CN113908016A - Elbow and wrist joint rehabilitation training device with four degrees of freedom - Google Patents
Elbow and wrist joint rehabilitation training device with four degrees of freedom Download PDFInfo
- Publication number
- CN113908016A CN113908016A CN202111287825.2A CN202111287825A CN113908016A CN 113908016 A CN113908016 A CN 113908016A CN 202111287825 A CN202111287825 A CN 202111287825A CN 113908016 A CN113908016 A CN 113908016A
- Authority
- CN
- China
- Prior art keywords
- support
- wrist
- freedom
- training device
- pressure spring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000012549 training Methods 0.000 title claims abstract description 86
- 210000003857 wrist joint Anatomy 0.000 title claims abstract description 35
- 210000002310 elbow joint Anatomy 0.000 title claims abstract description 29
- 210000000707 wrist Anatomy 0.000 claims abstract description 38
- 230000008093 supporting effect Effects 0.000 claims abstract description 27
- 210000000245 forearm Anatomy 0.000 claims abstract description 18
- 230000001360 synchronised effect Effects 0.000 claims description 20
- 230000005540 biological transmission Effects 0.000 claims description 14
- 230000001681 protective effect Effects 0.000 claims description 13
- 238000007906 compression Methods 0.000 claims description 5
- 230000006835 compression Effects 0.000 claims description 5
- 239000000203 mixture Substances 0.000 claims description 5
- 230000008878 coupling Effects 0.000 abstract 1
- 238000010168 coupling process Methods 0.000 abstract 1
- 238000005859 coupling reaction Methods 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 210000004247 hand Anatomy 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 230000000149 penetrating effect Effects 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 3
- 230000000474 nursing effect Effects 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 208000023516 stroke disease Diseases 0.000 description 2
- 210000001364 upper extremity Anatomy 0.000 description 2
- 206010062575 Muscle contracture Diseases 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 208000006111 contracture Diseases 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000006748 scratching Methods 0.000 description 1
- 230000002393 scratching effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
Images
Classifications
-
- 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
- A61H1/0277—Elbow
-
- 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
- A61H1/0218—Drawing-out devices
-
- 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
- A61H1/0285—Hand
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
Landscapes
- 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
The invention belongs to the technical field of rehabilitation medical equipment, and particularly relates to a four-degree-of-freedom elbow and wrist joint rehabilitation training device. The invention comprises a rectangular frame, an arm length adjusting component, a height adjusting component, a forearm supporting component and a wrist training component; the wrist training assembly comprises: the handle comprises a rotating support, a first motor, a first driving belt wheel, a first driven belt wheel, an L-shaped support, a second motor, a second driving belt wheel, a second driven belt wheel, a door-shaped rotating connecting arm, a handle support, a handle, a third motor, a third driving belt wheel and a third driven belt wheel. The wrist training component can drive the wrist joint of the patient to perform three active degrees of freedom of radial flexion/ulnar flexion, palmar flexion/dorsiflexion and internal rotation/external rotation, and can realize the passive degree of freedom of flexion/extension of the elbow joint of the patient; and the wrist joint of the patient can be driven to train independently or in a coupling mode in each degree of freedom, and the training device is safe and reliable and high in man-machine compatibility.
Description
Technical Field
The invention belongs to the technical field of rehabilitation medical equipment, and particularly relates to a four-degree-of-freedom elbow and wrist joint rehabilitation training device.
Background
Most of the activities of people need hands to complete, the movements of the hands usually need the coordination of a plurality of joints such as wrist joints and elbow joints, when accidents such as falling down occur, most of people use the hands to support, which often causes the injuries of the wrist joints and the elbow joints, at present, China is a high incidence area with stroke diseases, the stroke disease rate is about 550 cases in every 10 ten thousand of people, in addition, along with the aggravation of aging of people, natural disasters and the annual increase of traffic accidents, the incidence rate of the injuries of the wrist joints and the elbow joints is also increased year by year, relevant clinical medicine proves that correct and scientific rehabilitation training plays an important role in recovering and improving the movement functions of limbs, not only can maintain the activity of the joints and prevent the contracture and adhesion of the joints, prevent and reduce various complications, but also can obviously improve the movement functions of patients, however, professional nursing personnel at the present stage are very lack, on the one hand, the nursing staff need carry out the rehabilitation training for many postoperative patients, therefore the time of spending on one's body is very limited on same patient, and on the other hand, the nursing staff is very easy because repeated rehabilitation operation produces fatigue, influences recovered effect, and traditional rehabilitation not only is very high to recovered doctor's requirement, consumes manpower and materials moreover, when bringing huge economic burden for patient, often training effect is also not good.
Along with the development of rehabilitation engineering and robot technology, various rehabilitation robots for joint training appear, the regular rehabilitation motion of the rehabilitation robots not only can change the traditional one-to-one rehabilitation methods of doctors and patients and hands, and reduce the labor intensity of doctors, but also can quantitatively evaluate the rehabilitation conditions of patients, so that doctors can concentrate on the formulation of treatment schemes, and the patients can be quickly and thoroughly rehabilitated conveniently.
Present robot that can be used for elbow wrist joint rehabilitation can divide into two types, one type is the recovered robot of special use elbow joint or wrist joint single joint, one type is the recovered robot that is used for whole upper limbs, a robot for single joint is recovered, only a degree of freedom usually, the function is single, can't satisfy the comprehensive training to elbow joint and wrist joint, a robot for whole upper limbs is recovered has bulky, heavy weight, inertial impact is big and the poor shortcoming of compliance, can't satisfy the demand of patient's travelling comfort, also can't make patient's elbow joint and wrist joint carry out the best training, consequently, need urgently to develop a small and exquisite light, moreover, the steam generator is simple in structure, multi freedom and can carry out the recovered device of comprehensive training to patient's elbow joint and wrist joint.
Disclosure of Invention
The invention aims to overcome the defects of shortage of nurses, high labor intensity, high economic burden, single function and large volume in the prior art, and provides a four-degree-of-freedom elbow and wrist joint rehabilitation training device which is small, exquisite, light, simple in structure and capable of comprehensively training elbow joints and wrist joints of patients.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides an elbow wrist joint rehabilitation training device of four degrees of freedom which characterized in that: the wrist training device comprises a rectangular frame, an arm length adjusting assembly and a height adjusting assembly which are arranged on the rectangular frame, a small arm supporting assembly arranged on the height adjusting assembly, and a wrist training assembly arranged on the arm length adjusting assembly through a training support; the wrist training assembly comprises: the training device comprises a rotating support fixed at the top end of the training support, a first motor installed on the rotating support, a first driving belt wheel coaxially connected with an output shaft of the first motor, a first driven belt wheel in transmission connection with the first driving belt wheel through a first synchronous belt, an L-shaped support coaxially connected with the first driven belt wheel through a first rotating shaft, a second motor installed on the L-shaped support, a second driving belt wheel coaxially connected with an output shaft of the second motor, a second driven belt wheel in transmission connection with the second driving belt wheel through a second synchronous belt, a door-shaped rotating connecting arm coaxially connected with the second driven belt wheel through a second rotating shaft, a handle rotatably connected with the tail end of a longitudinal beam of the door-shaped rotating connecting arm through a handle support, a third motor installed in the handle, a third driving belt wheel coaxially connected with an output shaft of the third motor, and a third driving belt through a third synchronous belt A third driven belt wheel in belt transmission connection; the third driven belt wheel is coaxially connected with the tail end of the other longitudinal beam of the portal rotary connecting arm; one end of the first rotating shaft is fixedly connected with the first driven belt wheel, and the other end of the first rotating shaft penetrates out of the rotating support and is connected with the L-shaped support; one end of the second rotating shaft is connected with the second driven belt wheel key, and the other end of the second rotating shaft penetrates out of the L-shaped support and is connected with the center of the beam of the portal rotating connecting arm.
Further, the arm length adjusting assembly includes: the locking device comprises two first guide rails arranged on the rectangular frame in parallel, a first sliding block connected to the first guide rails in a sliding mode and a first locking clamp connected to the first guide rails in a sliding mode; the training support is fixedly connected with the first sliding block and the first locking clamp, and two ends of the first guide rail are fixed with limiting blocks used for limiting the first sliding block and the first locking clamp.
Further, the height adjustment assembly includes: the device comprises at least one supporting rod vertically fixed at the other end of the rectangular frame, two second guide rails arranged on the supporting rod in parallel, a second sliding block connected to the second guide rails in a sliding manner, a second locking clamp connected to the second guide rails in a sliding manner, and a height adjusting rod fixedly connected to the second sliding block and the second locking clamp; and two ends of the second guide rail are provided with limiting bolts for limiting the second sliding block.
Further, the forearm support assembly includes: a first concave pressure spring fixing frame fixed on the height adjusting rod, an arch pressure spring retainer penetrating from two ends of the first concave pressure spring fixing frame, a concave rotating frame fixed at the arch top of the arch pressure spring retainer, a second concave pressure spring fixing frame fixed in the concave rotating frame, an arc pressure spring retainer penetrating from two ends of the second concave pressure spring fixing frame, a semi-cylindrical forearm support frame fixed at the center of the arc pressure spring retainer, a third guide rail fixed on two side edges of the semi-cylindrical forearm support frame, a third slide block sliding along the third guide rail and a forearm bandage fixedly connected with the third slide block, wherein the arch pressure spring retainer and the arc pressure spring retainer are both sleeved with pressure springs, two ends of the concave rotating frame are both provided with arc chutes, and two ends of the semi-cylindrical forearm support frame are both fixed with lifting lugs, the semi-cylindrical small arm support frame slides along the arc-shaped sliding groove through a needle bearing arranged on the lifting lug; an upper arm supporting plate is fixed at the top end of the supporting rod, and a flexible cushion layer is arranged on the upper arm supporting plate.
Furthermore, the first rotating shaft penetrates out of the rotating support and is in transmission connection with a torque sensor key, and the tail end of the torque sensor is fixedly connected with the L-shaped support.
Further, the grip holder includes: the device comprises an upper bracket coaxially and rotatably connected with the tail end of a longitudinal beam of the door-shaped rotary connecting arm through a third rotating shaft, a lower bracket embedded with the upper bracket, and a tension and compression sensor installed between the upper bracket and the lower bracket.
A pulley protective shell is arranged outside the third driving pulley, the third synchronous belt and the third driven pulley; the handle is installed between the lower support and the belt wheel protective shell through a rubber sleeve lock seat.
Further, the wrist training assembly further comprises: a first tension pulley mounted on the rotary bracket for tensioning the first synchronous belt, a second tension pulley mounted on the L-shaped bracket for tensioning the second synchronous belt, and a third tension pulley mounted on an inner wall of the pulley protective housing for tensioning the third synchronous belt.
Furthermore, a limiting ring is fixed on a disc of the third rotating shaft, a limiting column is fixed on the limiting ring, a limiting groove is formed in the inner side face of the upper support, and the limiting column slides along the limiting groove.
Furthermore, the height adjusting rod is fixed with an adjusting handle convenient for manual height adjustment, and the two ends of the rectangular frame are fixed with carrying handles convenient for carrying.
The four-degree-of-freedom elbow and wrist joint rehabilitation training device has the beneficial effects that:
1. the wrist training component can drive the wrist joint of the patient to perform three active degrees of freedom of radial flexion/ulnar flexion, palmar flexion/dorsiflexion and internal rotation/external rotation, and can realize the passive degree of freedom of flexion/extension of the elbow joint of the patient while performing active training of the wrist joint with three degrees of freedom; and the independent or coupled training of the wrist joint in each degree of freedom can be realized, and the training device is safe and reliable and has high man-machine compatibility.
2. The wrist training device has the advantages that the position of the wrist training component can be adjusted through the arm length adjusting component according to different arm lengths of different patients, the use of the patients with different arm lengths can be met, the wrist training component can be adjusted to a proper and comfortable height by the patients through the height adjusting component, the device is simple in structure, small, exquisite, light, convenient to carry and wide in application range.
3. The invention can sense the active intention of the patient through the torque sensor and the tension and compression sensor, can enable the doctor to objectively and accurately evaluate the motion state of the patient, and is beneficial to the doctor to make a more appropriate rehabilitation training plan.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
FIG. 1 is an overall block diagram of an embodiment of the present invention;
FIG. 2 is a partial block diagram of a wrist training assembly in accordance with an embodiment of the present invention;
FIG. 3 is a partial cross-sectional view of a wrist training assembly according to an embodiment of the present invention;
FIG. 4 is a partial cross-sectional view of a wrist training assembly in accordance with an embodiment of the present invention;
FIG. 5 is another partial cross-sectional view of a wrist training assembly in accordance with an embodiment of the present invention;
FIG. 6 is a block diagram of an embodiment of the forearm support assembly of the invention;
FIG. 7 is a block diagram of an arm length adjustment assembly of an embodiment of the present invention;
FIG. 8 is a block diagram of a height adjustment assembly of an embodiment of the present invention;
FIG. 9 is a view showing the structure of the grip holder according to the embodiment of the present invention.
In the figure, 1, a rectangular frame, 2, an arm length adjusting component, 21, a first guide rail, 22, a first slide block, 23, a first locking clamp, 24, a limiting block, 3, a height adjusting component, 30, a supporting rod, 31, a second guide rail, 32, a second slide block, 33, a second locking clamp, 34, a height adjusting rod, 35, a limiting bolt, 4, a small arm supporting component, 40, a first concave pressure spring fixing frame, 41, an arch pressure spring holder, 42, a concave rotating frame, 43, a second concave pressure spring fixing frame, 44, an arc pressure spring holder, 45, a semi-cylindrical small arm supporting frame, 46, a third guide rail, 47, a third slide block, 48, a small arm binding band, 49, a pressure spring, 410, an arc sliding groove, 411, a lifting lug, 412, a needle roller bearing, 413, an upper arm supporting plate, 414, a flexible cushion layer, 415, a rectangular upper arm supporting frame, 5, a training frame, 6, a wrist training component, 60. a rotary bracket 61, a first motor, 62, a first driving pulley, 63, a first synchronous belt, 64, a first driven pulley, 65, a first rotating shaft, 66, an L-shaped bracket, 67, a second motor, 68, a second driving pulley, 69, a second synchronous belt, 610, a second driven pulley, 611, a second rotating shaft, 612, a door-shaped rotary connecting arm, 6121, a cross beam, 6122, a longitudinal beam, 613, a handle bracket, 6131, an upper bracket, 6132, a lower bracket, 6133, a tension and pressure sensor, 614, a handle, 615, a third motor, 616, a third driving pulley, 617, a third synchronous belt, 618, a third driven pulley, 619, a third rotating shaft, 620, a first tension pulley, 621, a second tension pulley, 622, a third tension pulley, 623, a fourth rotating shaft, 624, a protective housing, 625, an L-shaped protective housing, 626, a pulley protective housing, a wrist rotating plate, 628, a wrist rotating plate, 7. the device comprises a torque sensor, 8, a rubber sleeve lock seat, 9, a limiting ring, 10, a limiting column, 11, a limiting groove, 12, an adjusting handle, 13, a carrying handle, 14, an anti-skid pad, 15 and a rubber sleeve.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
The four-degree-of-freedom elbow and wrist joint rehabilitation training device of the invention shown in fig. 1-9 comprises a rectangular frame 1, an arm length adjusting component 2 horizontally arranged at one end of the rectangular frame 1, a height adjusting component 3 vertically arranged at the other end of the rectangular frame 1, a forearm supporting component 4 arranged on the height adjusting component 3, and a wrist training component 6 arranged on the arm length adjusting component 2 through a training support 5; the training support 5 supports the whole wrist training assembly 6, a plurality of drivers are fixed on the lower surface of the bottom end of the training support 5, and the training support 5 can protect the drivers; the wrist training component 6 drives the wrist joint of the patient to perform three active degrees of freedom of radial flexion/ulnar flexion, palmar flexion/dorsiflexion and internal rotation/external rotation, and can realize the passive degree of freedom of flexion/extension of the elbow joint of the patient.
Referring to fig. 2 and 3, wrist training assembly 6 includes: a rotary bracket 60 fixed at the top end of the training bracket 5, a first motor 61 mounted at one end of the rotary bracket 60 through a motor base, a first driving pulley 62 coaxially connected with the output shaft of the first motor 61, a first driven pulley 64 in belt transmission connection with the first driving pulley 62 through a first synchronous belt 63, a first tension wheel 620 mounted on the rotary bracket 60 for tensioning the first synchronous belt 63, and an L-shaped bracket 66 with one end coaxially connected with the first driven pulley 64 through a first rotating shaft 65; one end of the first rotating shaft 65 is connected with the first driven belt wheel 64 through a key, the other end of the first rotating shaft penetrates out of the other end of the rotating bracket 60 and is in key transmission connection with a bottom plate and a rotating plate of the torque sensor 7, and the tail end of the torque sensor 7 is fixedly connected with the L-shaped bracket 66; the first rotating shaft 65 is rotatably connected with the rotating bracket 60 through two deep groove ball bearings sleeved on the first rotating shaft, and the deep groove ball bearings are in interference fit with the inner wall of the rotating bracket 60, so that the radial fixation of the deep groove ball bearings is realized; a protective case 624 is fixed to an outer side of the rotary bracket 60 to protect the first motor 61, the first driving pulley 62, the first timing belt 63, and the first driven pulley 64 therein; the L-shaped bracket 66 can drive the handle 614 to rotate under the driving of the first motor 61, so as to drive the wrist and the forearm to perform the internal rotation/external rotation training; the existence of the torque sensor 7 can enable a doctor to objectively and accurately evaluate the motion state of the patient, and is beneficial to the doctor to make a more appropriate rehabilitation training plan.
As shown in FIG. 4, wrist training assembly 6 further comprises: a second motor 67 mounted at the right-angle bent part of the L-shaped bracket 66 through a motor base, a second driving pulley 68 coaxially connected with an output shaft of the second motor 67, a second driven pulley 610 in belt transmission connection with the second driving pulley 68 through a second timing belt 69, a second tension pulley 621 mounted on the L-shaped bracket 66 for tensioning the second timing belt 69, and a gate-shaped rotary connecting arm 612 coaxially connected with the second driven pulley 610 through a second rotating shaft 611; to save material, a portion is removed in the middle of the two legs of the L-shaped bracket 66, as the bearing capacity allows; one end of the second rotating shaft 611 is in key connection with the second driven pulley 610, and the other end of the second rotating shaft passes through the L-shaped bracket 66 and is in key transmission connection with the wrist rotating plate 627, the wrist rotating base plate 628 is fixedly connected with the wrist rotating plate 627, and the wrist rotating base plate 628 is fixedly connected with the center of the beam 6121 of the door-shaped rotating link arm 612; the second rotating shaft 611 is rotatably connected with the L-shaped support 66 through two deep groove ball bearings sleeved on the second rotating shaft, radial fixation is achieved through interference fit of the two deep groove ball bearings and an inner hole of the L-shaped support 66, the second rotating shaft is axially fixed through a clamp spring and a shaft shoulder, the two ends of the handle 614 can be fixed through the door-shaped rotating connecting arm 612, the stability of the wrist part is effectively improved during training, the handle 614 cannot collide due to obvious shaking, the space can be saved, and the second motor 67 can be protected to a certain extent by being installed between the rotating support 60 and the L-shaped support 66; an L-shaped protective shell 625 is fixed on the outer side of the L-shaped bracket 66, and protects the second motor 67, the second driving pulley 68, the second synchronous belt 69 and the second driven pulley 610; under the driving of the second motor 67, the door-shaped rotation link arm 612 rotates along the second rotation axis 611, so as to drive the wrist of the patient to perform radial/ulnar flexion training.
Referring to fig. 5 and 9, wrist training assembly 6 further comprises: a third rotating shaft 619 fixedly connected with the tail end of a longitudinal beam 6122 of the door-shaped rotating connecting arm 612, a handle support 613 with one end coaxially and rotatably connected with the third rotating shaft 619 through two deep groove ball bearings, a handle 614 connected with the other end of the handle support 613, a third motor 615 installed in the handle 614, a third driving pulley 616 coaxially connected with an output shaft of the third motor 615, a third driven pulley 618 in belt transmission connection with the third driving pulley 616 through a third synchronous belt 617, and a third tensioning pulley 622 installed on the inner wall of a pulley protecting shell 626 and used for tensioning the third synchronous belt 617; a fourth rotating shaft 623 is fixed at the tail end of the other longitudinal beam 6122 of the portal rotating connecting arm 612, and the third driven belt wheel 618 is in key transmission connection with the fourth rotating shaft 623; the grip bracket 613 includes: an upper bracket 6131 coaxially and rotatably connected with the tail end of a longitudinal beam 6122 of the door-shaped rotary connecting arm 612 through a third rotating shaft 619, a lower bracket 6132 embedded with the upper bracket 6131 and a tension and compression sensor 6133 fixed between the upper bracket 6131 and the lower bracket 6132; a pulley protective shell 626 is arranged outside the third driving pulley 616, the third synchronous belt 617 and the third driven pulley 618; the handle 614 is arranged between the lower bracket 6132 and the belt wheel protective shell 626 through a rubber sleeve lock seat 8, the third motor 615 is fixedly connected with the rubber sleeve lock seat 8, the rubber sleeve lock seat 8 has inner threads and outer threads, the inner threads are screwed with the handle 614, the outer threads are locked and screwed with the rubber sleeve 15, and the end part of the rubber sleeve lock seat 8 is provided with a slotted hole for placing an electric wire of the third motor 615; the third driven belt wheel 618 and the deep groove ball bearing are sequentially arranged on the fourth rotating shaft 623 and are axially limited by the clamp spring, the deep groove ball bearing is in interference fit with the inner wall of the upper bracket 6131 to realize radial fixation, and the outer side of the deep groove ball bearing is arranged in a groove of the belt wheel protecting shell 626, so that the wrist joint palm bending/dorsiflexion can rotate along the axis of the fourth rotating shaft 623; the third rotating shaft 619 and the fourth rotating shaft 623 are flange type, the lower bracket 6132 is sleeved on the rubber sleeve lock seat 8, a limiting ring 9 is fixed on a disc of the third rotating shaft 619, the limiting ring 9 is sleeved on the third rotating shaft 619 and is positioned between the deep groove ball bearing and the door-shaped rotating connecting arm 612, a limiting column 10 is fixed on the limiting ring 9, a limiting groove 11 is formed on the inner side surface of the upper bracket 6131, and the limiting column 10 slides along the limiting groove 11 and plays a role of mechanical limiting when the holding handle 614 rotates; under the driving of the third motor 615, the handle 614 can be driven to rotate, so as to drive the wrist joint of the patient to perform palm flexion/dorsiflexion training, the active intention of the patient can be sensed through the torque sensor 7 and the tension and compression sensor 6133, and a more flexible active and passive rehabilitation training is provided for the patient.
As shown in fig. 7, the arm length adjusting assembly 2 includes: the two first guide rails 21 fixed on the two long sides of the rectangular frame 1 in parallel, the first slide block 22 connected to the first guide rails 21 in a sliding manner, and the first locking clamp 23 connected to one first guide rail 21 in a sliding manner, the training support 5 is fixedly connected with the first slide block 22 and the first locking clamp 23, and the two ends of the first guide rail 21 are both fixed with a limiting block 24 used for limiting the first slide block 22 and the first locking clamp 23, so that the first slide block 22 and the first locking clamp 23 can be mechanically limited, and the wrist training assembly 6 is ensured not to be separated from the first guide rails 21 when moving horizontally; can adjust the position of wrist training subassembly 6 through arm length adjusting part 2 according to different patients 'arm length difference, can satisfy different arm length patients' use.
Referring to fig. 8, the height adjusting assembly 3 includes: at least one support rod 30 vertically fixed on the rectangular frame 1, two second guide rails 31 vertically arranged at the inner side of the support rod 30, a second slide block 32 slidably connected on the second guide rail 31, a second locking clamp 33 slidably connected on the second guide rail 31, and a height adjusting rod 34 fixedly connected on the second slide block 32 and the second locking clamp 33, wherein two ends of the second guide rail 31 are provided with a limit bolt 35 for limiting the second slide block 32, in the embodiment, four support rods 30 are vertically fixed at the other end of the rectangular frame 1, a rectangular upper arm support 415 is supported, a second guide rail 31 is fixed at the inner side of each of the two outermost support rods 30, a slide block is arranged on each of the two second guide rails 31, the second locking clamp 33 is arranged on one of the second guide rails 31, an adjusting handle 12 convenient for manual adjustment is fixed on the height adjusting rod 34, and the small arm support assembly 4 can be adjusted up and down more conveniently according to requirements, transfer just in time the back and fix forearm supporting component 4 at suitable height through second locking clamp 33, when not using this trainer, accessible altitude mixture control subassembly 3 descends forearm supporting component 4 to the below of upper arm backup pad 413, play fine guard action to forearm supporting component 4, can make the patient adjust suitable comfortable height with wrist training component 6 through altitude mixture control subassembly 3, device simple structure, small and exquisite light, be convenient for carry, application scope is wide.
As shown in fig. 6, the forearm support assembly 4 includes: a first concave pressure spring fixing frame 40 fixed on the height adjusting rod 34, an arch pressure spring holder 41 penetrating from two ends of the first concave pressure spring fixing frame 40, a concave rotating frame 42 fixed on a boss at the arch top of the arch pressure spring holder 41, a second concave pressure spring fixing frame 43 fixed in the concave rotating frame 42, an arc pressure spring holder 44 penetrating from two ends of the second concave pressure spring fixing frame 43, a semi-cylindrical small arm support frame 45 fixed on a boss at the center of the arc pressure spring holder 44, third guide rails 46 fixed on two side edges of the semi-cylindrical small arm support frame 45, a third slide block 47 sliding along the third guide rails 46 and a small arm binding belt 48 fixedly connected with the third slide block 47, wherein the arch pressure spring holder 41 and the arc pressure spring holder 44 are both sleeved with pressure springs 49, the pressure springs 49 on the arch pressure spring holder 41 are positioned on two sides of the boss at the arch top, the pressure springs 49 on the arc pressure spring holder 44 are positioned on two sides of the boss at the center of the arch top, the two ends of the concave rotating frame 42 are respectively provided with an arc-shaped sliding groove 410, the two ends of the semi-cylindrical small arm supporting frame 45 are respectively fixed with a lifting lug 411, the semi-cylindrical small arm supporting frame 45 slides along the arc-shaped sliding grooves 410 through a needle bearing 412 arranged on the lifting lugs 411, so that a certain supporting effect is achieved, a certain axial fixing effect is achieved when the semi-cylindrical small arm supporting frame 45 rotates, the semi-cylindrical small arm supporting frame 45 is prevented from shifting left and right, the passive bending/stretching training of the elbow joint can be achieved, and the third guide rail 46 enables a patient to still perform the passive bending/stretching training of the elbow joint under the condition that the small arm is tightly bound; the top of bracing piece 30 is fixed with rectangle upper arm support 415, is fixed with upper arm support plate 413 on the rectangle upper arm support 415, is provided with flexible bed course 414 on the upper arm support plate 413, prevents that the user from colliding with, can play fine guard action to the patient.
The carrying handles 13 convenient for carrying the training device are fixed on the upper surfaces of the two short sides of the rectangular frame 1, so that the training device is convenient to carry and place.
The round corners of the frame of the rectangular frame 1, the rectangular upper arm support 415, the carrying handle 13 and the adjusting handle 12 are designed, so that the occurrence of accidents such as scratching patients can be effectively avoided, and the attractiveness of the device is improved.
In order to increase comfort during training, the grip 614 is sleeved with a rubber sleeve 15.
In order to save materials under the condition that the bearing capacity allows, the rectangular frame 1 is made of hollow rectangular tube materials, the whole weight of the device can be greatly reduced, the economy and the environmental protection are ensured to a certain extent, the rectangular base is convenient to carry after weight reduction, the anti-slip pads 14 are fixed at four corners of the bottom of the rectangular frame 1, the device can be more stable, and the phenomenon of side turning or sliding can be avoided.
It should be understood that the above-described specific embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Obvious variations or modifications which are within the spirit of the invention are possible within the scope of the invention.
Claims (10)
1. The utility model provides an elbow wrist joint rehabilitation training device of four degrees of freedom which characterized in that: the wrist training device comprises a rectangular frame (1), an arm length adjusting component (2) and a height adjusting component (3) which are arranged on the rectangular frame (1), a forearm supporting component (4) which is arranged on the height adjusting component (3), and a wrist training component (6) which is arranged on the arm length adjusting component (2) through a training support (5); the wrist training assembly (6) comprises: the training device comprises a rotating support (60) fixed at the top end of the training support (5), a first motor (61) installed on the rotating support (60), a first driving pulley (62) coaxially connected with an output shaft of the first motor (61), a first driven pulley (64) in belt transmission connection with the first driving pulley (62) through a first synchronous belt (63), an L-shaped support (66) coaxially connected with the first driven pulley (64) through a first rotating shaft (65), a second motor (67) installed on the L-shaped support (66), a second driving pulley (68) coaxially connected with an output shaft of the second motor (67), a second driven pulley (610) in belt transmission connection with the second driving pulley (68) through a second synchronous belt (69), and a door-shaped rotating connecting arm (612) coaxially connected with the second driven pulley (610) through a second rotating shaft (611), The handle (614) is rotationally connected with the tail end of a longitudinal beam (6122) of the portal rotary connecting arm (612) through a handle support (613), a third motor (615) is installed in the handle (614), a third driving pulley (616) is coaxially connected with an output shaft of the third motor (615), and a third driven pulley (618) is in belt transmission connection with the third driving pulley (616) through a third synchronous belt (617); the third driven belt wheel (618) is coaxially connected with the tail end of the other longitudinal beam (6122) of the portal rotary connecting arm (612); one end of the first rotating shaft (65) is in key connection with the first driven pulley (64), and the other end of the first rotating shaft penetrates out of the rotating bracket (60) and is connected with an L-shaped bracket (66); one end of the second rotating shaft (611) is in key connection with the second driven belt wheel (610), and the other end of the second rotating shaft penetrates out of the L-shaped support (66) and is connected with the center of a cross beam (6121) of the portal rotating connecting arm (612).
2. The four-degree-of-freedom elbow and wrist joint rehabilitation training device according to claim 1, characterized in that: the arm length adjusting assembly (2) includes: the device comprises two first guide rails (21) arranged on the rectangular frame (1) in parallel, a first sliding block (22) connected to the first guide rails (21) in a sliding mode, and a first locking clamp (23) connected to the first guide rails (21) in a sliding mode; the training bracket (5) is fixedly connected with the first sliding block (22) and the first locking clamp (23); and two ends of the first guide rail (21) are respectively fixed with a limiting block (24) used for limiting the first sliding block (22) and the first locking clamp (23).
3. The four-degree-of-freedom elbow and wrist joint rehabilitation training device according to claim 1, characterized in that: the height adjustment assembly (3) comprises: at least one vertical bracing piece (30) of fixing on rectangular frame (1), parallel arrangement are in two second guide rails (31) on bracing piece (30), sliding connection be in second slider (32) on second guide rail (31), sliding connection be in second locking clamp (33) and fixed connection on second slider (32) and second locking clamp (33) are in altitude mixture control pole (34), the both ends of second guide rail (31) are provided with and are used for right spacing stop bolt (35) of second slider (32).
4. The four-degree-of-freedom elbow and wrist joint rehabilitation training device according to claim 3, characterized in that: the forearm support assembly (4) comprising: fix first spill pressure spring mount (40) on altitude mixture control pole (34), follow arch pressure spring holder (41) that first spill pressure spring holder (40) both ends were worn out, fix spill swivel mount (42) of arch pressure spring holder (41) arch top department, fix second spill pressure spring mount (43) in spill swivel mount (42), follow arc pressure spring holder (44) that the both ends of second spill pressure spring holder (43) were worn out, fix semicircle cylindric forearm support frame (45) of arc pressure spring holder (44) center department, fix third guide rail (46) on semicircle cylindric forearm support frame (45) both sides limit, follow gliding third slider (47) of third guide rail (46) and with forearm bandage (48) of third slider (47) fixed connection, arch pressure spring holder (41) with all overlap on arc pressure spring holder (44) and be equipped with pressure spring (49) Arc-shaped sliding grooves (410) are formed in two ends of the concave rotating frame (42), lifting lugs (411) are fixed to two ends of the semi-cylindrical small arm supporting frame (45), and the semi-cylindrical small arm supporting frame (45) slides along the arc-shaped sliding grooves (410) through needle roller bearings (412) installed on the lifting lugs (411); an upper arm supporting plate (413) is fixed at the top end of the supporting rod (30), and a flexible cushion layer (414) is arranged on the upper arm supporting plate (413).
5. The four-degree-of-freedom elbow and wrist joint rehabilitation training device according to claim 1, characterized in that: the first rotating shaft (65) penetrates out of the rotating support (60) and is in key transmission connection with the torque sensor (7), and the tail end of the torque sensor (7) is fixedly connected with the L-shaped support (66).
6. The four-degree-of-freedom elbow and wrist joint rehabilitation training device according to claim 1, characterized in that: the grip support (613) comprises: the device comprises an upper bracket (6131) coaxially and rotatably connected with the tail end of a longitudinal beam (6122) of the portal rotary connecting arm (612) through a third rotary shaft (619), a lower bracket (6132) embedded with the upper bracket (6131), and a tension and compression sensor (6133) installed between the upper bracket (6131) and the lower bracket (6132).
7. The four-degree-of-freedom elbow and wrist joint rehabilitation training device according to claim 6, characterized in that: a pulley protective shell (626) is arranged outside the third driving pulley (616), the third synchronous belt (617) and the third driven pulley (618); the handle (614) is arranged between the lower bracket (6132) and the belt wheel protective shell (626) through a rubber sleeve lock seat (8).
8. The four-degree-of-freedom elbow and wrist joint rehabilitation training device according to claim 7, characterized in that: the wrist training assembly (6) further comprises: a first tension pulley (620) mounted on the rotary bracket (60) for tensioning the first timing belt (63), a second tension pulley (621) mounted on the L-shaped bracket (66) for tensioning the second timing belt (69), and a third tension pulley (622) mounted on an inner wall of the pulley protective case (626) for tensioning the third timing belt (617).
9. The four-degree-of-freedom elbow and wrist joint rehabilitation training device according to claim 6, characterized in that: a limiting ring (9) is fixed on a disc of the third rotating shaft (619), a limiting column (10) is fixed on the limiting ring (9), a limiting groove (11) is formed in the inner side face of the upper support (6131), and the limiting column (10) slides along the limiting groove (11).
10. The four-degree-of-freedom elbow and wrist joint rehabilitation training device according to claim 3, characterized in that: the height adjusting rod (34) is fixedly provided with an adjusting handle (12) convenient for manual adjustment, and two ends of the rectangular frame (1) are respectively fixedly provided with a carrying handle (13) convenient for carrying.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111287825.2A CN113908016A (en) | 2021-11-02 | 2021-11-02 | Elbow and wrist joint rehabilitation training device with four degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111287825.2A CN113908016A (en) | 2021-11-02 | 2021-11-02 | Elbow and wrist joint rehabilitation training device with four degrees of freedom |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113908016A true CN113908016A (en) | 2022-01-11 |
Family
ID=79244970
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111287825.2A Pending CN113908016A (en) | 2021-11-02 | 2021-11-02 | Elbow and wrist joint rehabilitation training device with four degrees of freedom |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113908016A (en) |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1480119A (en) * | 2003-07-25 | 2004-03-10 | 清华大学 | Rehabilitation training robot for motion of single joint of hemiplegia patient |
| CN201135581Y (en) * | 2007-09-20 | 2008-10-22 | 华中科技大学 | Wearable upper limbs rehabilitation training robot device |
| CN106420257A (en) * | 2016-09-05 | 2017-02-22 | 南京航空航天大学 | Upper limb rehabilitation exoskeleton robot based on serial elastic drivers and method |
| CN108113848A (en) * | 2018-01-31 | 2018-06-05 | 力迈德医疗（广州）有限公司 | Upper limb and head recovery exercising robot |
| CN208926740U (en) * | 2018-05-23 | 2019-06-04 | 青岛坤腾医疗器械有限公司 | Elbow joint fixer |
| CN208989556U (en) * | 2018-01-31 | 2019-06-18 | 力迈德医疗（广州）有限公司 | Upper limb and head recovery exercising robot |
| CN110123585A (en) * | 2019-06-10 | 2019-08-16 | 上海理工大学 | A kind of wrist recovery training institution for upper limb healing machinery arm |
| CN110179628A (en) * | 2019-06-10 | 2019-08-30 | 上海理工大学 | A kind of rope drive wrist Three Degree Of Freedom training institution for upper limb healing |
| CN110302035A (en) * | 2019-07-09 | 2019-10-08 | 上海理工大学 | A kind of rope drive multi-purpose type wrist recovery training institution |
| CN111012631A (en) * | 2020-01-10 | 2020-04-17 | 韩鹏鹏 | Elbow joint rehabilitation training device |
| CN111110513A (en) * | 2020-01-10 | 2020-05-08 | 燕山大学 | Four-degree-of-freedom elbow-wrist joint rehabilitation robot |
| CN111184620A (en) * | 2020-01-14 | 2020-05-22 | 哈尔滨工业大学 | Elbow joint exoskeleton robot is driven to flexible rope with compensation arrangement |
| CN111345970A (en) * | 2020-03-12 | 2020-06-30 | 安徽工业大学 | Seven-degree-of-freedom upper limb exoskeleton rehabilitation robot |
| CN112494271A (en) * | 2020-11-18 | 2021-03-16 | 燕山大学 | Upper limb rehabilitation training device |
-
2021
- 2021-11-02 CN CN202111287825.2A patent/CN113908016A/en active Pending
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1480119A (en) * | 2003-07-25 | 2004-03-10 | 清华大学 | Rehabilitation training robot for motion of single joint of hemiplegia patient |
| CN201135581Y (en) * | 2007-09-20 | 2008-10-22 | 华中科技大学 | Wearable upper limbs rehabilitation training robot device |
| CN106420257A (en) * | 2016-09-05 | 2017-02-22 | 南京航空航天大学 | Upper limb rehabilitation exoskeleton robot based on serial elastic drivers and method |
| CN108113848A (en) * | 2018-01-31 | 2018-06-05 | 力迈德医疗（广州）有限公司 | Upper limb and head recovery exercising robot |
| CN208989556U (en) * | 2018-01-31 | 2019-06-18 | 力迈德医疗（广州）有限公司 | Upper limb and head recovery exercising robot |
| CN208926740U (en) * | 2018-05-23 | 2019-06-04 | 青岛坤腾医疗器械有限公司 | Elbow joint fixer |
| CN110123585A (en) * | 2019-06-10 | 2019-08-16 | 上海理工大学 | A kind of wrist recovery training institution for upper limb healing machinery arm |
| CN110179628A (en) * | 2019-06-10 | 2019-08-30 | 上海理工大学 | A kind of rope drive wrist Three Degree Of Freedom training institution for upper limb healing |
| CN110302035A (en) * | 2019-07-09 | 2019-10-08 | 上海理工大学 | A kind of rope drive multi-purpose type wrist recovery training institution |
| CN111012631A (en) * | 2020-01-10 | 2020-04-17 | 韩鹏鹏 | Elbow joint rehabilitation training device |
| CN111110513A (en) * | 2020-01-10 | 2020-05-08 | 燕山大学 | Four-degree-of-freedom elbow-wrist joint rehabilitation robot |
| CN111184620A (en) * | 2020-01-14 | 2020-05-22 | 哈尔滨工业大学 | Elbow joint exoskeleton robot is driven to flexible rope with compensation arrangement |
| CN111345970A (en) * | 2020-03-12 | 2020-06-30 | 安徽工业大学 | Seven-degree-of-freedom upper limb exoskeleton rehabilitation robot |
| CN112494271A (en) * | 2020-11-18 | 2021-03-16 | 燕山大学 | Upper limb rehabilitation training device |
Non-Patent Citations (2)
| Title |
|---|
| 毛丽民;卢振利;安唱;刘叔军;: "上肢康复训练机器人的研究", 制造业自动化, no. 02, 25 February 2017 (2017-02-25) * |
| 聂广平, 西中海, 陈鹏: "全膝表面置换术后持续被动运动康复治疗体会", 中国临床康复, no. 14, 25 July 2002 (2002-07-25) * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105520820B (en) | A kind of Three Degree Of Freedom wrist functional rehabilitation robot | |
| CN103251493A (en) | Elbow wrist rehabilitation robot connected in series and parallel | |
| CN109223447B (en) | Upper limb rehabilitation and activity auxiliary device capable of realizing left-right interchange | |
| CN107874977A (en) | A kind of support handle in upper limb healing device | |
| CN210750109U (en) | Wrist joint rehabilitation training mechanism | |
| CN110559612B (en) | Department of neurology rehabilitation training device | |
| CN110666783A (en) | Hip joint exoskeleton assistance mechanism | |
| CN210991579U (en) | Sports medicine knee joint nursing activity ware | |
| CN214763103U (en) | A multi-functional upper limbs function training ware for cerebral apoplexy patient | |
| CN109646244A (en) | A kind of Neurology rehabilitation nondominant hand foot conditioning unit | |
| CN113908016A (en) | Elbow and wrist joint rehabilitation training device with four degrees of freedom | |
| CN211327982U (en) | Severe branch of academic or vocational study is with physical stamina rehabilitation device | |
| CN117224361A (en) | Rope-driven ankle joint rehabilitation robot | |
| CN110302503B (en) | Elbow joint exerciser for hospital physiotherapy rehabilitation | |
| CN204864769U (en) | Knee joint initiatively bends and stretches function exercise device behind artifical full knee joint displacement technique | |
| CN108992306B (en) | Multi freedom desktop formula thumb rehabilitation device | |
| CN108852747A (en) | A kind of driving ectoskeleton upper limb rehabilitation robot indirectly | |
| CN211273339U (en) | Portable upper limbs motion rehabilitation training device | |
| CN210674109U (en) | Neurosurgery is with multi-functional recovered device of taking exercise | |
| CN210205771U (en) | Arm exercising device for rehabilitation department | |
| CN202477919U (en) | Therapeutic apparatus for upper limb anomaly modes | |
| CN111281739A (en) | Recovered ectoskeleton robot | |
| CN219501469U (en) | Rehabilitation training instrument | |
| CN215840253U (en) | Passive waist and leg joint nerve rehabilitation training device | |
| CN220125043U (en) | ICU patient limb function training ware |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |