CN103190999B - Rehabilitation training device for range of upper-limb joint motion - Google Patents
Rehabilitation training device for range of upper-limb joint motion Download PDFInfo
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- CN103190999B CN103190999B CN201210005049.7A CN201210005049A CN103190999B CN 103190999 B CN103190999 B CN 103190999B CN 201210005049 A CN201210005049 A CN 201210005049A CN 103190999 B CN103190999 B CN 103190999B
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Abstract
A rehabilitation training device for range of upper-limb joint motion comprises a control box, a motor, an encoder, a driver, an upper-limb bracket, an angle sensor and a photoelectric switch, wherein the upper-limb bracket comprises a follow-up rotor, a free rotor, a transverse adjustment lever, a longitudinal adjustment lever and an arm support. The rehabilitation training device for range of upper-limb joint motion has the advantages of small size, safety and reliability and scientific and reasonable design, can effectively exercise upper-limb muscles to enable quick rehabilitation of a patient and can be used for both active training and passive training, the passive training angle can be set at any angle within the maximum stretching angle during active training and can be increased according to the rehabilitation situation of the patient.
Description
Technical field
The present invention relates to exercising device, particularly a kind of upper limb joint mobility device for healing and training.
Background technology
For because of arthralgia, traumatic arthritis and suffer from the patient of deformity, apoplexy, hemiplegia or spinal injury, Most patients range of motion is limited, activity of daily living critical constraints.Clinical proof, suitable active or auxiliary continuous passive motion are the effective ways recovering joint normal activity degree.But current training has come mainly through active training, passive exercise is generally fixing joint mobility, is difficult to the different rehabilitation processes adapting to patient, even if there is the help of rehabilitation teacher or nursing staff, training effect is also desirable not to the utmost, and training process trouble, difficulty are large.Therefore extremely need a kind ofly can effectively help them to carry out upper limb joint mobility to carry out initiatively and the intelligent rehabilitation instrument of passive exercise and evaluation.
Summary of the invention
Object of the present invention, patient can be provided to carry out initiatively or the upper limb joint mobility device for healing and training of passive exercise to provide a kind of exactly, when passive exercise, when determining passive exercise by range of motion during active training, range of motion carries out suitable training, provide simultaneously carry out fast with the passive exercise of auto-selecting parameter.
To achieve these goals, present invention employs following technical scheme: a kind of upper limb joint mobility device for healing and training, it comprises:
Control cabinet, the front of control cabinet is provided with for inputting and showing the rotating speed of motor and the control panel of corner parameter;
Motor, is arranged in control cabinet, and its rotating shaft is stretched out to a side of control cabinet;
Encoder, to be arranged in control cabinet and to communicate with control panel and be connected;
Driver, is arranged in control cabinet, and its input is connected with encoder, and output is connected with motor;
Upper limb bracket, is arranged on the outside of control cabinet and is connected with machine shaft transmission or not transmission;
Angular transducer, to be arranged in upper limb bracket and to communicate with encoder and be connected;
Optoelectronic switch, is sent to encoder with the encoder position signalling be connected machine shaft that communicates below the rotating shaft being arranged on motor.
Described upper limb bracket comprises servo-actuated rotor, free rotor, lateral adjustments bar, longitudinal adjusting rod and arm holder; Servo-actuated rotor to be fixed on machine shaft and to rotate along with machine shaft; Free rotor to be sleeved on machine shaft and to be arranged on the outside of servo-actuated rotor, and free rotor can freely rotate, or is fixedly linked by synchronizer knob and servo-actuated rotor and follows servo-actuated rotor turns; Lateral adjustments bar is connected laterally on free rotor, and it crosses out length and can regulate; Longitudinal adjusting rod is longitudinally connected to the below of lateral adjustments bar, and its longitudinal extension elongation can regulate; Arm holder and longitudinal adjusting rod are fixedly linked and are synchronized with the movement along with longitudinal adjusting rod; Described angular transducer is arranged in free rotor.
Described upper limb joint mobility device for healing and training can carry out active training and passive exercise; During active training, motor does not rotate, and free rotor is not connected with servo-actuated rotor but rotates around machine shaft; Electric machine rotation during passive exercise, free rotor and servo-actuated rotor are fixedly linked and follow servo-actuated rotor turns; Passive exercise mode comprises Fast Training and auto-selecting parameter training, and the motor speed of Fast Training is divided into quick 180 °/s, middling speed 120 °/s and 60 °/s at a slow speed; During auto-selecting parameter training, motor speed can be arranged on≤arbitrary value of 180 °/s.
The reference position of the original position when installation site of described optoelectronic switch resets as machine shaft and set corner.
Upper limb joint mobility device for healing and training compact of the present invention, safe and reliable, design science is reasonable, can effective exercise muscle of upper extremity, makes patient's quick recovery.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of upper limb joint mobility device for healing and training of the present invention;
Fig. 2 is decomposition texture schematic diagram of the present invention;
Fig. 3 of the present inventionly faces structural representation;
Fig. 4 is the structural representation of the bracket in the present invention;
Fig. 5 is Control system architecture block diagram of the present invention.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
See Fig. 1, coordinate see Fig. 2, Fig. 3, Fig. 4, Fig. 5, upper limb joint mobility device for healing and training of the present invention, comprises control cabinet 1, motor 2, encoder 3, driver 4, upper limb bracket 5, angular transducer 6 and optoelectronic switch 7.
The front of control cabinet 1 is provided with for inputting and showing the rotating speed of motor and the control panel 11 of corner parameter;
Motor 2 is arranged in control cabinet 1, and its rotating shaft 21 is stretched out to a side of control cabinet;
Encoder 3 to be arranged in control cabinet 1 and to communicate with control panel 11 and is connected;
Driver 4 is arranged in control cabinet 1, and its input is connected with encoder 3, and output is connected with motor 2;
Upper limb bracket 5 is arranged on the outside of control cabinet 1 and is connected with machine shaft 21 transmission or not transmission;
Angular transducer 6 is arranged in the free rotor 52 of upper limb bracket 5, and communicates with encoder 3 and be connected;
Encoder is sent to encoder 3 position signalling be connected machine shaft that communicates below the rotating shaft that optoelectronic switch 7 is arranged on motor.
Coordinate see Fig. 2, Fig. 4, the upper limb bracket 5 in the present invention comprises servo-actuated rotor 51, free rotor 52, lateral adjustments bar 53, longitudinal adjusting rod 54 and arm holder 55.Servo-actuated rotor 51 to be fixed on machine shaft 21 and to rotate along with machine shaft; Free rotor 52 to be sleeved on machine shaft 21 and to be arranged on the outside of servo-actuated rotor 51, and free rotor 52 can freely rotate, or is fixedly linked by synchronizer knob 56 and servo-actuated rotor and follows servo-actuated rotor turns; Lateral adjustments bar 53 is connected laterally on free rotor 52, and it is crossed out length and can be regulated by transverse bar tightening knob 57; Longitudinal adjusting rod 54 is longitudinally connected to the below of lateral adjustments bar 53, and its longitudinal extension elongation can be regulated by longitudinal rod tightening knob 58; Arm holder 55 and longitudinal adjusting rod 54 are fixedly linked and are synchronized with the movement along with longitudinal adjusting rod.
Upper limb joint mobility device for healing and training in the present invention can carry out active training and passive exercise; During active training, motor does not rotate, and free rotor is not connected with servo-actuated rotor but rotates around machine shaft; Electric machine rotation during passive exercise, free rotor and servo-actuated rotor are fixedly linked and follow servo-actuated rotor turns; Passive exercise mode comprises Fast Training and auto-selecting parameter training, and the motor speed of Fast Training is divided into quick 180 °/s, middling speed 120 °/s and 60 °/s at a slow speed; During auto-selecting parameter training, motor speed can be arranged on≤arbitrary value of 180 °/s.
The reference position of the original position when installation site of the optoelectronic switch in the present invention resets as machine shaft and set corner.
This device adopts encoder, and adopts MD204L main screen to communicate with encoder.The angular transducer 6 being positioned at free rotor 52 inside maximumly bends and stretches angle and as maximum angle during passive exercise for what detect patient's elbow joint.During use, first do active movement, bend and stretch angle, need unscrew synchronizer knob 56 to detect the maximum of patient's elbow joint, arm is put in arm holder 55 fixing; Arm holder is tried one's best level, regulates the height of longitudinal adjusting rod 54, make forearm center line and machine shaft 21 be on same level line; On previous step basis, regulate the extension elongation of lateral adjustments bar 53, make center, elbow joint left and right aim at machine shaft 21.When carrying out passive movement after active movement completes, screw synchronizer knob 56, arm is put in arm holder 55 fixing; Arm holder 55 is tried one's best level, regulates the height of longitudinal adjusting rod 54, make forearm center line and machine shaft 21 be on same level line; Regulate the extension elongation of lateral adjustments bar 53, make center, elbow joint left and right aim at machine shaft 21.After arm places, can arrange training speed, the arbitrary speed that training speed can be arranged within 0 ~ 180 °/s according to patient's concrete condition is trained.
When using this upper limb joint mobility device for healing and training, patient can stand or be sitting in close to device on chair, and be placed on by forearm in the arm holder of device, user can select active training or passive exercise.In passive exercise process, device drives upper limbs to move back and forth, and when user finds the rotating speed of setting or corner is improper, can carry out resetting of parameter at any time, or powered-down, carries out passive exercise again after having reset parameter.
Claims (1)
1. a upper limb joint mobility device for healing and training, is characterized in that comprising:
Control cabinet, the front of control cabinet is provided with for inputting and showing the rotating speed of motor and the control panel of corner parameter;
Motor, is arranged in control cabinet, and its rotating shaft is stretched out to a side of control cabinet;
Encoder, to be arranged in control cabinet and to communicate with control panel and be connected;
Driver, is arranged in control cabinet, and its input is connected with encoder, and output is connected with motor;
Upper limb bracket, is arranged on the outside of control cabinet and is connected with machine shaft transmission or not transmission;
Angular transducer, to be arranged in upper limb bracket and to communicate with encoder and be connected;
Optoelectronic switch, is sent to encoder with the encoder position signalling be connected machine shaft that communicates below the rotating shaft being arranged on motor;
Described upper limb bracket comprises servo-actuated rotor, free rotor, lateral adjustments bar, longitudinal adjusting rod and arm holder; Servo-actuated rotor to be fixed on machine shaft and to rotate along with machine shaft; Free rotor to be sleeved on machine shaft and to be arranged on the outside of servo-actuated rotor, and free rotor can freely rotate, or is fixedly linked by synchronizer knob and servo-actuated rotor and follows servo-actuated rotor turns; Lateral adjustments bar is connected laterally on free rotor, and it crosses out length and can regulate; Longitudinal adjusting rod is longitudinally connected to the below of lateral adjustments bar, and its longitudinal extension elongation can regulate; Arm holder and longitudinal adjusting rod are fixedly linked and are synchronized with the movement along with longitudinal adjusting rod; Described angular transducer is arranged in free rotor;
Described upper limb joint mobility device for healing and training can carry out active training and passive exercise; During active training, motor does not rotate, and free rotor is not connected with servo-actuated rotor but rotates around machine shaft; Electric machine rotation during passive exercise, free rotor and servo-actuated rotor are fixedly linked and follow servo-actuated rotor turns; Passive exercise mode comprises Fast Training and auto-selecting parameter training, and the motor speed of Fast Training is divided into quick 180 °/s, middling speed 120 °/s and 60 °/s at a slow speed; During auto-selecting parameter training, motor speed can be arranged on≤arbitrary value of 180 °/s;
The reference position of the original position when installation site of described optoelectronic switch resets as machine shaft and set corner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210005049.7A CN103190999B (en) | 2012-01-09 | 2012-01-09 | Rehabilitation training device for range of upper-limb joint motion |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210005049.7A CN103190999B (en) | 2012-01-09 | 2012-01-09 | Rehabilitation training device for range of upper-limb joint motion |
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| Publication Number | Publication Date |
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| CN103190999A CN103190999A (en) | 2013-07-10 |
| CN103190999B true CN103190999B (en) | 2015-02-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210005049.7A Expired - Fee Related CN103190999B (en) | 2012-01-09 | 2012-01-09 | Rehabilitation training device for range of upper-limb joint motion |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103690333B (en) * | 2013-12-25 | 2016-03-23 | 南京理工大学 | A kind of with Biological Strength feedback stiffness variable knee-joint rehabilitation training device and method |
| CN104706504A (en) * | 2015-03-26 | 2015-06-17 | 广西大学 | Portable electric control device for preventing and relieving scapulohumeral periarthritis |
| CN108514496B (en) * | 2018-05-11 | 2023-11-24 | 常州市钱璟康复股份有限公司 | Rehabilitation training system and method for evaluating upper limb joint function |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1961848A (en) * | 2006-11-24 | 2007-05-16 | 浙江大学 | Flexible exoskeleton elbow joint based on pneumatic muscles |
| CN102114318A (en) * | 2011-01-19 | 2011-07-06 | 大连交通大学 | Lower limb joint rehabilitation training device |
| CN202547862U (en) * | 2012-03-02 | 2012-11-21 | 成都中科唯实仪器有限责任公司 | Double-resistance single-ionization compound vacuum gauge |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4110203B2 (en) * | 2005-10-11 | 2008-07-02 | 松下電器産業株式会社 | Operation support device |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1961848A (en) * | 2006-11-24 | 2007-05-16 | 浙江大学 | Flexible exoskeleton elbow joint based on pneumatic muscles |
| CN102114318A (en) * | 2011-01-19 | 2011-07-06 | 大连交通大学 | Lower limb joint rehabilitation training device |
| CN202547862U (en) * | 2012-03-02 | 2012-11-21 | 成都中科唯实仪器有限责任公司 | Double-resistance single-ionization compound vacuum gauge |
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| CN103190999A (en) | 2013-07-10 |
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