CN208693729U - A kind of recovery training robot for upper limb - Google Patents
A kind of recovery training robot for upper limb Download PDFInfo
- Publication number
- CN208693729U CN208693729U CN201721818059.7U CN201721818059U CN208693729U CN 208693729 U CN208693729 U CN 208693729U CN 201721818059 U CN201721818059 U CN 201721818059U CN 208693729 U CN208693729 U CN 208693729U
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- China
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- linking arm
- semicircular ring
- friction
- connecting rod
- upper limb
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Abstract
The utility model relates to rehabilitation area of medical devices, specifically a kind of recovery training robot for upper limb.Including forearm clamping device, pedestal and for being connected forearm clamping device on the base and controlling the connection driving mechanism of forearm clamping device movement；The forearm clamping device includes the first linking arm, the friction semicircular ring for being rotatably arranged on first linking arm one end and the deformation semicircular ring being connected in friction semicircular ring, middle part along friction semicircular ring outer rim is equipped with the sliding slot slided with the one end fits of the first linking arm, rotation is equipped with the friction pulley with the outer rim of friction semicircular ring by friction mode transmission cooperation on the first linking arm, the utility model has multiple degrees of freedom, forearm rotation function can be especially provided, and joint distance can be carried out for different patients and adjusted, the recovery training suitable for upper limb.
Description
Technical field
The utility model relates to rehabilitation area of medical devices, specifically a kind of recovery training machine for upper limb
Device people.
Background technique
The number of middle-older patient hemiplegia is caused to be increasing because suffering from cranial vascular disease or the nervous system disease in recent years, and
And rejuvenation trend is presented in years；Simultaneously as something is so cause the number of neurotrosis or limb injury
More and more, the especially forfeiture of upper extremity exercise function greatly affected the ability of patient's daily life, for these hemiplegias
The patient being damaged with limbs, carrying out rehabilitation training is particularly significant and crucial medical procedure.
In the rehabilitation training of the relevant technologies, therapist gets used to manpower and carries out rehabilitation exercise, by perception auxiliary patient
Training usually can not can accurately be corresponded to when carrying out starting point setting using robot, and must not infrequently trial and error, when waste
Between.With modern nervous centralis Recovery mechanism progress of research, researchers at home and abroad are based on robot technology in motor function
Numerous studies are carried out in terms of rehabilitation, goal in research is the robot that development has rehabilitation and Function of Evaluation.Rehabilitation machines
Device people's technology is a kind of new kinesitherapy nerve Rehabilitation Treatment Technique, and robot technology is applied to rehabilitation field, both can provide
The rehabilitation training of effect, and do not increase the burden of clinical treatment personnel and the cost of health care；In addition, robot can recorde in detail
Real treatment data and figure, can provide objective, accurate treatment and evaluation parameter, facilitate robot assisted treatment hemiplegia
It carries out, rehabilitation efficacy can be effectively improved and improves rehabilitation efficiency.
Currently, upper-limbs rehabilitation training robot is treated and rehabilitation for upper extremity motor function disorder patient both at home and abroad
There are shortcomings and deficiency when training, mainly have: the joint of support activities is single or less, especially not forearm rotary collecting
At in system and device；Individual adaptability is poor, and adjustment or the adjustment that device cannot be carried out according to different patients are inconvenient.
Utility model content
The utility model, which is intended to provide one kind, has multiple degrees of freedom, can especially provide forearm rotation function, and can be for not
The recovery training robot for upper limb of height adjustment is carried out with patient.
In order to solve the above technical problems, the technical solution adopted in the utility model are as follows: a kind of rehabilitation for upper limb
Image training robot, including forearm clamping device, pedestal and for the connection of forearm clamping device on the base and to be controlled forearm
The connection driving mechanism of clamping device movement；The forearm clamping device includes the first linking arm, is rotatably arranged on the first connection
The friction semicircular ring of arm one end and the deformation semicircular ring being connected in friction semicircular ring, set in the middle part of friction semicircular ring outer rim
There is the sliding slot with the sliding of the one end fits of the first linking arm, rotation is equipped with logical with the outer rim of friction semicircular ring on the first linking arm
The friction pulley of friction mode transmission cooperation is crossed, friction pulley and the output shaft for the first servo motor being arranged on the first linking arm are logical
Belt transmission connection is crossed, one end of deformation semicircular ring is fixedly connected by first connecting rod with one end of friction semicircular ring, deformation
The other end of semicircular ring is fixed with the second connecting rod, and the other end for the semicircular ring that rubs is fixed with third connecting rod, and first
Connecting rod, the second connecting rod and third connecting rod are arranged in parallel, and the second servo motor is fixed in third connecting rod,
The output shaft of second servo motor is equipped with lead screw, and lead screw, which is fitted to, to be fixed in the nut in the second connecting rod, in shape
Become semicircular ring and be fixed with the 4th connecting rod in the side of friction semicircular ring opposite to each other, is fixed with handle in the 4th connecting rod；Institute
Connection driving mechanism is stated to include the second linking arm that is vertical and being slideably positioned on the first linking arm, be hingedly connected to the second connection
Third linking arm on arm, is hingedly connected on the 4th linking arm the 4th linking arm being rotatably arranged on third linking arm
5th linking arm and the shaft being fixed on the 5th linking arm are equipped with the axle sleeve cooperated with shaft, in institute on the pedestal
The hinge joint position stated between the second linking arm and third linking arm is equipped with for driving the second linking arm and third linking arm edge
The third servo motor that vertical direction relatively rotates is equipped with for driving the 4th to connect between the 4th linking arm and the 5th linking arm
Connect the 4th servo motor that arm and the 5th linking arm relatively rotate in the horizontal direction.
Preferably, the sliding slot is the card slot that cross section is in inverted T-shaped, and one end of first linking arm is fixed with and can slide
The dynamic sliding block being fastened in card slot.
Preferably, first linking arm is fixed with sliding sleeve, the sliding of the second linking arm far from one end of friction semicircular ring
It is set in sliding sleeve, threaded hole is offered on sliding sleeve, be fitted in threaded hole for consolidating sliding sleeve and the second linking arm
Fixed screw.
Preferably, the 4th linking arm and the 5th linking arm are horizontally disposed.
Preferably, the shaft and axle sleeve are arranged along the vertical direction, are equipped in base interior for controlling shaft lifting
Push-pull mechanism.
Preferably, the push-pull mechanism is cylinder.
Preferably, multiple castors are equipped in the bottom interval of the pedestal.
Preferably, the deformation semicircular ring is made of rubber material.
Beneficial effect
The recovery training robot apery upper limb for upper limb of the utility model designs, and realizes man-machine perfect
Match, improve comfort when rehabilitation training, includes multiple linking arms, to form multiple freedom between multiple linking arms
The realization of the joint motions campaign such as upper limb shoulder joint of human body, elbow joint, wrist joint, has been integrated into a rehabilitation training of upper limbs by degree
In robot, patient forearm can especially be fixed by forearm clamping device, and realize the rotation fortune for driving patient forearm
It is dynamic, to improve the validity of rehabilitation training.
The utility model can according to the size of different patient's upper limbs, by adjusting the first linking arm and the second linking arm it
Between relative position, easily adjust two interarticular positional distances of upper-limbs rehabilitation training robot, enhance rehabilitation training
Adaptability of the robot to different individual patients.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the utility model；
Fig. 2 is the partial enlargement diagram of part A in Fig. 1；
Fig. 3 is the partial enlargement diagram at one visual angle in forearm clamping device part of the utility model；
Fig. 4 is the partial enlargement diagram at another visual angle of the coin clamping device part of the utility model；
Marked in the figure: 1, castor, 2, pedestal, 3, axle sleeve, 4, shaft, the 5, the 5th linking arm, the 6, the 4th servo motor, 7,
Four linking arms, 8, third linking arm, 9, third servo motor, the 10, second linking arm, 11, first servo motor, 12, second watches
Take motor, 13, handle, the 14, the 4th connecting rod, 15, deformation semicircular ring, 16, friction semicircular ring, the 17, first linking arm, 18, cunning
Set, the 19, second connecting rod, 20, nut, 21, first connecting rod, 22, friction pulley, 23, belt, 24, screw, 25, sliding block, 26,
Sliding slot, 27, third connecting rod.
Specific embodiment
As shown in Figures 1 to 4, a kind of recovery training robot for upper limb of the utility model, including forearm folder
Mechanism, pedestal 2 and the connection for forearm clamping device to be connected on the base 2 to and controlled the movement of forearm clamping device is held to drive
Motivation structure.By forearm clamping device the forearm of patient is gripped, passes through connection driving mechanism and forearm clamping device
Cooperation drives the upper limb of patient to carry out the recovery trainings such as multivariant rotation, contraction, elongation.In the bottom interval of pedestal 2
Equipped with multiple gallons 1, convenient for the mobile transport of the utility model.
Forearm clamping device includes the first linking arm 17, the friction semicircular ring 16 for being rotatably arranged on 17 one end of the first linking arm
And it is connected to the deformation semicircular ring 15 in friction semicircular ring 16, it is equipped with along the middle part of friction 16 outer rim of semicircular ring and is connect with first
The sliding slot 26 of the one end fits sliding of arm 17, sliding slot 26 is the card slot that cross section is in inverted T-shaped, in the corresponding end of the first linking arm 17
Portion is equipped with the sliding block 25 can be free to slide in card slot and will not deviate from out of card slot.Allow friction semicircular ring 16 with vertical
It is rotated in the rotary centerline of the first linking arm 17.
The driving force for the semicircular ring 16 that rubs is from the friction pulley 22 being rotatably arranged on the first linking arm 17, friction pulley 22
Outer rim and friction semicircular ring 16 outer rim by friction mode transmission cooperate, and friction pulley 22 with setting in the first linking arm 17
On the output shaft of first servo motor 11 be sequentially connected by belt 23, passed through by the rotation of 11 output shaft of first servo motor
Belt 23 drives friction pulley 22 to rotate, and then drives friction semicircular ring 16 to rotate by friction pulley 22 again.
Deformation semicircular ring 15, which is made of rubber material and is parallel to friction semicircular ring 16, to be arranged, and deformation semicircular ring 15 is passed through
Deformation is generated to grip the forearm of patient.One end of deformation semicircular ring 15 passes through first connecting rod 21 and friction semicircular ring
16 one end is fixedly connected, and the other end of deformation semicircular ring 15 is fixed with the second connecting rod 19, friction semicircular ring 16 it is another
End is fixed with third connecting rod 27, and first connecting rod 21, the second connecting rod 19 and third connecting rod 27 are arranged in parallel,
One end part weight of the one end of second connecting rod 19 far from deformation semicircular ring 15 and third connecting rod 27 far from friction semicircular ring 16
It closes.The second servo motor 12 is fixed in third connecting rod 27, the output shaft of the second servo motor 12 is equipped with lead screw, silk
Thick stick, which is fitted to, to be fixed in the nut 20 in the second connecting rod 19.Pass through forward and reverse rotate driving of the second servo motor 12
Deformation semicircular ring 15 generate deformation, and make the second connecting rod 19 towards or opposite to each other in third connecting rod 27 move, with reach clamping
The effect of forearm.It is fixed with the 4th connecting rod 14 in the side of friction semicircular ring 16 opposite to each other in deformation semicircular ring 15, the 4th connects
Handle 13 is fixed on extension bar 14, for patient hand's gripping, so that forearm be made to turn under the drive of first servo motor 11
It is dynamic, achieve the effect that forearm recovery is treated.
Connection driving mechanism includes the second linking arm 10 that is vertical and being slideably positioned on the first linking arm 17, articulated connection
Third linking arm 8 on the second linking arm 10, is hingedly connected to the 4th linking arm 7 being rotatably arranged on third linking arm 8
The 5th linking arm 5 on 4th linking arm 7 and the shaft 4 being fixed on the 5th linking arm 5, are equipped with and shaft 4 on the base 2
The axle sleeve 3 of cooperation, the hinge joint position between the second linking arm 10 and third linking arm 8 are equipped with for driving the second linking arm
10 and the third servo motor 9 that relatively rotates along the vertical direction of third linking arm 8, the 4th linking arm 7 and the 5th linking arm 5 it
Between be equipped with for the 4th servo motor 6 that drives the 4th linking arm 7 and the 5th linking arm 5 to relatively rotate in the horizontal direction.
The first linking arm 17 in the present embodiment is fixed with sliding sleeve 18, the second connection far from one end of friction semicircular ring 16
Arm 10 is slidably located in sliding sleeve 18, and threaded hole is offered on sliding sleeve 18, is fitted in threaded hole for by sliding sleeve 18
Fixed screw 24, can adapt to dissimilar arm by slidable adjustment of the sliding sleeve 18 on the second linking arm 10 with the second linking arm 10
The rehabilitation of long patient is treated.4th linking arm 7 and the 5th linking arm 5 are horizontally disposed.
For the shaft 4 and axle sleeve 3 for further increasing the utility model for the adaptability of different patients, in the present embodiment
Be arranged along the vertical direction, inside pedestal 2 be equipped with for control shaft 4 lifting push-pull mechanism, push-pull mechanism can for cylinder,
The mechanisms such as oil cylinder or electric pushrod can freely be adjusted according to Patient height.
It should also be noted that, herein, relational terms such as first and second and the like are used merely to one
Entity or operation are distinguished with another entity or operation, without necessarily requiring or implying between these entities or operation
There are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant are intended to contain
Lid non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
The foregoing description of the disclosed embodiments can be realized professional and technical personnel in the field or using originally practical new
Type.Various modifications to these embodiments will be readily apparent to those skilled in the art, and determine herein
The General Principle of justice can be realized in other embodiments without departing from the spirit or scope of the present utility model.Cause
This, the present invention will not be limited to the embodiments shown herein, and is to fit to and principles disclosed herein
The widest scope consistent with features of novelty.
Claims (8)
1. a kind of recovery training robot for upper limb, it is characterised in that: including forearm clamping device, pedestal (2) and
For forearm clamping device to be connected on pedestal (2) to and controlled the connection driving mechanism of forearm clamping device movement；Before described
Arm clamping device include the first linking arm (17), be rotatably arranged on the first linking arm (17) one end friction semicircular ring (16) and
The deformation semicircular ring (15) being connected in friction semicircular ring (16) is equipped with along the middle part of friction semicircular ring (16) outer rim and connects with first
The sliding slot (26) of the one end fits sliding of arm (17) is connect, rotation is equipped with and friction semicircular ring (16) on the first linking arm (17)
Outer rim by friction mode transmission cooperation friction pulley (22), friction pulley (22) and be arranged on the first linking arm (17) first
The output shaft of servo motor (11) is sequentially connected by belt (23), and one end of deformation semicircular ring (15) passes through first connecting rod
(21) it is fixedly connected with one end of friction semicircular ring (16), the other end of deformation semicircular ring (15) is fixed with the second connecting rod
(19), the other end of friction semicircular ring (16) is fixed with third connecting rod (27), and first connecting rod (21), the second connecting rod
(19) and third connecting rod (27) is arranged in parallel, and the second servo motor (12) are fixed on third connecting rod (27),
The output shaft of second servo motor (12) is equipped with lead screw, and lead screw is fitted to the nut being fixed on the second connecting rod (19)
(20) in, the 4th connecting rod (14) is fixed in the side of friction semicircular ring (16) opposite to each other in deformation semicircular ring (15), the 4th
Handle (13) are fixed in connecting rod (14)；The connection driving mechanism includes vertical and is slideably positioned in the first linking arm
(17) the second linking arm (10) on, is rotatably arranged at the third linking arm (8) being hingedly connected on the second linking arm (10)
The 4th linking arm (7) on three linking arms (8), the 5th linking arm (5) being hingedly connected on the 4th linking arm (7) and fixed
Shaft (4) on the 5th linking arm (5) is equipped with the axle sleeve (3) that cooperates with shaft (4) on the pedestal (2), described the
Hinge joint position between two linking arms (10) and third linking arm (8) is equipped with for driving the second linking arm (10) and third to connect
The third servo motor (9) that arm (8) relatively rotates along the vertical direction is connect, between the 4th linking arm (7) and the 5th linking arm (5)
Equipped with the 4th servo motor (6) for driving the 4th linking arm (7) and the 5th linking arm (5) to relatively rotate in the horizontal direction.
2. a kind of recovery training robot for upper limb according to claim 1, it is characterised in that: the sliding slot
It (26) is cross section in the card slot of inverted T-shaped, one end of first linking arm (17), which is fixed with, to be slidably fastened in card slot
Sliding block (25).
3. a kind of recovery training robot for upper limb according to claim 1, it is characterised in that: described first connects
It connects arm (17) to be fixed with sliding sleeve (18) far from one end of friction semicircular ring (16), the second linking arm (10) is slidably located in sliding sleeve
(18) in, threaded hole is offered on sliding sleeve (18), is fitted in threaded hole for by sliding sleeve (18) and the second linking arm
(10) fixed screw (24).
4. a kind of recovery training robot for upper limb according to claim 1, it is characterised in that: the described 4th connects
It connects arm (7) and the 5th linking arm (5) is horizontally disposed.
5. a kind of recovery training robot for upper limb according to claim 1, it is characterised in that: the shaft
(4) it is arranged along the vertical direction with axle sleeve (3), the push-pull mechanism for controlling shaft (4) lifting is equipped with inside pedestal (2).
6. a kind of recovery training robot for upper limb according to claim 5, it is characterised in that: the push-and-pull machine
Structure is cylinder.
7. a kind of recovery training robot for upper limb according to claim 1, it is characterised in that: in the pedestal
(2) bottom interval is equipped with multiple castors (1).
8. a kind of recovery training robot for upper limb according to claim 1, it is characterised in that: the deformation half
Annulus (15) is made of rubber material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721818059.7U CN208693729U (en) | 2017-12-22 | 2017-12-22 | A kind of recovery training robot for upper limb |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721818059.7U CN208693729U (en) | 2017-12-22 | 2017-12-22 | A kind of recovery training robot for upper limb |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208693729U true CN208693729U (en) | 2019-04-05 |
Family
ID=65913524
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721818059.7U Expired - Fee Related CN208693729U (en) | 2017-12-22 | 2017-12-22 | A kind of recovery training robot for upper limb |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208693729U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107928990A (en) * | 2017-12-22 | 2018-04-20 | 洛阳理工学院 | A kind of recovery training robot for upper limb |
-
2017
- 2017-12-22 CN CN201721818059.7U patent/CN208693729U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107928990A (en) * | 2017-12-22 | 2018-04-20 | 洛阳理工学院 | A kind of recovery training robot for upper limb |
| CN107928990B (en) * | 2017-12-22 | 2024-01-19 | 洛阳理工学院 | Rehabilitation training robot for upper limbs |
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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: 20190405 Termination date: 20191222 |