CN101288620B - Three freedom shoulder, elbow joint force feedback type healing robot - Google Patents
Three freedom shoulder, elbow joint force feedback type healing robot Download PDFInfo
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- CN101288620B CN101288620B CN2008100647228A CN200810064722A CN101288620B CN 101288620 B CN101288620 B CN 101288620B CN 2008100647228 A CN2008100647228 A CN 2008100647228A CN 200810064722 A CN200810064722 A CN 200810064722A CN 101288620 B CN101288620 B CN 101288620B
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- cantilever
- rotating shaft
- force feedback
- elbow joint
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Abstract
The invention provides a force feedback rehabilitation robot of shoulder joint and elbow joint with three degrees of freedom. The rehabilitation robot comprises a base, a straight motor arranged on the base, a rotary motor support base arranged on the straight motor, a rotary motor arranged in the rotary motor support base, a V-range motor support base connected with the rotary motor and a V-range motor arranged on the V-range motor support base; the V-range motor is connected with a cantilever rotating shaft by a small gear and a big gear; cantilevers are arranged on the cantilever rotating shaft; a linear guide track, a rolling ball screw rod, a cantilever motor, a screw rod nut and a handle are arranged on the cantilever arranged at one side of the cantilever rotating shaft, and a balance weight is arranged on the cantilever arranged at the other side of the cantilever rotating shaft. The rehabilitation robot is mainly characterized in that the rehabilitation robot can respectively carry out the single-joint motion training of the shoulder joint and the elbow joint and can also carry out the dual-joint complex motion training; the motion training space of the shoulder joint is increased, the number of the training freedom degree is increased, the control algorithm is simple, the force feedback leads the motion to be more accurate and reliable, and the rehabilitation robot can simultaneously provide the detection for the end mechanical information.
Description
(1) technical field
The present invention relates to a kind of robot, specifically a kind ofly be used for the robot that auxiliary for hemiparalysis upper limb patient shoulder, elbow joint carry out rehabilitation training.
(2) background technology
According to interrelated data, China's cerebrovascular patient annual morbidity is 2,00/,100,000 people, and annual new cases are more than 1,500,000, and the economic loss that causes to country reached more than 10,000,000,000/year.Self-evident, hemiplegia has brought heavy financial burden for society and family, has also seriously influenced patient's quality of life.
Neural rehabilitation process is an arduous job, mainly relies on the physiatrician that the patient is carried out man-to-man manual operations.Robotics provides different aspects such as training strategy to have very strong advantage saving labour, accurate controlled motion, record relevant parameter at different practical situations.
Yan Fa healing robot characteristics are in the market: be mainly used in that simple joint rehabilitation training, degree of freedom number are few, space little and lack mechanics detection etc.Develop novel upper-limbs rehabilitation training robot at present situation, can satisfy clinical further requirement.
(3) summary of the invention
The object of the present invention is to provide a kind of at shoulder, elbow joint both can carry out the simple joint training respectively, also can carry out the training of doublejointed compound motion; Shoulder joint kinesitherapy training space is big; Can train the degree of freedom number many; Motion more accurately, reliably can provide simultaneously three freedom shoulder, the elbow joint force feedback type healing robot of terminal mechanical information detection.
The object of the present invention is achieved like this:
It comprises base 1, be installed in the craspedodrome motor 2 on the base 1, be installed in the turning motor bearing 4 on the craspedodrome motor 2, be installed in the turning motor 3 in the turning motor bearing 4, what link to each other with turning motor 3 faces upward the motor bearing 7 of bowing, be installed in the motor of facing upward on the motor bearing 7 of bowing 17 of bowing of facing upward, face upward the motor 17 of bowing and drive gear wheel 18 by pinion 8, gear wheel 18 connects cantilever rotating shaft 19, cantilever 9 is installed in the cantilever rotating shaft 19, the cantilever 9 of cantilever rotating shaft 19 1 sides is provided with line slideway 20, ball-screw 21, be connected in the cantalever motor 10 of ball-screw 21 1 ends, the feed screw nut 12 that matches with ball-screw 21 and can move along line slideway 20, be arranged at the handle 13 on the feed screw nut 12, on the cantilever 9 of cantilever rotating shaft 19 opposite sides counterweight 16 be set.
The present invention can also comprise:
1, also has on the cantilever 9 by linear bearing pair 24 and be arranged at horizontal hand grip 23 on the guide rail, guide rail upper spring 22.
2, handle 13 and horizontal hand grip 23 are provided with force transducer 14.
The invention provides a kind of robot at shoulder, healing and training elbow joint, its main feature is both can carry out the simple joint training respectively at shoulder, elbow joint, also can carry out the training of doublejointed compound motion; Shoulder joint kinesitherapy training space increases; Can train the degree of freedom number many; Control algolithm is simple; There is force feedback to make motion more accurately, reliably, can provides terminal mechanical information to detect simultaneously.
Wherein cantilever 9 carries patient's upper limb, and palm is fixed or is held on the handle 13.Craspedodrome motor 2 vertically moves up and down, and is used to adjust the shoulder joint position height.Turning motor 3 drives cantilever 9 is rotated in horizontal plane, makes upper limb finish the arc track training.Face upward bow motor 17 driving pinions and open-bull gear drive, make cantilever 9 carrying patient upper limb finish shoulder joint and face upward the training of bowing.Cantalever motor 10 driving ball-screws 21 are finished upper limb by feed screw nut 12 drive handles 13 and are trained along straight path.Counterweight 16 is used for the weight of balanced cantilever 9 front ends carryings, keeps its balance.In addition, when suffering from limb when certain capacity of will is arranged, but usage level handle 23 is trained along straight line by linear bearing pair 24.In handle 13, the horizontal hand grip 23 force transducer 14 is installed all, will makes the motor power output control accurate more, safety, utilize feedack also can be used for the rehabilitation evaluation of indexes simultaneously by sensor feedback.
(4) description of drawings
Fig. 1 is a front view of the present invention;
Fig. 2 is the vertical view of Fig. 1.
(5) specific embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1 and Fig. 2, the composition of three freedom shoulder, elbow joint force feedback type healing robot comprises base 1, craspedodrome motor 2, turning motor 3, turning motor bearing 4, shaft coupling 5, bearing 6, faces upward the motor bearing 7 of bowing, pinion 8, cantilever 9, cantalever motor 10, shaft coupling 11, feed screw nut 12, handle 13, force transducer 14, locking nut 15, counterweight 16, face upward the motor 17 of bowing, gear wheel 18, cantilever rotating shaft 19, line slideway 20, ball-screw 21, spring 22, horizontal hand grip 23, linear bearing pair 24, shaft bearing seat 25, straight pin 26.
Craspedodrome motor 2 is by being bolted to base 1, and turning motor bearing 4 is by being bolted to craspedodrome motor 2 outfans.Turning motor 3 is fixed on the turning motor bearing 4, and it drives and face upward the motor bearing 7 of bowing by shaft coupling 5, bearing 6, and bearing 6 is installed on the turning motor bearing 4.Face upward the motor 17 of bowing and bow motor 17 driving pinions 8 by gear wheel 18 transmissions by being bolted on the motor bearing 7 of bowing, facing upward, gear wheel 18 drives rotating shafts and rotates, and gear wheel 18 and cantilever rotating shaft 19 link to each other by key.Cantilever rotating shaft 19 is installed on the shaft bearing seat 25, and it is connected with cantilever 9 by two straight pins, faces upward the action of bowing thereby gear wheel 18 drive cantilever rotating shafts 19 rotations are finished cantilever 9.Cantalever motor 10 is installed on the cantilever 9, and it drives ball-screw 21 by shaft coupling 11 makes feed screw nut 12 drive handles 13 move along line slideway 20.Two force transducers 14 are installed in respectively in handle 13, the horizontal hand grip 23, and these two handles are separately fixed on feed screw nut 12, the linear bearing pair 24.Linear bearing pair 24, driving ball-screw 21 all are installed on the bearing of cantilever 9, and spring 22 is positioned on the linear bearing pair 24, and two ends are fixed with contact surface respectively.It is terminal and pin with locking nuts 15 that counterweight 16 is installed in cantilever 9, and counterweight 16 is used for the weight of balanced cantilever 9 left sides and carrying thereof.
Claims (4)
1. three freedom shoulder, elbow joint force feedback type healing robot, it is characterized in that: it comprises base [1], be installed in the craspedodrome motor [2] on the base [1], be installed in the turning motor bearing [4] on the craspedodrome motor [2], be installed in the turning motor [3] in the turning motor bearing [4], what link to each other with turning motor [3] faces upward the motor bearing [7] of bowing, be installed in to face upward and face upward the motor of bowing [17] on the motor bearing [7] of bowing, face upward the motor of bowing [17] and drive gear wheel [18] by pinion [8], gear wheel [18] connects cantilever rotating shaft [19], cantilever [9] is installed in the cantilever rotating shaft [19], the cantilever [9] of cantilever rotating shaft [19] one sides is provided with line slideway [20], ball-screw [21], be connected in the cantalever motor [10] of ball-screw [21] one ends, the feed screw nut [12] that matches with ball-screw [21] and can move along line slideway [20], be arranged at the handle [13] on the feed screw nut [12], on the cantilever [9] of cantilever rotating shaft [19] opposite side counterweight [16] be set.
2. three freedom shoulder according to claim 1, elbow joint force feedback type healing robot is characterized in that: also have on the cantilever [9] by linear bearing pair [24] and be arranged at horizontal hand grip [23] on the guide rail, guide rail upper spring [22].
3. three freedom shoulder according to claim 1, elbow joint force feedback type healing robot is characterized in that: handle [13] is provided with force transducer [14].
4. three freedom shoulder according to claim 2, elbow joint force feedback type healing robot is characterized in that: horizontal hand grip [23] is provided with force transducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100647228A CN101288620B (en) | 2008-06-13 | 2008-06-13 | Three freedom shoulder, elbow joint force feedback type healing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100647228A CN101288620B (en) | 2008-06-13 | 2008-06-13 | Three freedom shoulder, elbow joint force feedback type healing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101288620A CN101288620A (en) | 2008-10-22 |
| CN101288620B true CN101288620B (en) | 2010-06-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008100647228A Expired - Fee Related CN101288620B (en) | 2008-06-13 | 2008-06-13 | Three freedom shoulder, elbow joint force feedback type healing robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN101288620B (en) |
Families Citing this family (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101441205B (en) * | 2008-11-17 | 2013-04-24 | 江苏科技大学 | Test system of biological soft tissue force feedback touch feeling model building |
| WO2015048688A1 (en) * | 2013-09-27 | 2015-04-02 | Barrett Technology, Inc. | Multi-active-axis, non-exoskeletal rehabilitation device |
| CN104626162B (en) * | 2013-11-13 | 2017-03-08 | 沈阳新松机器人自动化股份有限公司 | A kind of Fuzzy control system for medical robot and its implementation |
| CN104970948B (en) * | 2014-04-02 | 2017-10-13 | 北京蝶禾谊安信息技术有限公司 | The control method of upper limb rehabilitation robot |
| CN103989576B (en) * | 2014-04-22 | 2015-09-16 | 广西大学 | Electromechanical scapulohumeral periarthritis device |
| CN103976850B (en) * | 2014-06-09 | 2016-05-04 | 王占平 | Suffering limb rotation tractive automatic regulating apparatus for a kind of cure scapulohumeral periarthritis |
| US10596056B2 (en) * | 2014-07-15 | 2020-03-24 | Institute Of Automation Chinese Academy Of Sciences | Upper limb rehabilitation robot system |
| CN105832491B (en) * | 2015-01-12 | 2018-03-27 | 上银科技股份有限公司 | Upper limbs rehabilitation equipment |
| CN104924321A (en) * | 2015-07-02 | 2015-09-23 | 资阳市海达科技自动化设备有限公司 | Vertical arm lifting type mechanical arm |
| CN106420257B (en) * | 2016-09-05 | 2018-11-09 | 南京航空航天大学 | Based on the upper limb of series elastic driver rehabilitation exoskeleton robot |
| CN109011404B (en) * | 2018-08-16 | 2021-08-27 | 冯跃 | Shoulder joint rehabilitation training medical equipment |
| CN110123580A (en) * | 2019-05-20 | 2019-08-16 | 东北大学 | A kind of tail end traction type upper limb healing platform |
| CN111844064A (en) * | 2020-06-29 | 2020-10-30 | 江苏亚威艾欧斯激光科技有限公司 | Mobile device for mobile terminal, working method and adsorption device |
| CN112535614B (en) * | 2020-12-04 | 2023-05-12 | 济南国科医工科技发展有限公司 | Multi-degree-of-freedom parallel rehabilitation robot joint |
| CN114699734A (en) * | 2022-04-27 | 2022-07-05 | 北京航空航天大学 | Parameter-adjustable multi-task bedside upper limb rehabilitation training device |
| CN116175648B (en) * | 2023-04-25 | 2023-07-11 | 江西明天高科技股份有限公司 | Force feedback mechanical arm moving resistance test board |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5466213A (en) * | 1993-07-06 | 1995-11-14 | Massachusetts Institute Of Technology | Interactive robotic therapist |
| CN2430150Y (en) * | 2000-05-22 | 2001-05-16 | 劳俊 | Recovery device for upper paralysis limb |
| CN2688278Y (en) * | 2004-04-07 | 2005-03-30 | 哈尔滨工程大学 | Multifunctional robot for upper limb rehabilitating exercise |
| CN201019972Y (en) * | 2007-03-09 | 2008-02-13 | 王风云 | Shoulder, elbow and wrist joints sporting machine |
-
2008
- 2008-06-13 CN CN2008100647228A patent/CN101288620B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5466213A (en) * | 1993-07-06 | 1995-11-14 | Massachusetts Institute Of Technology | Interactive robotic therapist |
| CN2430150Y (en) * | 2000-05-22 | 2001-05-16 | 劳俊 | Recovery device for upper paralysis limb |
| CN2688278Y (en) * | 2004-04-07 | 2005-03-30 | 哈尔滨工程大学 | Multifunctional robot for upper limb rehabilitating exercise |
| CN201019972Y (en) * | 2007-03-09 | 2008-02-13 | 王风云 | Shoulder, elbow and wrist joints sporting machine |
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| Publication number | Publication date |
|---|---|
| CN101288620A (en) | 2008-10-22 |
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Granted publication date: 20100602 Termination date: 20170613 |