motion, are mobile decouplings therefore, are convenient to control;
5, this utility model has avoided the bigger power source device of quality (as motor, decelerator, cylinder etc.) to do three-dimensional space motion, also therefore greatly reduce requirement of strength to each connecting rod, this just makes the machinery inertial of entire mechanism very little, and good dynamics is arranged;
6, linkage of the present utility model, movement velocity (the level that it is terminal, vertically) be several times as much as (horizontal movement, move both vertically) speed of slide block, multiple is by the length ratio decision of long connecting rod and short connecting rod, this numerical value is necessarily greater than 1, therefore be the mechanism of a speedup, be convenient to realize terminal bigger work space with the less rectilinear motion device of stroke, volume and cost have been reduced, simultaneously, under the active training mode (during reverse movement), be again a labour-saving mechanism, be suitable for the relatively poor feature of patients ' recovery initial stage physical ability, also can be free and relaxed when reverse movement is manually-operated;
7, this utility model adopts stratified tower structure, and each layer all is a block structure simple flat plate, and each layer separated the location by the distance cover, has avoided complicated casing processing, and very superior manufacturability is arranged.
8, Fa Ming robot not only can adopt the drive pattern of above-mentioned motor+decelerator+clutch screw pair, can also adopt the rectilinear motion of cylinder or hydraulic cylinder, wheel+accomplished in many ways slide blocks such as gentle rope, and need not change the agent structure of robot, therefore power source be had excellent adaptability.
9, adopt of the present utility model one monolateral, also can constitute a more rehabilitation arm of simple economy, be suitable for remote rehabilitation but its passive rehabilitation training pattern can only be program control, other characteristics are as mentioned above.
To sum up, the mechanism of recovery exercising robot of the present utility model has that simple in structure, precise control, multiple training mode are easy to realize and easy switching, advantage safe and reliable to operation.
Description of drawings
Fig. 1 is according to the Three Degree Of Freedom multifunctional recovery image training robot structural representation of this utility model by motor-driven single-side structural.
Fig. 2 is three free multifunctional recovery image training robot structural representations according to bilateral structure of the present utility model.
Fig. 3 is according to the three free multifunctional recovery image training robot structural representations of this utility model by motor-driven bilateral structure.
Fig. 4 is according to the three free multifunctional recovery image training robot structural representations of this utility model by the bilateral structure of air cylinder driven.
The specific embodiment
With reference to Fig. 1, a kind of mechanical arm for rehabilitation training that is used for limb rehabilitation training, comprise parallel-crank mechanism, this parallel-crank mechanism is by 2 stocks 13 that are end-to-end, 16 and 2 quarter butts 14,17 form, an end of 1 stock 13 is connected with the outfan that moves both vertically that extension rod and this extension rod are connected in vertical movement mechanism therein, with quarter butt 17 that stock 13 other ends that are connected with extension rod link to each other on be connected with rehabilitation training end 18, the other end of the quarter butt 17 that links to each other with stock 13 1 ends that are connected with extension rod is connected in the horizontal movement outfan of horicontal motion mechanism, above-mentioned vertical movement mechanism and horicontal motion mechanism are located on the rotating disk 2, and this rotating disk 2 is connected in the rotation outfan of rotating mechanism.
Above-mentioned vertical movement mechanism is made up of guide pillar 15 and vertical slipper 21, vertical slipper 21 is located on the guide pillar 15 and with guide pillar 15 and is slidingly connected, guide pillar 15 is located on the rotating disk 2, on guide pillar 15, be provided with motor 23, on the output shaft of motor 23, be connected with ball screw 25, be provided with screw at vertical slipper 21, screw mandrel 25 is meshed with screw.
Above-mentioned horicontal motion mechanism is made up of guide rail 19 and cross sliding clock 20, cross sliding clock 20 is located on the guide rail 19 and with guide rail 19 and is slidingly connected, being provided with connecting rod 22 and cross sliding clock 20 on cross sliding clock 20 is connected with an end of connecting rod 22, on rotating disk 2, be provided with motor 27, on the output shaft of motor 27, be connected with ball-screw 4, be engaged with nut 3 on ball-screw 4, this nut 3 is connected with the other end of above-mentioned connecting rod 22.
Be provided with base 1 below above-mentioned rotating disk 2, be provided with motor 28 on base 1, the output shaft of motor 28 is connected with rotating disk 2.
Said mechanism can be used as recovery exercising robot from the limit, can form the main limit of recovery exercising robot with same mechanism, and link by slide block, connecting rod, guarantee the symmetry of mechanism kinematic.
Below be the mechanism that forms recovery exercising robot master limit, that is:
With reference to Fig. 2, on vertical slipper 21, be connected with another parallel-crank mechanism, this parallel-crank mechanism is made up of 9,11 and 2 quarter butts 10,12 of 2 stocks that are end-to-end, an end of 1 stock 11 is connected with extension rod and this extension rod links to each other with vertical slipper 21 therein, with quarter butt 10 that stock 11 other ends that are connected with extension rod link to each other on be connected with working end 6, the other end of the quarter butt 12 that links to each other with stock 11 1 ends that are connected with extension rod is connected in the horizontal movement outfan of another horicontal motion mechanism.This another horicontal motion mechanism is made up of guide rail 7 and slide block 8, and slide block 8 is located on the guide rail 7 and slide block 8 is slidingly connected with guide rail 7, and the two ends that are provided with connecting rod 5 and connecting rod 5 between this slide block 8 and above-mentioned nut 3 are connected with slide block 8 and nut 3 respectively.
Along with moving both vertically up and down of vertical slipper 21, the rehabilitation limbs for the treatment of that ride over the rehabilitation patient on the rehabilitation training end 18 also move up and down thereupon.Along with the motion of the left and right horizontal of cross sliding clock 20, what ride over rehabilitation patient on the rehabilitation training end 18 treats also moving linearly in horizontal plane thereupon of rehabilitation limbs.
Hereinafter in conjunction with the accompanying drawings and specific embodiment the articulation mechanism of recovery exercising robot of the present utility model is described in detail.
With reference to Fig. 3, by motor-driven bilateral structure Three Degree Of Freedom multifunctional recovery image training robot: mainly form by linkage and rotating mechanism by motor-driven bilateral structure Three Degree Of Freedom multifunctional recovery image training robot, the linkage on main limit mainly is made up of long connecting rod 9,11, short connecting rod 10,12, main edge work end hand grip 6 is fixed on short connecting rod 10 extended lines, for medical personnel's operation.Be made up of long connecting rod 13,16, short connecting rod 14,17 from side rod, be fixedly mounted on short connecting rod 14 extended lines from edge work end 18, this end can be various patient's limbs fixtures, uses for rehabilitation training person.After long connecting rod 11,13 prolongs, connect with the slide block of doing to move both vertically along guide rail 15 21, make moving both vertically of principal and subordinate limit identical, the nut of the ball screw of big helical pitch is housed on the slide block 21, because the effect of contraction of guide rail 15, nut can not rotate, the 25th, and the screw rod of ball screw, make gear motion with nut, realize from rotating to collinear motion converter.Motor 23 connects with screw rod by clutch 24, and when clutch 24 engaged, motor-driven screw rod 25 drove slide block 21 and moves both vertically.Main length of side connecting rod 9 and short connecting rod 12, all connect with short connecting rod 17 from length of side connecting rod 16 by bearing pin, horizontal movement slide block 8 and 20 separately is installed on the bearing pin, slide block 8 moves horizontally along guide rail 7, slide block 20 moves horizontally along guide rail 19, these two slide blocks again respectively with small rod 5, an end of 22 connects, the other end of two small rods connects with the slide block 3 that nut is housed, and the rotation of constraint slide block 3, motor 27 connects with the subsidiary screw rod 4 of ball screw by clutch 26, when clutch 26 engages, motor-driven screw rod 4 drives slide block 3 and moves both vertically, and by small rod 5,22 drive slide block 8,20 move horizontally.Said mechanism all is installed on the rotating disk 2, on the rotating disk 2 rolling bearing is housed, and motor 28 drives on the base 1 by being installed on.When clutch 24,26 is thrown off, mechanism makes reverse movement, at this moment, medical personnel's operating grip 6 drives from side rod mechanism terminal 18 by slide block 21 and moves both vertically, thereby drive small rod 5 by slide block 8 and drive slide block 3 motions, slide block 3 promotes the horizontal movement that slide block 20 is realized from side rod mechanism end 18 by small rod 22 again, and during motor 28 dead electricity, entire mechanism can freely be rotated around vertical axis again.Because during reverse movement, linkage is a labour-saving mechanism, therefore can overcome the subsidiary slight resistance of ball screw, simultaneously because the balanced action of slide block 21 makes reverse movement free and relaxed.
By clutch power source is switched, on recovery exercising robot of the present utility model, can realize the multiple function rehabilitation training scheme of various modes.Specific as follows.
1) passive exercise pattern
Function 1: artificial rehabilitation training of medical personnel or tutorial function.Medical personnel's manually-operated handle 6 is made three-dimensional space motion; can drive from the end 18 of side rod and do the symmetric motion of track; the 18th, the carriage of protection patient upper limb; use for the patient, instruct rehabilitation training down, these process clutch 24,26 disengagements thereby finish medical personnel; motor 28 dead electricity; slide block 21 double as counterweights, the weight in order to balance patient upper limb and mechanism itself can alleviate medical personnel's intensity.
Function 2: automatic passive rehabilitation training.If with the characteristics of motion of computer writing function 1, control motor reproduction medical personnel's the characteristics of motion again, finish automatic passive rehabilitation training function.
2) power-assisted training mode
In the power-assisted training mode, from holding 18 force transducer is housed, clutch 24,26 is engaged, the size and Orientation of the output torque of control motor 23,27,28, make from the reading of end force transducer to keep constant, obviously, when the operation patient can finish continuous action, the output of three motors is very little or be zero, and the patient is the power source of mechanism; When the patient moves the obstacle akinesia in a certain position, at this moment the reading of force transducer will diminish or be zero, and motor will help the patient to finish serial movement by certain way of output work.This pattern is suitable for the patient and has tentatively recovered movement perception, carry out serial movement functional training situation.
3) active training mode: the handgrip of patient's straightforward manipulation end 18 is made three-dimensional space motion, this process clutch will be thrown off, motor 23,27,28 dead electricity, slide block 7 double as counterweights in order to balance patient's limbs weight, see that from operator's angle this mechanism is a labour-saving mechanism, take certain friction-reducing measures again, can alleviate the requirement to patient's limbs physical ability, this pattern is suitable for the patient and has had successive movement perception, but the rehabilitation training under the smooth not enough situation.
4) damping training mode
Function 1: throw-out-of clutch, the object of constant weight is installed on main limit, then the patient manipulation robot can finish the similar motion that lifts the dumbbell.If complicated antivibrator is installed, then can finish various training targetedly according to the damping difference that is produced.
Function 2: clutch closure, the motor simulation damping function: the control motor makes it to export the speed of the power opposite with patient moving and little certain threshold value, then can be at any spatial simulation non-coplanar force arbitrarily, the limbs physical ability and the nerves reaction of training the patient better.
Function 3: artificial damping training mode, operate main limit by medical personnel or family numbers of patients, manually apply kinetic damping for the patient.
Function 4: power source adopts the motor and the decelerator of limit square clutch, band auto-lock function, the breakaway torque of control limit square clutch, and mechanism could move when the patient exports certain power.
The patient in this stage has had complete movement perception, but muscle and nervous system are also inharmonious, muscular movement is strong not enough, with adopt simple apparatus (as dumbbell) to wait to compare, the advantage that adopts this robot is can formulate the rehabilitation training scheme targetedly also can carry out Real-Time Evaluation to the rehabilitation training scheme.
With reference to Fig. 4, the bilateral structure Three Degree Of Freedom multifunctional recovery image training robot figure that adopts pneumatic element to drive is the bilateral structure Three Degree Of Freedom multifunctional recovery image training robot that adopts pneumatic element to drive, mainly form by linkage and rotating mechanism, the linkage on main limit mainly is made up of long connecting rod 9,11, short connecting rod 10,12, main edge work end hand grip 6 is fixed on short connecting rod 10 extended lines, for medical personnel's operation.Be made up of long connecting rod 13,16, short connecting rod 14,17 from side rod, be fixedly mounted on short connecting rod 14 extended lines from edge work end 18, this end can be various patient's limbs fixtures, uses for rehabilitation training person.After long connecting rod 11,13 prolongs, connect with the slide block of doing to move both vertically along guide rail 15 21, make moving both vertically of principal and subordinate limit identical, slide block 21 connects with the piston rod of cylinder 231, realizes the reciprocating motion of vertical direction.Main length of side connecting rod 9 is with short connecting rod 12, all connect by bearing pin with short connecting rod 17 from length of side connecting rod 16, horizontal movement slide block 8 and 20 separately is installed on the bearing pin, slide block 8 moves horizontally along guide rail 7, slide block 20 moves horizontally along guide rail 19, these two slide blocks connect with an end of small rod 5,22 respectively again, the other end of two small rods connects with slide block 3, slide block 3 connects with the piston rod of cylinder 241, air cylinder driven slide block 3 moves both vertically, and is moved horizontally by small rod 5,22 driving slide blocks 8,20.Said mechanism all is installed on the rotating disk 2, on the rotating disk 2 rolling bearing is housed, and is driven by the gas motor 25 that is installed on the base 1.
By the pressure of the gentle motor of cylinder is controlled, can realize the multiple function rehabilitation training scheme of various modes.Specific as follows.
1) passive exercise pattern
Function 1: artificial rehabilitation training of medical personnel or tutorial function.Cylinder 231,241 gentle motor 25 off-loads; medical personnel's manually-operated handle 6 is made three-dimensional space motion, and can drive from the end 18 of side rod and do the symmetric motion of track, the 18th, the carriage of protection patient upper limb; use for the patient, thereby finish the rehabilitation training of medical personnel under instructing.Slide block 21 double as counterweights, the weight in order to balance patient upper limb and mechanism itself can alleviate medical personnel's intensity.
Function 2: automatic passive rehabilitation training.If with the characteristics of motion of computer writing function 1, the motion of the gentle motor of control cylinder then can reappear medical personnel's the characteristics of motion again, finishes automatic passive rehabilitation training function.
2) power-assisted training mode
In the power-assisted training mode, from holding 18 force transducer is housed, the gentle motor of cylinder keeps constant compression force, makes from the reading of end force transducer to keep constant.Because the pressure of pneumatic element is relevant with load, when the operation patient can finish continuous action, the pressure of the gentle motor of cylinder was very little or be zero, and the patient is the power source of mechanism; When the patient moves the obstacle akinesia in a certain position, at this moment the reading of force transducer will be changed to zero, and the control pneumatic circuit raises the gentle motor pressure of cylinder, helps the patient to finish serial movement.This pattern is suitable for the patient and has tentatively recovered movement perception, carry out serial movement functional training situation.
3) active training mode: the handgrip of patient's straightforward manipulation end 18 is made three-dimensional space motion, the equal off-load of the gentle motor of this process cylinder, and slide block 7 double as counterweights are in order to balance patient's limbs weight.See that from operator's angle this mechanism is a labour-saving mechanism, very little power can overcome the frictional damping of the gentle motor seal spare of cylinder.This pattern is suitable for the patient and has had successive movement perception, but the rehabilitation training under the smooth not enough situation.
4) damping training mode
Function 1: the gentle motor off-load of cylinder, the object of constant weight is installed on main limit, then the patient manipulation robot can finish the similar motion that lifts the dumbbell.If complicated antivibrator is installed, then can finish various training targetedly according to the damping difference that is produced.
Function 2: the gentle motor of cylinder simulation damping function: the pressure of the gentle motor of control cylinder, make it to export the power opposite with patient moving, then can reach the purpose of damping training at the non-coplanar force arbitrarily of spatial simulation arbitrarily.
Function 3: artificial damping training mode, the gentle motor off-load of cylinder is operated main limit by medical personnel or family numbers of patients, manually applies kinetic damping for the patient.
The patient in this stage has had complete movement perception, but muscle and nervous system are also inharmonious, muscular movement is strong not enough, with adopt simple apparatus (as dumbbell) to wait to compare, the advantage that adopts this robot is can formulate the rehabilitation training scheme targetedly also can carry out Real-Time Evaluation to the rehabilitation training scheme.
With reference to Fig. 1, motor-driven single-side structural Three Degree Of Freedom multifunctional recovery image training robot: present embodiment is a robot that saves main limit, as shown in Figure 2, compare with motor-driven bilateral structure robot, remove outside the function 4 in the function in the passive exercise pattern 1 and damping training mode can not realize among the embodiment 1, all the other and example 1 are identical.This mechanism takes up room littler, is suitable for a remote rehabilitation training and medical institutions of community-based rehabilitation, and medical personnel will look after several patients' situation.
Claims (8)
1, a kind of mechanical arm for rehabilitation training that is used for limb rehabilitation training, it is characterized in that comprising parallel-crank mechanism, this parallel-crank mechanism is by 2 stocks (13 that are end-to-end, 16) and 2 quarter butts (14,17) form, an end of 1 stock (13) is connected with the outfan that moves both vertically that extension rod and this extension rod are connected in vertical movement mechanism therein, with quarter butt (14) that the stock that is connected with extension rod (13) other end links to each other on be connected with rehabilitation training end (18), the other end of the quarter butt (17) that links to each other with stock (13) one ends that are connected with extension rod is connected in the horizontal movement outfan of horicontal motion mechanism, above-mentioned vertical movement mechanism and horicontal motion mechanism are located on the rotating disk (2), and this rotating disk (2) is connected in the rotation outfan of rotating mechanism.
2, mechanical arm for rehabilitation training according to claim 1, it is characterized in that vertical movement mechanism is made up of guide pillar (15) and vertical slipper (21), vertical slipper (21) is located at guide pillar (15) and upward and with guide pillar (15) is slidingly connected, and guide pillar (15) is located on the rotating disk (2).
3, mechanical arm for rehabilitation training according to claim 2, it is characterized in that on guide pillar (15), being provided with motor (23), be connected with ball screw (25) on the output shaft of motor (23), be provided with screw at vertical slipper (21), screw mandrel (25) is meshed with screw.
4, according to claim 1,2 or 3 described mechanical arm for rehabilitation training, it is characterized in that horicontal motion mechanism is made up of guide rail (19) and cross sliding clock (20), cross sliding clock (20) is located at guide rail (19) and goes up and be slidingly connected with guide rail (19).
5, mechanical arm for rehabilitation training according to claim 4, it is characterized in that being provided with on cross sliding clock (20) connecting rod (22) and cross sliding clock (20) is connected with an end of connecting rod (22), on rotating disk (2), be provided with motor (27), on the output shaft of motor (27), be connected with ball-screw (4), be engaged with nut (3) on ball-screw (4), this nut (3) is connected with the other end of above-mentioned connecting rod (22).
6, mechanical arm for rehabilitation training according to claim 5 is characterized in that being provided with base (1) in the below of rotating disk (2), is provided with motor (28) on base (1), and the output shaft of motor (28) is connected with rotating disk (2).
7, mechanical arm for rehabilitation training according to claim 6, it is characterized in that on vertical slipper (21), being connected with another parallel-crank mechanism, this parallel-crank mechanism is by 2 stocks (9 that are end-to-end, 11) and 2 quarter butts (10,12) form, an end of 1 stock (11) is connected with extension rod and this extension rod links to each other with vertical slipper (21) therein, with quarter butt (10) that the stock that is connected with extension rod (11) other end links to each other on be connected with working end (6), the other end of the quarter butt (12) that links to each other with stock (11) one ends that are connected with extension rod is connected in the horizontal movement outfan of another horicontal motion mechanism.
8, mechanical arm for rehabilitation training according to claim 6, it is characterized in that this another horicontal motion mechanism is made up of guide rail (7) and slide block (8), slide block (8) is located at that guide rail (7) is gone up and slide block (8) is slidingly connected with guide rail (7), and the two ends that are provided with connecting rod (5) and connecting rod (5) between this slide block (8) and above-mentioned nut (3) are connected with slide block (20) and nut (3) respectively.
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| CN 200620165247 CN200987756Y (en) | 2006-12-22 | 2006-12-22 | Rehabilitation exercising mechanical arm |
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2006
- 2006-12-22 CN CN 200620165247 patent/CN200987756Y/en not_active Expired - Lifetime
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| CN107324185A (en) * | 2017-08-17 | 2017-11-07 | 苏州德菱邑铖精工机械股份有限公司 | A kind of fixing device of elevator driving shaft |
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