CN106344350A - Rehabilitation training robot - Google Patents
Rehabilitation training robot Download PDFInfo
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- CN106344350A CN106344350A CN201610988075.4A CN201610988075A CN106344350A CN 106344350 A CN106344350 A CN 106344350A CN 201610988075 A CN201610988075 A CN 201610988075A CN 106344350 A CN106344350 A CN 106344350A
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- arm
- sleeve
- recovery exercising
- support shaft
- main part
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- 238000012549 training Methods 0.000 title claims abstract description 37
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 94
- 230000035876 healing Effects 0.000 claims description 47
- 238000011084 recovery Methods 0.000 claims description 46
- 238000003780 insertion Methods 0.000 claims description 4
- 230000037431 insertion Effects 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- 238000007599 discharging Methods 0.000 claims description 3
- 238000005253 cladding Methods 0.000 claims 1
- 239000004744 fabric Substances 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 230000001105 regulatory effect Effects 0.000 abstract 1
- 210000004247 hand Anatomy 0.000 description 11
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 7
- 238000009434 installation Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 230000002093 peripheral effect Effects 0.000 description 4
- 238000012546 transfer Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 3
- 206010002027 Amyotrophy Diseases 0.000 description 2
- 208000034657 Convalescence Diseases 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 230000001769 paralizing effect Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a rehabilitation training robot, which comprises a bracket and an upper limb rehabilitating device, an upper limb moving module and a positioning component, wherein the upper limb rehabilitating device is mounted on the bracket, the upper limb rehabilitating device comprises a main body part which can rotate around a vertical axial line and can rise and lower up and down, the upper limb moving module is rotatably connected with the main body part to be used for assisting training, and the positioning component is used for positioning the upper limb rehabilitating device. According to the rehabilitation training robot provided by the invention, the relative height of the upper limb rehabilitating device can be regulated, so as to be applicable to a patient in a larger stature range.
Description
Technical field
The present invention relates to medical rehabilitation apparatus technical field, especially relate to a kind of recovery exercising robot.
Background technology
For paralytic, because its own cannot be carried out training, in order to avoid amyotrophy, need to assist patient to carry out
Motion, not only can prevent the amyotrophy of patient, and can also aid in Rehabilitation, therefore, provide in correlation technique
A kind of healing robot, can provide to patient and assist training, typically, in training process, patient needs to be positioned over arm etc.
The top of healing robot, and leg etc. is as the bottom of healing robot, for the patient of different heights or build, it is right to need
Healing robot is adjusted.
Content of the invention
It is contemplated that at least solving one of technical problem present in prior art.For this reason, the invention reside in proposing one
Plant recovery exercising robot, described recovery exercising robot can realize rehabilitation training of upper limbs.
Recovery exercising robot according to the present invention, comprising: support；Upper limb healing device, described upper limb healing device peace
On the bracket, described upper limb healing device includes dress: main part, and described main part is rotatable and can be upper and lower around vertical axis
Lifting；Upper extremity exercise module, described upper extremity exercise module and described main part are rotatably coupled to for assisting training；For fixed
The positioning component of the described upper limb healing device in position.
According to the recovery exercising robot of the present invention, the relative altitude of upper limb healing device can be adjusted, thus being applied to
The patient of bigger height ranges.
In certain embodiments, described main part includes connecting portion and rotating part, and described connecting portion is connected with described support,
Described rotating part is rotatably connected with described connecting portion around fixed axis, and described upper extremity exercise module is rotatably installed in institute
State on rotating part, wherein, described fixed axis are vertical with the Pivot axle of described upper extremity exercise module or become more than 0 ° and little
In 90 ° of predetermined angle.
In certain embodiments, described rotating part includes rotating part main body and rotating support shaft, described upper extremity exercise module
Be arranged in described rotating part main body, described rotating support shaft extends along described fixed axis, described rotating support shaft respectively with
Described rotating part main body is connected with described connecting portion, and described rotating support shaft is with respect to described rotating part main body and described connection
At least one of portion is rotationally connected, and is rotatably coupled to described connecting portion for described rotating part.
In certain embodiments, described rotating support shaft is connected with described rotating part and relative position is fixed, described rotation
Support shaft is rotationally connected with described connecting portion, and described connecting portion is provided with keeper, and described rotation locked by described keeper
Convertible between the locking state of transfer part and the release conditions discharging described rotating part.
In certain embodiments, in described rotating support shaft, edge is spaced apart multiple around the direction of described fixed axis
Location hole, described keeper edge is movable perpendicular to the direction of described fixed axis, and described keeper is in described locked position
Insert at least one location hole.
Further, it is connected with rotating support shaft between described rotating support shaft and described connecting portion to hold, described rotation
Support bearing include one or along described rotating support shaft axially spaced-apart arrangement at least two.
In certain embodiments, described fixed axis are horizontally extending, and described rotating part is in primary importance and second
Fixed axis described in the spaced winding of position are rotatably attached described connecting portion, and described rotation portion is described in when described primary importance
The Pivot axle of upper extremity exercise module is horizontal-extending and vertical with described fixed axis, and described rotation portion is in described second
When putting, the Pivot axle of described upper extremity exercise module is vertically extending and vertical with described fixed axis.
In certain embodiments, described connecting portion includes: the first sleeve, and the axis horizontal of described first sleeve extends；The
Two sleeves, the axis of described second sleeve is vertically extending, and described second sleeve is vertical with described first sleeve or in big
In 0 ° and less than 90 ° of predetermined angular；Encapsulated part, described encapsulated part coats at least a portion of the outer surface of described first sleeve
With at least a portion of the outer surface of second sleeve, and described first sleeve and second sleeve are connected to one by described encapsulated part
Rise, wherein, described rotating part is rotatably coupled to described first sleeve, and described second sleeve is connected with described support.
In certain embodiments, the lower end of described second sleeve is provided with ring flange, and described encapsulated part coats described first set
The outer surface of any one in cylinder, second sleeve and described ring flange, described support is connected with described ring flange.
In certain embodiments, any one of described first sleeve, described second sleeve and described ring flange are also logical
Cross screw to be connected with described encapsulated part.
In certain embodiments, described first sleeve connects for cabling with described second sleeve.
In certain embodiments, the upper end of described support has pillar, under described pillar penetrates in described second sleeve
End, and it is provided with Lower shaft sleeve between described pillar and described second sleeve.
In certain embodiments, described recovery exercising robot also includes: display module, a part for described display module
Insert the upper end in described second sleeve, and described display module inserts part and described second sleeve in described second sleeve
Between be provided with Upper shaft sleeve.
In certain embodiments, described upper extremity exercise module includes: the first arm, described first arm and described main part
Rotationally it is connected；Second arm, described second arm is rotationally connected with described main part, and described second arm is arranged in
The opposite sides of described main part；Upper limb actuator, described upper limb actuator is located on described main part and respectively with described
One arm is connected with described second arm.
In certain embodiments, described second arm rotatable with respect to described first arm to adjust described first arm
Angle and described second arm between.
In certain embodiments, described second arm with respect to described first arm between the 3rd position and the 4th position
Rotatably, the first arm and described the described in when described second arm is located at described three position with respect to described first arm
Angle between two arms is 0 °, the described in when described second arm is located at described four position with respect to described first arm
Angle between one arm and described second arm is 180 °.
In certain embodiments, the Pivot axle weight of the Pivot axle of described first arm and described second arm
Close.
In certain embodiments, described support includes: outer column, and described outer column is vertically extending；Inner column, institute
State inner column vertically extending, and described inner column slidably stretches in described outer column along the vertical direction, wherein, institute
State upper limb healing device to be rotatably connected with described inner column around vertical axis, and described upper limb healing device is interior vertical with described
Fix along the vertical direction by relative position for post.
In certain embodiments, one of described inner column and described outer column are provided with chute and another is provided with
Limited block, described chute is vertically extending, and described limited block stretches in described chute and along described chute in stopper slot
Between two ends slidably, described support also includes: outer housing, and at least a portion of described outer housing covers on the outside of described outer column,
And the described outer housing described chute of covering and described limited block.
In certain embodiments, described positioning component includes: lock-screw, and described lock-screw relative position regularly sets
Put on described outer column, described lock-screw is suitable to coordinate with described inner column to lock described inner column and outer column.
In certain embodiments, described positioning component also includes: rotatable positioning member, and described rotatable positioning member is located at described master
On body, and described rotatable positioning member is locking removable and the position of the described main part of release between, described rotatable positioning member
Lock described main part and support relative position during described main part to fix, described rotatable positioning member discharges described main part when institute
State main part rotatable with respect to described support.
The additional aspect of the present invention and advantage will be set forth in part in the description, and partly will become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description
Fig. 1 is the schematic diagram of a state of recovery exercising robot according to embodiments of the present invention, wherein, rotation portion
In primary importance；
Fig. 2 is the schematic diagram of another state of the recovery exercising robot in Fig. 1, and wherein, rotation portion is in second
Put；
Fig. 3 is the explosive view of the rotating part shown in Fig. 1；
Fig. 4 is the schematic diagram of the recovery exercising robot shown in Fig. 1, and wherein, the second arm exists with respect to the first arm
3rd position.
Fig. 5 is the sectional view of the recovery exercising robot of another embodiment of the present invention.
Fig. 6 is the exploded perspective view of the connecting portion of recovery exercising robot in Fig. 4.
Fig. 7 is the schematic diagram of the encapsulated part of the connecting portion of recovery exercising robot in Fig. 6.
Fig. 8 is the schematic diagram of the healing robot of one embodiment of the invention.
Fig. 9 is the sectional view of Fig. 8 middle section a-a.
Figure 10 is the close-up schematic view that Fig. 9 centre circle b illustrates region.
Reference:
Recovery exercising robot 1000,
Upper limb healing device 100,
Main part 1,
Connecting portion 11, the first sleeve 111, second sleeve 112, encapsulated part 113, ring flange 114, Lower shaft sleeve 115, Upper shaft sleeve
116,
Rotating part 12, rotating part main body 121, rotating support shaft 122, location hole 1221, rotating support shaft holds 123, first
Arm 2, the second arm 3,
Support 200, outer column 25, inner column 26, outer housing 27, limited block 28, outside jacket plates 271, inner cover plate 272, strip of paper used for sealing
273, allow bit space 201, the head 281 of screw, the stud 282 of screw, locking hole 2701, pillar 230,
Positioning component 300, rotatable positioning member 310, lift keeper 320,
Display module 400.
Specific embodiment
Embodiments of the invention are described below in detail, the example of described embodiment is shown in the drawings, wherein from start to finish
The element that same or similar label represents same or similar element or has same or like function.Below with reference to attached
The embodiment of figure description is exemplary it is intended to be used for explaining the present invention, and is not considered as limiting the invention.
Below with reference to Fig. 1-Figure 10, recovery exercising robot 1000 according to embodiments of the present invention is described.
As depicted in figs. 1 and 2, recovery exercising robot 1000 according to embodiments of the present invention, comprising: support 200, upper limb
Convalescence device 100 and positioning component 300, wherein, positioning component 300 is used for positioning upper limb healing device 100.
Specifically, upper limb healing device 100 is arranged on support 200, and upper limb healing device 100 includes: main part 1, on
Limb motion module, wherein, main part 1 is rotatably connected with support 200 around vertical axis, and main part 1 along the vertical direction may be used
Lifting；Upper extremity exercise module, described upper extremity exercise module and main part 1 are rotatably coupled to for assisting training.
Wherein, when main part 1 position (such as main part 1 height and position relative with support 200 or main part 1 with
The angle position of frame 200) adjust and put in place after, positioning component 300 is used for stationary body portion 1 and support 200, to ensure that patient makes
During carrying out rehabilitation training with upper limb convalescence device 100, upper limb healing device 100 will not produce and rock.
Upper limb healing device 100 is suitable to rotate around support 200, by rotate can adjust upper limb healing device 100 along
The relative position of the circumference of frame 200, so, when patient stands in the diverse location of support 200, all can carry out upper limb healing instruction
Practice, and do not needing using upper limb healing device, the position of adjustment upper limb healing device can be corresponded to.
Upper limb healing device 100 can oscilaltion, the relative altitude of upper limb healing device 100, so, patient can be adjusted
Not only can stand and carry out rehabilitation training of upper limbs and carry out rehabilitation training it is also possible to be seated, such that it is able to expand upper limb healing device
The scope of application of 100 couples of different height crowds.And, it is directed to different patients, upper limb healing device 100 can select suitably
Height.
Recovery exercising robot 1000 according to embodiments of the present invention, it is possible to achieve the singlehanded vertical-horizontal rehabilitation instruction of upper limb
Practicing, the relative altitude of upper limb healing device 100 can also being adjusted, thus being applied to the patient of bigger height ranges simultaneously.
In some embodiments of the invention, as shown in Figure 1 and Figure 4, positioning component 300 may include that rotatable positioning member
310, rotatable positioning member 310 can be located on main part 1, and rotatable positioning member 310 lock and release main part 1 position it
Between removable, during rotatable positioning member 310 locking main part 1, main part 1 is fixed with support 200 relative position, at this point it is possible to sharp
Carry out normal rehabilitation training with upper limb image training robot；When rotatable positioning member 310 release main part 1 when, main part 1 with respect to
Support 200 is rotatable, at this point it is possible to adjust the angle of main part 1 and support 200, adjust the first arm 2 Pivot axle and
The Pivot axle of the second arm 3 and the angle of support 200, thus changing the training mode of upper limb training devicess, carry out difference
The rehabilitation training of pattern.
In some embodiments of the invention, as depicted in figs. 1 and 2, main part 1 can include connecting portion 11 and rotating part
12, connecting portion 11 is connected with support 200.
Further, rotating part 12 is rotatably connected with connecting portion 11 around fixed axis, and upper extremity exercise module is arranged on
On rotating part 12, wherein, the Pivot axle of fixed axis and upper extremity exercise module generally vertically, in other words, fixed axis with
The Pivot axle of upper extremity exercise module is vertical, or fixed axis and the Pivot axle of upper extremity exercise module become to be more than 0 ° and
Angle less than 90 °, wherein, described 0 ° and the angle less than 90 ° can be 15 °, 20 °, 30 °, 45 °, 75 °, 80 ° etc., excellent
Selection of land, fixed axis are more than 60 ° with the angle of the Pivot axle of upper extremity exercise module.So, by rotating rotating part 12, can
So that the Pivot axle of upper extremity exercise module is in different positions, change the center of rotation of upper extremity exercise module in other words
The Pivot axle of upper extremity exercise module thus realizing different training modes, for example, is set by axle angle with respect to the horizontal plane
It is set to equal with horizontal plane or vertical both mode of operations, the different training requirements of patient can be met.
In one embodiment of the invention, as shown in Figures 2 and 3, rotating part 12 can include rotating part main body 121 He
Rotating support shaft 122, upper extremity exercise module may be mounted in rotating part main body 121, and rotating support shaft 122 is along fixed axis
(fore-and-aft direction for example shown in Fig. 3) extend, rotating support shaft 122 respectively with rotating part main body 121 and connecting portion 11 phase
Connect, and rotating support shaft 122 is rotatable with respect at least one of rotating part main body 121 and connecting portion 11, for realizing rotation
Transfer part 12 is rotatably coupled to connecting portion 11.For example, rotating support shaft 122 can only with rotating part main body 121 rotatable phase
It is fixedly connected even and with connecting portion 11；Rotating support shaft 122 can also only rotatably be connected with connecting portion 11 and with rotating part master
Body 121 is fixedly connected；Rotating support shaft 122 all rotatably can also be connected with rotating part main body 121 and connecting portion 11.Thus,
The rotatable attachment structure realizing between rotating part 12 and connecting portion 11 can be flexibly set, improve the motility of structure setting
And the suitability.
Preferably, and rotating support shaft 122 can be connected to rotating part main body 121 along one end (such as Fig. 3 of fixed axis
Shown in rotating part main body 121 front end)
Further, as shown in Figures 2 and 3, rotating support shaft 122 can be connected with rotating part main body 121, and rotation
Support axle 122 is fixed with rotating part main body 121 relative position, and rotating support shaft 122 is rotationally connected with connecting portion 11, connecting portion
11 are provided with keeper, and keeper can turn between the locking state of locking rotating part 12 and the release conditions of release rotating part 12
Change.When keeper release rotating part 12, rotating part 12 can opposing connections 11 rotate, and after being rotated in place, keeper is permissible
Locking rotating part 12, so that the relative position of rotating part 12 and connecting portion 11 is fixed, now, patient can be instructed using rehabilitation
Practice robot 1000 and carry out rehabilitation training.
Advantageously, as shown in figure 3, the direction of edge cincture fixed axis is (for example along rotating support shaft in rotating support shaft 122
122 circumference) spaced apart multiple location holes 1221, keeper is along the direction perpendicular to fixed axis (for example along rotation
The radial direction of support axle 122) movable, and keeper inserts at least one location hole 1221 in locked position, is supported with limiting rotation
Axle 122 rotates, and plays the effect of fixing locking rotating part 12, thus, it is possible to simplify between rotating support shaft 122 and connecting portion 11
Locking mechanism.
Specifically, when needing the relative position of regulation rotating part 12 and connecting portion 11, keeper is along rotating support shaft 122
Radial direction exit from location hole 1221, now, rotating support shaft 122 can be rotated portion 12 and rotate freely, and work as rotation
When going to, so that rotating part 12 is relatively fixed with connecting portion 11 in keeper insertion location hole 1221, thus playing locking rotating
The effect of transfer part 12.
In some embodiments of the invention, as shown in figure 3, can be connected between rotating support shaft 122 and connecting portion 11
Rotating support shaft is had to hold 123, thus, it is possible to realize being rotatably connected between rotating support shaft 122 and connecting portion 11 so that revolving
Transfer part 12 can opposing connections 11 rotate around fixed axis.
Wherein, rotating support shaft is held 123 and can only be included one, and certainly, rotating support shaft is held 123 and can also be included along rotation
Turn the axial direction (fore-and-aft direction for example shown in Fig. 3) spaced apart at least two of support shaft 122.
Preferably, as shown in figure 3, rotating support shaft 122 is rotatably plugged in connecting portion 11, rotating support shaft is held
123 can be located at rotating support shaft holds between 123 and connecting portion 11, and rotating support shaft holds 123 inner ring and rotating support shaft 122
It is connected, and rotating support shaft is held 123 outer ring and is connected with connecting portion 11, can be turned with connecting portion 11 with realizing rotating support shaft 122
It is dynamically connected., thus, it is possible to improve rotating support shaft hold the stability that the 123 pairs of rotating support shafts 122 support and reliability it is ensured that
Stationarity in rotating support shaft 122 rotation process.
In some embodiments of the invention, fixed axis are horizontally extending, and rotating part 12 is in primary importance (for example
Rotating part 12 position shown in Fig. 1) and the second position (rotating part 12 position for example shown in Fig. 2) spaced winding
Fixed axis are rotatably attached connecting portion 11, when rotating part 12 is located at primary importance, the Pivot axle of upper extremity exercise module
(left and right directions for example shown in Fig. 1) extends in the horizontal direction, and now, patient can be entered using recovery exercising robot 1000
The rehabilitation training that row both hands replace or both hands are synchronous；When rotating part 12 is located at the second position, in the rotation of upper extremity exercise module
Vertically (above-below direction for example shown in Fig. 2) extends heart axle, and now, patient can carry out the horizontal direction of hand or hands
Rehabilitation training, thus increasing the training mode of recovery exercising robot 1000, rehabilitation training is more comprehensive, and training effect is more
Good.
Further optionally, no matter rotating part 12 is in primary importance and the second position, the Pivot axle of upper extremity exercise module
All vertical with fixed axis.
In some embodiments of the invention, upper extremity exercise module includes the first arm 2, the second arm 3 and is used for driving
Dynamic first arm 2 and the upper limb actuator of the second arm 3 rotation, the first arm 2 is all connected with main part with the second arm 3, and
First arm 2 and the second arm 3 are rotatable both with respect to main part 1.That is, the first arm 2 is with main part 1 rotatably
It is connected, the second arm 3 and main part 1 are rotatably coupled to.Other first arm 2 and the second arm 3 are arranged in the phase of main part 1
To both sides, therefore, patient's (user in other words) is facilitated to operate the first arm 2 and the second arm 3 to be trained.
In addition, upper limb actuator is located on main part 1, the first arm 2 is all connected with upper limb actuator with the second arm 3,
Upper limb actuator can drive the first arm 2 and the second arm 3 to rotate, to assist to train.
Preferably, the second arm 3 is rotatable with respect to the first arm 2, to adjust between the first arm 2 and the second arm 3
Angle.So, not only can make to carry out the alternate rehabilitation training of both hands using the first arm 2 and the second arm 3 simultaneously, also may be used
To carry out singlehanded training merely with the first arm 2, now, by rotating the second arm 3 to precalculated position, second-hand can be avoided
Arm 3 takies the activity space of patient, it is to avoid the second arm 3 affects the carrying out of rehabilitation training.
Specifically, as shown in Figure 2 and Figure 4, the second arm 3 with respect to the first arm 2 in the 3rd position (institute in such as Fig. 4
The second arm 3 showing is with respect to the first arm 2 position) (the second arm 3 for example shown in Fig. 2 is relative with the 4th position
In the first arm 2 position) between rotatable, when the second arm 3 is located at three positions with respect to the first arm 2, first
Angle between arm 2 and the second arm 3 is 0 °, and now, patient can carry out the synchronous rehabilitation training of both hands；In the second arm
3 when being located at four positions with respect to the first arm 2, and the angle between the first arm 2 and the second arm 3 is 180 °, now, patient
The alternate rehabilitation training of both hands can be carried out, in addition, one of them in the second arm 3 and the first arm 2 is away from disease
People, to avoid affecting the range of activity of patient.
In some embodiments of the invention, see figures.1.and.2, the Pivot axle of the first arm 2 can and second-hand
The center of rotation overlapping of axles of arm 3 is that is to say, that the Pivot axle of the first arm 2 and Pivot axle and the second arm 3 can
With coaxial.Thus, it is possible to simplify the structure of recovery exercising robot 1000, make structure more compact and reasonable.
Such as Fig. 5 and combine Fig. 6,7, in one embodiment of the invention, connecting portion 11 includes: the first sleeve 111, second
Sleeve 112 and encapsulated part 113,
Specifically, the axis horizontal of the first sleeve 111 extends, and the axis of second sleeve 112 is vertically extending, the
Two sleeves 112 are vertical with the first sleeve 111 or become more than 0 ° and the predetermined angular less than 90 °.Encapsulated part 113 coats the first sleeve
At least a portion of 111 outer surface, and encapsulated part 113 coats at least a portion of the outer surface of second sleeve 112, by bag
First sleeve 111 and second sleeve 112 are linked together by glue part 113.
Rotating part 12 is rotatably coupled to the first sleeve 111, second sleeve 112 connecting bracket 200.
First sleeve 111 and second sleeve 112 are connected by encapsulated part, so that upper limb healing device 100 and support
200 attachment structure is simple, reduces cost, but also can improve upper limb healing device 100 stability and with support 200
Bonding strength.
Preferably, as Fig. 5 and 6, the lower end of second sleeve 111 is provided with ring flange 114, and encapsulated part 113 coats described first
The outer surface of any one in sleeve 111, second sleeve 112 and ring flange 113, support 200 is connected with ring flange 113.Hundred million convenience
Support 200 supports upper limb healing device 100.
Additionally, it is preferred that floor-engaging frame 200 is welded with ring flange or is rotatably coupled.
Further, as Fig. 5, the first sleeve 111 is connected with second sleeve 112, can be by the first sleeve 111 and the
Cabling is realized in the inside of two sleeves 112, facilitates wiring and the signal transmission with master controller of upper limb healing device 100.
Preferably, as Fig. 5, the upper end of support 200 is provided with pillar 230, and the upper end of pillar 230 penetrates second sleeve 112
Interior, and between pillar 230 and second sleeve 112, it is provided with Lower shaft sleeve 115.
Advantageously, as Fig. 5, recovery exercising robot 1000 also includes: display module 400, and the one of described display module 400
Upper end in partial insertion second sleeve 112, and display module 400 inserts part and second sleeve 112 in second sleeve 112
Between be provided with Upper shaft sleeve 116.
As shown in Fig. 8 to Figure 10, the support 200 of healing robot 1000 according to embodiments of the present invention, comprising: outer column
25th, inner column 26.
Specifically, described outer column 25 is vertically extending, and wherein, described vertically extending part includes
Extend along perpendicular to the direction of horizontal plane, also include tilting to extend along the vertical direction.Described inner column 26 is vertically extending,
And described inner column 26 slidably stretches in described outer column 25 along the vertical direction, inner column 26 is along the upper downslide of outer column 25
The dynamic height that can adjust inner column 26 and be arranged at the component on inner column 26, thus realize the purpose lifting.
In addition, upper limb healing device 100 is rotatably connected with inner column 26 around vertical axis, upper limb healing device 100
Relative position is fixed along the vertical direction with inner column 26.
One of described inner column 26 and described outer column 25 are provided with chute (not shown) and another is provided with limit
Position block 28, described chute is vertically extending, specifically, including but not limited to:
Inner column 26 is provided with chute, and outer column 25 is provided with limited block 28 corresponding with this chute；
Outer column 25 is provided with chute, and inner column 26 is provided with limited block 28 corresponding with this chute.
It is of course also possible to using the design of redundancy, such as setting chute and limited block 28 on inner column 26, and stand outside
On post 25 setting with the corresponding limited block of chute 28 on inner column 26 and with the corresponding cunning of limited block 28 on inner column 26
Groove.
For mutually corresponding chute and limited block 28, described limited block 28 stretches in described chute and exists along described chute
Between the two ends of stopper slot slidably, in inner column 26 with respect in outer column 25 sliding process, limited block 28 is relative with chute
Slide, can adopt the two ends of chute that limited block 28 is carried out spacing, thus realizing two extreme positions to inner column 26
Spacing, alternatively, it is also possible to arrange other limit elements limited block 28 is carried out spacing, thus limiting limited block 28 (in other words
Inner column 26) extreme position.
It is of course also possible to so that inner column 26 and outer column 25 is relatively fixed by other position limiting structures, thus in realizing
Column 26 any or precalculated position between extreme positions is spacing.
Further, the support 200 in the present invention can also include outer housing 27, and at least a portion of described outer housing 27 covers on
The outside of described outer column 25, and described outer housing 27 covers described chute and described limited block 28, can be covered by outer housing 27
Chute and limited block 28, thus be hidden to chute and limited block 28.
In actual use, by outer housing 27, limited block 28 and chute are carried out spacing, limited block 28 can be avoided
Leakage with chute affects the outward appearance of support 200, so that having the good looking appearance of the healing robot 1000 of this support 200.
And, setting outer housing 27 can effectively protect chute and limited block 28 so that limited block 28 is steady along the slip of chute, reduces
Fault rate in limited block 28 sliding process, and improve the stability of limited block 28 sliding process.
Further, since limited block 28 is possible to lead to foreign object to enter between limited block 28 and chute along the slip of chute
Fit clearance, thus lead to clamp foreign object, impact safety and use stability.By arranging outer housing 27, can also drop
Low foreign object enters the risk between the gap between limited block 28 and chute, and handss, medicated clothing etc. especially can be avoided to enter into limit
Gap between position block 28 and chute, thus improve the safety and stability of support 200.
The support 200 of healing robot 1000 according to embodiments of the present invention, can reduce in limited block 28 sliding process
Stuck situation, thus improving the stability of support 200, but also handss etc. can be avoided to enter between limited block 28 and chute
Gap, thus improving the safety of support 200, furthermore it is also possible to facilitate the cleaning of support 200.
In addition, the support 200 of the healing robot 1000 of the present invention can also have following other book features, the present invention
These technical characteristics will be described further.
Such as Figure 10 simultaneously combines Fig. 9 it can be seen that in some embodiments of the invention, and described outer housing 27 includes outside jacket plates
271 and inner cover plate 272.The cooperation of inside and outside cover plate 271 can facilitate positioning and the installation of outer housing 27.Specifically, described outer housing
Plate 271 is located at the outside of described outer column 25 and covers described chute and described limited block 28, and described inner cover plate 272 is outer with described
Cover plate 271 is connected, and described inner cover plate 272 nesting is arranged on the inner side of described outer column 25.The cooperation of inside and outside cover plate 271, makes
Outer housing 27 can be for stably covering chute and limited block 28.
Further, with reference to Figure 10 and Fig. 9, ringwise, described inner cover plate 272 is in positioned at described outer to described outside jacket plates 271
Cover plate 271 inner side the annular being spaced apart with described outside jacket plates 271, described inner cover plate 272 last week edge with described outside jacket plates 271
Last week along being connected to form the draw-in groove that Open Side Down, the upper peripheral edge of described outer column 25 inserts in described draw-in groove.Can be further
Ground facilitates the installation of outer housing 27.
Preferably, the upper peripheral edge of described outer column 25 and described draw-in groove interference fit.By the interference fit of buckle structure,
So that outer housing 27 and outer column 25 are stably connected with and bonding strength is high, but also outer housing 27 and outer column 25 can be improved
Efficiency of assembling.
Further, in order to further optimize the structure of outer housing 27, described outer housing 27 also includes strip of paper used for sealing 273, described envelope
Bar 273 is ringwise and inner edge connects edge last week of described inner cover plate 272, periphery along edge last week connecting described outside jacket plates 271.
The stability of cooperation can be improved between outside jacket plates 271, inner cover plate 272 and outer column 25, reduce outer housing 27 and outer column 25 it
Between fit clearance, reduce vibration etc. of outer housing 27 during using.
In addition, above-mentioned to outer housing 27 and the assembling of outer column 25 and the description of connected mode be only the present invention some are concrete
Example, not limiting the scope of the invention.For example, the outer housing 27 of the present invention can also be with outer column 25 using other
Mode is assembled, and such as outer housing 27 connects outer column 25 using buckle structure of the prior art, outer housing 27 is welded with outer column 25
Connect, mode connects for screw etc., the modes that other in prior art be can be used to be arranged on outer housing 27 on outer column 25, method or
Structure can be used for the present invention.
Such as Figure 10 simultaneously combines Fig. 9, and in some embodiments of the invention, limited block 28 may protrude outer column 25 or interior
The outer peripheral face of column 26, so easily makes to produce between limited block 28 and outer housing 27 and interferes, in order to avoid this situation, this
The bright structure to outer housing 27 is optimized, specifically, described outer housing 27 a part of outwardly and with described outer column
Formed between 25 and allow bit space 201.Namely by allowing bit space 201 avoid the interference of limited block 28, thus improving limited block
The stability of 28 slips.And make the support 200 of the present invention go for polytype locating part, thus reducing support
200 production difficulty and process costs, improve the cost of production, assembling and the redesign of support 200, and improve efficiency.
In a specific example of the present invention, described limited block 28 is installed on described inner column 26 and protrudes described interior
The outer peripheral face of column 26, described chute is formed at the wall of simultaneously outer column 25 described in insertion on described outer column 25.
Further, with reference to Figure 10, described limited block 28 is the screw being arranged on described inner column 26, described inner column
It is formed with through hole (not shown), the stud 282 of described screw is connected with described through hole whorl, and the head of described screw on 26
281 outsides being located at described inner column 26.Using screw as locating part, the cost of support 200 can be effectively reduced, and
And structure is simpler easily operated.
Preferably, screw can adopt standard component, thus further reduces cost.
Preferably, inner column 26 optional position between extreme positions can be realized by setting lifting keeper 320
Locking, such as employ lock-screw in the present invention, when the suitable position of inner column 26 movement, will be locked by lock-screw
Tight inner column 26, thus realize the step-less adjustment of inner column 26 height.
Specifically, described outer housing 27 is provided with the locking hole 2701 relative with described chute, and described locking hole 2701 is fitted
In installation locking screw, and described locking hole 2701 is suitable to relative with described through hole, and described screw is adapted to pass through described locking
Hole 2701.
It may be noted that locking hole 2701 is arranged to be suitable to, and size by locking hole 2701 relative with through hole by the present invention
It is arranged to be suitable to the purpose that screw passes through to be, in the installation process of screw, can be by screw in locking hole 2701
Penetrating and through hole cooperation, thus realizing the Fast Installation of screw, improving installation effectiveness and the stability of screw, to improve support
200 efficiency of assembling.
Wherein screw is adapted to pass through locking hole 2701 and refers to: the screw that is suitably sized to of locking hole 2701 passes through, and at least includes:
The head 281 of locking hole 2701 and screw is circle, and the diameter of locking hole 2701 is less than the maximum gauge of screw；Screw is pre-
Fixed position is installed predetermined mode and can be passed through locking hole 2701.
Below with reference to Fig. 1-Figure 10, the recovery exercising robot 1000 according to one specific embodiment of the present invention is described.
With reference to Fig. 1, recovery exercising robot 1000 includes: support 200, upper limb healing device 100 and positioning component 300.
Specifically, described first arm 2 and described second arm 3 be all rotatably installed in rotating part 12 along thickness side
To both sides, in the center of rotation overlapping of axles of the Pivot axle of the first arm 2 and the second arm 3, and the rotation of the first arm 2
The Pivot axle of heart axle and the second arm 3 is vertical with the fixed axis of rotating part 12.When rotating part 12 is located at primary importance, the
One arm 2 and the second arm 3 are located at rotating part 12 left side and right side, when rotating part 12 is located at the second position, the first arm 2 and the
Two arms 3 are located at rotating part 12 the upper side and lower side.
Second arm 3 is rotatable between the 3rd position and the 4th position with respect to the first arm 2, and the second arm 3 is relatively
When the first arm 2 is in three positions, the angle between the first arm 2 and the second arm 3 is 0 °, and the second arm 3 is with respect to first
Arm 2 angle between first arm 2 and the second arm 3 when four positions is 180 °.
Rotating part 12 includes rotating part main body 121, rotating support shaft 122 and rotating support shaft and holds 123, rotating support shaft
122 are connected with the front end of rotating part main body 121 and relative position is fixed, rotating support shaft 122 by rotating support shaft hold 123 with
Connecting portion 11 is rotationally connected, and specifically, rotating support shaft 122 is rotatably plugged in connecting portion 11, rotating support shaft
Hold 123 and be located at rotating support shaft and hold between 123 and connecting portion 11, rotating support shaft holds 123 inner ring and rotating support shaft 122 phase
Connect and outer ring is connected with connecting portion 11, rotating support shaft is held 123 axially spaced-aparts including along rotating support shaft 122 and arranged at least
Two.
Connecting portion 11 is provided with keeper, and keeper is in the locking state of locking rotating part 12 and releasing of release rotating part 12
Put convertible between state.Along the spaced apart multiple location holes in direction around fixed axis in rotating support shaft 122
1221, keeper edge is movable perpendicular to the direction of fixed axis, and keeper inserts at least one location hole in locked position
1221, in release conditions, location hole 1221 released by keeper to keeper.
Positioning component 300 is used for positioning upper limb healing device 100.Positioning component 300 includes: rotatable positioning member 310 and liter
Fall keeper 320, described rotatable positioning member 310 is located on described main part 1, and described rotatable positioning member 310 in locking and is released
Put between the position of described main part 1 removable, described rotatable positioning member 310 lock during described main part 1 described main part 1 with
Described support 200 relative position is fixed, and described rotatable positioning member 310 discharges during described main part 1 described main part 1 with respect to institute
State support 200 rotatable.Described lifting keeper 320 is located on described support 200, and described lifting keeper 320 is in locking
And discharging removable between the position of described main part 1, described main body during described main part 1 locked by described lifting keeper 320
Portion 1 is fixed with described support 200 relative position, and described lifting keeper 320 discharges described main part 1 phase during described main part 1
Can slide up and down for described support 200.
During recovery exercising robot 1000 uses, rotate rotating part 12 so that the first arm 2 and the second arm 3
It is located at left side and the right side of rotating part 12 respectively, now, patient can carry out the alternate rehabilitation training of upper limb both hands；It is rotated further by
Two arms 3 are so that when the angle between the second arm 3 and the first arm 2 is 0 °, now, it is same that patient can carry out upper limb both hands
The rehabilitation training of step, in addition, when simply with the first arm 2 or the second arm 3, can carry out one hand vertically turn
Dynamic training.Rotate rotating part 12 again so that the first arm 2 and the second arm 3 are located at the upper side and lower side of rotating part 12 respectively,
Now, patient can carry out the rotation training of the horizontal direction of one hand.
Recovery exercising robot 1000 according to embodiments of the present invention, not only realize the both hands of upper limb alternately or synchronization health
Refreshment is practiced, and can also realize the singlehanded horizontal or vertical rehabilitation training of upper limb further, it is also possible to adjust upper limb healing device 100
Relative altitude.
In describing the invention it is to be understood that term " " center ", " longitudinal ", " horizontal ", " length ", " width ",
" thickness ", " on ", D score, "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outward ", " up time
The orientation of instruction such as pin ", " counterclockwise ", " axial ", " radially ", " circumferential " or position relationship be based on orientation shown in the drawings or
Position relationship, is for only for ease of the description present invention and simplifies description, rather than the device of instruction or hint indication or element must
Must have specific orientation, with specific azimuth configuration and operation, be therefore not considered as limiting the invention.
Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or hint relative importance
Or the implicit quantity indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Implicitly include one or more this feature.In describing the invention, " multiple " are meant that two or more,
Unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integral；Can be machinery
Connect or electrically connect, can also be communication；Can be to be joined directly together it is also possible to be indirectly connected to by intermediary, can
To be the connection of two element internals or the interaction relationship of two elements.For the ordinary skill in the art,
Above-mentioned term concrete meaning in the present invention can be understood as the case may be.
In the description of this specification, reference term " embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy describing with reference to this embodiment or example
Point is contained at least one embodiment or the example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.And, the specific features of description, structure, material or feature can be in office
Combine in an appropriate manner in one or more embodiments or example.Additionally, in the case of not conflicting, the skill of this area
The feature of the different embodiments described in this specification or example and different embodiment or example can be tied by art personnel
Close and combine.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
Multiple changes, modification, replacement and modification can be carried out to these embodiments in the case of the principle of the disengaging present invention and objective, this
The scope of invention is limited by claim and its equivalent.
Claims (21)
1. a kind of recovery exercising robot is it is characterised in that include:
Support；
Upper limb healing device, described upper limb healing device is installed on the bracket, and described upper limb healing device includes:
Main part, described main part is rotatably connected with described support around vertical axis, and described main part is along the vertical direction
Liftable；
Upper extremity exercise module, described upper extremity exercise module and described main part are rotatably coupled to for assisting training；
For positioning the positioning component of described upper limb healing device.
2. recovery exercising robot according to claim 1 is it is characterised in that described main part includes connecting portion and rotation
Portion, described connecting portion is connected with described support, and described rotating part is rotatably connected with described connecting portion around fixed axis, described
Upper extremity exercise module is arranged on described rotating part, wherein, the center of rotation of described fixed axis and described upper extremity exercise module
Axle is vertical or becomes to be more than 0 ° and the predetermined angle less than 90 °.
3. recovery exercising robot according to claim 2 it is characterised in that described rotating part include rotating part main body and
Rotating support shaft, described upper extremity exercise module is arranged in described rotating part main body, and described rotating support shaft is along described fixing axle
Line extends, and described rotating support shaft is connected with described rotating part main body and described connecting portion respectively, and described rotating support shaft phase
Rotatable at least one of described rotating part main body and described connecting portion, can for described rotating part and described connecting portion
Rotatably it is connected.
4. recovery exercising robot according to claim 3 is it is characterised in that described rotating support shaft and described rotating part
It is connected and relative position is fixed, described rotating support shaft is rotationally connected with described connecting portion, described connecting portion is provided with fixed
Position part, described keeper can turn between the locking state locking described rotating part and the release conditions discharging described rotating part
Change.
5. recovery exercising robot according to claim 4 is it is characterised in that edge is around described in described rotating support shaft
The spaced apart multiple location holes in direction of fixed axis, can live perpendicular to the direction of described fixed axis in described keeper edge
Dynamic, and described keeper inserts at least one location hole in described locked position.
6. recovery exercising robot according to claim 4 is it is characterised in that described rotating support shaft and described connecting portion
Between be connected with rotating support shaft and hold, described rotating support shaft is contracted and is included one or the axially spaced-apart cloth along described rotating support shaft
At least two putting.
7. the recovery exercising robot according to any one of claim 2-6 is it is characterised in that described fixed axis are along water
Square to extension, described rotating part is rotatably attached described company around described fixed axis between the first position and the second position
Socket part, the Pivot axle of described rotation portion described upper extremity exercise module when described primary importance horizontal-extending and with described
Fixed axis are vertical, and the Pivot axle of described rotation portion described upper extremity exercise module when the described second position is vertically extending
And it is vertical with described fixed axis.
8. the recovery exercising robot according to any one of claim 2-6 is it is characterised in that described connecting portion includes:
First sleeve, the axis horizontal of described first sleeve extends；
Second sleeve, the axis of described second sleeve is vertically extending, and described second sleeve is vertical with described first sleeve
Or in more than 0 ° and less than 90 ° of predetermined angular；
Encapsulated part, at least a portion of outer surface of described encapsulated part described first sleeve of cladding and the outer surface of second sleeve
At least partially, and described first sleeve and second sleeve are linked together by described encapsulated part,
Wherein, described rotating part and described first sleeve are rotatably coupled to, and described second sleeve is connected with described support.
9. recovery exercising robot according to claim 8 is it is characterised in that the lower end of described second sleeve is provided with flange
Disk, described encapsulated part coats the outer surface of any one in described first sleeve, second sleeve and described ring flange, described support with
Described ring flange is connected.
10. recovery exercising robot according to claim 9 is it is characterised in that described first sleeve, described second sleeve
And any one of described ring flange is connected with described encapsulated part also by screw.
11. recovery exercising robots according to claim 8 are it is characterised in that described first sleeve and described second set
Cylinder connects for cabling.
12. recovery exercising robots according to claim 8 it is characterised in that the upper end of described support has pillar, institute
State the lower end that pillar penetrates in described second sleeve, and be provided with Lower shaft sleeve between described pillar and described second sleeve.
13. recovery exercising robots according to claim 8 are it is characterised in that described recovery exercising robot also includes:
Display module, a part for described display module inserts the upper end in described second sleeve, and the insertion of described display module
It is provided with Upper shaft sleeve between part in described second sleeve and described second sleeve.
14. recovery exercising robots according to any one of claim 1-7 are it is characterised in that described upper extremity exercise mould
Block includes:
First arm, described first arm is rotationally connected with described main part；
Second arm, described second arm is rotationally connected with described main part, and described second arm is arranged in described main body
The opposite sides in portion；
Upper limb actuator, described upper limb actuator be located on described main part and respectively with described first arm and described second-hand
Arm is connected.
15. recovery exercising robots according to claim 14 are it is characterised in that described second arm is with respect to described
One arm rotatable to adjust the angle between described first arm and described second arm.
16. recovery exercising robots according to claim 15 are it is characterised in that described second arm is with respect to described
One arm is rotatable between the 3rd position and the 4th position, is located at described with respect to described first arm in described second arm
Angle between first arm described in during three positions and described second arm is 0 °, in described second arm with respect to described
The angle that one arm is located at described in during described four position between the first arm and described second arm is 180 °.
17. recovery exercising robots according to claim 14 are it is characterised in that the Pivot axle of described first arm
Center of rotation overlapping of axles with described second arm.
18. recovery exercising robots according to claim 1 are it is characterised in that described support includes:
Outer column, described outer column is vertically extending；
Inner column, described inner column is vertically extending, and described inner column slidably stretches into outside described along the vertical direction
In column,
Wherein, described upper limb healing device is rotatably connected with described inner column around vertical axis, and described upper limb healing dress
Put that relative position is fixed along the vertical direction with described inner column.
19. recovery exercising robots according to claim 18 are it is characterised in that in described inner column and described outer column
One be provided with chute and another is provided with limited block, described chute is vertically extending, and described limited block stretches into institute
State in chute and along described chute between the two ends of stopper slot slidably, described support also includes:
Outer housing, at least a portion of described outer housing covers on the outside of described outer column, and described outer housing covers described chute and institute
State limited block.
20. lowering or hoisting gears for healing robot according to claim 18 are it is characterised in that described positioning component bag
Include:
Lock-screw, described lock-screw relative position is fixedly provided on described outer column, described lock-screw be suitable to
Coordinate with described inner column to lock described inner column and outer column.
21. recovery exercising robots according to any one of claim 1-7 and 18-20 are it is characterised in that described fixed
Hyte part also includes:
Rotatable positioning member, described rotatable positioning member is located on described main part, and described rotatable positioning member is being locked and discharged institute
State between the position of main part removable, when described rotatable positioning member locks described main part described main part with support relative to position
Put fixation, when described rotatable positioning member discharges described main part, described main part is rotatable with respect to described support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610988075.4A CN106344350B (en) | 2016-11-09 | 2016-11-09 | Rehabilitation training robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610988075.4A CN106344350B (en) | 2016-11-09 | 2016-11-09 | Rehabilitation training robot |
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| CN106344350B CN106344350B (en) | 2020-07-31 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107715388A (en) * | 2017-11-01 | 2018-02-23 | 广东美的安川服务机器人有限公司 | Rotary joint and the rehabilitation training system with the rotary joint |
| CN109966111A (en) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | Upper and lower limbs active-passive rehabilitation training aids |
| CN111375179A (en) * | 2018-12-28 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Rehabilitation training device and vertical rotation structure for training upper limbs thereof |
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| KR20100089798A (en) * | 2009-02-04 | 2010-08-12 | 가부시키가이샤 지 액티브 | Training device for golf swing |
| CN202128669U (en) * | 2011-05-10 | 2012-02-01 | 南京康龙威康复医学工程有限公司 | Bedside-type intelligent upper limb rehabilitation trainer |
| CN202136538U (en) * | 2011-06-27 | 2012-02-08 | 天津泽普科技发展有限公司 | Multifunctional upper and lower limbs rehabilitation motion training machine |
| CN204951521U (en) * | 2015-09-09 | 2016-01-13 | 华北理工大学 | Recovered ware of other upper limbs of brain soldier patient bed |
| CN205323094U (en) * | 2016-01-06 | 2016-06-22 | 山西机电职业技术学院 | Multifunctional exercise vehicle |
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| CN105853151A (en) * | 2016-06-23 | 2016-08-17 | 芜湖天人智能机械有限公司 | Hand grab of rehabilitation exercise training machine |
| CN206566168U (en) * | 2016-11-09 | 2017-10-20 | 广东美的安川服务机器人有限公司 | Recovery exercising robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107715388A (en) * | 2017-11-01 | 2018-02-23 | 广东美的安川服务机器人有限公司 | Rotary joint and the rehabilitation training system with the rotary joint |
| CN109966111A (en) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | Upper and lower limbs active-passive rehabilitation training aids |
| CN111375179A (en) * | 2018-12-28 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Rehabilitation training device and vertical rotation structure for training upper limbs thereof |
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