CN204260995U - A kind of exercising apparatus for recovery of upper limb based on grouping couple drive - Google Patents

Abstract

The utility model discloses a kind of exercising apparatus for recovery of upper limb based on grouping couple drive, comprise shoulder Three Degree Of Freedom adaptive mechanism, the first coupled motions mechanism, shoulder coupling assembling, the second coupled motions mechanism and wrist two degrees of freedom adaptive mechanism, first coupled motions mechanism is fixedly connected on shoulder Three Degree Of Freedom adaptive mechanism, shoulder coupling assembling is rotatably connected in the first coupled motions mechanism, second coupled motions mechanism is fixedly connected with shoulder coupling assembling, and wrist two degrees of freedom adaptive mechanism is fixedly connected with the second coupled motions mechanism.This utility model can according to the suffering limb size of different patient and concrete service condition, adjust adaptively, can cooperation between human body and mechanism, human comfort and safety coefficient are obtained for great raising, the submissive transmission of each motion, cooperation, make the described exercising apparatus for recovery of upper limb based on grouping couple drive can complete the main passive exercise action of Various Complex.

Description

A kind of exercising apparatus for recovery of upper limb based on grouping couple drive

Technical field

This utility model belongs to rehabilitation medicine equipment field, more specifically, relates to a kind of exercising apparatus for recovery of upper limb based on grouping couple drive.

Background technology

At scientific and technological high speed development, today that living standards of the people generally improve, still there is partial mass, because the problem of the aspects such as its obstacle of limb movement, cause its body and mind languish.The handicapped reason of human body limb movement is caused to have a lot, as accidents such as commercial production Accidents, traffic accidents, the disease such as apoplexy, hemiplegia, and bring handicapped of human senility and being slow in action, these obstacle of limb movement patient mostly lives and cannot take care of oneself, physical and mental health for patient causes heavy strike, also result in impact greatly and burden to social development.Under this background, the research and production of convalescence device just arises at the historic moment, and becomes an important branch of field of medical device.

At present, healing robot has been widely applied to the aspects such as artificial limb, rehabilitation nursing and rehabilitation, and this not only facilitates the development of rehabilitation medicine, has also driven the new technique of association area and the development of new theory.Upper limb is one of important component part of human body, connect with chest and cervical region, comprise shoulder, arm, elbow, forearm and hands, the coordination exercise of whole upper limb is controlled by shoulder joint, elbow joint and carpal joint, most of demand in mankind's daily life all needs to be realized by the action of upper limb, therefore seems particularly important to the research and production of upper limb healing device.

That this utility model designs is a class dermaskeleton type upper limb rehabilitation training devices, different from existing end guiding upper limb rehabilitation robot institute, device for healing and training involved by this utility model is strapped in suffering limb, carry out auxiliary suffering limb by the coordination exercise of leverage and make rehabilitation exercise motion, relative to end guiding robot, exoskeleton-type robot mechanism is more ingenious, take up an area space little, compliance is better, the external form solving the existence of end guiding robot is huge, can not dress, need special place, space, be not suitable for the problems such as family's use.

As the dermaskeleton type upper limb rehabilitation training devices with direct body contact, need to consider the physiological structure of human upper limb and the feature of motion mode thereof.On the one hand, human upper limb locomotion is comparatively complicated, and degree of freedom is more, how reasonably to drive and to control the motion of each articulation mechanism, motion is transmitted in phase, target kinetic energy is achieved, seem particularly important; On the other hand, when effectively training patient, the work space of claimed apparatus is consistent with the natural activity space of human body limb, makes device can not cause damage to tissue; Moreover claimed apparatus can adapt to the suffering limb size of different patient, and its body construction can not produce interference to patient when carrying out rehabilitation training, therefore need to add corresponding scalable and adaptive mechanism.

If relate to shoulder joint, elbow joint and carpal motion, comprise five initiatively degree of freedom and five self adaptation passive freedom degrees, wherein initiatively degree of freedom needs to provide power drive, nowadays the mechanical arm of the overwhelming majority all adopts one degree of freedom correspondence to distribute a control model driven, which not only adds the complexity of control, and making whole mechanism comparatively heavy, the raw material of needs is more, and cost is also higher.

Utility model content

For above defect or the Improvement requirement of prior art, this utility model provides a kind of exercising apparatus for recovery of upper limb based on grouping couple drive, adopt grouping couple drive, only utilize two drivings, just can realize the motion of five degree of freedom, great advantage can be had in compliance etc. in reduction cost, energy savings, weight reduction, enhancing.

For achieving the above object, according to an aspect of the present utility model, provide a kind of exercising apparatus for recovery of upper limb based on grouping couple drive, comprise shoulder Three Degree Of Freedom adaptive mechanism, first coupled motions mechanism, shoulder coupling assembling, second coupled motions mechanism and wrist two degrees of freedom adaptive mechanism, described first coupled motions mechanism is fixedly connected on shoulder Three Degree Of Freedom adaptive mechanism, described shoulder coupling assembling is rotatably connected in the first coupled motions mechanism, described second coupled motions mechanism is fixedly connected with shoulder coupling assembling, described wrist two degrees of freedom adaptive mechanism is fixedly connected with the second coupled motions mechanism, described shoulder Three Degree Of Freedom adaptive mechanism comprises substrate, described substrate is provided with Z axis guided way, Z axis guided way is arranged on substrate by Z axis bearing, described Z axis guided way slidably connects Z axis slide block, described Z axis slide block is provided with the first Connection Block, described first Connection Block is provided with Y-axis guided way, Y-axis guided way slidably connects Y-axis slide block, described Y-axis slide block is provided with the second Connection Block, described second Connection Block is provided with X-axis slide block, described X-axis slide block slidably connects X-axis guided way, described X-axis guided way is fixedly connected with the first coupled motions mechanism.

Preferably, described first coupled motions mechanism comprises the first Shoulder components and second Shoulder components relatively turnable with this first Shoulder components, wherein, described first Shoulder components is provided with the first disc assembly, described second Shoulder components is provided with the second disc assembly, and this first disc assembly is connected by rope with the second disc assembly, the rotation of the rotatable part that can rotate at first direction on described first disc assembly can drive described second Shoulder components to rotate relative to this first Shoulder components, thus active force is produced to described rope, and then rotatable part rotation in a second direction on described second disc assembly can be driven, thus realize multivariant coupled motions.

Preferably, described first disc assembly comprises the second shoulder disk, 3rd shoulder disk and the first shoulder disk as rotatable part on it, first shoulder disk, second shoulder disk and the 3rd shoulder disk coaxial package are in a shoulder vertical axes, wherein said first shoulder disk is connected with the first drive motors power, can under the effect of this first drive motors with shoulder vertical axes synchronous axial system, described second shoulder disk is fixed with one with the 3rd shoulder disk is parallel in the use procedure of device, the first end of the rope be connected with described second disc assembly and the second end are fixedly installed on this second shoulder disk and the 3rd shoulder disk respectively, described second disc assembly comprises the 4th shoulder disk, on the outer circumference surface being enclosed within the 4th shoulder disk in the middle part of described rope and and then tighten, thus described first disc assembly is connected with the second disc assembly, the rotation of described first shoulder disk drives described second Shoulder components to rotate relative to the first Shoulder components, make described second disc assembly relative to described second shoulder disk and the motion of the 3rd shoulder disk, thus make that wherein two ends are fixed on wherein one end tensioning of the rope of described second shoulder disk and the 3rd shoulder disk and the other end loosens, thus produce to make drawing described in the 4th shoulder disk be enclosed within described rope rotate around its central shaft.

Preferably, described 4th shoulder disk is fixedly connected with the 5th shoulder disk, the 5th shoulder disk is connected with the 3rd balance weight assembly, for reducing the output torque of the first drive motors.

Preferably, described shoulder Three Degree Of Freedom adaptive mechanism is connected with the first balance weight assembly and the second balance weight assembly, for the weight of balance training.

Preferably, second coupled motions mechanism comprises the 3rd Shoulder components, the wrist assembly being connected to the wrist assemblies on the 3rd Shoulder components and being connected on wrist assemblies, 3rd Shoulder components comprises shoulder Connection Block, shoulder Connection Block is provided with shoulder rotating shaft by bearing, shoulder rotating shaft is installed with shoulder driver plate and shoulder swing span, described shoulder driver plate is driven by the second drive motors and rotates, described wrist assemblies is arranged on shoulder swing span, wrist assemblies comprises the ancon Connection Block be fixedly connected on shoulder swing span, the ancon driver plate being fixedly mounted on the ancon rotating shaft on ancon Connection Block and being arranged on by bearing in ancon rotating shaft, shoulder Connection Block is installed with shoulder fixed disk, shoulder fixed disk is connected by rope a and rope b with ancon driver plate, the rotation of shoulder driver plate drives shoulder swing span and ancon Connection Block to swing, make rope a loose and rope b tensioning, rope a and rope b turns to identical rotation to drawing thus making ancon driver plate realize ancon driver plate with shoulder driver plate.

Preferably, described ancon driver plate is installed with ancon swing span, ancon swing span is arranged in ancon rotating shaft by bearing, described wrist assembly is arranged on ancon swing span, ancon Connection Block is installed with ancon fixed disk, described wrist assembly comprises the arc-shaped guide rail slide block be arranged on ancon swing span, and can the arc-shaped guide rail of opposing arcuate guide rail slide block motion and be connected arc-shaped guide rail connector thereon and arc-shaped guide rail accessory, ancon swing span is provided with guide wheel group a and guide wheel group b, guide wheel group a and guide wheel group b all arranges two or more, the axis horizontal of guide wheel group a is arranged, the axis vertical of guide wheel group b is arranged, described ancon fixed disk is connected with arc-shaped guide rail accessory with rope d by rope c, the central axis of arc-shaped guide rail accessory is vertically arranged, rope c is from the one end being connected to arc-shaped guide rail accessory after the guide wheel group a of side and guide wheel group b walks around, rope d is from the other end being connected to arc-shaped guide rail accessory after the guide wheel group a of opposite side and guide wheel group b walks around, the rotation of ancon driver plate drives ancon swing span to swing, make rope c loose and rope d tensioning, rope c and rope d is to drawing thus making arc-shaped guide rail accessory around its vertical center axis thereof.

Preferably, described ancon swing span is provided with arc-shaped guide rail slide block, described arc-shaped guide rail slide block is provided with arc-shaped guide rail, and described arc-shaped guide rail is fixedly connected with arc-shaped guide rail accessory by arc-shaped guide rail connector.

Preferably, described shoulder driver plate is fixedly connected with counterweight disk, described counterweight disk is connected with the 4th balance weight assembly, for reducing the output torque of the second drive motors.

Preferably, described wrist two degrees of freedom adaptive mechanism comprises line slideway assembly, line slideway assembly comprises the straight-line guide rail slide block be fixedly connected in the second coupled motions mechanism, described straight-line guide rail slide block slidably connects straight-line guidance rail, straight-line guidance rail is fixedly connected with the first handle contiguous block, described first handle contiguous block has the second handle contiguous block by hinge, described second handle contiguous block is fixedly connected with handle, and the axes normal of bearing pin is in the moving direction of straight-line guidance rail.

In general, the above technical scheme that this utility model is conceived compared with prior art, provide a kind of exercising apparatus for recovery of upper limb based on grouping couple drive, by two groups of coupled motions, only utilize two drivings, just achieve the motion of five initiatively degree of freedom, this is that the mechanical arm structure institute of existing drived control is one to one unapproachable, this utility model device also has five passive freedom degrees simultaneously, can according to the suffering limb size of different patient and concrete service condition, adjust adaptively, make this device in use, can cooperation between human body and mechanism, interference can not be produced, human comfort and safety coefficient are obtained for great raising, the submissive transmission of each motion, cooperation, make the described exercising apparatus for recovery of upper limb based on grouping couple drive can complete the main passive exercise action of Various Complex, there is very high practical value, in reduction cost, energy savings, weight reduction, enhancing can have great advantage in the aspect such as compliance.

Accompanying drawing explanation

Fig. 1 is structural representation of the present utility model;

Fig. 2 is that in this utility model, the first coupled motions mechanism removes the structural representation after the first protecting sheathing;

Fig. 3 is the structural representation of the first Shoulder components of the first coupled motions mechanism in this utility model;

Fig. 4 is the structural representation of the second Shoulder components of the first coupled motions mechanism in this utility model;

Fig. 5 ~ Fig. 6 is the structural representation in this utility model under the second coupled motions mechanism different visual angles;

Fig. 7 is the structural representation of the 3rd Shoulder components of the second coupled motions mechanism in this utility model;

Fig. 8 is the structural representation of the wrist assemblies of the second coupled motions mechanism in this utility model;

Fig. 9 is the structural representation of the wrist assembly of the second coupled motions mechanism in this utility model;

Figure 10 is the enlarged drawing at A place in Fig. 1.

Detailed description of the invention

In order to make the purpose of this utility model, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, this utility model is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain this utility model, and be not used in restriction this utility model.In addition, if below in described each embodiment of this utility model involved technical characteristic do not form conflict each other and just can mutually combine.

As shown in Figure 1, a kind of exercising apparatus for recovery of upper limb based on grouping couple drive, comprise shoulder Three Degree Of Freedom adaptive mechanism 600, first coupled motions mechanism 700, shoulder coupling assembling 800, second coupled motions mechanism 900 and wrist two degrees of freedom adaptive mechanism 1000, described first coupled motions mechanism 700 is fixedly connected on shoulder Three Degree Of Freedom adaptive mechanism 600, described shoulder coupling assembling 800 is rotatably connected in the first coupled motions mechanism 700, described second coupled motions mechanism 900 is fixedly connected with shoulder coupling assembling 800, described wrist two degrees of freedom adaptive mechanism 1000 is fixedly connected with the second coupled motions mechanism 900, described shoulder Three Degree Of Freedom adaptive mechanism 600 comprises substrate 609, described substrate 609 is provided with Z axis guided way 601, Z axis guided way 601 is arranged on substrate 609 by Z axis bearing, described Z axis guided way 601 slidably connects Z axis slide block 602, described Z axis slide block 602 is provided with the first Connection Block 603, described first Connection Block 603 is provided with Y-axis guided way 604, Y-axis guided way 604 slidably connects Y-axis slide block 605, described Y-axis slide block 605 is provided with the second Connection Block 606, described second Connection Block 606 is provided with X-axis slide block 607, described X-axis slide block 607 slidably connects X-axis guided way 608, described X-axis guided way 608 is fixedly connected with the first coupled motions mechanism 700.

X-direction described in literary composition refers to left and right directions, and Y direction refers to fore-and-aft direction, and Z-direction refers to above-below direction.Z axis guided way 601 be parallel to Z axis, Y-axis guided way 604 be parallel to Y-axis, X-axis guided way 608 be parallel to X-axis.

Wherein shoulder Three Degree Of Freedom adaptive mechanism 600 and wrist two degrees of freedom adaptive mechanism 1000 all belong to passive freedom degree, can according to the concrete service condition of different patient, adjust adaptively, first coupled motions mechanism 700 and the second coupled motions mechanism 900 are respectively by the first electric machine assembly in cabinet and the second electric machine assembly drived control, pass through coupled motions, first coupled motions mechanism 700 realizes the motion of two active degree of freedom, second coupled motions mechanism 900 realizes the motion of three active degree of freedom, described two groups of coupled motions can independently be carried out, independently controlled by the electric machine assembly of correspondence, do not interfere each other.

In addition, the first coupled motions mechanism 700 also comprises the first protecting sheathing 701, second coupled motions mechanism 900 and also comprises the second protecting sheathing 901.

The 26S Proteasome Structure and Function putting up with each assembly below provides respectively and illustrates.

Described shoulder Three Degree Of Freedom adaptive mechanism 600 comprises substrate 603, support housing 607, line slide rail bearing 601, line slide rail fixed connecting base 606 and three pairs of line slide rail assemblies, and three pairs of line slide rail assemblies are respectively Z axis guided way 601 and Z axis slide block 602, Y-axis guided way 604 and Y-axis slide block 605, X-axis guided way 608 and X-axis slide block 607.Wherein often pair of line slide rail assembly includes two groups.Wherein Z axis guided way 601 and Z axis slide block 602 can realize the moving up and down along Z axis of Z axis slide block 602 vertical direction, Y-axis guided way 604 and Y-axis slide block 605 can realize the seesawing along Y-axis of Y-axis slide block 605 horizontal direction, X-axis guided way 608 and X-axis slide block 607 can realize the side-to-side movement of X-axis guided way 608 along X-axis, together with connecting firmly with shoulder Three Degree Of Freedom adaptive mechanism 600 because of the first coupled motions mechanism 700 again, therefore described three pairs of line slide rail component coordination routing motions, described first coupled motions mechanism 700 is driven to complete the motion in above-mentioned three degree of freedom direction, again because the first coupled motions mechanism 700, shoulder coupling assembling 800, second coupled motions mechanism 900 and wrist two degrees of freedom adaptive mechanism 1000 constitute the mechanical arm part of described exercising apparatus for recovery of upper limb, therefore described shoulder Three Degree Of Freedom adaptive mechanism 600 can drive whole mechanical arm part to carry out the motion in described three degree of freedom direction, the position that self-adaptative adjustment mechanical arm part is residing in space and state, thus suffering limb size and the service condition of different patient can be adapted to, enhance adaptive capacity and the cooperation control ability of device.

As shown in Figure 2 to 4, the first coupled motions mechanism 700 mainly comprises the first Shoulder components and the second Shoulder components two large divisions, wherein provides driving force by additional motor.Motor dependence rope class compliant mechanism (such as, steel wire rope) by power transmission to the first Shoulder components; By coupled motions, power is passed to the second Shoulder components, drives the second Shoulder components motion, achieves the motion of an Electric Machine Control two degree of freedom.

Described first Shoulder components comprises shoulder connector 1, hollow steel pipe 2, hollow steel pipe 4, steel pipe fixture block 25, steel pipe fixture block 24, first steel wire rope guide pin bushing 3, second steel wire rope guide pin bushing 5, angular transducer 6, disk supporting seat 7 on shoulder, steel cable clamp 8, steel cable clamp 17, steel cable clamp 12, first shoulder disk 9, shoulder coupling 10, shoulder vertical axes 11, shoulder Change-over frame 13, second shoulder disk 14, 3rd shoulder disk 15, shoulder adaptor 16, shoulder support keyset 18, hollow steel pipe 20, hollow steel pipe 19, steel pipe fixture block 21, steel pipe fixture block 22.

Shoulder connector 1 is for connecting this first Shoulder components and outside shoulder Three Degree Of Freedom self-adaptative adjustment mechanism, it is fixed on the end of hollow steel pipe 2 and hollow steel pipe 4, the other end and the shoulder coupling 10 of hollow steel pipe 1, hollow steel pipe 4 are fixed, and this first Shoulder components and shoulder Three Degree Of Freedom self-adaptative adjustment mechanism are linked together thus.

Steel pipe fixture block 25 and the supporting surface of steel pipe fixture block 24 all have two semicircular grooves, steel pipe fixture block 25 is positioned opposite in pairs with steel pipe fixture block 24, each semi-circular recesses semi-circular recesses corresponding with on another steel pipe fixture block is respectively made to mate and form circular hole, thus two circular holes can be formed on the distribution arrangement of hollow steel pipe, pass for two hollow steel pipes, with the locus of fixation hollow steel pipe 1 and hollow steel pipe 4, ensure the problems such as it does not deform in the course of the work.

On shoulder, disk supporting seat 7 and shoulder Change-over frame 13 are individually fixed in above and below shoulder coupling 10, shoulder vertical axes 11 runs through the upper disk supporting seat 7 of shoulder, shoulder Change-over frame 13 and shoulder coupling 10, and be connected by bearing and the upper disk supporting seat 7 of shoulder, shoulder Change-over frame 13, relatively rotating of this shoulder vertical axes and the upper disk supporting seat 7 of shoulder and shoulder Change-over frame 13 can be realized.

First steel wire rope guide pin bushing 3 and the second steel wire rope guide pin bushing 5 are fixed on to be takeed on disk supporting seat 7, and for deriving steel wire rope, wherein steel wire rope is connected firmly by steel cable clamp 8 and the first shoulder disk 9, rotates for driving the first shoulder disk 9.Wherein the first shoulder disk 9 is coaxially fixed in shoulder vertical axes 11, can drive shoulder vertical axes 11 synchronous axial system.

Steel wire rope 31 is connected firmly mutually by steel cable clamp 17 and the second shoulder disk 14, steel wire rope 34 is connected firmly mutually by steel cable clamp 12 and the 3rd shoulder disk 15, second shoulder disk 14 is arranged on shoulder Change-over frame 13, wherein the second shoulder disk 14 can adjust certain angle around central shaft opposite shoulder Change-over frame 13, 3rd shoulder disk 15 and the second shoulder disk 14 are connected simultaneously, wherein the 3rd shoulder disk 15 can adjust certain angle around central shaft relative to the second shoulder disk 14, therefore by adjustment second shoulder disk 14 and the 3rd shoulder disk 15, just the problem that the steel wire rope that may occur fluffs can be tackled.

Shoulder adaptor 16 connects firmly mutually with shoulder support keyset 18, is fixed together simultaneously, can rotates with shoulder vertical axes 11 with shoulder vertical axes 11.Hollow steel pipe 20 connects firmly with hollow steel pipe 19 one end and shoulder adaptor 16, and the other end and steel pipe adaptor 30 connect firmly, and play the effect of connection first Shoulder components and the second Shoulder components.

With the structure of steel pipe fixture block 24 and 25 with act on similar, steel pipe fixture block 21 and steel pipe fixture block 22, for the locus of fixation hollow steel pipe 20, hollow steel pipe 19, ensure the problems such as it does not deform in the course of the work.

Described second Shoulder components comprises guide wheel 26, guide wheel 27, guide wheel 29, guide wheel 23, support sole plate 28, steel pipe adaptor 30, hollow steel pipe 35, hollow steel pipe 36, steel pipe fixture block 32, steel pipe fixture block 33, the 4th shoulder disk 37, the 5th shoulder disk 38, steel cable clamp 39, steel cable clamp 41, shoulder rear side disk supporting seat 40, shoulder rear axle 42, steel wire rope guide pin bushing holder 43, shoulder support plate 44, coupling 45, the 3rd steel wire rope guide pin bushing 46.

Support sole plate 28 connects firmly mutually with steel pipe adaptor 30, for settling guide wheel 26, guide wheel 27, guide wheel 29, guide wheel 23, wherein guide wheel 26, guide wheel 27 are respectively used to the guide effect of steel wire rope 34 that the 3rd shoulder disk 15 and the second shoulder disk 14 draw and steel wire rope 31, change steel wire rope 31 and steel wire rope 34 trend in the horizontal plane, guide wheel 29, guide wheel 23 are respectively used to steel wire rope 31 and the guide effect of steel wire rope 34, make the steel wire rope of its correspondence be moved towards to become vertical trend from level.

Hollow steel pipe 35 and hollow steel pipe 36 are vertically placed, and steel pipe adaptor 30 is fixed in one end, and the other end fixes coupling 45, plays the effect of connection second Shoulder components the first half and the latter half.Wherein steel pipe fixture block 32 and steel pipe fixture block 33 and steel pipe fixture block 24 and 25 structure and act on similar, for the locus of fixation hollow steel pipe 35, hollow steel pipe 36, ensure the problems such as it does not deform in the course of the work.

Coupling 45 connects firmly mutually with shoulder support plate 44, and wherein shoulder support plate 44 is fixed on shoulder rear side disk supporting seat 40, and shoulder rear axle 42 is connected by bearing, is arranged on shoulder support plate 44 and shoulder rear side disk supporting seat 40, can relative to both rotate.

4th shoulder disk 37 connects firmly mutually with the 5th shoulder disk 38, and the 4th shoulder disk 37 connects firmly mutually with shoulder rear axle 42 simultaneously, and three can realize synchronous axial system.3rd steel wire rope guide pin bushing 46 is fixed on the steel wire rope of the 5th shoulder disk 38 by steel cable clamp 39 for deriving, this steel wire rope is for connecting the weight member in cabinet, 3rd steel wire rope guide pin bushing 46 is fixed on steel wire rope guide pin bushing holder 43, wherein the 3rd steel wire rope guide pin bushing 46 connects firmly mutually with shoulder rear side disk supporting seat 40, steel wire rope 31 is connected firmly by steel cable clamp 41 and the 4th shoulder disk 37 mutually with steel wire rope 34, power is transmitted by drive lacking, drive the 4th shoulder disk 37 to rotate, realize the transmission of motion.

For the first described Shoulder components and the second Shoulder components, when it is all in initial motion position, hollow steel pipe 2, hollow steel pipe 4 and hollow steel pipe 20, hollow steel pipe 19 are parallel each other, and steel wire rope 31, steel wire rope 34 in the raw, tensioning do not occur or loosens.

Described two sections of steel wire ropes are fixed on the first shoulder disk 9, driven by motor, steel wire rope realizes drawing, the first shoulder disk 9 is driven to rotate, stop screw installed by first shoulder disk 9, can realize mechanical position limitation, range of movement is preferably 0-135 °, namely preferably can be rotated counterclockwise 135 ° by initial position.

Described second shoulder disk 14 connects firmly mutually with the 3rd shoulder disk 15, is fixed on shoulder Change-over frame 13, for realizing coupled motions simultaneously.

Described steel wire rope 31 is fixed on the second shoulder disk 14, steel wire rope 34 is fixed on the 3rd shoulder disk 15, by the guide effect of guide wheel 26, guide wheel 27, steel wire rope 31 and steel wire rope 34 location swap in level orientation, interlock and go, by the guide effect of guide wheel 23 with guide wheel 29, steel wire rope 31 and steel wire rope 34 move towards to become vertical trend from level, finally connect firmly mutually, for realizing coupled motions with the 4th shoulder disk 37.

Described motor drives the first shoulder disk 9 to rotate counterclockwise, the shoulder vertical axes 11 connected firmly mutually with the first shoulder disk 9 is driven to rotate, to drive and shoulder support keyset 18, shoulder adaptor 16 that shoulder vertical axes 11 connects firmly mutually rotate simultaneously, drive hollow steel pipe 20, hollow steel pipe 19 rotate simultaneously, drive whole second Shoulder components to rotate counterclockwise relative to the first Shoulder components simultaneously.Because the second shoulder disk 14 and the 3rd shoulder disk 15 are fixed on shoulder Change-over frame 13, therefore two disks do not rotate, whole second Shoulder components is rotated counterclockwise relative to the second shoulder disk 14 and the 3rd shoulder disk 15, make steel wire rope 31 tensioning of being fixed on the second shoulder disk 14, the steel wire rope 34 be simultaneously fixed on the 3rd shoulder disk 15 loosens, due to steel wire rope 31, steel wire rope 34 connects firmly mutually with the 4th shoulder disk 37, the steel wire rope 31 of tensioning produces drawing effect with the steel wire rope 34 loosened, 4th shoulder disk 37 is rotated clockwise, thus achieve coupled motions, namely by a motor, drive the rotation of two shoulder disks simultaneously.

The steel wire rope that described 5th shoulder disk 38 connects firmly, is derived by the 3rd steel wire rope guide pin bushing 46, and connects with the counterweight in cabinet, is used for the deadweight of balancing mechanical arm.

First coupled motions mechanism 700 is connected firmly mutually by shoulder connector 1 and shoulder Three Degree Of Freedom adaptive mechanism 600, wherein, the steel wire rope of deriving in cabinet is connected with the first shoulder disk 9 in the first coupled motions mechanism 700 by the first steel wire rope guide pin bushing 3, the first electric machine assembly in cabinet drives the first driver plate to rotate by steel wire rope, described first coupled motions mechanism 700 is given by power transmission, pass through coupled motions, described first coupled motions mechanism 700 exports the motion of two degree of freedom, namely a motion driving realization to control two degree of freedom is utilized, described two degree of freedom are initiatively degree of freedom, correspondence achieves the inward turning outward turning campaign of human body shoulder joint and the outreach adduction campaign of shoulder joint, motor coordination freely, meet the requirement of human motion physiological feature.

Described shoulder coupling assembling 800 comprises shoulder contiguous block 801, shoulder joint steel pipe 802, steel pipe fixture block 803 and fastener for connection block, wherein the two ends of shoulder joint steel pipe 802 connect firmly with shoulder contiguous block 801 and fastener for connection block respectively, steel pipe fixture block 803, for the locus of fixing shoulder joint steel pipe 802, ensures the problems such as it does not deform in the course of the work.The axle of drawing in shoulder contiguous block 801 and the first coupled motions mechanism 700 connects firmly mutually, again because described axle is flexibly connected with the first coupled motions mechanism 700 by bearing, therefore described shoulder contiguous block 801 rotates relative to the first coupled motions mechanism 700 with described axle, wherein the center of rotation of the two center of rotation and the first coupled motions mechanism 700 export second initiatively degree of freedom overlaps, thus second the active degree of freedom driving shoulder contiguous block 801 to export with the first coupled motions mechanism rotates, and then drive whole shoulder coupling assembling 800 to rotate, again because the second coupled motions mechanism 900 connects firmly mutually with shoulder coupling assembling 800, therefore the second coupled motions mechanism 900 also rotates thereupon, the outreach adduction campaign of corresponding above described human body shoulder joint.

As shown in Fig. 5 ~ Fig. 9, it is the original state of the second coupled motions mechanism 900, it comprises the 3rd Shoulder components 100, the wrist assembly 300 being connected to the wrist assemblies 200 on the 3rd Shoulder components 100 and being connected on wrist assemblies 200, 3rd Shoulder components 100 comprises shoulder Connection Block 101, shoulder Connection Block 101 is provided with shoulder rotating shaft 102 by bearing, shoulder rotating shaft 102 is installed with shoulder driver plate 103 and shoulder swing span 104, described shoulder driver plate 103 is driven by the second drive motors and rotates, described wrist assemblies 200 is arranged on shoulder swing span 104, wrist assemblies 200 comprises the ancon Connection Block 214 be fixedly connected on shoulder swing span 104, be fixedly mounted on the ancon rotating shaft 202 on ancon Connection Block 214, by the ancon swing span 203 that bearing is arranged on the ancon driver plate 201 in ancon rotating shaft 202 and is fixedly mounted on ancon driver plate 201, shoulder Connection Block 101 is installed with shoulder fixed disk 105, shoulder fixed disk 105 is connected by rope a400 and rope b401 with ancon driver plate 201, the rotation of shoulder driver plate 103 drives shoulder swing span 104 and ancon Connection Block 214 to swing, make rope a400 loose and rope b401 tensioning, rope a400 and rope b401 turns to identical rotation to drawing thus making rope b401 pull ancon driver plate 201 to realize ancon driver plate 201 with shoulder driver plate 103.

Described ancon driver plate 201 fixedly mounts ancon swing span 203, ancon swing span 203 is arranged in ancon rotating shaft 202 by bearing, described wrist assembly 300 is arranged on ancon swing span 203, ancon Connection Block 214 is installed with ancon fixed disk 204, described wrist assembly 300 comprises the arc-shaped guide rail slide block 302 be arranged on ancon swing span 203, and can the arc-shaped guide rail 303 that moves of opposing arcuate guide rail slide block 302 and the arc-shaped guide rail connector 304 be connected thereon and arc-shaped guide rail accessory 301, ancon swing span is provided with guide wheel group a500, guide wheel group b501, guide wheel group a500 and guide wheel group b501 all arranges two or more, the axis horizontal of guide wheel group a500 is arranged, the axis vertical of guide wheel group b501 is arranged, described ancon fixed disk 204 is connected with arc-shaped guide rail accessory 301 with rope d404 by rope c403, the central axis of arc-shaped guide rail accessory 301 is vertically arranged, rope c403 is from the one end being connected to arc-shaped guide rail accessory 301 after the guide wheel group a500 of side and guide wheel group b501 walks around, rope d404 is from the other end being connected to arc-shaped guide rail accessory 301 after the guide wheel group a500 of opposite side and guide wheel group b501 walks around, the rotation of ancon driver plate 201 drives ancon swing span 203 to swing, make rope c403 loose and rope d404 tensioning, rope c403 and rope d404 is to drawing thus making rope d404 pull arc-shaped guide rail accessory 301 around its vertical center axis thereof.

Preferably, described ancon swing span 203 is provided with arc-shaped guide rail slide block 302, described arc-shaped guide rail slide block 302 is provided with arc-shaped guide rail 303, described arc-shaped guide rail 303 is fixedly connected with arc-shaped guide rail accessory 301 by arc-shaped guide rail connector 304.

Described 3rd Shoulder components 100 mainly comprises shoulder driver plate 103, counterweight disk 113, rope guide pin bushing a600, rope guide pin bushing b601, rope guide pin bushing c602, shoulder Connection Block 101, shoulder rotating shaft 102, angular transducer support 118, angular transducer 107, adjustment screw, shoulder swing span 104, guide wheel group c503, guide wheel group d504; Wherein shoulder Connection Block 101 comprises shoulder contiguous block a116, shoulder contiguous block b117, shoulder connecting plate 121, regulates cover plate 120, shoulder fixed disk 105 comprises shoulder disk a105, shoulder disk b105, and shoulder swing span 104 comprises shoulder elbow connecting plate 108, shoulder accessory plate 115, shoulder link 114, shoulder connecting plate 121.

Wrist assemblies 200 mainly comprises ancon Connection Block 214, ancon swing span 203, ancon disk c211, ancon disk d212, guide wheel group a500, guide wheel group b501, wherein ancon swing span 203 comprises ancon connecting plate 206, elbow brace 213, elbow wrist Connection Block 205, ancon driver plate 201 comprises ancon disk a208, ancon disk b207, and ancon Connection Block 214 comprises elbow rest plate a209 and elbow rest plate b210.

Wrist assembly 300 comprises arc-shaped guide rail accessory 301, arc-shaped guide rail slide block 302, arc-shaped guide rail 303, arc-shaped guide rail connector 304.

Shoulder driver plate 103 by outside two ropes to drawing effect, drive by motor, rotated counterclockwise by original state, rotating counterclockwise or swinging in this utility model first coupled motions mechanism 700 all refers to training devices parts turn direction on it under the visual angle shown in Fig. 5.Shoulder rotating shaft 102 and shoulder driver plate 103 connect firmly, therefore shoulder rotating shaft 102 rotates counterclockwise with shoulder driver plate 103, wherein shoulder accessory plate 115, shoulder connecting plate 121 all connect firmly with shoulder rotating shaft 102, therefore shoulder swing span 104 and ancon Connection Block 214 are thereupon around shoulder rotating shaft 102 axis counter-clockwise swing, thus drive whole wrist assemblies 200 and wrist assembly 300 to do counter-clockwise swing around shoulder rotating shaft 102 axis.

While shoulder driver plate 103 rotates, the shoulder contiguous block a116 of shoulder Connection Block 101, shoulder contiguous block b117 is fixed, shoulder disk a110 fixed thereon and shoulder disk b111 is made also to be fixed, namely shoulder disk a110 and shoulder disk b111 does not carry out rotation, wherein rope a400 is fixed on shoulder disk a110 and ancon disk a208 by rope fixture block 700, rope b401 is fixed on shoulder disk b111 and ancon disk b207 by rope fixture block 700, because ancon disk a208 and ancon disk b207 is all along with shoulder swing span 104 and ancon Connection Block 214 do counter-clockwise swing around shoulder rotating shaft 102, shoulder disk a110 simultaneously, shoulder disk b111 is relatively fixed, therefore rope a400 loosens, rope b401 tensioning, by rope a400 and rope b401 to drawing effect, rope b401 is made to pull ancon disk a208 and ancon disk b207 to do counterclockwise rotation relative to own axes, so just achieve first coupled motions.Ancon disk a208 and ancon disk b207 is synchronous axial system.

Ancon connecting plate 206 and ancon disk a208 connect firmly, therefore ancon connecting plate 206 rotating counterclockwise thereupon around ancon rotating shaft 202, thus drive elbow brace 213 and whole wrist assembly 300 around rotating counterclockwise.Ancon driver plate 201 can drive ancon swing span 203 to swing when rotating, and namely ancon swing span 203 and ancon Connection Block 214 have and relatively rotate.

When ancon swing span 203 rotates relative to ancon Connection Block 214, one end of rope c403 is fixed on ancon disk c211 by rope fixture block 700, the other end is fixed on the extreme position of one end of arc-shaped guide rail accessory 301 by rope fixture block 700, rope d404 one end is fixed on ancon disk d212 by rope fixture block 700, the other end is fixed on the extreme position of the other end of arc-shaped guide rail accessory 301 by rope fixture block 700, because arc-shaped guide rail accessory 301 entirety rotates counterclockwise around vertical axis, ancon disk c211 simultaneously, rotation is there is not in ancon disk d212 when ancon swing span 203 swings, therefore rope c403 loosens, rope d404 tensioning, what produce makes rope d404 pull arc-shaped guide rail accessory 301 to effect of drawing, arc-shaped guide rail accessory 301 is rotated counterclockwise relative to vertical axis, realize second coupled motions, this motion can realize carpal joint circumduction, drive palm portion is rotated.

Described wrist assembly 300 comprises the first position-limit mechanism, and the range of movement of described first position-limit mechanism restriction arc guide fitting 301 is at 0 ~ 40 °.Select as one, the first position-limit mechanism is be arranged on the boss on the rope fixture block 700 on arc-shaped guide rail accessory 301, and this boss contacts with guide wheel group b501, and namely arc-shaped guide rail accessory 301 is hindered, thus realizes mechanical position limitation; Alternatively, first position-limit mechanism also can for being arranged on the end stop screw of arc-shaped guide rail accessory 301, utilize the ledge of stop screw and the contact of elbow wrist Connection Block 205, hinder the motion of arc-shaped guide rail accessory 301, thus mechanical position limitation is realized to arc-shaped guide rail accessory 301.In addition, the conventional spacing structure that coordinates between some boss with boss is also applicable to the first position-limit mechanism.

Described 3rd Shoulder components 100 comprises the second position-limit mechanism, and the slewing area of the second position-limit mechanism restriction shoulder driver plate 103 is at 0 ~ 135 °.Select as one, the structure of the second position-limit mechanism is the stop screw in the somewhere being arranged on shoulder driver plate 103, utilize the contact of the ledge of stop screw and shoulder contiguous block a116 to make the retard motion of shoulder driver plate 103, thus realize mechanical position limitation; Alternatively, also a boss can be processed for the somewhere on shoulder driver plate 103, simultaneously process at the correspondence position of shoulder contiguous block a116 the arc groove that and boss want to agree with, boss stretches in arc groove, the stroke of boss is subject to the restriction of arc groove, thus realizes mechanical position limitation.In addition, the conventional spacing structure that coordinates between some boss with boss is also applicable to the second position-limit mechanism.

Shoulder driver plate 103 devises mechanical position limitation, its range of movement is made to control at 0 ~ 135 °, pass through couple drive, Motion Transmission is on ancon disk a208, ancon disk b207, its range of movement also controls at 0 ~ 135 °, by second couple drive, Motion Transmission is to arc-shaped guide rail 303, and the range of movement of arc-shaped guide rail 303 controls at 0 ~ 40 °.

This utility model device has the feature of the suffering limb size that can adapt to different patient, mainly the adjustable in length of shoulder swing span 104.Shoulder swing span 104 comprises shoulder connecting plate 121, regulates cover plate 120, takes on elbow connecting plate 108 and shoulder link 114, shoulder connecting plate 121 is fixedly connected in shoulder rotating shaft 102, cover plate 120 is regulated to be fixedly connected on shoulder connecting plate 121, described shoulder elbow connecting plate 108 is vertically provided with strip hole, there is the first bolt device 109 through shoulder elbow connecting plate 108 and shoulder connecting plate 121 in strip hole, thus shoulder elbow connecting plate 108 and shoulder connecting plate 121 are fixed together.First bolt device 109 adopts adjustment screw, by regulating the adjustment screw on the 3rd Shoulder components 100, i.e. and the length of scalable the 3rd Shoulder components 100.

Described shoulder rotating shaft 102 is installed with counterweight disk 113, and this counterweight disk 113 is connected with balancing weight by rope e402, for the output torque reducing motor.Counterweight disk 113 and shoulder driver plate 103 connect firmly, simultaneously counterweight disk 113 is connected with the counterweight in cabinet by rope, is used for the deadweight of balancing mechanical arm, the output torque of minimizing motor, its meaning is, when external loading is larger, can give full play to the power of motor.

In general, this device successfully achieves couple drive, by second motor, controls the motion of three degree of freedom, and motion is coherent freely, ingenious flexibly.The above technical scheme that this programme is conceived compared with prior art, the coupled motions of shoulder elbow joint can be realized, in reduction cost, save energy, strengthen system flexibility, the aspects such as weight reduction all have great superiority, its safety coefficient is high simultaneously, compact conformation, be convenient to dress, main passive coordination exercise can be realized, there is ergonomic features, work space is consistent with the limbs nature activity space of people, the suffering limb size of different patient can be adapted to, and breach traditional connecting mode, achieve couple drive, Shi Ge mechanism has more relatedness, alleviate the burden of control system, passive exercise for coordination can be led to shoulder under all kinds of complicated training mode.

This utility model provides driving force by the motor settled in the chassis, motor relies on rope class compliant mechanism by power transmission to the 3rd Shoulder components 100, by first coupled motions, power is passed to wrist assemblies 200, next by second coupled motions, power is passed to 300, second coupled motions of wrist assembly and only relates to carpal circumduction, is grouped into here in the motion of shoulder elbow and goes to describe.Set is got off, and just achieves the motion that a motor drives three degree of freedom.The motion of this three degree of freedom is respectively: the rotation of shoulder driver plate 103, realizes the lifting of whole shoulder; The swing of ancon swing span 203, realizes the swing of little arm; Arc-shaped guide rail accessory 301 is around the rotation of vertical axis, and the ring realizing wrist turns.

Rope is derived from cabinet, and through rope guide pin bushing a600 and rope guide pin bushing b601, rope is directed to shoulder driver plate 103 place, is fixed on shoulder driver plate 103 by rope fixture block 700.Motor in cabinet by drive rope, rope to drawing effect, shoulder driver plate 103 is rotated counterclockwise relative to its central axis by initial position.

While shoulder driver plate 103 rotates, the locus of shoulder contiguous block a116 and shoulder contiguous block b117 does not change, namely the two can regard fixed frame as, shoulder disk b111 is fixed on shoulder contiguous block a116, again because of the use procedure this training devices, shoulder disk a110 and shoulder disk b111 connects firmly, and therefore shoulder disk a110 and shoulder disk b111 maintains static.Counterweight disk 113 and shoulder driver plate 103 connect firmly, therefore rotate counterclockwise around central axis with it, the rope be wherein fixed on counterweight disk 113 connects with the counterweight in cabinet through rope guide pin bushing c602, be used for the deadweight of balancing mechanical arm, reduce the output torque of motor, when external loading is larger, the power of motor can be given full play to.

Shoulder rotating shaft 102 and shoulder driver plate 103 connect firmly, be fixed on shoulder contiguous block a116 and shoulder contiguous block b117 by bearing simultaneously, can relative to both rotate, therefore shoulder rotating shaft 102 can rotate counterclockwise around central axis with shoulder driver plate 103, wherein shoulder accessory plate 115 and shoulder rotating shaft 102 connect firmly, and therefore rotate counterclockwise around the central axis of shoulder driver plate 103 thereupon.

Angular transducer 107 is fixed on shoulder contiguous block b117 by angular transducer support 118, and is connected with shoulder rotating shaft 102 by shaft coupling 119, plays the effect of the angle that Real-Time Monitoring shoulder driver plate 103 turns over.

Shoulder connecting plate 121, adjustment cover plate 120, adjustment screw, shoulder elbow connecting plate 108 constitute an adjustable length mechanism.By unclamping adjustment screw, shoulder elbow connecting plate 108 being moved up and down to suitable extension position, then tightens adjustment screw, the adjustment of mechanism length can be completed, make this device have the feature of the suffering limb size that can adapt to different patient.Wherein shoulder connecting plate 121 and shoulder accessory plate 115, shoulder rotating shaft 102 all connect firmly, therefore rotate counterclockwise around the central axis of shoulder driver plate 103 thereupon, i.e. now shoulder swing span 104 and ancon Connection Block 214 counter-clockwise swing, makes to drive whole wrist assemblies 200 to rotate counterclockwise around the central axis of shoulder driver plate 103.

Shoulder link 114 is fixed on shoulder elbow connecting plate 108, described shoulder swing span 104 is provided with guide wheel group c503 and guide wheel group d504, the axis of guide wheel group c503 and guide wheel group d504 is all horizontally disposed with, and rope a400 and rope b401 is fixedly connected on ancon driver plate 201 respectively after guide wheel group c503 and guide wheel group d504 walks around.Guide wheel group c503 and guide wheel group d504 is separately fixed at the both sides of shoulder link 114, plays the effect of conversion rope a400 and rope b401 space trend.

Separately from wrist assemblies 200, ancon disk a208 is arranged in ancon rotating shaft 202 by bearing, therefore ancon disk a208 can around its central axis generation rotation, again because in the use procedure of training devices, ancon disk b207 and ancon disk a208 connects firmly, therefore ancon disk a208 and ancon disk b207 can synchronously together with relatively rotate around its central axis.

Arc-shaped guide rail slide block 302 is fixed on elbow wrist Connection Block 205, wherein arc-shaped guide rail 303 and arc-shaped guide rail slide block 302 with the use of, in the use procedure of device, arc-shaped guide rail 303 can opposing slider, slide around orbit centre axle, slip due to arc-shaped guide rail 303 is for realizing carpal circumduction, again because the radius of track has special industry standard, cannot be consistent with the radius of actual human body wrist circumduction, therefore this utility model devises an arc-shaped guide rail accessory 301, its shape is similar to arc-shaped guide rail 303, the radius of this arc-shaped guide rail accessory 301 is in strict conformity with the radius through testing and add up the actual human body wrist circumduction obtained, to realize the circumduction of human body wrist.Again because arc-shaped guide rail connector 304 is fixed on arc-shaped guide rail 303, arc-shaped guide rail accessory 301 and arc-shaped guide rail connector 304 connect firmly simultaneously, therefore the two can with the center axis thereof of arc-shaped guide rail 303 around track, again because rope is connected on arc-shaped guide rail accessory 301, therefore the final ring realized turns the radius that radius is arc-shaped guide rail accessory 301, the so just ingenious transmission achieving mechanism's radius of gyration.

Described shoulder fixed disk 105 comprises shoulder disk a110 and shoulder disk b111, described shoulder disk a110 is provided with the first arcuate socket 106, there is the second bolt device 112 through shoulder disk a110 and shoulder disk b111 in the first arcuate socket 106, thus shoulder disk a110 and shoulder disk b111 is fixed together.Second bolt device 112 is screw, fixed by screw-driving between shoulder disk a110 and shoulder disk b111, the first arcuate socket 106 is devised in screw junction, relative position between shoulder disk a110 and shoulder disk b111 can be regulated, same design is also for ancon disk a208 and ancon disk b207, make also relative motion to occur between ancon disk a208 and ancon disk b207, after device employs a period of time, rope a400, rope b401 may fluff, now by regulating shoulder disk a110, shoulder disk b111, and ancon disk a208, ancon disk b207 relative position between any two, rope can be made again to recover the state of tensioning, ensure that first coupled motions can be carried out smoothly.Ancon disk d212 and elbow rest plate b210 is fixed by screw-driving, the second arcuate socket is devised in screw junction, therefore by regulating ancon disk d212, ancon connecting plate 206 and ancon disk d212, ancon disk c211 relative position between any two, rope c403, the rope d404 fluffed can be made again to recover tensioning state, ensure that second coupled motions is smooth.

As above carried, this training devices in use, need ensure that screw is in tight condition, and now shoulder disk a110 and shoulder disk b111 connects firmly and do not carry out rotation, and shoulder driver plate a110 and shoulder disk b111 connects firmly to realize synchronous axial system; Ancon disk a208 and ancon disk b207 connects firmly to realize synchronous axial system; Ancon disk d212 and elbow rest plate b210 connects firmly, and ancon disk c211 and ancon disk d212 connects firmly, and ancon disk c211 and ancon disk d212 can not rotation.

Described second coupled motions mechanism 900 is connected firmly by fastener for connection block and shoulder coupling assembling 800, wherein, the steel wire rope of deriving in cabinet is connected with the shoulder driver plate 103 in the second coupled motions mechanism 900 by the second steel wire rope guide pin bushing 5, the second electric machine assembly in cabinet drives shoulder driver plate 103 to rotate by steel wire rope, described second coupled motions mechanism 900 is given by power transmission, pass through coupled motions, described second coupled motions mechanism 900 exports the motion of three degree of freedom, namely a motion driving realization to control three degree of freedom is utilized, described three degree of freedom is initiatively degree of freedom, correspondence achieves the front and back flexion and extension of human body shoulder joint, the front and back flexion and extension of elbow joint and carpal circumduction, motor coordination freely, with the motion natural sparse model of front and back mechanism, there are good compliance and harmony.

With reference to Figure 10, described wrist two degrees of freedom adaptive mechanism 1000 comprises limited block 1001, line slideway assembly 1002, wrist connecting plate 1005, first handle contiguous block 1006, second handle contiguous block 1007 and handle 1008, wherein line slideway assembly 1002 is made up of straight-line guide rail slide block 1004 and straight-line guidance rail 1003, straight-line guide rail slide block 1004 connects firmly mutually with the arc-shaped guide rail connector 304 of the second coupled motions mechanism 900, thus whole wrist two degrees of freedom adaptive mechanism 1000 is fixed in the second coupled motions mechanism 900, can direction along ng a path generation relative sliding between straight-line guidance rail 1003 and straight-line guide rail slide block 1004, therefore can realize being parallel to wrist ring and turn moving up and down of joints axes direction, first handle contiguous block 1006 is provided with bearing pin 1009 by bearing, this bearing pin 1009 can rotate relative to the first handle contiguous block 1006, together with connecting firmly with the second handle contiguous block 1007 because of described bearing pin 1009 again, therefore the second handle contiguous block 1007 can rotate relative to the first handle contiguous block 1006, described two motor coordinations coordinate, constitute two passive freedom degrees of wrist, two described passive freedom degrees can make self-adaptative adjustment according to the service condition of different patient, to adapt to the suffering limb size of different patient, when the exercising apparatus for recovery of upper limb simultaneously provided when this utility model participates in rehabilitation training, the hand of patient holds handle 1008, described wrist two degrees of freedom adaptive mechanism 1000 just can with the locus residing in motor process of patient hand, adjust adaptively, make can not produce interference between suffering limb and mechanism, not only reach the requirement meeting ergonomic features, drastically increase adaptive capacity and the safety coefficient of device simultaneously.

This training devices is also provided with balance weight assembly, and balance weight assembly comprises the first balance weight assembly, the second balance weight assembly, the 3rd balance weight assembly and the 4th balance weight assembly.Wherein the first balance weight assembly and the second balance weight assembly act on shoulder Three Degree Of Freedom adaptive mechanism the 600, three balance weight assembly and the 4th balance weight assembly acts on the first coupled motions mechanism 700 and the second coupled motions mechanism 900 respectively.First balance weight assembly and the second balance weight assembly are mainly used in the weight of balance training, improve the safety coefficient of training devices, 3rd balance weight assembly and the 4th balance weight assembly are separately fixed on the 5th shoulder disk 38 of the first coupled motions mechanism 700 and the counterweight disk 113 of the second coupled motions mechanism 900, be mainly used in the output torque of minimizing first drive motors and the second drive motors, when external loading is larger, the power of motor can be given full play to.

Those skilled in the art will readily understand; the foregoing is only preferred embodiment of the present utility model; not in order to limit this utility model; all do within spirit of the present utility model and principle any amendment, equivalent to replace and improvement etc., all should be included within protection domain of the present utility model.

Claims (10)

1. the exercising apparatus for recovery of upper limb based on grouping couple drive, it is characterized in that: comprise shoulder Three Degree Of Freedom adaptive mechanism (600), first coupled motions mechanism (700), shoulder coupling assembling (800), second coupled motions mechanism (900) and wrist two degrees of freedom adaptive mechanism (1000), described first coupled motions mechanism (700) is fixedly connected on shoulder Three Degree Of Freedom adaptive mechanism (600), described shoulder coupling assembling (800) is rotatably connected in the first coupled motions mechanism (700), described second coupled motions mechanism (900) is fixedly connected with shoulder coupling assembling (800), described wrist two degrees of freedom adaptive mechanism (1000) is fixedly connected with the second coupled motions mechanism (900), described shoulder Three Degree Of Freedom adaptive mechanism (600) comprises substrate (609), described substrate (609) is provided with Z axis guided way (601), Z axis guided way (601) is arranged on substrate (609) by Z axis bearing, described Z axis guided way (601) slidably connects Z axis slide block (602), described Z axis slide block (602) is provided with the first Connection Block (603), described first Connection Block (603) is provided with Y-axis guided way (604), Y-axis guided way (604) slidably connects Y-axis slide block (605), described Y-axis slide block (605) is provided with the second Connection Block (606), described second Connection Block (606) is provided with X-axis slide block (607), described X-axis slide block (607) slidably connects X-axis guided way (608), described X-axis guided way (608) is fixedly connected with the first coupled motions mechanism (700).

2. a kind of exercising apparatus for recovery of upper limb based on grouping couple drive according to claim 1, it is characterized in that: described first coupled motions mechanism comprises the first Shoulder components and second Shoulder components relatively turnable with this first Shoulder components, wherein, described first Shoulder components is provided with the first disc assembly, described second Shoulder components is provided with the second disc assembly, and this first disc assembly is connected by rope with the second disc assembly, the rotation of the rotatable part that can rotate at first direction on described first disc assembly can drive described second Shoulder components to rotate relative to this first Shoulder components, thus active force is produced to described rope, and then rotatable part rotation in a second direction on described second disc assembly can be driven, thus realize multivariant coupled motions.

3. a kind of exercising apparatus for recovery of upper limb based on grouping couple drive according to claim 2, it is characterized in that: described first disc assembly comprises the second shoulder disk (14), 3rd shoulder disk (15) and the first shoulder disk (9) as rotatable part on it, first shoulder disk (9), second shoulder disk (14) and the 3rd shoulder disk (15) coaxial package are in a shoulder vertical axes (11), wherein said first shoulder disk (9) is connected with the first drive motors power, can under the effect of this first drive motors with shoulder vertical axes (11) synchronous axial system, described second shoulder disk (14) is fixed with one with the 3rd shoulder disk (15) is parallel in the use procedure of device, the first end of the rope be connected with described second disc assembly and the second end are fixedly installed on this second shoulder disk (14) and the 3rd shoulder disk (15) respectively, described second disc assembly comprises the 4th shoulder disk (37), on the outer circumference surface being enclosed within the 4th shoulder disk (37) in the middle part of described rope and and then tighten, thus described first disc assembly is connected with the second disc assembly, the rotation of described first shoulder disk (9) drives described second Shoulder components to rotate relative to the first Shoulder components, make described second disc assembly relative to described second shoulder disk (14) and the motion of the 3rd shoulder disk (15), thus make that wherein two ends are fixed on wherein one end tensioning of the rope of described second shoulder disk (14) and the 3rd shoulder disk (15) and the other end loosens, thus produce to make drawing described in the 4th shoulder disk (37) be enclosed within described rope rotate around its central shaft.

4. a kind of exercising apparatus for recovery of upper limb based on grouping couple drive according to claim 3, it is characterized in that: described 4th shoulder disk (37) is fixedly connected with the 5th shoulder disk (38), 5th shoulder disk (38) is connected with the 3rd balance weight assembly, for reducing the output torque of the first drive motors.

5. a kind of exercising apparatus for recovery of upper limb based on grouping couple drive according to claim 1, it is characterized in that: described shoulder Three Degree Of Freedom adaptive mechanism (600) is connected with the first balance weight assembly and the second balance weight assembly, for the weight of balance training.

6. a kind of exercising apparatus for recovery of upper limb based on grouping couple drive according to claim 1, it is characterized in that: the second coupled motions mechanism (900) comprises the 3rd Shoulder components (100), the wrist assembly (300) being connected to the wrist assemblies (200) on the 3rd Shoulder components (100) and being connected on wrist assemblies (200), 3rd Shoulder components (100) comprises shoulder Connection Block (101), shoulder Connection Block (101) is provided with shoulder rotating shaft (102) by bearing, shoulder rotating shaft (102) is installed with shoulder driver plate (103) and shoulder swing span (104), described shoulder driver plate (103) is driven by the second drive motors and rotates, described wrist assemblies (200) is arranged on shoulder swing span (104), wrist assemblies (200) comprises the ancon Connection Block (214) be fixedly connected on shoulder swing span (104), the ancon driver plate (201) being fixedly mounted on the ancon rotating shaft (202) on ancon Connection Block (214) and being arranged on by bearing in ancon rotating shaft (202), shoulder Connection Block (101) is installed with shoulder fixed disk (105), shoulder fixed disk (105) is connected by rope a (400) and rope b (401) with ancon driver plate (201), the rotation of shoulder driver plate (103) drives shoulder swing span (104) and ancon Connection Block (214) to swing, make rope a (400) loose and rope b (401) tensioning, rope a (400) and rope b (401) turns to identical rotation to drawing thus making ancon driver plate (201) realize ancon driver plate (201) with shoulder driver plate (103).

7. a kind of exercising apparatus for recovery of upper limb based on grouping couple drive according to claim 6, it is characterized in that: described ancon driver plate (201) is installed with ancon swing span (203), ancon swing span (203) is arranged in ancon rotating shaft (202) by bearing, described wrist assembly (300) is arranged on ancon swing span (203), ancon Connection Block (214) is installed with ancon fixed disk (204), described wrist assembly (300) comprises the arc-shaped guide rail slide block (302) be arranged on ancon swing span (203), and can the arc-shaped guide rail (303) that moves of opposing arcuate guide rail slide block (302) and the arc-shaped guide rail connector (304) be connected thereon and arc-shaped guide rail accessory (301), ancon swing span (203) is provided with guide wheel group a (500) and guide wheel group b (501), guide wheel group a (500) and guide wheel group b (501) all arranges two or more, the axis horizontal of guide wheel group a (500) is arranged, the axis vertical of guide wheel group b (501) is arranged, described ancon fixed disk (204) is connected with arc-shaped guide rail accessory (301) with rope d (404) by rope c (403), the central axis of arc-shaped guide rail accessory (301) is vertically arranged, rope c (403) is from the one end being connected to arc-shaped guide rail accessory (301) after the guide wheel group a (500) of side and guide wheel group b (501) walks around, rope d (404) is from the other end being connected to arc-shaped guide rail accessory (301) after the guide wheel group a (500) of opposite side and guide wheel group b (501) walks around, the rotation of ancon driver plate (201) drives ancon swing span (203) to swing, make rope c (403) loose and rope d (404) tensioning, rope c (403) and rope d (404) is to drawing thus making arc-shaped guide rail accessory (301) around its vertical center axis thereof.

8. a kind of exercising apparatus for recovery of upper limb based on grouping couple drive according to claim 7, it is characterized in that: described ancon swing span (203) is provided with arc-shaped guide rail slide block (302), described arc-shaped guide rail slide block (302) is provided with arc-shaped guide rail (303), and described arc-shaped guide rail (303) is fixedly connected with arc-shaped guide rail accessory (301) by arc-shaped guide rail connector (304).

9. a kind of exercising apparatus for recovery of upper limb based on grouping couple drive according to claim 6, it is characterized in that: described shoulder driver plate (103) is fixedly connected with counterweight disk (113), described counterweight disk (113) is connected with the 4th balance weight assembly, for reducing the output torque of the second drive motors.

10. a kind of exercising apparatus for recovery of upper limb based on grouping couple drive according to claim 1, it is characterized in that: described wrist two degrees of freedom adaptive mechanism (1000) comprises line slideway assembly (1002), line slideway assembly (1002) comprises the straight-line guide rail slide block (1004) be fixedly connected in the second coupled motions mechanism (900), described straight-line guide rail slide block (1004) slidably connects straight-line guidance rail (1003), straight-line guidance rail (1003) is fixedly connected with the first handle contiguous block (1006), described first handle contiguous block (1006) is hinged with the second handle contiguous block (1007) by bearing pin (1009), described second handle contiguous block (1007) is fixedly connected with handle (1008), the axes normal of bearing pin (1009) is in the moving direction of straight-line guidance rail (1003).