CN205019347U - Ectoskeleton rehabilitation training robotic arm - Google Patents
Ectoskeleton rehabilitation training robotic arm Download PDFInfo
- Publication number
- CN205019347U CN205019347U CN201520599512.4U CN201520599512U CN205019347U CN 205019347 U CN205019347 U CN 205019347U CN 201520599512 U CN201520599512 U CN 201520599512U CN 205019347 U CN205019347 U CN 205019347U
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- 238000012549 training Methods 0.000 title claims abstract description 19
- 210000000245 forearm Anatomy 0.000 claims abstract description 21
- 238000005452 bending Methods 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 230000001537 neural effect Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 241000406668 Loxodonta cyclotis Species 0.000 description 1
- 208000012902 Nervous system disease Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 210000003169 central nervous system Anatomy 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
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Abstract
The utility model relates to an ectoskeleton rehabilitation training robotic arm belongs to medical instrument technical field. The utility model discloses motor I, motor II is installed in the backup pad, the axle III of shoulder bracing piece and bevel gear's II hollow shaft all use the bearing to be connected with the dead eye junction in the backup pad, the motor gear I, motor gear II respectively with motor II, motor I is connected, the pinion is connected with the axle III of shoulder bracing piece, gear wheel and bevel gear's II empty spindle connection, pass in the middle of III driven bevel gear's II on the axle of shoulder bracing piece the hollow shaft, axle I cooperates with the shaft hole of shoulder bracing piece, bevel gear I and upper arm all with I fixed connection on the axle, the upper arm lower extreme is equipped with fixing device I, be connected with the upper arm behind II fixed connection on forearm and the axle, motor III is installed at the upper arm lower extreme, motor gear III is installed on motor III, gear engagement on motor gear III and the axle II, the forearm lower extreme is equipped with fixing device II. The utility model discloses simple structure, the training function is comparatively comprehensive, the easy wearing.
Description
Technical field
This utility model relates to a kind of exoskeleton rehabilitation training manipulator arm, belongs to technical field of medical instruments.
Background technology
China just marches toward aging society, due to the hemiplegia that the nervous system disease such as apoplexy cause, extremity dysfunction etc., have a strong impact on the quality of life of patient, bring white elephant to society and family, the achievement in research of neural rehabilitation field shows, central nervous system has the plasticity of height, experimentation shows, in neural rehabilitation course, specific functional training is absolutely necessary, this research being rehabilitation system provides important medical science foundation, application light mechanical and electrical integration, development can improve the rehabilitation equipment of ill limb motion motility, there is important theoretical significance and actual application value.
Summary of the invention
This utility model provides a kind of exoskeleton rehabilitation training manipulator arm, for the problem solving the arm function obstacle that old people causes because of disease.
The technical solution of the utility model is: a kind of exoskeleton rehabilitation training manipulator arm, comprises motor I 1, motor II 2, gripper shoe 3, bearing 4, motor gear I 5, pinion 6, gear wheel 7, bevel gear I 8, shoulder support bar 9, bevel gear II 10, axle I 11, motor gear II 12, upper arm 13, fixture I 14, motor III 15, axle II 16, forearm 17, fixture II 18, motor gear III 19, gear 20, wherein motor I 1, motor II 2 is arranged in gripper shoe 3, axle III 9_2 of shoulder support bar 9 uses bearing 4 to be connected with the hollow axle 10_1 of bevel gear II 10 with the dead eye junction in gripper shoe 3, motor gear I 5, motor gear II 12 respectively with motor II 2, motor I 1 connects, pinion 6 is connected with axle III 9_2 of shoulder support bar 9, and pinion 6 engages with motor gear II 12, gear wheel 7 is connected with the hollow axle 10_1 of bevel gear II 10, and gear wheel 7 engages with motor gear I 5, axle III 9_2 of shoulder support bar 9 passes in the middle of the hollow axle 10_1 of bevel gear II 10, and can relatively rotate, axle I 11 coordinates with the axis hole 9_1 of shoulder support bar 9, and can freely rotate, bevel gear I 8 is all fixedly connected with axle I 11 with upper arm 13, and bevel gear I 8 engages with bevel gear II 10, upper arm 13 lower end is provided with fixture I 14, be connected with upper arm 13 after forearm 17 and axle II 16 are fixedly connected with, motor III 15 is arranged on upper arm 13 lower end, motor gear III 19 is arranged on motor III 15, motor gear III 19 engages with the gear 20 on axle II 16, forearm 17 lower end is provided with fixture II 18.
Describedly state fixture I 14 and fixture II 18 can regulate according to the size of arm, with fixing arm.
Mechanism controls upper arm 13 swing of described motor I 1, motor gear II 12, pinion 6, shoulder support bar 9 and axle I 11 composition.
Mechanism controls upper arm 13 sideshake that described motor II 2, motor gear I 5, gear wheel 7, bevel gear I 8, bevel gear II 10 and axle I 11 form.
The mechanism controls forearm 17 of described motor III 15, axle II 16, motor gear III 19, gear 20 composition is bending and stretch.
Use procedure of the present utility model is:
This exoskeleton rehabilitation training manipulator arm is worn on patient's arm, patient or medical personnel will need the content input host computer of training, host computer sends instruction to real-time controller, controller drive motors moves, moment and displacement are delivered to target arm by Poewr transmission mechanism, and arm is moved by the motion mode of specifying, and ectoskeletal kinestate measured in real time by power, displacement, velocity sensor, and measurement data is fed back to controller, form close loop control circuit.
The beneficial effects of the utility model are: structure is simple, and training function is comparatively comprehensive, easily dresses; Adopt the combination of straight spur gear and bevel gear, solve two degree of freedom problems more rambunctious of shoulder dexterously.
Accompanying drawing explanation
Fig. 1 is front of the present utility model overall structure schematic diagram;
Fig. 2 is side of the present utility model overall structure schematic diagram;
Fig. 3 is shoulder controlling organization structural representation of the present utility model;
Fig. 4 is elbow structure schematic diagram of the present utility model;
Fig. 5 is shoulder support bar structural representation of the present utility model;
Fig. 6 is bevel gear II structural representation of the present utility model;
Each label in figure: 1-motor I, 2-motor II, 3-gripper shoe, 4-bearing, 5-motor gear I, 6-pinion, 7-gear wheel, 8-bevel gear I, 9-shoulder support bar, 9_1-axis hole, 9_2-axle III, 10-bevel gear II, 10_1-hollow axle, 11-axle I, 12-motor gear II, 13-upper arm, 14-fixture I, 15-motor III, 16-axle II, 17-forearm, 18-fixture II, 19-motor gear III, 20-gear.
Detailed description of the invention
Embodiment 1: as shown in figures 1 to 6, a kind of exoskeleton rehabilitation training manipulator arm, comprises motor I 1, motor II 2, gripper shoe 3, bearing 4, motor gear I 5, pinion 6, gear wheel 7, bevel gear I 8, shoulder support bar 9, bevel gear II 10, axle I 11, motor gear II 12, upper arm 13, fixture I 14, motor III 15, axle II 16, forearm 17, fixture II 18, motor gear III 19, gear 20, wherein motor I 1, motor II 2 is arranged in gripper shoe 3, axle III 9_2 of shoulder support bar 9 uses bearing 4 to be connected with the hollow axle 10_1 of bevel gear II 10 with the dead eye junction in gripper shoe 3, motor gear I 5, motor gear II 12 respectively with motor II 2, motor I 1 connects, pinion 6 is connected with axle III 9_2 of shoulder support bar 9, and pinion 6 engages with motor gear II 12, gear wheel 7 is connected with the hollow axle 10_1 of bevel gear II 10, and gear wheel 7 engages with motor gear I 5, axle III 9_2 of shoulder support bar 9 passes in the middle of the hollow axle 10_1 of bevel gear II 10, and can relatively rotate, axle I 11 coordinates with the axis hole 9_1 of shoulder support bar 9, and can freely rotate, bevel gear I 8 is all fixedly connected with axle I 11 with upper arm 13, and bevel gear I 8 engages with bevel gear II 10, upper arm 13 lower end is provided with fixture I 14, be connected with upper arm 13 after forearm 17 and axle II 16 are fixedly connected with, motor III 15 is arranged on upper arm 13 lower end, motor gear III 19 is arranged on motor III 15, motor gear III 19 engages with the gear 20 on axle II 16, forearm 17 lower end is provided with fixture II 18.
Describedly state fixture I 14 and fixture II 18 can regulate according to the size of arm, with fixing arm.
Mechanism controls upper arm 13 swing of described motor I 1, motor gear II 12, pinion 6, shoulder support bar 9 and axle I 11 composition.
Mechanism controls upper arm 13 sideshake that described motor II 2, motor gear I 5, gear wheel 7, bevel gear I 8, bevel gear II 10 and axle I 11 form.
The mechanism controls forearm 17 of described motor III 15, axle II 16, motor gear III 19, gear 20 composition is bending and stretch.
Embodiment 2: as shown in figures 1 to 6, a kind of exoskeleton rehabilitation training manipulator arm, comprises motor I 1, motor II 2, gripper shoe 3, bearing 4, motor gear I 5, pinion 6, gear wheel 7, bevel gear I 8, shoulder support bar 9, bevel gear II 10, axle I 11, motor gear II 12, upper arm 13, fixture I 14, motor III 15, axle II 16, forearm 17, fixture II 18, motor gear III 19, gear 20, wherein motor I 1, motor II 2 is arranged in gripper shoe 3, axle III 9_2 of shoulder support bar 9 uses bearing 4 to be connected with the hollow axle 10_1 of bevel gear II 10 with the dead eye junction in gripper shoe 3, motor gear I 5, motor gear II 12 respectively with motor II 2, motor I 1 connects, pinion 6 is connected with axle III 9_2 of shoulder support bar 9, and pinion 6 engages with motor gear II 12, gear wheel 7 is connected with the hollow axle 10_1 of bevel gear II 10, and gear wheel 7 engages with motor gear I 5, axle III 9_2 of shoulder support bar 9 passes in the middle of the hollow axle 10_1 of bevel gear II 10, and can relatively rotate, axle I 11 coordinates with the axis hole 9_1 of shoulder support bar 9, and can freely rotate, bevel gear I 8 is all fixedly connected with axle I 11 with upper arm 13, and bevel gear I 8 engages with bevel gear II 10, upper arm 13 lower end is provided with fixture I 14, be connected with upper arm 13 after forearm 17 and axle II 16 are fixedly connected with, motor III 15 is arranged on upper arm 13 lower end, motor gear III 19 is arranged on motor III 15, motor gear III 19 engages with the gear 20 on axle II 16, forearm 17 lower end is provided with fixture II 18.
Mechanism controls upper arm 13 swing of described motor I 1, motor gear II 12, pinion 6, shoulder support bar 9 and axle I 11 composition.
Mechanism controls upper arm 13 sideshake that described motor II 2, motor gear I 5, gear wheel 7, bevel gear I 8, bevel gear II 10 and axle I 11 form.
The mechanism controls forearm 17 of described motor III 15, axle II 16, motor gear III 19, gear 20 composition is bending and stretch.
Embodiment 3: as shown in figures 1 to 6, a kind of exoskeleton rehabilitation training manipulator arm, comprises motor I 1, motor II 2, gripper shoe 3, bearing 4, motor gear I 5, pinion 6, gear wheel 7, bevel gear I 8, shoulder support bar 9, bevel gear II 10, axle I 11, motor gear II 12, upper arm 13, fixture I 14, motor III 15, axle II 16, forearm 17, fixture II 18, motor gear III 19, gear 20, wherein motor I 1, motor II 2 is arranged in gripper shoe 3, axle III 9_2 of shoulder support bar 9 uses bearing 4 to be connected with the hollow axle 10_1 of bevel gear II 10 with the dead eye junction in gripper shoe 3, motor gear I 5, motor gear II 12 respectively with motor II 2, motor I 1 connects, pinion 6 is connected with axle III 9_2 of shoulder support bar 9, and pinion 6 engages with motor gear II 12, gear wheel 7 is connected with the hollow axle 10_1 of bevel gear II 10, and gear wheel 7 engages with motor gear I 5, axle III 9_2 of shoulder support bar 9 passes in the middle of the hollow axle 10_1 of bevel gear II 10, and can relatively rotate, axle I 11 coordinates with the axis hole 9_1 of shoulder support bar 9, and can freely rotate, bevel gear I 8 is all fixedly connected with axle I 11 with upper arm 13, and bevel gear I 8 engages with bevel gear II 10, upper arm 13 lower end is provided with fixture I 14, be connected with upper arm 13 after forearm 17 and axle II 16 are fixedly connected with, motor III 15 is arranged on upper arm 13 lower end, motor gear III 19 is arranged on motor III 15, motor gear III 19 engages with the gear 20 on axle II 16, forearm 17 lower end is provided with fixture II 18.
By reference to the accompanying drawings detailed description of the invention of the present utility model is explained in detail above, but this utility model is not limited to above-mentioned embodiment, in the ken that those of ordinary skill in the art possess, various change can also be made under the prerequisite not departing from this utility model aim.
Claims (5)
1. an exoskeleton rehabilitation training manipulator arm, is characterized in that: comprise motor I (1), motor II (2), gripper shoe (3), bearing (4), motor gear I (5), pinion (6), gear wheel (7), bevel gear I (8), shoulder support bar (9), bevel gear II (10), axle I (11), motor gear II (12), upper arm (13), fixture I (14), motor III (15), axle II (16), forearm (17), fixture II (18), motor gear III (19), gear (20), wherein motor I (1), motor II (2) is arranged in gripper shoe (3), the axle III (9_2) of shoulder support bar (9) all uses bearing (4) to be connected with the hollow axle (10_1) of bevel gear II (10) and the dead eye junction in gripper shoe (3), motor gear I (5), motor gear II (12) respectively with motor II (2), motor I (1) connects, pinion (6) is connected with the axle III (9_2) of shoulder support bar (9), and pinion (6) engages with motor gear II (12), gear wheel (7) is connected with the hollow axle (10_1) of bevel gear II (10), and gear wheel (7) engages with motor gear I (5), the axle III (9_2) of shoulder support bar (9) passes in the middle of the hollow axle (10_1) of bevel gear II (10), and can relatively rotate, axle I (11) coordinates with the axis hole (9_1) of shoulder support bar (9), and can freely rotate, bevel gear I (8) is all fixedly connected with axle I (11) with upper arm (13), and bevel gear I (8) engages with bevel gear II (10), upper arm (13) lower end is provided with fixture I (14), be connected with upper arm (13) after forearm (17) and axle II (16) are fixedly connected with, motor III (15) is arranged on upper arm (13) lower end, motor gear III (19) is arranged on motor III (15), motor gear III (19) engages with the gear (20) on axle II (16), forearm (17) lower end is provided with fixture II (18).
2. exoskeleton rehabilitation training manipulator arm according to claim 1, is characterized in that: described in state fixture I (14) and fixture II (18) can regulate according to the size of arm, with fixing arm.
3. exoskeleton rehabilitation training manipulator arm according to claim 1 and 2, is characterized in that: mechanism controls upper arm (13) swing that described motor I (1), motor gear II (12), pinion (6), shoulder support bar (9) and axle I (11) form.
4. exoskeleton rehabilitation training manipulator arm according to claim 1 and 2, is characterized in that: mechanism controls upper arm (13) sideshake that described motor II (2), motor gear I (5), gear wheel (7), bevel gear I (8), bevel gear II (10) and axle I (11) form.
5. exoskeleton rehabilitation training manipulator arm according to claim 1 and 2, is characterized in that: the mechanism controls forearm (17) that described motor III (15), axle II (16), motor gear III (19), gear (20) form is bending and stretch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520599512.4U CN205019347U (en) | 2015-08-11 | 2015-08-11 | Ectoskeleton rehabilitation training robotic arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520599512.4U CN205019347U (en) | 2015-08-11 | 2015-08-11 | Ectoskeleton rehabilitation training robotic arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205019347U true CN205019347U (en) | 2016-02-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520599512.4U Expired - Fee Related CN205019347U (en) | 2015-08-11 | 2015-08-11 | Ectoskeleton rehabilitation training robotic arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205019347U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105055111A (en) * | 2015-08-11 | 2015-11-18 | 昆明理工大学 | Mechanical arm for exoskeleton rehabilitation training |
| CN105597280A (en) * | 2016-03-21 | 2016-05-25 | 哈尔滨工业大学 | Active-passive upper limb rehabilitation training exoskeleton |
-
2015
- 2015-08-11 CN CN201520599512.4U patent/CN205019347U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105055111A (en) * | 2015-08-11 | 2015-11-18 | 昆明理工大学 | Mechanical arm for exoskeleton rehabilitation training |
| CN105055111B (en) * | 2015-08-11 | 2017-04-12 | 昆明理工大学 | Mechanical arm for exoskeleton rehabilitation training |
| CN105597280A (en) * | 2016-03-21 | 2016-05-25 | 哈尔滨工业大学 | Active-passive upper limb rehabilitation training exoskeleton |
| CN105597280B (en) * | 2016-03-21 | 2018-03-13 | 哈尔滨工业大学 | The main passive mixing rehabilitation training of upper limbs ectoskeleton of one kind |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160210 Termination date: 20170811 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |