An upper limb rehabilitation robot cantilever gravity support device system
A technology for a rehabilitation robot and a support device, which is applied in the field of rehabilitation robots, can solve the problems of high cost, large size and heavy weight of high-power motors, and heavy rehabilitation machinery, and achieves reduced power requirements, reduced power and maximum torque requirements, and simple structure. Compact, lightweight and stable effect
Inactive Publication Date: 2017-05-03
JIANGSU UNIV
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At the same time, the size and quality of high-power motors are relatively heavy, and the cost is also high, which further makes the rehabilitation machinery more cumbersome
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[0017] The following is a detailed description of the embodiments of the present invention. This embodiment is implemented on the premise of the technical solution of the present invention. Detailed implementation and specific operation process have been provided, but the protection scope of the present invention is not limited to the following implementation example.
[0018] In describing the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer" ” and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, with a specific configuration and operation, and therefore should not be construed a...
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The invention belongs to the field of rehabilitation robots and relates to a cantilever gravity support device of an upper limb rehabilitation robot. The cantilever gravity support device comprises a cantilever, a cantilever gravity support device body and a support. A double-spring structure formed by an air spring and a common spring is used, certain pull force to a steel wire rope is generated by the action of prepressing force, the pull force is transmitted to a slider through the steel wire rope, upward pull force to the slider is generated, the slider transmits the pull force to the cantilever in a decomposed manner through a connecting rod, a torque to the cantilever is generated, the direction torque is opposite to the direction of the gravity resistance torque of the cantilever, and the resistance torque is balanced off. By the cantilever gravity support device, the resistance torque caused by the gravity of the upper arm, the front arm and the like can be effectively balanced, required drive motor power and maximum torque requirements are lowered greatly, and the safety and comfortableness of the upper limb rehabilitation robot and especially the shoulder vertical rotation joints are increased greatly.
Description
technical field [0001] The invention relates to the field of rehabilitation robots, in particular to an upper limb rehabilitation robot cantilever gravity support device system. Background technique [0002] In order to efficiently and cost-effectively solve the social problem of rehabilitation for patients with upper limb central nervous movement disorders caused by stroke, traumatic brain injury and other causes, the research on upper limb rehabilitation robots has attracted the attention of scholars at home and abroad. Since the upper limb rehabilitation robot system is mainly applied to patients with loss of upper limb motor function caused by stroke, the safety of the training must be ensured when performing rehabilitation training. At present, the method of controlling the safety of upper limb rehabilitation robots is mainly completed through software control, and there are few safety measures in mechanical aspects. Due to the complex structure of the human upper limb...
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IPC IPC(8): A61H1/02
Inventor 杨启志赵金海宋俊朋汪志焕郭林强
Owner JIANGSU UNIV