CN205994694U - One kind can grafting upper-limbs rehabilitation training robot - Google Patents
One kind can grafting upper-limbs rehabilitation training robot Download PDFInfo
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- CN205994694U CN205994694U CN201620583889.5U CN201620583889U CN205994694U CN 205994694 U CN205994694 U CN 205994694U CN 201620583889 U CN201620583889 U CN 201620583889U CN 205994694 U CN205994694 U CN 205994694U
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- forearm
- wrist
- plate
- upper arm
- rehabilitation training
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Abstract
The utility model discloses one kind can grafting upper-limbs rehabilitation training robot, which includes：Wrist-sport mechanism, forearm motion, humeral movement mechanism, rotating mechanism and the pillar being sequentially connected in series；The front end of forearm motion is connected firmly with wrist bottom plate, and constitute hinged with the front end of humeral movement mechanism of the rear end of forearm motion rotates pair；The rear end of humeral movement mechanism is connected firmly with one end of rotating mechanism, and the other end of rotating mechanism is connected firmly with mechanism cantilever；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 is provided with the upper end of pillar, and structure cantilever is connected firmly with front end-plate.The utility model is simple and compact for structure, has wide range of applications, can be grafted onto on other rehabilitations and health and fitness facilities, can apply to upper limbs rehabilitation and the rehabilitation training of fitness training, achievable three-dimensional space motion.
Description
Technical field：
The utility model be related to one kind can grafting upper-limbs rehabilitation training robot, belong to rehabilitation medical and sport and body-building apparatus
Field.
Background technology：
Social senilization's degree is increasingly deepened, the reason such as cerebral apoplexy, spinal cord injury causes extremity motor function to reduce, or even
Total loss, has had a strong impact on quality of life.Rehabilitation be recover motor function effective way, conventional physical therapist with
There is the deficiencies such as high labor intensive, medical expense height in the man-to-man rehabilitation mode of patient, therefore, rehabilitation training equipment becomes
Solve the effective way of this contradiction.Since the middle of last century, scientific research personnel achieve on rehabilitation training equipment many become
Really, the such as successful development of the rehabilitation training equipment such as single-degree-of-freedom formula, ectoskeleton, suspension type and commercialization.But they are present
Not enough：Complex operation, forms of motion are single etc., develop a human upper limb three-dimensional motion device for healing and training of can realizing and have
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 simple and compact for structure, application model
Enclose rehabilitation that is extensive, being grafted onto on other rehabilitations and health and fitness facilities, can apply to upper limbs and fitness training, can achieve three-dimensional space
Between move recovery exercising robot.
The utility model solves technical problem and adopts the following technical scheme that：
One kind can grafting upper-limbs rehabilitation training robot, which includes：
Wrist-sport mechanism, forearm motion, humeral movement mechanism, rotating mechanism and the pillar being sequentially connected in series；
The structure of the Wrist-sport mechanism is：By wrist bottom plate, wrist upper head plate and it is connected to wrist bottom plate
The 3-freedom parallel mechanism that three line handspikes between wrist upper head plate are constituted；
The front end of the forearm motion is connected firmly with the wrist bottom plate, and the rear end of forearm motion is transported with upper arm
The hinged composition in the front end of motivation structure rotates pair；
The rear end of the humeral movement mechanism is connected firmly with one end of the rotating mechanism, the other end of the rotating mechanism with
Mechanism's cantilever is connected firmly；
It is provided with by front end-plate, end plate and be connected between front end-plate and end plate three in the upper end of the pillar
The 3-freedom parallel mechanism that line handspike is constituted, mechanism's cantilever are connected firmly with the front end-plate.
In the 3-freedom parallel mechanism of the Wrist-sport mechanism, the lower end of each line handspike is by flat hinge and wrist
Boss on bottom plate is hinged, and the upper end of each line handspike is hinged with wrist upper head plate by spherical hinge.
Being provided with forearm rotation push rod between forearm motion and humeral movement mechanism promotes forearm motion to turn
Dynamic.
The 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 are connected firmly with wrist bottom plate, before the rear end of forearm outer support bar and humeral movement mechanism
End is hinged；
Extension rod is installed with the middle part of the bottom surface of forearm outer support bar, the end of the extension rod is cut with scissors with forearm rotation push rod lower end
Connect, forearm rotation push rod upper end is hinged with the front end bottom surface of humeral movement mechanism, constitute four-bar mechanism；The first pallet of forearm, front
The second pallet of arm is separately fixed on forearm inner bracing piece and forearm outer support bar, before forearm bandage is fixed on by clamping device
On the groove of the first pallet of arm.
The 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 are hinged with the upper end of forearm outer support bar, forearm rotation push rod；Upper arm back support rod with turn
One end of motivation structure connects firmly；
After upper arm front tray upper arm, pallet is 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 upper arm front tray.
One end of the rotating mechanism is connected firmly with upper arm back support rod, and the other end is connected firmly with mechanism cantilever；Rotating mechanism
Can relatively rotate between two ends.
Motor and reductor are provided with the rotating mechanism one end being connected with mechanism cantilever, be connected with upper arm back support rod is turned
One end of motivation structure is connected firmly with the output shaft of the reductor.
The pillar is connected with frame, is formed and is rotated pair；Gear is fixed on the pillar of inverted L-shaped, arrowhead-shaped pin one end
It is stuck in gear grooved, one end is connected with steel wire, steel wire is bypassed axle and is connected with foot-operated, and spring housing is on arrowhead-shaped pin.
The Shelf External is provided with outer cover, and outer cover is a body structure, and there are four circular troughs inside, is respectively used to solid
Determine the little bearing at two big bearings on the pillar of inverted L-shaped and axle two ends, the baffle plate at arrowhead-shaped pin rear portion passes through spiral shell with casing
Bolt is connected.
Compared with the prior art, the beneficial effects of the utility model are embodied in：
The utility model can realize upper limbs three-dimensional space motion, limbs active-passive rehabilitation training and synchronous asynchronous instruction in realization
Practice.
The utility model simple structure, it is easy to be grafted onto other rehabilitations and fitness training apparatus, seat, massage armchair and wheelchair
On.
The utility model applied range, can be used for upper limbs and realizes rehabilitation training and exercise in three dimensions.
The utility model rehabilitation training pattern is various, two pairs of devices is symmetrically arranged in by left/right hand during use, can
To realize synchronous/asynchronous training.
The utility model compact conformation flexibly, can be folded when not using with freedom retractable, be taken up room little.
The utility model has detachability, and wrist, forearm and three part of upper arm can achieve tandem compound and can also take apart
Carry out respectively to wrist, elbow, shoulder joint rehabilitation training.
The utility model can make lower limb realize different tracks, the training of different amplitudes in three dimensions so as to both
Situation of the same position trainer in the exercise of different convalescence and physical training condition is adapted to, and the training of different heights can be met
Person carries out the demand of rehabilitation and exercise.
During active training, by adjust motor itself control electric current can resistance link, active training can be realized, not only
Can use as convalescence exerciser and carry out rehabilitation limbs, and can be as health and fitness facilities using building up health.
Description of the drawings：
Fig. 1 is internal overall structure diagram of the present utility model；Fig. 2 illustrates for outside overall structure of the present utility model
Figure.
In figure label：1 pillar, 2 forearm rotation push rods, 3 cantilevers, 4 frames, 5 gears, 6 arrowhead-shaped pins, 7 baffle plates, 8 steel
Silk, 9 ride, 10 Wrist-sport mechanisms, 101 wrist bottom plates, 102 wrist upper head plates, and 20 forearm motions, in 201 forearms
Support bar, 202 forearm outer support bars, 203 clamping devices, the first pallet of 204A forearm, the second pallet of 204B forearm, 205 forearms
Bandage, 30 humeral movement mechanisms, 301 upper arm front support rods, 302 upper arm back support rods, pallet after 303A upper arm, before 303B upper arm
Pallet, 304 upper arm bandages, 305 rotating mechanisms, 11 front end-plates, 12 end plates, 13 outer covers, 14 springs.
Below by way of specific embodiment, and the utility model is described in further detail to combine accompanying drawing.
Specific embodiment：
Embodiment：Referring to Fig. 1,2, the present embodiment can grafting three-dimensional motion rehabilitation training of upper limbs mechanism, which includes：
The Wrist-sport mechanism 10 that is sequentially connected in series, forearm motion 20, humeral movement mechanism 30, rotating mechanism 305 with
And pillar 1.
In concrete structure, the structure of Wrist-sport mechanism 10 is：By wrist bottom plate 101, wrist upper head plate 102 and company
The 3-freedom parallel mechanism that three line handspikes being connected between wrist bottom plate and wrist upper head plate are constituted；
In the 3-freedom parallel mechanism of Wrist-sport mechanism, the lower end of each line handspike is by under flat hinge and wrist
Boss on end plate 101 is hinged, and the upper end of each line handspike is hinged with wrist upper head plate 102 by spherical hinge, and three straight
Line push rod is distributed in decile in a circumferential direction；The top surface of wrist upper head plate 102 is hemisphere face (or being in mushroom corona shape),
Three line handspike simultaneous retractables, then drive wrist upper head plate 102 to move up and down, that is, drive wrist to move up and down, one
Or two line handspikes stretch, then wrist is driven to do wobbling action.
Further, the front end of forearm motion 20 is connected firmly with wrist bottom plate 101, the rear end of forearm motion 20
Constitute hinged with the front end of humeral movement mechanism 30 rotates pair, before being provided between forearm motion and humeral movement mechanism
Arm rotating push-rod 2 promotes forearm motion to rotate；
In concrete structure, forearm motion 20 is with forearm outer support bar 202 and forearm inner bracing piece 201, Liang Zhetong
Cross chute and sliding pair is connected and composed, the front end of forearm inner bracing piece 201 is connected firmly with wrist bottom plate 101, forearm outer support bar 202
Rear end hinged with the front end of humeral movement mechanism 30；
Humeral movement mechanism has upper arm front support rod 301 and upper arm back support rod 302, and both are connected and composed by chute
Sliding pair, the front end of upper arm front support rod 301 are hinged with the upper end of forearm outer support bar 202, forearm rotation push rod；Prop up after upper arm
Strut 302 is connected firmly with one end of rotating mechanism.
In concrete structure, in the middle part of the bottom surface of forearm outer support bar 202, extension rod is installed with, the end of the extension rod and forearm
Rotating push-rod lower end is hinged, and forearm rotation push rod upper end is hinged with the front end bottom surface of humeral movement mechanism, constitutes four-bar mechanism；Before
Arm the first pallet 204A, the second pallet of forearm 204B are separately fixed at forearm inner bracing piece 201 and forearm by clamping device 203
On outer support bar 202, forearm bandage 205 is fixed on the groove of forearm the first pallet 204A.
After upper arm front tray 303B, upper arm pallet 303A by clamping device be separately fixed at upper arm front support rod 301, on
On arm back support rod 302, upper arm bandage 304 is fixed on the groove of upper arm front tray 303B.
Shown in Fig. 1, one end of rotating mechanism is connected firmly with upper arm back support rod 302, and the other end is connected firmly with mechanism cantilever 3；
Can relatively rotate between the two ends of rotating mechanism.Concrete arrange, in the rotating mechanism one end being connected with mechanism cantilever 3
Motor and reductor is provided with, the one end for the rotating mechanism being connected with upper arm back support rod 302 is connected firmly with the output shaft of reductor, by
Output shaft supports humeral movement mechanism, forearm motion and wrist motion mechanism, and drives these mechanisms to turn by output shaft
Dynamic, certainly, also can be connected by plane bearing between the two ends of rotating mechanism, from external drive.
Fig. 1, shown in 2, it is provided with by front end-plate 11, end plate (12) in the upper end of pillar and is connected to front end-plate and rear end
The 3-freedom parallel mechanism that three line handspikes between plate are constituted, mechanism's cantilever 3 are connected firmly with front end-plate 11.
Rotation for realizing whole mechanism is stepped down, and pillar 1 is designed as to rotate in frame 4 and locking, concrete structure
In, pillar is connected with frame 4 by rolling bearing, is formed and is rotated pair；Gear 5 is fixed on the pillar 1 of inverted L-shaped, arrowhead-shaped pin
Sub 6 one end are stuck in 5 groove of gear, and one end is connected with steel wire 8, and steel wire bypasses axle and is connected with foot-operated 9, and spring 14 is enclosed within arrowhead-shaped pin
On sub (6).When stepping on foot-operated, steel wire pulls arrowhead-shaped pin 6 to depart from the groove of gear 5, now rotatable pillar 1, after putting in place, pine
Open foot-operated, in the presence of the reset force of spring 14, arrowhead-shaped pin 6 insert gear 5 groove in, so as to pillar 1 is locked in
In frame 4.
Outer cover 13 is provided with outside frame 4, outer cover 13 is a body structure, there are four circular troughs inside, are respectively used to
The little bearing of two big bearings and axle two ends on the pillar 1 of fixing inverted L-shaped, the baffle plate 7 at 6 rear portion of arrowhead-shaped pin are led to casing
Cross bolt to be connected.
The utility model device for healing and training can be applicable to upper extremity exercise function reduction or lose the rehabilitation training of crowd, side
User is helped to realize the rehabilitation training of movement locus under three dimensions.For the sound general population of upper limbs body function,
Healthy training can be carried out, help which to strengthen physical exercise ability, the utility model device for healing and training can make patient's upper limbs
More complicated spatial movement is completed, applied range, with very big commercial application prospect.
Preferred embodiment of the present utility model is the foregoing is only, the utility model is not limited to, for this
For the technical staff in field, the utility model can have various modifications and variations.All of the present utility model spirit and principle
Within, any modification, equivalent substitution and improvement that is made etc., should be included within protection domain of the present utility model.
Claims (9)
1. one kind can grafting upper-limbs rehabilitation training robot, it is characterised in that include：
The Wrist-sport mechanism (10) that is sequentially connected in series, forearm motion (20), humeral movement mechanism (30), rotating mechanism
And pillar (1) (305)；
The structure of Wrist-sport mechanism (10) is：By wrist bottom plate (101), wrist upper head plate (102) and it is connected to
The 3-freedom parallel mechanism that three line handspikes between wrist bottom plate and wrist upper head plate are constituted；
The front end of forearm motion (20) is connected firmly with wrist bottom plate (101), after forearm motion (20)
Constitute hinged with the front end of humeral movement mechanism (30) of end rotates pair；
The rear end of the humeral movement mechanism is connected firmly with one end of the rotating mechanism, the other end of the rotating mechanism and mechanism
Cantilever (3) is connected firmly；
It is provided with by front end-plate (11), end plate (12) in the upper end of the pillar and is connected between front end-plate and end plate
The 3-freedom parallel mechanism that three line handspikes are constituted, mechanism's cantilever (3) are connected firmly with the front end-plate (11).
2. one kind according to claim 1 can grafting upper-limbs rehabilitation training robot, it is characterised in that the Wrist-sport
In the 3-freedom parallel mechanism of mechanism, the lower end of each line handspike is by the boss on flat hinge and wrist bottom plate (101)
Hinged, the upper end of each line handspike is hinged with wrist upper head plate (102) by spherical hinge.
3. one kind according to claim 1 can grafting upper-limbs rehabilitation training robot, it is characterised in that in forearm fitness machine
Being provided with forearm rotation push rod (2) between structure and humeral movement mechanism promotes forearm motion to rotate.
4. one kind according to claim 1 can grafting upper-limbs rehabilitation training robot, it is characterised in that the forearm motion
With forearm outer support bar (202) and forearm inner bracing piece (201), both connect and compose sliding pair by chute for mechanism (20),
The front end of forearm inner bracing piece (201) is connected firmly with wrist bottom plate (101), and the rear end of forearm outer support bar (202) is transported with upper arm
The front end of motivation structure (30) is hinged；
Extension rod is installed with the middle part of the bottom surface of forearm outer support bar (202), the end of the extension rod and forearm rotation push rod lower end
Hinged, forearm rotation push rod upper end is hinged with the front end bottom surface of humeral movement mechanism, constitutes four-bar mechanism；The first pallet of forearm
(204A), the second pallet of forearm (204B) is separately fixed at outside forearm inner bracing piece (201) and forearm by clamping device (203)
On support bar (202), forearm bandage (205) is fixed on the groove of the first pallet of forearm (204A).
5. one kind according to claim 4 can grafting upper-limbs rehabilitation training robot, it is characterised in that the humeral movement
Mechanism has upper arm front support rod (301) and upper arm back support rod (302), and both connect and compose sliding pair, upper arm by chute
The front end of front support rod (301) is hinged with the upper end of forearm outer support bar (202), forearm rotation push rod；Upper arm back support rod
(302) connect firmly with one end of rotating mechanism；
After upper arm front tray (303B), upper arm pallet (303A) by clamping device be separately fixed at upper arm front support rod (301),
On upper arm back support rod (302), upper arm bandage (304) is fixed on the groove of upper arm front tray (303B).
6. one kind according to claim 5 can grafting upper-limbs rehabilitation training robot, it is characterised in that the rotating mechanism
One end connect firmly with upper arm back support rod (302), the other end is connected firmly with mechanism's cantilever (3)；Can send out between the two ends of rotating mechanism
Raw relative rotation.
7. one kind according to claim 6 can grafting upper-limbs rehabilitation training robot, it is characterised in that connect with mechanism cantilever
Motor and reductor are provided with the rotating mechanism one end for connecing, the one end for the rotating mechanism being connected with upper arm back support rod (302) with
The output shaft of the reductor is connected firmly.
8. one kind according to claim 1 can grafting upper-limbs rehabilitation training robot, it is characterised in that the pillar and machine
Frame (4) is connected, and is formed and rotates pair；Gear (5) is fixed on the pillar (1) of inverted L-shaped, and arrowhead-shaped pin (6) one end is stuck in gear
(5) in groove, one end is connected with steel wire (8), and steel wire is bypassed axle and is connected with foot-operated (9), and spring (14) is enclosed within arrowhead-shaped pin (6)
On.
9. one kind according to claim 8 can grafting upper-limbs rehabilitation training robot, it is characterised in that frame (4)
Outside is provided with outer cover (13), and outer cover (13) is a body structure, and there are four circular troughs inside, are respectively used to fix inverted L-shaped
Pillar (1) on two big bearings and axle two ends little bearing, the baffle plate (7) at arrowhead-shaped pin (6) rear portion passed through with casing
Bolt is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620583889.5U CN205994694U (en) | 2016-06-14 | 2016-06-14 | One kind can grafting upper-limbs rehabilitation training robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620583889.5U CN205994694U (en) | 2016-06-14 | 2016-06-14 | One kind can grafting upper-limbs rehabilitation training robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205994694U true CN205994694U (en) | 2017-03-08 |
Family
ID=58204297
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620583889.5U Withdrawn - After Issue CN205994694U (en) | 2016-06-14 | 2016-06-14 | One kind can grafting upper-limbs rehabilitation training robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205994694U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105919777A (en) * | 2016-06-14 | 2016-09-07 | 合肥工业大学 | Upper limb rehabilitation training robot capable of being grafted |
-
2016
- 2016-06-14 CN CN201620583889.5U patent/CN205994694U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105919777A (en) * | 2016-06-14 | 2016-09-07 | 合肥工业大学 | Upper limb rehabilitation training robot capable of being grafted |
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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: 20170308 Effective date of abandoning: 20171013 |