A kind of safety-type manipulator of rehabilitation training of upper limbs robotTechnical field
The present invention relates to a kind of manipulators of healing robot, are exactly a kind of upper limb rehabilitation training robotsSafety-type manipulator.
Background technique
Recovery exercising robot is just mainly used in kinesiatrics, such as prevents quadruped locomotion degraded performance, contracture, allows jointIt is moved in scope of activities, enhances the movement of muscle strength, enhance the movement of endurance, harmony, ambulation training, gymnastics controlsTreat etc., if robot carries the instrument with measurement recovery function, so that it may quantitative collection training object functional recovery processIn data, to recovery process work determine custard；Preceding analysis and evaluation record the whole process of rehabilitation, if the person of being trained to is known fromPerhaps, oneself rehabilitation data in training, can generate certain positive feedback effects, the research of recovery exercising robot includes twoAspect: upper-limbs rehabilitation training robot is used for the rehabilitation training of arm, hand and wrist；Lower limbs rehabilitation training robot band gives row swallowHook energy rehabilitation training.Healing robot is a seed type of rehabilitation equipment, and healing robot technology is already by countries in the worldThe most attention of researcher and medical institutions, wherein it is the most significant with American-European and Japan achievement, in China's medical science of recovery therapyAlthough engineering has obtained most attention, and healing robot research is still at an early stage, and some simple rehabilitation appliances are far fromMarket is able to satisfy to intelligence, human body is connected directly, to drive limbs to carry out rehabilitation training, so the safety to driver,It is flexible more demanding, mechanical limbs assembled robot with function of limbs recovery motion is a variety of same machines Genus Homos inRobot field solves the patent of invention hemiplegia Rehabilitation walk learning machine of my invention, can only drive manpower wrist jointThe all movable robot blade in each joint of finger, being mounted on shank hinge-rod can be with the moving each pass of ankle toeWhat section can be realized after movable machinery foot hold, purposes is rehabilitation extremity motor function, drives each joint of suffering limb, every piece of boneBone, every piece of meat etc. make patient's active movement function obtain rehabilitation by long-term passive exercise.
Upper limb healing equipment, product structure used at present have a single function, and effect application range is only limitted to local passSection, i.e. the rehabilitation of wrist joint, elbow joint and shoulder joint is completed by individual instrument, and it is each not can be realized entire armThe integrated products of joint recovering have infull property, and they are electrodynamic mechanical type mostly, only are repeating to be setGood movement, there is no the impressions for considering patient, and product is caused to have certain insecurity for patient, even if patient feelsWhen feeling that pain can not be movable, it still will continue to the activity for carrying out its original setting, be easy for the damage of making patients in this way, and work asPatient hand can light activity can carry out it is shuttle activity when, such convalescence device can not perceive, also only weightThe movement of coming to be restored, patient can be made to lose independence, not each important joint is moving, especially the movement of hand, andAnd hand joint is more more flexible, therefore it is essential for restoring hand, but most finger gymnastic instrument is all ignoredThis point, and lack the device of thumb rehabilitation, it is this cannot the true training strength of proper patient and patient perceptions showThere is equipment, and ignore the multi-panel training of patient's finger, i.e. shortage margin of safety and the comprehensive status of training, so as to cause troublePerson can not be vivid obtain trained true effect, be more likely to cause further training to deteriorate, etc. problem over time.
Therefore it is directed to this status, there is an urgent need to develop a kind of completely new safety-type manipulators, to meet the need of actual useIt wants.
Summary of the invention
In view of the shortcomings of the prior art, the present invention provides a kind of the safety-type of upper limb rehabilitation training robotManipulator, the invention pass through more supporting plate structures of support plate, the rotating device between multiple supporting plates, for realizing the vertical lift of armIt rises, and the elastic cotton layer that rotating device is equipped in upper and lower ends, can play the role of protection, and one side of setting for the cavity that is translatableOn the other hand the mechanical space that face reduces realizes the translation work of mechanical arm, the main by weight of mechanical arm is supported by support column,And the automatic telescopic column being equipped in the middle part of supporting plate, it is arranged by the multistage flexible length to realize the various pieces of mechanical arm,To the bigger real demand for adapting to patient, accurate adjustment ensures the security training therapeutic efficiency of patient, at multi-jointRotation lifting and translation, realize training to whole arm, and by the connection of cross bar and sliding bar can limit rotation withThe range of translation, thus guarantee patient training traffic safety and riding comfort, hold by device be designed as can folding and unfolding type, cotton material it is soft inThe design of core and finger cavity, more meets the actual demand of patient, and the multi-servomotor of linked hand intrinsic articulation and connecting rodBe arranged realize finger multi-activity associated working, it is more flexible and convenient, in the middle part of elastic bands and finger cavity to useIn the hand more safety of immobilized patients, soft baffle of arranging in pairs or groups makes the good fit property of training function with bandage.
To achieve the goals above, the present invention is to realize by the following technical solutions:
A kind of safety-type manipulator of rehabilitation training of upper limbs robot, including manipulator ontology, support device, binding dressSet, hold by device, supporting plate, rotating device, translation cavity, folding and unfolding lever and linked hand, the manipulator ontology by support device,Bundling apparatus and holding is formed by device, and the support device is equipped with support plate, the support front edge of board and is held by the fixed company of deviceIt connects, and is equipped with three sections of supporting plates in the middle part of support plate, be rotatablely connected between the supporting plate by rotating device, and be all provided in two supporting plate of front and backThere is translation cavity, the rotating device upper and lower ends are equipped with elastic cotton layer, and by motor output end and turn in the middle part of rotating deviceAxis rotation connection, the shaft output end are fixedly connected with supporting plate left end, and support column is equipped in the translation cavity and rotation is solidEarnest, support column middle part one end is equipped with protrusion post, and the other end is equipped with double end micromotor, the protrusion in the middle part of support columnColumn both ends are rotatablely connected with the bearing being equipped in supporting plate, and double end micromotor both ends output end turns with rotation fixtureDynamic connection, is equipped with automatic telescopic column in three supporting plates in two supporting plates of left position, automatic telescopic column both ends respectively withBoth ends are fixedly connected in the middle part of supporting plate, and automatic telescopic column upper and lower ends are equipped with foldable layer, and the foldable layer is by cotton elasticity materialMaterial is made, and three the bottom of the support plate are fixedly connected with sliding bar, the cross bar that the sliding bar is equipped with 1 bottom of manipulator ontologyIt is slidably connected by slide construction, and sliding bar bottom is equipped with baffle, described hold is equipped with folding and unfolding lever and linked hand by device, describedFolding and unfolding lever jacket layer and interior jacket layer are cotton material, and folding and unfolding handle inner core is soft rubber material, and the periphery of inner core is equipped with fourRefer to lumen pore, be equipped at the linked hand finger-joint and watch motor, and watching number of motors is 13, it is described to watch motorOutput end is connected by connecting rod.
Further, the bundling apparatus is placed in support device, and bundling apparatus is equipped with several soft baffles and severalBandage.
Further, the soft baffle is placed in branch board ends, and is set on soft baffle there are four bandage.
Further, folding and unfolding handle bottom end is equipped with slide, and slide both ends are equipped with rotation fixed ring, the folding and unfolding handHandle bottom end both ends are equipped with pillar.
Further, the linked hand middle inside is equipped with elastic bands, and linked hand is externally provided with finger-stall.
The present invention passes through more supporting plate structures of support plate, the rotating device between multiple supporting plates, for realizing the vertical of armLifting, and the elastic cotton layer that rotating device is equipped in upper and lower ends can play the role of protection, and the setting one for the cavity that is translatableOn the other hand the mechanical space that aspect reduces realizes the translation work of mechanical arm, support the main heavy of mechanical arm by support columnAmount, and the automatic telescopic column being equipped in the middle part of supporting plate are set by the multistage flexible length to realize the various pieces of mechanical armIt sets, thus the bigger real demand for adapting to patient, accurate adjustment ensures the security training therapeutic efficiency of patient, at multi-jointRotation lifting and translation, realize training to whole arm, and rotation can be limited by the connection of cross bar and sliding barWith the range of translation, to guarantee the traffic safety and riding comfort of patient's training, hold by device be designed as can folding and unfolding type, cotton material is softThe design of inner core and finger cavity, more meets the actual demand of patient, and the multi-servomotor and connecting rod of linked hand intrinsic articulationSetting realize finger multi-activity associated working, it is more flexible and convenient, in the middle part of elastic bands and finger cavity makeHand more safety for immobilized patients, soft baffle of arranging in pairs or groups make the good fit property of training function with bandage.
Detailed description of the invention
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 is schematic structural view of the invention；
Fig. 2 is overlooking structure diagram of the present invention；
Fig. 3 is linked hand appearance diagram of the present invention；
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference toSpecific embodiment, the present invention is further explained.
A kind of safety-type manipulator of rehabilitation training of upper limbs robot as shown in figure 1-3, including manipulator ontology, branchSupport arrangement, bundling apparatus are held by device, supporting plate, rotating device, translation cavity, folding and unfolding lever and linked hand, the manipulator sheetBody is made of support device, bundling apparatus and holding by device, and the support device is equipped with support plate, the support front edge of board with holdIt is fixedly connected by device, and is equipped with three sections of supporting plates in the middle part of support plate, be rotatablely connected between the supporting plate by rotating device, and front and backTranslation cavity is equipped in two supporting plates, the rotating device upper and lower ends are equipped with elastic cotton layer, and by electricity in the middle part of rotating deviceMachine output end and shaft are rotatablely connected, and the shaft output end is fixedly connected with supporting plate left end, and branch is equipped in the translation cavityDagger and rotation fixture, support column middle part one end is equipped with protrusion post, and the other end is miniature equipped with double end in the middle part of support columnMotor, the protrusion post both ends are rotatablely connected with the bearing being equipped in supporting plate, and double end micromotor both ends output end is equalIt is rotatablely connected with rotation fixture, is equipped with automatic telescopic column in two supporting plates of left position in three supporting plates, it is described to stretch automaticallyContracting column both ends are fixedly connected with both ends in the middle part of supporting plate respectively, and automatic telescopic column upper and lower ends are equipped with foldable layer, the foldingLayer is made of cotton elastic material, and three the bottom of the support plate are fixedly connected with sliding bar, the sliding bar and manipulator ontologyThe cross bar that bottom is equipped with is slidably connected by slide construction, and sliding bar bottom is equipped with baffle, and described hold is held by device equipped with folding and unfoldingHandle and linked hand, the folding and unfolding lever jacket layer and interior jacket layer are cotton material, and folding and unfolding handle inner core is soft rubber material, interiorThe periphery of core is equipped with four and refers to lumen pore, is equipped at the linked hand finger-joint and watches motor, and watching number of motors is 13A, the motor output end of watching is connected by connecting rod.
In the present embodiment, the bundling apparatus is placed in support device, and if bundling apparatus be equipped with several soft baffles andDry bandage.
In the present embodiment, the soft baffle is placed in branch board ends, and is set on soft baffle there are four bandage.
In the present embodiment, folding and unfolding handle bottom end is equipped with slide, and slide both ends are equipped with rotation fixed ring, the folding and unfoldingHandle bottom end both ends are equipped with pillar.
In the present embodiment, the linked hand middle inside is equipped with elastic bands, and linked hand is externally provided with finger-stall.
The present invention in specific implementation, first to manipulator ontology, support device, bundling apparatus, hold by device, supporting plate,Rotating device, translation cavity, folding and unfolding lever and linked hand are introduced.
By support device with bundling apparatus for placing to patient's arm, support device provides placement location, bundleBenign binding of the device offer to arm is provided, thus realize the first step passively treated, it is more using more supporting plate structures of support plateRotating device between a supporting plate, for realizing the vertical lifting of arm, using the driving of motor and shaft, and rotating device is upperThe elastic cotton layer that lower both ends are equipped with, can play the role of protection, and not influence the normal operation of device, and the cavity that is translatableSetting on the one hand reduce mechanical space, on the other hand realize mechanical arm translation work, mechanical arm is supported by support columnMain by weight, and with bearing be rotatablely connected, using double end micromotor with rotation fixture output connect, just realization be translatableWork, and the automatic telescopic column being equipped in the middle part of supporting plate pass through the multistage flexible length to realize the various pieces of mechanical armSetting, so that the bigger real demand for adapting to patient, accurate adjustment ensure the security training therapeutic efficiency of patient, multi-jointThe rotation at place is lifted and translation, realizes the training to whole arm, and can limit and turn by the connection of cross bar and sliding barThe dynamic range with translation, to guarantee the traffic safety and riding comfort of patient's training.
Carry out to hold by device, rotation fixed ring, folding and unfolding handle, linked hand, servo motor, elastic bands, soft gearThe equipment such as plate, bandage are introduced, hold by device be designed as can folding and unfolding type, the soft inner core of cotton material and finger cavity are setMeter, more meets the actual demand of patient, slide construction can folding and unfolding into chamber, stretch out by the rotation of rotation fixed ring on slidePillar connects, and realizes that the orientation of folding and unfolding handle is fixed, and the setting of the multi-servomotor of linked hand intrinsic articulation and connecting rod is realizedThe multi-activity of finger works together, more flexible and convenient, in the middle part of elastic bands and finger cavity to suffer from for fixedThe more safety of the hand of person, soft baffle of arranging in pairs or groups make the good fit property of training function with bandage.
The configuration of the present invention is simple design innovation is practical, by support device with bundling apparatus for putting to patient's armIt sets, support device provides placement location, and bundling apparatus provides the benign binding to arm, to realize first passively treatedStep, using more supporting plate structures of support plate, the rotating device between multiple supporting plates utilizes electricity for realizing the vertical lifting of armThe driving of machine and shaft, and the elastic cotton layer that rotating device is equipped in upper and lower ends, can play the role of protection, and do not influenceThe normal operation of device, and on the one hand mechanical space that the setting for the cavity that is translatable reduces, on the other hand realize mechanical armBe translatable work, and the main by weight of mechanical arm is supported by support column, and is rotatablely connected with bearing, using double end micromotor and turnsThe output connection of dynamic fixture, just realizes translation work, and the automatic telescopic column being equipped in the middle part of supporting plate, by it is multistage it is flexible fromAnd realize the length setting of the various pieces of mechanical arm, thus the bigger real demand for adapting to patient, accurate adjustment ensures to suffer fromThe security training therapeutic efficiency of person, rotation lifting and translation at multi-joint, realizes the training to whole arm, and pass throughThe connection of cross bar and sliding bar can limit the range of rotation and translation, to guarantee the traffic safety and riding comfort of patient's training, hold and takeDevice be designed as can folding and unfolding type, the design of the soft inner core of cotton material and finger cavity more meets the actual demand of patient,Slide construction can folding and unfolding into chamber, stretch out to be rotated by rotation fixed ring and connect with the pillar on slide, realization folding and unfolding handleOrientation is fixed, and the setting of the multi-servomotor of linked hand intrinsic articulation and connecting rod realizes that the multi-activity of finger works together, moreFlexibly and easily, elastic bands and finger cavity in the middle part of make the hand more safety for immobilized patients, arrange in pairs or groups softMatter baffle and bandage make the good fit property of training function.
It should be understood by those skilled in the art that the present invention is not limited to the above embodiments.Above-described embodiment and explanationIt is merely illustrated the principles of the invention described in book.Without departing from the spirit and scope of the present invention, the present invention also hasVarious changes and modifications.These changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the inventionIt is defined by the appending claims and its equivalent thereof.