CN112494271B - Upper limb rehabilitation training device - Google Patents
Upper limb rehabilitation training device Download PDFInfo
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- CN112494271B CN112494271B CN202011299800.XA CN202011299800A CN112494271B CN 112494271 B CN112494271 B CN 112494271B CN 202011299800 A CN202011299800 A CN 202011299800A CN 112494271 B CN112494271 B CN 112494271B
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- 238000012549 training Methods 0.000 title claims abstract description 74
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 25
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 87
- 210000002310 elbow joint Anatomy 0.000 claims abstract description 60
- 210000000245 forearm Anatomy 0.000 claims abstract description 55
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 49
- 210000001991 scapula Anatomy 0.000 claims abstract description 13
- 230000008878 coupling Effects 0.000 claims description 21
- 238000010168 coupling process Methods 0.000 claims description 21
- 238000005859 coupling reaction Methods 0.000 claims description 21
- 230000005540 biological transmission Effects 0.000 claims description 17
- 238000006073 displacement reaction Methods 0.000 claims description 10
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 11
- 230000008569 process Effects 0.000 abstract description 8
- 230000001174 ascending effect Effects 0.000 description 23
- 230000033001 locomotion Effects 0.000 description 23
- 230000009471 action Effects 0.000 description 10
- 210000003414 extremity Anatomy 0.000 description 8
- 238000005452 bending Methods 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 210000000707 wrist Anatomy 0.000 description 4
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 206010033799 Paralysis Diseases 0.000 description 1
- 206010040007 Sense of oppression Diseases 0.000 description 1
- 208000030886 Traumatic Brain injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000037237 body shape Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012886 linear function Methods 0.000 description 1
- 230000003340 mental effect Effects 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0192—Specific means for adjusting dimensions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1628—Pelvis
- A61H2201/1633—Seat
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
本发明涉及一种上肢康复训练装置，其包括底板、升降单元、两臂间距调节单元和对称设于两臂间距调节单元上的康复训练臂，底板上设有升降单元，两臂间距调节单元设于升降板上，康复训练臂包括肩胛关节单元、肩关节单元、大臂单元、肘关节单元、小臂单元和腕关节单元，肩胛关节单元通过第一支架设于水平移动板上，肩关节单元通过第一直角支架设于肩胛伸缩支架上，大臂单元通过第二直角支架滑动设于肩关节滑轨上，肘关节单元通过肘关节直角支架与弧形圆盘固连，小臂单元通过小臂支架滑动设于肘关节滑轨上，腕关节单元通过腕关节支架固定设于第二带轮上。本发明能帮助患者进行肩胛骨、肩、肘、腕关节的全面康复训练，提高了患者康复过程中的舒适度。
The invention relates to an upper limb rehabilitation training device, which comprises a base plate, a lifting unit, a distance adjustment unit between two arms and a rehabilitation training arm symmetrically arranged on the distance adjustment unit. On the lifting plate, the rehabilitation training arm includes a scapular joint unit, a shoulder joint unit, a large arm unit, an elbow joint unit, a forearm unit and a wrist joint unit. The scapular joint unit is set on the horizontal moving plate through the first bracket, and the shoulder joint unit The first right-angle bracket is arranged on the scapula telescopic bracket, the upper arm unit is slidably arranged on the shoulder joint slide rail through the second right-angle bracket, the elbow joint unit is fixedly connected to the arc-shaped disc through the elbow joint right-angle bracket, and the forearm unit The arm bracket is slidably arranged on the elbow joint sliding rail, and the wrist joint unit is fixedly arranged on the second pulley through the wrist joint bracket. The invention can help patients to carry out comprehensive rehabilitation training of scapula, shoulder, elbow and wrist joints, and improves the comfort of patients during the rehabilitation process.
Description
Technical Field
The invention belongs to the technical field of medical rehabilitation instruments, and particularly relates to an upper limb rehabilitation training device.
Background
The patient with limb paralysis caused by stroke and brain trauma can not carry out some limb activities by himself, the huge physical and mental pressure not only brings influence to the patient, but also brings great influence to the family of the patient and our society, therefore, the advanced rehabilitation treatment technology is applied to improve the limb movement function of the patient, the patient can achieve the most satisfactory rehabilitation treatment effect in the shortest time and finally get rid of the affliction of the disabled, and the rehabilitation method is always the target of the rehabilitation worker. The motion of the scapular zone is not considered to have great influence on the rehabilitation training of the whole upper limb by the early rehabilitation robot, in the auxiliary rehabilitation treatment of the robot, if the motion of the scapular zone does not exist, the patient can feel uncomfortable, the secondary damage can be seriously generated, therefore, the action of the scapular zone can be seen to be very important in daily activities, when the arm rehabilitation treatment is carried out on the patient, the robot needs to support the movement of the scapular zone, the design of the scapular joint can meet the requirement that the rotation center of the scapular joint can be adjusted in the rehabilitation process, the motion of the scapular joint can be increased to meet the motion of the center position of the scapular joint, and the comfort level of the patient in the rehabilitation process is improved. In addition, the rehabilitation training of the scapular joint can be carried out on a patient with the damaged scapular joint. The motion of the scapular band is a non-linear function, but is a circular motion as a whole, except that the radius of the circular motion is different from person to person, so that the scapular joint can be exercised by using an exercise device with an adjustable motion radius.
Disclosure of Invention
In view of the above circumstances, the present invention overcomes the defects of the prior art in the rehabilitation training of the scapular joint, and provides an upper limb rehabilitation training device with a scapular joint training function.
The technical scheme adopted by the invention is that the upper limb rehabilitation training device comprises a bottom plate, a lifting unit, two arm spacing adjusting units and rehabilitation training arms symmetrically arranged on the two arm spacing adjusting units, wherein the lifting unit is arranged on the bottom plate, and the two arm spacing adjusting units are arranged on a lifting plate of the lifting unit through a supporting plate; the rehabilitation training arm comprises a scapular joint unit, a shoulder joint unit, a big arm unit, an elbow joint unit, a small arm unit and a wrist joint unit, the scapular joint unit is arranged on a horizontal moving plate of the two-arm spacing adjusting unit through a first right-angle support, the shoulder joint unit is arranged at the second end of a scapular telescopic support of the scapular joint unit through a first right-angle support, the big arm unit is arranged on a shoulder joint slide rail of the shoulder joint unit through a second right-angle support in a sliding manner, the elbow joint unit is fixedly connected with an arc-shaped disc of the big arm unit through an elbow joint right-angle support, the elbow joint unit comprises an elbow joint bending and stretching motor, a small arm upper support, an elbow joint right-angle support and an elbow joint slide rail, the elbow joint right-angle support is fixedly connected with the second end of the arc-shaped disc, the elbow joint bending and stretching motor is arranged on the elbow joint right-angle support, the wrist joint bending and stretching motor comprises a wrist joint support, a wrist joint unit, a wrist joint support, a coupling, a hand holding rod, a wrist joint bending and stretching motor, wherein the wrist joint unit is fixedly arranged on the second belt wheel through the wrist joint support, the wrist joint unit comprises the wrist joint bending and stretching motor, the hand holding rod and the wrist joint support, the wrist joint support is fixedly connected with the second belt wheel, the wrist joint bending and stretching motor is arranged on the wrist joint support, and an output shaft of the wrist joint bending and stretching motor is connected with a first end of the hand holding rod through the coupling.
Further, the lifting unit comprises a lifting motor, a lifting support seat, a first moving plate, a second moving plate, a lifting plate, a first lead screw, a first nut, a first slide rail, a displacement sensor and a support rod, the lifting support seat is of a C-shaped structure, the lifting support seat is fixedly arranged on the bottom plate through the support rod, the first lead screw is arranged in the lifting support seat, the first end of the first lead screw is supported on the support seat through a bearing, the second end of the first lead screw is connected with an output shaft of the lifting motor through a coupler, the first slide rail is symmetrically arranged on the first end surface of the lifting support seat, the first moving plate and the second moving plate are both slidably arranged on the first slide rail, the first nut is fixedly connected with the first moving plate, and the first nut is in transmission connection with the first lead screw, the lifting plate is connected with the first moving plate and the second moving plate, and the first end of the lifting plate is provided with the displacement sensor.
Further, the two-arm spacing adjusting unit comprises a supporting plate, a two-arm spacing adjusting motor, a distance measuring sensor, a second lead screw, a second screw nut, a horizontal moving plate and a second slide rail, the supporting plate is fixedly arranged at the second end of the lifting plate, the second screw rod is a left-right screw rod, the second lead screw is arranged in the supporting plate, the first end of the second lead screw is supported on the supporting seat through a bearing, and the second end of the second screw rod is connected with the output shaft of the two-arm spacing adjusting motor through a coupler, the second slide rails are symmetrically arranged on the first end surface of the supporting plate, the second screw nut and the horizontal moving plate are symmetrically arranged at the first end and the second end of the second slide rails in a sliding manner, and the second screw nut is fixedly connected with the horizontal moving plate, the second screw nut is in transmission connection with the second lead screw, and the distance measuring sensor is arranged on the supporting plate.
Further, the scapular joint unit comprises a scapular telescopic bracket, a first bracket, a scapular ascending and descending motor, a scapular ascending and descending bracket, a scapular telescopic motor, a third screw rod, a fourth screw rod, a third screw nut, a fourth screw nut, a first auxiliary frame, a second auxiliary frame, a third auxiliary frame and a fourth auxiliary frame, the first bracket is arranged on the horizontal moving plate, the scapular ascending and descending motor is arranged on the first bracket, an output shaft of the scapular ascending and descending motor is connected with a first end of the scapular ascending and descending bracket through a coupler, the scapular telescopic motor is arranged on the scapular ascending and descending bracket, an output shaft of the scapular telescopic motor is connected with a first end of the first auxiliary frame through a coupler, a second end of the scapular ascending and descending bracket is rotatably connected with a first end of the third auxiliary frame, and the middle part of the scapular telescopic bracket is rotatably connected with a second end of the second auxiliary frame, the first end of the scapular telescopic bracket is rotatably connected with the first end of the fourth auxiliary frame, the first end of the third lead screw is supported at the second end of the first auxiliary frame through a bearing, the second end of the third lead screw is supported at the second end of the second auxiliary frame through a bearing, the third nut is fixedly connected with the second auxiliary frame, the third nut is in transmission connection with the third lead screw, the first end of the fourth lead screw is supported at the second end of the third auxiliary frame through a bearing, the second end of the fourth lead screw is supported at the second end of the fourth auxiliary frame through a bearing, the fourth nut is in fixed connection with the fourth auxiliary frame, the fourth nut is in transmission connection with the fourth lead screw, and the central axis of the fourth lead screw is parallel to the central axis of the third lead screw.
Further, the shoulder joint unit comprises a shoulder joint abduction and adduction motor, a first right angle support, a shoulder joint flexion and extension motor, a shoulder joint flexion and extension support, a shoulder flexion and extension balance assembly and shoulder joint slide rails, the first right angle support is arranged at the second end of the shoulder blade telescopic support, an output shaft of the shoulder joint abduction and adduction motor is connected with the first end of the first right angle support through a coupler, the second end of the first right angle support is provided with the shoulder joint flexion and extension motor, an output shaft of the shoulder joint flexion and extension motor is connected with the first end of the shoulder joint flexion and extension support through a coupler, the shoulder flexion and extension balance assembly is arranged on the first right angle support and the shoulder joint flexion and extension support, and the shoulder joint slide rails are symmetrically arranged on the first end face of the shoulder joint flexion and extension support.
Preferably, the shoulder flexion and extension balancing component comprises a spring, a fixed pulley and a balancing rope, the fixed pulley is arranged on the first right-angle support and the shoulder flexion and extension support respectively, the first end of the spring is fixedly connected with the first right-angle support, the second end of the spring is fixedly connected with the first end of the balancing rope, and the second end of the balancing rope bypasses the fixed pulley on the first right-angle support and the fixed pulley on the shoulder flexion and extension support and is fixedly connected with the shoulder flexion and extension support through a lifting screw.
Furthermore, the big arm unit comprises a fifth lead screw, a fifth screw, a second right-angle support and a big arm internal rotation and external rotation training assembly, the fifth lead screw is arranged in the shoulder joint flexion and extension support of the shoulder joint unit, the second right-angle support is arranged on the shoulder joint slide rail in a sliding manner, the fifth screw is fixedly arranged at the first end of the second right-angle support and is in transmission connection with the fifth lead screw, and the big arm internal rotation and external rotation training assembly is arranged on the second right-angle support.
Preferably, big arm internal rotation outward rotation training subassembly includes third right angle support, arc slide rail, big arm internal rotation outward rotation motor, gyro wheel, arc rack, arc disc and arc slider, third right angle support with second right angle support fixed connection, big arm internal rotation outward rotation motor is fixed to be located on the second right angle support, just the output shaft of big arm internal rotation outward rotation motor pass through the shaft coupling with the gyro wheel is connected, the arc disc is located in the third right angle support, just the first terminal surface of arc disc is equipped with the arc slide rail, one side of third right angle support is equipped with the arc slider, just arc slider and arc slide rail sliding connection, arc disc first end outside cambered surface is equipped with the arc rack, the arc rack with the gyro wheel meshing transmission.
Further, the forearm unit comprises a sixth lead screw, a sixth screw, a forearm support, a forearm internal rotation external rotation motor, a driving gear, a driven gear, a first connecting rod, a triangular plate, a first belt wheel, a second connecting rod and a synchronous belt, wherein the sixth lead screw is arranged in the forearm upper support in the elbow joint unit, the forearm support is arranged on the elbow joint slide rail in a sliding manner, the sixth screw is fixedly arranged at the first end of the forearm upper support, the sixth lead screw is in transmission connection with the sixth screw, the forearm internal rotation external rotation motor is arranged on the forearm support, an output shaft of the forearm internal rotation external rotation motor is connected with the driving gear through a coupler, the first end of the first connecting rod is provided with the driven gear, the driven gear is in meshing transmission with the first end of the triangular plate, the second end of the first connecting rod is in rotation connection with the first end of the triangular plate, and the second end of the triangular plate is rotatably connected with the first end of the second connecting rod, the second end of the second connecting rod is rotatably connected with the small arm support, the first belt wheel and the second belt wheel are respectively arranged at the first end of the second connecting rod and the third end of the triangular plate, and the first belt wheel and the second belt wheel are connected through the synchronous belt.
Preferably, the end parts of the third screw rod, the fourth screw rod, the fifth screw rod and the sixth screw rod are all provided with handles.
The invention has the characteristics and beneficial effects that:
1. according to the upper limb rehabilitation training device provided by the invention, the scapular ascending and descending motor drives the scapular joint unit to ascend/descend so as to realize the ascending/descending training of the scapular joint of the patient; the scapular joint unit moves forwards/backwards through the scapular telescopic motor, so that the scapular joint of the patient can be trained forwards/backwards, the scapular joint of the patient can better meet the movement of the center position of the scapular joint through the scapular joint unit, and the comfort level of the patient in the rehabilitation process is improved.
2. According to the upper limb rehabilitation training device provided by the invention, the distance between the scapular telescopic bracket and the scapular ascending and descending bracket can be manually adjusted through the handle, so that the rotation radius of the scapular telescopic bracket in a plane can be changed, and the scapular joints of different patients can be exercised.
3. According to the upper limb rehabilitation training device provided by the invention, the shoulder joint unit can simulate the motion of a shoulder joint, the shoulder joint abduction/adduction training of a patient is driven by the shoulder joint abduction/adduction motor, the shoulder joint flexion and extension bracket is driven by the shoulder joint flexion and extension motor to move, so that the shoulder joint of the patient is driven to perform forward flexion/backward extension training, the arc-shaped rack is driven by the large arm internal rotation and external rotation motor to slide along the arc-shaped slide rail, so that the shoulder joint of the patient is driven to perform internal rotation/external rotation training, and the motion of the shoulder with three degrees of freedom and the rehabilitation training can be realized.
4. According to the upper limb rehabilitation training device provided by the invention, the lifting unit can be adjusted according to the height of a patient, so that the upper limb rehabilitation training device is suitable for patients with different heights to perform rehabilitation training, and meanwhile, the two-arm spacing adjusting unit can be adjusted according to the distance between shoulder blades of the patient, so that the upper limb rehabilitation training device can be suitable for patients with different body types.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention with left and right rehabilitation training arms;
FIG. 2 is a schematic view of the overall structure of the right rehabilitation training arm of the present invention;
FIG. 3 is an overall view of the lifting unit of the present invention;
FIG. 4 is a side view of the lift unit of the present invention;
FIG. 5 is an overall configuration view of a two-arm spacing adjustment unit of the present invention;
FIG. 6 is an overall view of the rehabilitation training arm of the present invention;
FIG. 7 is an overall structural view of the scapular joint unit of the present invention;
FIG. 8 is a side view of the scapular joint unit of the present invention;
FIG. 9 is an overall structural view of the shoulder joint unit and the upper arm unit of the present invention;
FIG. 10 is a partial block diagram of the boom unit of the present invention;
FIG. 11 is an overall block diagram of the elbow unit, forearm unit and wrist unit of the invention;
FIG. 12 is a partial block diagram of the forearm unit of the invention;
FIG. 13 is a side view of the forearm unit of the invention;
fig. 14 is an overall configuration diagram of the forearm unit and the wrist unit of the invention.
The main reference numbers:
a base plate 1; a lifting unit 2; a lift motor 20; a lifting support base 21; a first moving plate 22; a second moving plate 23; a lifter plate 24; a first lead screw 25; a first nut 26; a first slide rail 27; a displacement sensor 28; a support bar 29; a two-arm distance adjusting unit 3; a support plate 30; a two-arm interval adjusting motor 31; a distance measuring sensor 32; a second lead screw 33; a second nut 34; a horizontal moving plate 35; a second slide rail 36; a scapular joint unit 4; a scapular extension bracket 40; a first bracket 41; a lowering motor 42 for raising the shoulder; the shoulder blade up-and-down bracket 43; a scapula extension motor 44; a third lead screw 45; a fourth lead screw 46; a third nut 47; a fourth nut 48; a first auxiliary frame 49; a second auxiliary frame 410; the third auxiliary frame 411; a fourth auxiliary frame 412; a shoulder joint unit 5; a shoulder abduction and adduction motor 50; a first right-angle bracket 51; a shoulder flexion and extension motor 52; a shoulder flexion-extension bracket 53; a shoulder flexion-extension balancing component 54; a spring 541; a fixed pulley 542; a balance rope 543; a shoulder joint slide rail 55; an elbow joint unit 6; an elbow flexion and extension motor 60; a lower arm upper bracket 61; elbow joint right angle brace 62; an elbow joint slide rail 63; a small arm unit 7; a sixth lead screw 72; a sixth screw nut 73; an arm support 74; a forearm internal rotation and external rotation motor 75; a drive gear 76; a driven gear 77; a first link 78; a triangular plate 79; a first pulley 710; a second pulley 711; a second link 712; a timing belt 713; a wrist joint unit 8; a wrist joint flexion and extension motor 80; a grab bar 81; a wrist support 82; a large arm unit 9; a fifth lead screw 90; a fifth nut 91; a second right angle bracket 92; an internal rotation and external rotation training component 93 of the big arm; a third right angle bracket 931; an arcuate rail 932; a large arm internal rotation and external rotation motor 933; a roller 934; an arc-shaped rack 935; an arc-shaped disc 936; an arc-shaped slider 937 and a seat 10.
Detailed Description
The technical contents, structural features, attained objects and effects of the present invention are explained in detail below with reference to the accompanying drawings.
The invention provides an upper limb rehabilitation training device, which comprises a bottom plate 1, a lifting unit 2, a two-arm distance adjusting unit 3 and rehabilitation training arms symmetrically arranged on the two-arm distance adjusting unit 3, as shown in figures 1 and 2.
As shown in fig. 3 and 4, a lifting unit 2 is disposed on a bottom plate 1, and the lifting unit 2 includes a lifting motor 20, a lifting support base 21, a first moving plate 22, a second moving plate 23, a lifting plate 24, a first lead screw 25, a first nut 26, a first slide rail 27, a displacement sensor 28 and a support rod 29, the lifting support base 21 is a C-shaped structure, the lifting support base 21 is fixedly disposed on the bottom plate 1 through the support rod 29, the first lead screw 25 is disposed in the lifting support base 21, a first end of the first lead screw 25 is supported on the support base through a bearing, a second end of the first lead screw 25 is connected through an output shaft of a coupling lifting motor 20, the first slide rails 27 are symmetrically disposed on a first end surface of the lifting support base 21, the first moving plate 22 and the second moving plate 23 are both slidably disposed on the first slide rail 27, the first nut 26 is fixedly connected to the first moving plate 22, and the first nut 26 is in transmission connection with the first lead screw 25, the lifting plate 24 is connected to the first moving plate 22 and the second moving plate 23, and a displacement sensor 28 is disposed at a first end of the lifting plate 24. The lifting unit 2 can drive the first moving plate 22 and the second moving plate 23 to slide along the first sliding rail 27 through the lifting motor 20 according to the height of the body of the patient, so that the height of the rehabilitation training arm can be adjusted, and the bottom end of the lifting plate 24 is provided with the displacement sensor 28 which can collect the height adjustment data of the patient.
Preferably, wheels 210 are further provided at the bottom of the base plate 1 for facilitating the transportation of the rehabilitation training device.
As shown in fig. 5, the two-arm spacing adjustment unit 3 is provided on the lifting plate 24 of the lifting unit 2 via a support plate 30. The two-arm distance adjusting unit 3 comprises a supporting plate 30, a two-arm distance adjusting motor 31, a distance measuring sensor 32, a second lead screw 33, a second screw nut 34, a horizontal moving plate 35 and a second slide rail 36, the supporting plate 30 is fixedly arranged at the second end of the lifting plate 24, the second lead screw 33 is a left-right screw, the second lead screw 33 is arranged in the supporting plate 30, the first end of the second lead screw 33 is supported on the supporting seat through a bearing, the second end of the second lead screw 33 is connected with an output shaft of the two-arm distance adjusting motor 3 through a coupler, the second slide rail 36 is symmetrically arranged on the first end face of the supporting plate 30, the second screw nut 34 and the horizontal moving plate 35 are symmetrically arranged at the first end and the second end of the second slide rail 36 in a sliding manner, the second screw nut 34 is fixedly connected with the horizontal moving plate 35, the second screw nut 34 is in transmission connection with the second lead screw 33, and the distance measuring sensor 32 is arranged on the supporting plate 30. Two arms interval adjustment motor 31 of two arms interval adjustment unit 3 drive second lead screw 33 and rotate, because second lead screw 33 is the left-right screw, can drive second screw 34 through second lead screw 3 and move right left simultaneously, and then drive two horizontal migration boards 35 and do the opposite slip along second slide rail 36, can realize the opposite motion of two rehabilitation training arms, can realize carrying out the rehabilitation training of upper limbs to the patient of different shoulder widths, can gather the data that the patient adjusted the shoulder width through ultrasonic displacement sensor 28.
As shown in fig. 1 and 6, the rehabilitation training arm is symmetrically arranged on the two arm spacing adjusting unit 3, and comprises a scapular joint unit 4, a shoulder joint unit 5, a large arm unit 9, an elbow joint unit 6, a small arm unit 7 and a wrist joint unit 8.
As shown in fig. 7 and 8, the scapular joint unit 4 is disposed on the horizontal moving plate 35 of the two-arm interval adjustment unit 3 through a first bracket 41, and the scapular joint unit 4 includes a scapular extension bracket 40, a first bracket 41, a scapular ascending and descending motor 42, a scapular ascending and descending bracket 43, a scapular extension motor 44, a third lead screw 45, a fourth lead screw 46, a third nut 47, a fourth nut 48, a first auxiliary bracket 49, a second auxiliary bracket 410, a third auxiliary bracket 411, and a fourth auxiliary bracket 412, the first bracket 41 is disposed on the horizontal moving plate 35, the scapular ascending and descending motor 42 is disposed on the first bracket 41, and an output shaft of the scapular ascending and descending motor 42 is connected to a first end of the scapular ascending and descending bracket 43 through a coupling, the scapular extension motor 44 is disposed on the scapular ascending and descending bracket 43, and the scapular extension motor 44 is connected to a first end 49 of the first auxiliary bracket through a coupling, the second end of the scapular elevating and lowering support 43 is rotatably connected to the first end of the third auxiliary frame 411, the middle portion of the scapular extension support 40 is rotatably connected to the first end of the second auxiliary frame 410, the first end of the scapular extension support 40 is rotatably connected to the first end of the fourth auxiliary frame 412, the first end of the third screw 46 is supported by a bearing at the second end of the first auxiliary frame 49, the second end of the third screw 46 is supported by a bearing at the second end of the second auxiliary frame 410, the third screw 47 is fixedly connected to the second auxiliary frame 410, the third screw 47 is drivingly connected to the third screw 45, the first end of the fourth screw 46 is supported by a bearing at the second end of the third auxiliary frame 411, the second end of the fourth screw 46 is supported by a bearing at the second end of the fourth auxiliary frame 412, the fourth screw 48 is fixedly connected to the fourth auxiliary frame 412, and the fourth screw 48 is drivingly connected to the fourth screw 46, the central axis of the fourth lead screw 46 is parallel to the central axis of the third lead screw 45.
The output shafts of the scapular ascending and descending motor 42 and the scapular telescopic motor 44 are both connected with a speed reducer, the second auxiliary frame 410 and the fourth auxiliary frame 412 are both rotationally connected with the scapular telescopic bracket 40 through bearings, the scapular ascending and descending motor 42 works to drive the scapular belt of the patient to perform ascending/descending training, the scapular telescopic motor 44 drives the scapular belt of the patient to perform forward/backward stretching training, the scapular joint of the patient can better meet the movement of the central position of the scapular joint through the scapular joint unit 4, the comfort level of the patient in the rehabilitation process is improved, in addition, the end parts of the third screw rod 45 and the fourth screw rod 46 are both provided with handles, the third screw rod 45 and the fourth screw rod 46 can be manually adjusted through the handles, so that the rotating radius of the scapular telescopic bracket 40 in the plane is changed, the scapular joint of different patients can be trained, the scapular ascending/descending training is arranged in front of the scapular stretching/backward stretching, and a parallelogram mechanism consisting of the scapular telescopic bracket 40, the scapular ascending and descending bracket 43, the third screw rod 45 and the fourth screw rod 46 is adopted, so that the scapular joint unit 4 cannot occupy the upper part of the head of the patient, and the head of the patient is prevented from being injured.
As shown in fig. 9, the shoulder joint unit 5 is disposed at the second end of the scapular extension bracket 40 of the scapular joint unit 4 through a first right-angle bracket 51, the shoulder joint unit 5 includes a shoulder joint abduction and adduction motor 50, a first right-angle bracket 51, a shoulder joint flexion and extension motor 52, a shoulder joint flexion and extension bracket 53, a shoulder flexion and extension balance assembly 54 and a shoulder joint slide rail 55, the first right-angle bracket 51 is disposed at the second end of the scapular extension bracket 40, an output shaft of the shoulder joint abduction and adduction motor 50 is connected with the first end of the first right-angle bracket 51 through a coupling, the second end of the first right-angle bracket 51 is provided with the shoulder joint flexion and extension motor 52, an output shaft of the shoulder joint flexion and extension motor 52 is connected with the first end of the shoulder joint flexion and extension bracket 53 through a coupling, the shoulder flexion and extension balance assembly 54 is disposed on the first right-angle bracket 51 and the shoulder joint flexion and extension bracket 53, the shoulder joint slide rail 55 is symmetrically disposed at the first end surface of the shoulder flexion and extension bracket 53, wherein, the shoulder joint abduction and adduction motor 50 and the shoulder joint flexion and extension motor 52 are both arranged on the outer sides, so that a proper space is reserved for the shoulder joints, and the oppression feeling can not be caused to the patient.
Specifically, the shoulder flexion and extension balancing assembly 54 includes a spring 541, a fixed pulley 542 and a balancing rope 543, wherein the fixed pulley 542 is respectively disposed on the first right-angle bracket 51 and the shoulder flexion and extension bracket 53, a first end of the spring 541 is fixedly connected to the first right-angle bracket 51, a second end of the spring 541 is fixedly connected to a first end of the balancing rope 543, a second end of the balancing rope 543 bypasses the fixed pulley 542 on the first right-angle bracket 51 and the fixed pulley 542 on the shoulder flexion and extension bracket 53, and is fixedly connected to the shoulder flexion and extension bracket 53 through a lifting ring screw, so that a force for balancing the self weight of the training arm can be generated under the force of the spring 541.
As shown in fig. 6 and 10, the boom unit 9 is slidably disposed on the shoulder joint slide rail 55 of the shoulder joint unit 5 through the second right-angle bracket 92, and the boom unit 9 includes a fifth lead screw 90, a fifth nut 91, a second right-angle bracket 92 and a boom internal rotation and external rotation training assembly 93, the fifth lead screw 90 is disposed in the shoulder joint extension bracket 53 of the shoulder joint unit 5, the second right-angle bracket 92 is slidably disposed on the shoulder joint slide rail 55, and the fifth nut 91 is fixedly disposed at the first end of the second right-angle bracket 92, the fifth nut 91 is in transmission connection with the fifth lead screw 90, the boom internal rotation and external rotation training assembly 93 is disposed on the second right-angle bracket 92, and the boom internal rotation and external rotation training assembly 93 includes a third right-angle bracket 931, an arc-shaped slide rail 932, a boom internal rotation and external rotation motor 933, a roller 934, an arc-shaped rack 935, an arc-shaped disc 936 and an arc-shaped slider 937, the third right-angle bracket is fixedly connected with the second right-angle bracket 92, on big arm internal rotation external rotation motor 933 is fixed to be located second right angle support 92, and the output shaft of big arm internal rotation external rotation motor 933 passes through the shaft coupling and is connected with gyro wheel 934, 931 in the third right angle support is located to arc disc 936, and the first terminal surface of arc disc 936 is equipped with arc slide rail 932, one side of third right angle support 931 is equipped with arc slider 937, and arc slider 937 and arc slide rail 932 sliding connection, the first end outside cambered surface of arc disc 936 is equipped with arc rack 935, arc rack 935 and gyro wheel 934 mesh transmission. The end of the fifth screw 90 is provided with a handle, and the fifth screw 90 is manually adjusted, so that the fifth screw 91 sleeved on the third screw 90 drives the second right-angle support 92 to slide along the shoulder joint flexion and extension support 53, thereby realizing the adjustment of the length of the large arm. The large arm internal rotation and external rotation training mechanism is designed to slide around the arc-shaped slide rail 932, so that the axis of the revolute pair is coaxial with the axis of the upper arm of the human body, the generation of redundant force is avoided, and the control is simpler.
As shown in fig. 11, the elbow joint unit 6 is fixedly connected to the arc-shaped disc 936 of the upper arm unit 9 through an elbow joint right-angle bracket 62, and the elbow joint unit 6 includes an elbow joint flexion and extension motor 60, a lower arm upper bracket 61, an elbow joint right-angle bracket 62 and an elbow joint sliding rail 63, the elbow joint right-angle bracket 62 is fixedly connected to the second end of the arc-shaped disc 936, the elbow joint flexion and extension motor 60 is disposed on the elbow joint right-angle bracket 62, the elbow joint flexion and extension motor 60 is connected to the first end of the lower arm upper bracket 61 through a coupling, and the elbow joint sliding rail 63 is symmetrically disposed on the first end surface of the lower arm upper bracket 61. The output shaft of the elbow joint flexion and extension motor 60 is provided with a speed reducer, the rotating shaft of the elbow joint unit 6 is designed to be coaxial with the shaft of the human body, and the elbow joint flexion and extension motor 60 is adopted to directly drive the elbow joint unit 6 to rotate.
As shown in fig. 6, 12 and 13, the forearm unit 7 is slidably mounted on the elbow joint slide rail 63 of the elbow joint unit 6 through a forearm support 74, and the forearm unit 7 includes a sixth lead screw 72, a sixth nut 73, a forearm support 74, a forearm internal rotation and external rotation motor 75, a driving gear 76, a driven gear 77, a first link 78, a triangular plate 79, a first pulley 710, a second pulley 711, a second link 712 and a timing belt 713, the sixth lead screw 72 is mounted in the upper forearm support 61 of the elbow joint unit 6, the forearm support 74 is slidably mounted on the elbow joint slide rail 63, the sixth nut 73 is fixedly mounted on a first end of the upper forearm support 74, the sixth lead screw 72 is drivingly connected with the sixth nut 73, the forearm internal rotation and external rotation motor 75 is mounted on the forearm support 74, an output shaft of the forearm internal rotation and external rotation motor 75 is connected with the driving gear 76 through a coupling, the first end of the first link 78 is provided with the driven gear 77, and driven gear 77 and driving gear 76 meshing transmission, the second end of first connecting rod 78 rotates with the first end of triangle-shaped board 79 and is connected, and the second end of triangle-shaped board 79 rotates with the first end of second connecting rod 712 and is connected, and the second end of second connecting rod 712 rotates with forearm support 74 and is connected, and first band pulley 710 and second band pulley 711 are located the first end of second connecting rod 712 and the third end of triangle-shaped board 79 respectively, and first band pulley 710 and second band pulley 711 pass through hold-in range 713 and connect.
The wrist joint unit 8, the second belt wheel 711 and the third end of the triangular plate 79 are coaxially connected, the end of the sixth lead screw 72 is provided with a handle, and the sixth lead screw 72 is manually adjusted, so that the forearm support 74 slides along the upper forearm support 61, and the length of the forearm is adjusted. The first link 78, the triangular plate 79 and the second link 712 constitute a four-link mechanism similar to a quadrangle. Through forearm internal rotation external rotation motor 75 drive driving gear 76 and driven gear 77 meshing transmission, driven gear 77 drives first link 78 and triangle-shaped board 79 and does the revolution motion of circular arc, four-bar linkage's the final recovered action that helps the affected limb to realize forearm pronation/back of rotation, for the compactness of guaranteeing four-bar linkage motion in-process, prevent that the radial removal from appearing in the connecting rod when carrying out recovered action of patient, couple together triangle-shaped board 79 and second connecting rod 712 through hold-in range 713, the security and the travelling comfort of patient in training process have been improved.
As shown in fig. 14, the wrist joint unit 8 is fixedly disposed on the second belt pulley 711 through the wrist joint support 82, and the wrist joint unit 8 includes a wrist joint flexion and extension motor 80, a hand holding rod 81 and a wrist joint support 82, the wrist joint support 82 is fixedly connected with the second belt pulley 711, the wrist joint flexion and extension motor 80 is disposed on the wrist joint support 82, an output shaft of the wrist joint flexion and extension motor 80 is connected with a first end of the hand holding rod 81 through a coupling, and the wrist joint flexion and extension motor 80 can directly drive the wrist joint of the patient to move.
The method comprises the following specific operation steps:
as shown in fig. 3 and 5, when the patient sits on the chair 10 for rehabilitation training, the height of the lifting unit is adjusted according to the height of the patient, the lifting motor 20 drives the first moving plate 22 and the second moving plate 23 to slide along the first slide rail 27, so as to adjust the height of the rehabilitation training arm, and the bottom end of the lifting plate 24 is provided with the displacement sensor 28, so that the height adjustment data of the patient can be collected. For patients with different body types, the distance between the two arms of the patient can be adjusted by driving the second lead screw 33 to rotate.
The invention can also help the patient to realize the rehabilitation training actions of shoulder blade rising/falling, shoulder joint internal rotation/external rotation, shoulder joint adduction/abduction, shoulder joint forward flexion/backward extension, upper arm forward/backward rotation, elbow joint flexion/extension, lower arm forward/backward rotation and wrist joint palmar flexion/dorsiflexion, and the specific operation is as follows:
(1) scapula ascending/descending: the rotation of the whole rehabilitation training arm can be realized by driving the shoulder blade up-and-down motor 42 to rotate, thereby driving the upper limb of the patient to realize the up-and-down action of the shoulder blade.
(2) Internal rotation/external rotation of shoulder joint: the scapular extension motor 44 drives the first auxiliary frame 49 connected with the scapular ascending and descending support 43 to rotate, so that power is transmitted to the second auxiliary frame 410 through the third lead screw 45, the scapular extension support 40 connected with the second auxiliary frame 410 in a rotating manner is driven, and the rotating transmission is realized through a parallelogram link mechanism, so that the third auxiliary frame 411 and the fourth auxiliary frame 412 are driven to rotate, and finally the training action of internal rotation/external rotation of the shoulder joint of the patient is realized. For the convenience of carrying out comfortable rehabilitation training for patients with different body shapes, the third screw rod 45 and the fourth screw rod 46 can be manually adjusted by rotating the handle, so that the rotating radius of the scapular telescopic bracket 40 in a plane can be appropriately changed, and the scapular joints of different patients can be exercised.
(3) Adduction/abduction of the shoulder joint: when the arm of the human body forms an angle of 90 degrees with the body in the coronal plane, the shoulder joint abduction/adduction motor 50 can drive the mechanical arm to realize the shoulder joint adduction/abduction movement of the affected limb in the coronal plane.
(4) Shoulder flexion/extension: through manually adjusting the fifth screw 90, the fifth screw 91 sleeved on the fifth screw 90 drives the second right-angle support 92 to slide along the shoulder joint flexion-extension support 53, so that the length of the large arm can be adjusted.
(5) Big arm pronation/supination: the forearm internal rotation external rotation motor 933 in the forearm internal rotation external rotation training component 93 rotates through the arc-shaped rack 935 meshed with the roller 934 by driving, so that the affected limb is driven to realize the training action of the forearm rotation forward/backward, the forearm internal rotation external rotation training component 93 is designed to slide around the arc-shaped slide rail 932, the axis of the revolute pair is coaxial with the axis of the upper arm of the human body, the generation of redundant force is avoided, and the control is simpler.
(6) Elbow joint flexion/extension: the elbow joint flexion and extension motor 60 drives the elbow joint of the affected limb to realize flexion/extension actions.
(7) Forearm pronation/supination: the forearm motor 75 drives the driving gear 76 to drive the driven gear 77 engaged with the driving gear 76 to rotate, so as to drive the first connecting rod 78 and the triangular plate 79 to rotate, the triangular plate 79 drives the second connecting rod 712 to rotate through the motion inertia of the four-connecting-rod mechanism, and the motion of the four-connecting-rod mechanism finally helps the affected limb to realize the rehabilitation action of forearm pronation/supination. In order to ensure the compactness of the four-bar mechanism in the motion process and prevent the radial movement of the connecting bar when the patient performs rehabilitation action, the triangular plate 79 and the second connecting bar 712 are connected through the synchronous belt 713, and the safety and the comfort of the patient in the training process are improved.
(8) Wrist metacarpal/dorsiflexion: the wrist joint flexion and extension motor 80 directly drives the wrist joint of the patient to realize the wrist joint palm flexion/dorsiflexion movement.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.
Claims (9)
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| CN114246761A (en) * | 2021-04-05 | 2022-03-29 | 新加坡国立大学 | Device for assisting user's upper limb movement |
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| CN113331826B (en) * | 2021-05-31 | 2024-03-15 | 汤志华 | Limb joint function assessment rehabilitation training system and application method thereof |
| CN113648187B (en) * | 2021-09-28 | 2024-01-26 | 山东大学齐鲁医院 | Elbow joint rehabilitation training device |
| CN113908016B (en) * | 2021-11-02 | 2024-11-01 | 复旦大学 | Elbow and wrist joint rehabilitation training device with four degrees of freedom |
| CN114041971B (en) * | 2021-12-01 | 2022-12-02 | 复旦大学 | An adjustable frame of an upper limb rehabilitation robot |
| CN114272077A (en) * | 2021-12-10 | 2022-04-05 | 宁波慈溪生物医学工程研究所 | A dual-arm training robot and dual-arm training method |
| CN114533496B (en) * | 2022-03-07 | 2023-09-15 | 山东建筑大学 | A shoulder rehabilitation exoskeleton robot |
| CN116059077B (en) * | 2022-12-27 | 2024-06-07 | 力之医疗科技(广州)有限公司 | Upper limb rehabilitation exoskeleton considering interaction comfort |
| CN115944502B (en) * | 2023-02-16 | 2024-04-30 | 吉林大学 | Elbow-wrist joint rehabilitation training device |
| CN118615000B (en) * | 2024-06-04 | 2025-04-04 | 柘城中医院有限公司 | Bone carrier for tibia |
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