CN206355516U - A kind of plane upper-limbs rehabilitation training robot - Google Patents
A kind of plane upper-limbs rehabilitation training robot Download PDFInfo
- Publication number
- CN206355516U CN206355516U CN201720002354.9U CN201720002354U CN206355516U CN 206355516 U CN206355516 U CN 206355516U CN 201720002354 U CN201720002354 U CN 201720002354U CN 206355516 U CN206355516 U CN 206355516U
- Authority
- CN
- China
- Prior art keywords
- wire rope
- steel wire
- connecting rod
- thread spindle
- handleset
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Rehabilitation Tools (AREA)
Abstract
The utility model discloses a kind of plane upper-limbs rehabilitation training robot, including workbench, motor drive component, transmission component and Handleset, described motor drive component, transmission component and Handleset is separately mounted on described workbench.The utility model uses wire rope gearing, realizes the effect of deceleration force amplifier, for conventional gear reduction box, with outstanding back drive-ability, and control system can be made preferably to monitor the motion intention of patient, so as to realize more smooth man-machine interaction experience；Multi-directional ball is designed with Handleset, the gravity of patient's hand and connecting rod is converted into planar friction power, it is to avoid mechanical arm is hanging, reduces mechanical arm and rotating shaft institute bending moment, the stability and control accuracy of system can be effectively increased；The position of the handle and the cushion can be exchanged, so as to change effective activity space of user, expands the training area of patient's shoulder.
Description
Technical field
The utility model is related to robot technology, body biomechanicses, medical science of recovery therapy and rehabilitation project field, more particularly to
A kind of plane upper-limbs rehabilitation training robot.
Background technology
With continuing to develop for rehabilitation project and intellectual technology, robot is more and more applied to rehabilitation field.By brain
Upper limb disorder caused by angiosis, injury gained in sports, postoperative complications etc., generally requires therapist and carries out man-to-man rehabilitation
Treat to help patient to recover upper limbs mobility and muscular strength, but the shortage of therapist is a big present situation of current rehabilitation department.But
Existing upper limb trainer tool function is simple, and pattern is single, and can not record performance of the patient in training.Therefore, one is designed
Money pattern is various, can improve patient training interest and can record patient's training information upper limb rehabilitation robot it is very necessary.
Utility model content
The purpose of this utility model：A kind of plane upper-limbs rehabilitation training robot, the weight available for replacement therapy teacher are provided
Multiple motion, auxiliary patient's upper limbs is carried out in plane space passively, power-assisted and impedance train.
To achieve these goals, the technical solution of the utility model is：
A kind of plane upper-limbs rehabilitation training robot, including workbench, motor drive component, transmission component and handle group
Part, described motor drive component, transmission component and Handleset is separately mounted on described workbench.
Above-mentioned plane upper-limbs rehabilitation training robot, wherein, described motor drive component is by motor rack, motor, angle
Spend sensor, thread spindle, expansion sleeve, gear train and steel wire rope composition；Motor drive component described in two groups is separately fixed at base
On seat；Described motor is arranged on described motor rack with described thread spindle, and described motor rack is fixed on described base
On seat；Described gear train cooperates, and is fixed on the output end and screw thread of described motor by described expansion sleeve respectively
The input of axle, rotates the output shaft synchronous of described thread spindle and described motor；The other end dress of described thread spindle
There is described angular transducer；The interlude of described steel wire rope is wound on the screw thread of described thread spindle；Described thread spindle
Described capstan winch is driven to rotate by described steel wire rope during rotation.
Above-mentioned plane upper-limbs rehabilitation training robot, wherein, described transmission component is by pedestal, main shaft, capstan winch, steel wire
Rope, steel wire rope fixing part, connecting rod and multi-directional ball composition；Pass through bearing connection and relative turn between described connecting rod and connecting rod respectively
It is dynamic；Described main shaft is arranged on described pedestal by bearing, the output end of described main shaft by described expansion sleeve with
Described connecting rod is connected, and the input of described main shaft is connected by described expansion sleeve with described capstan winch, makes described strand
Disk drivening rod and described main shaft synchronous axial system；The radius of gyration of described capstan winch is more than the radius with described thread spindle；
Described capstan winch is provided with described steel wire rope fixing part, and the two ends of the steel wire rope are solid by described steel wire rope fixing part
It is fixed；Described multi-directional ball is fixed on the distal bottom of described connecting rod, and on the working face that described workbench is provided
Roll.
Above-mentioned plane upper-limbs rehabilitation training robot, wherein, described Handleset is arranged on the remote of described connecting rod
End, described Handleset is made up of handle, supporting plate and cushion；Described handle and cushion is separately positioned on described support
The two ends of plate.
Above-mentioned plane upper-limbs rehabilitation training robot, wherein, it is multiple in described supporting plate to be provided with lacing hole, positioned at institute
At the edges at two ends for the supporting plate stated.
The utility model uses wire rope gearing, realizes the effect of deceleration force amplifier, for conventional gear reduction box,
With outstanding back drive-ability, control system can be made preferably to monitor the motion intention of patient, so as to realize more smooth
Man-machine interaction experience；Multi-directional ball is designed with Handleset, the gravity of patient's hand and connecting rod is converted into planar friction
Power, it is to avoid mechanical arm is hanging, reduces mechanical arm and rotating shaft institute bending moment, can be effectively increased the stability and control essence of system
Degree；The position of the handle and the cushion can be exchanged, so as to change effective activity space of user, expands patient's shoulder
Training area.
Brief description of the drawings
Fig. 1 is a kind of structural representation of plane upper-limbs rehabilitation training robot of the utility model.
Fig. 2 is a kind of structural representation of the motor drive component of plane upper-limbs rehabilitation training robot of the utility model.
Fig. 3 is a kind of structural representation of the transmission component of plane upper-limbs rehabilitation training robot of the utility model.
Fig. 4 is a kind of structural representation of the Handleset of plane upper-limbs rehabilitation training robot of the utility model.
Fig. 5 is a kind of use demonstration graph of the normal activity scope of plane upper-limbs rehabilitation training robot of the utility model.
Fig. 6 is a kind of use demonstration graph of the expansion scope of activities of plane upper-limbs rehabilitation training robot of the utility model.
Embodiment
Embodiment of the present utility model is further illustrated below in conjunction with accompanying drawing.
Refer to shown in accompanying drawing 1, a kind of plane upper-limbs rehabilitation training robot, including the driving of workbench 1000, motor
Component 2000, transmission component 3000 and Handleset 4000, described motor drive component 2000, transmission component 3000 and handle
Component 4000 is separately mounted on described workbench 1000.
Refer to shown in accompanying drawing 2 and accompanying drawing 3, described motor drive component 2000 is by motor rack 2001, motor 2002, angle
Degree sensor 2003, thread spindle 2004, expansion sleeve 2005, gear train 2006 and steel wire rope 2007 are constituted；Motor described in two groups
Drive component 2000 is separately fixed on pedestal 3001；Described motor 2002 is arranged on described with described thread spindle 2004
On motor rack 2001, described motor rack 2001 is fixed on described pedestal 3001；Described gear train 2006 cooperates,
And the output end and the input of thread spindle 2004 of described motor 2002 are fixed on by described expansion sleeve 2005 respectively, make institute
The output shaft synchronous of the thread spindle 2004 stated and described motor 2002 is rotated；The other end of described thread spindle 2004 is equipped with institute
The angular transducer 2003 stated；The interlude of described steel wire rope 2007 is wound on the screw thread of described thread spindle 2004；It is described
Thread spindle 2004 rotate when drive described capstan winch 3003 to rotate by described steel wire rope 2007.
Described transmission component 3000 is fixed by pedestal 3001, main shaft 3002, capstan winch 3003, steel wire rope 2007, steel wire rope
Part 3004, connecting rod 3005,3006,3007,3008 and multi-directional ball 3009 are constituted；Described connecting rod 3005 and connecting rod 3006, connecting rod
Pass through bearing connection and phase between 3006 and connecting rod 3007, connecting rod 3007 and connecting rod 3008, connecting rod 3008 and connecting rod 3009 respectively
To rotating；Described main shaft 3002 is arranged on described pedestal 3001 by bearing, and the output end of described main shaft 3002 is led to
Cross described expansion sleeve 2005 with described connecting rod 3005,3008 to be connected, the input of described main shaft 3002 passes through described
Expansion sleeve 2005 is connected with described capstan winch 3003, makes the described drivening rod 3005,3008 of capstan winch 3003 and described main shaft
3002 synchronous axial systems；The radius of gyration of described capstan winch 3003 is more than the radius with described thread spindle 2004；Described capstan winch
3003 are provided with described steel wire rope fixing part 3004, and the two ends of the steel wire rope 2007 pass through described steel wire rope fixing part
3004 fix；Described multi-directional ball 3009 is fixed on the distal bottom of described connecting rod 3006,3007, and can be in described work
Rolled on the working face that platform 1000 is provided.
Refer to shown in accompanying drawing 4 to accompanying drawing 6, described Handleset 4000 is arranged on described connecting rod 3006,3007
Distally, described Handleset 4000 is made up of handle 4001, supporting plate 4002 and cushion 4003；Described handle 4001 and soft
Pad 4003 is separately positioned on the two ends of described supporting plate 4002.Supporting plate 4002 can rotate, handle 4001 and cushion 4003
Position can exchange, so as to change effective activity space of user, expand the training area of patient's shoulder.
It is multiple in described supporting plate 4002 to be provided with lacing hole 4004, positioned at the edges at two ends of described supporting plate 4002
Patient's wrist, can be fixed in supporting plate 4002 by place, occur the situation of other positions auxiliary firmly when reducing training.
Workbench 1000 provides a working face, motor drive component for plane upper-limbs rehabilitation training robot
2000th, transmission component 3000 and Handleset 4000 be on workbench 1000, and without departing from the scope of workbench 1000.
In summary, the utility model uses wire rope gearing, realizes the effect of deceleration force amplifier, subtracts compared to conventional gear
For fast case, with outstanding back drive-ability, control system can be made preferably to monitor the motion intention of patient, so that real
Now more smooth man-machine interaction experience；Multi-directional ball is designed with Handleset, the gravity of patient's hand and connecting rod is converted to
Planar friction power, it is to avoid mechanical arm is hanging, reduces mechanical arm and rotating shaft institute bending moment, can be effectively increased system stability and
Control accuracy；The position of the handle and the cushion can be exchanged, so as to change effective activity space of user, expands patient
The training area of shoulder.
Preferred embodiment of the present utility model is the foregoing is only, the scope of the claims of the present utility model is not thereby limited,
The equivalent structure transformation that every utilization the utility model description is made, or it is directly or indirectly related with other are attached to
The technical field of product, is similarly included in scope of patent protection of the present utility model.
Claims (4)
1. a kind of plane upper-limbs rehabilitation training robot, it is characterised in that：Including workbench, motor drive component, transmission group
Part and Handleset, described motor drive component, transmission component and Handleset are separately mounted on described workbench,
Described motor drive component is made up of motor rack, motor, angular transducer, thread spindle, expansion sleeve, gear train and steel wire rope；
Motor drive component described in two groups is separately fixed on pedestal；Described motor is arranged on described electricity with described thread spindle
In frame, described motor rack is fixed on described pedestal；Described gear train cooperates, and respectively by described swelling
Set is fixed on the output end and the input of thread spindle of described motor, makes the output shaft of described thread spindle and described motor
Synchronous axial system；The other end of described thread spindle is equipped with described angular transducer；The interlude of described steel wire rope is wound on institute
On the screw thread for the thread spindle stated；Described capstan winch is driven to rotate by described steel wire rope when described thread spindle is rotated.
2. plane upper-limbs rehabilitation training robot according to claim 1, it is characterised in that：Described transmission component is by base
Seat, main shaft, capstan winch, steel wire rope, steel wire rope fixing part, connecting rod and multi-directional ball composition；Lead to respectively between described connecting rod and connecting rod
Bearing is crossed to connect and relatively rotate；Described main shaft is arranged on described pedestal by bearing, the output end of described main shaft
It is connected by described expansion sleeve with described connecting rod, the input of described main shaft passes through described expansion sleeve and described strand
Disk is connected, and makes described capstan winch drivening rod and described main shaft synchronous axial system；The radius of gyration of described capstan winch is more than and institute
The radius for the thread spindle stated；Described capstan winch is provided with described steel wire rope fixing part, and the two ends of the steel wire rope pass through described
Steel wire rope fixing part fix；Described multi-directional ball is fixed on the distal bottom of described connecting rod, and in described workbench
Rolled on the working face of offer.
3. plane upper-limbs rehabilitation training robot according to claim 2, it is characterised in that：Described Handleset is installed
In the distal end of described connecting rod, described Handleset is made up of handle, supporting plate and cushion；Described handle and cushion difference
It is arranged on the two ends of described supporting plate.
4. plane upper-limbs rehabilitation training robot according to claim 3, it is characterised in that：It is multiple in described supporting plate
Provided with lacing hole, at the edges at two ends of described supporting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720002354.9U CN206355516U (en) | 2017-01-03 | 2017-01-03 | A kind of plane upper-limbs rehabilitation training robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720002354.9U CN206355516U (en) | 2017-01-03 | 2017-01-03 | A kind of plane upper-limbs rehabilitation training robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206355516U true CN206355516U (en) | 2017-07-28 |
Family
ID=59378493
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720002354.9U Active CN206355516U (en) | 2017-01-03 | 2017-01-03 | A kind of plane upper-limbs rehabilitation training robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206355516U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106512328A (en) * | 2017-01-03 | 2017-03-22 | 上海卓道医疗科技有限公司 | Planar upper limb rehabilitation training robot |
| CN108542704A (en) * | 2018-04-10 | 2018-09-18 | 广西科技大学 | Upper limb healing Medical Devices patient activity's device |
| CN110997084A (en) * | 2017-08-21 | 2020-04-10 | 国立再活院 | Upper limb exerciser and control method thereof |
| CN113431630A (en) * | 2021-06-22 | 2021-09-24 | 平顶山四联工贸公司 | Pneumatic tunnel repairing machine |
-
2017
- 2017-01-03 CN CN201720002354.9U patent/CN206355516U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106512328A (en) * | 2017-01-03 | 2017-03-22 | 上海卓道医疗科技有限公司 | Planar upper limb rehabilitation training robot |
| CN110997084A (en) * | 2017-08-21 | 2020-04-10 | 国立再活院 | Upper limb exerciser and control method thereof |
| US11259977B2 (en) | 2017-08-21 | 2022-03-01 | National Rehabilitation Center | Upper limb exercise apparatus and control method therefor |
| CN110997084B (en) * | 2017-08-21 | 2022-06-24 | 国立再活院 | Upper limb exerciser and control method thereof |
| CN108542704A (en) * | 2018-04-10 | 2018-09-18 | 广西科技大学 | Upper limb healing Medical Devices patient activity's device |
| CN113431630A (en) * | 2021-06-22 | 2021-09-24 | 平顶山四联工贸公司 | Pneumatic tunnel repairing machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106512328A (en) | Planar upper limb rehabilitation training robot | |
| CN206355516U (en) | A kind of plane upper-limbs rehabilitation training robot | |
| CN102499853B (en) | Upper limb rehabilitation training system with active-passive modes | |
| CN105252522B (en) | A kind of Flexible Transmission upper limb exoskeleton robot for wearing | |
| CN104363982B (en) | Upper limb rehabilitation robot system | |
| CN201168163Y (en) | Rehabilitation robot for anklebone | |
| CN108144264A (en) | Mechanical arm for rehabilitation training and healing robot | |
| CN106109166B (en) | A kind of driving upper limb rehabilitation robot indirectly | |
| CN107507503B (en) | It is a kind of for train rotation handle method mechanical simulation apparatus | |
| CN106393073A (en) | Portable type flexible-elbow-joint exoskeleton robot | |
| CN101292935A (en) | Robot for rehabilitation of anklebone | |
| CN102988153B (en) | Structural type weight reduction system used for gait rehabilitation training | |
| CN101829003B (en) | Exoskeleton-type upper limb rehabilitation robot | |
| CN104840334A (en) | Finger movement function rehabilitation training device | |
| CN206910696U (en) | A kind of plane upper-limbs rehabilitation training robot with flexible joint | |
| CN106038173A (en) | Rehabilitation exoskeleton robot based on variable flexible joints | |
| CN102600031B (en) | Treatment and rehabilitation system | |
| CN211244394U (en) | Upper limb exercise device for neurology department | |
| CN110812104A (en) | Arm exoskeleton rehabilitation system based on virtual reality | |
| JP3221539U (en) | Bi-directional exercise device | |
| CN107351067B (en) | Doctor posture keeping power assisting system for operation application | |
| CN102078678A (en) | Magnetic powder brake-based upper limb rehabilitation device | |
| CN106420266A (en) | Flywheel type limb rehabilitation training robot | |
| CN111408109A (en) | Shank flexibility trainer for sports | |
| CN104546379B (en) | Limb rehabilitation training machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |