CN107928977A - A kind of upper-limbs rehabilitation training robot of 2 cantilevers wire saws formula - Google Patents
A kind of upper-limbs rehabilitation training robot of 2 cantilevers wire saws formula Download PDFInfo
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- CN107928977A CN107928977A CN201710158777.4A CN201710158777A CN107928977A CN 107928977 A CN107928977 A CN 107928977A CN 201710158777 A CN201710158777 A CN 201710158777A CN 107928977 A CN107928977 A CN 107928977A
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- slide unit
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- pallet
- slide rail
- suspension
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- 238000012549 training Methods 0.000 title claims abstract description 46
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 31
- 239000000725 suspension Substances 0.000 claims abstract description 94
- 230000001012 protector Effects 0.000 claims abstract description 26
- 210000000707 wrist Anatomy 0.000 claims abstract description 26
- 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 21
- 230000009471 action Effects 0.000 claims description 9
- 230000007246 mechanism Effects 0.000 claims description 9
- 230000001681 protective effect Effects 0.000 claims description 9
- 230000001105 regulatory effect Effects 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 3
- 208000027418 Wounds and injury Diseases 0.000 abstract description 2
- 210000003205 muscle Anatomy 0.000 abstract description 2
- 230000006378 damage Effects 0.000 abstract 1
- 208000014674 injury Diseases 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 4
- 210000003414 extremity Anatomy 0.000 description 3
- 230000001225 therapeutic effect Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 206010052428 Wound Diseases 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000007796 conventional method Methods 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
- 238000005516 engineering process Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000036541 health 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
- 238000011160 research Methods 0.000 description 1
- 230000000153 supplemental effect Effects 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
-
- 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
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
-
- 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
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
-
- 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
- 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)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Epidemiology (AREA)
- Human Computer Interaction (AREA)
- Engineering & Computer Science (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
Invent a kind of upper-limbs rehabilitation training robot of 2 cantilevers wire saws formula, it is characterised in that including supporting rack, two-freedom slide unit guide rail, rotating device, suspension arrangement, wrist protector, elbow protecting tool and seat.The two-freedom slide unit guide rail includes motor, horizontal stroke/longitudinal slide rail and the horizontal stroke/longitudinal slide unit being installed in horizontal stroke/longitudinal slide rail.The rotating device includes rotating disk, motor III and pedestal.The suspension arrangement includes suspension strop, pallet, spiral-lock in the shell on pallet and the serving component being installed in the cavity that pallet and shell are formed.The solution have the advantages that unquestionable, upper limb training in three dimensions can be realized using the upper-limbs rehabilitation training robot of 2 cantilever wire saws formulas, comprehensively each piece of muscle of training upper limb so that rehabilitation efficacy maximizes.It controls simplicity, and flexible connection will not bring secondary injury to patient, and can realize patient's actively and passively training requirement, reaches rehabilitation efficacy maximization.
Description
Technical field
The present invention relates to medical rehabilitation instrument, and in particular to a kind of rehabilitation training of upper limbs machine of 2 cantilevers wire saws formula
People.
Background technology
The treatment and rehabilitation of Post-stroke hemiplegia have become modern rehabilitation medicine and the research hotspot of rehabilitation project.Upper limb
It is main movement limbs of the human body in life, the movement of most of complexity can be completed, the quality of its motor function is directly certainly
Determine the autonomous viability of people.The conventional method of hemiparalysis recovery training is the training that therapist carries out patient teach-by-doing.
General therapeutic teacher will hold the suffering limb of patient, aid in patient to be moved by various gimmicks.This training method exists as follows
Some problems：One therapist can only carry out action training to a patient at the same time, and training effectiveness is low；Due to therapist itself
The reason for, possibly it can not ensure that patient obtains enough training strength；Training can be influenced be subject to different therapist's oneself factors,
Therapeutic effect depends on the experience and level of therapist more；Accurately cannot control and record training parameter (movement velocity, track,
Intensity etc.), Rehabilitation Assessment index is not objective enough, is unfavorable for determining and improving for therapeutic scheme, is also unfavorable for hemiplegic patient's nerve
The further investigation of rehabilitation rule；Intuitively feedback information cannot be provided in real time to patient；Training process is not attractive, patient's quilt
Dynamic to receive treatment, 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 object of the present invention is to provide a kind of upper-limbs rehabilitation training robot of 2 cantilevers wire saws formula, disclosure satisfy that not
With requirement of the patient to training strength, therapist is freed from heavy training mission.And record in training process
The data such as position, direction, speed and the caused power of patient's impaired limb, are analyzed for therapist, with the effect of evaluation treatment
Fruit；Make it possible teletherapy and concentrate treatment.
To realize that the technical solution that the object of the invention uses is a kind of such, upper limb health of 2 cantilevers wire saws formula
Multiple image training robot, it is characterised in that including supporting rack, two-freedom slide unit guide rail, rotating device, suspension arrangement, wrist shield
Tool, elbow protecting tool and seat.
Two-freedom slide unit guide rail, rotating device and the suspension arrangement are followed successively by two certainly from top to bottom to be installed in series
By degree slide unit guide rail, rotating device, suspension arrangement.The two-freedom slide unit guide rail is installed on the crossbeam of supporting rack, described
Rotating device is installed on two-freedom slide unit guide rail, and the suspension arrangement is installed on rotating device.
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.
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
Rotating disk is stated to be located at outside pedestal.The rotating device is located at below two-freedom slide unit guide rail, and the rotating device passes through base
Seat is installed in longitudinal slide unit.
The suspension arrangement includes suspension strop, pallet, spiral-lock and in the shell on pallet and is installed on pallet and shell structure
Into cavity in serving component.The suspension arrangement is connected by the rotating disk of shell and rotating device.
Magnetic force protective device is installed, the magnetic force protective device exceedes patient in the pulling force of suspension strop on the suspension strop
It can be disconnected automatically during the ability to bear of upper limb, to protect the upper limb of patient.Described suspension strop one end is connected with serving component, separately
One end is pierced by pallet and is located at connection wrist protector and elbow protecting tool below pallet.The serving component includes motor IV, pulling force passes
Sensor and line pulley.The suspension strop stretches under the driving of motor IV, and the line pulley is installed on what is opened on pallet
In bar hole, the line pulley, which is used to reducing suspension strop, is pierced by frictional resistance suffered by pallet.The suspension strop is also needed by drawing
Force snesor, the pulling force sensor are used for the pulling force size for measuring the suspension strop passed through.Motor IV, drawing in the serving component
The work department of force snesor and line pulley is installed on the same side, and the part for acting on suspension strop is located along the same line.The support
Multiple serving components are installed, each serving component corresponds to a suspension strop on disk.Regulating device is also equipped with the pallet,
The regulating device is used to adjust the suspension strop for being connected to wrist protector and is connected to the distance between suspension strop of elbow protecting tool.
When carrying out rehabilitation training to patient, patient needs sitting on the seat, is worn in the upper limb for needing to carry out rehabilitation training
Wrist protector and elbow protecting tool are put on, the suspension strop for being located at pallet lower end on suspension arrangement is then connected to wrist protector and elbow
On portion's protector, it should ensure that and a suspension strop has been at least connected with wrist protector and elbow protecting tool.The suspension strop is according to rehabilitation
Trained needs are stretched and shunk under the action of motor IV.
Further, 2 to 6 group serving components are installed in the cavity that the pallet and shell are formed.
Further, the motor I, motor II, motor III and motor IV use servo step motor.
Further, the transmission mechanism of the two-freedom slide unit guide rail is ball leading screw driving.
The solution have the advantages that unquestionable, using the upper-limbs rehabilitation training robot of 2 cantilever wire saws formulas
It can realize upper limb training in three dimensions, large-scale supplemental training be carried out to the multi-joint of patient, training comprehensively
Each piece of muscle of upper limb so that rehabilitation efficacy maximizes.It controls simplicity, and flexible connection will not bring secondary wound to patient
Evil, and can realize patient's actively and passively training requirement, reach rehabilitation efficacy maximization.
Brief description of the drawings
Fig. 1 uses schematic diagram for the present invention's；
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 the block diagram of suspension arrangement；
Fig. 7 is the block diagram of suspension arrangement；
Fig. 8 is the block diagram of suspension arrangement.
In figure：Supporting rack 1, two-freedom slide unit guide rail 2, horizontal slide rail I 201, horizontal slide rail II 202, horizontal slide unit
203, longitudinal slide rail 204, longitudinal slide unit 205, motor I 206, motor II 207, rotating device 3, rotating disk 301, motor III 302,
Pedestal 303, suspension arrangement 4, pallet 401, regulating device 4011, suspension strop 402, magnetic force protective device 4021, serving component
403, motor IV 4031, pulling force sensor 4032, line pulley 4033, wrist protector 5, elbow protecting tool 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.
Embodiment 1
A kind of upper-limbs rehabilitation training robot of 2 cantilevers wire saws formula, it is characterised in that including supporting rack 1, two certainly
By degree slide unit guide rail 2, rotating device 3, suspension arrangement 4, wrist protector 5, elbow protecting tool 6 and seat 7.
Two-freedom slide unit guide rail 2, rotating device 3 and the suspension arrangement 4 are followed successively by two from top to bottom to be installed in series
Free degree slide unit guide rail 2, rotating device 3, suspension arrangement 4.The two-freedom slide unit guide rail 2 is installed on the crossbeam of supporting rack 1
On, the rotating device 3 is installed on two-freedom slide unit guide rail 2, and the suspension arrangement 4 is installed on rotating device 3.
The two-freedom slide unit guide rail 2 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 201 and horizontal slide rail II 202, and the horizontal slide rail I 201 is slided with horizontal
Rail II 202 is placed in parallel, and horizontal slide unit 203, the longitudinal direction are mounted in the horizontal slide rail I 201 and horizontal slide rail II 202
Slide 204 is fixedly connected with horizontal slide unit 203, and longitudinal slide unit 205 is provided with the longitudinal slide rail 204.It is described vertical during work
Integrally move laterally under the drive of horizontal slide unit 203 to slide 204, the longitudinal slide unit 205 is made in longitudinal slide rail 204
Vertically move.Two motors are installed on the two-freedom slide unit guide rail 2, are motor I 206 and motor II 207 respectively.The electricity
Machine I 206 provides power of the horizontal slide unit 203 in horizontal slide rail needed for transverse shifting, and the motor II 207 provides longitudinal slide unit
205 vertically move required power in longitudinal slide rail 204.
The rotating device 3 includes rotating disk 301, motor III 302 and pedestal 303.Worm gear is installed in the pedestal 303
Worm mechanism, the worm screw are driven by motor III 302, and the rotating disk 301 is co-axially mounted with worm gear, and the rotating disk 301 exists
Passively rotated under the action of worm gear.The rotating disk 301 is located at outside pedestal 303.The rotating device 3 is located at two-freedom cunning
The lower section of platform guide rail 1, the rotating device 3 are installed in longitudinal slide unit 105 by pedestal 303.
The suspension arrangement 4 includes suspension strop 402, pallet 401, spiral-lock and in the shell on pallet 401 and is installed on support
Serving component 403 in the cavity that disk 401 and shell are formed.The rotating disk that the suspension arrangement 4 passes through shell and rotating device 3
301 connections.
Magnetic force protective device 4021 is installed, the magnetic force protective device 4021 is in suspension strop 402 on the suspension strop 402
Pulling force exceed patient's upper limb ability to bear when can disconnect automatically, to protect the upper limb of patient.Described 402 one end of suspension strop
It is connected with serving component 403, the other end is pierced by pallet 401 and is located at the lower section of pallet 401 connection wrist protector 5 and elbow protecting tool 6.Institute
Stating serving component 403 includes motor IV 4031, pulling force sensor 4032 and line pulley 4033.The suspension strop 402 is in motor IV
Stretch under 4031 driving, the line pulley 4033 is installed in the bar hole opened on pallet 401, the line pulley
4033 are used to reducing suspension strop 402 and are pierced by frictional resistance suffered by pallet 401.The suspension strop 402 is also needed by pull sensing
Device 4032, the pulling force sensor 4032 are used for the pulling force size for measuring the suspension strop 402 passed through.In the serving component 403
The work department of motor IV 4031, pulling force sensor 4032 and line pulley 4033 is installed on the same side, acts on the portion of suspension strop 402
Divide and be located along the same line.Multiple serving components 403 are installed, each serving component 403 corresponds to one and hangs on the pallet 401
Lanyard 402.Regulating device 4011 is also equipped with the pallet 401, the regulating device 4011 is connected to wrist for adjusting
The suspension strop 402 of protector 5 and it is connected to the distance between suspension strop 402 of elbow protecting tool 6.
When carrying out rehabilitation training to patient, patient need to be rested on seat 7, worn in the upper limb for needing to carry out rehabilitation training
Wrist protector 5 and elbow protecting tool 6 are put on, the suspension strop 402 for being located at 401 lower end of pallet on suspension arrangement 4 is then connected to wrist
On portion's protector 5 and elbow protecting tool 6, it should ensure that and a suspension strop 402 has been at least connected with wrist protector 5 and elbow protecting tool 6.Institute
Suspension strop 402 is stated to stretch and shrink under the action of motor IV 4031 according to the needs of rehabilitation training.
2 groups of serving components 403 are installed in the cavity that the pallet 401 and shell are formed.
The motor I 206, motor II 207, motor III 302 and motor IV 4031 use servo step motor.
The transmission mechanism of the two-freedom slide unit guide rail 2 is ball leading screw driving.
Embodiment 2
A kind of upper-limbs rehabilitation training robot of 2 cantilevers wire saws formula, it is characterised in that including supporting rack 1, two certainly
By degree slide unit guide rail 2, rotating device 3, suspension arrangement 4, wrist protector 5, elbow protecting tool 6 and seat 7.
Two-freedom slide unit guide rail 2, rotating device 3 and the suspension arrangement 4 are followed successively by two from top to bottom to be installed in series
Free degree slide unit guide rail 2, rotating device 3, suspension arrangement 4.The two-freedom slide unit guide rail 2 is installed on the crossbeam of supporting rack 1
On, the rotating device 3 is installed on two-freedom slide unit guide rail 2, and the suspension arrangement 4 is installed on rotating device 3.
The two-freedom slide unit guide rail 2 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 201 and horizontal slide rail II 202, and the horizontal slide rail I 201 is slided with horizontal
Rail II 202 is placed in parallel, and horizontal slide unit 203, the longitudinal direction are mounted in the horizontal slide rail I 201 and horizontal slide rail II 202
Slide 204 is fixedly connected with horizontal slide unit 203, and longitudinal slide unit 205 is provided with the longitudinal slide rail 204.It is described vertical during work
Integrally move laterally under the drive of horizontal slide unit 203 to slide 204, the longitudinal slide unit 205 is made in longitudinal slide rail 204
Vertically move.Two motors are installed on the two-freedom slide unit guide rail 2, are motor I 206 and motor II 207 respectively.The electricity
Machine I 206 provides power of the horizontal slide unit 203 in horizontal slide rail needed for transverse shifting, and the motor II 207 provides longitudinal slide unit
205 vertically move required power in longitudinal slide rail 204.
The rotating device 3 includes rotating disk 301, motor III 302 and pedestal 303.Worm gear is installed in the pedestal 303
Worm mechanism, the worm screw are driven by motor III 302, and the rotating disk 301 is co-axially mounted with worm gear, and the rotating disk 301 exists
Passively rotated under the action of worm gear.The rotating disk 301 is located at outside pedestal 303.The rotating device 3 is located at two-freedom cunning
The lower section of platform guide rail 1, the rotating device 3 are installed in longitudinal slide unit 105 by pedestal 303.
The suspension arrangement 4 includes suspension strop 402, pallet 401, spiral-lock and in the shell on pallet 401 and is installed on support
Serving component 403 in the cavity that disk 401 and shell are formed.The rotating disk that the suspension arrangement 4 passes through shell and rotating device 3
301 connections.
Magnetic force protective device 4021 is installed, the magnetic force protective device 4021 is in suspension strop 402 on the suspension strop 402
Pulling force exceed patient's upper limb ability to bear when can disconnect automatically, to protect the upper limb of patient.Described 402 one end of suspension strop
It is connected with serving component 403, the other end is pierced by pallet 401 and is located at the lower section of pallet 401 connection wrist protector 5 and elbow protecting tool 6.Institute
Stating serving component 403 includes motor IV 4031, pulling force sensor 4032 and line pulley 4033.The suspension strop 402 is in motor IV
Stretch under 4031 driving, the line pulley 4033 is installed in the bar hole opened on pallet 401, the line pulley
4033 are used to reducing suspension strop 402 and are pierced by frictional resistance suffered by pallet 401.The suspension strop 402 is also needed by pull sensing
Device 4032, the pulling force sensor 4032 are used for the pulling force size for measuring the suspension strop 402 passed through.In the serving component 403
The work department of motor IV 4031, pulling force sensor 4032 and line pulley 4033 is installed on the same side, acts on the portion of suspension strop 402
Divide and be located along the same line.Multiple serving components 403 are installed, each serving component 403 corresponds to one and hangs on the pallet 401
Lanyard 402.Regulating device 4011 is also equipped with the pallet 401, the regulating device 4011 is connected to wrist for adjusting
The suspension strop 402 of protector 5 and it is connected to the distance between suspension strop 402 of elbow protecting tool 6.
When carrying out rehabilitation training to patient, patient need to be rested on seat 7, worn in the upper limb for needing to carry out rehabilitation training
Wrist protector 5 and elbow protecting tool 6 are put on, the suspension strop 402 for being located at 401 lower end of pallet on suspension arrangement 4 is then connected to wrist
On portion's protector 5 and elbow protecting tool 6, it should ensure that and a suspension strop 402 has been at least connected with wrist protector 5 and elbow protecting tool 6.Institute
Suspension strop 402 is stated to stretch and shrink under the action of motor IV 4031 according to the needs of rehabilitation training.
3 groups of serving components 403 are installed in the cavity that the pallet 401 and shell are formed.
The motor I 206, motor II 207, motor III 302 and motor IV 4031 use servo step motor.
The transmission mechanism of the two-freedom slide unit guide rail 2 is ball leading screw driving.
Claims (4)
1. a kind of upper-limbs rehabilitation training robot of 2 cantilevers wire saws formula, it is characterised in that including supporting rack (1), two certainly
By degree slide unit guide rail (2), rotating device (3), suspension arrangement (4), wrist protector (5), elbow protecting tool (6) and seat (7).
The two-freedom slide unit guide rail (2), rotating device (3) and suspension arrangement (4) are followed successively by from top to bottom to be installed in series
Two-freedom slide unit guide rail (2), rotating device (3), suspension arrangement (4)；The two-freedom slide unit guide rail (2) is installed on support
On the crossbeam of frame (1), the rotating device (3) is installed on two-freedom slide unit guide rail (2), suspension arrangement (4) installation
In on rotating device (3)；
The two-freedom slide unit guide rail (2) 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 (201) and horizontal slide rail II (202), the horizontal slide rail I (201) and horizontal stroke
It is placed in parallel to slide II (202), horizontal slide unit is mounted in the horizontal slide rail I (201) and horizontal slide rail II (202)
(203), the longitudinal slide rail (204) is fixedly connected with horizontal slide unit (203), and longitudinal direction is provided with the longitudinal slide rail (204)
Slide unit (205)；During work, the longitudinal slide rail (204) integrally moves laterally under the drive of horizontal slide unit (203), described
Longitudinal slide unit (205) vertically moves in longitudinal slide rail (204)；Two electricity are installed on the two-freedom slide unit guide rail (2)
Machine, is motor I (206) and motor II (207) respectively；The motor I (206) provides horizontal slide unit (203) in horizontal slide rail
Power needed for transverse shifting, the motor II (207) provide longitudinal slide unit (205) and are vertically moved in longitudinal slide rail (204)
Required power；
The rotating device (3) includes rotating disk (301), motor III (302) and pedestal (303)；Installation in the pedestal (303)
There is worm gear mechanism, the worm screw is driven by motor III (302), and the rotating disk (301) is co-axially mounted with worm gear, the rotation
Turntable (301) passively rotates under the action of worm gear；It is exterior that the rotating disk (301) is located at pedestal (303)；The rotating device
(3) below two-freedom slide unit guide rail (1), the rotating device (3) is installed on longitudinal slide unit by pedestal (303)
(105) on；
The suspension arrangement (4) includes suspension strop (402), pallet (401), spiral-lock in the shell on pallet (401) and installation
Serving component (403) in the cavity that pallet (401) and shell are formed；The suspension arrangement (4) passes through shell and rotating dress
Put rotating disk (301) connection of (3)；
Magnetic force protective device (4021) is installed, the magnetic force protective device (4021) is in suspension strop on the suspension strop (402)
(402) pulling force can disconnect automatically when exceeding the ability to bear of patient's upper limb, to protect the upper limb of patient；The suspension strop
(402) one end is connected with serving component (403), and the other end is pierced by pallet (401) and is located at connection wrist protector below pallet (401)
(5) and elbow protecting tool (6)；The serving component (403) includes motor IV (4031), pulling force sensor (4032) and line pulley
(4033)；The suspension strop (402) is stretched under the driving of motor IV (4031), and the line pulley (4033) is installed on support
In the bar hole opened on disk (401), the line pulley (4033) is pierced by suffered by pallet (401) for reducing suspension strop (402)
Frictional resistance；The suspension strop (402) is also needed by pulling force sensor (4032), and the pulling force sensor (4032) is used to survey
Measure the pulling force size of the suspension strop (402) passed through；Multiple serving components (403), each serving are installed on the pallet (401)
Component (403) corresponds to a suspension strop (402)；Regulating device (4011) is also equipped with the pallet (401), it is described to adjust dress
Put (4011) and be used for the adjusting suspension strop (402) for being connected to wrist protector (5) and the suspension strop for being connected to elbow protecting tool (6)
The distance between (402)；
When carrying out rehabilitation training to patient, patient need to be rested on seat (7), dressed needing the upper limb for carrying out rehabilitation training
Upper wrist protector (5) and elbow protecting tool (6), then will be located at the suspension strop (402) of pallet (401) lower end on suspension arrangement (4)
It is connected on wrist protector (5) and elbow protecting tool (6), should ensure that and be at least connected with wrist protector (5) and elbow protecting tool (6)
A piece suspension strop (402)；The suspension strop (402) stretched according to the needs of rehabilitation training under the action of motor IV (4031) and
Shrink.
A kind of 2. upper-limbs rehabilitation training robot of 2 cantilevers wire saws formula according to claim 1, it is characterised in that
2 to 6 group serving components (403) are installed in the cavity that the pallet (401) and shell are formed.
A kind of 3. upper-limbs rehabilitation training robot of 2 cantilevers wire saws formula according to claim 1, it is characterised in that
Motor I (206), motor II (207), motor III (302) and the motor IV (4031) use servo step motor.
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
The transmission mechanism of two-freedom slide unit guide rail (2) is screw pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710158777.4A CN107928977A (en) | 2017-03-17 | 2017-03-17 | A kind of upper-limbs rehabilitation training robot of 2 cantilevers wire saws formula |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710158777.4A CN107928977A (en) | 2017-03-17 | 2017-03-17 | A kind of upper-limbs rehabilitation training robot of 2 cantilevers wire saws formula |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107928977A true CN107928977A (en) | 2018-04-20 |
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ID=61929088
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710158777.4A Pending CN107928977A (en) | 2017-03-17 | 2017-03-17 | A kind of upper-limbs rehabilitation training robot of 2 cantilevers wire saws formula |
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| Country | Link |
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| CN (1) | CN107928977A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113143690A (en) * | 2021-04-26 | 2021-07-23 | 天水师范学院 | Hand trainer for rehabilitation of disabled |
-
2017
- 2017-03-17 CN CN201710158777.4A patent/CN107928977A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113143690A (en) * | 2021-04-26 | 2021-07-23 | 天水师范学院 | Hand trainer for rehabilitation of disabled |
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