Upper-limb rehabilitation training robot

Abstract

The invention relates to an instrument in the field of medical rehabilitation apparatuses, in particular to an upper-limb rehabilitation training robot. The upper-limb rehabilitation training robot is composed of a spherical-pair motion mechanism, a rectangular-coordinate-system tri-axial linkage system and an upper-limb bracket system; the rectangular-coordinate-system tri-axial linkage system provide three mobile degrees of freedom and can realize multi-degree-of-freedom passive training of a shoulder joint. By the arrangement that the spherical-pair motion mechanism is connected with the upper-limb bracket support and the rectangular-coordinate-system tri-axial linkage system and the spherical-pair motion mechanism provides the three mobile degrees of freedom, a patient can perform rotational training autonomously under the condition that the shoulder joint is subjected to passive training through traction force provided by the rectangular-coordinate-system tri-axial linkage system, and rotation stimulus of a big arm of the upper limb can be thereby increased; a stepping motor on an upper-limb big-arm bracket drives an upper-limb forearm bracket to rotate through a transmission gear and a transmission shaft, forearm flexion rotation training can be realized, and multi-degree-of-freedom complex rehabilitation training of the shoulder joint and an elbow joint is realized; the upper-limb rehabilitation training robot is stable and reliable in mechanism, flexible in motion, low in cost and simple and practical.

Description

technical field [0001] The invention relates to a device in the field of medical rehabilitation equipment, which is an upper limb rehabilitation training robot. Background technique [0002] The problem of rehabilitation treatment of hemiplegic sequelae caused by apoplexy is an urgent problem to be faced by medical experts, patients, medical workers and family members. Although there are corresponding rehabilitation robots at home and abroad at present, the robot mechanism that can realize the simultaneous multi-free rotation rehabilitation training of upper limb shoulder joints and elbow joints is complex, expensive, and the functions are not too complete, which makes the use of rehabilitation robots very popular. Big restrictions. Based on the structure and function, this paper intends to design a simple structure and complete functions, which can realize the passive training and active training of the shoulder joint of the upper limbs at the same time, and realize the mu...

AI Technical Summary

Problems solved by technology

Although there are corresponding rehabilitation robots at home and abroad at present, the robot mechanism that can realize the simultaneous multi-free rotation rehabilitation training of upper limb shoulder joints and elbow joints is complex, expensive, and the functions are not too complete, which makes the use of rehabilitation robots very popular. big limit

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