CN204601060U - The bionical device for healing and training of a kind of shoulder joint kinesitherapy - Google Patents

Abstract

The bionical device for healing and training of a kind of shoulder joint kinesitherapy, its seat support system is positioned on ground, scapula left and right rectilinear motion bio-mechanism is fixedly connected with seat support system, be that revolute pair is connected with scapula rotary motion bio-mechanism, Glenohumeral joint motion biomimetics mechanism and scapula rotary motion bio-mechanism are that revolute pair is connected, and upper arm auxiliary shoring system and Glenohumeral joint motion biomimetics mechanism are for being fixedly connected with; This utility model can realize the various necessary action of healing and training shoulder joint, except comprising the anterior flexion and rear stretching of shoulder joint, outreach adduction and inward turning outward turning, also achieve left and right rectilinear motion and the rotary motion of scapula required when shoulder joint is trained, and the comparatively large moving range of various training action can be realized, this apparatus structure is simple, wearing comfort, flexible adjustment, move submissive, safe and reliable, omnibearing rehabilitation training can be done to shoulder joint kinesitherapy dysfunction.

Description

The bionical device for healing and training of a kind of shoulder joint kinesitherapy

Technical field

This utility model relates to medical assistance rehabilitation training equipment technical field, belong to a kind of human motion function rehabilitation training device, be specially the device that a kind of auxiliary human body shoulder joint carries out rehabilitation training, the rehabilitation training of shoulder joint kinesitherapy impaired patients being applicable to apoplexy, scapulohumeral periarthritis and causing due to reasons such as industrial injury, sports damage, vehicle accidents.

Background technology

Cerebrovascular disease, flesh bone injury etc. are easy to the obstacle of limb movement causing human body, and after clinical treatment, rehabilitation generally will get involved in early days, and because human upper limb is meticulousr than lower limb movement, the difficulty of its functional rehabilitation is larger.The patients with cerebral apoplexy of 85% has the infringement of upper extremity function in morbidity performance at the very start, has arrived 3 ~ 6 months after being ill, has still had the patient of 55% ~ 75% to have the problem of upper limb, have impact on the activity of daily living of patient.For hemiplegic patient, especially acute stage hemiplegic patient, in order to maintain range of motion, usually all need clinically to carry out simple joint motion as far as possible on a large scale.Upper extremity exercise function relates generally to three joints: shoulder joint, elbow joint and carpal joint, and the motion of shoulder joint is the basis that human body upper arm completes various action, the less stable of shoulder joint own, is the joint of most easy damaged in human body.According to related activities wound Epidemiological study result, the athletic injury of upper limb part accounts for 22.18%, and wherein shoulder wound is main, accounts for 8.47%.Under the background that mechanization degree improves, some manual labour work are also absolutely necessary, and can cause some professional musculoskeletal injuries epidemic diseases, and wherein shoulder damage accounts for 10%.In addition, scapulohumeral periarthritis disease is also very high at the sickness rate of China, is about 15.9%, and human body flesh bone function declines to some extent and other chronic disease causes involves shoulder pain, all can cause scapulohumeral periarthritis.Usually emphasize that the rehabilitation of therefore takeing on is the prerequisite of patient's humeral movement functional rehabilitation by the progressively rehabilitation of proximal joint to distal joint clinically simultaneously; Therefore the equipment developed for healing and training shoulder joint is very important.

For shoulder joint or the multiarticulate athletic rehabilitation of upper limb, traditional rehabilitation training mode primarily of therapist rule of thumb manually assisting patients train, training effect is subject to the impact of therapist's level, and the working strength of therapist is also very large.In recent years, over more than 20 year, research institutions more both domestic and external have carried out the research of rehabilitation training of upper limbs technology, develop the different upper limb rehabilitation robot of several functions and rehabilitation training equipment but really can clinical application and few.The subject matter existed is mainly manifested in:

(1) current most of healing robot or exercise equipment are only only limitted to some simple activities monarthric or Planar Compound motion, and the most basic demand of rehabilitation is the ability making patient recover simple daily life.Though these motions reach movable joint in a certain sense and prevent amyotrophic effect, differ greatly with daily life function sexual act, patient can not be stimulated to keep the sensation of proper exercise, help also little to recovery activity of daily living.

(2) healing robot generally designs to complete certain function, activity in a big way can not be completed by the restriction of robot during design, the requirement of range of motion training can not be met, especially larger to this range of activity of shoulder joint joint, thus also just fully can not provide the Motor stimulation needed for nervus centralis rehabilitation.

(3) it is a ball-and-socket joint that actual shoulder joint has more than, but a shoulder multi-joint complex, the motion of humerus, ulna and radius three skeletons is only considered in general upper extremity exercise model, and do not consider scapula, joint motions between clavicle and breastbone, have ignored the effect that they play in shoulder joint kinesitherapy process.

(4) no matter be parallel or tandem exercise rehabilitation training device, its structure is general comparatively complicated, and input queued switches is too many, does not meet the requirements such as medical assistance rehabilitation training device structure is simple and easy, lightweight, comfortableness is good.

Upper limb shoulder joint is the structure of a more complicated in human motion system, its complicated part is not only that it has the grand movement ability of three directions (anterior flexion and rear stretching, outreach adduction, interior outward turning), and shoulder joint is not desirable dead axle joint, Physiological Anatomy shows that the shoulder joint complex of human body is formed by polylith skeleton and the staggered muscle envelope be connected, and the geometry of its complexity result in joints axes and can swing in motor process; In addition, due to healing robot be not absolute rigidity be fixed in suffering limb, thus in rehabilitation exercise process, also there is relative sliding between healing robot and suffering limb, the factor of these aspects causes healing robot when doing some rehabilitation action, the dislocation of axis of movement is there is between healing robot and suffering limb, cause the change of suffering limb institute irriate form in rehabilitation training thus, and make patient produce sense of discomfort in the training process, when the rigidity of healing robot driver is larger, this dislocation also can produce the injury of permanence to human body with interfering.Considering the reason of above several aspect, must ensureing that this mechanism initiatively can comply with the action of shoulders of human body when moving in design during limb device for healing and training shoulder joint, the unlikely compressing harmful to the generation of human body shoulder joint and excessive traction.

Utility model content

The purpose of this utility model is for shortcomings and deficiencies of the prior art, on the basis taking into full account human body shoulder joint kinesitherapy biomechanics, clinical training need and safety, there is provided a kind of novel shoulder joint kinesitherapy bionical device for healing and training, to meet comparatively large moving range during healing and training shoulder joint, daily required shoulder joint kinesitherapy requirement can be realized, this utility model also considers the requirement such as coupled, compliance, comfortableness of this device, makes healing and training shoulder joint system and human body shoulder joint reach man-machine harmony campaign.

To achieve these goals, the technical solution of the utility model is as follows:

The bionical device for healing and training of a kind of shoulder joint kinesitherapy, is characterized in that: it comprises seat support system (1), scapula left and right rectilinear motion bio-mechanism (2), scapula rotary motion bio-mechanism (3), Glenohumeral joint motion biomimetics mechanism (4), upper arm auxiliary shoring system (5);

Seat support system (1) is positioned on ground, scapula left and right rectilinear motion bio-mechanism (2) is fixedly connected with seat support system (1), scapula left and right rectilinear motion bio-mechanism (2) with scapula rotary motion bio-mechanism (3) for revolute pair is connected, Glenohumeral joint motion biomimetics mechanism (4) is with scapula rotary motion bio-mechanism (3) for revolute pair is connected, and upper arm auxiliary shoring system (5) and Glenohumeral joint motion biomimetics mechanism (4) are for being fixedly connected with;

Described seat support system (1) mainly comprises: base plate (11), counterweight (12), electric lifting pole (13) and support stand (15); Base plate (11) bottom is provided with four lower margins (14), for being supported on level ground, electric lifting pole (13) comprises fixed column (131) and dynamic post (132), the height regulating rehabilitation training mechanism is controlled, to adapt to human body shoulder joint height when sitting posture and stance by the electric up-down of dynamic post (132); Support stand (15) and be provided with adjustment hole, for scapula left and right rectilinear motion bio-mechanism (2) that is fixedly connected, during installation, can fixed hole position be converted, with the height of applicable different human body shoulder joint;

Described scapula left and right rectilinear motion bio-mechanism (2) comprises linear slide mechanism and rack pinion trigger mechanism;

This linear slide mechanism comprises guide supporting seat (201), line slideway (202), slide block (203), T-shaped panel seat (204), tooth bar (205), line shifting gear (206), guide supporting seat (201) is bolted fixing with support stand (15), line slideway (202) and guide supporting seat (201) are connected by screw fixing, T-shaped panel seat (204) and slide block (203) are connected by screw fixing, T-shaped panel seat (204) is provided with line shifting gear (206), line shifting gear (206) is by gear fixed axis (224), first rolling bearing (225), screw (226), shaft retaining ring (227) is arranged on T-shaped panel seat (204), tooth bar (205) is connected by screw and is fixed on guide supporting seat (201), line shifting gear (206) is in engagement with tooth bar (205) all the time,

This rack pinion trigger mechanism comprises crank (207), upper plate (208), slide (209), pulling shaft (214), expansion link (215), bracket (216), guide plate (219), T-shaped rocker (222), crank (207) and line shifting gear (206) upper end are connected and fixed, the two ends of upper plate (208) respectively with the upper articulation of crank (207) and slide (209), the lower hinge of slide (209) is on back shaft (212), axially can slide along it, back shaft (212) is arranged on pedestal (210), little pressing plate (213) is equipped with at the two ends of pedestal, moving axially and circumference rotation of restrictive axes, pedestal (210) and T-shaped panel seat (204) are connected and fixed, back shaft (212) is set with two the first stage clips (211), lay respectively at the both sides of slide (209), make slide (209) under static state self-return to centre position, bracket (216) and main holder (301) are connected and fixed, expansion link (215) and bracket (216) for cylindrical pair hinged, can slide axially each other, pulling shaft (214) upper end is vertical with one end of expansion link (215) to be fixed, the interior cooperation of elongated slot (228) of slide (209) is inserted in pulling shaft (214) bottom, the other end of expansion link (215) is fixedly connected with guide plate (219), positioning stud (223) on one end of T-shaped rocker (222) and semicircle bearing (401) is hinged, the other end is by stud (220), top cover (221) contacts with guide plate (219) and connects, when shoulder bends and stretches 90 degree, front arm-tie (408) upwards forwards horizontal level to from upright position, when doing shoulder joint adduction abduction exercise in this position, two pressure pivoted housings (409) on front arm-tie (408) drive moving forward and backward of guide plate (219) and expansion link (215) by the side of touching T-shaped rocker (222), on the expansion link (215) of bracket (216) both sides, be symmetrically installed with the second stage clip (217) and positioning sleeve (218), expansion link is made to keep centre position under not retracted position, moving axially of expansion link (215) makes pulling shaft (214) pull slide (209) along back shaft (212) left and right rectilinear movement back and forth, thus drive the rotation of line shifting gear (206), by the gear motion with tooth bar (205), realize the left and right rectilinear motion of scapula bio-mechanism.

Wherein, described scapula rotary motion bio-mechanism (3) comprises gear simple pendulum and pinion rotation trigger mechanism;

This gear simple pendulum comprises main holder (301), scapula rotates fixed gear (302), scapula rotates moving gear (303), balance staff (304), limit shaft (307), the second rolling bearing (308), scapula rotate fixed gear (302) by rotating shaft (309) with T-shaped panel seat (204) for being fixedly connected with, be revolute pair articulated structure between main holder (301) and rotating shaft (309), scapula rotates moving gear (303) with balance staff (304) for being fixedly connected with, balance staff (304) is arranged on main holder (301) with the form that revolute pair is hinged, scapula rotates moving gear (303) and rotates fixed gear (302) for master gear transmission engagement with scapula, when balance staff (304) drives scapula to rotate moving gear (303) rotation, scapula rotates fixed gear (302) transfixion, scapula rotates moving gear (303) while rotation, balance staff (304) and main holder (301) is driven to rotate up swing, limit shaft (307) and T-shaped panel seat (204) are for being fixedly connected with, second rolling bearing (308) is installed on the end of limit shaft (307), and arc-shaped slot (310) contact on main holder (301) coordinates, it act as the range of movement of the main holder of restriction (301), match to make the rotary motion scope of this mechanism and human body scapula,

This pinion rotation trigger mechanism is by main holder (301), balance staff (304), yoke plate (305), swing arm (306) and trigger unit pressure pivoted housing (409), rear arm-tie (410), main holder (301), balance staff (304), yoke plate (305), swing arm (306) composition lanar four rod mechanism, by the swing of swing arm (306), balance staff (304) and scapula can be driven to rotate moving gear (303) rotate, when shoulder joint does abduction exercise training, the pressure pivoted housing (409) of rear arm-tie (410) upper end inwardly swings, by pressing the lateral surface of swing arm (306), swing arm (306) is swung, thus drive scapula to rotate moving gear (303) rotation, and make rotary oscillation around the axis that scapula rotates fixed gear (302), thus reach the object of scapula rotary motion rehabilitation training.

Wherein, described Glenohumeral joint motion biomimetics mechanism (4) comprises shoulder flexion and extension mechanism, shoulder takes down the exhibits motion and outward turning motion in shoulder;

This shoulder flexion and extension mechanism is the revolute pair mechanism of 1 degree of freedom, primarily of semicircle bearing (401), lower bearing watt (402), bend and stretch swivel base (403), shoulder bend and stretch gear (404), shoulder bend and stretch drive motors (405), shoulder bend and stretch half gear (406) composition, semicircle bearing (401) and main holder (301) are for being fixedly connected with, semicircle bearing (401) and lower bearing watt (402) are bolted to connection, they are equivalent to outer ring and the inner ring of bearing respectively, bend and stretch swivel base (403) and semicircle bearing (401) and lower bearing watt (402) and be the mode that ball is slidably connected, the inner periphery of semicircle bearing (401) is provided with double-row balls, with the fit depressions bent and stretched in the arc-shaped surface of swivel base (403) top, groove also serves the effect of axial location, prevent from bending and stretching swivel base (403) axially to deviate from, the external peripheral surface of lower bearing watt (402) is also provided with double-row balls, with bend and stretch swivel base (403) bottom arc-shaped surface and directly contact cooperation, this structure ensure that bends and stretches the smooth and easy rotation of swivel base (403) relative to semicircle bearing (401), shoulder bends and stretches gear (404) and shoulder, and to bend and stretch half gear (406) be gear drive, shoulder bends and stretches half gear (406) and is fixedly connected on and bends and stretches on swivel base (403), the circumferential angle that shoulder bends and stretches half gear (406) and bends and stretches swivel base (403) is 230 degree, not only can reach maximum 180 degree of angles of shoulder joint flexion, and motion can be stretched after most your writing 50 degree, conform to the shoulder anterior flexion and rear stretching mobility scope of human body, during shoulder joint flexion and extension passive exercise, bending and stretching drive motors (405) by shoulder drives shoulder to bend and stretch gear (404) rotation, and swivel base (403) rotation is bent and stretched in drive, achieve shoulder flexion and extension,

This shoulder motion of taking down the exhibits is the revolute pair mechanism of 1 degree of freedom, connecting seat pillar (407) with rear arm-tie (410) and front arm-tie (408) is chain connection, during this mechanism kinematic, to be taken down the exhibits arm-tie (410) and front arm-tie (408) after drive motors (411) Direct driver by shoulder, axis together around the evagination axle connecting seat pillar (407) rotates, and realizes shoulder and to take down the exhibits training;

In this shoulder, outward turning motion comprises outward turning drive motors (412) in shoulder, U-shaped seat (413), outer ring support (414), shoulder rotates half-ring gear (416), shoulder rotary pinion (417), gear ring holder (418), two outer ring supports (414) are arranged on respectively by screw on the supporting surface up and down of U-shaped seat (413), and ensure that the center of arc of two outer ring supports (414) is concentric up and down, the side of two outer ring supports is fixedly connected with by screw down through boss (415), serve support reinforcing effect, and front arm-tie (408) and rear arm-tie (410) are also connected on boss (415), shoulder rotates half-ring gear (416) and is arranged on the groove of gear ring holder (418), and connected by screw fastening, by ball retainer (419), rolling ball is fixed on the lower planes of gear ring holder (418), to contact with the groove of outer ring support (414) eventually through ball and coordinate, shoulder rotary pinion (417) is fixed on U-shaped seat (413) by gear shaft, take on rotary pinion (417) with gear shaft for being fixedly connected with, and rotate half-ring gear (416) engage with shoulder, in shoulder during outward turning continuous passive motion, in shoulder, outward turning drive motors (412) Direct driver gear shaft and shoulder rotary pinion (417) rotate, and drive gear ring holder (418) to rotate.

Wherein, described upper arm auxiliary shoring system (5), comprises Connection Block (51), regulates upper arm (52), elbow joint upper bracket (53), elbow joint lower carriage (54), regulates forearm (55), forearm plate (56), hands support (57), hands holder (58), elbow joint rotating shaft (59); Connection Block (51) is arranged on the inside arcwall face of gear ring holder (418) by screw, the top of upper arm (52) is regulated to be provided with long slot bore, be connected and fixed by bolt and Connection Block (51), connecting length can regulate according to the length of human body upper arm, the lower end of upper arm (52) and elbow joint upper bracket (53) is regulated to be bolted to connection, elbow joint upper bracket (53) is connected for hinge arrangement by elbow joint rotating shaft (59) with elbow joint lower carriage (54), and it relatively rotates angle can reach human elbow mobility scope; Elbow joint lower carriage (54) is connected and fixed with regulating the upper end of forearm (55) by bolt, regulate the bottom elongated slot nose end of forearm (55) to be bolted with the upper end of forearm plate (56) to be connected, connecting length can regulate according to the length of human body forearm, lower end and the hands support (57) of forearm plate (56) are bolted to connection, and the two ends of hands holder (58) are connected with hands support (57) by screw.

This utility model compared with prior art, has the following advantages and salience effect:

1, the various necessary action of healing and training shoulder joint can be realized, except the rehabilitation action of 3 single degree of freedoms of healing and training shoulder joint clinically can be realized: except shoulder anterior flexion and rear stretching, shoulder abduction adduction and the outward turning of shoulder inward turning, the motion of two degree of freedom in shoulder joint scapula-breast joint can also be realized: scapula left and right rectilinear motion, scapula rotary motion, effectively improve the compliance of shoulder rehabilitation motion, make most of muscle group of human body shoulder joint complex can obtain effective rehabilitation training.

2, each centre of motion registration of bio-mechanism of the present utility model and human body shoulder joint is high, motion compliance is good, use safety, avoid and excessive tractive or compressing are caused to human body shoulder joint kinesitherapy, suffering limb shoulder joint can be assisted to carry out the rehabilitation training of single-degree-of-freedom action training and multiple degrees of freedom compound motion.

3, bio-mechanism of the present utility model, can reach the range of movement required by human body healing and training shoulder joint, meets the largest motion area requirement of different shoulder rehabilitation patient.

Accompanying drawing explanation

Fig. 1 is population structure schematic perspective view of the present utility model.

Fig. 2 is population structure left view of the present utility model.

Fig. 3 is shoulder joint kinesitherapy bio-mechanism population structure close-up schematic view of the present utility model.

Fig. 4 is scapula motion biomimetics structure partial enlarged diagram of the present utility model.

Fig. 5 is the mounting structure figure of scapula linear motion device pinion of the present utility model.

Fig. 6 is scapula rotational motion mechanism close-up schematic view of the present utility model.

Fig. 7 is the partial enlargement structure chart of Glenohumeral joint motion biomimetics mechanism of the present utility model.

Fig. 8 is upper arm auxiliary support mechanism schematic front view of the present utility model.

Fig. 9 is upper arm auxiliary support mechanism schematic perspective view of the present utility model

Drawing reference numeral title: 1, seat support system; 2, scapula left and right rectilinear motion bio-mechanism; 3, scapula rotary motion bio-mechanism; 4, Glenohumeral joint motion biomimetics mechanism; 5, upper arm auxiliary shoring system; 11, base plate; 12, counterweight; 13, electric lifting pole; 14, lower margin; 15, stand is supported; 131, fixed column; 132, dynamic post; 201, guide supporting seat; 202, line slideway; 203, slide block; 204, T-shaped panel seat; 205, tooth bar; 206, line shifting gear; 207, crank; 208, upper plate; 209, slide; 210, pedestal; 211, the first stage clip; 212, back shaft; 213, little pressing plate; 214, pulling shaft; 215, expansion link; 216, bracket; 217, the second stage clip 218, positioning sleeve; 219, guide plate; 220, stud; 221, top cover; 222, T-shaped rocker; 223, positioning stud; 224, gear fixed axis; 225, the first rolling bearing; 226, screw; 227, shaft retaining ring; 228, elongated slot; 301, main holder; 302, scapula rotates fixed gear; 303, scapula rotates moving gear; 304, balance staff; 305, yoke plate; 306, swing arm; 307, limit shaft; 308, the second rolling bearing; 309, rotating shaft; 310, arc-shaped slot; 401, semicircle bearing; 402, lower bearing watt; 403, swivel base is bent and stretched; 404, shoulder bends and stretches gear; 405, shoulder bends and stretches drive motors; 406, shoulder bends and stretches half gear; 407, seat pillar is connected; 408, front arm-tie; 409, pivoted housing is pressed; 410, rear arm-tie; 411, drive motors of taking down the exhibits is takeed on; 412, outward turning drive motors in shoulder; 413, U-shaped seat; 414, outer ring support; 415, boss; 416, shoulder rotates half-ring gear; 417, rotary pinion is takeed on; 418, gear ring holder; 419, ball retainer; 51, Connection Block; 52, upper arm is regulated; 53, elbow joint upper bracket; 54, elbow joint lower carriage; 55, forearm is regulated; 56, forearm plate; 57, hands support; 58, hands holder; 59, elbow joint rotating shaft.

Detailed description of the invention

Below in conjunction with the drawings and specific embodiments, this utility model is described in detail.

With reference to Fig. 1, the population structure of the bionical device for healing and training of a kind of shoulder joint kinesitherapy described in the utility model will be described in detail.The bionical device for healing and training of this shoulder joint kinesitherapy is a typical serial mechanism, comprises 5 degree of freedom, is used for simulating the freedom of motion of shoulder joint complex of people, can meets the daily life needs of people.

As shown in Figure 1, this utility model comprises generally: seat support system 1, scapula left and right rectilinear motion bio-mechanism 2, scapula rotary motion bio-mechanism 3, Glenohumeral joint motion biomimetics mechanism 4, upper arm auxiliary shoring system 5.Wherein seat support system 1 is positioned on ground, scapula left and right rectilinear motion bio-mechanism 2 is fixedly connected with seat support system, with scapula rotary motion bio-mechanism 3 for revolute pair is connected, Glenohumeral joint motion biomimetics mechanism 4 is with scapula rotary motion bio-mechanism 3 for revolute pair is connected, and upper arm auxiliary shoring system 5 and Glenohumeral joint motion biomimetics mechanism 4 are for being fixedly connected with.

As shown in Figure 1 and Figure 2, seat support system 1 mainly comprises: base plate 11, counterweight 12, electric lifting pole 13 and support stand 15; Base plate 11 bottom is provided with four lower margins 14, for being supported on level ground, electric lifting pole 13 comprises fixed column 131 and dynamic post 132, controls the height regulating rehabilitation training mechanism, to adapt to human body shoulder joint height when sitting posture and stance by the electric up-down of dynamic post 132.Support stand 15 and be provided with adjustment hole, for the scapula left and right rectilinear motion bio-mechanism 2 that is fixedly connected, suitable connection holes position during installation, can be selected, with the shoulder joint height needed for applicable different Rehabilitation training.

Fig. 3, Fig. 4 are shoulder joint kinesitherapy bio-mechanism population structure close-up schematic view of the present utility model, for the scapula left and right rectilinear motion bio-mechanism 2 shown in Fig. 1, Fig. 2, be described in detail in Fig. 3, Fig. 4, scapula left and right rectilinear motion bio-mechanism 2 comprises linear slide mechanism and rack pinion trigger mechanism.

Linear slide mechanism comprises guide supporting seat 201, line slideway 202, slide block 203, T-shaped panel seat 204, tooth bar 205, line shifting gear 206, guide supporting seat 201 is bolted fixing with support stand 15, line slideway 202 and guide supporting seat 201 are connected by screw fixing, T-shaped panel seat 204 and slide block 203 are connected by screw fixing, T-shaped panel seat 204 is provided with line shifting gear 206, specifically as shown in Figure 5, line shifting gear 206 is by gear fixed axis 224, first rolling bearing 225, screw 226, shaft retaining ring 227 is arranged on T-shaped panel seat 204.Tooth bar 205 is connected by screw and is fixed on guide supporting seat 201, and line shifting gear 206 is in engagement with tooth bar 205 all the time.

Rack pinion trigger mechanism mainly comprises crank 207, upper plate 208, slide 209, pulling shaft 214, expansion link 215, bracket 216, guide plate 219, T-shaped rocker 222, crank 207 and line shifting gear 206 upper end are connected and fixed, the two ends of upper plate 208 respectively with the upper articulation of crank 207 and slide 209, the lower hinge of slide 209 is on back shaft 212, axially can slide along it, back shaft 212 is arranged on pedestal 210, little pressing plate 213 is equipped with at the two ends of pedestal, moving axially and circumference rotation of restrictive axes, pedestal 210 and T-shaped panel seat 204 are connected and fixed, back shaft 212 is set with two the first stage clips 211, lay respectively at the both sides of slide 209, make slide 209 under static state self-return to centre position.As shown in Figure 4, bracket 216 and main holder 301 are connected and fixed, expansion link 215 and bracket 216 are that cylindrical pair is hinged, can slide axially each other, pulling shaft 214 upper end is vertical with one end of expansion link 215 to be fixed, the interior cooperation of elongated slot 228 of slide 209 is inserted in pulling shaft 214 bottom, the other end of expansion link 215 is fixedly connected with guide plate 219, positioning stud 223 on one end of T-shaped rocker 222 and semicircle bearing 401 is hinged, the other end is by stud 220, top cover 221 contacts with guide plate 219 and connects, when shoulder bends and stretches 90 degree, front arm-tie 408 upwards forwards horizontal level to from the upright position of such as Fig. 3, when doing shoulder joint adduction abduction exercise in this position, two pressure pivoted housings 409 on front arm-tie 408 drive the movable of guide plate 219 and expansion link 215 by the side of touching T-shaped rocker 222, on the expansion link 215 of bracket 216 both sides, be symmetrically installed with the second stage clip 217 and positioning sleeve 218, expansion link is made to keep centre position under not retracted position.Moving axially of expansion link 215 makes pulling shaft 214 pull slide 209 along back shaft 212 left and right rectilinear movement back and forth, thus drives the rotation of line shifting gear 206, by the gear motion with tooth bar 205, realizes the left and right rectilinear motion of scapula bio-mechanism.

For the scapula rotary motion bio-mechanism 3 shown in Fig. 1, Fig. 2, be described in further detail with reference in Fig. 3, Fig. 4, scapula rotary motion bio-mechanism 3 comprises gear simple pendulum and pinion rotation trigger mechanism.

Gear simple pendulum mainly comprises main holder 301, scapula rotates fixed gear 302, scapula rotates moving gear 303, balance staff 304, limit shaft 307, second rolling bearing 308 (Fig. 6), scapula rotate fixed gear 302 by rotating shaft 309 (not shown) with T-shaped panel seat 204 for being fixedly connected with, be revolute pair articulated structure between main holder 301 and rotating shaft 309.Scapula rotates moving gear 303 with balance staff 304 for being fixedly connected with, balance staff 304 is arranged on main holder 301 with the form that revolute pair is hinged, it is master gear transmission engagement that scapula rotation moving gear 303 rotates fixed gear 302 with scapula, when balance staff 304 drives scapula rotation moving gear 303 to rotate, scapula rotates fixed gear 302 transfixion, scapula rotates moving gear 303 while rotation, balance staff 304 and main holder 301 is driven to rotate up swing, limit shaft 307 (see Fig. 4) and T-shaped panel seat 204 are for being fixedly connected with, second rolling bearing 308 is installed on the end of limit shaft 307, and the arc-shaped slot 310 on main holder 301 contacts cooperation, it act as the range of movement limiting main holder 301, match to make the rotary motion scope of this mechanism and human body scapula.

Pinion rotation trigger mechanism is primarily of main holder 301, balance staff 304, yoke plate 305, swing arm 306 and trigger unit pressure pivoted housing 409, rear arm-tie 410, main holder 301, balance staff 304, yoke plate 305, swing arm 306 forms lanar four rod mechanism, by the swing of swing arm 306, balance staff 304 and scapula can be driven to rotate moving gear 303 rotate, under Fig. 4 state when shoulder joint does abduction exercise training, the pressure pivoted housing 409 of rear arm-tie 410 upper end inwardly swings, by pressing the lateral surface of swing arm 306, swing arm 306 is swung, thus drive scapula rotation moving gear 303 to rotate, and make rotary oscillation around the axis that scapula rotates fixed gear 302, thus reach the object of scapula rotary motion rehabilitation training.

For the Glenohumeral joint motion biomimetics mechanism 4 shown in Fig. 1, Fig. 2, be described in further detail with reference in Fig. 7, human body Glenohumeral joint is our daily said shoulder joint, it is a ball-and-socket joint, there is three degree of freedom, Glenohumeral joint motion biomimetics mechanism of the present utility model has three degree of freedom equally, and the coupling of man-machine double kinematic link is submissiveer, nature, and Glenohumeral joint motion biomimetics mechanism 4 forms by takeing on flexion and extension mechanism, shoulder takes down the exhibits motion and takeing on interior outward turning motion.

As shown in Figure 7, shoulder flexion and extension mechanism is the revolute pair mechanism of 1 degree of freedom, primarily of semicircle bearing 401, lower bearing watts 402, bend and stretch swivel base 403, shoulder bends and stretches gear 404, shoulder bends and stretches drive motors 405, shoulder bends and stretches half gear 406 and forms, semicircle bearing 401 and main holder 301 are the integral piece that is fixedly connected, semicircle bearing 401 and lower bearing watts 402 is bolted to connection, they are equivalent to outer ring and the inner ring of bearing respectively, bend and stretch swivel base 403 and semicircle bearing 401 and lower bearing watts 402 and be the mode that ball is slidably connected, the inner periphery of semicircle bearing 401 is provided with double-row balls (not shown), match with the groove (not shown) of bending and stretching in the arc-shaped surface of swivel base 403 top, groove also serves the effect of axial location, prevent from bending and stretching swivel base 403 axially to deviate from, the external peripheral surface of lower bearing watts 402 is also provided with double-row balls (not shown), with bend and stretch swivel base 403 bottom arc-shaped surface and directly contact cooperation, this structure ensure that bends and stretches the smooth and easy rotation of swivel base 403 relative to semicircle bearing 401, shoulder bends and stretches gear 404, and to bend and stretch half gear 406 with shoulder be gear drive, shoulder bends and stretches half gear 406 and is fixedly connected on and bends and stretches on swivel base 403, shoulder bends and stretches half gear 406 and is 230 degree with the circumferential angle bending and stretching swivel base 403, not only can reach maximum 180 degree of angles of shoulder joint flexion, and motion can be stretched after most your writing 50 degree, conform to the shoulder anterior flexion and rear stretching mobility scope of human body, during shoulder joint flexion and extension passive exercise, bend and stretch drive motors 405 by shoulder to rotate to drive shoulder to bend and stretch gear 404, and drive and bend and stretch swivel base 403 and rotate, achieve shoulder flexion and extension.

As shown in Figure 7, for takeing on the revolute pair mechanism that motion of taking down the exhibits is 1 degree of freedom, when takeing on flexion and extension mechanism and being in any position, take on the rotation that motion of taking down the exhibits all can realize certain limit, thus greatly expand the range of movement of human upper limb training, connecting seat pillar 407 with rear arm-tie 410 and front arm-tie 408 is chain connection, during this mechanism kinematic, to be taken down the exhibits arm-tie 410 and front arm-tie 408 after drive motors 411 Direct driver by shoulder, axis together around the evagination axle connecting seat pillar 407 rotates, and realizes shoulder and to take down the exhibits training.

As shown in Figure 7, in shoulder, outward turning motion mainly comprises outward turning drive motors 412 in shoulder, U-shaped seat 413, outer ring support 414, shoulder rotates half-ring gear 416, shoulder rotary pinion 417, gear ring holder 418 (see Fig. 3), two outer ring supports 414 are arranged on respectively by screw on the supporting surface up and down of U-shaped seat 413, and ensure that the center of arc of two outer ring supports 414 is concentric up and down, the side of two outer ring supports is fixedly connected with by screw down through boss 415, serve support reinforcing effect, and front arm-tie 408 and rear arm-tie 410 are also connected on boss 415, shoulder is rotated (not shown) on groove that half-ring gear 416 is arranged on gear ring holder 418 and is connected by screw fastening, by ball retainer 419 (Fig. 3), rolling ball (not shown) is fixed on the lower planes of gear ring holder 418, to contact with the groove (not shown) of outer ring support 414 eventually through ball and coordinate, shoulder rotary pinion 417 is fixed on U-shaped seat 413 by gear shaft (not shown), take on rotary pinion 417 with gear shaft for being fixedly connected with, and rotate half-ring gear 416 engage with shoulder, in shoulder during outward turning continuous passive motion, in shoulder, outward turning drive motors 412 Direct driver gear shaft and shoulder rotary pinion 417 rotate, and drive gear ring holder 418 to rotate.

For the upper arm auxiliary shoring system 5 shown in Fig. 1, Fig. 2, be described in further detail with reference to Fig. 8, Fig. 9, upper arm auxiliary shoring system 5 mainly comprises Connection Block 51, regulates upper arm 52, elbow joint upper bracket 53, elbow joint lower carriage 54, regulates forearm 55, forearm plate 56, hands support 57, hands holder 58, elbow joint rotating shaft 59.As Fig. 8, Connection Block 51 is arranged on the inside arcwall face of gear ring holder 418 by screw, the top of upper arm 52 is regulated to be provided with long slot bore, be connected and fixed by bolt and Connection Block 51, connecting length can regulate according to the length of human body upper arm, regulate the lower end of upper arm 52 and elbow joint upper bracket 53 to be bolted to connection, it is hinge arrangement that elbow joint upper bracket 53 is connected by elbow joint rotating shaft 59 with elbow joint lower carriage 54, and it relatively rotates angle can reach human elbow mobility scope.Elbow joint lower carriage 54 is connected and fixed with regulating the upper end of forearm 55 by bolt, regulate the bottom elongated slot nose end of forearm 55 to be bolted with the upper end of forearm plate 56 to be connected, connecting length can regulate according to the length of human body forearm, lower end and the hands support 57 of forearm plate 56 are bolted to connection, and the two ends of hands holder 58 are connected with hands support 57 by screw.

This utility model is when specific works: the base plate 11 of device for healing and training is placed on level ground reliably by lower margin 14.According to the rehabilitation exercise training pose (sitting posture or stance) of patient, regulate the height of dynamic post 132 in advance, make the shoulder joint of human body to the freedom of motion central point intersection point of motion and shoulder outward turning motion three motion rotating shafts (shoulder flexion and extension mechanism, the shoulder take down the exhibits) of Glenohumeral joint motion biomimetics mechanism 4 being positioned at this device.Adjustment regulates upper arm 52, regulates the connecting bolt fixed position at forearm 55 long slot bore place, make the length dimension of upper arm auxiliary shoring system 5 and patient's upper arm, the length dimension of forearm adapts, and the hands of patient can grasp holder 58 in one's hands naturally.The training data of setting is required by clinical practice rehabilitation training, drive motors 405 is bent and stretched by shoulder, take on drive motors 411 of taking down the exhibits, in shoulder, outward turning drive motors 412 drives Glenohumeral joint motion biomimetics mechanism 4 to drive human body shoulder joint to do continuous passive motion by task program, scapula left and right of the present utility model rectilinear motion bio-mechanism 2, scapula rotary motion bio-mechanism 3 is two servo-actuated degree of freedom motions, its motion produces under shoulder takes down the exhibits passive rehabilitation training moving condition: upper limb is under normal hang, by shoulder take down the exhibits drive motors 411 drive do adduction abduction exercise to certain angle time, the action of scapula rotary motion bio-mechanism 3 can be triggered simultaneously, device is made to do scapula rotary motion in company with human body scapula, upper limb anteflexion under horizontal level state, do by shoulder take down the exhibits drive motors 411 drive do horizontal adduction abduction exercise time, can scapula left and right rectilinear motion bio-mechanism 2 action simultaneously, make device do left and right rectilinear motion in company with human body scapula.This Liang Ge follow-up motion mechanism effectively can realize the motion compliance of shoulder joint kinesitherapy rehabilitation training.

The bionical device for healing and training of shoulder joint kinesitherapy of the present utility model, comprises 5 joint freedom degrees, can realize the motion of various simple and complicated shoulder rehabilitation by these 5 joint freedom degrees.Early stage in rehabilitation training, in order to train separately some actions, can drive separately, doing single back and forth movement, and promote the recovery of motor function, exercise one's muscles strength simultaneously, avoids amyotrophy.Along with the training of individual part, the enhancing gradually of muscle strength near shoulder joint complex, when returning to certain phase, by the aggregate motion of multiple single degree of freedom, realize complicated shoulder joint kinesitherapy, simple everyday actions such as completing daily simple motion, as by the combination of 5 degree of freedom, can complete cheers drinks water, comb one's hair.By such training process, progressively realize the rehabilitation of suffering limb.

This utility model is not only confined to this embodiment, every employing project organization of the present utility model and thinking, does the design that some simply change or change, all falls into the scope of this utility model protection.

Claims (4)

1. the bionical device for healing and training of shoulder joint kinesitherapy, is characterized in that: it comprises seat support system (1), scapula left and right rectilinear motion bio-mechanism (2), scapula rotary motion bio-mechanism (3), Glenohumeral joint motion biomimetics mechanism (4), upper arm auxiliary shoring system (5);

Seat support system (1) is positioned on ground, scapula left and right rectilinear motion bio-mechanism (2) is fixedly connected with seat support system (1), scapula left and right rectilinear motion bio-mechanism (2) with scapula rotary motion bio-mechanism (3) for revolute pair is connected, Glenohumeral joint motion biomimetics mechanism (4) is with scapula rotary motion bio-mechanism (3) for revolute pair is connected, and upper arm auxiliary shoring system (5) and Glenohumeral joint motion biomimetics mechanism (4) are for being fixedly connected with;

Described seat support system (1) mainly comprises: base plate (11), counterweight (12), electric lifting pole (13) and support stand (15); Base plate (11) bottom is provided with four lower margins (14), for being supported on level ground, electric lifting pole (13) comprises fixed column (131) and dynamic post (132), the height regulating rehabilitation training mechanism is controlled, to adapt to human body shoulder joint height when sitting posture and stance by the electric up-down of dynamic post (132); Support stand (15) and be provided with adjustment hole, for scapula left and right rectilinear motion bio-mechanism (2) that is fixedly connected, during installation, can fixed hole position be converted, with the height of applicable different human body shoulder joint;

Described scapula left and right rectilinear motion bio-mechanism (2) comprises linear slide mechanism and rack pinion trigger mechanism;

This linear slide mechanism comprises guide supporting seat (201), line slideway (202), slide block (203), T-shaped panel seat (204), tooth bar (205), line shifting gear (206), guide supporting seat (201) is bolted fixing with support stand (15), line slideway (202) and guide supporting seat (201) are connected by screw fixing, T-shaped panel seat (204) and slide block (203) are connected by screw fixing, T-shaped panel seat (204) is provided with line shifting gear (206), line shifting gear (206) is by gear fixed axis (224), first rolling bearing (225), screw (226), shaft retaining ring (227) is arranged on T-shaped panel seat (204), tooth bar (205) is connected by screw and is fixed on guide supporting seat (201), line shifting gear (206) is in engagement with tooth bar (205) all the time,

This rack pinion trigger mechanism comprises crank (207), upper plate (208), slide (209), pulling shaft (214), expansion link (215), bracket (216), guide plate (219), T-shaped rocker (222), crank (207) and line shifting gear (206) upper end are connected and fixed, the two ends of upper plate (208) respectively with the upper articulation of crank (207) and slide (209), the lower hinge of slide (209) is on back shaft (212), axially can slide along it, back shaft (212) is arranged on pedestal (210), little pressing plate (213) is equipped with at the two ends of pedestal, moving axially and circumference rotation of restrictive axes, pedestal (210) and T-shaped panel seat (204) are connected and fixed, back shaft (212) is set with two the first stage clips (211), lay respectively at the both sides of slide (209), make slide (209) under static state self-return to centre position, bracket (216) and main holder (301) are connected and fixed, expansion link (215) and bracket (216) for cylindrical pair hinged, can slide axially each other, pulling shaft (214) upper end is vertical with one end of expansion link (215) to be fixed, the interior cooperation of elongated slot (228) of slide (209) is inserted in pulling shaft (214) bottom, the other end of expansion link (215) is fixedly connected with guide plate (219), positioning stud (223) on one end of T-shaped rocker (222) and semicircle bearing (401) is hinged, the other end is by stud (220), top cover (221) contacts with guide plate (219) and connects, when shoulder bends and stretches 90 degree, front arm-tie (408) upwards forwards horizontal level to from upright position, when doing shoulder joint adduction abduction exercise in this position, two pressure pivoted housings (409) on front arm-tie (408) drive moving forward and backward of guide plate (219) and expansion link (215) by the side of touching T-shaped rocker (222), on the expansion link (215) of bracket (216) both sides, be symmetrically installed with the second stage clip (217) and positioning sleeve (218), expansion link is made to keep centre position under not retracted position, moving axially of expansion link (215) makes pulling shaft (214) pull slide (209) along back shaft (212) left and right rectilinear movement back and forth, thus drive the rotation of line shifting gear (206), by the gear motion with tooth bar (205), realize the left and right rectilinear motion of scapula bio-mechanism.

2., according to the bionical device for healing and training of the shoulder joint kinesitherapy described in claim 1, it is characterized in that:

Described scapula rotary motion bio-mechanism (3) comprises gear simple pendulum and pinion rotation trigger mechanism;

This gear simple pendulum comprises main holder (301), scapula rotates fixed gear (302), scapula rotates moving gear (303), balance staff (304), limit shaft (307), the second rolling bearing (308), scapula rotate fixed gear (302) by rotating shaft (309) with T-shaped panel seat (204) for being fixedly connected with, be revolute pair articulated structure between main holder (301) and rotating shaft (309), scapula rotates moving gear (303) with balance staff (304) for being fixedly connected with, balance staff (304) is arranged on main holder (301) with the form that revolute pair is hinged, scapula rotates moving gear (303) and rotates fixed gear (302) for master gear transmission engagement with scapula, when balance staff (304) drives scapula to rotate moving gear (303) rotation, scapula rotates fixed gear (302) transfixion, scapula rotates moving gear (303) while rotation, balance staff (304) and main holder (301) is driven to rotate up swing, limit shaft (307) and T-shaped panel seat (204) are for being fixedly connected with, second rolling bearing (308) is installed on the end of limit shaft (307), and arc-shaped slot (310) contact on main holder (301) coordinates, it act as the range of movement of the main holder of restriction (301), match to make the rotary motion scope of this mechanism and human body scapula,

This pinion rotation trigger mechanism is by main holder (301), balance staff (304), yoke plate (305), swing arm (306) and trigger unit pressure pivoted housing (409), rear arm-tie (410), main holder (301), balance staff (304), yoke plate (305), swing arm (306) composition lanar four rod mechanism, by the swing of swing arm (306), balance staff (304) and scapula can be driven to rotate moving gear (303) rotate, when shoulder joint does abduction exercise training, the pressure pivoted housing (409) of rear arm-tie (410) upper end inwardly swings, by pressing the lateral surface of swing arm (306), swing arm (306) is swung, thus drive scapula to rotate moving gear (303) rotation, and make rotary oscillation around the axis that scapula rotates fixed gear (302), thus reach the object of scapula rotary motion rehabilitation training.

3., according to the bionical device for healing and training of the shoulder joint kinesitherapy described in claim 2, it is characterized in that:

Described Glenohumeral joint motion biomimetics mechanism (4) comprises shoulder flexion and extension mechanism, shoulder takes down the exhibits motion and outward turning motion in shoulder;

This shoulder flexion and extension mechanism is the revolute pair mechanism of 1 degree of freedom, primarily of semicircle bearing (401), lower bearing watt (402), bend and stretch swivel base (403), shoulder bend and stretch gear (404), shoulder bend and stretch drive motors (405), shoulder bend and stretch half gear (406) composition, semicircle bearing (401) and main holder (301) are for being fixedly connected with, semicircle bearing (401) and lower bearing watt (402) are bolted to connection, they are equivalent to outer ring and the inner ring of bearing respectively, bend and stretch swivel base (403) and semicircle bearing (401) and lower bearing watt (402) and be the mode that ball is slidably connected, the inner periphery of semicircle bearing (401) is provided with double-row balls, with the fit depressions bent and stretched in the arc-shaped surface of swivel base (403) top, groove also serves the effect of axial location, prevent from bending and stretching swivel base (403) axially to deviate from, the external peripheral surface of lower bearing watt (402) is also provided with double-row balls, with bend and stretch swivel base (403) bottom arc-shaped surface and directly contact cooperation, this structure ensure that bends and stretches the smooth and easy rotation of swivel base (403) relative to semicircle bearing (401), shoulder bends and stretches gear (404) and shoulder, and to bend and stretch half gear (406) be gear drive, shoulder bends and stretches half gear (406) and is fixedly connected on and bends and stretches on swivel base (403), the circumferential angle that shoulder bends and stretches half gear (406) and bends and stretches swivel base (403) is 230 degree, not only can reach maximum 180 degree of angles of shoulder joint flexion, and motion can be stretched after most your writing 50 degree, conform to the shoulder anterior flexion and rear stretching mobility scope of human body, during shoulder joint flexion and extension passive exercise, bending and stretching drive motors (405) by shoulder drives shoulder to bend and stretch gear (404) rotation, and swivel base (403) rotation is bent and stretched in drive, achieve shoulder flexion and extension,

This shoulder motion of taking down the exhibits is the revolute pair mechanism of 1 degree of freedom, connecting seat pillar (407) with rear arm-tie (410) and front arm-tie (408) is chain connection, during this mechanism kinematic, to be taken down the exhibits arm-tie (410) and front arm-tie (408) after drive motors (411) Direct driver by shoulder, axis together around the evagination axle connecting seat pillar (407) rotates, and realizes shoulder and to take down the exhibits training;

In this shoulder, outward turning motion comprises outward turning drive motors (412) in shoulder, U-shaped seat (413), outer ring support (414), shoulder rotates half-ring gear (416), shoulder rotary pinion (417), gear ring holder (418), two outer ring supports (414) are arranged on respectively by screw on the supporting surface up and down of U-shaped seat (413), and ensure that the center of arc of two outer ring supports (414) is concentric up and down, the side of two outer ring supports is fixedly connected with by screw down through boss (415), serve support reinforcing effect, and front arm-tie (408) and rear arm-tie (410) are also connected on boss (415), shoulder rotates half-ring gear (416) and is arranged on the groove of gear ring holder (418), and connected by screw fastening, by ball retainer (419), rolling ball is fixed on the lower planes of gear ring holder (418), to contact with the groove of outer ring support (414) eventually through ball and coordinate, shoulder rotary pinion (417) is fixed on U-shaped seat (413) by gear shaft, take on rotary pinion (417) with gear shaft for being fixedly connected with, and rotate half-ring gear (416) engage with shoulder, in shoulder during outward turning continuous passive motion, in shoulder, outward turning drive motors (412) Direct driver gear shaft and shoulder rotary pinion (417) rotate, and drive gear ring holder (418) to rotate.

4., according to the bionical device for healing and training of the shoulder joint kinesitherapy described in claim 3, it is characterized in that:

Described upper arm auxiliary shoring system (5), comprises Connection Block (51), regulates upper arm (52), elbow joint upper bracket (53), elbow joint lower carriage (54), regulates forearm (55), forearm plate (56), hands support (57), hands holder (58), elbow joint rotating shaft (59); Connection Block (51) is arranged on the inside arcwall face of gear ring holder (418) by screw, the top of upper arm (52) is regulated to be provided with long slot bore, be connected and fixed by bolt and Connection Block (51), connecting length can regulate according to the length of human body upper arm, the lower end of upper arm (52) and elbow joint upper bracket (53) is regulated to be bolted to connection, elbow joint upper bracket (53) is connected for hinge arrangement by elbow joint rotating shaft (59) with elbow joint lower carriage (54), and it relatively rotates angle can reach human elbow mobility scope; Elbow joint lower carriage (54) is connected and fixed with regulating the upper end of forearm (55) by bolt, regulate the bottom elongated slot nose end of forearm (55) to be bolted with the upper end of forearm plate (56) to be connected, connecting length can regulate according to the length of human body forearm, lower end and the hands support (57) of forearm plate (56) are bolted to connection, and the two ends of hands holder (58) are connected with hands support (57) by screw.