CN207575412U - A kind of upper limb rehabilitation robot of pneumatic muscles driving - Google Patents
A kind of upper limb rehabilitation robot of pneumatic muscles driving Download PDFInfo
- Publication number
- CN207575412U CN207575412U CN201720569455.4U CN201720569455U CN207575412U CN 207575412 U CN207575412 U CN 207575412U CN 201720569455 U CN201720569455 U CN 201720569455U CN 207575412 U CN207575412 U CN 207575412U
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- China
- Prior art keywords
- pneumatic muscles
- spring
- straight
- sliding block
- bar
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Abstract
The utility model is related to healing robot technical fields,Specially a kind of upper limb rehabilitation robot of pneumatic muscles driving,The piston rod circumferentially around there is the first spring,The upper end of the pedestal is symmetrically connected with two the first pneumatic muscles using sleeve as symmetry axis,The upper end of the training station offers rectangular channel,The first sliding block is slidably connected in the rectangular channel,The upper end of first sliding block is connected with trained handle,The upper end of the support column is connected with mounting table,Column is connected on the right side of the upper end of the mounting table,Second straight-bar offers sliding slot on along its length,The outer end of second sliding block is hinged with the second pneumatic muscles,The side wall of second sliding block is connected with the 4th spring,The utility model has simple in structure,Sports safety,The features such as submissive excellent performance,It can realize good Man machine interaction during patient's rehabilitation training of upper limbs,With very strong practicability.
Description
Technical field
The utility model is related to healing robot technical field, specially a kind of upper limb healing machine of pneumatic muscles driving
People.
Background technology
In today's society, incidence rate of stroke has the tendency that rising year by year.This disease has caused limbs of patient movement work(
The forfeiture of energy and related complication.The especially forfeiture of upper extremity exercise function greatly affected the ability of patient's daily life.
Treating physician's one-to-one physiotherapy to patient is clinically depended greatly on to the method for rehabilitation of hemiplegic patient, by right
Patient's suffering limb involves repeatedly, achievees the purpose that rehabilitation training.Such therapeutic process labor intensity is high, less efficient, for this purpose, I
Propose the upper limb rehabilitation robot of pneumatic muscles driving a kind of.
Utility model content
The purpose of this utility model is to provide a kind of upper limb rehabilitation robot of pneumatic muscles driving, to solve the above-mentioned back of the body
The problem of being proposed in scape technology.
To achieve the above object, the utility model provides following technical solution：
A kind of upper limb rehabilitation robot of pneumatic muscles driving, including pedestal, the upper end of the pedestal be connected with sleeve and
Support column, and support column is located at the right side of sleeve, and piston rod is plugged in the sleeve, the upper end of the piston rod is hinged with instruction
Practice platform, the piston rod circumferentially around having the first spring, and one end of the first spring and the lower end of training station connect, the first bullet
The other end of spring is connect with pedestal, and the upper end of the pedestal is symmetrically connected with two the first pneumatic flesh using sleeve as symmetry axis
Meat, and the lower end of the other end of the first pneumatic muscles and training station connects, the upper end of the training station offers rectangular channel, described
The first sliding block is slidably connected in rectangular channel, the upper end of first sliding block is connected with trained handle.
Preferably, the upper end of the support column is connected with mounting table, is connected with column on the right side of the upper end of the mounting table, institute
The upper end for stating column is rotatably connected to the first straight-bar, and the other end of first straight-bar is hinged with the second straight-bar, and described second is straight
Third spring is connected on the downside of the bar other end, the other end of third spring is connect with the upper end of training handle, and described second is straight
Bar offers sliding slot on along its length, the second sliding block is slidably connected in sliding slot, and the outer end of second sliding block is hinged with
Two pneumatic muscles, the other end of the second pneumatic muscles is side walls hinged with the first straight-bar, and the side wall of second sliding block is connected with
4th spring, and the side wall of the other end of the 4th spring and sliding slot connects.
Preferably, the side wall of first sliding block is circumferentially connected with multiple second springs, and the other end of second spring with
The side wall connection of rectangular channel.
Preferably, second straight-bar is connected with fixed band close to the side lower end of the first straight-bar.
Compared with prior art, the beneficial effects of the utility model are：The upper limb rehabilitation robot of this pneumatic muscles driving,
Arm is placed on mounting table, and elbow joint position is sleeved on fixation and takes, and is held on training handle, by adjusting two the first gas
Dynamic muscle so that training station is swung, so as to be trained to wrist joint, by adjusting the second pneumatic muscles so that the first straight-bar
It is stretched back and forth with the second straight-bar, so as to reach the training to upper limb elbow joint, the utility model has simple in structure, movement peace
Entirely, it the features such as submissive excellent performance, can realize good Man machine interaction during patient's rehabilitation training of upper limbs, there is very strong reality
The property used.
Description of the drawings
FIG. 1 is a schematic structural view of the utility model；
Fig. 2 is the utility model Section A-A enlarged structure schematic diagram.
In figure：Pedestal 1, sleeve 2, piston rod 3, the first spring 31, training station 4, rectangular channel 41, the first sliding block 42, second
Spring 43, training handle 44, third spring 45, the first pneumatic muscles 5, support column 6, mounting table 7, column 8, the first straight-bar 9, the
Two straight-bars 10, sliding slot 101, the second sliding block 102, the 4th spring 103, the second pneumatic muscles 11.
Specific embodiment
The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out
It clearly and completely describes, it is clear that the described embodiments are only a part of the embodiments of the utility model rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are without making creative work
All other embodiments obtained shall fall within the protection scope of the present invention.
- 2 are please referred to Fig.1, the utility model provides a kind of technical solution：
A kind of upper limb rehabilitation robot of pneumatic muscles driving, including pedestal 1, the upper end of pedestal 1 is connected with sleeve 2 and branch
Dagger 6, and support column 6 is located at the right side of sleeve 2, and piston rod 3 is plugged in sleeve 2, the upper end of piston rod 3 is hinged with training station
4, piston rod 3 circumferentially around having the first spring 31, and one end of the first spring 31 is connect with the lower end of training station 4, the first bullet
The other end of spring 31 is connect with pedestal 1, and the upper end of pedestal 1 is symmetrically connected with two the first pneumatic flesh with sleeve 2 for symmetry axis
Meat 5, and the other end of the first pneumatic muscles 5 is connect with the lower end of training station 4, the upper end of training station 4 offers rectangular channel 41, square
The first sliding block 42 is slidably connected in shape slot 41, the side wall of the first sliding block 42 is circumferentially connected with multiple second springs 43, and second
The other end of spring 43 is connect with the side wall of rectangular channel 41, and second spring 43 plays buffer limit, the upper end of the first sliding block 42
It is connected with trained handle 44.
The upper end of support column 6 is connected with mounting table 7, and column 8 is connected on the right side of the upper end of mounting table 7, and the upper end of column 8 turns
Dynamic to be connected with the first straight-bar 9, the other end of the first straight-bar 9 is hinged with the second straight-bar 10, and the second straight-bar 10 is close to the first straight-bar 9
Side lower end is connected with fixed band, and for arm to be fixed, third spring 45 is connected on the downside of 10 other end of the second straight-bar, the
The other end of three springs 45 is connect with the upper end of training handle 44, and the second straight-bar 10 offers sliding slot 101 on along its length, sliding
The second sliding block 102 is slidably connected in slot 101, the outer end of the second sliding block 102 is hinged with the second pneumatic muscles 11, the second pneumatic flesh
The other end of meat 11 is side walls hinged with the first straight-bar 9, and the side wall of the second sliding block 102 is connected with the 4th spring 103, and the 4th bullet
The other end of spring 103 is connect with the side wall of sliding slot 101.
The upper limb rehabilitation robot of this pneumatic muscles driving, arm are placed on mounting table 7, and elbow joint position is sleeved on fixation
It takes, holds on training handle 44, by adjusting two the first pneumatic muscles 5 so that training station 4 is swung, so as to be closed to wrist
Section is trained, and there are gaps between training station 4 and mounting table 7, and convenient for the swing of training station 4, second spring 43 is slided to first
Block 42 plays the role of limiting buffer, and by adjusting the second pneumatic muscles 11, the second pneumatic muscles 11 push the second sliding block 102 to move
Dynamic, the 4th spring 103 plays cushioning effect, and the first straight-bar 9 is rotatablely connected with column 8 so that the first straight-bar 9 and the second straight-bar 10
It stretches back and forth, training handle 44 follows the second straight-bar 10 to move, and second spring 43 has position-limiting action to training handle 44, so as to reach
To the training to upper limb elbow joint, each portion's muscle, the utility model has the spies such as simple in structure, sports safety, submissive excellent performance
Point can realize good Man machine interaction during patient's rehabilitation training of upper limbs, have very strong practicability.
While there has been shown and described that the embodiment of the utility model, for the ordinary skill in the art,
It is appreciated that can these embodiments be carried out with a variety of variations in the case of the principle and spirit for not departing from the utility model, repaiied
Change, replace and modification, the scope of the utility model are defined by the appended claims and the equivalents thereof.
Claims (4)
1. a kind of upper limb rehabilitation robot of pneumatic muscles driving, including pedestal (1), the upper end of the pedestal (1) is connected with set
Cylinder (2) and support column (6), and support column (6) is positioned at the right side of sleeve (2), it is characterised in that：It is plugged in the sleeve (2)
Piston rod (3), the upper end of the piston rod (3) are hinged with training station (4), the piston rod (3) circumferentially around there is the first bullet
Spring (31), and one end of the first spring (31) is connect with the lower end of training station (4), the other end and pedestal of the first spring (31)
(1) it connecting, the upper end of the pedestal (1) is symmetrically connected with two with the first pneumatic muscles (5) that sleeve (2) is symmetry axis, and
The other end of first pneumatic muscles (5) is connect with the lower end of training station (4), and the upper end of the training station (4) offers rectangular channel
(41), the first sliding block (42) is slidably connected in the rectangular channel (41), the upper end of first sliding block (42) is connected with training
Handle (44).
2. a kind of upper limb rehabilitation robot of pneumatic muscles driving according to claim 1, it is characterised in that：The support
The upper end of column (6) is connected with mounting table (7), and column (8) is connected on the right side of the upper end of the mounting table (7), the column (8)
Upper end is rotatably connected to the first straight-bar (9), and the other end of first straight-bar (9) is hinged with the second straight-bar (10), and described second
Third spring (45) is connected on the downside of straight-bar (10) other end, the other end of third spring (45) is with training the upper of handle (44)
End connection, second straight-bar (10) offer sliding slot (101), second are slidably connected in sliding slot (101) on along its length
Sliding block (102), the outer end of second sliding block (102) are hinged with the second pneumatic muscles (11), the second pneumatic muscles (11) it is another
One end is side walls hinged with the first straight-bar (9), and the side wall of second sliding block (102) is connected with the 4th spring (103), and the 4th
The other end of spring (103) is connect with the side wall of sliding slot (101).
3. a kind of upper limb rehabilitation robot of pneumatic muscles driving according to claim 1, it is characterised in that：Described first
The side wall of sliding block (42) is circumferentially connected with multiple second springs (43), and the other end of second spring (43) and rectangular channel (41)
Side wall connects.
4. a kind of upper limb rehabilitation robot of pneumatic muscles driving according to claim 2, it is characterised in that：Described second
Straight-bar (10) is connected with fixed band close to the side lower end of the first straight-bar (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720569455.4U CN207575412U (en) | 2017-05-22 | 2017-05-22 | A kind of upper limb rehabilitation robot of pneumatic muscles driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720569455.4U CN207575412U (en) | 2017-05-22 | 2017-05-22 | A kind of upper limb rehabilitation robot of pneumatic muscles driving |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207575412U true CN207575412U (en) | 2018-07-06 |
Family
ID=62718176
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720569455.4U Expired - Fee Related CN207575412U (en) | 2017-05-22 | 2017-05-22 | A kind of upper limb rehabilitation robot of pneumatic muscles driving |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207575412U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114028777A (en) * | 2021-11-22 | 2022-02-11 | 河南科技大学第二附属医院 | Muscle rehabilitation training device for neurology disease patients |
-
2017
- 2017-05-22 CN CN201720569455.4U patent/CN207575412U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114028777A (en) * | 2021-11-22 | 2022-02-11 | 河南科技大学第二附属医院 | Muscle rehabilitation training device for neurology disease patients |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180706 Termination date: 20190522 |