CN205964401U - Robot used for upper limb rehabilitation - Google Patents
Robot used for upper limb rehabilitation Download PDFInfo
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- CN205964401U CN205964401U CN201620401155.0U CN201620401155U CN205964401U CN 205964401 U CN205964401 U CN 205964401U CN 201620401155 U CN201620401155 U CN 201620401155U CN 205964401 U CN205964401 U CN 205964401U
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Abstract
The utility model discloses robot used for upper limb rehabilitation, including upper limbs trainer, outstanding beam arm, base, the base is connected through hanging beam arm with the upper limbs trainer, and the base is for can move and the height control, and each joint motions of human upper limbs are supported to the upper limbs trainer, the swinging boom is fixed on hanging beam arm through the axle, and the one end at the swinging boom is fixed to shoulder horizontal anomalous movement arm, and the vertical digging arm of shoulder passes through the hub connection with shoulder horizontal anomalous movement arm, it is connected with elbow joint structure spare, upper arm bandage, elbow joint moving part respectively to go up the elbow rail, preceding elbow rail is connected in elbow joint structure spare, elbow joint moving part, forearm structure respectively, forearm structure, forearm bandage subassembly, wrist joint subassembly, forearm adjusting device fix respectively on motor element, the grip fitting up on the wrist joint subassembly, realize the arm forearm by upper arm internal rotation / outward turning, forearm internal rotation / outward turning constitute, elbow bucking, wrist joint bend / stretch, let the patient utilize relict neuromuscular to carry out the simple joint and train in many joints.
Description
Technical field
This utility model is related to a kind of upper limb rehabilitation robot, belongs to Medical rehabilitation training equipment field.
Background technology
In China, apoplexy is the disease occurred frequently of current disability rate first, fatality rate second, every year national new cases 250
Ten thousand, the patient dying from apoplexy every year reaches 1,500,000.Existing stroke patient 750 ten thousand to 800 ten thousand people of China.In other words, China is general
Just there is within every 21 seconds a people to die from apoplexy, just have new cases within every 12 seconds.This trend is also with annual 8.7% speed
It is incremented by, this disease has caused limbs of patient dyskinesia or forfeiture, the especially forfeiture of upper extremity exercise function, survivor
Middle about 75%～80% disable, the strong influence ability of patient's daily life, and at present, domestic and international upper limb rehabilitation robot is used
There is many deficiencies when upper extremity motor function disorder patient carries out treatment and rehabilitation training, predominantly：Only support single joint
Or partial joint, especially forearm is not rotated the motion referring to the joints such as portion with wrist and be integrated in device；Individual adaptability is poor,
Adjustment or the adjustment inconvenience of device can not be carried out according to different patients；The motor pattern supported is single, can only passively be transported
Dynamic or device does not possess driving function；Dimension or two dimensional motion can only be realized, adaptive difference is it is impossible to preferably realize man-machine harmony
Unified；Interest and the enthusiasm of patient's training can not be excited；Frictional force, gravity and position overload etc. can not preferably be solved ask
Topic.
Utility model content
For solve above-mentioned technical problem, upper limb rehabilitation robot by using computer technology, in conjunction with human upper limb locomotion
Rule, not only can allow patient using remaining neuromuscular carry out simple joint and multi-joint training, especially forearm, wrist,
Finger；But also Active Compensation gravity and frictional force drive patient to carry out 6 degree of freedom motions of upper limb, be better achieved patient with
Auxiliary drive is coordinated and unified, to reach the optimum efficiency recovering upper limb normal function.
This utility model upper limb rehabilitation robot, including upper limb training devicess, overarm arm, base, base is trained with upper limb
Device passes through arm connection of hanging oneself from a beam, and base is can to move and height adjustment, and upper limb training devicess support each joint of human upper limb
Motion.
Upper limb training devicess, include I degree of freedom, ii degree of freedom, ii I degree of freedom, iv degree of freedom, V certainly
By degree, VI degree of freedom, 6 degree of freedom are sequentially connected in series connection, and the motion in corresponding each joint corresponds to receive in shoulder joint respectively/and outer
Exhibition, shoulder joint is stretched/is bent, elbow joint is stretched/bent, forearm turns up/inward turning, carpal joint stretch/song, finger stretch/bend.
Turning arm is fixed on overarm arm by axle, and shoulder horizontal anomalous movement arm is fixed on one end of turning arm, and shoulder is vertical
Lever arm is connected by axle with shoulder horizontal anomalous movement arm, and rotary plunger is arranged on shoulder horizontal anomalous movement arm, and motor control rotates
The rotation of the vertical lever arm of arm shoulder, realizes the abduction/adduction of shoulder joint and the flexion/extension of shoulder joint.
Upper crook of the arm rail is connected with elbow joint structure part, upper arm bandage, exercising elbow joint part respectively；Front crook of the arm rail respectively at
Elbow joint structure part, exercising elbow joint part, forearm structure part are connected.Forearm structure part, forearm bandage assembly, carpal joint group
Part, forearm adjusting means are separately fixed on electric machine assembly, and grip member is arranged on carpal joint assembly, realize mechanical arm forearm
Be made up of forward rotation of upper limb/outward turning, forearm internal/external rotations, elbow flexing, carpal joint flexion/extension.
Moved by motor control elbow joint electric machine assembly, upper crook of the arm rail, front crook of the arm rail, carpal joint assembly, respectively
Realize the flexing of elbow joint, the internal/external rotations of upper arm, the internal/external rotations of forearm, carpal flexion/extension.
Upper arm and forearm pass through to adjust upper arm adjusting means, forearm adjusting means, can with the length of adjusting mechanical arm upper arm,
The brachiocubital length of machinery.
Base, includes chassis, mainframe box, castor, lifting column, handrail composition, and castor is arranged under chassis, and mainframe box is pacified
It is contained on chassis, lifting column is fixed on chassis through mainframe box, handrail is interdependent with mainframe box and is arranged on chassis.
Upper limb rehabilitation robot, by using computer technology, in conjunction with human upper limb locomotion rule, not only can allow patient
Carry out simple joint and multi-joint training, especially forearm, wrist, finger using remaining neuromuscular；But also Active Compensation
Gravity and frictional force drive patient to carry out 6 degree of freedom motions of upper limb, be better achieved patient coordinate with auxiliary drive and
Unified, to reach the optimum efficiency recovering upper limb normal function.
Brief description
Fig. 1 is this utility model general structure schematic diagram；
Fig. 2 is 6 degree of freedom schematic diagrams of upper limb training devicess of the present utility model；
Fig. 3 a is the I degree of freedom of upper limb training devicess, the structure chart of ii degree of freedom；
Fig. 3 b is the partial enlarged drawing of A in Fig. 3 a；
Fig. 4 is the structure chart of the ii I degree of freedom of upper limb training devicess；
Fig. 5 is the iv of upper limb training devicess, the structure chart of V, VI degree of freedom；
Fig. 6 is understructure figure of the present utility model；
Wherein：Ith, overarm arm；II base,；IIIth, upper limb training devicess；1st, mainframe box；2nd, castor；3rd, lifting column；4th, help
Handss；5th, chassis；6th, axle；7th, turning arm；8th, shoulder horizontal anomalous movement arm；9th, the vertical lever arm of shoulder；10th, motor；11st, motor；12、
Rotary plunger；13rd, elbow joint electric machine assembly；14th, upper crook of the arm rail；15th, elbow joint structure part；16th, upper arm bandage；17th, elbow joint
Movable part；18th, front crook of the arm rail；19th, motor；20th, upper arm adjusting means；21st, forearm structure part；22nd, forearm bandage；23rd, wrist closes
Section assembly；24th, grip member；25th, motor；26th, forearm adjusting means；27th, motor.
Specific embodiment
Below, in conjunction with accompanying drawing and specific embodiment, this utility model is described further：
Refer to Fig. 1, this utility model upper limb rehabilitation robot, including upper limb training devicess III, overarm arm I, base
II, upper limb training devicess III are connected by bearing with overarm arm I, and overarm arm I other end is connected with base.
Refer to Fig. 6, base includes chassis 5, mainframe box 1, castor 2, lifting column 3, handrail 4 form；Castor 2 is arranged on
Under chassis 5, have and hold up device, must lock castor 2 when machine when using prevents the random movement of machine；Lifting column 3 is solid
Be scheduled on chassis 5, when lifting column 3 lifts can with adjusting mechanical arm with respect to base height；Handrail 4 is arranged on chassis 5,
Push-and-pull handrail 4 can move machine by castor 2.
Refer to Fig. 2, upper limb training devicess include I degree of freedom, ii degree of freedom, ii I degree of freedom, iv freely
Degree, V degree of freedom, VI degree of freedom, 6 degree of freedom are sequentially connected in series connection, and the motion in corresponding each joint corresponds to shoulder joint respectively
Receipts/abduction in section, shoulder joint is stretched/is bent, elbow joint is stretched/bent, forearm turns up/inward turning, carpal joint stretch/song, finger stretch/bend.
Refer to Fig. 3 a and Fig. 3 b, turning arm 7 is fixed on overarm arm I by axle 6, and shoulder horizontal anomalous movement arm 8 is fixed on
One end of turning arm 7, the vertical lever arm of shoulder 9 is connected with shoulder horizontal anomalous movement arm 8 by axle, and rotary plunger 12 is arranged on shoulder
On horizontal anomalous movement arm 8, upper limb training devicess right-hand man can be switched over by adjusting rotary plunger 12.Controlled by motor 11
The rotation of turning arm 7, realizes the abduction/adduction of shoulder joint；Control the rotation of the vertical lever arm of shoulder by motor 10, realize shoulder
The flexion/extension in joint.
Refer to Fig. 4-5, elbow joint electric machine assembly 13 is fixed on elbow joint structure part 15, upper crook of the arm rail 14 respectively with elbow
Articulation structure part 15, upper arm bandage 16 assembly, exercising elbow joint part 17 are connected；Upper arm bandage 16 assembly is fixed on 19 groups of motor
On part, front crook of the arm rail 18 is connected respectively at elbow joint structure part 15, exercising elbow joint part 17, forearm structure part 21.Forearm is tied
Component 21, forearm bandage 22 assembly, carpal joint assembly 23, forearm adjusting means 26 are separately fixed at motor 25, the group of motor 27
On part, grip member 24 is arranged on carpal joint assembly.Control upper crook of the arm rail 14 to be moved by motor 19, realize upper arm
Internal/external rotations；Control front crook of the arm rail 18 to be moved by motor 27, realize the internal/external rotations of forearm；By elbow joint motor
Motor control elbow joint in assembly 13 is moved, and realizes the flexing of elbow joint；Carpal joint assembly is controlled by motor 25, real
Existing carpal flexion/extension；By adjusting upper arm adjusting means 20, can be with the length of adjusting mechanical arm upper arm；By adjusting forearm
Adjusting means 26, can realize mechanical arm forearm by forward rotation of upper limb/outward turning, forearm inward turning/outer with the length of adjusting mechanical arm forearm
Rotation composition, elbow flexing, carpal joint flexion/extension.
It will be apparent to those skilled in the art that can technical scheme as described above and design, make other various
Corresponding change and deformation, and all these change and deformation all should belong to the protection of this utility model claim
Within the scope of.
Claims (6)
1. upper limb rehabilitation robot, includes upper limb training devicess, overarm arm, base it is characterised in that base and upper limb are trained
Device passes through arm connection of hanging oneself from a beam, and base is can to move and height adjustment, and upper limb training devicess support each joint of human upper limb
Motion；
Turning arm is fixed on overarm arm by axle, and shoulder horizontal anomalous movement arm is fixed on one end of turning arm, and shoulder is vertically movable
Arm is connected by axle with shoulder horizontal anomalous movement arm；
Upper crook of the arm rail is connected with elbow joint structure part, upper arm bandage, exercising elbow joint part respectively；Front crook of the arm rail closes respectively at elbow
Nodule component, exercising elbow joint part, forearm structure part are connected；
Forearm structure part, forearm bandage assembly, carpal joint assembly, forearm adjusting means are separately fixed on electric machine assembly, grip
Part is arranged on carpal joint assembly, realizes that mechanical arm forearm is made up of forward rotation of upper limb/outward turning, forearm internal/external rotations, elbow is bent
Bent, carpal joint flexion/extension.
2. upper limb rehabilitation robot according to claim 1, it is characterised in that described upper limb training devicess, includes
I degree of freedom, ii degree of freedom, ii I degree of freedom, iv degree of freedom, V degree of freedom, VI degree of freedom, 6 degree of freedom according to
Secondary coupled in series, the motion in corresponding each joint correspond to respectively receipts/abduction in shoulder joint, shoulder joint is stretched/is bent, elbow joint is stretched/bent,
Forearm turns up/and inward turning, carpal joint stretch/and bent, finger stretches/bends.
3. upper limb rehabilitation robot according to claim 1 is it is characterised in that rotary plunger is arranged on shoulder horizontal anomalous movement
On arm, the rotation of the vertical lever arm of motor control turning arm shoulder, realize the abduction/adduction of shoulder joint and the flexion/extension of shoulder joint.
4. the upper limb rehabilitation robot according to Claims 2 or 3 is it is characterised in that described is closed by motor control elbow
Economize on electricity thermomechanical components, upper crook of the arm rail, front crook of the arm rail, carpal joint assembly are moved, and realize the flexing of elbow joint, the interior of upper arm respectively
Rotation/outward turning, the internal/external rotations of forearm, carpal flexion/extension.
5. upper limb rehabilitation robot according to claim 1 is it is characterised in that described upper arm and forearm pass through to adjust
Arm adjusting means, forearm adjusting means, can be with the length of adjusting mechanical arm upper arm, mechanical brachiocubital length.
6. upper limb rehabilitation robot according to claim 1 is it is characterised in that described base includes chassis, main frame
Case, castor, lifting column, handrail composition, castor is arranged under chassis, and mainframe box is arranged on chassis, and lifting column passes through mainframe box
It is fixed on chassis, handrail is interdependent with mainframe box and is arranged on chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620401155.0U CN205964401U (en) | 2016-05-03 | 2016-05-03 | Robot used for upper limb rehabilitation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620401155.0U CN205964401U (en) | 2016-05-03 | 2016-05-03 | Robot used for upper limb rehabilitation |
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| CN205964401U true CN205964401U (en) | 2017-02-22 |
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| CN201620401155.0U Active CN205964401U (en) | 2016-05-03 | 2016-05-03 | Robot used for upper limb rehabilitation |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106924013A (en) * | 2017-04-15 | 2017-07-07 | 上海卓道医疗科技有限公司 | A kind of dermaskeleton type upper limb rehabilitation image training robot |
| CN107595549A (en) * | 2017-10-09 | 2018-01-19 | 广州康医疗设备实业有限公司 | A kind of method and control system for eliminating limb motion trajector deviation |
| CN107595547A (en) * | 2017-09-18 | 2018-01-19 | 华南理工大学 | A kind of tow-armed robot for rehabilitation training of upper limbs |
| CN107928990A (en) * | 2017-12-22 | 2018-04-20 | 洛阳理工学院 | A kind of recovery training robot for upper limb |
| CN108210246A (en) * | 2018-01-10 | 2018-06-29 | 北京工业大学 | A kind of four-degree-of-freedom rehabilitation mechanical arm assembly |
| CN108721058A (en) * | 2018-06-28 | 2018-11-02 | 广州康医疗设备实业有限公司 | Exercising apparatus for recovery of upper limb and recovery training method |
| CN108836732A (en) * | 2018-04-20 | 2018-11-20 | 北京工业大学 | A kind of rehabilitation training of upper limbs exoskeleton mechanism with people-machine motion compatibility and passive gravitational equilibrium characteristic |
| CN109091348A (en) * | 2017-06-21 | 2018-12-28 | 上海寰晟新能源科技有限公司 | Upper limb rehabilitation robot and its system |
| CN109124985A (en) * | 2018-08-20 | 2019-01-04 | 中国科学院苏州生物医学工程技术研究所 | Personalized upper-limbs rehabilitation training robot system based on path planning |
| CN109938965A (en) * | 2019-04-02 | 2019-06-28 | 上海电气集团股份有限公司 | Rehabilitation adjusts alignment device |
| WO2020038012A1 (en) * | 2018-08-20 | 2020-02-27 | 中国科学院苏州生物医学工程技术研究所 | Personalized robot for upper limb rehabilitation training |
| CN110960395A (en) * | 2019-12-12 | 2020-04-07 | 中国科学院自动化研究所 | Exoskeleton type upper limb rehabilitation robot |
| CN113208869A (en) * | 2021-04-14 | 2021-08-06 | 深圳华鹊景医疗科技有限公司 | Hand rehabilitation training device and all-upper-limb rehabilitation robot |
| CN113952172A (en) * | 2021-11-18 | 2022-01-21 | 山东大学 | Multi-degree-of-freedom upper limb rehabilitation device |
-
2016
- 2016-05-03 CN CN201620401155.0U patent/CN205964401U/en active Active
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106924013B (en) * | 2017-04-15 | 2023-09-26 | 上海卓道医疗科技有限公司 | Exoskeleton type upper limb rehabilitation training robot |
| CN106924013A (en) * | 2017-04-15 | 2017-07-07 | 上海卓道医疗科技有限公司 | A kind of dermaskeleton type upper limb rehabilitation image training robot |
| CN109091348A (en) * | 2017-06-21 | 2018-12-28 | 上海寰晟新能源科技有限公司 | Upper limb rehabilitation robot and its system |
| CN107595547A (en) * | 2017-09-18 | 2018-01-19 | 华南理工大学 | A kind of tow-armed robot for rehabilitation training of upper limbs |
| CN107595547B (en) * | 2017-09-18 | 2024-04-16 | 华南理工大学 | Double-arm robot for upper limb rehabilitation training |
| CN107595549A (en) * | 2017-10-09 | 2018-01-19 | 广州康医疗设备实业有限公司 | A kind of method and control system for eliminating limb motion trajector deviation |
| CN107928990A (en) * | 2017-12-22 | 2018-04-20 | 洛阳理工学院 | A kind of recovery training robot for upper limb |
| CN107928990B (en) * | 2017-12-22 | 2024-01-19 | 洛阳理工学院 | Rehabilitation training robot for upper limbs |
| CN108210246A (en) * | 2018-01-10 | 2018-06-29 | 北京工业大学 | A kind of four-degree-of-freedom rehabilitation mechanical arm assembly |
| CN108210246B (en) * | 2018-01-10 | 2020-04-03 | 北京工业大学 | Four-degree-of-freedom rehabilitation mechanical arm device |
| CN108836732A (en) * | 2018-04-20 | 2018-11-20 | 北京工业大学 | A kind of rehabilitation training of upper limbs exoskeleton mechanism with people-machine motion compatibility and passive gravitational equilibrium characteristic |
| CN108721058A (en) * | 2018-06-28 | 2018-11-02 | 广州康医疗设备实业有限公司 | Exercising apparatus for recovery of upper limb and recovery training method |
| CN109124985A (en) * | 2018-08-20 | 2019-01-04 | 中国科学院苏州生物医学工程技术研究所 | Personalized upper-limbs rehabilitation training robot system based on path planning |
| WO2020038012A1 (en) * | 2018-08-20 | 2020-02-27 | 中国科学院苏州生物医学工程技术研究所 | Personalized robot for upper limb rehabilitation training |
| CN109124985B (en) * | 2018-08-20 | 2024-03-22 | 中国科学院苏州生物医学工程技术研究所 | Individualized upper limb rehabilitation training robot system based on path planning |
| CN109938965A (en) * | 2019-04-02 | 2019-06-28 | 上海电气集团股份有限公司 | Rehabilitation adjusts alignment device |
| CN110960395A (en) * | 2019-12-12 | 2020-04-07 | 中国科学院自动化研究所 | Exoskeleton type upper limb rehabilitation robot |
| CN113208869A (en) * | 2021-04-14 | 2021-08-06 | 深圳华鹊景医疗科技有限公司 | Hand rehabilitation training device and all-upper-limb rehabilitation robot |
| CN113952172A (en) * | 2021-11-18 | 2022-01-21 | 山东大学 | Multi-degree-of-freedom upper limb rehabilitation device |
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