CN205339472U - Post device is held to upper limbs robot hand rest - Google Patents
Post device is held to upper limbs robot hand rest Download PDFInfo
- Publication number
- CN205339472U CN205339472U CN201521108812.4U CN201521108812U CN205339472U CN 205339472 U CN205339472 U CN 205339472U CN 201521108812 U CN201521108812 U CN 201521108812U CN 205339472 U CN205339472 U CN 205339472U
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- China
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- post
- hold
- hand rest
- upper limb
- column device
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Abstract
The utility model provides a post device is held to upper limbs robot hand rest, post device is held to upper limbs robot hand rest includes: the bracelet that forms by interior ring sum outer loop, connect the arm of bracelet one end drag and connect the bracelet another hold the toe seat, the axis of bracelet with the extending direction that the arm dragged is the same, hold to install on the toe seat and hold the post, hold the vertical setting of post and it can install by the pivoted to hold the post hold on the toe seat. The utility model discloses having optimized the structure, having guaranteed post device is held to upper limbs robot hand rest's fail safe nature simultaneously, improved post device is held to upper limbs robot hand rest's the pleasing to the eye nature of whole, the ease -to -operate also obtains the large increase, increased patient and doctor and felt the experience of equipment, for the mood of patient's rehabilitation training very helpful.
Description
Technical field
This utility model relates to medical instruments field, is specifically related to a kind of upper limb rehabilitation robot, and especially a kind of upper limb robot hand rest holds column device.
Background technology
Upper limb rehabilitation robot product is to drive upper limb to realize various motion by machine, it is also possible to carry out upper limb aggressive mode rehabilitation training.The hands of the direct immobilized patients of hand rest part and arm, hand rest includes: the bracelet that formed by internal ring and outer shroud and be connected to and hold post base on bracelet, holds to be provided with on post base and holds post, and during use, staff is held and held post.
Degree of freedom in the structures shape upper limb healing of hand rest and comfortableness, therefore its importance is self-evident.In existing product hand rest, holding post horizontally set, different from the routine of people assurance direction, patient operates inconvenience, does not meet ergonomics.
In sum, there is problems in that and hold post horizontally set in prior art, patient operates inconvenience.
Utility model content
This utility model provides a kind of upper limb robot hand rest to hold column device, to solve to hold post horizontally set, and the unhandy problem of patient.
For this, the utility model proposes a kind of upper limb robot hand rest and hold column device, described upper limb robot hand rest is held column device and is included: what the bracelet that formed by internal ring and outer shroud, the arm being connected to bracelet one end dragged and be connected to the bracelet other end holds post base, the bearing of trend that the axis of described bracelet drags with described arm is identical, described hold post base is provided with hold post, described in hold post be vertically arranged and described in hold that post can rotate be arranged on described in hold on post base.
Further, described in hold post base be tabular, described in hold post base and be horizontally disposed with, described in hold post by rotating shaft be arranged on described in hold on post base.
Further, described upper limb robot hand rest is held column device and is also included: patient triggers switch, holds the lateral of post described in being arranged on；
Described patient triggers switch and includes: hold the button on post side described in being arranged on, connect described button and hold described in being positioned at post spring, be positioned at described in hold post and be arranged on the triggering electric elements of described key stroke end, described triggering electric elements connect be arranged on described in hold in post circuit board.
Further, described upper limb robot hand rest is held column device and is also included: doctor's auxiliary switch, holds the top of post described in being arranged on, and described doctor's auxiliary switch is connected with described triggering electric elements.
Further, described upper limb robot hand rest is held column device and is also included: hold the obliquity sensor on post base described in being arranged on.
Further, the stroke of described button is 2 to 4mm.
Further, described upper limb robot hand rest is held column device and is also included: the bracket being arranged in internal ring, the bottom that described arm drags has arm and drags pin-and-hole, the bottom surface of bracket has bracket insertion hole and bracket pin hole, described arm drags and is plugged on the lateral of described bracket respectively with described post base of holding, described upper limb robot hand rest is held column device and is also included: alignment pin, drags pin-and-hole and bracket pin hole through described arm.
Further, described upper limb robot hand rest is held column device and is also included: is arranged on described bracket base and adsorbs the Magnet of described alignment pin.
Further, described upper limb robot hand rest is held column device and is also included: cover plate, described cover plate includes: top board, the cover plate plate vertically extended downwards from top board bottom surface and nut seat, described cover plate inserting board is in described bracket insertion hole, the top of described alignment pin is provided with external screw thread, threadeds with the nut seat of described cover plate in the top of described alignment pin.
Further, described bracket is U-shaped, and the quantity of described bracket insertion hole is two, and the number of described bracket pin hole is one, and described bracket insertion hole is positioned at the both sides of described bracket pin hole；
The quantity of described nut seat is one, and the quantity of described cover plate plate is two, and described nut seat is positioned at the both sides of described cover plate plate.
In this utility model, described in hold post be vertically arranged and described in hold that post can rotate be arranged on described in hold on post base, therefore change and traditional hold post setting direction, solve and hold post horizontally set, the unhandy problem of patient.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram that upper limb robot of the present utility model hand rest holds column device；
Fig. 2 is the sectional structure schematic diagram that upper limb robot of the present utility model hand rest holds column device；
Fig. 3 is the partial enlarged drawing at A place in Fig. 2
Fig. 4 is the structural representation holding post of the present utility model；
Fig. 5 of the present utility model holds post base, bracket, holds the decomposition texture schematic diagram of post；
Fig. 6 is the structural representation of cover plate of the present utility model.
Drawing reference numeral illustrates:
1 bracelet 2 arm drags 3 to hold post 4 and holds post base 5 telescopic arm 6 cover plate 7 alignment pin 8 obliquity sensor 9 bracket
20 arms drag connecting plate 21 plug 23 arm to drag pin-and-hole 31 patient to trigger switch 32 doctor's auxiliary switch 311 button 312 spring 313 mounting groove 314 contact 40 plug 60 lateral lateral jacks of jack 97 of top board 61 plate 63 nut seat 70 Magnet 91 bracket insertion hole 93 bracket pin hole 95
Detailed description of the invention
In order to technical characteristic of the present utility model, purpose and effect are more clearly understood from, now comparison accompanying drawing illustrates this utility model.
As shown in Figure 1, upper limb robot of the present utility model hand rest is held column device and is included: the bracelet 1 that formed by internal ring and outer shroud, the arm being connected to bracelet one end drag 2 (arm drags as the supporting plate for lifting arm) and be connected to the bracelet other end hold post base 4, the axis of described bracelet 1 drag with described arm 2 bearing of trend identical, described hold post base 4 is provided with hold post 3, described in hold post 3 be vertically arranged and described in hold that post 3 can rotate be arranged on described in hold on post base 4.Wherein, internal ring and outer shroud can relatively rotate, and bracelet 1 is arranged on the telescopic arm 5 of upper limb robot, and telescopic arm 5 can move and stretch, bracelet 1 can on telescopic arm 5 unitary rotation.
In this utility model, described in hold post be vertically arranged and described in hold that post can rotate be arranged on described in hold on post base, therefore change and traditional hold post setting direction, solve and hold post horizontally set, the unhandy problem of patient.
Further, as in figure 2 it is shown, described in hold post base 4 for tabular, be such as semicircle shape plate, described in hold post base 4 and be horizontally disposed with, described in hold post 3 by rotating shaft be arranged on described in hold on post base, in such manner, it is possible to ensure that holding post 3 is vertically arranged and makes to hold post 3 and can rotate, and has degree of freedom flexibly.
Further, as shown in Figure 4, described upper limb robot hand rest is held column device and is also included: patient triggers switch 31, holds the lateral of post 3 described in being arranged on；
As shown in Figure 2, described patient triggers switch 3 and includes: hold the button 311 (such as the movable block of vertical bar shape) on post side described in being arranged on, connect described button and hold the spring 312 of post described in being positioned at, hold post described in being positioned at and be arranged on the triggering electric elements (not shown) of described key stroke end, such as, trigger electric elements and be positioned at the mounting groove 313 holding post, the end of button 311 is contact (or plug) 314, can be in the case of a compression spring, enter in mounting groove 313, trigger or connect and trigger electric elements, realize the connection of circuit, described triggering electric elements connect be arranged on described in hold in post circuit board, it is ultimately connected on computer, realize record or the confirmation of track position.Described triggering electric elements are used for record or the confirmation of track position, and described triggering electric elements such as include position sensor.Trigger switch by arranging patient, it is possible to make patient in rehabilitation training, oneself just can send the record of track position or the instruction of confirmation, it is not necessary to doctor supervises constantly.
Further, such as Fig. 4, described upper limb robot hand rest is held column device and is also included: doctor's auxiliary switch 32, holds the top of post 3 described in being arranged on, and described doctor's auxiliary switch 32 is also connected with described triggering electric elements.Doctor's auxiliary switch 32 and patient trigger that switch 31 is final all connects triggering electric elements, to realize identical purpose, and only operator's difference, it is simple to doctor and patient being operated independently.
Further, the stroke of described button is 2 to 4mm, and described doctor's auxiliary switch is connected with described triggering electric elements.Patient is by grasping button, compression spring is thus triggering switch (triggering electric elements), button distance triggers electric elements 3mm, namely the stroke of the contact 314 of button 311 is 3mm, thus strengthening patient's sense of touch and force sense, reach to detect and take exercise the purpose of patient's grippage, it is also possible to avoid the false triggering in use procedure, it is achieved it is integrated with triggering switch realization operation that post is held in setting.
Further, as in figure 2 it is shown, described upper limb robot hand rest is held column device and also included: the obliquity sensor 8 holding on post base 4 described in being arranged on.Obliquity sensor 8 initial position is level, it is connected on telescopic arm by wiring, obliquity sensor 8 is three axial rake sensors, perception can hold the level inclination of post or bracelet, vertical inclination angle, realize holding the measurement of the locus of post or bracelet, for detecting the position of hands in real time, it is achieved test intellectuality.
Further, as shown in Figure 2 and Figure 5, described upper limb robot hand rest is held column device and is also included: the bracket 9 being arranged in internal ring, described arm drags the bottom of 2 to have arm and drags pin-and-hole 23, the bottom surface of bracket 9 has bracket insertion hole 91 and bracket pin hole 93, arm drags the end of 2 to have arm and drags connecting plate 20, arm drags connecting plate 20 to be provided with plug 21, plug 21 is provided with arm and drags pin-and-hole 23, described upper limb robot hand rest is held column device and is also included: alignment pin 7, drag pin-and-hole 23 and bracket pin hole 93 through described arm, it is achieved hold post base, bracket and hold the connection of vertical direction and the location of post.
Described arm drag 2 and described post base 4 of holding be plugged on the lateral of described bracket 9 respectively, bracket 9 be laterally provided with lateral jack 97 and lateral jack 95, plug 21 is inserted sideways in the lateral jack 95 of bracket 9.That holds post base 4 is laterally provided with plug 40, plug 40 is inserted in lateral jack 97, so, achieve arm drag 2 and hold post base 4 and be plugged on the lateral of described bracket 9 respectively, i.e. horizontal direction, and arm drags 2 and to hold post base 4 non-interference, each with regard to its position, plate is quick, and the center line of especially lateral jack 95 and lateral jack 97 may be located in same plane, it is possible to ensures that arm drags 2 to coordinate mutually or consistent with the level height of bracket 9 with holding post base 4.Therefore, arm drag 2 and described post base 4 of holding be plugged on the lateral of described bracket 9 respectively, and arm drags 2 all to position within the carrier by alignment pin, achieve horizontal direction and the Dual positioning of vertical direction both direction, and it is easy to fast insert-pull, and fast assembling-disassembling, quickly position.
Further, as shown in Figure 3 and Figure 5, described upper limb robot hand rest is held column device and is also included: is arranged on described bracket base and adsorbs the Magnet 70 of described alignment pin 7.Cover plate 6 and alignment pin 7 are made for irony or iron and steel, and so, Magnet 70 can adsorb alignment pin 7 and the cover plate 6 being connected with alignment pin 7, it is achieved fast assembling-disassembling.Magnet 70 is positioned under alignment pin 7, neither affects alignment pin 7 and is upward through each pin-and-hole, attracts to strengthen the firm of connection further through magnetic force, and readily accessible.
Further, as shown in Figure 1, Figure 2 and Fig. 6, described upper limb robot hand rest is held column device and is also included: cover plate 6, described cover plate includes: top board 60, the cover plate plate 61 vertically extended downwards from top board bottom surface and nut seat 63, described cover plate plate 61 is inserted in described bracket insertion hole 91, the top of described alignment pin 7 is provided with external screw thread, threaded with the nut seat 63 of described cover plate in the top of described alignment pin 7, alignment pin 7 is screwed in nut seat 63, realization is fastenedly connected, and holds post base, bracket thus strengthening and holds the connection of post.
Further, as it is shown in figure 5, described bracket 9 is U-shaped, the quantity of described bracket insertion hole 91 is two, and the number of described bracket pin hole 93 is one, and described bracket insertion hole 91 is positioned at the both sides of described bracket pin hole 93；The quantity of described nut seat 63 is one, and the quantity of described cover plate plate 61 is two, and described nut seat 63 is positioned at the both sides of described cover plate plate 61.So, it is simple to cover plate and the docking of bracket and be connected firm.
This utility model improves upper limb robot hand rest and holds the dependability of column device, motility, and aesthetic property is simple to operate, provides easypro property for patient in training.Hold post realization grasping and each triggering switch integrated patient is operated by holding post and realizes real mutual and data function；Hold the integrated 3D obliquity sensor of post base, realize quick dismounting and change by strong magnets.
This utility model optimizes structure, ensure that upper limb robot hand rest holds the security reliability of column device simultaneously, improve upper limb robot hand rest and hold the overall aesthetics of column device, ease-to-operate is also greatly improved, adding patient and the doctor experience sense to equipment, the mood for Rehabilitation training is very helpful.
The foregoing is only the schematic detailed description of the invention of this utility model, be not limited to scope of the present utility model.Can be mutually combined when not conflicting for each ingredient of the present utility model; any those skilled in the art; equivalent variations done under the premise without departing from design of the present utility model and principle and amendment, all should belong to the scope of this utility model protection.
Claims (10)
1. a upper limb robot hand rest holds column device, it is characterized in that, described upper limb robot hand rest is held column device and is included: what the bracelet that formed by internal ring and outer shroud, the arm being connected to bracelet one end dragged and be connected to the bracelet other end holds post base, the bearing of trend that the axis of described bracelet drags with described arm is identical, described hold post base is provided with hold post, described in hold post be vertically arranged and described in hold that post can rotate be arranged on described in hold on post base.
2. upper limb robot as claimed in claim 1 hand rest holds column device, it is characterised in that described in hold post base be tabular, described in hold post base and be horizontally disposed with, described in hold post by rotating shaft be arranged on described in hold on post base.
3. upper limb robot as claimed in claim 1 hand rest holds column device, it is characterised in that described upper limb robot hand rest is held column device and also included: patient triggers switch, holds the lateral of post described in being arranged on；
Described patient triggers switch and includes: hold the button on post side described in being arranged on, connect described button and hold described in being positioned at post spring, be positioned at described in hold post and be arranged on the triggering electric elements of described key stroke end, described triggering electric elements connect be arranged on described in hold in post circuit board.
4. upper limb robot as claimed in claim 3 hand rest holds column device, it is characterised in that described upper limb robot hand rest is held column device and also included: doctor's auxiliary switch, holds the top of post described in being arranged on, and described doctor's auxiliary switch is connected with described triggering electric elements.
5. upper limb robot as claimed in claim 1 hand rest holds column device, it is characterised in that described upper limb robot hand rest is held column device and also included: hold the obliquity sensor on post base described in being arranged on.
6. upper limb robot as claimed in claim 4 hand rest holds column device, it is characterised in that the stroke of described button is 2 to 4mm.
7. upper limb robot as claimed in claim 1 hand rest holds column device, it is characterized in that, described upper limb robot hand rest is held column device and is also included: the bracket being arranged in internal ring, the bottom that described arm drags has arm and drags pin-and-hole, the bottom surface of bracket has bracket insertion hole and bracket pin hole, described arm drags and is plugged on the lateral of described bracket respectively with described post base of holding, and described upper limb robot hand rest is held column device and also included: alignment pin, drags pin-and-hole and bracket pin hole through described arm.
8. upper limb robot as claimed in claim 7 hand rest holds column device, it is characterised in that described upper limb robot hand rest is held column device and also included: is arranged on described bracket base and adsorbs the Magnet of described alignment pin.
9. upper limb robot as claimed in claim 8 hand rest holds column device, it is characterized in that, described upper limb robot hand rest is held column device and is also included: cover plate, described cover plate includes: top board, the cover plate plate vertically extended downwards from top board bottom surface and nut seat, described cover plate inserting board is in described bracket insertion hole, the top of described alignment pin is provided with external screw thread, threadeds with the nut seat of described cover plate in the top of described alignment pin.
10. upper limb robot as claimed in claim 9 hand rest holds column device, it is characterised in that described bracket is U-shaped, and the quantity of described bracket insertion hole is two, and the number of described bracket pin hole is one, and described bracket insertion hole is positioned at the both sides of described bracket pin hole；
The quantity of described nut seat is one, and the quantity of described cover plate plate is two, and described nut seat is positioned at the both sides of described cover plate plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521108812.4U CN205339472U (en) | 2015-12-28 | 2015-12-28 | Post device is held to upper limbs robot hand rest |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521108812.4U CN205339472U (en) | 2015-12-28 | 2015-12-28 | Post device is held to upper limbs robot hand rest |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205339472U true CN205339472U (en) | 2016-06-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521108812.4U Active CN205339472U (en) | 2015-12-28 | 2015-12-28 | Post device is held to upper limbs robot hand rest |
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| Country | Link |
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| CN (1) | CN205339472U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107854282A (en) * | 2017-12-07 | 2018-03-30 | 同济大学浙江学院 | Upper limbs coordinates the holding mechanism of device for healing and training |
| CN111093588A (en) * | 2017-08-31 | 2020-05-01 | 国立大学法人鹿儿岛大学 | Training device and method for recovering function of forearm of hemiplegia |
| CN115154195A (en) * | 2022-07-26 | 2022-10-11 | 南开大学 | Wrist rehabilitation device |
-
2015
- 2015-12-28 CN CN201521108812.4U patent/CN205339472U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111093588A (en) * | 2017-08-31 | 2020-05-01 | 国立大学法人鹿儿岛大学 | Training device and method for recovering function of forearm of hemiplegia |
| CN111093588B (en) * | 2017-08-31 | 2022-10-21 | 国立大学法人鹿儿岛大学 | Training device and method for recovering function of forearm of hemiplegia |
| CN107854282A (en) * | 2017-12-07 | 2018-03-30 | 同济大学浙江学院 | Upper limbs coordinates the holding mechanism of device for healing and training |
| CN107854282B (en) * | 2017-12-07 | 2023-11-21 | 同济大学浙江学院 | Gripping mechanism of upper limb coordination rehabilitation training device |
| CN115154195A (en) * | 2022-07-26 | 2022-10-11 | 南开大学 | Wrist rehabilitation device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210324 Address after: 1702-1, 17th floor, Caisheng building, 17 Longhua Road, Longhua District, Haikou City, Hainan Province Patentee after: Diehe Technology (Hainan) Co.,Ltd. Address before: 100070 Room 301, 3 / F, building 11b2, Science City, Fengtai District, Beijing Patentee before: BEIJING DIEHE MEDICAL TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220525 Address after: 312366 room 206, building 1, No. 21, Haitian Road, Lihai street, Yuecheng District, Shaoxing City, Zhejiang Province Patentee after: Diehe Technology (Shaoxing) Co.,Ltd. Address before: 1702-1, 17th floor, Caisheng building, 17 Longhua Road, Longhua District, Haikou City, Hainan Province Patentee before: Diehe Technology (Hainan) Co.,Ltd. |
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| TR01 | Transfer of patent right |