CN208405892U - Upper limb coordinates device for healing and training - Google Patents
Upper limb coordinates device for healing and training Download PDFInfo
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- CN208405892U CN208405892U CN201820877696.XU CN201820877696U CN208405892U CN 208405892 U CN208405892 U CN 208405892U CN 201820877696 U CN201820877696 U CN 201820877696U CN 208405892 U CN208405892 U CN 208405892U
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Abstract
The utility model discloses a kind of upper limbs to coordinate device for healing and training, including executing agency, and executing agency is two groups, respectively left executing agency and right executing agency；Executing agency includes cylinder, holding mechanism；Holding mechanism is fixedly connected by guiding mechanism with the cylinder rod of cylinder；Regulating mechanism, including distance adjusting means, angle adjustment device and height adjustment device；The movement of gas circuit unit control cylinder；Executing agency is connected with distance adjusting means.Upper limb involved in the utility model coordinates device for healing and training, is embedded in clamping platform by the way that handle is pluggable, also facilitates and safeguards to training device.Enabling to the upper limb to coordinate device for healing and training can adapt to difference of the different patients in body size, stature height, training posture comfort requirement, to meet requirement of the user for training posture, different adjustings can both increase trained comfort level, personalized training program can also be formulated according to different settings, improve the adaptability of the equipment.
Description
Technical field
The utility model relates to the field of medical instrument technology more particularly to a kind of upper limb to coordinate device for healing and training.
Background technique
With the continuous development of medical technology, rehabilitation becomes one and promotes patient and disabled person's body and mind functional rehabilitation
New treatment subject and a new technology specialty.Its purpose is to enable people to restore daily production, as much as possible
It practises, the ability of work or physical labor and social life, is socially reintegrated, quality of making the life better.
Since the causes of disease such as cerebrovascular disease, brain trauma cause upper limb to lose mobility, the patient of muscle of upper extremity atrophy, often
It is to carry out rehabilitation training by external force passive movement, so that patient be helped to restore upper limbs force.But existing rehabilitation training of upper limbs
Accessory relative clumsy, not flexible, motor pattern is single, and training action type is fewer, and motion amplitude is smaller, operates uninteresting, nothing
Method improves interest of user when using equipment, increases user and uses difficulty.
Country's rehabilitation training of upper limbs equipment is deposited when carrying out treatment and rehabilitation for upper extremity motor function disorder patient at present
In shortcomings and deficiency, mainly when to rehabilitation training of upper limbs, it is not directed to the difference of each patient size for needing rehabilitation
It makes adjustment, individual adaptability is poor, and rehabilitation training is not comfortable enough.Adjustment or the tune of equipment cannot be carried out according to different patients
Whole inconvenience, the motor pattern supported are single；And comfort is poor, cannot preferably realize that man-machine harmony is unified.
Existing main passive exercise equipment is generally used motor-driven mode, but motor driven may bring motor to lose
Control causes the risk of unexpected injury, while the driving and control of motor are less susceptible to accomplish submissive, and adaptivity is not strong；Also it sets
Standby to be fixed using pure mechanic structure driving or gravity drive, training method and effect, flexibility is bad.
The training device of existing equipment, the handle especially contacted with user, the device of handrail etc generally all can not be more
It changes, the patient of different rehabilitation demands is often forced to unify to be trained using same device, has both brought in patient's training process
It is uncomfortable, more training effect is allowed to have a greatly reduced quality, such as patient's hand-type with apoplexy is different, some hand-types are normal, can
With take it is general hold tool, some hand-types are shrunk to chicken feet shape, and should make in patient's training process at this time, by palm and finger
It is as separated as possible, it is proper using finger-separating plate, also there is the hand of patient may be powerless, grasps or divide the form of finger all less
It is good, then it may consider the handle of semi-spherical shape and be aided with binding measure or other more suitably hold tool.
In conclusion country's rehabilitation training of upper limbs equipment cannot efficiently solve rehabilitation training of upper limbs machine when in use at present
It is not flexible, motor pattern is single, training action type is less, cannot be for difference to the bad adaptability of patient's bodily form, grip part
The problem of rehabilitation demands.
Utility model content
One purpose of the utility model is to provide a kind of upper limb coordination device for healing and training, can provide for patient flexibly
With the training method of various modes.
The another object of the utility model is to provide a kind of upper limb coordination device for healing and training, can adjust the posture of equipment
To adapt to different patients in the difference of the bodily form,
The third purpose of the utility model is to provide a kind of upper limb coordination device for healing and training, is capable of providing different instructions
Practice movement.
4th purpose of the utility model is to provide a kind of upper limb and coordinates device for healing and training, can replace grip part with
For the demand of different rehabilitations.
In order to solve the above technical problems, purpose of the utility model is realized as follows:
Upper limb involved in the utility model coordinates device for healing and training, comprising:
Executing agency, the executing agency are two groups, respectively left executing agency and right executing agency；The execution
Mechanism includes cylinder, holding mechanism；The holding mechanism is fixedly connected by guiding mechanism with the cylinder rod of cylinder；
Regulating mechanism, including distance adjusting means, angle adjustment device and height adjustment device；
Gas circuit unit, is connected with cylinder, controls the movement of cylinder；
The executing agency is connected with distance adjusting means.
As a further illustration of the above scheme, the distance adjusting means are fixedly installed in main substrate；The angle
It spends regulating device one end and main substrate is rotatablely connected, the other end is rotationally connected with lower substrate；The height adjustment device is under
Substrate is connected；The main substrate and lower substrate are hinged.
As a further illustration of the above scheme, the distance adjusting means include motor, left screw axis, right screw
Axis, motor drive left screw axis, the rotation of right screw axis by a driving wheel；It is set respectively on the left screw axis, right screw axis
It is equipped with left screw nut, right screw nut, and left screw nut, right screw nut can be driven to move toward one another；The left screw
Nut, right screw nut are mutually fixedly connected with left slider, the right sliding block being set in linear guide respectively；The left slider,
Right sliding block is rotatably connected has support base respectively.
As a further illustration of the above scheme, the quantity of the distance adjusting means be two groups, respectively first away from
From regulating device and second distance regulating device, wherein it is fixedly connected on support base set in first distance regulating device
Left executing agency, right executing agency, set support base and left executing agency, right executing agency in second distance regulating device
It is connected by linear guide.
As a further illustration of the above scheme, the angle adjustment device includes the first electric pushrod, institute
The first electric pushrod one end stated is articulated with and main substrate, and the other end is hingedly and lower substrate.
As a further illustration of the above scheme, the height adjustment device includes the second electric pushrod；Described
Two electric pushrod upper ends are fixedly connected with lower substrate, and lower end is fixedly connected with bearing soleplate, the second electric pushrod outer cover
There are the square hollow guide post that 3 sections are mutually nested, respectively the first square hollow guide post, the second square hollow guide post and
Three square hollow guide posts, described first square hollow guide post one end and lower substrate are connected, the hollow guiding of third square
Column one end and bearing soleplate are connected.
As a further illustration of the above scheme, the holding mechanism includes attachment base, being connected on attachment base has
The clamping platform of chamber offers the embedded hole with the chamber in clamping platform, is equipped with the hand with clamping portion in embedded hole
Support, clamping portion are equipped with groove one, the snap ring being set on clamping portion and the compression being connected on snap ring are equipped in the chamber
Spring, snap ring have the press section for running through and protruding from the chamber inner wall, and the snap ring can not be given in chamber indoor moving, and
When press section exerts a force, snap ring inlay card is in the groove one.
As a further illustration of the above scheme, the gas circuit unit, including pressure-regulating valve, gas supply switching valve, resistance
One or more of Buddhist nun's regulating valve or reversing solenoid valve.
As a further illustration of the above scheme, the damping regulating valve includes linear motor, throttle valve, displacement biography
Sensor, controller, throttle valve include spool, and spool is fixedly connected with the transmission shaft of linear motor, and spool is coaxial with transmission shaft, position
The measuring rod of displacement sensor is equipped with sensor connection sheet, and one end of sensor connection sheet is fixedly connected with measuring rod, and the other end is solid
Surely spool is connected, measuring rod is coaxial with spool, and linear motor and displacement sensor are separately connected controller.
The beneficial effects of the utility model are: upper limb involved in the utility model coordinates device for healing and training, by holding
It is embedded in clamping platform pluggable, installation easy to disassemble, also facilitates and training device is safeguarded, different patients couple can be directed to
The requirement of grip part is replaced.Upper limb coordination device for healing and training is enabled to can adapt to different patients big in the bodily form
The difference that small, stature height, training posture comfort require, can pass through distance adjusting means, angle adjustment device and height
Regulating device adjusts rehabilitation training of upper limbs equipment, and to meet requirement of the user for training posture, different adjusting both can be with
Increase training comfort level, personalized training program can also be formulated according to different settings, improve the adaptability of the equipment.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the partial structure diagram of the utility model；
Fig. 3 is the structural schematic diagram of holding mechanism；
Fig. 4 is the decomposition texture schematic diagram of Fig. 3；
Fig. 5 is the schematic diagram of internal structure of holding mechanism；
Fig. 6 is the structural schematic diagram of clamping portion；
Fig. 7 is that hand rest is handle and the structural schematic diagram for installing forearm support；
Fig. 8 is that hand rest is structural schematic diagram that is hemispherical and installing forearm support；
Fig. 9 is that hand rest is finger-separating plate shape and the structural schematic diagram for installing forearm support；
Figure 10 is the structural schematic diagram of distance adjusting means；
Figure 11 is the first, second distance adjusting means combining structure schematic diagram；
Figure 12 is height adjustment device and angle adjustment device fit structure schematic diagram；
Figure 13 is the second electric pushrod and lower substrate connection schematic diagram；
Figure 14 is the structural schematic diagram of the first electric pushrod；
Figure 15 is left and right executing agency's angle change schematic diagram；
Figure 16 is left and right executing agency's parallel distance variation schematic diagram.
Figure 17 is the structural schematic diagram for damping regulating valve；
Figure 18 is the sectional view for damping regulating valve.
Specific embodiment
The present invention will be further described with preferred embodiment with reference to the accompanying drawing.
Embodiment
In conjunction with Fig. 1 to Figure 18, the present embodiment part is described in detail.Upper limb involved in the present embodiment coordinates rehabilitation training dress
It sets, including executing agency 10, regulating mechanism 20 and gas circuit unit.
Executing agency 10 is two groups, respectively left executing agency 213 and right executing agency 214.Executing agency include cylinder,
Holding mechanism 13.Holding mechanism is fixedly connected by guiding mechanism with cylinder rod set on cylinder.Cylinder is by 11 He of cylinder body
Cylinder rod 12 forms.Guiding mechanism is linear guide.
Holding mechanism 13, including attachment base 101 are connected with the clamping platform 103 with chamber 102 on attachment base 101, are clamped
The embedded hole 104 being connected to the chamber 102 is offered on platform 103, is equipped with the hand rest with clamping portion 105 in embedded hole 104
106, clamping portion 105 is equipped with groove 1, and the snap ring 108 being set on clamping portion 105 is equipped in the chamber 102 and is supported
The compressed spring 109 on snap ring 108 is connect, snap ring 108 has the press section 110 for running through and protruding from 102 inner wall of chamber,
The snap ring 108 can move in chamber 102, and do not give press section 110 exert a force when, 108 inlay card of snap ring is in the groove one
In 107.
In the present embodiment, firstly, hand rest 106 is mounted in clamping platform 103, it is embedding that clamping portion 105 passes through embedded hole 104
It being located in chamber 102, compressed spring 109 abuts snap ring 108, so that 108 inlay card of snap ring is in groove 1,106 quilt of hand rest
" latching " can not be extracted directly out of embedded hole 104, and it is firm to install；When if desired unloading hand rest 106, press section 110 is applied
Power, snap ring 108 is mobile to 109 side of compressed spring in chamber 102, and compressed spring 109 is compressed, and snap ring 108 is embedded recessed
Being partially disengaged in slot 1, hand rest 106 are " unlocked ", and can directly be extracted out of embedded hole 104, are dismantled simple and convenient.
Further, it is additionally provided with annular groove 2 111 on the clamping portion 105, is rotatably connected in annular groove 2 111
Forearm support 112, forearm support 112 are mounted in annular groove 2 111, and forearm support 112 is free when training patient
Rotation, only plays a supporting role to arm forearm, without limiting the rotational freedom in plane.
Further, the shape of the forearm support 112 is U-shaped shape, increases the binding face of arm and forearm support 112
Product improves comfort.
Further, 112 two sides of forearm support are equipped with strip-shaped hole 113, for being convenient for patient's hand across fixed bandage
The fixation of arm.
Further, the clamping portion 105 has rotary table 114, and rotary table 114 is set to the groove 1 and annular groove
Between 2 111, the lower anchor ring of rotary table 114 is against 103 upper surface of clamping platform, plays a supporting role, and upper anchor ring holds for forearm
The loading end of support 112, plays the role of carrying.
Further, the clamping portion 105 has chamfering 115, and clamping platform 103 is facilitated to be inserted into embedded hole 104.
As shown in Figure 7 to 9, upper limb involved in the present embodiment coordinates the holding mechanism of device for healing and training, further
, the shape of the hand rest 106 is handle, hemispherical or finger-separating plate shape, which is preferred embodiment, it is not excluded that
The embodiment of 106 lower part clamping portion 105 of hand rest with other shapes of 106 top of hand rest with common characteristic, hand rest 106
Top is handle, hemispherical and finger-separating plate shape structure can be customized according to patient hand's situation, and its underpart is equipped with clamping portion 105
Feature, 106 fast and easy of hand rest can be realized and reliably insert inside holding mechanism, whole switching is easy to use.
The utility model is embedded in clamping platform by the way that hand rest is pluggable, installation easy to disassemble；By in clamping platform
The linkage of snap ring and compressed spring acts on, and hand rest is clamped, and exerts a force to press section, keeps snap ring mobile to compressed spring side, snap ring
It is detached from out of groove, the disassembly into shape to hand rest, when installation is firm not to be fallen off, and while dismantling is simple and convenient；Pass through different shape
Hand rest is equipped with the clamping portion of same characteristic features, and translation interface is unified, convenient for switching installation；Forearm support is added, when making to train
Forearm can be resisted against in forearm support, and forearm needs hanging brought uncomfortable when reducing training, and allomeric function is perfect, practicability
By force.
Regulating mechanism 20, including distance adjusting means, angle adjustment device and height adjustment device.Gas circuit unit, including
Pressure-regulating valve, gas supply switching valve；Gas circuit unit is connected with cylinder, controls the movement of cylinder.Executing agency 10 with apart from tune
Regulating device is connected.
Distance adjusting means include motor 201, left screw axis 202, right screw axis 203.Motor 201 passes through a driving wheel
209 drive left screw axis 202, right screw axis 203 to rotate.Left screw axis 202, right screw axis 203 are respectively arranged with left screw spiral shell
Female 204, right screw nut 205, and left screw nut 204, right screw nut 205 can be driven to move toward one another, left screw nut
204, right screw nut 205 is fixedly connected with the left slider 206 that is set in linear guide, 207 phase of right sliding block respectively；Left slider
206, right sliding block 207 can slide in linear guide, and being rotatably connected respectively on left slider 206, right sliding block 207 has support base
208.Support base 208 is fixedly connected with left executing agency 213 and right executing agency 214.
Motor 201 drives driving wheel 209 to rotate by a synchronous belt 210.Driving wheel 209 and left screw axis 202, right screw
Axis 203 is connected by key.Left screw nut 204, right screw nut 205 are logical with two sliding blocks set in linear guide respectively
Feed screw nut's seat is crossed mutually to fix.
When motor 201 drives driving wheel 209 by synchronous belt 210, driving wheel 209 drives left screw axis 202, right screw axis
203 rotations, left screw axis 202, right screw axis 203 make the left screw nut 204 being arranged thereon, right screw nut 205 respectively
It moves toward one another.Left screw nut 204, right screw nut 205 move toward one another, and drive left slider 206 fixed thereto, right sliding block
207 move toward one another, and then drive moving toward one another for left executing agency 213 and right executing agency 214.Mentioned left screw spiral shell
Mother 204, right screw nut 205 move toward one another, and refer to left screw nut 204, right screw nut 205 while moving, and move
It is contrary, i.e., it moves to the direction of driving wheel 209 or is moved to the direction away from driving wheel 209 simultaneously, so that left screw
The distance reduction or increase of nut 204, right screw nut 205.
The quantity of distance adjusting means is two groups, and respectively first distance regulating device 211 and second distance adjust 212 dresses
It sets, is wherein fixedly connected with left executing agency 213, right execution on support base 208 set in first distance regulating device 211
Mechanism 214, set support base 208 and left executing agency 213, right executing agency 214 are logical in second distance regulating device 212
Linear guide is crossed to be connected.
When the first regulating device 211 is consistent with the adjustment speed of second distance regulating device 212, it can be achieved that left execution
The adjusting of mechanism 213 and right distance when parallel of executing agency 214；When the first regulating device 211 and second distance regulating device
, it can be achieved that adjusting to 214 angle of left executing agency 213 and right executing agency when 212 adjustment speed is inconsistent, to adapt to pair
The needs of upper limb angle when rehabilitation training of upper limbs.When the adjusting speed of the first regulating device 211 and second distance 212 devices of adjusting
When spending inconsistent, second distance regulating device 212 can be slided along the linear guide being fixedly connected with 208 phase of support base, be realized
The adjusting of 212 angle of first distance regulating device 211 and second distance regulating device.
The regulating mechanism 20 that upper limb coordinates device for healing and training further includes angle adjustment device.Angle adjustment device includes the
One electric pushrod 217,217 one end of the first electric pushrod are hinged with main substrate 215, and the other end is hinged with lower substrate 216；It is main
Substrate 215 is hinged by hinge with lower substrate 216.Main substrate is skewed in the present embodiment, and lower substrate 216 is in level
Shape.One end of first electric pushrod 217 and lower one end of main substrate 215 are hinged.
Angle adjustment device further includes two elastic supporting member for supporting optical member, and elastic supporting member for supporting optical member is gas spring 218, gas in the present embodiment
Spring is made of the gentle spring lever of gas spring cylinder, one end of gas spring bar and the higher end with main substrate 215 in gas spring 218
It is hinged, one end with gas spring cylinder is hinged with lower substrate 216.Gas spring 218 is intersected with the first electric pushrod 217 to be set
It sets.
So-called elastic supporting member for supporting optical member is gas spring 218 in the present embodiment, but is not limited to gas spring 218, can also include energy
Play the role of the component of resilient support, such as the telescopic rod of built-in spring.
The regulating mechanism that upper limb coordinates device for healing and training further includes the second electric pushrod 219；Second electric pushrod 219 with
Lower substrate 216 is fixedly connected, and the height of lower substrate 216 is adjusted.Second electric pushrod 219 is a motor and is connected on motor
Telescopic rod piece.
Square hollow guide post, respectively the first square hollow guide post are additionally provided with outside second electric pushrod 219
220, the hollow guide post 222 of the second square hollow guide post 221, third square.First square hollow guide post 220, second party
The nested setting of the hollow guide post 222 of the hollow guide post 221 of shape, third square, the first square hollow guide post 220 and lower substrate
216 phases are fixedly connected, and the lower end of the hollow guide post 222 of third square and the second electric pushrod 219 and weight bearing foundation phase 223 are solid
It is fixed.When the movement 219 of the second electric pushrod and the first square hollow guide post 220, the second square hollow guide post 221, third party
The hollow guide post 222 of shape matches the height adjustment that can be achieved to lower substrate 216, and then realizes the height adjustment of whole equipment.
Gas circuit unit includes pressure-regulating valve and gas supply switching valve, further includes air pump 31 and air accumulator 32, air pump 31 and storage
Gas tank 32 provides required pressed gas in gas circuit unit.Air pump 31 and air accumulator 32 are located at upper limb and coordinate rehabilitation training dress
The bottom set mutually is fixedly connected with weight bearing foundation, and outside is additionally provided with a shell.The bottom of shell is additionally provided with from lockwheel 23.
The pressure of the adjustable gas supply of pressure-regulating valve, the direction of the changeable gas supply of gas supply switching valve.
Gas circuit unit further comprises damping regulating valve 16 and reversing solenoid valve.Damping regulating valve as shown in FIG. 17 and 18,
It include linear motor 302, throttle valve 301, displacement sensor 308, controller, throttle valve 301 includes spool 303, spool
303 are fixedly connected with the transmission shaft 304 of linear motor 302, and spool 303 and transmission shaft 304 are coaxial, the measurement of displacement sensor 308
Bar 309 is equipped with sensor connection sheet 310, and one end of sensor connection sheet 310 is fixedly connected with measuring rod 310, and the other end is fixed
Spool 303 is connected, measuring rod 309 and spool 303 are coaxial, and linear motor 302 and displacement sensor 308 are separately connected control
Device.Linear motor 302 is removably fixedly connected with throttle valve 301 by connection frame 311.Displacement sensor 308 passes through fixation
Seat 313 is detachably mounted on throttle valve 301.Linear motor 302 moves forward with movable valve plug 303, retreats or stops, and control flows through
The fluid flow of throttle valve 301 becomes larger or becomes smaller, and the position of spool 303 and variable quantity are fed back to control by displacement sensor 308
Device, controller control linear motor 302 forward or reverse, and the Forward of driving drive shaft 304 retreats or stops, thus with movable valve plug
303 Forwards retreat or stop.Linear motor 302, throttle valve 301, displacement sensor 308, controller form closed loop monitoring control
System, the accurate flow for controlling throttle valve 301, convection current form proportion adjustment through the fluid of throttle valve 301.Any need to fluid into
The appliance arrangement that row accurately controls, is adjusted control using the damping regulating valve of this implementation.
The preferred embodiments of the present invention have been described in detail above.It should be appreciated that the ordinary skill people of this field
Member according to the present utility model can conceive without creative work makes many modifications and variations.Therefore, all this technology necks
Technical staff passes through logic analysis, reasoning or limited reality according to the design of the utility model on the basis of existing technology in domain
Available technical solution is tested, it all should be within the scope of protection determined by the claims.
Claims (9)
1. upper limb coordinates device for healing and training characterized by comprising
Executing agency, the executing agency are two groups, respectively left executing agency and right executing agency；The executing agency
Including cylinder, holding mechanism；The holding mechanism is fixedly connected by guiding mechanism with the cylinder rod of cylinder；
Regulating mechanism, including distance adjusting means, angle adjustment device and height adjustment device；
Gas circuit unit, is connected with cylinder, controls the movement of cylinder；
The executing agency is connected with distance adjusting means.
2. upper limb as described in claim 1 coordinates device for healing and training, which is characterized in that the distance adjusting means are fixed
It is installed on main substrate；Described angle adjustment device one end and main substrate is rotatablely connected, and the other end is rotationally connected with lower substrate；Institute
The height adjustment device stated is connected with lower substrate；The main substrate and lower substrate are hinged.
3. upper limb as claimed in claim 1 or 2 coordinates device for healing and training, which is characterized in that the distance adjusting means
Including motor, left screw axis, right screw axis, motor drives left screw axis, the rotation of right screw axis by a driving wheel；The left side
It is respectively arranged with left screw nut, right screw nut on screw axis, right screw axis, and left screw nut, right screw spiral shell can be driven
Mother moves toward one another；The left screw nut, right screw nut respectively be set in linear guide left slider, right sliding block phase
It is fixedly connected；The left slider, right sliding block are rotatably connected have support base respectively.
4. upper limb as claimed in claim 3 coordinates device for healing and training, which is characterized in that the number of the distance adjusting means
Amount is two groups, respectively first distance regulating device and second distance regulating device, wherein set in first distance regulating device
It is fixedly connected with left executing agency, right executing agency on the support base set, set support base in second distance regulating device
It is connected with left executing agency, right executing agency by linear guide.
5. upper limb as described in claim 1 coordinates device for healing and training, which is characterized in that the angle adjustment device includes
First electric pushrod, the first described electric pushrod one end is articulated with and main substrate, and the other end is hingedly and lower substrate.
6. upper limb as claimed in claim 1 or 2 coordinates device for healing and training, which is characterized in that the height adjustment device
Including the second electric pushrod；The second electric pushrod upper end is fixedly connected with lower substrate, lower end and the fixed company of bearing soleplate
It connects, the mutually nested square hollow guide post of 3 sections, respectively the first square hollow guiding is cased with outside second electric pushrod
Column, the second square hollow guide post and the hollow guide post of third square, described first square hollow guide post one end and lower substrate
It is connected, described hollow guide post one end of third square and bearing soleplate are connected.
7. upper limb as described in claim 1 coordinates device for healing and training, which is characterized in that the holding mechanism includes connection
, it is connected with the clamping platform with chamber on attachment base, the embedded hole with the chamber, embedded hole are offered in clamping platform
Interior to be equipped with the hand rest with clamping portion, clamping portion is equipped with groove one, is equipped with the snap ring being set on clamping portion in the chamber
And it is connected to the compressed spring on snap ring, snap ring has the press section for running through and protruding from the chamber inner wall, and the snap ring can
In chamber indoor moving, and do not give press section force when, snap ring inlay card is in the groove one.
8. upper limb as described in claim 1 coordinates device for healing and training, which is characterized in that the gas circuit unit, including pressure
Force regulating valve, gas supply switching valve, damping one or more of regulating valve or reversing solenoid valve.
9. upper limb as claimed in claim 8 coordinates device for healing and training, which is characterized in that the damping regulating valve includes
Linear motor, throttle valve, displacement sensor, controller, throttle valve include spool, and spool is fixedly connected with the transmission of linear motor
Axis, spool is coaxial with transmission shaft, and the measuring rod of displacement sensor is equipped with sensor connection sheet, and one end of sensor connection sheet is solid
Surely measuring rod is connected, the other end is fixedly connected with spool, and measuring rod is coaxial with spool, and linear motor and displacement sensor connect respectively
Connect controller.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2017216910896 | 2017-12-07 | ||
| CN201721691089 | 2017-12-07 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208405892U true CN208405892U (en) | 2019-01-22 |
Family
ID=65110596
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820877696.XU Active CN208405892U (en) | 2017-12-07 | 2018-06-07 | Upper limb coordinates device for healing and training |
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| Country | Link |
|---|---|
| CN (1) | CN208405892U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108499017A (en) * | 2017-12-07 | 2018-09-07 | 同济大学浙江学院 | Upper limb coordinates device for healing and training |
| CN111714334A (en) * | 2020-07-13 | 2020-09-29 | 厦门威恩科技有限公司 | Upper limb rehabilitation training robot and control method |
| CN113750468A (en) * | 2021-09-27 | 2021-12-07 | 常州市中医医院 | Shoulder arthroscopy postoperative exerciser |
-
2018
- 2018-06-07 CN CN201820877696.XU patent/CN208405892U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108499017A (en) * | 2017-12-07 | 2018-09-07 | 同济大学浙江学院 | Upper limb coordinates device for healing and training |
| CN108499017B (en) * | 2017-12-07 | 2024-03-12 | 同济大学浙江学院 | Upper limb coordination rehabilitation training device |
| CN111714334A (en) * | 2020-07-13 | 2020-09-29 | 厦门威恩科技有限公司 | Upper limb rehabilitation training robot and control method |
| CN111714334B (en) * | 2020-07-13 | 2022-08-05 | 厦门威恩科技有限公司 | Upper limb rehabilitation training robot and control method |
| CN113750468A (en) * | 2021-09-27 | 2021-12-07 | 常州市中医医院 | Shoulder arthroscopy postoperative exerciser |
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