CN107928976A - A kind of rehabilitation training of upper limbs mechanism of novel cantilever rope driving - Google Patents
A kind of rehabilitation training of upper limbs mechanism of novel cantilever rope driving Download PDFInfo
- Publication number
- CN107928976A CN107928976A CN201710158739.9A CN201710158739A CN107928976A CN 107928976 A CN107928976 A CN 107928976A CN 201710158739 A CN201710158739 A CN 201710158739A CN 107928976 A CN107928976 A CN 107928976A
- Authority
- CN
- China
- Prior art keywords
- slide unit
- slide rail
- horizontal
- motor
- supporting rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 17
- 230000007246 mechanism Effects 0.000 title claims abstract description 16
- 239000000725 suspension Substances 0.000 claims abstract description 42
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 20
- 210000000707 wrist Anatomy 0.000 claims abstract description 15
- 230000001012 protector Effects 0.000 claims abstract description 14
- 230000001681 protective effect Effects 0.000 claims abstract description 8
- 230000033001 locomotion Effects 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 6
- 230000001225 therapeutic effect Effects 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 3
- 208000027418 Wounds and injury Diseases 0.000 abstract description 2
- 230000006378 damage Effects 0.000 abstract description 2
- 208000014674 injury Diseases 0.000 abstract description 2
- 239000012141 concentrate Substances 0.000 abstract 1
- 208000006011 Stroke Diseases 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 210000003414 extremity Anatomy 0.000 description 3
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 241001269238 Data Species 0.000 description 1
- 208000012661 Dyskinesia Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000002310 elbow joint Anatomy 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000035899 viability 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
- A61H1/0277—Elbow
-
- 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
- A61H1/0281—Shoulder
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/1209—Involving a bending of elbow and shoulder joints simultaneously
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
-
- 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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- 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
- 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
- A61H2205/062—Shoulders
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/10—Positions
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/30—Speed
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/51—Force
Landscapes
- Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Rehabilitation Therapy (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Rehabilitation Tools (AREA)
Abstract
Invention provides a kind of rehabilitation training of upper limbs mechanism of novel cantilever rope driving, it is characterised in that including supporting rack, two-freedom slide unit guide rail, rotating device, suspension arrangement, elbow protecting tool, wrist protector and seat.The two-freedom slide unit guide rail is followed successively by horizontal slide rail, horizontal slide unit, longitudinal slide rail and longitudinal slide unit from top to bottom.The rotating device includes rotating disk, motor III and pedestal.The suspension arrangement includes fixed seat, supporting rod I, supporting rod II, suspension strop and magnetic force protective device.During work, the suspension strop is connected with the wrist protector and elbow protecting tool being worn on patient's arm.The solution have the advantages that unquestionable, flexible connection will not bring secondary injury to patient, meet the requirement of patient's training, can realize patient's actively and passively training requirement.The training institution can analyze and evaluate therapeutic effect with caused objective data in objective record training process for therapist；Make it possible teletherapy and concentrate treatment.
Description
Technical field
The present invention relates to medical rehabilitation instrument, and in particular to a kind of rehabilitation training of upper limbs mechanism of novel cantilever rope driving.
Background technology
It is the world's second largest during brain is overworked, Chinese first big fatal disease, not only the death rate is high, but also disability rate is also high.Partially
Paralysis and dyskinesia are one of main clinical manifestations of apoplexy sequela.The treatment and rehabilitation of Post-stroke hemiplegia have become
The research hotspot of modern rehabilitation medicine and rehabilitation project.Upper limb is main movement limbs of the human body in life, can be completed big
The movement of some of complex, the quality of its motor function directly decide the autonomous viability of people.The biography of hemiparalysis recovery training
System method is the training that therapist carries out patient teach-by-doing.General therapeutic teacher will hold the suffering limb of patient, pass through various gimmicks
Auxiliary patient is moved.There are the following problem for this training method：One therapist can only at the same time to a patient into
Row action training, training effectiveness are low；Due to therapist itself, it is strong possibly can not to ensure that patient obtains enough training
Degree；Training can be influenced be subject to different therapist's oneself factors, and therapeutic effect depends on the experience and level of therapist more；Cannot
Accurate control and record training parameter (movement velocity, track, intensity etc.), Rehabilitation Assessment index is not objective enough, is unfavorable for treating
Determining and improving for scheme, is also unfavorable for the further investigation of hemiplegic patient's nerve rehabilitation rule；It cannot be provided to patient straight in real time
The feedback information of sight；Training process is not attractive, and patient passively receives treatment, and the initiative for participating in treatment is inadequate.
As can be seen that carrying out rehabilitation training by therapist merely, raising and the side of rehabilitation training efficiency can be undoubtedly restricted
The improvement of method.
The content of the invention
The purpose of the invention is to provide a kind of rehabilitation training of upper limbs that patient can be helped to be actively engaged in rehabilitation
Mechanism, which employs flexible structure, with more security.And the motion amplitude of patient's upper limb can be accurately controlled,
Reach preferable therapeutic effect.
To realize that the technical solution that the object of the invention uses is a kind of such, upper limb healing of novel cantilever rope driving
Training institution, it is characterised in that including elbow protecting tool, wrist protector, seat, supporting rack and be installed on supporting rack two from
By degree slide unit guide rail, rotating device and suspension arrangement.
The two-freedom slide unit guide rail include motor, horizontal stroke/longitudinal slide rail and be installed in horizontal stroke/longitudinal slide rail horizontal stroke/
Longitudinal slide unit.The horizontal slide rail includes horizontal slide rail I and horizontal slide rail II, and the horizontal slide rail I is parallel with horizontal slide rail II
Place, horizontal slide unit is mounted in the horizontal slide rail I and horizontal slide rail II, the longitudinal slide rail is fixed with horizontal slide unit to be connected
Connect, longitudinal slide unit is installed in the longitudinal slide rail.During work, the longitudinal slide rail is integrally made horizontal under the drive of horizontal slide unit
To movement, the longitudinal slide unit vertically moves in longitudinal slide rail.Two motors are installed on the two-freedom slide unit guide rail,
It is motor I and motor II respectively.The motor I provides power of the horizontal slide unit in horizontal slide rail needed for transverse shifting, described
Motor II provides longitudinal slide unit and required power is vertically moved in longitudinal slide rail.
It is sliding that the two-freedom slide unit guide rail is followed successively by horizontal slide rail, horizontal slide unit, longitudinal slide rail and longitudinal direction from top to bottom
Platform.
The rotating device includes rotating disk, motor III and pedestal.Worm gear mechanism is installed in the pedestal, it is described
Worm screw is driven by motor III, and the rotating disk is co-axially mounted with worm gear, and the rotating disk passively rotates under the action of worm gear.Institute
State rotating disk to be located at outside pedestal, the rotating disk can rotate in the horizontal plane.The rotating device is located at two certainly
By below degree slide unit guide rail, the rotating device is installed in longitudinal slide unit by pedestal.The peace of the pedestal and longitudinal slide unit
Dress face is the opposite of installation rotating disk.
The suspension arrangement includes fixed seat, supporting rod I, supporting rod II, suspension strop and magnetic force protective device.The suspension
Device is fixedly connected by fixed seat with the rotating disk of rotating device, and one end of the supporting rod I is fixedly installed in fixed seat,
Other end connection support bar II, the supporting rod I and supporting rod II form " T " shape structure in the horizontal plane.The supporting rod II
Both ends be respectively connected with suspension strop, be also connected with suspension strop in the fixed seat.Magnetic force protection dress is installed on the suspension strop
Put, the magnetic force protective device can be disconnected in the case where pulling force is excessive, avoid upper limb from bearing excessive pulling force.
During work, the suspension strop is connected with the wrist protector and elbow protecting tool being worn on patient's arm, the connection
Suspension strop in II both ends of supporting rod is both connected on wrist protector, and the suspension strop being connected in fixed seat is connected to ancon
On protector.
Further, the motor I, motor II and motor III use servo step motor.
Further, the transmission mechanism of the two-freedom slide unit guide rail is ball leading screw driving.
Further, the wrist protector and elbow protecting tool have been at least connected with a suspension strop.
The solution have the advantages that unquestionable, first, flexible connection will not bring secondary injury to patient, meet
The shoulder of patient's upper limb, elbow joint carry out in three dimensions a wide range of and significantly trained requirement, and can realize patient
Actively and passively training requirement, reaches rehabilitation efficacy maximization.Secondly, which can be to suffer from objective record training process
The objective datas such as position, direction, speed and the caused power of person's impaired limb, analyze and evaluate treatment effect for therapist
Fruit；Finally, using rehabilitation training equipment so that (therapist provides for several patients at the same time for teletherapy and concentration treatment
Instruct) it is possibly realized.
Brief description of the drawings
Fig. 1 is the schematic diagram of the present invention；
Fig. 2 is two-freedom slide unit guide rail schematic diagram；
Fig. 3 is rotating device schematic diagram；
Fig. 4 is rotating device schematic diagram；
Fig. 5 is suspension arrangement schematic diagram；
Fig. 6 is suspension arrangement schematic diagram.
In figure：Two-freedom slide unit guide rail 1, horizontal slide rail I 101, horizontal slide rail II 102, horizontal slide unit 103, longitudinal direction are sliding
Rail 104, longitudinal slide unit 105, motor I 106, motor II 107, rotating device 2, rotating disk 201, motor III 202, pedestal 203,
Suspension arrangement 3, fixed seat 301, supporting rod I 302, supporting rod II 303, suspension strop 304, sensor 305, magnetic force protective device
3041, elbow protecting tool 4, wrist protector 5, supporting rack 6, seat 7.
Embodiment
With reference to embodiment, the invention will be further described, but should not be construed the above-mentioned subject area of the present invention only
It is limited to following embodiments.Without departing from the idea case in the present invention described above, according to ordinary skill knowledge and used
With means, various replacements and change are made, should all be included within the scope of the present invention.
A kind of rehabilitation training of upper limbs mechanism of novel cantilever rope driving, it is characterised in that protected including elbow protecting tool 4, wrist
Tool 5, seat 7, supporting rack 6 and two-freedom slide unit guide rail 1, rotating device 2 and the suspension arrangement 3 being installed on supporting rack 6.
The component installed on support frame as described above 6 is followed successively by two-freedom slide unit guide rail 1, rotating device 2 and suspension arrangement 3 from top to bottom.
The two-freedom slide unit guide rail 1 include motor, horizontal stroke/longitudinal slide rail and be installed in horizontal stroke/longitudinal slide rail horizontal stroke/
Longitudinal slide unit.The horizontal slide rail includes horizontal slide rail I 101 and horizontal slide rail II 102, and the horizontal slide rail I 101 is slided with horizontal
Rail II 102 is placed in parallel, and horizontal slide unit 103, the longitudinal direction are mounted in the horizontal slide rail I 101 and horizontal slide rail II 102
Slide 104 is fixedly connected with horizontal slide unit 103, and longitudinal slide unit 105 is provided with the longitudinal slide rail 104.It is described vertical during work
Integrally move laterally under the drive of horizontal slide unit 103 to slide 104, the longitudinal slide unit 105 is made in longitudinal slide rail 104
Vertically move.Two motors are installed on the two-freedom slide unit guide rail 1, are motor I 106 and motor II 107 respectively.The electricity
Machine I 106 provides power of the horizontal slide unit 103 in horizontal slide rail needed for transverse shifting, and the motor II 107 provides longitudinal slide unit
105 vertically move required power in longitudinal slide rail 104.
The two-freedom slide unit guide rail 1 is followed successively by horizontal slide rail, horizontal slide unit 103,104 and of longitudinal slide rail from top to bottom
Longitudinal slide unit 105.
The rotating device 2 includes rotating disk 201, motor III 202 and pedestal 203.Worm gear is installed in the pedestal 203
Worm mechanism, the worm screw are driven by motor III 202, and the rotating disk 201 is co-axially mounted with worm gear, and the rotating disk 201 exists
Passively rotated under the action of worm gear.The rotating disk 201 is located at outside pedestal 203, and the rotating disk 201 can be in the horizontal plane
Rotate.The rotating device 2 is located at the lower section of two-freedom slide unit guide rail 1, and the rotating device 2 is pacified by pedestal 203
Loaded in longitudinal slide unit 105.The pedestal 203 and the opposite that the mounting surface of longitudinal slide unit 105 is installation rotating disk 201.
The suspension arrangement 3 includes fixed seat 301, supporting rod I 302, supporting rod II 303, suspension strop 304 and magnetic force protection
Device 3041.The suspension arrangement 3 is fixedly connected by fixed seat 301 with the rotating disk 201 of rotating device 2, the supporting rod I
302 one end is fixedly installed in fixed seat 301, other end connection support bar II 303, the supporting rod I 302 and supporting rod II
303 form " T " shape structure in the horizontal plane.The both ends of the supporting rod II 303 are respectively connected with suspension strop 304, the fixed seat
Also suspension strop 304 is connected with 301.Magnetic force protective device 3041, the magnetic force protective device are installed on the suspension strop 304
3041 can disconnect in the case where pulling force is excessive, avoid upper limb from bearing excessive pulling force.
During work, the suspension strop 304 is connected with the wrist protector 5 and elbow protecting tool 4 being worn on patient's arm, described
The suspension strop 304 for being connected to II 303 both ends of supporting rod is both connected on wrist protector 5, described to be connected to hanging in fixed seat 301
Lanyard 304 is connected on elbow protecting tool 4.
The motor I 106, motor II 107 and motor III 202 use servo step motor.
The transmission mechanism of the two-freedom slide unit guide rail 1 is ball leading screw driving.
The wrist protector 5 and elbow protecting tool 4 have been at least connected with a suspension strop 304.
Claims (4)
1. a kind of rehabilitation training of upper limbs mechanism of novel cantilever rope driving, it is characterised in that protected including elbow protecting tool (4), wrist
Have (5), seat (7), supporting rack (6) and the two-freedom slide unit guide rail (1) being installed on supporting rack (6), rotating device (2)
With suspension arrangement (3)；
The two-freedom slide unit guide rail (1) includes motor, horizontal stroke/longitudinal slide rail and the horizontal stroke/vertical being installed in horizontal stroke/longitudinal slide rail
To slide unit；The horizontal slide rail includes horizontal slide rail I (101) and horizontal slide rail II (102), the horizontal slide rail I (101) and horizontal stroke
It is placed in parallel to slide II (102), horizontal slide unit is mounted in the horizontal slide rail I (101) and horizontal slide rail II (102)
(103), the longitudinal slide rail (104) is fixedly connected with horizontal slide unit (103), and longitudinal direction is provided with the longitudinal slide rail (104)
Slide unit (105)；During work, the longitudinal slide rail (104) integrally moves laterally under the drive of horizontal slide unit (103), described
Longitudinal slide unit (105) vertically moves in longitudinal slide rail (104)；Two electricity are installed on the two-freedom slide unit guide rail (1)
Machine, is motor I (106) and motor II (107) respectively；The motor I (106) provides horizontal slide unit (103) in horizontal slide rail
Power needed for transverse shifting, the motor II (107) provide longitudinal slide unit (105) and are vertically moved in longitudinal slide rail (104)
Required power；
The rotating device (2) includes rotating disk (201), motor III (202) and pedestal (203)；Installation in the pedestal (203)
There is worm gear mechanism, the worm screw is driven by motor III (202), and the rotating disk (201) is co-axially mounted with worm gear, the rotation
Turntable (201) passively rotates under the action of worm gear；It is exterior that the rotating disk (201) is located at pedestal (203)；The rotating device
(2) below two-freedom slide unit guide rail (1), the rotating device (2) is installed on longitudinal slide unit by pedestal (203)
(105) on；
The suspension arrangement (3) includes fixed seat (301), supporting rod I (302), supporting rod II (303), suspension strop (304) and magnetic
Try hard to keep protection unit (3041)；The suspension arrangement (3) is fixed by fixed seat (301) and the rotating disk (201) of rotating device (2)
Connection, one end of the supporting rod I (302) are fixedly installed in fixed seat (301), other end connection support bar II (303), institute
State supporting rod I (302) and supporting rod II (303) forms " T " shape structure in the horizontal plane；The both ends of the supporting rod II (303)
Suspension strop (304) is respectively connected with, the both ends of the supporting rod II (303) are also equipped with sensor (305), the sensor
(305) pulling force sensor and gyro sensor are included；The pulling force sensor and gyro sensor can detect suspension strop
(304) pulling force suffered by and the angle of movement；Suspension strop (304) is also connected with the fixed seat (301)；The suspension strop
(304) magnetic force protective device (3041) is installed, the magnetic force protective device (3041) can be broken in the case where pulling force is excessive on
Open, avoid upper limb from bearing excessive pulling force；
During work, the suspension strop (304) is connected with the wrist protector (5) and elbow protecting tool (4) being worn on patient's arm, institute
State and be connected to the suspension strop (304) at supporting rod II (303) both ends and be both connected on wrist protector (5), it is described to be connected to fixed seat
(301) suspension strop (304) on is connected on elbow protecting tool (4).
2. the rehabilitation training of upper limbs mechanism of a kind of novel cantilever rope driving according to claim 1, it is characterised in that described
Motor I (106), motor II (107) and motor III (202) use servo step motor.
3. the rehabilitation training of upper limbs mechanism of a kind of novel cantilever rope driving according to claim 1, it is characterised in that described
The transmission mechanism of two-freedom slide unit guide rail (1) is ball leading screw driving.
4. the rehabilitation training of upper limbs mechanism of a kind of novel cantilever rope driving according to claim 1, it is characterised in that described
Wrist protector (5) and elbow protecting tool (4) have been at least connected with a suspension strop (304).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710158739.9A CN107928976A (en) | 2017-03-17 | 2017-03-17 | A kind of rehabilitation training of upper limbs mechanism of novel cantilever rope driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710158739.9A CN107928976A (en) | 2017-03-17 | 2017-03-17 | A kind of rehabilitation training of upper limbs mechanism of novel cantilever rope driving |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107928976A true CN107928976A (en) | 2018-04-20 |
Family
ID=61929062
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710158739.9A Pending CN107928976A (en) | 2017-03-17 | 2017-03-17 | A kind of rehabilitation training of upper limbs mechanism of novel cantilever rope driving |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107928976A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110898400A (en) * | 2019-12-11 | 2020-03-24 | 南通大学附属医院 | Intelligent rehabilitation resistance training device for upper and lower limb hemiplegia patients |
| CN111068257A (en) * | 2019-11-15 | 2020-04-28 | 同济大学 | Upper limb rehabilitation training device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5501656A (en) * | 1993-08-26 | 1996-03-26 | Agency Of Industrial Science & Technology | Arm motion support apparatus |
| JP2000279463A (en) * | 1999-03-31 | 2000-10-10 | Sanyo Electric Co Ltd | Training device for superior limb function recovery |
| JP2003190234A (en) * | 2001-12-27 | 2003-07-08 | National Institute Of Advanced Industrial & Technology | Lower limb rehabilitation support device with multi- degree of freedom |
| CN103263338A (en) * | 2013-06-06 | 2013-08-28 | 中山大学 | Upper limb rehabilitation robot |
| KR20160036279A (en) * | 2014-09-25 | 2016-04-04 | 한국과학기술원 | Multi-DOF shoulder rehabilitation robot adapting to anatomical structure of shoulder joint |
| CN105919774A (en) * | 2016-04-20 | 2016-09-07 | 中国石油大学(华东) | Parallel flexible cable driven robot for upper limb rehabilitation and implementation method thereof |
| CN207356217U (en) * | 2017-03-17 | 2018-05-15 | 重庆理工大学 | A kind of rehabilitation training of upper limbs mechanism of novel cantilever rope driving |
-
2017
- 2017-03-17 CN CN201710158739.9A patent/CN107928976A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5501656A (en) * | 1993-08-26 | 1996-03-26 | Agency Of Industrial Science & Technology | Arm motion support apparatus |
| JP2000279463A (en) * | 1999-03-31 | 2000-10-10 | Sanyo Electric Co Ltd | Training device for superior limb function recovery |
| JP2003190234A (en) * | 2001-12-27 | 2003-07-08 | National Institute Of Advanced Industrial & Technology | Lower limb rehabilitation support device with multi- degree of freedom |
| CN103263338A (en) * | 2013-06-06 | 2013-08-28 | 中山大学 | Upper limb rehabilitation robot |
| KR20160036279A (en) * | 2014-09-25 | 2016-04-04 | 한국과학기술원 | Multi-DOF shoulder rehabilitation robot adapting to anatomical structure of shoulder joint |
| CN105919774A (en) * | 2016-04-20 | 2016-09-07 | 中国石油大学(华东) | Parallel flexible cable driven robot for upper limb rehabilitation and implementation method thereof |
| CN207356217U (en) * | 2017-03-17 | 2018-05-15 | 重庆理工大学 | A kind of rehabilitation training of upper limbs mechanism of novel cantilever rope driving |
Non-Patent Citations (1)
| Title |
|---|
| PATRICIA KAN: "The development of an adaptive upper-limb stroke rehabilitation robotic system", JOURNAL OF NEUROENGINEERING AND REHABILITATION * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111068257A (en) * | 2019-11-15 | 2020-04-28 | 同济大学 | Upper limb rehabilitation training device |
| CN111068257B (en) * | 2019-11-15 | 2021-03-30 | 同济大学 | Upper limb rehabilitation training device |
| CN110898400A (en) * | 2019-12-11 | 2020-03-24 | 南通大学附属医院 | Intelligent rehabilitation resistance training device for upper and lower limb hemiplegia patients |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207356217U (en) | A kind of rehabilitation training of upper limbs mechanism of novel cantilever rope driving | |
| CN101401765A (en) | Upper limb hemiplegia rehabilitation robot device with adjustable training plan | |
| CN107224385B (en) | Active/passive both arms upper limb rehabilitation robot | |
| CN204274940U (en) | The main passive exercise device of three-degree of freedom ankle joint | |
| CN101822223B (en) | Multi-function animal weight-losing running table and control system thereof | |
| CN104398365A (en) | Three-degree-of-freedom ankle joint exercising device | |
| CN104905941A (en) | Upper limb rehabilitation training device | |
| CN109999427A (en) | A kind of upper-limbs rehabilitation training robot based on mobile platform | |
| CN105935323B (en) | A kind of vertebrae traction recovering robot and its traction angle adjusting means | |
| CN107928976A (en) | A kind of rehabilitation training of upper limbs mechanism of novel cantilever rope driving | |
| CN107260485B (en) | Ankle rehabilitation device with ball hinge support moving pair | |
| CN109011404A (en) | Healing and training shoulder joint Medical Devices | |
| CN106073970B (en) | A kind of vertebrae traction recovering robot | |
| CN107929939A (en) | The upper-limbs rehabilitation training robot and its application method of a kind of nerve electric stimulation | |
| CN105434091B (en) | A kind of spinal column pressure reduction equipment | |
| CN111096869A (en) | Rigid-flexible coupling rope-driven exoskeleton type upper limb rehabilitation training robot | |
| CN207768697U (en) | A kind of upper-limbs rehabilitation training robot of 2 cantilevers wire saws formula | |
| CN207768913U (en) | A kind of upper-limbs rehabilitation training robot of nerve electric stimulation | |
| CN105919705B (en) | A kind of vertebrae traction recovering robot and its pulley | |
| CN107928977A (en) | A kind of upper-limbs rehabilitation training robot of 2 cantilevers wire saws formula | |
| CN204890525U (en) | Recovered treatment experimental study platform of massaging of multi -functional automatic ration | |
| CN110731782A (en) | rehabilitation robot for patients with balance disorder | |
| CN212282096U (en) | Rigid-flexible coupling rope-driven exoskeleton type upper limb rehabilitation training robot | |
| CN211705750U (en) | Knee joint training ware | |
| CN106983630B (en) | A kind of support of multiple degrees of freedom hip and detection device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180420 |
|
| WD01 | Invention patent application deemed withdrawn after publication |