CN2688278Y - Multifunctional robot for upper limb rehabilitating exercise - Google Patents
Multifunctional robot for upper limb rehabilitating exercise Download PDFInfo
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- CN2688278Y CN2688278Y CN 200420018735 CN200420018735U CN2688278Y CN 2688278 Y CN2688278 Y CN 2688278Y CN 200420018735 CN200420018735 CN 200420018735 CN 200420018735 U CN200420018735 U CN 200420018735U CN 2688278 Y CN2688278 Y CN 2688278Y
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Abstract
The utility model discloses a multifunctional robot for upper limb rehabilitating exercise, which applies the computer technique to simulate the motion laws of limbs of human bodies according to the rehabilitating medical science theory and the human-machine cooperation robot principle. The speed and the intensity of the rehabilitating exercise can be independently adjusted according to the ill degree and the physical strength of the sufferer to attain the best rehabilitating effect. The multifunctional robot for upper limb rehabilitating exercise comprises a moving surface adjusting mechanism, a swing moving mechanism, an expansion and contraction moving mechanism, a control box and a handle. A PC, an SCM, a driver system, an input keyboard and a display are arranged inside the control box, and the control information can be input from the keyboard while the moving conditions can be displayed on the screen. The utility model is used for the sufferers who are paralyzed for cardio-cerebrovascular diseases, and whose upper limbs are damaged for accidents, etc, to do upper limb rehabilitating exercise, and the utility model can be also used for healthy old people to do physical exercise.
Description
Technical field
A kind of multi-functional upper-limbs rehabilitation training robot is used for cardiovascular and cerebrovascular disease or contingency etc. and causes the patient of upper limb body damage to make rehabilitation training of upper limbs, belongs to medical health apparatus.
Background technology
Theory of medicine and facts have proved, cerebral palsy sequela or contingency etc. cause the patient of upper limb body damage must carry out the limbs training, prevent muscle " the useless property used " atrophy, recover its function.Because there has been dysfunction in the patient, can not independently finish the limbs training, so a job is generally implemented by nurse or other people.This not only needs the implementer to have certain nursing knowledge, also needs the implementer to have certain muscle power.Although to this existing relevant patent application, also be necessary the technology in this field is improved and replenished at present, particularly the robot principle applied to wherein.
Summary of the invention
The purpose of this utility model is to disclose a kind of multi-functional upper-limbs rehabilitation training robot.It is theoretical and collaborative robot principle according to rehabilitation medicine, the characteristics of motion of utilization computer technology simulation human upper limb.Can independently adjust the speed and the intensity of the refining of rehabilitation instruction according to the weight and the physical ability of patient's sufferer during use, thereby make muscular training and motor function exercise obtain optimum efficiency.
Multi-functional upper-limbs rehabilitation training robot comprises moving surface guiding mechanism, oscillating motion mechanism, stretching motion mechanism, control chamber and handle.Wherein the moving surface guiding mechanism comprises support, base, trip bolt, end cap, rotating shaft; Oscillating motion mechanism comprises cabinet, oscillation gauge, servomotor, reductor, branch sleeve, shaft coupling, bearing block, swing head and bearing; Stretching motion mechanism comprises flexible pick off, servomotor, branch sleeve, shaft coupling, nut, outer sleeve, leading screw, inner sleeve, bearing and guide pin bushing; The kinetic control system of installing in the control chamber comprises PC, Single Chip Microcomputer (SCM) system and drive system.
The parts coaxial line of oscillating motion mechanism is installed in the square box, and swing power is from exporting in two shaft servomotors in the cabinet and the open-work on the slave tank wall.One end of servomotor links to each other with the two shaft reductors with deceleration with shaft coupling by branch sleeve, and the other end is by branch sleeve link to each other with oscillation gauge with shaft coupling (servomotor and oscillation gauge all have the lead-out wire that leads in the control chamber).Integral body after the assembling is fixed on the cabinet inwall by branch sleeve again, is processed with an open-work on the cabinet wall herein, installs bearing block and bearing; The spindle nose of swing head is inserted in the bearing and with another spindle nose of reductor and is connected.Also be processed with an axis on the swing head and the open-work of spindle nose orthogonal axe on it, be used to install stretching motion mechanism.So, can drive swing head (together with the stretching motion mechanism that installs thereon) at servomotor under the control of computer system and in predefined scope, swing.Stretching motion mechanism is that the rotation with the servomotor under the computer control converts linear reciprocating motion to through nut, leading screw.Its parts also are that coaxial line is installed.One end of the flexible servomotor of two shafts links to each other with flexible pick off with shaft coupling (servomotor and oscillation gauge all have the lead-out wire that leads in the control chamber) by branch sleeve, and the other end is connected by the outer sleeve of branch sleeve and stretching motion mechanism; And the other end of outer sleeve and a guide pin bushing are connected; One end installs nut, and the inner sleeve that the other end installs handle can be free to slide in outer sleeve in screwing in nut and under the drive of the leading screw that links to each other with flexible servomotor by shaft coupling, realizes expanding-contracting action.End from base after an end face of moving surface guiding mechanism shaft is connected with the inner cabinet sidewall that contains described assembly inserts in its through hole, and the other end of base is fixed an end cap, and base is fixed on again on the upper mounting plate of support.The purpose of doing like this is to make oscillating motion mechanism and drive stretching motion mechanism by the swing head to rotate around the shaft axis that is in level.Generally use two positions when doing rehabilitation training, the axis of first oscillating motion mechanism is perpendicular to the ground, and it two is parallel to the ground; Trip bolt locking on two all available end caps in position.Speed and angular signal that oscillation gauge and flexible pick off are used to pick up each self-corresponding servomotor use for computer system control.
Control oscillating motion mechanism and stretching motion mechanism action be to be contained in second control system that PC in the control chamber and Single Chip Microcomputer (SCM) system form and two cover drive systems (swing and stretching motion each one overlap).Wherein Single Chip Microcomputer (SCM) system comprises single-chip microcomputer, power supply, communication interface, keyboard, display; Drive system comprises driver respectively.Power supply is converted to DC5V and DC28V with AC220V, supplies with single-chip microcomputer and 2 drivers respectively.PC sends control instruction by communication interface to single-chip microcomputer, produces control signal, through controlling swing and flexible servomotor after two drivers respectively.Oscillation gauge (photoelectric encoder) and flexible pick off (photoelectric encoder) feed back to single-chip microcomputer with angular velocity and the angular displacement signal that records respectively; Constitute two-way closed loop position control system.Meanwhile PC receives from pick off speed and positional information that single-chip microcomputer transmitted, carries out movement locus planning, simulates the upper extremity exercise rule, makes it to meet patient's needs.Arrange on the control chamber table top that function keyboard and state display screen select for user, the information that function keyboard sends can insert the working method of Single-chip Controlling robot by cable, and display screen is used for display device people's duty.
About or the angle that teeters can be set in-45 °～+ 45 °, the amplitude of stretching motion is 30cm, waves speed 0～40 time/minute, stretching speed 0～20cm/S.
This utility model is used for that cardiovascular and cerebrovascular disease causes paralysis and the upper limb body damage patient that causes because of contingency etc. does rehabilitation training of upper limbs, also can be used for the physical training of healthy elderly.
Description of drawings
The structural scheme of mechanism of the multi-functional upper-limbs rehabilitation training robot of Fig. 1
The computer system theory diagram of the multi-functional upper-limbs rehabilitation training robot of Fig. 2
The specific embodiment
Provide the preferred version that this utility model is implemented below, and be illustrated in conjunction with the accompanying drawings.
Multi-functional upper-limbs rehabilitation training robot as shown in Figure 1, it comprises moving surface guiding mechanism 1, oscillating motion mechanism 2, stretching motion mechanism 3, control chamber 4 and handle 5.Wherein moving surface guiding mechanism 1 comprises support 10, base 11, trip bolt 12, end cap 13, rotating shaft 14; Oscillating motion mechanism 2 comprises cabinet 20, oscillation gauge 21, wobble servo motor 22, reductor 23, branch sleeve 24-1,24-2,24-3, shaft coupling 25-1,25-2, bearing block 26, swing 27 and bearing 28; Stretching motion mechanism 3 comprises flexible pick off 30, flexible servomotor 31, branch sleeve 32-1,32-2, shaft coupling 33-1,33-2, nut 34, outer sleeve 35, leading screw 36, inner sleeve 37 and guide pin bushing 38; And for example shown in Figure 2, PC 41, Single Chip Microcomputer (SCM) system 42, control swing and two flexible cover drive system 43,44 are housed in the control chamber 4 shown in Fig. 1.
The parts coaxial line of oscillating motion mechanism 2 is installed in the square box 20.The power of oscillating motion comes from the wobble servo motor 22 of two shafts, the one end links to each other with the two shaft reductors 23 with deceleration with shaft coupling 25-2 by branch sleeve 24-2, and the other end is by branch sleeve 24-1 link to each other with oscillation gauge 21 with shaft coupling 25-1 (wobble servo motor 22 and oscillation gauge 21 all have the lead-out wire that leads to control chamber 4).Described assembly is fixed on the inwall of cabinet 20 by branch sleeve 24-3 again, on the wall of cabinet 20 herein an open-work is arranged, and installs bearing block 26 and bearing 28; Spindle nose in the swing 27 is inserted in the bearing 28 and with another spindle nose of reductor 23 and is connected.Also be processed with an axis in the swing 27 and the open-work of spindle nose orthogonal axe on it, be used to install stretching motion mechanism 3.The parts of stretching motion mechanism 3 also coaxial line are installed.The power of stretching motion comes from another pair shaft servomotor 31, the one end links to each other with flexible pick off 30 (servomotor 31 and flexible pick off 30 all have the lead-out wire that leads to control chamber 4) with shaft coupling 33-1 by branch sleeve 32-1, and the other end is connected by the outer sleeve 35 of branch sleeve 32-2 and stretching motion mechanism 3; And the other end of outer sleeve 35 and guide pin bushing 38 are connected; One end installs the inner sleeve 37 that nut 34, the other end install handle 5 can be free to slide the realization stretching motion in outer sleeve 35 under the drive of the leading screw 36 that screws in nut 34 backs and link to each other with flexible servomotor 31 by shaft coupling 33-2.After the sidewall of cabinet 20 is connected in the end face of moving surface guiding mechanism 1 shaft 14 and the oscillating motion mechanism 2 its other end is inserted in the through hole of base 11, on the other end of base 11, fix an end cap 13.Base 11 is fixed on again on the upper mounting plate of support 10.The purpose of doing like this is to make whole oscillating motion mechanism 2 and 14 the axis rotation around the shaft of swing 27 a stretching motion mechanism 3 that drive.Generally use two positions when doing rehabilitation training, the axis of first oscillating motion mechanism 2 is perpendicular to the ground; It two is parallel to the ground; Trip bolt 12 lockings on two all available end caps 13 in position.
As shown in Figure 2,3 actions of control oscillating motion mechanism 2 and stretching motion mechanism is to be contained in second control system that PC 41 in the control chamber 4 and Single Chip Microcomputer (SCM) system 42 form and two cover drive systems 43,44 (swing and stretching motion each one overlap).Wherein Single Chip Microcomputer (SCM) system 42 comprises single-chip microcomputer 425, power supply 421, communication interface 422, keyboard 423, display 424.
This utility model is used for that cardiovascular and cerebrovascular disease causes paralysis and the upper limb body damage patient that causes because of contingency etc. does rehabilitation training of upper limbs, also can be used for the physical training of healthy elderly.
Claims (4)
1. multi-functional upper-limbs rehabilitation training robot, it comprises moving surface guiding mechanism (1), oscillating motion mechanism (2), stretching motion mechanism (3), control chamber (4) and handle (5); It is characterized in that: the parts coaxial line of oscillating motion mechanism (2) is installed in the square box (20), swing power is from the wobble servo motor (22) in the cabinet (20) and through swing head (27) output, be processed with an axis on the swing head (27) and the open-work of spindle nose orthogonal axe on it, be used to install stretching motion mechanism (3); Stretching motion mechanism (3) is the straight-line motion mechanism that a cover comprises flexible servomotor (31) and screw pair; Oscillating motion mechanism (2) by cabinet (20) wall be inserted into that rotating shaft (14) end face in base (11) open-work is connected in the moving surface guiding mechanism (1), thereby can make oscillating motion mechanism (2) and stretching motion mechanism (3) around the shaft the axis of (14) rotate and lock by trip bolt (12); Speed and angular signal that oscillation gauge (21) that links to each other with two servomotors respectively and flexible pick off (30) are used to pick up each self-corresponding servomotor use for computer system control.
2. multi-functional upper-limbs rehabilitation training robot as claimed in claim 1 is characterized in that moving surface guiding mechanism (1) is made up of support (10), base (11), trip bolt (12), end cap (13), rotating shaft (14); Wherein base (11) is fixed on the upper mounting plate of support (10); Insert in the through hole of base (11) after the sidewall of cabinet (20) is connected in rotating shaft (14) and the oscillating motion mechanism (2), fix an end cap (13) on the other end of base (11), end cap has trip bolt 12 on (13).
3. multi-functional upper-limbs rehabilitation training robot as claimed in claim 1, it is characterized in that oscillating motion mechanism (2) is by oscillation gauge (21), wobble servo motor (22), reductor (23), branch sleeve (24-1,24-2,24-3), shaft coupling (25-1,25-2), bearing block (26), swing head (27) and bearing (28) composition; Described parts coaxial line is installed in the square box (20); One end of two shaft wobble servo motors (22) links to each other with two shaft reductors (23) with shaft coupling (25-2) by branch sleeve (24-2), and the other end links to each other with oscillation gauge (21) with shaft coupling (25-1) by branch sleeve (24-1); Described assembly is fixed on the inwall of cabinet (20) by branch sleeve (24-3) again, on cabinet herein (20) wall open-work is arranged, and installs bearing block (26) and bearing (28); Spindle nose on the swing head (27) is inserted in the bearing (28) and with another spindle nose of reductor (23) and is connected; Also be processed with an axis on the swing head (27) and the open-work of spindle nose orthogonal axe on it.
4. multi-functional upper-limbs rehabilitation training robot as claimed in claim 1, it is characterized in that stretching motion mechanism (3) is by flexible pick off (30), flexible servomotor (31), branch sleeve (32-1,32-2), shaft coupling (33-1,33-2), nut (34), outer sleeve (35), leading screw (36), inner sleeve (37) and guide pin bushing (38) are formed described parts coaxial line installation; One end of two shaft servomotors (31) links to each other with flexible pick off (30) with shaft coupling (33-1) by branch sleeve (32-1), the other end is connected by branch sleeve (32-2) and outer sleeve (35) one ends, and outer sleeve (35) other end and guide pin bushing (38) are connected; One end installs the inner sleeve (37) that nut (34), the other end install handle (5) and can be free to slide in outer sleeve (35) under the drive of the leading screw (36) that screws in nut (34) and link to each other with flexible servomotor (31) spindle nose by shaft coupling (33-2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420018735 CN2688278Y (en) | 2004-04-07 | 2004-04-07 | Multifunctional robot for upper limb rehabilitating exercise |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420018735 CN2688278Y (en) | 2004-04-07 | 2004-04-07 | Multifunctional robot for upper limb rehabilitating exercise |
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| CN2688278Y true CN2688278Y (en) | 2005-03-30 |
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| CN 200420018735 Expired - Fee Related CN2688278Y (en) | 2004-04-07 | 2004-04-07 | Multifunctional robot for upper limb rehabilitating exercise |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100336636C (en) * | 2005-06-29 | 2007-09-12 | 东南大学 | Motion control device for rehabilitation medical mechanism arm |
| CN101288620B (en) * | 2008-06-13 | 2010-06-02 | 哈尔滨工程大学 | Three freedom shoulder, elbow joint force feedback type healing robot |
| CN101125112B (en) * | 2007-09-20 | 2010-06-30 | 华中科技大学 | Wearing type upper limb recovery training robot device |
| CN101357097B (en) * | 2008-07-08 | 2010-07-21 | 哈尔滨工业大学 | Five freedom degree ectoskeleton type upper limb rehabilitation robot |
| CN101933876A (en) * | 2010-09-07 | 2011-01-05 | 南京航空航天大学 | Two-freedom-degree upper-limb rehabilitation assistive exercise device driven by dielectric EAP (electroactive polymer) and method thereof |
| CN101489479B (en) * | 2006-07-19 | 2011-01-26 | 皇家飞利浦电子股份有限公司 | Health management device |
| CN102499855A (en) * | 2011-11-25 | 2012-06-20 | 沈阳理工大学 | Pneumatic composite arm rehabilitation mechanical arm |
| CN103006413A (en) * | 2011-09-27 | 2013-04-03 | 成功大学 | Hand rehabilitation device |
| CN104814857A (en) * | 2015-05-09 | 2015-08-05 | 安阳工学院 | Rehabilitation training device of unilateral upper limb dysfunction |
| CN104814856A (en) * | 2015-05-09 | 2015-08-05 | 安阳工学院 | Two-freedom-degree upper limb rehabilitation training device |
| CN104970943A (en) * | 2014-04-02 | 2015-10-14 | 北京蝶禾谊安信息技术有限公司 | Upper limb rehabilitation robot |
| CN104970944A (en) * | 2014-04-02 | 2015-10-14 | 北京蝶禾谊安信息技术有限公司 | Upper limb rehabilitation robot position movement realizing method |
| CN110200786A (en) * | 2019-07-12 | 2019-09-06 | 山东海天智能工程有限公司 | A kind of lower limbs rehabilitation training robot and method |
-
2004
- 2004-04-07 CN CN 200420018735 patent/CN2688278Y/en not_active Expired - Fee Related
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100336636C (en) * | 2005-06-29 | 2007-09-12 | 东南大学 | Motion control device for rehabilitation medical mechanism arm |
| CN101489479B (en) * | 2006-07-19 | 2011-01-26 | 皇家飞利浦电子股份有限公司 | Health management device |
| CN101125112B (en) * | 2007-09-20 | 2010-06-30 | 华中科技大学 | Wearing type upper limb recovery training robot device |
| CN101288620B (en) * | 2008-06-13 | 2010-06-02 | 哈尔滨工程大学 | Three freedom shoulder, elbow joint force feedback type healing robot |
| CN101357097B (en) * | 2008-07-08 | 2010-07-21 | 哈尔滨工业大学 | Five freedom degree ectoskeleton type upper limb rehabilitation robot |
| CN101933876B (en) * | 2010-09-07 | 2013-08-21 | 南京航空航天大学 | Two-freedom-degree upper-limb rehabilitation assistive exercise device driven by dielectric EAP (electroactive polymer) and method thereof |
| CN101933876A (en) * | 2010-09-07 | 2011-01-05 | 南京航空航天大学 | Two-freedom-degree upper-limb rehabilitation assistive exercise device driven by dielectric EAP (electroactive polymer) and method thereof |
| CN103006413A (en) * | 2011-09-27 | 2013-04-03 | 成功大学 | Hand rehabilitation device |
| CN103006413B (en) * | 2011-09-27 | 2015-01-14 | 成功大学 | Hand rehabilitation device |
| US9345634B2 (en) | 2011-09-27 | 2016-05-24 | National Cheng Kung University | Hand rehabilitation device |
| CN102499855A (en) * | 2011-11-25 | 2012-06-20 | 沈阳理工大学 | Pneumatic composite arm rehabilitation mechanical arm |
| CN102499855B (en) * | 2011-11-25 | 2015-01-14 | 沈阳理工大学 | Pneumatic composite arm rehabilitation mechanical arm |
| CN104970943A (en) * | 2014-04-02 | 2015-10-14 | 北京蝶禾谊安信息技术有限公司 | Upper limb rehabilitation robot |
| CN104970944A (en) * | 2014-04-02 | 2015-10-14 | 北京蝶禾谊安信息技术有限公司 | Upper limb rehabilitation robot position movement realizing method |
| CN104814857A (en) * | 2015-05-09 | 2015-08-05 | 安阳工学院 | Rehabilitation training device of unilateral upper limb dysfunction |
| CN104814856A (en) * | 2015-05-09 | 2015-08-05 | 安阳工学院 | Two-freedom-degree upper limb rehabilitation training device |
| CN104814856B (en) * | 2015-05-09 | 2017-04-12 | 安阳工学院 | Two-freedom-degree upper limb rehabilitation training device |
| CN110200786A (en) * | 2019-07-12 | 2019-09-06 | 山东海天智能工程有限公司 | A kind of lower limbs rehabilitation training robot and method |
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