CN209405193U - A kind of upper-limbs rehabilitation training robot - Google Patents
A kind of upper-limbs rehabilitation training robot Download PDFInfo
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- CN209405193U CN209405193U CN201821329430.8U CN201821329430U CN209405193U CN 209405193 U CN209405193 U CN 209405193U CN 201821329430 U CN201821329430 U CN 201821329430U CN 209405193 U CN209405193 U CN 209405193U
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- Prior art keywords
- rehabilitation training
- pedestal
- operating platform
- limbs rehabilitation
- training
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Abstract
The utility model discloses a kind of upper-limbs rehabilitation training robots, including operating platform (3), it is placed on the robot body (2) that can be moved on the operating platform (3) and on the operating platform (3), the robot body (2) includes pedestal (23) and the exercising apparatus for recovery of upper limb that is installed on the pedestal (23), the bottom of the pedestal (23) is equipped with multiple omni-directional wheels contacted with the operating platform (3), the pedestal (23) is internally provided with multiple motors (25) for driving the universal wheel (26) to move, the robot body (2) further includes the controller being connect with the motor (25) for controlling the motor (25) running, the controller is connect with display (1).The upper-limbs rehabilitation training robot efficiently solves the problems such as general joint training aids is unable to satisfy complicated rehabilitation training requirement.
Description
Technical field
The utility model relates to rehabilitation training equipment technical fields, more particularly to a kind of upper-limbs rehabilitation training robot.
Background technique
Existing upper-limbs rehabilitation training robot product technology realization on require ectoskeleton greatly as mechanical arm and
Bulky support base；Or joint position only fed back with sensor for more easy joint training aids etc., but cannot be according to
Complicated rehabilitation training requirement is realized by technologies such as motor controls.
The shortcomings that conventional ectoskeleton upper limb rehabilitation robot product is: ectoskeleton mechanical arm size is big, training joint number
More multiple-length direction size is bigger.The support base of installation and the fixation of mechanical arm dimensionally in weight all very greatly and very
Weight.The shortcomings that joint training aids of routine is: the driving of joint training is seldom to be driven and carried out position control by motor
It makes to complete, so that general joint training aids is unable to satisfy complicated rehabilitation training requirement.
It is asked in conclusion how to efficiently solve general joint training aids and be unable to satisfy complicated rehabilitation training requirement etc.
Topic, is current those skilled in the art's urgent problem.
Utility model content
The purpose of the utility model is to provide a kind of upper-limbs rehabilitation training robot, the upper-limbs rehabilitation training robot is effective
Ground solves the problems such as general joint training aids is unable to satisfy complicated rehabilitation training requirement.
In order to solve the above technical problems, the utility model provides the following technical solutions:
A kind of upper-limbs rehabilitation training robot, including operating platform, be placed on the operating platform and can be described
The robot body moved on operating platform, the robot body include pedestal and the upper limb healing that is installed on the pedestal
Training device, the bottom of the pedestal are equipped with multiple universal wheels contacted with the operating platform, and the inside of the pedestal is set
Multiple motors for driving the universal wheel to move are equipped with, the robot body further includes connecting with the motor for controlling
The controller of the motor running is made, the controller is connect with display.
Preferably, a controller controls a motor, and a motor passes through deceleration device driving one
A universal wheel.
It preferably, further include the display being connect with the controller, the display is for showing the controller
Training game content.
Preferably, station location marker two dimensional code is disposed on the operating platform, the bottom of the pedestal is provided with identification institute
State the camera of station location marker two dimensional code.
Preferably, the operating platform is lifting platform.
Preferably, the exercising apparatus for recovery of upper limb includes the fixed device of forearm, wrist joint training device and hand instruction
Practice device, the fixed device of the forearm, the wrist joint training device and the hand exercise device are fixed on a stringer
On, the controllable power being applied on the stringer of patient carries out the calibration of power before training starts.
Upper-limbs rehabilitation training robot provided by the utility model, including operating platform, robot body and controller,
Robot body is placed on the operational platform, and can be moved on the operational platform.Robot body includes pedestal and upper limb health
Multiple training device, exercising apparatus for recovery of upper limb are installed on pedestal.The bottom of pedestal is equipped with multiple universal wheels, universal wheel and behaviour
Make contact with platform, it can be mobile in operating platform.Pedestal is internally provided with multiple motors, and motor is for driving universal wheel to transport
It is dynamic.Controller is connected to motor, and for controlling motor running, controller is connect with display.
Upper-limbs rehabilitation training robot provided by the utility model, to realize that the pedestal of upper-limbs rehabilitation training robot exists
The movement of any direction on horizontal plane, the training for making the upper limb of patient that interaction training game be followed to carry out corresponding joint.On this
Limbs rehabilitation training robot can carry out the assessment and training of the actively and passively upper limb of aspect, including shoulder joint, elbow joint, wrist
The assessment and training in joint and articulations digitorum manus.In the passive mode, it is controlled by controller, motor driven universal wheel, drives universal wheel,
The training for making the upper limb of patient that interaction training game be followed to carry out corresponding joint.Motor control universal wheel makes robot body can
With mobile to any direction in operating platform.In the active mode, it drives universal wheel to carry out game training by patient and then reaches
To the effect being trained to corresponding joint.
Each joint auxiliary stand is combined the fan to form Portable movable formula by upper-limbs rehabilitation training robot with pedestal
The upper-limbs rehabilitation training robot of your type, with general upper-limbs rehabilitation training robot and wearing with separate machine arm fulcrum bearing
The joint training aids of formula is completely different in shape, and structure is simple, easily controllable, convenient for operation, there is very high identification.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of structural representation of upper-limbs rehabilitation training robot provided by specific embodiment in the utility model
Figure；
Fig. 2 is the first structure diagram of robot body in Fig. 1；
Fig. 3 is the second structural schematic diagram of robot body；
Fig. 4 is the third structural schematic diagram of robot body；
Fig. 5 is the 4th structural schematic diagram of robot body；
Fig. 6 is the structural schematic diagram of robot body and operating platform.
It is marked in attached drawing as follows:
1- display, 2- robot body, 3- operating platform, 21- wrist joint training device, 22- hand exercise device,
23- pedestal, 24- forearm fixed device, 25- motor, 26- universal wheel, 27- camera, 31- station location marker two dimensional code.
Specific embodiment
The core of the utility model is to provide a kind of upper-limbs rehabilitation training robot, and the upper-limbs rehabilitation training robot is effective
Ground solves the problems such as general joint training aids is unable to satisfy complicated rehabilitation training requirement.
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, 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 embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
Fig. 1 to Fig. 6 is please referred to, Fig. 1 is rehabilitation training of upper limbs provided by specific embodiment a kind of in the utility model
The structural schematic diagram of robot；Fig. 2 is the first structure diagram of robot body in Fig. 1；Fig. 3 is the second of robot body
Structural schematic diagram；Fig. 4 is the third structural schematic diagram of robot body；Fig. 5 is the 4th structural schematic diagram of robot body；Figure
6 be the structural schematic diagram of robot body and operating platform.
In a specific embodiment, upper-limbs rehabilitation training robot provided by the utility model, including operation are flat
Platform 3, robot body 2 and controller, robot body 2 are placed on operating platform 3, and can be moved on operating platform 3.
Robot body 2 includes pedestal 23 and exercising apparatus for recovery of upper limb, and exercising apparatus for recovery of upper limb is installed on pedestal 23.Pedestal 23
Bottom multiple universal wheels 26 are installed, universal wheel 26 is contacted with operating platform 3, can be mobile in operating platform 3.Pedestal 23
Multiple motors 25 are internally provided with, motor 25 is for driving universal wheel 26 to move.Controller is connect with motor 25, for controlling electricity
Machine 25 operates, and controller is connect with display 1.
Upper-limbs rehabilitation training robot provided by the utility model, to realize the pedestal 23 of upper-limbs rehabilitation training robot
The movement of any direction in the horizontal plane, the training for making the upper limb of patient that interaction training game be followed to carry out corresponding joint.It should
Upper-limbs rehabilitation training robot can carry out the assessment and training of the actively and passively upper limb of aspect, including shoulder joint, elbow joint,
The assessment and training of wrist joint and articulations digitorum manus.In the passive mode, it is controlled by controller, motor 25 drives universal wheel 26, drives
Universal wheel 26, the training for making the upper limb of patient that interaction training game be followed to carry out corresponding joint.Motor 25 controls universal wheel 26
Keep robot body 2 mobile to any direction in operating platform 3.In the active mode, universal wheel 26 is driven by patient
It carries out game training and then achievees the effect that be trained corresponding joint.
Each joint auxiliary stand is combined to form Portable movable formula by upper-limbs rehabilitation training robot with pedestal 23
Mini upper-limbs rehabilitation training robot, and the general upper-limbs rehabilitation training robot with separate machine arm fulcrum bearing and wears
The joint training aids for wearing formula is completely different in shape, and structure is simple, easily controllable, convenient for operation, there is very high identification.
Above-mentioned upper-limbs rehabilitation training robot is only a kind of preferred embodiment, is specifically not limited thereto, and on this basis may be used
It makes having according to actual needs and targetedly adjust, to obtain different embodiments, a controller controls an electricity
Machine 25, a motor 25 drive a universal wheel 26, one-to-one control, driving, the fortune of multiple universal wheels 26 by deceleration device
It is dynamic mutually indepedent, it is independent of each other, reduces failure, it is easy to control.
On the basis of above-mentioned specific embodiment, those skilled in the art can be according to the difference of specific occasion, to upper
Limbs rehabilitation training robot carries out several changes, further includes display 1, and display 1 is connect with controller, and display 1 is for showing
Show the training game content of controller, intuitive display interaction training game interface and selection course, observation is convenient, more directly
It sees.Display 1 can be liquid crystal display, relatively clear.
Obviously, under the guidance of this thought, those skilled in the art can be according to the difference of specific occasion to above-mentioned
Specific embodiment carries out several changes, and station location marker two dimensional code 31, the bottom setting of pedestal 23 are disposed on operating platform 3
There is camera 27, camera 27 can identify that station location marker two dimensional code 31, camera 27 are connect with controller, and controller control is taken the photograph
As 31 position of first 27 pairs of station location marker two dimensional codes is read out and identifies, to obtain current location, and pass through controller control electricity
Machine 25 drives universal wheel 26 that robot body 2 is made to be moved to next position, final robot body 2 from position
Upper limb is driven to complete doctor/therapist's setting oint motion trajectory under control of the controller.It station location marker two dimensional code 31 and takes the photograph
The position control and position feedback moved as the pedestal 23 of first 27 realization upper-limbs rehabilitation training robot in levels operation platform 3.
It is important to note that upper-limbs rehabilitation training robot provided by the utility model be not intended to be limited to it is such
Situation, operating platform 3 is lifting platform, height-adjustable, and the height of operating platform 3 can be adjusted according to patient's requirement for height
Degree, it is more convenient.Operating platform 3 is that lifting platform is a kind of preferred embodiment, be not it is unique, can also not
It can go up and down, height is fixed, and structure is simpler, and easy to process, cost is relatively low.
Upper-limbs rehabilitation training robot provided by the utility model, in the immovable situation of other components, upper limb health
Multiple training device includes the fixed device 24 of forearm, wrist joint training device 21 and hand exercise device 22, the fixed device of forearm
24, wrist joint training device 21 and hand exercise device 22 are fixed on a stringer, and patient is controllable before training starts
The power being applied on stringer carries out the calibration of power.The fixed arm of the fixed device 24 of forearm, can carry out according to the length of patient forearm
It adjusts easy to use.Wrist joint training device 21 can be trained wrist joint, and hand exercise device 22 can allow patient to carry out
Thumb and remaining four finger are trained.
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 (6)
1. a kind of upper-limbs rehabilitation training robot, which is characterized in that including operating platform (3), be placed on the operating platform (3)
Robot body (2) that is upper and can moving on the operating platform (3), the robot body (2) includes pedestal (23)
With the exercising apparatus for recovery of upper limb being installed on the pedestal (23), the bottom of the pedestal (23) is equipped with the multiple and behaviour
Make the universal wheel (26) of platform (3) contact, being internally provided with for the pedestal (23) is multiple for driving the universal wheel (26)
The motor (25) of movement, the robot body (2) further include connecting with the motor (25) for controlling the motor (25)
The controller of running, the controller are connect with display (1).
2. upper-limbs rehabilitation training robot according to claim 1, which is characterized in that a controller controls one
The motor (25), a motor (25) drive a universal wheel by deceleration device.
3. upper-limbs rehabilitation training robot according to claim 1, which is characterized in that further include being connect with the controller
Display (1), the display (1) is used to show the training game content of the controller.
4. upper-limbs rehabilitation training robot according to claim 1, which is characterized in that arranged on the operating platform (3)
Have station location marker two dimensional code (31), the bottom of the pedestal (23) is provided with the camera shooting for identifying the station location marker two dimensional code (31)
Head (27).
5. upper-limbs rehabilitation training robot according to claim 1, which is characterized in that the operating platform (3) is that can rise
Platform drops.
6. upper-limbs rehabilitation training robot according to claim 1-5, which is characterized in that the upper limb healing instruction
Practicing device includes forearm fixed device (24), wrist joint training device (21) and hand exercise device (22), and the forearm is solid
Determine device (24), the wrist joint training device (21) and the hand exercise device (22) to be fixed on a stringer,
The controllable power being applied on the stringer of patient carries out the calibration of power before training starts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821329430.8U CN209405193U (en) | 2018-08-16 | 2018-08-16 | A kind of upper-limbs rehabilitation training robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821329430.8U CN209405193U (en) | 2018-08-16 | 2018-08-16 | A kind of upper-limbs rehabilitation training robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209405193U true CN209405193U (en) | 2019-09-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821329430.8U Expired - Fee Related CN209405193U (en) | 2018-08-16 | 2018-08-16 | A kind of upper-limbs rehabilitation training robot |
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| CN (1) | CN209405193U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109009871A (en) * | 2018-08-16 | 2018-12-18 | 常州市钱璟康复股份有限公司 | A kind of upper-limbs rehabilitation training robot |
-
2018
- 2018-08-16 CN CN201821329430.8U patent/CN209405193U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109009871A (en) * | 2018-08-16 | 2018-12-18 | 常州市钱璟康复股份有限公司 | A kind of upper-limbs rehabilitation training robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190920 |
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| CF01 | Termination of patent right due to non-payment of annual fee |