CN205814618U - A kind of multi-state upper-limbs rehabilitation training robot - Google Patents
A kind of multi-state upper-limbs rehabilitation training robot Download PDFInfo
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- CN205814618U CN205814618U CN201620583550.5U CN201620583550U CN205814618U CN 205814618 U CN205814618 U CN 205814618U CN 201620583550 U CN201620583550 U CN 201620583550U CN 205814618 U CN205814618 U CN 205814618U
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- forearm
- upper arm
- bearing sheet
- rehabilitation training
- motion
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Abstract
This utility model one multi-state upper-limbs rehabilitation training robot, including the Wrist-sport mechanism being sequentially connected in series, forearm motion, humeral movement mechanism, rotating mechanism, pillar and mobile regulation support；The front end of forearm motion forms revolute pair with described rear bearing sheet, the rear end of forearm motion and the front end hinged composition revolute pair of humeral movement mechanism, be provided with forearm rotation push rod between forearm motion and humeral movement mechanism and promote forearm motion to rotate；The rear end of humeral movement mechanism connects firmly with one end of described rotating mechanism, and the other end of rotating mechanism and mechanism cantilever connect firmly；Be provided with the 3-freedom parallel mechanism being made up of front end-plate, end plate and three line handspikes being connected between front end-plate and end plate in pillar upper end, mechanism's cantilever connects firmly with front end-plate.This utility model is simple and compact for structure, the rehabilitation of the upper limb that has wide range of applications, can apply to and fitness training, can realize the rehabilitation training of three-dimensional space motion.
Description
Technical field:
This utility model relates to a kind of multi-state upper-limbs rehabilitation training robot, belongs to rehabilitation medical and sport and body-building apparatus
Field.
Background technology:
The reasons such as social senilization's degree is deepened day by day, apoplexy, spinal cord injury cause extremity motor function to reduce, even
Total loss, has had a strong impact on quality of life.Rehabilitation be recover motor function effective way, conventional physical therapist with
Patient's man-to-man rehabilitation mode exists that labor intensity is big, the high deficiency of medical expense, and therefore, rehabilitation training equipment becomes
Solve the effective way of this contradiction.Since the middle of last century, scientific research personnel achieves many one-tenth on rehabilitation training equipment
Really, such as successful development and the commercialization of the rehabilitation training equipment such as single-degree-of-freedom formula, ectoskeleton, suspension.But they exist
Not enough: operation is complicated, forms of motion is single, be difficult to simulate human body three-dimensional motion etc., develop and a be capable of human upper limb three
Dimension exercise rehabilitation training device has certain realistic meaning.
Utility model content:
For overcoming the defect of prior art, the purpose of this utility model is to provide a kind of multi-state rehabilitation training of upper limbs machine
Device people, is a kind of simple and compact for structure, rehabilitation of the upper limb that has wide range of applications, can apply to and fitness training, can realize three-dimensional
The device for healing and training of space motion.
This utility model solves technical problem and adopts the following technical scheme that
A kind of multi-state upper-limbs rehabilitation training robot, comprising:
Wrist-sport mechanism, forearm motion, humeral movement mechanism, rotating mechanism, pillar and the shifting being sequentially connected in series
Dynamic regulation support；
The structure of described Wrist-sport mechanism is: with the rear bearing sheet energy of forearm motion front end hinged composition revolute pair
The front end panel rotated relative to rear bearing sheet, the strut of wrist pallet is assemblied on described front end panel by bearing；
The front end of described forearm motion is connected formation revolute pair, the rear end of forearm motion with described rear bearing sheet
The hinged composition revolute pair with the front end of humeral movement mechanism；
The rear end of described humeral movement mechanism connects firmly with one end of described rotating mechanism, the other end of described rotating mechanism with
Mechanism's cantilever connects firmly；
Described pillar, is provided with by front end-plate, end plate in the upper end of pillar and is connected between front end-plate and end plate
The 3-freedom parallel mechanism that constitutes of three line handspikes, described mechanism cantilever connects firmly with described front end-plate.
Being provided with forearm rotation push rod between forearm motion and humeral movement mechanism promotes forearm motion to turn
Dynamic.
The rear end of described rear bearing sheet constitutes revolute pair, at rear bearing sheet with the forearm inner bracing piece of forearm motion
Being installed with extension rod in the middle part of bottom surface, the end of this extension rod is hinged with wrist rotating push-rod lower end, wrist rotating push-rod upper end with
Forearm inner bracing piece is hinged, forms four-bar mechanism；
In Wrist-sport mechanism, rear bearing sheet with the rotational structure of front end panel is: rear bearing sheet and front end panel it
Between be provided with the gear of pair of meshing, the rotating shaft of driving gear is located on rear bearing sheet, the motor on rear bearing sheet drive, driven
The rotating shaft two ends of gear are connected on rear bearing sheet and front end panel.
Described forearm motion has forearm outer support bar and forearm inner bracing piece, and both connect and compose cunning by chute
Dynamic pair, the front end of forearm inner bracing piece and rear bearing sheet by rotating shaft hinged composition revolute pair, the rear end of forearm outer support bar with
The front end hinged composition revolute pair of humeral movement mechanism；
Being installed with extension rod in the middle part of the bottom surface of forearm outer support bar, the end of this extension rod cuts with scissors with forearm rotation push rod lower end
Connecing, forearm rotation push rod upper end is hinged with the bottom surface, front end of humeral movement mechanism, constitutes four-bar mechanism；The big pallet of forearm, forearm
Little pallet is separately fixed on forearm inner bracing piece and forearm outer support bar by clamping device, and it is big that forearm bandage is fixed on forearm
On the groove of pallet.
Described humeral movement mechanism has upper arm front support rod and upper arm back support rod, and both connect and compose cunning by chute
Dynamic pair, the front end of upper arm front support rod and forearm outer support bar, the upper end thereof of forearm rotation push rod；Upper arm back support rod with turn
One end of motivation structure connects firmly；
The little pallet of upper arm, the big pallet of upper arm are separately fixed at upper arm front support rod, upper arm back support rod by clamping device
On, upper arm bandage is fixed on the groove of the big pallet of upper arm.
One end of described rotating mechanism connects firmly with upper arm back support rod, and the other end and mechanism cantilever connect firmly；Rotating mechanism
Can relatively rotate between two ends.
Being provided with motor and reductor in the rotating mechanism one end being connected with mechanism cantilever, be connected with upper arm back support rod turns
One end of motivation structure connects firmly with the output shaft of described reductor.
The structure of described mobile regulation support is: described pillar connects firmly with slide block, and slide block is stuck in the groove of slide rail, and slide rail leads to
Crossing bolt to connect firmly with line handspike upper end, be fixed on dolly bottom line handspike, dolly is made up of support and lockable steamboat,
Four steamboats are fixed on support corner.
Compared with the prior art, the beneficial effects of the utility model are embodied in:
This utility model can realize upper limb three-dimensional space motion, it is achieved upper limbs active-passive rehabilitation training and synchronous/asynchronous
Training.
This utility model applied range, can be used for upper limb and realizes rehabilitation training and exercise at three dimensions.
This utility model rehabilitation training pattern is various, is symmetrically arranged in two by left/right hand to device during use, can
To realize synchronous/asynchronous training.
This utility model compact conformation is flexible, can fold with freedom retractable, take up room little when not using.
This utility model has detachability, and wrist, forearm and upper arm three part can realize tandem compound and can also take apart
Carry out respectively to wrist, elbow, the rehabilitation training of shoulder joint.
This utility model can make lower limb realize different tracks, the training of different amplitude in three dimensions so that it is both
Adapt to same position trainer in different convalescences and the situation of the exercise of physical training condition, the training of different height can be met again
Person carries out the demand of rehabilitation and exercise.
During active training, the control electric current by regulation motor self can resistance link, it is possible to realize active training, not only
Can make for rehabilitation limbs as convalescence exerciser, and can make for health invigorating as health and fitness facilities.
Accompanying drawing illustrates:
Fig. 1 is internal overall structure schematic diagram of the present utility model；Fig. 2 is outside overall structure signal of the present utility model
Figure；Fig. 2 A, 2B, 2C are the three-view diagram of Fig. 2；Fig. 3 is Fig. 1, the enlarged drawing of Wrist-sport mechanism in 2.
Label in figure: 1 pillar, 2 forearm rotation push rods, 3 mechanism's cantilevers, 4 dollies, 5 line handspikes, 6 hexagonal screwings
Button, 7 slide rails, 8 slide blocks, 9 move regulation support, 10 humeral movement mechanisms, 11 front end-plates, 12 end plates, 20 forearm fortune
Motivation structure, 30 Wrist-sport mechanisms, 105 upper arm bandages, the 106 big pallets of upper arm, 107 upper arm back support rods, 108 upper arm
Little pallet, 109 upper arm front support rods, the 201 little pallets of forearm, 202 forearm outer support bars, the 203 big pallets of forearm, before 204
Arm bandage, 205 forearm inner bracing pieces, 301 wrist pallets, 303 rear bearing sheets, 304 front end panels, 22 wrists rotate and push away
Bar.
Below by way of detailed description of the invention, and the utility model is described in further detail to combine accompanying drawing.
Detailed description of the invention:
Embodiment: see accompanying drawing, the multi-state three-dimensional motion rehabilitation training of upper limbs machine of the present embodiment, comprising:
The Wrist-sport mechanism 30 that is sequentially connected in series, forearm motion 20, humeral movement mechanism 10, rotating mechanism 13,
Post 1 and mobile regulation support 9；
In concrete structure, the structure of Wrist-sport mechanism 30 is: with forearm motion 20 front end hinged composition revolute pair
Rear bearing sheet 303, can relative to rear bearing sheet 303 rotate front end panel 304, the strut of wrist pallet 301 passes through bearing
It is assemblied on front end panel 304, it is possible to rotate；The end face of wrist pallet is that hemisphere face is (or in mushroom corona shape, it is simple to hands
The palm is comfortably placed at above, meets ergonomics).
Wherein, the rear end of rear bearing sheet 303 is connected structure with the forearm inner bracing piece 205 of forearm motion 20 by rotating shaft
Become revolute pair, in the middle part of the bottom surface of rear bearing sheet 303, be installed with extension rod, the end of this extension rod and wrist rotating push-rod 22 times
Holding hinged, wrist rotating push-rod upper end is hinged with forearm inner bracing piece 205, forms four-bar mechanism；Stretching of wrist rotating push-rod 22
Contracting drives Wrist-sport mechanism 30 to make pitching motion, namely wrist is tempered in wrist action of waving.
In Wrist-sport mechanism, rear bearing sheet with the rotational structure of front end panel is: at rear bearing sheet 303 and front end panel
Being provided with the gear of pair of meshing between 304, the rotating shaft of driving gear is located on rear bearing sheet 303, by the motor on rear bearing sheet
Driving, the rotating shaft two ends of driven gear are connected on rear bearing sheet and front end panel.Driving gear drives driven when rotating
Pinion rotation, thus drive front end panel 304 to swing action around the axis of driven gear, temper wrist and swing
Action.
The front end of forearm motion 20 is connected formation revolute pair with rear bearing sheet by bearing, forearm motion 20
Rear end and the front end hinged composition revolute pair of humeral movement mechanism 10, arranged between forearm motion and humeral movement mechanism
Forearm rotation push rod 2 is had to promote forearm motion to rotate；This push rod is flexible can drive ancon to do flexor.
Forearm motion 20 has forearm outer support bar 202 and forearm inner bracing piece 205, and both connect structure by chute
Becoming sliding pair, adapt to the colony of different brachium, the front end of forearm inner bracing piece 205 and rear bearing sheet 303 are by the hinged structure of rotating shaft
Become the front end hinged composition revolute pair of revolute pair, the rear end of forearm outer support bar 202 and humeral movement mechanism 10；
It is installed with extension rod, the end of this extension rod and forearm rotation push rod 2 times in the middle part of the bottom surface of forearm outer support bar 202
Holding hinged, forearm rotation push rod 2 upper end is hinged with the bottom surface, front end of humeral movement mechanism, constitutes four-bar mechanism；The big pallet of forearm
203, the little pallet of forearm 201 is separately fixed on forearm inner bracing piece 205 and forearm outer support bar 202 by clamping device, front
Arm bandage 204 is fixed on the groove of the big pallet of forearm 203.
The rear end of humeral movement mechanism connects firmly with one end of rotating mechanism, and the other end of rotating mechanism is solid with mechanism's cantilever 3
Connection；In concrete structure, one end of rotating mechanism 13 connects firmly with upper arm back support rod 107, and the other end connects firmly with mechanism cantilever 3；Turn
Can relatively rotate between the two ends of motivation structure.Wherein, it is provided with motor in rotating mechanism 13 one end being connected with mechanism cantilever
And reductor, the one end of rotating mechanism being connected with upper arm back support rod 107 connects firmly with the output shaft of reductor.Humeral movement machine
Structure and components downstream thereof are supported and drive rotation by speed reducer output shaft, temper upper arm and rotate motion.
Humeral movement mechanism 10 has upper arm front support rod 109 and upper arm back support rod 107, and both connect structure by chute
Becoming sliding pair, can stretch adaptation different crowd, the front end of upper arm front support rod 109 and forearm outer support bar 202, forearm rotation
The upper end thereof of push rod 2；Upper arm back support rod 107 connects firmly with one end of rotating mechanism；
The little pallet of upper arm 108, the big pallet of upper arm 106 are separately fixed at upper arm front support rod 109, upper arm by clamping device
On back support rod 107, upper arm bandage 105 is fixed on the groove of the big pallet of upper arm 106.
It is provided with in the upper end of pillar by front end-plate 11, end plate 12 and be connected between front end-plate and end plate three
The 3-freedom parallel mechanism that line handspike is constituted, mechanism's cantilever 3 connects firmly with front end-plate 11.Three line handspike simultaneous retractables,
Then driving arm to do extensional motion, one or two line handspikes stretch, then drive wrist to do wobbling action.
The structure of mobile regulation support 9 is: pillar 1 connects firmly with slide block 8, and slide block 8 is stuck in the groove of slide rail 7, and slide rail 7 passes through
Bolt connects firmly with line handspike 5 upper end, is fixed on dolly 4 bottom line handspike, and dolly 4 is by support and lockable little wheels
Becoming, four steamboats are fixed on support corner；The sidepiece of slide rail 7 has strip groove, is provided with and connects firmly with slide block 8 outside groove
Hexagonal knob 6, for by slider locking in slide rail.
This utility model device for healing and training can be applicable to upper extremity exercise function reduction or the rehabilitation training of the crowd of forfeiture, side
User is helped to realize the rehabilitation training of movement locus under three dimensions.For the general population that upper limb body function is sound, also
Can carry out healthy training, help it to strengthen physical exercise ability, this utility model device for healing and training can make patient's upper limb
Complete more complicated space motion, applied range, there is the biggest commercial application prospect.
The foregoing is only preferred embodiment of the present utility model, be not limited to this utility model, for this
For the technical staff in field, this utility model can have various modifications and variations.All in spirit of the present utility model and principle
Within, any modification, equivalent substitution and improvement etc. made, within should be included in protection domain of the present utility model.
Claims (8)
1. a multi-state upper-limbs rehabilitation training robot, it is characterised in that including:
The Wrist-sport mechanism (30) that is sequentially connected in series, forearm motion (20), humeral movement mechanism (10), rotating mechanism
(13), pillar (1) and mobile regulation support (9)；
The structure of described Wrist-sport mechanism (30) is: with the rear support of forearm motion (20) front end hinged composition revolute pair
Plate (303), the front end panel (304) that can rotate relative to rear bearing sheet (303), the strut of wrist pallet (301) passes through bearing
It is assemblied on described front end panel (304)；
The front end of described forearm motion (20) is connected formation revolute pair with described rear bearing sheet, forearm motion (20)
Rear end and the front end hinged composition revolute pair of humeral movement mechanism (10)；
The rear end of described humeral movement mechanism connects firmly with one end of described rotating mechanism, the other end of described rotating mechanism and mechanism
Cantilever (3) connects firmly；
Described pillar (1), is provided with in the upper end of pillar by front end-plate (11), end plate (12) and is connected to front end-plate and rear end
The 3-freedom parallel mechanism that three line handspikes between plate are constituted, described mechanism cantilever (3) is solid with described front end-plate (11)
Connection.
A kind of multi-state upper-limbs rehabilitation training robot the most according to claim 1, it is characterised in that at forearm fitness machine
Being provided with forearm rotation push rod (2) between structure and humeral movement mechanism promotes forearm motion to rotate.
A kind of multi-state upper-limbs rehabilitation training robot the most according to claim 1, it is characterised in that described rear bearing sheet
(303) rear end constitutes revolute pair, at rear bearing sheet (303) with the forearm inner bracing piece (205) of forearm motion (20)
Being installed with extension rod in the middle part of bottom surface, the end of this extension rod is hinged with wrist rotating push-rod (22) lower end, on wrist rotating push-rod
Hold hinged with forearm inner bracing piece (205), form four-bar mechanism；
In Wrist-sport mechanism, the rotational structure of rear bearing sheet and front end panel is: set between rear bearing sheet and front end panel
Having the gear of pair of meshing, the rotating shaft of driving gear is located on rear bearing sheet, the motor on rear bearing sheet drive, driven gear
Rotating shaft two ends be connected on rear bearing sheet and front end panel.
A kind of multi-state upper-limbs rehabilitation training robot the most according to claim 1, it is characterised in that described forearm moves
Mechanism (20) has forearm outer support bar (202) and forearm inner bracing piece (205), and both connect and compose sliding pair by chute,
The front end of forearm inner bracing piece (205) and rear bearing sheet (303) are by rotating shaft hinged composition revolute pair, forearm outer support bar
(202) rear end and the front end hinged composition revolute pair of humeral movement mechanism (10)；
It is installed with extension rod, under the end of this extension rod and forearm rotation push rod (2) in the middle part of the bottom surface of forearm outer support bar (202)
Holding hinged, forearm rotation push rod upper end is hinged with the bottom surface, front end of humeral movement mechanism, constitutes four-bar mechanism；The big pallet of forearm
(203), the little pallet of forearm (201) is separately fixed at forearm inner bracing piece (205) and forearm outer support bar by clamping device
(202), on, forearm bandage (204) is fixed on the groove of the big pallet of forearm (203).
A kind of multi-state upper-limbs rehabilitation training robot the most according to claim 4, it is characterised in that described humeral movement
Mechanism (10) has upper arm front support rod (109) and upper arm back support rod (107), and both connect and compose sliding pair by chute,
The front end of upper arm front support rod (109) and forearm outer support bar (202), the upper end thereof of forearm rotation push rod (2)；Prop up after upper arm
Strut (107) connects firmly with one end of rotating mechanism；
The little pallet of upper arm (108), the big pallet of upper arm (106) by clamping device be separately fixed at upper arm front support rod (109), on
On arm back support rod (107), upper arm bandage (105) is fixed on the groove of the big pallet of upper arm (106).
A kind of multi-state upper-limbs rehabilitation training robot the most according to claim 5, it is characterised in that described rotating mechanism
(13) one end connects firmly with upper arm back support rod (107), and the other end connects firmly with mechanism's cantilever (3)；Between the two ends of rotating mechanism
Can relatively rotate.
A kind of multi-state upper-limbs rehabilitation training robot the most according to claim 6, it is characterised in that with cantilever company of mechanism
It is provided with motor and reductor, with the one of the rotating mechanism that upper arm back support rod (107) is connected in rotating mechanism (13) one end connect
The output shaft with described reductor is held to connect firmly.
A kind of multi-state upper-limbs rehabilitation training robot the most according to claim 1, it is characterised in that described mobile regulation
The structure of support (9) is: described pillar (1) connects firmly with slide block (8), and slide block (8) is stuck in the groove of slide rail (7), and slide rail (7) passes through
Bolt connects firmly with line handspike (5) upper end, is fixed on dolly (4) bottom line handspike, and dolly (4) is by support and lockable little
Wheel composition, four steamboats are fixed on support corner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620583550.5U CN205814618U (en) | 2016-06-14 | 2016-06-14 | A kind of multi-state upper-limbs rehabilitation training robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620583550.5U CN205814618U (en) | 2016-06-14 | 2016-06-14 | A kind of multi-state upper-limbs rehabilitation training robot |
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| Publication Number | Publication Date |
|---|---|
| CN205814618U true CN205814618U (en) | 2016-12-21 |
Family
ID=57569548
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620583550.5U Withdrawn - After Issue CN205814618U (en) | 2016-06-14 | 2016-06-14 | A kind of multi-state upper-limbs rehabilitation training robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105919776A (en) * | 2016-06-14 | 2016-09-07 | 合肥工业大学 | Multi-working condition upper limb rehabilitation training robot |
| CN106829300A (en) * | 2017-04-10 | 2017-06-13 | 芜湖天人智能机械有限公司 | The support base that a kind of supporting surface is adjusted with supporting way linkage |
| CN107061956A (en) * | 2017-04-10 | 2017-08-18 | 芜湖天人智能机械有限公司 | A kind of Multifunctional supporting base |
| CN107362000A (en) * | 2017-09-11 | 2017-11-21 | 河北工业大学 | A kind of five-freedom degree dermaskeleton type upper limb rehabilitation robot |
| CN108724152A (en) * | 2018-07-26 | 2018-11-02 | 北京机械设备研究所 | A kind of upper limb servomechanism for original place lifting load |
| CN109620646A (en) * | 2019-02-01 | 2019-04-16 | 上海理工大学 | A kind of forearm inside/outside rotation mechanism for upper-limb recovery training device |
| CN110613914A (en) * | 2019-08-13 | 2019-12-27 | 袁远 | Fitness equipment, control method and control device thereof and computer readable storage medium |
-
2016
- 2016-06-14 CN CN201620583550.5U patent/CN205814618U/en not_active Withdrawn - After Issue
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105919776A (en) * | 2016-06-14 | 2016-09-07 | 合肥工业大学 | Multi-working condition upper limb rehabilitation training robot |
| CN106829300A (en) * | 2017-04-10 | 2017-06-13 | 芜湖天人智能机械有限公司 | The support base that a kind of supporting surface is adjusted with supporting way linkage |
| CN107061956A (en) * | 2017-04-10 | 2017-08-18 | 芜湖天人智能机械有限公司 | A kind of Multifunctional supporting base |
| CN107061956B (en) * | 2017-04-10 | 2022-09-23 | 芜湖天人智能机械有限公司 | Multifunctional supporting base |
| CN107362000A (en) * | 2017-09-11 | 2017-11-21 | 河北工业大学 | A kind of five-freedom degree dermaskeleton type upper limb rehabilitation robot |
| CN107362000B (en) * | 2017-09-11 | 2019-10-29 | 河北工业大学 | A kind of five-freedom degree dermaskeleton type upper limb rehabilitation robot |
| CN108724152A (en) * | 2018-07-26 | 2018-11-02 | 北京机械设备研究所 | A kind of upper limb servomechanism for original place lifting load |
| CN109620646A (en) * | 2019-02-01 | 2019-04-16 | 上海理工大学 | A kind of forearm inside/outside rotation mechanism for upper-limb recovery training device |
| CN110613914A (en) * | 2019-08-13 | 2019-12-27 | 袁远 | Fitness equipment, control method and control device thereof and computer readable storage medium |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20161221 Effective date of abandoning: 20171013 |