CN202982557U - Upper limb rehabilitation training robot - Google Patents
Upper limb rehabilitation training robot Download PDFInfo
- Publication number
- CN202982557U CN202982557U CN 201220669801 CN201220669801U CN202982557U CN 202982557 U CN202982557 U CN 202982557U CN 201220669801 CN201220669801 CN 201220669801 CN 201220669801 U CN201220669801 U CN 201220669801U CN 202982557 U CN202982557 U CN 202982557U
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- rehabilitation training
- baffle plate
- fixing
- upper limb
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Abstract
The utility model relates to medical rehabilitation training equipment. An upper limb rehabilitation training robot solves the problem that the current equipment is complex in operation and cannot meet the rehabilitation of joint motion of patients. The upper limb rehabilitation training robot comprises a base (1), a support frame (3), a seat (2), a cantilever beam (4) and an upper limb training mechanism, wherein a height regulating mechanism is arranged on the support frame; the upper limb training mechanism comprises a shoulder joint outreaching and restraining mechanism, an arm bending and stretching mechanism, a shoulder joint turning inward/outward mechanism, a forearm pronation-supination mechanism and an elbow joint stretching mechanism; the shoulder joint turning inward/outward mechanism is fixedly connected with pivoted levers (17) and (18); the forearm pronation-supination mechanism is the same as the shoulder joint turning inward/outward mechanism; and the elbow joint stretching mechanism is fixedly connected with the shoulder joint turning inward/outward mechanism and the forearm pronation-supination mechanism through two rotating blocks (32) and (41). The upper limb rehabilitation training robot has simple operation, the upper limb joint movement rehabilitation is complete, and the structure is more humanized.
Description
Technical field
This utility model relates to a kind of medical rehabilitation exercising device, relates in particular to a kind of upper-limbs rehabilitation training robot.
Background technology
A large amount of hemiplegic patients occurs in life at present, yet these patients not only the treatment of medicine to be carried out, but also rehabilitation training will be carried out.In traditional rehabilitation, the doctor by doing and illustrating the patient is carried out man-to-man rehabilitation training, this mode is larger to doctor's test, and training effect and training strength are difficult to guarantee.Therefore large quantities of recovery exercising robots has appearred, it not only facilitates but also can satisfy patient's needs recovery time, and can reach the recovery of corresponding joint, but existing upper-limbs rehabilitation training robot, the range of activity in their each joints is regulated inaccurate, and joint motion is not comprehensive.The patent No. is the invention of ZL200810180055.X, " a kind of adjustable training plan upper limb hemiplegia rehabilitation robot " proposed, the just arm recovery of taking exercises in a plane, and complicated operation, height of seat and arm length are unadjustable and there is no an exercise recovery in the important joint of shoulder, therefore, can not satisfy the required intensity of patient and movable joint number.
The utility model content
The purpose of this utility model is: for the deficiencies in the prior art, propose a kind of upper limb rehabilitation robot, the complicated operation, the physical activity recovery joint that have overcome existing equipment are few, the shortcoming of the inadequate hommization of equipment.
The technical solution adopted in the utility model:
a kind of upper-limbs rehabilitation training robot, comprise base, bracing frame, seat, cantilever beam and upper limb training institution, described bracing frame is provided with height adjustment mechanism, be provided with the chute that coordinates with cantilever beam in the cross bar of bracing frame, cantilever beam and chute are dismountable being slidably connected, described upper limb training institution comprises the mechanism of bending and stretching of the containing mechanism of shoulder abduction and arm, motor reducer passes through bearing block, bearing and bearing cap and revoliving arm are connected and fixed, revoliving arm is fixed by connecting axle and fork-shaped base, the revoliving arm stiff end respectively is provided with mechanical position limitation and electric limiting, motor reducer is fixed on the fork-shaped base other end by bearing and bearing block, be provided with gyroaxis and motor shaft in the fork-shaped base and pass gyroaxis and fixing, gyroaxis is fixed with two pivoted levers, pivoted lever the other end is fixed with fixing head, be provided with mechanical position limitation and electric limiting in bearing block, the inward turning outward turning mechanism that also comprises the shoulder joint that is connected and fixed with pivoted lever, the forearm identical with the inward turning outward turning mechanism of shoulder joint revolves front supination mechanism, and the inward turning outward turning mechanism by two pairs of spill spin blocks and shoulder joint and forearm revolve the extension means of the elbow joint that front supination mechanism is fixedly connected with.
The inward turning outward turning mechanism of described shoulder joint comprises that the fixing head end of pivoted lever is provided with two baffle plates that are fixedly connected with, baffle plate is provided with the through hole with the pivoted lever coupling, motor reducer and encoder are fixed by bearing cap and copper sheathing and baffle plate, motor shaft is fixed with a belt pulley, the belt pulley other end is fixed with copper sheathing, belt pulley is provided with belt, belt two ends and semicircle slip ring are fixed, the slip ring both sides are provided with chute, be provided with the pulley that is connected with baffle plate in chute, be provided with the binder fixing with the human body upper arm in slip ring.
Described baffle plate is provided with upper sealing plate and the lower shrouding of coupling, respectively is provided with the projection that two straight lines and circular arc consist of in upper sealing plate and lower shrouding, with coordinating of rib, shrouding is fixed in baffle plate by projection.
Described motor side baffle plate inboard is provided with the projection with belt pulley idle pulley coupling, and the belt pulley idle pulley is fixing by circlip and projection.
Described baffle plate and fixing head are provided with the screw of adjusting the bolt coupling, and screw rod one end passes fixing head and is fixedly connected with handwheel.
The boss that described motor side baffle plate inboard is provided with screw is connected two baffle plates with being fixed of bolt.
The inward turning outward turning mechanism that described forearm revolves front supination structure and shoulder joint is identical, and different is not to be provided with the binder fixing with the human body upper arm in slip ring.
The mechanism of bending and stretching of described elbow joint comprises two pairs of spill spin blocks that are fixedly connected with slip ring and respectively coordinates by copper sheathing, and motor reducer and encoder and any a pair of spill spin block are fixed, and motor shaft coordinates with the spill spin block of fixation side.
Useful good effect of the present utility model:
Height of seat of the present utility model is according to people's scalable of different heights, according to different shoulder breadths support the cantilever beam of upper limb training institution can be in the chute of bracing frame cross bar slidable adjustment, make image training robot hommization more; The robot motor special is adopted in the stretching, extension that the inward turning outward turning of shoulder joint, forearm revolve front supination and elbow joint, and oscillation intensity is little, and noise is little, and is provided with the encoder of regulating electric machine, makes motor be more prone to operation, shoulder and shoulder joint; Shoulder joint and shoulder joint have been realized comprehensive exercise recovery, and simple to operate, and supply voltage is that the human safety voltage is not dangerous.
Description of drawings
Fig. 1 is a kind of structural representation of upper-limbs rehabilitation training robot;
Fig. 2 is the structural representation that the bracing frame cross bar coordinates with cantilever beam;
Fig. 3 is the structural representation that bends and stretches mechanism of the containing mechanism of shoulder abduction and arm;
Fig. 4 is the structural representation of the inward turning outward turning mechanism of shoulder joint;
Fig. 5 is the structural representation that bends and stretches mechanism of elbow joint;
Fig. 6 is the structural representation of pulley.
The specific embodiment
referring to Fig. 1～6, 1. base, 2. seat, 3. bracing frame cross bar, 4. cantilever beam, 5. bracing frame, 6. chute, 7. hands is taken turns, 8. motor reducer, 9. bearing cap, 10. bearing block, 11. convolution arm, 12. connecting axle, 13. fork-shaped base, 14. gyroaxis, 15. bearing block, 16. motor reducer, 17. pivoted lever, 18. pivoted lever, 19. upper sealing plate, 20. adjustment screw rod, 21. belt pulley, 22. fixing head, 23. hands wheel, 24. boss, 25. projection, 26. projection, 27. semicircle slip ring, 28. binder, 29. belt pulley idle pulley, 30. motor reducer, 31. encoder, 32. rotation is fast, 33. baffle plate, 34. encoder, 35. baffle plate, 36. belt .37, lower shrouding, 38. rib, 39. encoder, 40. motor reducer, 41. slide block, 42. motor reducer, 43. pulley.
Below in conjunction with accompanying drawing, the specific embodiment of the present utility model is elaborated:
Referring to Fig. 1～Fig. 6, a kind of upper-limbs rehabilitation training robot, comprise base (1), bracing frame (3), seat (2), cantilever beam (4) and upper limb training institution, described bracing frame is provided with height adjustment mechanism, be provided with the chute (6) that coordinates with cantilever beam (4) in bracing frame cross bar (5), cantilever beam (4) is dismountable being slidably connected with chute (6), and is fixing cantilever beam (4) and bracing frame cross bar (5) by special bolt.Described upper limb training institution comprises the mechanism of bending and stretching of the containing mechanism of shoulder abduction and arm, the mechanism of bending and stretching of the containing mechanism of shoulder abduction and arm comprises that motor reducer (8) is connected and fixed by bearing block (10), bearing and bearing cap (9) and revoliving arm (11), revoliving arm (11) is fixing by connecting axle (12) and fork-shaped base (16), revoliving arm (11) stiff end respectively is provided with mechanical position limitation and electric limiting, mechanical position limitation is mainly by limited block, electric limiting is Hall element, and this is the same with in the past stopping means; Motor reducer (16) is fixed on fork-shaped base (13) other end by bearing and bearing block (15), be provided with gyroaxis (14) and motor shaft in fork-shaped base (13) and pass gyroaxis (14) and fixing, gyroaxis (14) is fixed with two pivoted levers (17) and (18), pivoted lever (17) and (18) the other end are fixed with fixing head (22), and bearing block is provided with mechanical position limitation and electric limiting in (15) equally.Upper limb training institution also comprises the inward turning outward turning mechanism of the shoulder joint that is connected and fixed with pivoted lever (17) and (18), the forearm identical with the inward turning outward turning mechanism of shoulder joint revolves front supination mechanism, and the inward turning outward turning mechanism by two pairs of spill spin blocks (32) and (41) and shoulder joint and forearm revolve the extension means of the elbow joint that front supination mechanism is fixedly connected with.The inward turning outward turning mechanism of described shoulder joint comprises that fixing head (22) end of pivoted lever (17) and (18) is provided with two baffle plates that are fixedly connected with (33) and (35), baffle plate (33) and (35) are provided with the through hole with pivoted lever (17) and (18) coupling, baffle plate is provided with upper sealing plate (19) and the lower shrouding (37) of coupling, respectively be provided with the projection (25) that two straight lines and circular arc consist of in upper sealing plate (19) and lower shrouding (37), with coordinating of rib (38), shrouding is fixed in baffle plate by projection (25), can reduces being connected and fixed of bolt like this.motor reducer (30) and encoder (31) are fixing by bearing cap and copper sheathing and baffle plate (33), motor is that robot motor special reductor (30) Oscillation Amplitude is little, noise is little, moment is large, come the rotation of operating electrical machines reductor by encoder (31), motor shaft is fixed with a belt pulley (21), belt pulley (21) is structure as a whole with axle, belt pulley (21) other end is fixed with copper sheathing, copper sheathing coordinates with belt pulley (21) shaft clearance, belt pulley is provided with belt (36), belt (36) two ends and semicircle slip ring (27) are fixing, the slip ring both sides are provided with chute, be provided with the pulley (43) that is connected with baffle plate in chute, be provided with the binder (28) fixing with the human body upper arm in slip ring.Described motor side baffle plate (33) inboard is provided with the projection (26) with belt pulley idle pulley (29) coupling, and belt pulley (21) idle pulley is fixing by circlip and projection.Described baffle plate and fixing head (22) are provided with the screw of adjusting screw rod (20) coupling, screw rod one end passes fixing head (22) and is fixedly connected with handwheel (23), and the boss (24) that described motor side baffle plate (33) inboard is provided with screw is connected two baffle plates with being fixed of bolt.The inward turning outward turning mechanism that described forearm revolves front supination structure and shoulder joint is identical, and different is not to be provided with the binder (28) fixing with the human body upper arm in slip ring.The mechanism of bending and stretching of described elbow joint comprises that the two pairs of spill spin blocks (32) and (41) that are fixedly connected with slip ring respectively coordinate by copper sheathing, motor reducer (36) and encoder (34) are fixed with any a pair of spill spin block, and motor reducer (36) axle coordinates with the spill spin block of fixation side.The inward turning outward turning mechanism of shoulder joint when bending just can move when elbow joint.
Claims (7)
1. upper-limbs rehabilitation training robot, comprise base (1), bracing frame (3), seat (2), cantilever beam (4) and upper limb training institution, described bracing frame is provided with height adjustment mechanism, be provided with the chute (6) that coordinates with cantilever beam (4) in bracing frame cross bar (5), cantilever beam (4) is dismountable being slidably connected with chute (6), described upper limb training institution comprises the mechanism of bending and stretching of the containing mechanism of shoulder abduction and arm, motor reducer (8) is by bearing block (10), bearing and bearing cap (9) are connected and fixed with revoliving arm (11), revoliving arm (11) is fixing by connecting axle (12) and fork-shaped base (16), revoliving arm (11) stiff end respectively is provided with mechanical position limitation and electric limiting, motor reducer (16) is fixed on fork-shaped base (13) other end by bearing and bearing block (15), be provided with gyroaxis (14) and motor shaft in fork-shaped base (13) and pass gyroaxis (14) and fixing, gyroaxis (14) is fixed with two pivoted levers (17, 18), pivoted lever (17, 18) the other end is fixed with fixing head (22), bearing block is provided with mechanical position limitation and electric limiting in (15), it is characterized in that: also comprise and pivoted lever (17, the inward turning outward turning mechanism of the shoulder joint that 18) is connected and fixed, the forearm identical with the inward turning outward turning mechanism of shoulder joint revolves front supination mechanism, and by two pairs of spill spin blocks (32, 41) revolve the extension means of the elbow joint that front supination mechanism is fixedly connected with the inward turning outward turning mechanism of shoulder joint and forearm.
2. upper-limbs rehabilitation training robot according to claim 1, it is characterized in that: the inward turning outward turning mechanism of described shoulder joint comprises pivoted lever (17, 18) fixing head (22) end is provided with two baffle plates that are fixedly connected with (33, 35), baffle plate (33, 35) be provided with and pivoted lever (17, 18) through hole of coupling, motor reducer (30) and encoder (31) are fixing by bearing cap and copper sheathing and baffle plate (33), motor shaft is fixed with a belt pulley (21), belt pulley (21) other end is fixed with copper sheathing, belt pulley is provided with belt (36), belt (36) two ends and semicircle slip ring (27) are fixing, the slip ring both sides are provided with chute, be provided with the pulley (43) that is connected with baffle plate in chute, be provided with the binder (28) fixing with the human body upper arm in slip ring.
3. upper-limbs rehabilitation training robot according to claim 2, it is characterized in that: described baffle plate is provided with upper sealing plate (19) and the lower shrouding (37) of coupling, respectively be provided with the projection (25) that two straight lines and circular arc consist of in upper sealing plate (19) and lower shrouding (37), with coordinating of rib (38), shrouding be fixed in baffle plate by projection (25).
4. upper-limbs rehabilitation training robot according to claim 2 is characterized in that: described baffle plate (33) inboard is provided with the projection (26) with belt pulley idle pulley (29) coupling, and belt pulley (21) idle pulley is fixing by circlip and projection (26).
5. upper-limbs rehabilitation training robot according to claim 2 is characterized in that: described baffle plate and fixing head (22) are provided with the screw of adjusting screw rod (20) coupling, and screw rod one end passes fixing head (22) and is fixedly connected with handwheel (23).
6. according to upper-limbs rehabilitation training robot claimed in claim 2, it is characterized in that: the boss (24) that described baffle plate (33) inboard is provided with screw is connected two baffle plates with being fixed of bolt.
7. upper-limbs rehabilitation training robot according to claim 1, it is characterized in that: the mechanism of bending and stretching of described elbow joint comprises that the two pairs of spill spin blocks (32,41) that are fixedly connected with slip ring respectively coordinate by copper sheathing, motor reducer (42) and encoder (34) are fixed with any a pair of spill spin block, and motor shaft coordinates with the spill spin block of fixation side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220669801 CN202982557U (en) | 2012-12-07 | 2012-12-07 | Upper limb rehabilitation training robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220669801 CN202982557U (en) | 2012-12-07 | 2012-12-07 | Upper limb rehabilitation training robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202982557U true CN202982557U (en) | 2013-06-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220669801 Expired - Fee Related CN202982557U (en) | 2012-12-07 | 2012-12-07 | Upper limb rehabilitation training robot |
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| Country | Link |
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| CN (1) | CN202982557U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102940561A (en) * | 2012-12-07 | 2013-02-27 | 付风生 | Upper limb rehabilitation training robot |
| CN102961235A (en) * | 2012-12-07 | 2013-03-13 | 付风生 | Upper-limb rehabilitation training robot |
| CN103720571A (en) * | 2013-12-25 | 2014-04-16 | 华中科技大学 | Gantry type upper limb rehabilitation training device |
| CN103919659A (en) * | 2014-04-21 | 2014-07-16 | 安阳工学院 | Automatic shoulder joint rehabilitation training device |
| CN103976851A (en) * | 2014-04-21 | 2014-08-13 | 安阳工学院 | Self-rehabilitation training instrument for shoulder joints |
| CN104622668A (en) * | 2015-03-04 | 2015-05-20 | 国家康复辅具研究中心 | Bionic shoulder joint movement rehabilitation training apparatus |
| CN104784014A (en) * | 2015-04-30 | 2015-07-22 | 安阳市翔宇医疗设备有限责任公司 | Large arm rehabilitation training device |
| CN104800050A (en) * | 2015-05-21 | 2015-07-29 | 王妍 | Upper limb exercise equipment |
| CN105078700B (en) * | 2015-08-26 | 2017-06-30 | 安阳工学院 | A kind of both upper extremities linkage recovery training appliance for recovery of adjustable resistance |
| WO2020038012A1 (en) * | 2018-08-20 | 2020-02-27 | 中国科学院苏州生物医学工程技术研究所 | Personalized robot for upper limb rehabilitation training |
-
2012
- 2012-12-07 CN CN 201220669801 patent/CN202982557U/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102961235B (en) * | 2012-12-07 | 2014-12-10 | 付风生 | Upper-limb rehabilitation training robot |
| CN102961235A (en) * | 2012-12-07 | 2013-03-13 | 付风生 | Upper-limb rehabilitation training robot |
| CN102940561A (en) * | 2012-12-07 | 2013-02-27 | 付风生 | Upper limb rehabilitation training robot |
| CN103720571A (en) * | 2013-12-25 | 2014-04-16 | 华中科技大学 | Gantry type upper limb rehabilitation training device |
| CN103720571B (en) * | 2013-12-25 | 2016-01-20 | 华中科技大学 | A kind of planer-type exercising apparatus for recovery of upper limb |
| CN103919659A (en) * | 2014-04-21 | 2014-07-16 | 安阳工学院 | Automatic shoulder joint rehabilitation training device |
| CN103976851A (en) * | 2014-04-21 | 2014-08-13 | 安阳工学院 | Self-rehabilitation training instrument for shoulder joints |
| CN103919659B (en) * | 2014-04-21 | 2016-03-02 | 安阳工学院 | The autonomous recovery training appliance for recovery of a kind of shoulder joint |
| CN103976851B (en) * | 2014-04-21 | 2016-05-25 | 安阳工学院 | The autonomous recovery training appliance for recovery of a kind of shoulder joint |
| CN104622668A (en) * | 2015-03-04 | 2015-05-20 | 国家康复辅具研究中心 | Bionic shoulder joint movement rehabilitation training apparatus |
| CN104784014A (en) * | 2015-04-30 | 2015-07-22 | 安阳市翔宇医疗设备有限责任公司 | Large arm rehabilitation training device |
| CN104800050A (en) * | 2015-05-21 | 2015-07-29 | 王妍 | Upper limb exercise equipment |
| CN104800050B (en) * | 2015-05-21 | 2017-03-08 | 王妍 | A kind of upper body exercise apparatus |
| CN105078700B (en) * | 2015-08-26 | 2017-06-30 | 安阳工学院 | A kind of both upper extremities linkage recovery training appliance for recovery of adjustable resistance |
| WO2020038012A1 (en) * | 2018-08-20 | 2020-02-27 | 中国科学院苏州生物医学工程技术研究所 | Personalized robot for upper limb rehabilitation training |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130612 Termination date: 20141207 |
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| EXPY | Termination of patent right or utility model |