CN202069819U - Upper limb rehabilitation training device - Google Patents
Upper limb rehabilitation training device Download PDFInfo
- Publication number
- CN202069819U CN202069819U CN2011201354490U CN201120135449U CN202069819U CN 202069819 U CN202069819 U CN 202069819U CN 2011201354490 U CN2011201354490 U CN 2011201354490U CN 201120135449 U CN201120135449 U CN 201120135449U CN 202069819 U CN202069819 U CN 202069819U
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- joint
- shoulder joint
- elbow joint
- mobile jib
- guide wheel
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Abstract
The utility model relates to an upper limb rehabilitation training device. An elbow joint is connected to a shoulder joint through an elbow joint U-shaped machine, and the shoulder joint is connected to a scapula machine and a main rod through a shoulder joint U-shaped machine. In the elbow joint U-shaped machine, an elbow joint shaft penetrates through and is connected to the front portion of a big arm rod. The elbow joint shaft is sleeved by an elbow joint roller which is fixedly connected to an elbow joint U-shaped machine. A shoulder joint roller is connected to the shoulder joint U-shaped machine, and the shoulder joint shaft penetrates and is connected to the scapula machine. The shoulder joint shaft is fixedly connected to an elbow joint big guide wheel. The scapula machine is provided with a left guide wheel and a right guide wheel disposed on the shoulder joint, and a left guide wheel and a right guide wheel disposed below the shoulder joint. The scapula machine is connected to a main rod frame through a main rod shaft in the middle, and the main rod shaft is fixedly connected to the main rod guide wheel. The rear end of the main rod frame is respectively provided with four main rod guide wheels, and the lower end of the main rod frame is provided with two main rod guide wheels. The upper limb rehabilitation training device enables an arm to be far away from a motor. With the training device, the motor can drive the wire rope driving each joint to move, and the functional rehabilitation training on the left arm and on the right arm can be conveniently shifted.
Description
Technical field
This utility model relates to a kind of upper limb disorder device for healing and training, especially a kind ofly is applied to the upper limb disorder rehabilitation training that apoplexy causes (comprising the neural rehabilitation of upper extremity function); Also can be applied to the upper limb disorder device for healing and training that cerebral palsy, wound, diabetes etc. cause.
Background technology
Apoplexy survival patient is numerous, and wherein hemiplegia, locomotor activity forfeiture are topmost sequela.Nearly 85% patient is damaged with upper extremity function for post-stroke, the recovery problem of research post-stroke upper extremity function had become in the clinical rehabilitation field challenging subject to 55-75% patient among them still with upper limb disorder in 3-6 month after morbidity.
Domestic and international electronic upper limb healing arm generally all is at joint motor mounting at present, so not only attractive in appearance inadequately, also often bring noise to the patient, the arm volume that the while motor causes increases also can bring pressure at heart to the patient, in addition, general electronic upper limb healing arm can only carry out the single armed rehabilitation training, can not allow both arms all have handicapped patient that arm is trained respectively, greatly reduces the application efficiency of product.Thereby research and develop all novel rehabilitation training systems of upper limb disorder that can use, that have light new structure of a kind of left and right sides arm, also to improving patients with cerebral apoplexy upper limb disorder rehabilitation outcome, promoting that the innovation and the industry development of rehabilitation training of upper limbs equipment are significant.
Summary of the invention
This utility model is placed on the inconvenience that joint causes in order to overcome motor, and provide a kind of exercising apparatus for recovery of upper limb, this device utilizes steel wire rope that motor and arm are connected together, pass through motor, control the motion in each joint, so not only make motor break away from mechanical arm, the motion that can keep elbow joint and shoulder joint again makes whole upper limb healing mechanical arm look small and exquisite, light.
The technical scheme that its technical problem that solves this utility model adopts is: a kind of exercising apparatus for recovery of upper limb, comprise elbow joint, shoulder joint, mobile jib, motor, steel wire rope is characterized in: elbow joint is rotationally connected by elbow joint U-shaped device and shoulder joint, and shoulder joint is rotationally connected by shoulder joint U-shaped device and omoplate device and mobile jib; Wherein, run through the big armed lever front portion that connects shoulder joint with the elbow joint axle in the elbow joint U-shaped device, be socketed with the elbow joint roller on the elbow joint axle external part, and the elbow joint roller is fixedlyed connected with elbow joint U-shaped device, shoulder joint U-shaped device internal fixation is connected with the shoulder joint roller, and run through with the shoulder joint nodal axisn and to connect the omoplate device, be fixedly connected with the big guide wheel of elbow joint on the shoulder joint nodal axisn, be respectively equipped with a left side on the shoulder joint in the omoplate device up and down, right guide wheel, with the shoulder joint bottom left, right guide wheel, the omoplate device links to each other by intermediary mobile jib axle with the mobile jib frame, be fixedly connected with the mobile jib roller on the mobile jib axle, the mobile jib back end of frame is respectively equipped with first to fourth mobile jib guide wheel, and mobile jib frame lower end is provided with a left side, right mobile jib guide wheel; Steel cable is around axle joint roller, and draws by the big guide wheel of shoulder joint from axle joint roller and to be connected in the circular hole that imports to behind the left and right guide wheel under the shoulder joint the omoplate device, and leads by the first, four mobile jib guide wheel and to link to each other with motor below the mobile jib; Steel cable comes out to import in the circular hole of omoplate device by left and right guide wheel on the shoulder joint from the shoulder joint roller, and is led by the second, three mobile jib guide wheel and to link to each other with motor below the mobile jib; The steel wire rope both sides that the mobile jib roller comes out are directly by a left side, and right mobile jib guide wheel is led and linked to each other with motor below the mobile jib.
Elbow joint comprises preceding armed lever, the forearm tube, and preceding armed lever is socketed in the forearm tube, and fixes by nut, and the forearm tube is fixedlyed connected by screw thread with elbow joint U-shaped device.
Be provided with a pair of taper roll bearing between elbow joint U-shaped device and the elbow joint axle, use the fixed whole elbow joint of round nut on the elbow joint axle, be provided with elbow joint angular transducer boss below the elbow joint axle, fixedly connected with two screws between elbow joint U-shaped device and the elbow joint roller, be provided with a thrust bearing in the elbow joint roller; The elbow joint angular transducer is installed on elbow joint axle and the elbow joint angular transducer boss, is used for determining the angular dimension of relative motion between elbow joint guide wheel and the elbow joint axle.
Shoulder joint comprises big armed lever front portion, big armed lever rear portion, big arm tube, fixedly connected by screw thread in the anterior and big armed lever rear portion of big armed lever, be screwed between big armed lever front portion and the elbow joint axle, big armed lever is socketed in the big arm tube, and fixes by nut, and big arm tube is connected by screw thread with shoulder joint U-shaped device.
Be connected by key between shoulder joint nodal axisn and the shoulder joint roller, be provided with deep groove ball bearing between the big guide wheel of shoulder joint nodal axisn and elbow joint, on the shoulder joint nodal axisn below the omoplate device with the fixing whole shoulder joint of round nut, the shoulder joint nodal axisn is provided with shoulder joint angular transducer boss, the shoulder joint angular transducer is installed on shoulder joint nodal axisn and shoulder joint angular transducer boss, is used for determining the angular dimension of shoulder joint nodal axisn and omoplate device relative motion.
The beneficial effects of the utility model are:
This utility model all is designed to roller structure to the place that can realize joint motions, and make roller and the arm that need to drive by key or be welded together, allow motor be placed on below the seat, drive the roller motion by steel wire rope, to such an extent as to control the motion in each joint.Use a large amount of guide wheels, make the cabling of steel wire rope try one's best, and do not occur disturbing in the arm the inside.Big arm, the jacket casing mode is adopted in the design of little arm, can rotate, and adopts four paws mechanism and nut to carry out the fixing of jacket casing.Therefore, this utility model not only can make arm away from motor, finishes the driven by motor steel wire rope, is driven the motion in each joint again by steel wire rope, can also change the function rehabilitation training to left and right arm easily.
Description of drawings
Fig. 1 is the schematic perspective view of upper limb healing mechanical arm;
Fig. 2 is the expansion plane graph of Fig. 1;
Fig. 3 is the partial enlarged drawing of elbow joint;
Fig. 4 is the partial enlarged drawing of shoulder joint;
Fig. 5 is along the cutaway view of A-A among Fig. 4;
Fig. 6 is the partial enlarged drawing of mobile jib part;
Fig. 7 be among Fig. 6 B to view.
The specific embodiment
Below in conjunction with drawings and Examples this utility model is further specified.
As Fig. 1, shown in 2, exercising apparatus for recovery of upper limb of the present utility model comprises elbow joint 31, shoulder joint 32, mobile jib 33, motor, steel wire rope, elbow joint U-shaped device 4, shoulder joint U-shaped device 12, omoplate device 14, mobile jib frame 22 etc.
As shown in Figure 3, elbow joint 31 comprises preceding armed lever 1, nut 2, and forearm tube 3, preceding armed lever 1 adopts form of sleeve with forearm tube 3, can carry out the adjustment of length, fixes by nut 2, and preceding armed lever 1 can rotate, and then changes the direction of handle.Forearm tube 3 and elbow joint U-shaped device 4 be by being threaded, and with the anaerobic adhesive gummed, fix.Elbow joint axle 5 runs through elbow joint U-shaped device 4 and elbow joint roller 10, and in elbow joint U-shaped device 4, add a pair of taper roll bearing, in elbow joint roller 10, add a thrust bearing, with round nut whole elbow joint is fixed by the following of elbow joint roller 10, fix with two screws between elbow joint U-shaped device 4 and the elbow joint roller 10, guarantee that steel wire rope when driving elbow joint roller 10, also can drive the motion of forearm, and elbow joint axle 5 keeps motionless.The elbow joint angular transducer is installed on elbow joint axle 5 and the elbow joint angular transducer boss 9, determines angular dimension by the relative motion between elbow joint guide wheel 10 and the elbow joint axle 5.
As Fig. 4, shown in 5, big arm tube 11 and shoulder joint U-shaped device 12 are connected by screw thread, and glue together by anaerobic adhesive, add powerful arm intensity.Shoulder joint roller 17 is fixed by welding between shoulder joint U-shaped device 12, when guaranteeing that steel wire rope drives shoulder joint roller 17, also can drive the motion of big arm.Shoulder joint nodal axisn 13 runs through omoplate device 14, shoulder joint U-shaped device 12, shoulder joint roller 17, the big guide wheel 16 of elbow joint, and be connected by key between the shoulder joint roller, and between the big guide wheel 16 of elbow joint deep groove ball bearing is arranged, the round nut of the activity of whole shoulder joint 32 below omoplate device 14 fixed.The shoulder joint angular transducer is installed on shoulder joint nodal axisn 13 and the shoulder joint angular transducer boss 15, by the relative motion of shoulder joint nodal axisn 13 and omoplate device 14, determines the size of angle.The effect of the big guide wheel 16 of elbow joint is exactly that the steel wire rope that drives the elbow joint motion is guided on the shoulder joint, as seen from Figure 5, two wires of being derived by the big guide wheel of elbow joint 16 are by left and right guide wheel 21 under the shoulder joint, in 20 circular holes that import in the omoplate device 14, the steel wire rope both sides that drive shoulder joint roller 17 are then by left and right guide wheel 18 on the shoulder joint, in 19 circular holes that import in the omoplate device 14, and four steel wire ropes are not disturbed mutually.
As Fig. 6, shown in 7, omoplate device 14 links to each other by intermediary mobile jib axle 30 with mobile jib frame 22, and mobile jib roller 23 links together by key and mobile jib axle 30, drive the motion of mobile jib roller 23 by steel wire rope, thereby drive the motion of omoplate device 14, from steel wire rope both sides that mobile jib roller 23 gets off then by mobile jib guide wheel 25 and 24 lead mobile jib below link to each other with motor.Four steel wire ropes of deriving in the final circular hole by omoplate device 14 are again by first to fourth mobile jib guide wheel 26,27,28,29 lead and followingly link to each other with motor, the connection situation of steel wire rope is for to lead shoulder joint 32 from steel wire rope two limits that axle joint roller 10 comes out by the big guide wheel 16 of shoulder joint, imported in the circular hole in the omoplate device 14 by left and right guide wheel 21,20 under the shoulder joint again, lead by the first, four mobile jib guide wheel 26,29 at last and link to each other with motor below the mobile jib; Import in the circular hole of omoplate device 14 by left and right guide wheel 18,19 on the shoulder joint from steel wire rope two limits that shoulder joint roller 17 comes out, finally lead and link to each other with motor below the mobile jib by the second, three mobile jib guide wheel 27,28; The steel wire rope both sides that mobile jib roller 23 comes out are directly by a left side, and right mobile jib guide wheel 25,24 is led and linked to each other with motor below the mobile jib.
Claims (5)
1. exercising apparatus for recovery of upper limb, comprise elbow joint (31), shoulder joint (32), mobile jib (33), motor, steel wire rope is characterized in that: described elbow joint (31) is rotationally connected by elbow joint U-shaped device (4) and shoulder joint (32), and shoulder joint (32) is rotationally connected with mobile jib (33) by shoulder joint U-shaped device (12) and omoplate device (14); Wherein, run through the big armed lever front portion (6) that connects shoulder joint with elbow joint axle (5) in the elbow joint U-shaped device (4), be socketed with elbow joint roller (10) on elbow joint axle (5) external part, and elbow joint roller (10) is fixedlyed connected with elbow joint U-shaped device (4), shoulder joint U-shaped device (12) internal fixation is connected with shoulder joint roller (17), and run through with shoulder joint nodal axisn (13) and to connect omoplate device (14), be fixedly connected with the big guide wheel of elbow joint (16) on the shoulder joint nodal axisn (13), be respectively equipped with a left side on the shoulder joint in the omoplate device (14) up and down, right guide wheel (18,19) and the shoulder joint bottom left, right guide wheel (21,20), omoplate device (14) links to each other by intermediary mobile jib axle (30) with mobile jib frame (22), is fixedly connected with mobile jib roller (23) on the mobile jib axle (30), and mobile jib frame (22) rear end is respectively equipped with first to fourth mobile jib guide wheel (26,27,28,29), mobile jib frame (22) lower end is provided with a left side, right mobile jib guide wheel (25,24); Steel cable is around axle joint roller 10, and draw by the big guide wheel of shoulder joint (16) from axle joint roller (10) and to be connected to left and right guide wheel (21 under the shoulder joint, 20) import to after in the circular hole in the omoplate device (14), and lead by the first, four mobile jib guide wheel (26,29) and to link to each other with motor below the mobile jib; Steel cable comes out to import in the circular hole of omoplate device (14) by left and right guide wheel (18,19) on the shoulder joint from shoulder joint roller (17), and is led by the second, three mobile jib guide wheel (27,28) and to link to each other with motor below the mobile jib; The steel wire rope both sides that mobile jib roller (23) comes out are directly by a left side, and right mobile jib guide wheel (25,24) is led and linked to each other with motor below the mobile jib.
2. exercising apparatus for recovery of upper limb according to claim 1, it is characterized in that: described elbow joint (31) comprises preceding armed lever (1), forearm tube (3), preceding armed lever (1) is socketed in the forearm tube (3), and fixing by nut (2), forearm tube (3) is fixedlyed connected by screw thread with elbow joint U-shaped device (4).
3. exercising apparatus for recovery of upper limb according to claim 1, it is characterized in that: be provided with a pair of taper roll bearing between described elbow joint U-shaped device (4) and the elbow joint axle (5), elbow joint axle (5) is gone up with the fixing whole elbow joint (31) of round nut, be provided with elbow joint angular transducer boss (9) below the elbow joint axle (5), fixedly connected with two screws between elbow joint U-shaped device (4) and the elbow joint roller (10), be provided with a thrust bearing in the elbow joint roller (10); Elbow joint axle (5) and elbow joint angular transducer boss (9) are gone up the elbow joint angular transducer are installed, and are used for determining the angular dimension of relative motion between elbow joint guide wheel (10) and the elbow joint axle (5).
4. exercising apparatus for recovery of upper limb according to claim 1, it is characterized in that: described shoulder joint comprises big armed lever front portion (6), big armed lever rear portion (7), big arm tube (11), fixedly connected by screw thread with big armed lever rear portion (7) in big armed lever front portion (6), be screwed between big armed lever front portion (6) and the elbow joint axle (5), big armed lever (7) is socketed in the big arm tube (11), and fixing by nut (8), big arm tube (11) is connected by screw thread with shoulder joint U-shaped device (12).
5. exercising apparatus for recovery of upper limb according to claim 1, it is characterized in that: be connected by key between described shoulder joint nodal axisn (13) and the shoulder joint roller (17), be provided with deep groove ball bearing between shoulder joint nodal axisn (13) and the big guide wheel of elbow joint (16), shoulder joint nodal axisn (13) below the omoplate device (14) is gone up with the fixing whole shoulder joint (32) of round nut, shoulder joint nodal axisn (13) is provided with shoulder joint angular transducer boss (15), go up installation shoulder joint angular transducer at shoulder joint nodal axisn (13) and shoulder joint angular transducer boss (15), be used for determining the angular dimension of shoulder joint nodal axisn (13) and omoplate device (14) relative motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201354490U CN202069819U (en) | 2011-05-03 | 2011-05-03 | Upper limb rehabilitation training device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201354490U CN202069819U (en) | 2011-05-03 | 2011-05-03 | Upper limb rehabilitation training device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202069819U true CN202069819U (en) | 2011-12-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011201354490U Expired - Fee Related CN202069819U (en) | 2011-05-03 | 2011-05-03 | Upper limb rehabilitation training device |
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| CN (1) | CN202069819U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102258411A (en) * | 2011-05-03 | 2011-11-30 | 上海理工大学 | Cable control type upper limb function training robot arm |
| CN102908241A (en) * | 2012-11-01 | 2013-02-06 | 上海理工大学 | Centrally-driven upper limb rehabilitation training mechanical arm |
| CN103040587A (en) * | 2012-12-27 | 2013-04-17 | 张家港市永发机器人科技有限公司 | Arm rehabilitation training device |
| CN103720571A (en) * | 2013-12-25 | 2014-04-16 | 华中科技大学 | Gantry type upper limb rehabilitation training device |
-
2011
- 2011-05-03 CN CN2011201354490U patent/CN202069819U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102258411A (en) * | 2011-05-03 | 2011-11-30 | 上海理工大学 | Cable control type upper limb function training robot arm |
| CN102908241A (en) * | 2012-11-01 | 2013-02-06 | 上海理工大学 | Centrally-driven upper limb rehabilitation training mechanical arm |
| CN102908241B (en) * | 2012-11-01 | 2014-06-18 | 上海理工大学 | Centrally-driven upper limb rehabilitation training mechanical arm |
| CN103040587A (en) * | 2012-12-27 | 2013-04-17 | 张家港市永发机器人科技有限公司 | Arm rehabilitation training device |
| CN103720571A (en) * | 2013-12-25 | 2014-04-16 | 华中科技大学 | Gantry type upper limb rehabilitation training device |
| CN103720571B (en) * | 2013-12-25 | 2016-01-20 | 华中科技大学 | A kind of planer-type exercising apparatus for recovery of upper limb |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20111214 Termination date: 20120503 |