CN2812900Y - Hemiptegic rehabilitation auxiliary exercising robot - Google Patents
Hemiptegic rehabilitation auxiliary exercising robot Download PDFInfo
- Publication number
- CN2812900Y CN2812900Y CN 200520010981 CN200520010981U CN2812900Y CN 2812900 Y CN2812900 Y CN 2812900Y CN 200520010981 CN200520010981 CN 200520010981 CN 200520010981 U CN200520010981 U CN 200520010981U CN 2812900 Y CN2812900 Y CN 2812900Y
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- Prior art keywords
- robot
- arm
- drive motors
- utility
- forearm
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- Expired - Lifetime
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- 210000000245 forearm Anatomy 0.000 claims description 23
- 238000011084 recovery Methods 0.000 claims description 12
- 230000000153 supplemental effect Effects 0.000 claims description 8
- 238000005516 engineering process Methods 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 9
- 230000033001 locomotion Effects 0.000 description 4
- 210000001364 upper extremity Anatomy 0.000 description 4
- 150000001875 compounds Chemical class 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000003387 muscular Effects 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
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Abstract
The utility model relates to an auxiliary exercise robot for hemiplegic rehabilitation, which belongs to the technical field of the medical robot technology. In order to solve the problems that large space is occupied by the integral structure of the existing medical robot, and the structural rigidity of big arms of the robot is poor; the utility model provides the auxiliary exercise robot for hemiplegic rehabilitation, which comprises mechanical arms which are installed on a lifter, a speed reduction device, a driving motor and a hand-hold fixer, wherein the mechanical arms present a structure with two connecting rods, the mechanical arms are mainly composed of a big arm of a robot and a small arm of the robot, and the big arm and the small arm of the robot are respectively driven and controlled by a driving motor of the big arm of the robot and a driving motor of the small arm of the robot through the speed reduction device and a driving belt, wherein the big arm of the robot is composed of two rods in a parallel mode to enhance the rigidity of the big arm of the robot. The auxiliary exercise robot for hemiplegic rehabilitation of the utility model has the advantages of compact integral structure, reasonable structure and strong rigidity of the big arm of the robot.
Description
Technical field
This utility model relates to a kind of medical robot that hemiplegic patient by upper is carried out rehabilitation training, belongs to the medical robot technical field.
Background technology
The hemiplegic patient's of China's generation at present main cause is cerebrovascular disease and part cerebral trauma, according to existing documents and materials wherein China's cerebrovascular patient annual morbidity be 2,00/,100,000 people, annual new cases are more than 1,500,000, and become second main cause of China human mortality, the economic loss that also causes to country simultaneously reaches 10,000,000,000/year more than.Self-evident, hemiplegia has brought heavy financial burden for society and family, has also seriously influenced patient's quality of life.Main purpose of the present utility model is exactly that robotics is applied to go in hemiplegic patient's the rehabilitation field, helps hemiplegic patient on the cycle of recovery to finish the rehabilitation of upper limb compound motion function, improves their quality of life.
(application number is 03150355.1 to Chinese patent " recovery exercising robot of hemiplegic patient by upper compound motion ", the applying date is on July 25th, 2003) a kind of recovery exercising robot disclosed, it comes with some shortcomings, for example robot ' s arm only is made up of a single pole spare, so the rigidity of structure is relatively poor; Robot big and small arms drive motors is installed in the horizontal plane both sides respectively, has increased the overall structure of robot like this; Belt stretcher does not have the function of any adjustment belt degree of tightness.
The utility model content
Big in order to solve the above-mentioned robot shared space of overall structure, the problem of robot ' s arm rigidity of structure difference, the utility model proposes a kind of hemiparalysis recovery supplemental training robot that adopts new construction, comprise the mechanical arm that is installed on the lifter, deceleration device, drive motors and hands holder, described mechanical arm is two bar linkage structures, mainly form by robot ' s arm and robot forearm, and pass through deceleration device by robot ' s arm drive motors and robot forearm drive motors respectively, driving-belt drives and control, wherein robot ' s arm is made of in parallel two rod members, to strengthen its rigidity.
Robot described in the utility model also comprises the belt stretcher that can adjust the belt elasticity according to practical situation arbitrarily that is installed on the robot ' s arm.
In this utility model, described robot ' s arm drive motors is installed in horizontal plane the same side mutually with robot forearm drive motors.
In this utility model, described deceleration device comprises three power transmission shafts and four gears, and wherein the big arm power transmission shaft that is driven by described robot ' s arm drive motors drives big arm input gear, drives robot ' s arm with big arm output gear engagement again; The forearm power transmission shaft that is driven by robot forearm drive motors drives forearm input gear, again with the engagement of forearm output gear, drives the transition power transmission shaft and then drives the robot forearm.
In this utility model, robot ' s arm changes into by two single pole spares and composing in parallel, and has increased the original rigidity of robot ' s arm; Deceleration device by design makes robot big and small arms drive motors be installed in horizontal plane phase the same side (horizontal plane upside), can save work space greatly like this, makes the robot overall structure compact more, reasonable; Improve former belt tension structure and make it to have adjustable function.
Description of drawings
Fig. 1 is the vertical view of hemiparalysis recovery supplemental training described in the utility model robot,
Fig. 2 be the C-C of Fig. 1 to main cutaway view,
Fig. 3 be the A-A of Fig. 1 to cutaway view,
Fig. 4 is the schematic diagram of belt stretcher described in the utility model.
The specific embodiment
Further specify specific embodiment of the utility model below in conjunction with accompanying drawing.
The utility model proposes a kind of hemiparalysis recovery supplemental training robot, Fig. 1 has shown the vertical view of a specific embodiment of this utility model.The concrete structure that in Fig. 2 and Fig. 3, has shown each several part in detail.Hemiparalysis recovery supplemental training robot comprises mechanical arm, deceleration device, drive motors and the hands holder 12 that is installed on the lifter.Described mechanical arm is two bar linkage structures, mainly form by robot ' s arm 10 and robot forearm 11, and drive and control by deceleration device, driving-belt 14 by robot ' s arm drive motors 1 and robot forearm drive motors 2 respectively, can relatively rotate flexibly between such two arms.Robot ' s arm 10 is made of in parallel two rod members, to strengthen its rigidity.Described hands holder 12 is fixed on the robot forearm 11.
Robot ' s arm drive motors 1 and robot forearm drive motors 2 can adopt AC servo motor, have higher driving and control performance, can be respectively with realize Position Control, speed controlling and Torque Control simultaneously.Described robot ' s arm drive motors 1 is installed in horizontal plane the same side mutually with robot forearm drive motors 2, drives and control robot ' s arm 10 and robot forearm 11 by deceleration device respectively.Under above-mentioned two motor-driven, and the cooperation by described lifter adjusts position height, and under the situation that does not exceed the human upper limb locomotion scope, the patient suffers from limb can move to arbitrary position in the given plane, and does not produce interference.
In use, utilize control system control drive motors, then by decelerator driving device arm, wherein mechanical National People's Congress arm is directly driven by decelerator, and the robot forearm relies on belt to come transmission.After patient's arm is fixed by holder, but random device people arm is done the good action of any planning.This robot can drive patient's upper limb according to the movement locus of finishing in advance, finish passive, initiatively, training such as auxiliary and obstructions, thereby reduce the recovery of muscular tension promotion patient upper limb nerve function, make the patient can reach rehabilitation efficacy preferably.
The installation of deceleration device has not only increased the motor output torque, and two drive motors are driven in same horizontal plane, thereby makes the robot overall structure compact more, also is easy to the installation of lifter simultaneously.Described deceleration device as shown in Figures 2 and 3, comprises three power transmission shafts and four gears, and wherein the big arm power transmission shaft 5 that is driven by robot ' s arm drive motors 1 drives big arm input gear 6, drives robot ' s arm with big arm output gear 7 engagements again; The forearm power transmission shaft 4 drive forearm input gears 3 that driven by robot forearm drive motors 2 mesh with forearm output gear 9 again, drive transition power transmission shaft 8 and drive belt pulley 15 again, drive the robot forearm by belt 14.
In addition, a cover belt stretcher 13 has been installed on robot ' s arm 10, its major function is to adjust the belt elasticity arbitrarily according to practical situation.The visible Fig. 4 of its concrete structure is mainly by tension pole 21, formed by medicated cap 22, cushion block 23, big arm connecting bolt 24, support 25, jackscrew 26, bearing 27, pinch roller 28.Wherein, tension pole 21 supports pinch roller 28 by bearing 27 outer rings, again by cushion block 23 by being compressed bearing inner race by medicated cap 22.Robot ' s arm connecting bolt 24 is connected tensioner with robot ' s arm 10, then by jackscrew 26 tensionings.
Claims (3)
1. hemiparalysis recovery supplemental training robot, it is characterized in that: described robot comprises mechanical arm, deceleration device, drive motors and the hands holder that is installed on the lifter, described mechanical arm is two bar linkage structures, mainly form by robot ' s arm and robot forearm, and drive and control by deceleration device, driving-belt by robot ' s arm drive motors and robot forearm drive motors respectively, wherein robot ' s arm is made of in parallel two rod members, to strengthen its rigidity.
2. hemiparalysis recovery supplemental training according to claim 1 robot, it is characterized in that: described robot also comprises the belt stretcher that can adjust the belt elasticity according to practical situation arbitrarily that is installed on the robot ' s arm.
3. hemiparalysis recovery supplemental training according to claim 1 and 2 robot is characterized in that: described robot ' s arm drive motors is installed in horizontal plane the same side mutually with robot forearm drive motors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520010981 CN2812900Y (en) | 2005-03-29 | 2005-03-29 | Hemiptegic rehabilitation auxiliary exercising robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520010981 CN2812900Y (en) | 2005-03-29 | 2005-03-29 | Hemiptegic rehabilitation auxiliary exercising robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2812900Y true CN2812900Y (en) | 2006-09-06 |
Family
ID=36947984
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200520010981 Expired - Lifetime CN2812900Y (en) | 2005-03-29 | 2005-03-29 | Hemiptegic rehabilitation auxiliary exercising robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2812900Y (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102283761A (en) * | 2011-06-28 | 2011-12-21 | 上海电机学院 | Upper limb recovery robot |
-
2005
- 2005-03-29 CN CN 200520010981 patent/CN2812900Y/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102283761A (en) * | 2011-06-28 | 2011-12-21 | 上海电机学院 | Upper limb recovery robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CX01 | Expiry of patent term |
Expiration termination date: 20150329 Granted publication date: 20060906 |