技术领域technical field
本发明涉及一种具有重力补偿机构的肩部康复系统，属于医疗器械领域。The invention relates to a shoulder rehabilitation system with a gravity compensation mechanism, which belongs to the field of medical equipment.
背景技术Background technique
随着科技的进步，尤其是医学的快速发展，康复医学工程越来越受到重视。康复医学研究表明，对于中风、脊髓损伤和各类事故引起的肢体功能障碍的患者来说，如果能及时进行正确的康复训练，对神经肌肉功能的恢复会有很大的帮助，这对患者及家庭来说是非常重要的。With the advancement of science and technology, especially the rapid development of medicine, rehabilitation medical engineering has been paid more and more attention. Rehabilitation medicine research shows that for patients with limb dysfunction caused by stroke, spinal cord injury and various accidents, if timely and correct rehabilitation training can be performed, it will be of great help to the recovery of neuromuscular function. It is very important to the family.
传统的上肢康复训练方法是依靠专业的理疗医师对患者进行手把手的训练。对于偏瘫这种病患，医生的辅助训练虽有一定的帮助，但是不会太理想，不能完全达到理想的康复效果，而且存在诸多问题：首先，治疗师一次只能对一名患者进行运动训练，训练效率不高；其次，缺少精确的控制指标和记录训练参数，不能为确定和改进治疗方案提供合理的理论依据；再有，康复评价指标不够客观，不利于后续更加深入的研究康复机理。The traditional upper limb rehabilitation training method relies on professional physiotherapists to train patients hand in hand. For patients with hemiplegia, although the doctor's auxiliary training is helpful to some extent, it is not ideal and cannot fully achieve the desired rehabilitation effect, and there are many problems: First, the therapist can only perform exercise training on one patient at a time , the training efficiency is not high; secondly, the lack of precise control indicators and recording training parameters cannot provide a reasonable theoretical basis for determining and improving the treatment plan; moreover, the rehabilitation evaluation indicators are not objective enough, which is not conducive to the follow-up more in-depth research on the rehabilitation mechanism.
鉴于目前康复治疗手段的一些不足，康复训练这种频繁的、反复的工作，更适合机器人辅助完成，康复机器人的诞生给患者带来了福音。利用机器人及其相关技术对训练过程进行客观的监测与评价，提高偏瘫康复训练的针对性及科学性，同时将治疗医师从繁重的体力劳动中解脱出来，为患者制定更好的康复方案，进一步提高康复的效率。In view of some deficiencies in the current rehabilitation treatment methods, the frequent and repetitive work of rehabilitation training is more suitable for robot-assisted completion. The birth of rehabilitation robots has brought good news to patients. Use robots and related technologies to objectively monitor and evaluate the training process, improve the pertinence and scientificity of hemiplegia rehabilitation training, and at the same time free therapists from heavy physical labor, and formulate better rehabilitation programs for patients. Improve the efficiency of rehabilitation.
肩关节是人体最灵活和最脆弱的关节，也是人体关节中结构最不稳固的关节，大约三分之一的偏瘫患者都是在肩关节处发生损坏。而肩关节康复训练机器人属于医疗机器人范畴，主要的功能是辅助患者的偏瘫手臂进行康复训练，以达到更科学、更规范的训练效果。目前,对肩关节进行单独的针对性训练的康复机械臂较少，且结构简单，自由度较少，无法满足肩关节的全方位训练，并且对于机械臂及患者上肢自身重力的影响没有进行适当的补偿，这导致了康复机械臂关节电机的负载增大，使得电机尺寸也随之增大。更为严重的是当控制电机失效时，由于缺少重力补偿，使得康复机械臂容易对患者的上肢造成二次损伤。The shoulder joint is the most flexible and fragile joint in the human body, and it is also the joint with the least stable structure in the human body. About one-third of hemiplegic patients are damaged at the shoulder joint. The shoulder joint rehabilitation training robot belongs to the category of medical robots, and its main function is to assist the patient's hemiplegic arm in rehabilitation training, so as to achieve a more scientific and standardized training effect. At present, there are few rehabilitation robotic arms that perform individual targeted training on the shoulder joint, and the structure is simple and the degree of freedom is small, which cannot meet the all-round training of the shoulder joint, and the influence of the gravity of the robotic arm and the patient's upper limbs has not been properly carried out. Compensation, which leads to an increase in the load on the joint motor of the rehabilitation manipulator, which increases the size of the motor. What's more serious is that when the control motor fails, the rehabilitation robotic arm is likely to cause secondary damage to the patient's upper limbs due to the lack of gravity compensation.
上述问题是在肩部康复过程中应当予以考虑并解决的问题。The above-mentioned problems should be considered and solved in the shoulder rehabilitation process.
发明内容Contents of the invention
针对以上问题，本发明提供一种具有重力补偿机构的肩部康复系统，能够满足不同人群的肩部康复训练机构，它可以实现肩关节3个自由度的运动，具有重力补偿机构，功能齐全，适用性强，解决现有技术中存在的上述问题。In view of the above problems, the present invention provides a shoulder rehabilitation system with a gravity compensation mechanism, which can meet the shoulder rehabilitation training mechanism for different groups of people. It can realize the movement of the shoulder joint in three degrees of freedom, has a gravity compensation mechanism, and has complete functions. The utility model has strong applicability and solves the above-mentioned problems existing in the prior art.
本发明采用如下技术方案：The present invention adopts following technical scheme:
一种具有重力补偿机构的肩部康复系统，包括支架、用于实现肩关节的内旋/外旋运动的第一旋转组件、用于实现肩关节的外展/内收运动的第二旋转组件、用于实现肩关节的屈/伸运动的第三旋转组件，支架的一端设于底座上，支架的另一端设有第一旋转组件，第一旋转组件的端部设有第二旋转组件，第二旋转组件的端部设有第三旋转组件；A shoulder rehabilitation system with a gravity compensation mechanism, comprising a bracket, a first rotation assembly for realizing internal rotation/external rotation of the shoulder joint, and a second rotation assembly for realizing abduction/adduction of the shoulder joint . The third rotating assembly for realizing the flexion/extension movement of the shoulder joint, one end of the bracket is arranged on the base, the other end of the bracket is provided with a first rotating assembly, and the end of the first rotating assembly is provided with a second rotating assembly, The end of the second rotating component is provided with a third rotating component;
第三旋转组件还设有重力补偿机构，重力补偿机构包括重力补偿电机、挡板、滚筒、滑轮组、钢丝绳和固定螺栓，重力补偿电机固定在挡板上，滚筒设于重力补偿电机的转动轴上，钢丝绳的一端连接在滚筒上，钢丝绳的另一端绕过滑轮组并连接固定螺栓，固定螺栓设于第三旋转组件上。The third rotating assembly is also provided with a gravity compensation mechanism, the gravity compensation mechanism includes a gravity compensation motor, a baffle plate, a roller, a pulley block, a steel wire rope and fixing bolts, the gravity compensation motor is fixed on the baffle plate, and the roller is arranged on the rotating shaft of the gravity compensation motor One end of the wire rope is connected to the drum, and the other end of the wire rope goes around the pulley block and is connected with a fixing bolt, and the fixing bolt is arranged on the third rotating assembly.
进一步地，第一旋转组件包括第一电机、水平连杆，第一电机设于支架上，支架采用倒L形支架，第一电机通过减速器与水平连杆的一端连接，水平连杆的另一端设有第二旋转组件。Further, the first rotating assembly includes a first motor and a horizontal connecting rod. The first motor is arranged on a bracket, and the bracket adopts an inverted L-shaped bracket. The first motor is connected to one end of the horizontal connecting rod through a reducer, and the other end of the horizontal connecting rod One end is provided with a second rotating assembly.
进一步地，第二旋转组件包括第二电机、竖直连杆，第二电机设于水平连杆的端部，第二电机通过减速器与竖直连杆的一端连接，竖直连杆的另一端设有第三旋转组件。Further, the second rotating assembly includes a second motor and a vertical connecting rod, the second motor is arranged at the end of the horizontal connecting rod, the second motor is connected to one end of the vertical connecting rod through a reducer, and the other end of the vertical connecting rod One end is provided with a third rotating component.
进一步地，第三旋转组件包括圆形转动体、前臂固定连杆、前臂固定滑块和用于转动圆形转动体的第三电机，前臂固定连杆的端部连接圆形转动体，圆形转动体设有固定螺栓，前臂固定连杆设有位置可调节式前臂固定滑块，前臂固定滑块设有用于前臂固定连杆穿过的通孔。Further, the third rotating assembly includes a circular rotating body, a fixed forearm link, a fixed slider for the forearm, and a third motor for rotating the circular rotating body. The end of the fixed forearm connecting rod is connected to the circular rotating body. The rotating body is provided with fixing bolts, the fixed forearm connecting rod is provided with a position-adjustable forearm fixing slider, and the forearm fixing slider is provided with a through hole for the forearm fixing connecting rod to pass through.
进一步地，前臂固定滑块设有束缚带和握杆。Further, the forearm fixing slider is provided with a restraint belt and a grip bar.
进一步地，所述钢丝绳连接固定螺栓的一端安装有用于重力补偿电机的输出调节的角度传感器。Further, an angle sensor for adjusting the output of the gravity compensation motor is installed at one end of the steel wire rope connected to the fixing bolt.
进一步地，第一电机、第二电机、第三电机均采用直流电机，第一电机、第二电机、第三电机均安装有增量式光电编码器和力传感器。光电编码器用于测量电机的转向和转速；力传感器用于测量转动关节处的力和力矩；从而实现对各电机的控制。Further, the first motor, the second motor, and the third motor are all DC motors, and the first motor, the second motor, and the third motor are all equipped with incremental photoelectric encoders and force sensors. The photoelectric encoder is used to measure the steering and speed of the motor; the force sensor is used to measure the force and moment at the rotating joint; thus realizing the control of each motor.
进一步地，所述支架设有用于限制水平连杆转动的限位装置一，所述水平连杆设有用于限制竖直连杆转动的限位装置二，所述竖直连杆设有用于限制圆形转动体转动的限位装置三。各限位装置可以是电气限位开关，也可以是机械限位装置，主要起到保护患者的作用。Further, the bracket is provided with a limiting device 1 for restricting the rotation of the horizontal connecting rod, and the horizontal connecting rod is provided with a limiting device 2 for restricting the rotation of the vertical connecting rod, and the vertical connecting rod is provided with a limiting device 2 for restricting the rotation of the vertical connecting rod. The limiting device three that the circular rotating body rotates. Each limit device can be an electrical limit switch or a mechanical limit device, which mainly plays a role in protecting patients.
进一步地，所述支架采用可升降式支架。Further, the support adopts a liftable support.
进一步地，该具有重力补偿机构的肩部康复系统现患者左手臂和右手臂的切换，具体为：右手到左手切换时，将水平连杆绕第一电机的转动轴旋转180°，再将圆形转动体绕第三电机的转动轴旋转180°即可。Further, the shoulder rehabilitation system with a gravity compensation mechanism realizes the switch between the left arm and the right arm of the patient, specifically: when switching from the right hand to the left hand, the horizontal connecting rod is rotated 180° around the rotation axis of the first motor, and then the circle The shape rotating body can rotate 180° around the rotation axis of the third motor.
该种具有重力补偿机构的肩部康复系统，将肩关节设计成具有内旋/外旋、外展/内收和屈/伸三个自由度，这种设计方式完全模拟人体肩关节的所有自由度，可以帮助患者完成健康人能完成的肩关节动作。This shoulder rehabilitation system with a gravity compensation mechanism designs the shoulder joint to have three degrees of freedom: internal rotation/external rotation, abduction/adduction, and flexion/extension. This design method completely simulates all degrees of freedom of the human shoulder joint , can help patients complete shoulder joint movements that healthy people can complete.
该种具有重力补偿机构的肩部康复系统中，通过重力补偿机构的设置，能够避免当控制电机失效时，由于缺少重力补偿，使得康复机械臂容易对患者的上肢造成二次损伤的问题。In this shoulder rehabilitation system with a gravity compensation mechanism, the setting of the gravity compensation mechanism can avoid the problem that the rehabilitation robot arm easily causes secondary damage to the patient's upper limbs due to the lack of gravity compensation when the control motor fails.
重力补偿机构由小型直流电机提供驱动力，重力补偿电机固定在挡板上，并通过减速箱和滚筒相连，滚筒上装有力传感器并缠绕有钢丝绳，通过水平滑轮和固定在竖直连杆上的滑轮组与圆形转动体上的固定螺栓相连接。该重力补偿机构可以对机械臂及患者手臂自身的重力进行补偿，同时也可以重力补偿电机的输出力矩。The gravity compensation mechanism is driven by a small DC motor. The gravity compensation motor is fixed on the baffle and connected to the roller through a reduction box. The roller is equipped with a force sensor and wrapped with a steel wire rope. Connect with the fixing bolt on the circular rotating body. The gravity compensation mechanism can compensate the gravity of the mechanical arm and the patient's arm itself, and can also compensate the output torque of the motor by gravity.
由于肩关节是人体最复杂最脆弱的部位之一，本发明在各转动部位均设有电气限位或机械限位装置，限制机械臂的运动范围在人体关节的最大转动角度和极限转动角度之间，起到保护患者的目的。Since the shoulder joint is one of the most complex and fragile parts of the human body, the present invention is equipped with electrical or mechanical limit devices at each rotating part to limit the range of motion of the mechanical arm between the maximum rotation angle and the limit rotation angle of the human body joints. time for the purpose of protecting patients.
该种具有重力补偿机构的肩部康复系统，为满足不同患者人群的康复训练，将底座和固定支架设计成可升降，以满足不同高度的患者；将前臂固定滑块设计成可以自由伸缩，以满足不同臂长的患者。This kind of shoulder rehabilitation system with a gravity compensation mechanism, in order to meet the rehabilitation training of different patient populations, the base and the fixed bracket are designed to be liftable to meet patients of different heights; the forearm fixed slider is designed to be freely retractable to Satisfy patients with different arm lengths.
根据患者的不同需求，该康复系统可以实现患者左手臂和右手臂的切换，不需要重新组装机构，方便快捷，操作简单。切换时，只需将水平连杆绕第一电机的转动轴旋转180°，再将圆形转动体绕第三电机的转动轴旋转180°即可。According to the different needs of patients, the rehabilitation system can realize the switch between the left arm and the right arm of the patient without reassembling the mechanism, which is convenient, quick and easy to operate. When switching, it is only necessary to rotate the horizontal connecting rod 180° around the rotation axis of the first motor, and then rotate the circular rotating body 180° around the rotation axis of the third motor.
本发明的有益效果是：本发明一种具有重力补偿机构的肩部康复系统，将肩关节设计成具有内旋/外旋、外展/内收和屈/伸三个自由度，这种设计方式完全模拟人体肩关节的所有自由度，可以帮助患者完成健康人能完成的肩关节动作。增加一个实施位移-力矩复合控制的重力补偿电机，平衡机械臂的主要重力，减小关节电机负载，提高康复运动效率。该种具有重力补偿机构的肩部康复系统，操作简单，功能齐全，运行安全可靠，适用种类人群多，能够满足医学上对肩关节的康复需求，有利于推广应用。The beneficial effects of the present invention are: a shoulder rehabilitation system with a gravity compensation mechanism in the present invention, the shoulder joint is designed to have three degrees of freedom of internal rotation/external rotation, abduction/adduction and flexion/extension. It fully simulates all degrees of freedom of the human shoulder joint, and can help patients complete the shoulder joint movements that healthy people can complete. Add a gravity compensation motor that implements displacement-torque compound control to balance the main gravity of the robotic arm, reduce the load on joint motors, and improve the efficiency of rehabilitation exercises. The shoulder rehabilitation system with a gravity compensation mechanism has simple operation, complete functions, safe and reliable operation, is suitable for many types of people, can meet the medical demand for shoulder joint rehabilitation, and is conducive to popularization and application.
附图说明Description of drawings
图1是本发明实施例具有重力补偿机构的肩部康复系统的结构示意图；Fig. 1 is a schematic structural view of a shoulder rehabilitation system with a gravity compensation mechanism according to an embodiment of the present invention;
图2是实施例具有重力补偿机构的肩部康复系统的另一结构示意图；Fig. 2 is another structural schematic diagram of the shoulder rehabilitation system with the gravity compensation mechanism of the embodiment;
图3是实施例中重力补偿机构的结构示意图；Fig. 3 is a structural schematic diagram of the gravity compensation mechanism in the embodiment;
图4是图3中A部的放大示意图；Fig. 4 is the enlarged schematic diagram of part A in Fig. 3;
其中：1-支架，2-第一电机，3-第二电机，4-第三电机，5-前臂固定滑块，6-前臂固定连杆，7-束缚带，8-握杆，9-固定螺栓，10-重力补偿机构，11-水平连杆，12-竖直连杆，13-圆形转动体，14-支架调节装置，15-紧锁件；Among them: 1-bracket, 2-first motor, 3-second motor, 4-third motor, 5-forearm fixed slider, 6-forearm fixed link, 7-restraint belt, 8-grip bar, 9- Fixing bolt, 10-gravity compensation mechanism, 11-horizontal connecting rod, 12-vertical connecting rod, 13-circular rotating body, 14-support adjusting device, 15-locking piece;
101-重力补偿电机，102-钢丝绳，103-滚筒，104-挡板，105-滑轮一，106-滑轮二，107-滑轮三，108-滑轮四，109-滑轮支架。101-gravity compensation motor, 102-wire rope, 103-roller, 104-baffle plate, 105-pulley one, 106-pulley two, 107-pulley three, 108-pulley four, 109-pulley support.
具体实施方式detailed description
下面结合附图详细说明本发明的优选实施例。Preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.
实施例一种具有重力补偿机构的肩部康复系统，用于患者的肩部康复训练，可以实现肩关节的屈/伸、外展/内收和内旋/外旋三个自由度的运动，同时具有重力补偿机构10，不仅可以增大重力补偿电机101的输出力矩，还可以对患者起到保护作用。Embodiment A shoulder rehabilitation system with a gravity compensation mechanism, used for shoulder rehabilitation training of patients, can realize the movement of three degrees of freedom of shoulder joint flexion/extension, abduction/adduction and internal rotation/external rotation, At the same time, it has the gravity compensation mechanism 10, which can not only increase the output torque of the gravity compensation motor 101, but also protect the patient.
实施例Example
一种具有重力补偿机构的肩部康复系统，如图1和图2，包括底座、支架1、用于实现肩关节的内旋/外旋运动的第一旋转组件、用于实现肩关节的外展/内收运动的第二旋转组件、用于实现肩关节的屈/伸运动的第三旋转组件，支架1的一端设于底座上，支架1的另一端设有第一旋转组件，第一旋转组件的端部设有第二旋转组件，第二旋转组件的端部设有第三旋转组件。A shoulder rehabilitation system with a gravity compensation mechanism, as shown in Figure 1 and Figure 2, includes a base, a bracket 1, a first rotating assembly for realizing the internal rotation/external rotation of the shoulder joint, and a first rotating assembly for realizing the external rotation of the shoulder joint. The second rotating assembly for the extension/adduction movement, the third rotating assembly for realizing the flexion/extension movement of the shoulder joint, one end of the bracket 1 is arranged on the base, the other end of the bracket 1 is provided with the first rotating assembly, the first The end of the rotating assembly is provided with a second rotating assembly, and the end of the second rotating assembly is provided with a third rotating assembly.
该种具有重力补偿机构的肩部康复系统，将肩关节设计成具有内旋/外旋、外展/内收和屈/伸三个自由度，这种设计方式完全模拟人体肩关节的所有自由度，可以帮助患者完成健康人能完成的肩关节动作。This shoulder rehabilitation system with a gravity compensation mechanism designs the shoulder joint to have three degrees of freedom: internal rotation/external rotation, abduction/adduction, and flexion/extension. This design method completely simulates all degrees of freedom of the human shoulder joint , can help patients complete shoulder joint movements that healthy people can complete.
如图1和图3，第三旋转组件还设有重力补偿机构10，如图4，重力补偿机构10包括重力补偿电机101、挡板104、滚筒103、滑轮组、钢丝绳102和固定螺栓9，重力补偿电机101固定在挡板104上，挡板104设于圆形转动体13的上方且固定在竖直连杆12上，滚筒103设于重力补偿电机101的转动轴上，钢丝绳102的一端连接在滚筒103上，钢丝绳102的另一端绕过滑轮组并连接固定螺栓9，固定螺栓9设于圆形转动体13上，固定螺栓9设置在靠近前臂固定连杆6处，使钢丝绳102与水平位置有一定角度即可，如30°-120°，优选90°。滑轮组用于调节钢丝绳102的走向并起到对钢丝绳102的一定定位作用。滑轮组包括滑轮一105、滑轮二106、滑轮三107和滑轮四108，滑轮一105设于挡板104或竖直连杆12上，滑轮三107和滑轮四108分别设于钢丝绳102的两侧。滑轮三107和滑轮四108通过滑轮支架1091设于竖直连杆12上。钢丝绳102连接固定螺栓9的一端安装有用于重力补偿电机101的输出调节的角度传感器。As shown in Fig. 1 and Fig. 3, the third rotating assembly is also provided with gravity compensation mechanism 10, and as Fig. 4, gravity compensation mechanism 10 comprises gravity compensation motor 101, baffle plate 104, cylinder 103, pulley block, steel wire rope 102 and fixing bolt 9, gravity The compensation motor 101 is fixed on the baffle plate 104, the baffle plate 104 is arranged on the top of the circular rotating body 13 and is fixed on the vertical connecting rod 12, the drum 103 is arranged on the rotating shaft of the gravity compensation motor 101, and one end of the steel wire rope 102 is connected to On the drum 103, the other end of the wire rope 102 goes around the pulley block and connects the fixing bolt 9. The fixing bolt 9 is arranged on the circular rotating body 13. A certain angle is sufficient, such as 30°-120°, preferably 90°. The block of pulleys is used to adjust the direction of the wire rope 102 and play a certain role in positioning the wire rope 102 . Pulley block comprises pulley one 105, pulley two 106, pulley three 107 and pulley four 108, pulley one 105 is located on the baffle plate 104 or the vertical connecting rod 12, pulley three 107 and pulley four 108 are respectively located at the both sides of wire rope 102. The third pulley 107 and the fourth pulley 108 are arranged on the vertical connecting rod 12 through the pulley bracket 1091 . One end of the wire rope 102 connected to the fixing bolt 9 is installed with an angle sensor for output adjustment of the gravity compensation motor 101 .
该种具有重力补偿机构的肩部康复系统中，通过重力补偿机构10的设置，能够避免当控制电机失效时，由于缺少重力补偿，使得康复机械臂容易对患者的上肢造成二次损伤的问题。In this shoulder rehabilitation system with a gravity compensation mechanism, the setting of the gravity compensation mechanism 10 can avoid the problem that the rehabilitation robot arm easily causes secondary damage to the patient's upper limbs due to the lack of gravity compensation when the control motor fails.
该种具有重力补偿机构的肩部康复系统中，重力补偿机构10由小型直流电机提供驱动力，重力补偿电机101固定在挡板104上，并通过减速箱和滚筒103相连，滚筒103上装有力传感器并缠绕有钢丝绳102，通过水平滑轮和固定在竖直连杆12上的滑轮组与圆形转动体13上的固定螺栓9相连接。该重力补偿机构10可以对机械臂及患者手臂自身的重力进行补偿，同时也可以增大重力补偿电机101的输出力矩。In this shoulder rehabilitation system with a gravity compensation mechanism, the gravity compensation mechanism 10 is driven by a small DC motor, the gravity compensation motor 101 is fixed on the baffle 104, and is connected with the roller 103 through a reduction box, and the roller 103 is equipped with a force sensor And be wound with steel wire rope 102, be connected with the fixed bolt 9 on the circular rotating body 13 by the pulley block fixed on the vertical connecting rod 12 through horizontal pulley. The gravity compensation mechanism 10 can compensate the gravity of the mechanical arm and the patient's arm itself, and can also increase the output torque of the gravity compensation motor 101 .
第一旋转组件包括第一电机2、水平连杆11，第一电机2设于支架1上，支架1采用倒L形支架1，第一电机2通过减速器与水平连杆11的一端连接，水平连杆11的另一端设有第二旋转组件。The first rotating assembly includes a first motor 2 and a horizontal connecting rod 11. The first motor 2 is arranged on the bracket 1. The bracket 1 adopts an inverted L-shaped bracket 1. The first motor 2 is connected to one end of the horizontal connecting rod 11 through a reducer. The other end of the horizontal link 11 is provided with a second rotating assembly.
第二旋转组件包括第二电机3、竖直连杆12，第二电机3设于水平连杆11的端部，第二电机3通过减速器与竖直连杆12的一端连接，竖直连杆12的另一端设有第三旋转组件。The second rotating assembly comprises a second motor 3 and a vertical connecting rod 12. The second motor 3 is arranged at the end of the horizontal connecting rod 11. The second motor 3 is connected to one end of the vertical connecting rod 12 through a reducer. The other end of the rod 12 is provided with a third rotating assembly.
第三旋转组件包括圆形转动体13、前臂固定连杆6、前臂固定滑块5和用于转动圆形转动体13的第三电机4，第三电机4设于竖直连杆12上，前臂固定连杆6的端部连接圆形转动体13，圆形转动体13设有固定螺栓9，前臂固定连杆6设有位置可调节式前臂固定滑块5，前臂固定滑块5设有用于前臂固定连杆6穿过的通孔。The third rotating assembly comprises circular rotating body 13, forearm fixed link 6, forearm fixed slide block 5 and the third motor 4 for rotating circular rotating body 13, and the third motor 4 is located on the vertical connecting rod 12, The end of forearm fixed connecting rod 6 is connected with circular rotating body 13, and circular rotating body 13 is provided with fixed bolt 9, and forearm fixed connecting rod 6 is provided with adjustable forearm fixed slide block 5, and forearm fixed slide block 5 is provided with forearm fixed slide block 5. The through hole that the forearm fixes the connecting rod 6 to pass through.
将前臂固定滑块5设计成可以自由伸缩，前臂固定滑块5通过紧锁件15如调节螺栓等固定在前臂固定连杆6，通过前臂固定滑块5在前臂固定连杆6上移动来调节长度，以满足不同臂长的患者。The forearm fixed slider 5 is designed to be free to expand and contract. The forearm fixed slider 5 is fixed on the forearm fixed link 6 through a locking member 15 such as an adjusting bolt, and is adjusted by moving the forearm fixed slider 5 on the forearm fixed link 6. length to meet patients with different arm lengths.
第三旋转组件的第三电机4设于竖直连杆12的端部，第三电机4通过减速器连接圆形转动体13的中部，为圆形转动体13提高驱动力。前臂固定滑块5设有束缚带7和握杆8。用于前臂及手部的固定。The third motor 4 of the third rotating assembly is arranged at the end of the vertical connecting rod 12, and the third motor 4 is connected to the middle part of the circular rotating body 13 through a reducer, so as to increase the driving force for the circular rotating body 13. The forearm fixing slider 5 is provided with a restraint belt 7 and a grip bar 8 . For forearm and hand fixation.
支架1设有用于限制水平连杆11转动的限位装置一，水平连杆11设有用于限制竖直连杆12转动的限位装置二，竖直连杆12设有用于限制圆形转动体13转动的限位装置三，限位装置图中未标出。Bracket 1 is provided with limiting device 1 for limiting the rotation of horizontal connecting rod 11, horizontal connecting rod 11 is provided with limiting device 2 for limiting the rotation of vertical connecting rod 12, and vertical connecting rod 12 is provided with limiting device 2 for restricting the rotation of the circular rotating body. 13 The limit device three that rotates, not marked in the figure of the limit device.
由于肩关节是人体最复杂最脆弱的部位之一，实施例在各转动部位均设有电气限位或机械限位装置，限制机械臂的运动范围在人体关节的最大转动角度和极限转动角度之间，起到保护患者的目的。Since the shoulder joint is one of the most complex and fragile parts of the human body, the embodiments are equipped with electrical or mechanical limit devices at each rotating part, limiting the range of motion of the mechanical arm to be between the maximum rotation angle and the limit rotation angle of the human body joints. time for the purpose of protecting patients.
支架1采用可升降式支架1。支架1与底座插接，并通过支架调节装置14如调节螺钉等实现对支架1的固定。实施例为满足不同患者人群的康复训练，将底座和固定支架1设计成可升降，以满足不同高度的患者；将前臂固定滑块5设计成可以自由伸缩，以满足不同臂长的患者。The support 1 adopts a liftable support 1. The bracket 1 is inserted into the base, and the bracket 1 is fixed by a bracket adjusting device 14 such as an adjusting screw. Embodiment In order to meet the rehabilitation training of different patient populations, the base and the fixed bracket 1 are designed to be liftable to meet patients of different heights; the forearm fixed slider 5 is designed to be freely retractable to meet patients with different arm lengths.
第一电机2、第二电机3、第三电机4均采用直流电机，第一电机2、第二电机3、第三电机4均安装有增量式光电编码器和力传感器。The first motor 2, the second motor 3, and the third motor 4 are all DC motors, and the first motor 2, the second motor 3, and the third motor 4 are all equipped with incremental photoelectric encoders and force sensors.
综上，本肩部康复系统另外，本发明还可以通过改进和扩展，进一步实现医疗康复设备的家庭化和操作简单化。To sum up, in addition to the shoulder rehabilitation system, the present invention can further realize home-based medical rehabilitation equipment and simplified operation through improvement and expansion.
本发明不局限于上述最佳实施方式，在本发明的启示下作出的结构变化，凡是与本发明具有相同或相近的技术方案，均落入本发明的保护范围之内。The present invention is not limited to the above-mentioned best implementation mode, and any structural changes made under the inspiration of the present invention, and any technical solutions that are the same as or similar to the present invention, all fall within the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610183962.4ACN105853141B (en) | 2016-03-28 | 2016-03-28 | Shoulder rehabilitation system with gravity compensation |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610183962.4ACN105853141B (en) | 2016-03-28 | 2016-03-28 | Shoulder rehabilitation system with gravity compensation |
| Publication Number | Publication Date |
|---|---|
| CN105853141Atrue CN105853141A (en) | 2016-08-17 |
| CN105853141B CN105853141B (en) | 2018-06-15 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610183962.4AExpired - Fee RelatedCN105853141B (en) | 2016-03-28 | 2016-03-28 | Shoulder rehabilitation system with gravity compensation |
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| CN (1) | CN105853141B (en) |
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| Date | Code | Title | Description |
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| C06 | Publication | ||
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| C10 | Entry into substantive examination | ||
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| EE01 | Entry into force of recordation of patent licensing contract | Application publication date:20160817 Assignee:Zhangjiagang Institute of Zhangjiagang Assignor:NANJING University OF POSTS AND TELECOMMUNICATIONS Contract record no.:X2019980001251 Denomination of invention:Shoulder rehabilitation system with gravity compensation mechanism Granted publication date:20180615 License type:Common License Record date:20191224 | |
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| CF01 | Termination of patent right due to non-payment of annual fee | Granted publication date:20180615 |