CN202875740U - Arm recovery training robot with force control function - Google Patents
Arm recovery training robot with force control function Download PDFInfo
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- CN202875740U CN202875740U CN201220479139.5U CN201220479139U CN202875740U CN 202875740 U CN202875740 U CN 202875740U CN 201220479139 U CN201220479139 U CN 201220479139U CN 202875740 U CN202875740 U CN 202875740U
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Abstract
The utility model discloses an arm recovery training robot with a force control function. The arm recovery training robot with the force control function can be used for controlling assistance or resistance actually needed by a patient in the process of recovery training in real time. The arm recovery training robot with the force control function comprises a telescopic arm movement mechanism, the telescopic arm movement mechanism driven by a rotary drive device can rotate around a rotating shaft in a plane, and the telescopic arm movement mechanism driven by a turning drive device and the rotary drive device can turn together around a turning shaft. The turning drive device is arranged on the top of a lifting supporting column, the bottom of the supporting column is fixedly arranged on a bottom support, the bottom support is further provided with a control device, and a sensing type handle holding device provided with a two-dimensional force sensor and an arm supporting plate is arranged on the telescopic arm movement mechanism.
Description
Technical field
This utility model relates to field of medical device, is specifically related to the arm rehabilitation training robot for arm rehabilitation training.
Background technology
The robot assisted treatment technology is incorporated in the limb rehabilitation training, and this heat subject obtains the attention of domestic and international research worker gradually, develops into heat subject, and obtains clinically good rehabilitation effect.Wherein the arm rehabilitation training robot is a kind of patient's for cause the arm motion obstacle because of hemiplegia, wound etc. auxiliary rehabilitation exercise robot, 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, its structure comprises: the telescopic arm motion, described telescopic arm motion is bearing on the rotating shaft in the rotating driving device, the telescopic arm motion can planar rotate around rotating shaft under the driving of rotating driving device, rotating driving device is bearing on the trip shaft in the overturning drive device, telescopic arm motion and rotating driving device can overturn jointly around trip shaft under the driving of overturning drive device, described overturning drive device is installed in the top of liftable support column, the bottom of support column is fixedly mounted on the bottom support bracket, also is provided with control telescopic arm motion on the bottom support bracket, the control device of rotating driving device and overturning drive device.Wherein the structure of telescopic arm motion mainly comprises: the telescopic arm outer sleeve, be provided with screw mandrel in the telescopic arm outer sleeve, be provided with the feed screw nut who is used in conjunction with screw mandrel on the screw mandrel, the afterbody expansion bearing of screw mandrel is in the screw mandrel shaft block of telescopic arm outer sleeve rear end, be provided with the telescopic arm inner sleeve in the telescopic arm outer sleeve, the rear end of telescopic arm inner sleeve stretches in the telescopic arm outer sleeve and is sleeved on outside the screw mandrel from the front end of telescopic arm outer sleeve, and be fixedly connected with the feed screw nut, the rear end of telescopic arm outer sleeve is fixedly connected with motor cabinet, flexible motor is installed in the motor cabinet, and the output shaft of flexible motor is connected with the afterbody of screw mandrel.Be provided with the grip device that hands grips when resuming training for the patient at the front end of above-mentioned telescopic arm inner sleeve, its structure is common handle.
Control device in the above-mentioned arm rehabilitation training robot is comprised of several parts such as PC or single-chip microcomputer, drive system, input keyboard and display usually, is that main control system and the drive system that forms carried out motor control to overturning drive device, rotating driving device and telescopic arm motion jointly by PC or single-chip microcomputer.During rehabilitation training, the patient only need hold handle can carry out rehabilitation training, and under the driving of flexible motor, the telescopic arm inner sleeve is elongation or inwardly indentation outwards, thereby patient's arm is carried out the rehabilitation training of bending and stretching in the horizontal training plan; Under the driving of rotating driving device, whole telescopic arm motion can rotate around rotating shaft, carries out the interior swing rehabilitation training of horizontal training plan thereby drive patient's arm; Under the driving of overturning drive device, the telescopic arm motion is from rotating driving device turn to different training plans jointly, then under the driving of rotating driving device and telescopic arm motion, patient's arm is carried out arms swing rehabilitation training and arm flexion-extension rehabilitation training in this training plan.
In the during rehabilitation training, the power-assisted that the arm rehabilitation training robot is can not the real-time perception patient actual required or the variation of resistance, therefore actual required power-assisted or the size of resistance during uncontrollable Rehabilitation training, training all is to train under the predefined pattern of control device, power-assisted or resistance during rehabilitation training preset, the size of resistance or power-assisted can only be estimated, and namely the patient can only carry 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 the variation of the in real time required power of patient in the during rehabilitation training.
The utility model content
This utility model technical issues that need to address are: the arm rehabilitation training robot with power control function that the power-assisted when a kind of can the training Rehabilitation is provided or resistance are controlled in real time.
For addressing the above problem, the technical solution adopted in the utility model is: with the arm rehabilitation training robot of power control function, comprise: the telescopic arm motion, described telescopic arm motion is bearing on the rotating shaft in the rotating driving device, the telescopic arm motion can planar rotate around rotating shaft under the driving of rotating driving device, described rotating driving device is bearing on the trip shaft in the overturning drive device, telescopic arm motion and rotating driving device can overturn jointly around trip shaft under the driving of overturning drive device, described overturning drive device is installed in the top of liftable support column, the bottom of support column is fixedly mounted on the bottom support bracket, also be provided with control telescopic arm motion on the bottom support bracket, the control device of rotating driving device and overturning drive device, at the telescopic arm motion vicarious grip device is installed, its structure comprises: the grip assembly mount pad that is fixedly mounted on telescopic arm motion front end, be fixedly installed 2 D force sensor on the grip assembly mount pad, the lower end of 2 D force sensor is set with the arm support seat, described arm support seat does not contact in both deflection scopes with 2 D force sensor, 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 2 D force sensor of arm support fagging top and hold cover, holding cover does not contact with the arm support seat, hold between cover and the 2 D force sensor and be provided with rotary sleeve, rotary sleeve is sleeved on the 2 D force sensor; The outfan of described 2 D force sensor is connected with the input of control device.
Further, aforesaid arm rehabilitation training robot with power control function, wherein, the structure of telescopic arm motion comprises: the telescopic arm outer sleeve, be provided with screw mandrel in the telescopic arm outer sleeve, be provided with the feed screw nut who is used in conjunction with screw mandrel on the screw mandrel, the afterbody expansion bearing of screw mandrel is in the screw mandrel shaft block of telescopic arm outer sleeve rear end, be provided with the telescopic arm inner sleeve in the telescopic arm outer sleeve, the rear end of telescopic arm inner sleeve stretches in the telescopic arm outer sleeve and is sleeved on outside the screw mandrel from the front end of telescopic arm outer sleeve, and be fixedly connected with the feed screw nut, the rear end of telescopic arm outer sleeve is fixedly connected with motor cabinet, flexible motor is installed in the motor cabinet, and the output shaft of flexible motor is connected by shaft coupling with the afterbody of screw mandrel; The cylindrical shell of telescopic arm outer sleeve is fixedly connected on the rotating shaft.
Further, aforesaid arm rehabilitation training robot with power control function, wherein, be provided with the flexible positive stop strip of ring-type on the cylinder body outer wall of telescopic arm inner sleeve rear end, be provided with the flexible caging bolt that is used in conjunction with flexible positive stop strip on the simplified inwall of telescopic arm outer sleeve front end, flexible caging bolt is blocked in the outside of flexible positive stop strip.
Further, aforesaid arm rehabilitation training robot with power control function, wherein, the structure of rotating driving device comprises: the rotating mounting rack that is fixedly connected with an end of trip shaft, be provided with rotating shaft holder in the rotating mounting rack, the lower end of rotating shaft is bearing in the rotating shaft holder, and the bottom of rotating shaft is connected with the output shaft of electric rotating machine, and described electric rotating machine is installed on the rotating mounting rack.
Further, aforesaid arm rehabilitation training robot with power control function, wherein, be provided with the rotary stopper bolt on the described rotating shaft, be provided with the rotary stopper groove of the arc that is used in conjunction with the rotary stopper bolt on the described rotating mounting rack, when rotating shaft rotated, the rotary stopper bolt rotated in the rotary stopper groove.
Further, aforesaid arm rehabilitation training robot with power control function, wherein, the structure of described overturning drive device comprises: the trip shaft mount pad that is fixedly mounted on the support column top, be provided with trip shaft in the trip shaft mount pad, be provided with the trip shaft axle sleeve between trip shaft and the trip shaft mount pad, the trip shaft axle sleeve is sleeved on the trip shaft, one end of trip shaft is connected with the output shaft of turn drive motor, and the other end of trip shaft is fixedly connected with rotating mounting rack.
Further, aforesaid arm rehabilitation training robot with power control function, wherein, be provided with the upset stopper slot of arc at trip shaft, be provided with the upset caging bolt that is used in conjunction with the stopper slot that overturns at the trip shaft mount pad, when trip shaft rotated, the upset caging bolt rotated in the upset stopper slot.
Further, aforesaid arm rehabilitation training robot with power control function, wherein, be provided with a circle on the described 2 D force sensor and hold the cover stopper slot, hold cover and hold the cover caging bolt with holding to overlap to be provided with between the stopper slot, can rotate around 2 D force sensor, can mutually not break away from again so that hold cover.
The beneficial effects of the utility model: owing to being provided with 2 D force sensor in the cover the holding of front end of telescopic arm inner sleeve, 2 D force sensor 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 make the interior control system of control device and drive system jointly to overturning drive device, rotating driving device and telescopic arm motion control effectively, and can produce with curable grip in real time corresponding power-assisted or resistance for the Rehabilitation training, thereby the purpose that the required power-assisted of reality or resistance are controlled in real time when realizing Rehabilitation trained; In addition owing to being 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 2 D force sensor, 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 between cover and the arm support seat and also do not contact, so more guaranteed the accuracy of force transducer to the measured value of patient's curable grip, greatly improved the effect that Rehabilitation is trained.
Description of drawings
Fig. 1 is the structural representation of the arm rehabilitation training robot with power control function described in the utility model.
Fig. 2 is the structure for amplifying schematic diagram of A part among Fig. 1.
Fig. 3 is the structure for amplifying schematic diagram of B part among Fig. 1.
Fig. 4 is the user mode schematic diagram of the arm rehabilitation training robot assisting patients with power control function described in the utility model when carrying out rehabilitation training in the horizontal training plan.
Fig. 5 is the user mode schematic diagram of the arm rehabilitation training robot assisting patients with power control function described in the utility model when carrying out rehabilitation training in the vertical training plan.
The specific embodiment
Below in conjunction with accompanying drawing and optimum embodiment this utility model is carried out further detailed introduction.
Such as Fig. 1, Fig. 2, Fig. 3, shown in Figure 4, arm rehabilitation training robot with power control function, comprise telescopic arm motion 26, its structure comprises: telescopic arm outer sleeve 1, be provided with screw mandrel 2 in the telescopic arm outer sleeve 1, be provided with the feed screw nut 3 who is used in conjunction with screw mandrel 2 on the screw mandrel 2, the afterbody expansion bearing of screw mandrel 2 is in the screw mandrel shaft block 4 of telescopic arm outer sleeve 1 rear end, be provided with telescopic arm inner sleeve 5 in the telescopic arm outer sleeve 1, the rear end of telescopic arm inner sleeve 5 is in the front end of telescopic arm outer sleeve 1 stretches to telescopic arm outer sleeve 1 and be sleeved on outside the screw mandrel 2, and be fixedly connected with feed screw nut 3, be provided with the flexible positive stop strip 51 of ring-type on the cylinder body outer wall of telescopic arm inner sleeve 5 rear ends, be provided with the flexible caging bolt 101 that is used in conjunction with flexible positive stop strip 51 on the cylinder inboard wall of telescopic arm outer sleeve 1 front end, flexible caging bolt 101 is blocked in the outside of flexible positive stop strip 51; The rear end of telescopic arm outer sleeve 1 is fixedly connected with motor cabinet 6, and flexible motor 7 is installed in the motor cabinet 6, and the output shaft of flexible motor 7 is connected by shaft coupling with the afterbody of screw mandrel 2; The cylindrical shell of telescopic arm outer sleeve 1 is fixedly connected on the rotating shaft 8 in the rotating driving device 27.Telescopic arm motion 26 can planar rotate around rotating shaft 8 under the driving of rotating driving device 27, the structure of described rotating driving device 27 comprises: the rotating mounting rack 10 that is fixedly connected with an end of trip shaft 9, be provided with rotating shaft holder 11 in the rotating mounting rack 10, the lower end of rotating shaft 8 is bearing in the rotating shaft holder 11, and the bottom of rotating shaft 8 is connected with the output shaft of electric rotating machine 12, described electric rotating machine 12 is installed on the rotating mounting rack 10, be provided with rotary stopper bolt 81 at rotating shaft 8, be provided with the rotary stopper groove 82 of the arc that is used in conjunction with rotary stopper bolt 81 on the described rotating mounting rack 10, when rotating shaft 8 rotated, rotary stopper bolt 81 was in the 82 interior rotations of rotary stopper groove.Described rotating driving device 27 is bearing on the trip shaft 9 in the overturning drive device 28, telescopic arm motion 26 and rotating driving device 27 can overturn jointly around trip shaft 9 under the driving of overturning drive device 28, can be referring to shown in Figure 5, the structure of described overturning drive device 28 comprises: the trip shaft mount pad 14 that is fixedly mounted on liftable support column 13 tops, be provided with trip shaft 9 in the trip shaft mount pad 14, be provided with a pair of trip shaft axle sleeve 15 between trip shaft 9 and the trip shaft mount pad 14, trip shaft axle sleeve 15 is sleeved on the trip shaft 9, one end of trip shaft 9 is connected with the output shaft of turn drive motor 16, the other end of trip shaft 9 is fixedly connected with rotating mounting rack 10, the bottom of described liftable support column 13 is fixedly mounted on the bottom support bracket 17, also is provided with control device 18 on the bottom support bracket 17.In actual fabrication, liftable support column 13 can adopt telescoping structure, driving element such as oil cylinder, cylinder or linear electric motors etc. is arranged in the outer sleeve, and is fixed on the bottom support bracket 17, drives the outer sleeve lifting by driving element.Be provided with the upset stopper slot 91 of arc at trip shaft 9, be provided with the upset caging bolt 92 that is used in conjunction with the stopper slot 91 that overturns at trip shaft mount pad 14, when trip shaft 9 rotated, upset caging bolt 92 was in the 91 interior rotations of upset stopper slot.Front end at telescopic arm inner sleeve 5 is provided with the vicarious grip device, its structure comprises: the grip assembly mount pad 19 that is fixedly mounted on telescopic arm inner sleeve 5 front ends, be fixedly installed 2 D force sensor 20 on the grip assembly mount pad 19, the lower end outer cover of 2 D force sensor 20 is equipped with arm support seat 21, arm support seat 21 does not contact in both deflection scopes with 2 D force sensor 20, and arm support seat 21 is fixedly mounted on the grip assembly mount pad 19, be movably installed with arm support fagging 22 at arm support seat 21, arm support fagging 22 can rotate by thorny arm supporting seat 21, be positioned to be movably installed with on the 2 D force sensor 20 of arm support fagging 22 tops and hold cover 23, holding cover 23 does not contact with arm support seat 21, hold between cover 23 and the 2 D force sensor 20 and be provided with rotary sleeve 24, rotary sleeve 24 is sleeved on the 2 D force sensor 20; The outfan of 2 D force sensor 20 is connected with the input of control device 18.Be provided with a circle on the 2 D force sensor 20 and hold the cover stopper slot, the described cover 23 of holding is provided with between the stopper slot and holds cover caging bolt 25 with holding cover so that hold cover 23 can be around 2 D force sensor 20 rotations, can mutually not break away from again.
Operation principle of the present utility model is as follows: such as Fig. 1, shown in Figure 4, patient body is positioned at the place ahead of arm rehabilitation training robot, grasp and hold cover 23, patient's arm is bearing on the arm support fagging 22, start flexible motor 7, the output shaft of flexible motor 7 rotates forward or backwards, driving screw mandrel 2 also rotates forward or backwards, feed screw nut on the screw mandrel 23 drives telescopic arm inner sleeve 5 to the 1 outer elongation of telescopic arm outer sleeve or to the 1 interior indentation of telescopic arm outer sleeve like this, thereby drive patient's arm and carry out the interior arm flexion-extension training of horizontal training plan, because the cylinder body outer wall in telescopic arm inner sleeve 5 rear ends is provided with the flexible positive stop strip 51 of ring-type, be provided with flexible caging bolt 101 on the cylinder inboard wall of telescopic arm outer sleeve 1 front end, flexible 101 pairs of flexible positive stop strips 101 of caging bolt play position-limiting action, can prevent like this phenomenon that the rear generation of telescopic arm inner sleeve 5 outside elongations and telescopic arm outer sleeve 1 are separated.When the arms swing in needs carry out horizontal training plan is trained, start electric rotating machine 12, the output shaft of electric rotating machine 12 forward or backwards rotating drive rotating shaft 8 rotates in rotating shaft holder 11 forward or backwards, so that and then rotating shaft 8 rotations of telescopic arm motion 26, thereby drive patient's arm and in horizontal training plan, carry out the swing rehabilitation training of arm, owing to being provided with rotary stopper bolt 81 at rotating shaft 8, be provided with the rotary stopper groove 82 of the arc that is used in conjunction with rotary stopper bolt 81 at rotating mounting rack 10, when rotating shaft 8 rotates, rotary stopper bolt 81 is in the 82 interior rotations of rotary stopper groove, the radian of rotary stopper groove 82 has limited the amplitude of rotating shaft 8 rotations, namely limited the amplitude peak that patient's arm swings in horizontal training plan, generally speaking, the radian of rotary stopper groove 82 is set to 180 degree, and namely the amplitude that swings back and forth of patient's arm is controlled in 0～180 degree scope.When need to be on different rehabilitation training planes, start turn drive motor 16, the output shaft of turn drive motor 16 drives trip shaft 9 and rotates forward or backwards, thereby drive the jointly forward or backwards upset of whole telescopic arm motion 26 and rotating driving device 27, owing to being provided with the upset stopper slot 91 of arc at trip shaft 9, be provided with the upset caging bolt 92 that is used in conjunction with the stopper slot 91 that overturns at trip shaft mount pad 14, when trip shaft 9 rotates, upset stopper slot 91 rotates at upset caging bolt 92, usually the radian of stopper slot of will overturning is limited to-90～90 degree, when trip shaft 9 turn to 90 when spending, telescopic arm motion 26 and rotating driving device 27 are in the vertical training plan state of recovery exercising robot one side, when trip shaft 9 turn to-90 when spending, telescopic arm motion 26 and rotating driving device 27 are in the vertical training plan state of recovery exercising robot opposite side, the patient can be according to own required, and the vertical training plan of that side of selecting to be fit to oneself carries out rehabilitation training.When carrying out the rehabilitation training of vertical training plan, patient body need be positioned at a side of arm rehabilitation training robot, hold and hold cover 23, arm support fagging 22 is inwardly rotated, arm can be bearing on the arm support fagging 22, and then startup electric rotating machine 12, the output shaft of electric rotating machine 12 forward or backwards rotating drive rotating shaft 8 rotates in rotating shaft holder 11 forward or backwards, so that telescopic arm motion 26 is along with rotating shaft 8 rotates, thereby drive patient's arm and in this vertical training plan, carry out the swing rehabilitation training of arm, perhaps start flexible motor 7, carry out the arm flexion-extension training in the vertical training plan, can be referring to Fig. 5.Flexible spacing in the present embodiment in the telescopic arm motion 26, rotary stopper in the rotating driving device 27, and the spacing spacing mode of mechanical stop that all adopted of the upset in the overturning drive device 28, in actual use, also can adopt simultaneously electromagnetic induction control to carry out spacing, as on the telescopic arm outer sleeve 1 and telescopic arm inner sleeve 5 in telescopic arm motion 26 respectively, on the rotating shaft 8 and rotating mounting rack 10 in the rotating driving device 27, and on the trip shaft in the overturning drive device 28 9 and the trip shaft mount pad 14 induction installation is installed respectively, such as Hall element etc., and induction installation is electrically connected with control device 18, gathered the signal of telecommunication of induction installation by control device 18, then control the action of corresponding motor, realize the purpose of spacing control.After perhaps can also Direct Programming by the course of action of microcomputerized control associated motor, thereby realize spacing control.These technology belong to the common technology in this area, so no longer launch narration at this.
In the above-mentioned during rehabilitation training, patient's hands is held cover 23 all the time, and arm is bearing on the arm support fagging 22, because the arm support seat 21 of arm support fagging 22 is installed not to be contacted in both deflection scopes with 2 D force sensor 20, therefore the gravity of arm can not have influence on the measured value of 20 pairs of patient's curable grips of 2 D force sensor, the bottom of holding cover 23 does not contact with arm support seat 21 yet, has more guaranteed the accuracy of 20 pairs of curable grip measured values of 2 D force sensor.Under the effect of patient's curable grip, hold 2 D force sensor 20 stress deformations in the cover 23, produce electrical signal transfer to control device 18, thereby make control system in the control device 18 and drive system to overturning drive device 28, rotating driving device 27 and telescopic arm motion 26 control effectively, and generation is trained for Rehabilitation with the real-time corresponding power-assisted of curable grip or resistance, thereby realized the purpose that power-assisted actual required when Rehabilitation trained or resistance are controlled in real time, so that more hommization of recovery exercising robot, the rehabilitation training better effects if.
Claims (9)
1. control the arm rehabilitation training robot of function with power, comprise: the telescopic arm motion, described telescopic arm motion is bearing on the rotating shaft in the rotating driving device, the telescopic arm motion can planar rotate around rotating shaft under the driving of rotating driving device, described rotating driving device is bearing on the trip shaft in the overturning drive device, telescopic arm motion and rotating driving device can overturn jointly around trip shaft under the driving of overturning drive device, described overturning drive device is installed in the top of liftable support column, the bottom of support column is fixedly mounted on the bottom support bracket, also be provided with control telescopic arm motion on the bottom support bracket, the control device of rotating driving device and overturning drive device, it is characterized in that: at the telescopic arm motion vicarious grip device is installed, its structure comprises: the grip assembly mount pad that is fixedly mounted on telescopic arm motion front end, be fixedly installed 2 D force sensor on the grip assembly mount pad, the lower end of 2 D force sensor is set with the arm support seat, described arm support seat does not contact in both deflection scopes with 2 D force sensor, 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 2 D force sensor of arm support fagging top and hold cover, holding cover does not contact with the arm support seat, hold between cover and the 2 D force sensor and be provided with rotary sleeve, rotary sleeve is sleeved on the 2 D force sensor; The outfan of described 2 D force sensor is connected with the input of control device.
2. the arm rehabilitation training robot with power control function according to claim 1, it is characterized in that: the structure of telescopic arm motion comprises: the telescopic arm outer sleeve, be provided with screw mandrel in the telescopic arm outer sleeve, be provided with the feed screw nut who is used in conjunction with screw mandrel on the screw mandrel, the afterbody expansion bearing of screw mandrel is in the screw mandrel shaft block of telescopic arm outer sleeve rear end, be provided with the telescopic arm inner sleeve in the telescopic arm outer sleeve, the rear end of telescopic arm inner sleeve stretches in the telescopic arm outer sleeve and is sleeved on outside the screw mandrel from the front end of telescopic arm outer sleeve, and be fixedly connected with the feed screw nut, the rear end of telescopic arm outer sleeve is fixedly connected with motor cabinet, flexible motor is installed in the motor cabinet, and the output shaft of flexible motor is connected by shaft coupling with the afterbody of screw mandrel; The cylindrical shell of telescopic arm outer sleeve is fixedly connected on the rotating shaft.
3. the arm rehabilitation training robot with power control function according to claim 2, it is characterized in that: be provided with the flexible positive stop strip of ring-type on the cylinder body outer wall of telescopic arm inner sleeve rear end, be provided with the flexible caging bolt that is used in conjunction with flexible positive stop strip on the cylinder inboard wall of telescopic arm outer sleeve front end, flexible caging bolt is blocked in the outside of flexible positive stop strip.
4. according to claim 1 and 2 or 3 described arm rehabilitation training robots with power control function, it is characterized in that: the structure of rotating driving device comprises: the rotating mounting rack that is fixedly connected with an end of trip shaft, be provided with rotating shaft holder in the rotating mounting rack, the lower end of rotating shaft is bearing in the rotating shaft holder, and the bottom of rotating shaft is connected with the output shaft of electric rotating machine, and described electric rotating machine is installed on the rotating mounting rack.
5. the arm rehabilitation training robot with power control function according to claim 4, it is characterized in that: be provided with the rotary stopper bolt on the described rotating shaft, be provided with the rotary stopper groove of the arc that is used in conjunction with the rotary stopper bolt on the described rotating mounting rack, when rotating shaft rotated, the rotary stopper bolt rotated in the rotary stopper groove.
6. according to claim 1 and 2 or 3 described arm rehabilitation training robots with power control function, it is characterized in that: the structure of described overturning drive device comprises: the trip shaft mount pad that is fixedly mounted on the support column top, be provided with trip shaft in the trip shaft mount pad, be provided with the trip shaft axle sleeve between trip shaft and the trip shaft mount pad, the trip shaft axle sleeve is sleeved on the trip shaft, one end of trip shaft is connected with the output shaft of turn drive motor, and the other end of trip shaft is fixedly connected with rotating mounting rack.
7. the arm rehabilitation training robot with power control function according to claim 4, it is characterized in that: the structure of described overturning drive device comprises: the trip shaft mount pad that is fixedly mounted on the support column top, be provided with trip shaft in the trip shaft mount pad, be provided with the trip shaft axle sleeve between trip shaft and the trip shaft mount pad, the trip shaft axle sleeve is sleeved on the trip shaft, one end of trip shaft is connected with the output shaft of turn drive motor, and the other end of trip shaft is fixedly connected with rotating mounting rack.
8. the arm rehabilitation training robot with power control function according to claim 6, it is characterized in that: the upset stopper slot that is provided with arc at trip shaft, be provided with the upset caging bolt that is used in conjunction with the stopper slot that overturns at the trip shaft mount pad, when trip shaft rotated, the upset caging bolt rotated in the upset stopper slot.
9. according to claim 1 and 2 or 3 described arm rehabilitation training robots with power control function, it is characterized in that: be provided with a circle on the described 2 D force sensor and hold the cover stopper slot, hold cover and hold the cover caging bolt with holding to overlap to be provided with between the stopper slot, can rotate around 2 D force sensor, can mutually not break away from again so that hold cover.
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| CN201220479139.5U CN202875740U (en) | 2012-09-20 | 2012-09-20 | Arm recovery training robot with force control function |
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| CN201220479139.5U CN202875740U (en) | 2012-09-20 | 2012-09-20 | Arm recovery training robot with force control function |
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- 2012-09-20 CN CN201220479139.5U patent/CN202875740U/en not_active Expired - Lifetime
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| CN104970944A (en) * | 2014-04-02 | 2015-10-14 | 北京蝶禾谊安信息技术有限公司 | Upper limb rehabilitation robot position movement realizing method |
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