CN202776915U - Induction type grip device of arm rehabilitation training robot - Google Patents
Induction type grip device of arm rehabilitation training robot Download PDFInfo
- Publication number
- CN202776915U CN202776915U CN 201220403304 CN201220403304U CN202776915U CN 202776915 U CN202776915 U CN 202776915U CN 201220403304 CN201220403304 CN 201220403304 CN 201220403304 U CN201220403304 U CN 201220403304U CN 202776915 U CN202776915 U CN 202776915U
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- China
- Prior art keywords
- arm
- rehabilitation training
- grip
- arm support
- force sensor
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- Withdrawn - After Issue
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Abstract
The utility model discloses an induction type grip device of an arm rehabilitation training robot. The induction type grip device of the arm rehabilitation training robot is capable of perceiving the change of the practical force required by a patient during rehabilitation training. The induction type grip device of the arm rehabilitation training comprises a support frame. A telescopic boom and a control device are arranged on the support frame. A grip component installation seat is arranged at the front end of the telescopic boom. A force sensor is arranged on the grip component installation seat. An arm support seat is sleeved at the lower end of the force sensor. The arm support seat does not contact with the force sensor within the scope of the distortion amount of the support seat and the force sensor. The arm support seat is fixedly arranged on the grip component installation seat. An arm support plate is movably arranged on the arm support seat. A grip sleeve is sleeved on the force sensor which is above the arm support plate in a movable mode. The grip sleeve does not contact with the arm support seat. A rotating shaft sleeve is arranged between the grip sleeve and the force sensor. The rotating shaft sleeve is sleeved on the force sensor. An output end of the force sensor is connected with an input end of the control device.
Description
Technical field
This utility model relates to field of medical, is specifically related to the grip device for the arm rehabilitation training robot of arm rehabilitation training.
Background technology
The robot assisted treatment technology is incorporated in the limb rehabilitation training, obtains gradually the attention of domestic and international research worker, develop into heat subject, and obtain clinically good rehabilitation effect.Wherein the arm rehabilitation training robot is a kind of auxiliary rehabilitation exercise robot for cause the arm motion impaired patients because of hemiplegia, wound etc., it is as a kind of automatization rehabilitation medicine equipment, take theory of medicine as foundation, use the characteristics of motion of computer technology simulation human arm, help the patient to carry out science and effectively rehabilitation training, thereby patient's motion function is recovered better.
The arm rehabilitation training robot of present clinical use, mainly comprise support, be provided with telescopic arm on the support, the front end of telescopic arm is provided with grip device, grip device is the handle that is installed in the telescopic arm front end, the rear end of telescopic arm is provided with retractable driving device, also is provided with rotating driving device and overturning drive device and control device on the support.Under the driving of retractable driving device, telescopic arm can outwards extend or inwardly shorten, thereby carries out the rehabilitation training of bending and stretching of patient's arm; Under the driving of rotating driving device, telescopic arm can planar rotate, thereby carries out the swing rehabilitation training of patient's arm; Under the driving of overturning drive device, telescopic arm can turn to different training plans jointly from rotating driving device, thereby carries out swing or the flexible rehabilitation training of arm in different training plans; Control device is comprised of several parts such as PC or single-chip microcomputer, drive system, input keyboard and display usually, jointly overturning drive device, rotating driving device and retractable driving device are carried out motor control by control system and drive system that PC or single-chip microcomputer form, thus the size of control power-assisted or resistance during rehabilitation training.Among the above-mentioned arm rehabilitation training robot architecture, the patient only need hold handle can carry out rehabilitation training, but owing to can not realize the variation of the power that the real-time perception patient is actual required, all be under the predefined pattern of control device, to train during training, power-assisted or resistance when being rehabilitation training preset, the size of resistance or power-assisted can only be estimated, and namely the patient carries out the rehabilitation training of arm under the power-assisted of estimating setting or resistance.Because ill degree is different and patient's individual variation itself, power-assisted or the resistance of estimating setting can not be fit to the patient fully, and the power-assisted that the patient can bear in during rehabilitation training or resistance also can real time alterings, and the constant magnitude of predefined power-assisted or resistance can't satisfy the needs of patient's real-time change in the during rehabilitation training.
The utility model content
This utility model technical issues that need to address are: provide a kind of can real-time perception the variation of actual required power during the Rehabilitation training, thereby make control device can produce vicarious grip device in the arm rehabilitation training robot of the power-assisted of correspondence or resistance.
For addressing the above problem, the technical solution adopted in the utility model is: the vicarious grip device in the arm rehabilitation training robot, comprise: support, be provided with telescopic arm and control device on the support, the front end of telescopic arm is installed with the grip assembly mount pad, be fixedly installed force transducer on the grip assembly mount pad, be set with the arm support seat outside the lower end of force transducer, described arm support seat does not contact in both deflection scopes with force transducer, and the arm support seat is fixedly mounted on the grip assembly mount pad, be movably installed with the arm support fagging at the arm support seat, be positioned to be movably installed with on the force transducer of arm support fagging top and hold cover, the described cover of holding does not contact with the arm support seat, hold between cover and the force transducer and be provided with rotary sleeve, described rotary sleeve is sleeved on the force transducer; The outfan of described force transducer is connected with the input of control device.
Further, the vicarious grip device in the aforesaid arm rehabilitation training robot, wherein, described force transducer is 2 D force sensor.
Further, the vicarious grip device in the aforesaid arm rehabilitation training robot wherein, is provided with a circle stopper slot on the described force transducer, and described holding between cover and the stopper slot is provided with stop screw.
The beneficial effects of the utility model: holding of telescopic arm front end is provided with force transducer in the cover, force transducer can be transformed into electrical signal transfer to control device to the curable grip of holding cover with patient in the during rehabilitation training, thereby control system and drive system in the control device are control effectively to overturning drive device, rotating driving device and retractable driving device jointly, and can produce power-assisted or the resistance confession Rehabilitation training in real time corresponding with curable grip; In addition owing to be provided with for the arm support fagging that supports arm, and the arm support seat that is used for installation arm support fagging does not contact in both deflection scopes with force transducer, the gravity that is patient's arm can not be passed on the force transducer, thereby has removed the impact of arm gravity on the measured value of patient's curable grip; Hold the cover with the arm support seat between do not contact yet, so more guaranteed the accuracy of force transducer to the measured value of patient's curable grip.
Description of drawings
Fig. 1 is the installation site sketch map of the vicarious grip device in the arm rehabilitation training described in the utility model robot.
Fig. 2 is the structural representation of the vicarious grip device in the arm rehabilitation training robot among Fig. 1.
The specific embodiment
Such as Fig. 1, vicarious grip device in Fig. 2 arm rehabilitation training robot, comprise: support 1, be provided with telescopic arm 2 and control device 3 on the support 1, the front end of telescopic arm 2 is installed with grip assembly mount pad 4, be fixedly installed 2 D force sensor 5 on the grip assembly mount pad 4, the outside of 2 D force sensor 5 lower ends is set with arm support seat 6, described arm support seat 6 does not contact in both deflection scopes with 2 D force sensor 5, and arm support seat 6 is fixedly mounted on the grip assembly mount pad 4, be movably installed with arm support fagging 7 at arm support seat 6, be positioned to be movably installed with on the 2 D force sensor 5 of arm support fagging 7 tops and hold cover 8, the bottom of holding cover 8 does not contact with arm support seat 6, hold between cover 8 and the 2 D force sensor 5 and be provided with two rotary sleeves 9, described rotary sleeve 9 all is sleeved on the 2 D force sensor 5; The outfan of 2 D force sensor 5 is connected with the input of control device 3.Be provided with a circle stopper slot on the described 2 D force sensor 5, described holding between cover 8 and the stopper slot is provided with stop screw 10, holds like this cover 8 and rotates around 2 D force sensor 5 on rotary sleeve 9, and can not be separated with 2 D force sensor 5.
Operation principle of the present utility model is as follows: when the patient carries out rehabilitation training, to hold and hold cover 8, arm is bearing on the arm support fagging 7, because the arm support seat 6 of arm support fagging 7 is installed not to be contacted in both deflection scopes with 2 D force sensor 5, therefore the gravity of arm can not have influence on the measured value of 5 pairs of patient's curable grips of 2 D force sensor, the bottom of holding cover 8 does not contact with arm support seat 6 yet, has more guaranteed the accuracy of 5 pairs of curable grip measured values of 2 D force sensor.Under the effect of patient's curable grip, hold 2 D force sensor 5 stress deformations in the cover 8, produce electrical signal transfer to control device 3, thereby control system and drive system in the control device 3 are control effectively to overturning drive device, rotating driving device and retractable driving device, and generation is trained for Rehabilitation with the real-time corresponding power-assisted of curable grip or resistance.During rehabilitation training, the patient can oneself grasp the size of power-assisted or resistance like this, so that more hommization of recovery exercising robot, the rehabilitation training better effects if.
Claims (3)
1. the vicarious grip device in the arm rehabilitation training robot, comprise: support, be provided with telescopic arm and control device on the support, it is characterized in that: the front end of telescopic arm is installed with the grip assembly mount pad, be fixedly installed force transducer on the grip assembly mount pad, the lower end of force transducer is set with the arm support seat, described arm support seat does not contact in both deflection scopes with force transducer, and the arm support seat is fixedly mounted on the grip assembly mount pad, be movably installed with the arm support fagging at the arm support seat, be positioned to be movably installed with on the force transducer of arm support fagging top and hold cover, the described cover of holding does not contact with the arm support seat, hold between cover and the force transducer and be provided with rotary sleeve, described rotary sleeve is sleeved on the force transducer; The outfan of described force transducer is connected with the input of control device.
2. the vicarious grip device in the arm rehabilitation training according to claim 1 robot, it is characterized in that: described force transducer is 2 D force sensor.
3. the vicarious grip device in the arm rehabilitation training according to claim 1 and 2 robot, it is characterized in that: be provided with a circle stopper slot on the described force transducer, described holding between cover and the stopper slot is provided with stop screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220403304 CN202776915U (en) | 2012-08-15 | 2012-08-15 | Induction type grip device of arm rehabilitation training robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220403304 CN202776915U (en) | 2012-08-15 | 2012-08-15 | Induction type grip device of arm rehabilitation training robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202776915U true CN202776915U (en) | 2013-03-13 |
Family
ID=47804272
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220403304 Withdrawn - After Issue CN202776915U (en) | 2012-08-15 | 2012-08-15 | Induction type grip device of arm rehabilitation training robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202776915U (en) |
Cited By (2)
| 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 |
| CN113749903A (en) * | 2015-09-30 | 2021-12-07 | 埃斯顿(南京)医疗科技有限公司 | Non-exoskeleton rehabilitation device with multiple active axes |
-
2012
- 2012-08-15 CN CN 201220403304 patent/CN202776915U/en not_active Withdrawn - After Issue
Cited By (3)
| 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 |
| CN113749903A (en) * | 2015-09-30 | 2021-12-07 | 埃斯顿(南京)医疗科技有限公司 | Non-exoskeleton rehabilitation device with multiple active axes |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130313 Effective date of abandoning: 20151202 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |