CN201949284U - Robot used for upper limb rehabilitation - Google Patents
Robot used for upper limb rehabilitation Download PDFInfo
- Publication number
- CN201949284U CN201949284U CN2010201307029U CN201020130702U CN201949284U CN 201949284 U CN201949284 U CN 201949284U CN 2010201307029 U CN2010201307029 U CN 2010201307029U CN 201020130702 U CN201020130702 U CN 201020130702U CN 201949284 U CN201949284 U CN 201949284U
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- China
- Prior art keywords
- pole
- upper arm
- nylon rope
- joint
- screw mandrel
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 30
- 210000000245 forearm Anatomy 0.000 claims abstract description 27
- 210000000707 wrist Anatomy 0.000 claims abstract description 6
- 239000004677 Nylon Substances 0.000 claims description 24
- 229920001778 nylon Polymers 0.000 claims description 24
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 8
- 229910052782 aluminium Inorganic materials 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 2
- 238000004088 simulation Methods 0.000 abstract description 4
- 210000003205 muscle Anatomy 0.000 abstract 1
- 230000003387 muscular Effects 0.000 description 3
- 230000008602 contraction Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 210000004247 hand Anatomy 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- Rehabilitation Tools (AREA)
Abstract
The utility model discloses a robot used for upper limb rehabilitation, wherein an upper limb pole and a shoulder pole are connected through a moveable-bearing, the shoulder pole and an upper arm bracket are connected through a moveable-bearing, the upper arm bracket and an upper arm pole are connected through a moveable- bearing, the upper arm pole and an upper elbow pole are connected through a moveable-bearing, the upper elbow pole and an lower elbow pole are connected through a moveable-bearing, the lower elbow pole and a forearm regulator are connected through a moveable-bearing, a wrist bracket and a handle are connected through a moveable-bearing, all connected moveable-bearing are provided with angle sensors, the upper arm pole is provided with an upper arm regulator, the forearm regulator is provided on a forearm carriage, and a pressure transducer is provided in the handle. Upper limbs of patients are fixed on an arm bracket, the motion speed and direction of the arm bracket are adjusted through self muscle strength of the patients, sensors at every joint on the bracket record motion information of the patients and send the information to a computer, at the same time, simulation training of motion rules of human upper limb in real time in the computer virtual environment is realized.
Description
Technical field:
This utility model relates to a kind of upper limb rehabilitation robot that is used for hemiplegic upper limb, and this utility model belongs to the rehabilitation medical instrument field.
Background technology
At present the patient's of hemiplegic upper limb later stage training for treatment is by the artificial assisted movement training of rehabilitation therapist, need to consume great amount of manpower resource and time, and patient's training strength is not being met, and training effectiveness is low.The upper limb hemiplegia patient training that causes for cerebrovascular or the outer damage of serious brain is very disadvantageous, can carry on a shoulder pole mistake best treatment period.
The utility model content
This utility model will solve hemiplegic upper limb patient training problem and be to provide a kind of upper limb rehabilitation robot that is used for hemiplegic upper limb, the patient regulates the movement velocity and the direction of arm frame by self muscular strength, the pick off in each joint on the arm frame is understood the movement position of record patient and transfer of data is counted in to the meter machine, the training of the characteristics of motion of real-time Simulation human upper limb on the environment of computer virtual simultaneously.
To achieve these goals, this utility model is taked following technical scheme.Upper limb rehabilitation robot comprises 1 base, 2 lifting columns, 3 baffle plates, 4 upper limb poles, 5 shoulder poles, 6 nylon ropes 1,7 overarm braces, 8 upper arm poles, elbow pole on 9,10 times elbow poles, 11 wrist supports, 12 handles, 13 pressure transducers, 14 upper arm actuators, 15 forearm actuators, 16 upper arm carriages, 17 forearm carriages, 18 angular transducers 1,19 angular transducers 2,20 angular transducers 3,21 angular transducers 4,22 angular transducers 5,23 angular transducers 6,24 upper arm bandages, 25 forearm bandages, 26 night bolts, 27 nylon ropes 2,28 slide rails, 29 sliding rail racks.
Upper limb pole (4) is connected by live bearing with shoulder pole (5), shoulder pole (5) is connected by live bearing with overarm brace (7), overarm brace (7) is connected by live bearing with upper arm pole (8), upper arm pole (8) is connected by live bearing with last elbow pole (9), last elbow pole (9) is connected by live bearing with following elbow pole (10), following elbow pole (10) is connected by live bearing with forearm actuator (15), wrist support (11) is connected by live bearing with handle (12), patient's upper arm is fixed on upper arm carriage (16), forearm is fixed on forearm carriage (17), like this during patient's upper extremity exercise, make the live bearing motion of all connections, be installed in the angular transducer (18 of each bearing, 19,20,21,22,23) can write down the position that all directions move, handle (12) lining setting pressure pick off (13), these pick offs are counted transfer of data in to the meter machine, upper arm pole (8) going up upper arm actuator (14) is installed, and, be used to overcome arm weight at forearm carriage (17) installation forearm actuator (15).
As long as movement velocity and direction that the patient regulates the arm frame by self muscular strength, pick off can write down movement position and transfer of data is counted in to the meter machine, the training of while characteristics of motion of real-time Simulation human upper limb on the environment of computer virtual.
Description of drawings
Accompanying drawing 1 is a utility model population structure front view 1
Accompanying drawing 2 is a utility model population structure side view 2
Accompanying drawing 3 is the profile 3 of upper arm actuator
Accompanying drawing 4 is the profile 4 of forearm actuator
The specific embodiment:
Fig. 1 and Fig. 2 are the utility model overall construction drawings, upper limb pole (4) is connected by live bearing with shoulder pole (5) in Fig. 1, shoulder pole (5) is connected by live bearing with overarm brace (7), overarm brace (7) is connected by live bearing with upper arm pole (8), upper arm pole (8) is connected by live bearing with last elbow pole (9), last elbow pole (9) is connected by live bearing with following elbow pole (10), following elbow pole (10) is connected by live bearing with forearm actuator (15), wrist support (11) is connected by live bearing with handle (12), patient's upper arm is fixed on upper arm carriage (16), forearm is fixed on forearm carriage (17), like this during patient's upper extremity exercise, make the live bearing motion of all connections, be installed in the angular transducer (18 of each bearing, 19,20,21,22,23) can write down the position that all directions move, the patient is to handle (12) when exerting pressure, the grip data of pressure transducer (13) record hands, these angular transducers (18,19,20,21,22,23) and pressure transducer (13) transfer of data is counted in to the meter machine, computer just can be discerned the motion conditions of hands.Upper arm pole (8) going up upper arm actuator (14) is installed, and forearm actuator (15) is installed, be used to overcome arm weight at forearm carriage (17).
Fig. 3 is the profile of upper arm actuator, screw mandrel 1 (14_1), screw mandrel joint 1 (14_2), spring 1 (14_3), nylon rope joint 1 (14_4), aluminum square tube 1 (14_5), earlier screw mandrel joint 1 (14_2) is installed to spring 1 (14_3) lining, again screw mandrel 1 (14_1) is installed in screw mandrel joint 1 (14_2), nylon rope joint 1 (14_4) installed in the other end of spring 1 (14_3), nylon rope (6) is fixed on nylon rope joint 1 (14_4), whole then spring 1 (14_3) is installed in aluminum square tube 1 (14_5) lining, nylon rope (6) is walked around the axle of going up of overarm brace (7), be fixed on the below of upper arm pole (8), by rotary screw 1 (14_1), spring 1 (14_3) is stretched or contraction, thereby upper arm pole (8) is upwards carried or, overcome the weight of upper arm to decline.
Fig. 4 is the profile of forearm actuator, screw mandrel 2 (15_1), screw mandrel joint 2 (15_2), spring 2 (15_3), nylon rope joint 2 (15_4), aluminum square tube 2 (15_5), corner wheel (15_6), earlier screw mandrel joint 2 (14_2) is installed to spring 2 (15_3) lining, again screw mandrel 2 (15_1) is installed in screw mandrel joint 2 (15_2), nylon rope joint 2 (15_4) are installed in the other end of spring 2 (15_3), nylon rope 2 (27) is fixed on nylon rope joint 2 (15_4), whole then spring 2 (15_3) is installed in aluminum square tube 2 (15_5) lining, nylon rope (6) is walked around corner wheel (15_6), be fixed on down the top of elbow pole (10), by rotary screw 1 (15_1), spring 1 (15_3) is stretched or contraction, thereby forearm carriage (17) is upwards carried or, overcome the weight of forearm to decline.
As long as the patient regulates approrpiate wts, regulate the movement velocity and the direction of arm frame by self muscular strength, pick off can write down movement position and transfer of data is counted in to the meter machine, the training of the characteristics of motion of real-time Simulation human upper limb on the environment of computer virtual simultaneously.
Claims (3)
1. a upper limb rehabilitation robot that is used for hemiplegic upper limb comprises base (1), lifting column (2), baffle plate (3), upper limb pole (4), shoulder pole (5), nylon rope 1 (6), overarm brace (7), upper arm pole (8), last elbow pole (9), following elbow pole (10), wrist support (11), handle (12), pressure transducer (13), upper arm actuator (14), forearm actuator (15), upper arm carriage (16), forearm carriage (17), angular transducer 1 (18), angular transducer 2 (19), angular transducer 3 (20), angular transducer 4 (21), angular transducer 5 (22), angular transducer 6 (23), upper arm bandage (24), forearm bandage (25), night bolt (26), nylon rope 2 (27), slide rail (28), sliding rail rack (29), it is characterized in that: upper limb pole (4) is connected by live bearing with shoulder pole (5), shoulder pole (5) is connected by live bearing with overarm brace (7), overarm brace (7) is connected by live bearing with upper arm pole (8), upper arm pole (8) is connected by live bearing with last elbow pole (9), last elbow pole (9) is connected by live bearing with following elbow pole (10), following elbow pole (10) is connected by live bearing with forearm actuator (15), wrist support (11) is connected by live bearing with handle (12), the live bearing that connects is setting angle pick off (18 all, 19,20,21,22,23), upper arm pole (8) going up upper arm actuator (14) is installed, and at forearm carriage (17) installation forearm actuator (15), handle (12) lining setting pressure pick off (13).
2. according to the described a kind of upper limb rehabilitation robot that is used for hemiplegic upper limb of claim 1, it is characterized in that: upper arm actuator (14) comprises screw mandrel 1 (14_1), screw mandrel joint 1 (14_2), spring 1 (14_3), nylon rope joint 1 (14_4), aluminum square tube 1 (14_5), earlier screw mandrel joint 1 (14_2) is installed to spring 1 (14_3) lining, again screw mandrel 1 (14_1) is installed in screw mandrel joint 1 (14_2), nylon rope joint 1 (14_4) installed in the other end of spring 1 (14_3), nylon rope (6) is fixed on nylon rope joint 1 (14_4), whole then spring 1 (14_3) is installed in aluminum square tube 1 (14_5) lining, nylon rope (6) is walked around the axle of going up of overarm brace (7), is fixed on the below of upper arm pole (8).
3. according to the described a kind of upper limb rehabilitation robot that is used for hemiplegic upper limb of claim 1, it is characterized in that: forearm actuator (15) comprises screw mandrel 2 (15_1), screw mandrel joint 2 (15_2), spring 2 (15_3), nylon rope joint 2 (15_4), aluminum square tube 2 (15_5), corner wheel (15_6), earlier screw mandrel joint 2 (14_2) is installed to spring 2 (15_3) lining, again screw mandrel 2 (15_1) is installed in screw mandrel joint 2 (15_2), nylon rope joint 2 (15_4) are installed in the other end of spring 2 (15_3), nylon rope 2 (27) is fixed on nylon rope joint 2 (15_4), whole then spring 2 (15_3) is installed in aluminum square tube 2 (15_5) lining, nylon rope (6) is walked around corner wheel (15_6), is fixed on down the top of elbow pole (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201307029U CN201949284U (en) | 2010-03-10 | 2010-03-10 | Robot used for upper limb rehabilitation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201307029U CN201949284U (en) | 2010-03-10 | 2010-03-10 | Robot used for upper limb rehabilitation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201949284U true CN201949284U (en) | 2011-08-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010201307029U Expired - Lifetime CN201949284U (en) | 2010-03-10 | 2010-03-10 | Robot used for upper limb rehabilitation |
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| Country | Link |
|---|---|
| CN (1) | CN201949284U (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102793616A (en) * | 2012-08-15 | 2012-11-28 | 张家港市永发机器人科技有限公司 | Inductive grip device in arm rehabilitation training robot |
| CN102813518A (en) * | 2012-09-11 | 2012-12-12 | 昆山市工业技术研究院有限责任公司 | Intelligent rehabilitation training instrument |
| CN103272369A (en) * | 2013-06-17 | 2013-09-04 | 宁波市鄞州风名工业产品设计有限公司 | Handle structure used for digital fitness chair |
| CN104306130A (en) * | 2014-10-22 | 2015-01-28 | 华中科技大学 | Coupling drive based shoulder-elbow joint rehabilitation trainer |
| CN104666050A (en) * | 2015-02-02 | 2015-06-03 | 江苏大学 | Cantilever gravity support device of upper limb rehabilitation robot |
| CN105189050A (en) * | 2013-02-28 | 2015-12-23 | 脸谱公司 | Modular exoskeletal force feedback controller |
| CN105520821A (en) * | 2016-01-26 | 2016-04-27 | 哈尔滨工业大学 | Spring energy storage device with continuous variable stiffness |
| CN105527046A (en) * | 2016-01-12 | 2016-04-27 | 沈阳工业大学 | Contact force and pressure detection device on arm supporting platform and data analysis method |
| CN105919777A (en) * | 2016-06-14 | 2016-09-07 | 合肥工业大学 | Upper limb rehabilitation training robot capable of being grafted |
| CN105919776A (en) * | 2016-06-14 | 2016-09-07 | 合肥工业大学 | Multi-working condition upper limb rehabilitation training robot |
| CN105997427A (en) * | 2016-05-03 | 2016-10-12 | 广州康医疗设备实业有限公司 | Upper limb rehabilitation robot |
| CN107773388A (en) * | 2017-12-07 | 2018-03-09 | 同济大学浙江学院 | Upper limbs coordinates the governor motion of device for healing and training |
| CN109453014A (en) * | 2018-12-21 | 2019-03-12 | 上海市第十人民医院 | A kind of device for healing and training elbow joint |
| CN109731288A (en) * | 2019-02-26 | 2019-05-10 | 江苏承康医用设备有限公司 | A kind of adjustable type upper limb arm support |
| CN113144533A (en) * | 2021-04-26 | 2021-07-23 | 广州一康医疗设备实业有限公司 | Upper limb rehabilitation training device |
| CN113143684A (en) * | 2021-04-09 | 2021-07-23 | 山东海天智能工程有限公司 | Upper limb rehabilitation robot |
-
2010
- 2010-03-10 CN CN2010201307029U patent/CN201949284U/en not_active Expired - Lifetime
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102793616A (en) * | 2012-08-15 | 2012-11-28 | 张家港市永发机器人科技有限公司 | Inductive grip device in arm rehabilitation training robot |
| CN102793616B (en) * | 2012-08-15 | 2015-12-02 | 张家港市永发机器人科技有限公司 | Vicarious grip device in arm rehabilitation training robot |
| CN102813518A (en) * | 2012-09-11 | 2012-12-12 | 昆山市工业技术研究院有限责任公司 | Intelligent rehabilitation training instrument |
| CN102813518B (en) * | 2012-09-11 | 2014-05-28 | 昆山市工业技术研究院有限责任公司 | Intelligent rehabilitation training instrument |
| US9984541B2 (en) | 2013-02-28 | 2018-05-29 | Facebook, Inc. | Modular exoskeletal force feedback controller |
| CN105189050A (en) * | 2013-02-28 | 2015-12-23 | 脸谱公司 | Modular exoskeletal force feedback controller |
| CN103272369A (en) * | 2013-06-17 | 2013-09-04 | 宁波市鄞州风名工业产品设计有限公司 | Handle structure used for digital fitness chair |
| CN104306130A (en) * | 2014-10-22 | 2015-01-28 | 华中科技大学 | Coupling drive based shoulder-elbow joint rehabilitation trainer |
| CN104666050A (en) * | 2015-02-02 | 2015-06-03 | 江苏大学 | Cantilever gravity support device of upper limb rehabilitation robot |
| CN105527046B (en) * | 2016-01-12 | 2018-08-10 | 沈阳工业大学 | Contact force, pressure-detecting device and the data analysing method of arm support platform |
| CN105527046A (en) * | 2016-01-12 | 2016-04-27 | 沈阳工业大学 | Contact force and pressure detection device on arm supporting platform and data analysis method |
| CN105520821B (en) * | 2016-01-26 | 2017-11-03 | 哈尔滨工业大学 | A kind of spring energy storage device of continuous variable-stiffness |
| CN105520821A (en) * | 2016-01-26 | 2016-04-27 | 哈尔滨工业大学 | Spring energy storage device with continuous variable stiffness |
| CN105997427A (en) * | 2016-05-03 | 2016-10-12 | 广州康医疗设备实业有限公司 | Upper limb rehabilitation robot |
| CN105919776A (en) * | 2016-06-14 | 2016-09-07 | 合肥工业大学 | Multi-working condition upper limb rehabilitation training robot |
| CN105919777A (en) * | 2016-06-14 | 2016-09-07 | 合肥工业大学 | Upper limb rehabilitation training robot capable of being grafted |
| CN107773388A (en) * | 2017-12-07 | 2018-03-09 | 同济大学浙江学院 | Upper limbs coordinates the governor motion of device for healing and training |
| CN107773388B (en) * | 2017-12-07 | 2024-03-08 | 同济大学浙江学院 | Adjusting mechanism of upper limb coordination rehabilitation training device |
| CN109453014A (en) * | 2018-12-21 | 2019-03-12 | 上海市第十人民医院 | A kind of device for healing and training elbow joint |
| CN109731288A (en) * | 2019-02-26 | 2019-05-10 | 江苏承康医用设备有限公司 | A kind of adjustable type upper limb arm support |
| CN113143684A (en) * | 2021-04-09 | 2021-07-23 | 山东海天智能工程有限公司 | Upper limb rehabilitation robot |
| CN113144533A (en) * | 2021-04-26 | 2021-07-23 | 广州一康医疗设备实业有限公司 | Upper limb rehabilitation training device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: DOU JILIANG Free format text: FORMER OWNER: GUANGZHOU YIKANG MEDICAL EQUIPMENT INDUSTRIAL CO., LTD. Effective date: 20150717 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20150717 Address after: Panyu District Guangzhou City, Guangdong Province, Shilou town 511447 Huazi Industrial Park (by the first phase of A building) the first layer and the two layer part of the region Patentee after: Du Jiliang Address before: 511400, Guangzhou, Guangdong province Panyu District Yingbin Road No. 730 energy saving science and Technology Park, Tian Tian science and technology innovation building, room 616 Patentee before: Guangzhou Yikang Medical Equipment Industrial Co., Ltd. |
|
| CX01 | Expiry of patent term |
Granted publication date: 20110831 |
|
| CX01 | Expiry of patent term |