CN101181177B - Device for healing and training shoulder joint - Google Patents

Device for healing and training shoulder joint Download PDF

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Publication number
CN101181177B
CN101181177B CN200710168510XA CN200710168510A CN101181177B CN 101181177 B CN101181177 B CN 101181177B CN 200710168510X A CN200710168510X A CN 200710168510XA CN 200710168510 A CN200710168510 A CN 200710168510A CN 101181177 B CN101181177 B CN 101181177B
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China
Prior art keywords
movement
fork
framework
pneumatic muscles
shoulder joint
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CN200710168510XA
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Chinese (zh)
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CN101181177A (en
Inventor
熊蔡华
陈文斌
杨明
熊有伦
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华中科技大学
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Publication of CN101181177B publication Critical patent/CN101181177B/en

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Abstract

The invention discloses a wearable shoulder joint rehabilitation training device. The device is characterized by movement flexibility, wearing comfort and training safety. The device consists of a movement mechanism and a support adjusting mechanism. The support adjusting mechanism is used for adjusting the position of the movement mechanism which is relative to the human shoulder joint, and the whole rehabilitation training device is fixed at an appropriate position of the human back part. The driver of the movement mechanism is four pneumatic muscles which are in vertical movement state, and the pneumatic muscles can respectively control the upper arm to do the two groups of movements of forward bend and backward extension, outward spread and inward retraction and the complex movements of the two groups of movement around the shoulder joint, furthermore, the invention can realize the active and passive coordinated movement of the movement mechanism and the upper arm under the matching of an angle displacement and pull force sensor. The movement mechanism drives the upper arm to move with the help of two slide blocks which do passive movement, so as to overcome the problem of the difficult movement of the upper limbs caused by the non-superposition of the movement center of the mechanism and the shoulder joint and ensure the comfort and the safety of training during the rehabilitation training process.

Description

Device for healing and training shoulder joint
Technical field
The invention belongs to the rehabilitation medical instrument field, relate to the device that a kind of auxiliary human body shoulder joint is carried out rehabilitation training, be applicable to apoplexy and the rehabilitation training of the upper extremity exercise impaired patients that causes owing to reasons such as industrial injury, vehicle accidents.
Background technology
Along with the raising gradually of living standard, people are also more and more higher to the requirement of quality of life, adopt healing robot that people with disability and nerve injury patient are carried out rehabilitation training, are acknowledged as the important channel of improving their quality of life.Healing robot is different from the general industrial robot, need directly act on human body, therefore the safety and the comfortableness of rehabilitation training must be guaranteed, and must consider the physiological structure characteristics and the motion mode thereof of people's upper limb in design when limbs rehabilitation training robot construction and corresponding driving system for this reason.The upper limb shoulder joint is the structure of a more complicated in the human motion system, its complicated part not only be its have three directions (anteflexion/after stretch, abduction/adduction, internal/external rotations) grand movement ability, and shoulder joint is not ideal dead axle joint, Physiological Anatomy shows that the shoulder joint of human body is to be formed by polylith skeleton and the staggered muscle envelope that links to each other, its complicated geometry has caused joints axes can swing in motor process, moreover because the covering of surface skin and muscular tissue, the position of shoulder joint rotation axis often is difficult to accurately obtain in real time.Healing robot is not owing to be that absolute rigidity ground is fixed on the trouble limb in addition, thereby also there is relative slip in healing robot with suffering between the limb in the rehabilitation exercise process, the factor of these several aspects has caused healing robot when doing some rehabilitation action, there are the dislocation of axis of movement and the interference of leverage between healing robot and the trouble limb, cause suffering from the rehabilitation training process change of limb institute irriate form thus, and make the patient in training process, produce sense of discomfort, when the rigidity of healing robot driver is bigger, this dislocation also can be to human body, particularly for suffering from myasthenia with interference, stremma and cartilage injury's patient's joint produces the injury of permanence.Consider the reason of above several aspects, must guarantee this mechanism can initiatively comply with the human body shoulder when motion action in design during limb healing robot shoulder mechanism, unlikely the human body shoulder joint is produced deleterious compressing and over-drastic traction; The drive system of upper limb rehabilitation robot shoulder mechanism correspondence also must have enough pliabilities in addition, and its type of drive not only requires safety, and claimed structure is light and handy, stroke is consistent with the muscle of upper extremity amount of contraction.
Existing exercising apparatus for recovery of upper limb all needs to be fixed on ground or the support, overall structure is huge, can not dress, being unsuitable for family uses, and generally use motor-driven or air cylinder driven, all there is the drawback of low speed jerking motion and high speed impact in this type of drive of two types, has serious potential safety hazard in rehabilitation training, makes the patient be difficult to accept.The upper limb that another important aspect is the people is the motor system of one 7 degree of freedom, the domestic existing rehabilitation training apparatus that leans on end effector (handle) to drag the motion of staff guiding trouble limb is not enough to shoulder periphery muscle group is effectively stimulated, and does not reach the effect that the peripheral muscle group of shoulder is giveed intensive training." articulation mechanism of recovery exercising robot " (publication number is CN 1876335A, open day is December in 2006 13 days) belongs to the single rotary rehabilitation training institution of terminal guiding type, and this mechanism is not suitable for shoulder periphery muscle group is giveed intensive training.
Summary of the invention
The demand of the shoulder joint kinesitherapy dysfunction patient rehabilitation training that the present invention is directed to apoplexy and cause by reasons such as industrial injury, vehicle accidents, a kind of device for healing and training shoulder joint is provided, this device has the motion compliance, dresses comfortableness and training of safety characteristics, can finish the passive coordination exercise of shoulder joint master under complicated training mode.
Device for healing and training shoulder joint provided by the invention is characterized in that:
The top of side framework vertically has a vertical slots, torsion bar is equipped with in vertical slots inside, the angle of torsion bar and horizontal plane is 60 °~80 °, abduction pulley and interior receipts pulley be installed in this vertical slots and the below that is positioned at torsion bar along suffering from the side that limb is done abduction exercise;
The upper side frame middle part of back frame vertically has first groove, pulley is stretched after the first anteflexion pulley and first are housed in the first groove inside, the end of back frame upper side frame is connected with gripper shoe, joint face is in the side of back frame upper side frame near the patient back, upper surface at back frame upper side frame end is equipped with leading block, and leading block has upper rail and lower guide channel; The lower end of gripper shoe is connected with suspension rod by the center adjustment nut, and the upper end edge horizontal direction of the lower end of gripper shoe and suspension rod has first chute and second chute, and center adjustment nut along continuous straight runs passes first chute and second chute; The forward and backward both sides of gripper shoe have second groove and the 3rd groove, stretch the pulley and the second anteflexion pulley after being separately installed with second in second groove and the 3rd groove; The lower end of suspension rod is connected by main shaft with the upper end that is connected fork; Auxiliary spindle passes side framework, torsion bar in the past backward successively and connects fork, and wherein torsion bar and connection fork are fixedlyed connected with auxiliary spindle, and side framework and auxiliary spindle flexibly connect; After stretch flexible steel cable one end and be fixed on and connect on the fork, and stretch pulley after walking around the lower guide channel, first of stretching pulley, leading block after second successively, again with after stretch pneumatic muscles the upper end be connected; Anteflexion flexible steel cable one end be connected fork and link to each other, and walk around upper rail, the first anteflexion pulley of the second anteflexion pulley, leading block successively, be connected with the upper end of anteflexion pneumatic muscles again; An interior end of receiving flexible steel cable is connected with the lower end of torsion bar, receives pulley in walking around and is connected with the upper end of the moving muscle of interior getter; One end of abduction flexible steel cable is connected with the upper end of torsion bar, walks around the abduction pulley and is connected with the upper end of abduction pneumatic muscles; The lower end that interior getter moves muscle, abduction pneumatic muscles links to each other with the lower end of side framework, anteflexion pneumatic muscles, after stretch pneumatic muscles the lower end link to each other with the lower end of back frame;
Main sliding chamber is positioned at the below that connects fork, and is fixed on the side of side framework near the patient back; Master slider slides at main sliding intracavity, and the master slider exposed junction is fixedlyed connected with auxilliary sliding chamber; The chute and the angle between the horizontal direction in auxilliary sliding chamber are 10 °~50 °, and auxilliary slide block slides at auxilliary sliding intracavity, and auxilliary slips end is connected with cranse by secondary shaft, leaves connecting hole on the cranse.
In order to make the rehabilitation training mechanism structure light and handy, be applicable to dress and have high security simultaneously again concurrently, the present invention adopts the driver of pneumatic muscles as system, because pneumatic muscles has good flexibility, characteristics such as good low-speed motion performance and very high power/weight ratio and safety height, similar to human muscle's motion mode, satisfy of the requirement of wearable rehabilitation training mechanism at weight and secure context.The experiment proved that, local deformation appears in the pneumatic muscles seasonal epidemic pathogens tube-surface of working under case of bending easily, and local deformation place, the lax back of venting is difficult to recover normal condition, the service behaviour and the service life of pneumatic muscles have been had a strong impact on, the present invention is arranged in vertical state by the mode of pulley rope guiding with all pneumatic muscles for this reason, the uneven problem of pneumatic muscle contraction has guaranteed that pneumatic muscles is in normal duty all the time when having avoided case of bending work.In addition in order to satisfy robot and the requirement of suffering from the passive coordination exercise of limb master under the complicated training mode, the auxiliary of appropriateness is provided when patient's initiative ability is not enough, and when the patient has the ability execution, suitably reduce auxiliary even apply resistance, the present invention has disposed two pneumatic muscles to realize corresponding positive and negative motion for every kind of motion mode, according to corresponding training mode, in conjunction with torque sensor and real-time active force information and the positional information of gathering of angular displacement sensor, realize robot and suffer from the passive coordination exercise of limb shoulder master by the contraction of controlling each pneumatic muscles.The present invention has installed a passive slide compensation mechanism on the motion of mechanism chain, design has solved on the one hand because the center of rotation of mechanism and the problem of the inconsistent upper extremity exercise difficulty that causes of human body center of rotation like this, avoided having guaranteed the comfortableness in the rehabilitation training process because people-machine motion mode does not match and brings sport injury to the patient; Amplified the motion of mechanism space by increasing this cover slide compensation mechanism on the other hand, enlarged the range of activity of shoulder joint, provide the kinesiology guarantee for carrying out complicated rehabilitation training action, because existence of this cover slide compensation mechanism makes the rehabilitation training mechanism action that its body construction can be complied with human body limb all the time in auxiliary shoulder joint kinesitherapy, and relative slip can not take place with limbs in the operating part that has guaranteed mechanism, guaranteed the comfortableness and the safety of motion, thereby this rehabilitation training mechanism meets the human engineering requirement in configuration aspects.
Description of drawings
Fig. 1 is the Function Decomposition figure of device for healing and training shoulder joint of the present invention;
Fig. 2 is that the isometry of first kind of specific implementation of apparatus of the present invention is surveyed view;
Fig. 3 is that the isometry of motion among Fig. 2 is surveyed view;
Fig. 4 is the front view of motion among Fig. 2;
Fig. 5 is the right view of motion among Fig. 2;
Fig. 6 is the structural representation that supports guiding mechanism among Fig. 2;
Fig. 7 is that the isometry of second kind of specific implementation of apparatus of the present invention is surveyed view;
Fig. 8 is the front view of device for healing and training shoulder joint shown in Figure 7;
Fig. 9 is the right view of device for healing and training shoulder joint shown in Figure 7;
Figure 10 is that the isometry that connects fork in the device for healing and training shoulder joint shown in Figure 2 is surveyed view;
Figure 11 is that the isometry that connects fork in the device for healing and training shoulder joint shown in Figure 7 is surveyed view.
The specific embodiment
Hereinafter in conjunction with the accompanying drawings and specific embodiment device for healing and training shoulder joint of the present invention is described in detail.
As shown in Figure 1, device for healing and training shoulder joint comprises motion I and supports guiding mechanism II.Respectively two parts are made specific description below.
The structure of first kind of specific implementation of apparatus of the present invention is shown in Fig. 3~5, and motion I comprises side framework 1, back frame 2, leading block 3, gripper shoe 4, center adjustment nut 5, suspension rod 6, main shaft 7 connects fork 8, hoop hook 9, auxiliary spindle 10, main sliding chamber 11, master slider 15, auxilliary sliding chamber 16, auxilliary slide block 14, secondary shaft 13, cranse 12, front side truckle 17.1, rear side truckle 17.2, anteflexion pneumatic muscles 18.1, after stretch pneumatic muscles 18.2, abduction pneumatic muscles 18.4, interior getter moves muscle 18.3, the first anteflexion pulleys 19.1, stretch pulley 19.4 after stretching pulley 19.2, the second anteflexion pulleys 19.3, the second after first, abduction pulley 19.6, in receive pulley 19.5, torsion bar 21 and anteflexion flexible steel cable 20.1, after stretch flexible steel cable 20.2, abduction flexible steel cable 20.4, interior receipts flexible steel cable 20.3.
The profile simileys of side framework 1 " "; its top vertically has a vertical slots; torsion bar 21 is equipped with in vertical slots inside, the angle of torsion bar 21 and horizontal plane between 60 °~80 °, abduction pulley 19.6 and interior receipts pulley 19.5 be installed in this vertical slots and the below that is positioned at torsion bar 21 along suffering from the side that limb is done abduction exercise.
The profile simileys of back frame 2 " "; its upper side frame middle part vertically has first groove 27.1; pulley 19.2 is stretched after the first anteflexion pulley 19.1 and first are housed in first groove, 27.1 inside; back frame 2 end of frame thereon is connected with gripper shoe 4 by screw; joint face is in the side of back frame 2 upper side frames near the patient back; the upper surface at back frame 2 upper side frame ends is equipped with leading block 3, and leading block 3 has upper and lower two guide grooves.As shown in Figure 4, the lower end of gripper shoe 4 is connected with suspension rod 6 by center adjustment nut 5, the upper end edge horizontal direction of the lower end of gripper shoe 4 and suspension rod 6 has first chute 28.1 (Fig. 3) and second chute 28.2 (Fig. 5), and center adjustment nut 5 along continuous straight runs pass first chute 28.1 and second chute 28.2.As shown in Figure 5, the pulley 19.4 and the second anteflexion pulley 19.3 are stretched after having and being separately installed with second in second groove 27.2 and the 3rd groove 27.3, the second grooves 27.2 and the 3rd groove 27.3 in gripper shoe 4 forward and backward both sides.The lower end of suspension rod 6 is connected by main shaft 7 with the upper end that is connected fork 8, and connecting fork 8 can rotate with respect to suspension rod 6 around main shaft 7.The profile that wherein connects fork 8 as shown in figure 10, the circular hole of its upper end matches with main shaft 7, the side that connects fork 8 lower ends has a counterbore, the end of auxiliary spindle 10 is inserted in this counterbore and with to be connected fork 8 fixedly connected, the set tack of opposite side of connection fork 8 lower ends is fixedlyed connected with an end of anteflexion flexible steel cable 20.1.Auxiliary spindle 10 passes hoop hook 9, side framework 1, torsion bar 21 in the past backward successively and connects fork 8, wherein bind round hook 9, torsion bar 21 and connect fork 8 and fixedly connected with auxiliary spindle 10, side framework 1 flexibly connects with auxiliary spindle 10, and side framework 1 can rotate around auxiliary spindle 10.After stretch flexible steel cable 20.2 one ends and link to each other with hoop hook 9, and stretch pulley 19.2 after walking around the lower guide channel, first of stretching pulley 19.4, leading block 3 after second successively, again with after stretch pneumatic muscles 18.2 the upper end be connected.Anteflexion flexible steel cable 20.1 one ends be connected fork 8 and link to each other, and walk around upper rail, the first anteflexion pulley 19.1 of the second anteflexion pulley 19.3, leading block 3 successively, the upper end with anteflexion pneumatic muscles 18.1 is connected again.In the normal axomometric drawing 3 of correspondence, rear side truckle 17.2 be positioned at receive pulley 19.5 under, front side truckle 17.1 is installed in the side of rear side pulley 17.2 away from the patient back, front side truckle 17.1 and rear side pulley 17.2 all are attached on the side framework 1.An interior end of receiving flexible steel cable 20.3 is connected with the lower end of torsion bar 21, receives pulley 19.5, rear side truckle 17.2, front side truckle 17.1 in walking around successively, and the upper end with the moving muscle 18.3 of interior getter is connected again.One end of abduction flexible steel cable 20.4 is connected with the upper end of torsion bar 21, walks around abduction pulley 19.6 and is connected with the upper end of abduction pneumatic muscles 18.4.The lower end that interior getter moves muscle 18.3, abduction pneumatic muscles 18.4 all links to each other by bolt with the lower end of side framework 1, anteflexion pneumatic muscles 18.1, after stretch pneumatic muscles 18.2 the lower end link to each other by bolt with the lower end of back frame 2.
As shown in Figure 3, main sliding chamber 11 is positioned at the below that connects fork 8, and is fixed on the side of side framework 1 near the patient back.Master slider 15 slides in main sliding chamber 11, and its exposed junction is fixedlyed connected with auxilliary sliding chamber 16.The chute in auxilliary sliding chamber 16 is from the horizontal by certain angle, and this angle is between 10 ° and 50 °, and auxilliary slide block 14 slides in auxilliary sliding chamber 16, and its end is connected with cranse 12 by secondary shaft 13, and cranse 12 can freely rotate around secondary shaft 13.Leave screwed hole on the cranse 12, can fix with upper limb after fastening binder.
Be not difficult to find out by above introduction, when the anteflexion pneumatic muscles in the back frame 2 18.1 and after when stretching pneumatic muscles 18.2 and shrinking respectively, as shown in Figure 5, anteflexion flexible steel cable 20.1 with after stretch flexible steel cable 20.2 and will spur and be connected fork 8 and side framework 1 and rotate with respect to suspension rod 6 around main shaft 7, and then by master slider 15 and secondary slide block 14 drive cranses 12 and upper arm do anteflexion/after stretch motion.On the other hand as shown in Figure 4, framework 1 can freely rotate around auxiliary spindle 10 because torsion bar 21 is fixed on the auxiliary spindle 10, when the moving muscle 18.3 of abduction pneumatic muscles 18.4 and interior getter shrinks respectively, side framework 1 will be subjected to respectively along counterclockwise and clockwise torsional interaction, thereby side framework 1 will rotate around auxiliary spindle 10, and then drive cranses 12 and upper arm is done the abduction/adduction motion by master slider 15 and secondary slide block 14.If anteflexion pneumatic muscles 18.1, after stretch the moving muscle 18.3 of pneumatic muscles 18.2, interior getter and abduction pneumatic muscles 18.4 shrinks and diastole in order according to certain rule, cranse 12 just can drive upper arm freely-movable in the space of human body one side, thereby reaches the purpose of shoulder joint being carried out rehabilitation training.Gather active force information between motion and the trouble limb in real time if gather the relative position of suffering from limb and torque sensor in real time in conjunction with related sensor such as angular displacement sensor again, control system just can be regulated pneumatic muscles in real time under specified training mode aeration quantity realizes the passive coordination control of master to suffering from limb.
Below introduce in detail the concrete formation that supports guiding mechanism II.
As shown in Figure 6, support guiding mechanism II and comprise main support rod 22, the first hooks 23.1, the second hooks 23.2, first connecting rod 24.1, second connecting rod 24.2, the first slide blocks, 25.1, the second slide blocks 25.2 and levelling lever 26.
The profile of main support rod 22 be similar to symbol " ", its main body is an I-beam, and the two ends of I-beam entablature are respectively to being arranged with an arm, and these two arms vertically have the 3rd chute 28.3 and the 4th chute 28.4.First slide block 25.1 is connected with the 4th chute 28.4 with the 3rd chute 28.3 by adjusting nut respectively with second slide block 25.2, can regulate first slide block 25.1 and second slide block 25.2 vertical position by adjusting nut with respect to main support rod 22, first slide block 25.1 is connected with the lower end of first connecting rod 24.1 with second connecting rod 24.2 along the outside of entablature place direction respectively with second slide block 25.2, first connecting rod 24.1 and second connecting rod 24.2 respectively can be around connecting axle with respect to first slide block 25.1 and second slide block 25.2 at the vertical plane internal rotation, the upper end of first connecting rod 24.1 and second connecting rod 24.2 links together with first lower end of linking up with 23.1 and second hook 23.2 respectively, first hook, 23.1 and second hook 23.2 can also be respectively around connecting axle with respect to the upper end of first connecting rod 24.1 and second connecting rod 24.2 at the vertical plane internal rotation, first hook, 23.1 and second hook 23.2 be hung in the patient about on two shoulders.The top length direction along crossbeam of an end of main support rod 22 entablatures is provided with a cantilever beam in addition, the upper side of this cantilever beam is equipped with levelling lever 26, the middle part of levelling lever 26 vertically has the 5th chute 28.5, and levelling lever 26 can be realized by adjusting nut with respect to the horizontal level of main support rod 22.The outside end face of levelling lever 26 leaves screwed hole, is connected the side of gripper shoe 4 by attachment screw.
The screwed hole that binder is installed is left at the two ends of going up middle part and following end floor beam of main support rod 22 vertical beams respectively, and binder is walked around the waist and belly of human body, is used for preventing to support guiding mechanism and rocks at human body back.
Be not difficult to find out that by above description this support guiding mechanism is in supporting movement mechanism, also possess adjust motion human body back up and down with the ability of position, the left and right sides, thereby make this training devices can be applicable to different bodily form rehabilitation patients' healing and training shoulder joint.
The rectilinear motion of the present invention when pneumatic muscles is shunk is converted into the rotation of side framework 1, taked the method for pulley guiding flexible steel cable, make that flexible steel cable can be along the radial direction pulling rotating shaft of rotating shaft, thereby the pulling force of pneumatic muscles is converted into around the shaft moment of torsion, and then has realized the rotation of side framework 1.Because the center of rotation of motion departs from the center of rotation of human body shoulder joint inevitably, for rehabilitation training can being carried out safely and effectively and the patient being felt comfortably cool, the present invention has installed a cover slide mechanism on side framework 1, the passive slip by slide block with the Motion Transmission of side framework 1 to the human body upper arm.
The structure of second kind of specific implementation of the present invention shown in Fig. 7~9, the profile simileys of side framework 31 " ", its upper end vertically has a vertical slots, and torsion bar 21 is installed in the groove.The profile of connection fork 29 as shown in figure 11, connecting fork 29 matches with main shaft 7 by the circular hole on it, and can rotate around main shaft 7, connect fork 29 and respectively be provided with anteflexion tack 32 and rear extending ear hook 33 in the radial both sides of circular hole in the top, also respectively have a circular hole on two arms of its lower end, the upper end of side framework 31 is clipped between two arms that connect fork 29 lower ends.According to order from outside to inside, auxiliary spindle 10 passes successively and connects fork 29, side framework 31 and torsion bar 21, wherein connect fork 29 and fixedly connected with auxiliary spindle 10 with torsion bar 21, side framework 31 flexibly connects with auxiliary spindle 10, and side framework 31 can rotate around auxiliary spindle 10.The two ends of side framework 31 upper side frames are equipped with abduction pulley 19.6 and interior receipts pulley 19.5 respectively, and abduction pneumatic muscles 18.4 all is connected with the lower end of side framework 31 with the lower end of the moving muscle 18.3 of interior getter; One end of abduction flexible steel cable 20.4 is connected with abduction pneumatic muscles 18.4 upper ends, walking around abduction pulley 19.6 is connected with the upper end of torsion bar 21 again, an interior end of receiving flexible steel cable 20.3 is connected with the upper end of the moving muscle 18.3 of interior getter, receives pulley 19.5 in walking around and is connected with the lower end of torsion bar 21.Anteflexion flexible steel cable 20.1 one ends are connected with anteflexion tack 32, walk around the second anteflexion pulley 19.3 successively, the upper rail of leading block 3, and the first anteflexion pulley 19.1, the upper end with anteflexion pneumatic muscles 18.1 is connected again.After stretch flexible steel cable 20.2 one ends and link to each other with rear extending ear hook 33, and stretch pulley 19.2 after walking around the lower guide channel, first of stretching pulley 19.4, leading block 3 after second successively, again with after stretch pneumatic muscles 18.2 the upper end be connected.The structure of installing described in other structure among this embodiment and the specific embodiment is duplicate.
Under the prerequisite that does not change the basic exercise function, device for healing and training involved in the present invention can also be done further adjustment on some partial structurtes, as the layout between pneumatic muscles, pulley and the flexible steel cable.The present invention not only is confined to this two embodiment, and every employing project organization of the present invention and thinking are structurally carried out modification to a certain degree, all fall into the scope of protection of the invention.

Claims (3)

  1. FF-2. the upper end of (18.4) is connected; The lower end that interior getter moves muscle (18.3), abduction pneumatic muscles (18.4) links to each other with the lower end of side framework, anteflexion pneumatic muscles (18.1), after stretch pneumatic muscles (18.2) the lower end link to each other with the lower end of back frame (2);
    Main sliding chamber (11) is positioned at the below that connects fork, and is fixed on the side of side framework near the patient back; Master slider (15) slides in main sliding chamber (11), and master slider (15) exposed junction is fixedlyed connected with auxilliary sliding chamber (16); The chute and the angle between the horizontal direction in auxilliary sliding chamber (16) are 10 °~50 °, and auxilliary slide block (14) slides in auxilliary sliding chamber (16), and auxilliary slide block (14) is terminal to be connected with cranse (12) by secondary shaft (13), and cranse leaves connecting hole on (12).
  2. 2. device according to claim 1 is characterized in that: the profile simileys of side framework Front side truckle (17.1) and rear side pulley (17.2) are installed on the side framework, rear side truckle (17.2) be positioned at receive pulleys (19.5) under, front side truckle (17.1) is installed in the side of rear side pulley (17.2) near the patient back;
    The circular hole that connects the upper end of fork matches with main shaft (7), the side that connects the fork lower end has a counterbore, the end of auxiliary spindle (10) is inserted in this counterbore and with to be connected fork fixedly connected, the set tack of opposite side of connection fork lower end is fixedlyed connected with an end of anteflexion flexible steel cable (20.1).
  3. 3. device according to claim 1 is characterized in that: the profile simileys of side framework The circular hole that connects the fork upper end matches with main shaft (7), the radially both sides that connect the circular hole of fork upper end respectively are provided with anteflexion tack (32) and rear extending ear hook (33), also respectively have a circular hole on two arms of connection fork lower end, the upper end of side framework is clipped between two arms that connect the fork lower end.
CN200710168510XA 2007-11-28 2007-11-28 Device for healing and training shoulder joint CN101181177B (en)

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CN104287936B (en) * 2014-10-22 2015-10-28 华中科技大学 A kind of coupled motions mechanism and comprise the device for healing and training shoulder joint of this mechanism
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