CN104784888B - A kind of large arm and forearm recovery training appliance for recovery - Google Patents
A kind of large arm and forearm recovery training appliance for recovery Download PDFInfo
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- CN104784888B CN104784888B CN201510213091.1A CN201510213091A CN104784888B CN 104784888 B CN104784888 B CN 104784888B CN 201510213091 A CN201510213091 A CN 201510213091A CN 104784888 B CN104784888 B CN 104784888B
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- 210000000245 forearm Anatomy 0.000 title claims abstract description 59
- 238000011084 recovery Methods 0.000 title claims abstract description 46
- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 238000001514 detection method Methods 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 210000001364 upper extremity Anatomy 0.000 description 18
- 230000033001 locomotion Effects 0.000 description 14
- 210000002310 elbow joint Anatomy 0.000 description 12
- 230000000694 effects Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 3
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000003814 drug Substances 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008499 blood brain barrier function Effects 0.000 description 1
- 210000001218 blood-brain barrier Anatomy 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000005191 phase separation Methods 0.000 description 1
- 230000003716 rejuvenation Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
The invention discloses a kind of large arm and forearm recovery training appliance for recovery, belong to rehabilitation medical instrument field.The training aids includes base, column is provided with base, overarm is connected with column, one end of crossbeam is rotatably connected in overarm, the frame that swings is rotatably connected on the other end of crossbeam, and being rotatably connected to large arm on the frame that swings swings up and down frame, and the bearing pin that connection large arm bondage device is provided with frame is swung up and down in large arm, swung up and down in large arm and be provided with above frame elastic pulling force device one, circumferential and the circumference of rotating shaft two the locking device of rotating shaft one is provided with crossbeam；Large arm swings up and down erection and is equipped with length adjustment mechanism, and forearm is swung up and down frame and rotated by vertical direction rotating shaft five and swing up and down frame front end setting large arm, and forearm swings up and down and be provided with frame elastic pulling force device two.The present apparatus facilitates different patients to be directed to itself large arm, each joint of forearm to be needed to carry out emphasis training.
Description
Technical field
The present invention relates to a kind of recovery training appliance for recovery, more particularly to a kind of large arm and forearm recovery training appliance for recovery belong to rehabilitation doctor
Treat instrument field.
Background technology
The existing hemiplegic patient of China increases year by year, and rejuvenation trend is substantially, and Most patients side limbs occur
Part or all of dysfunction, actively treatment is the means for improving patients ' life quality in time, and traditional medicine is often difficult to lead to
Blood-brain barrier is crossed, effect is mostly not fully up to expectations, and such drug price is high, and physiatrician's treatment is needed to professional rehabilitation
Medical institutions, queue waiting time is long, and patient loses patience in the course of time, is at present to ensure patient using recovery training appliance for recovery
One important means of rehabilitation effect.
Existing large arm and forearm rehabilitation appliances are generally that exterior power drives, and control system is complicated, and security is poor, cost compared with
Height, many patients are economically difficult to bear, or the single autokinetic movement of forms of motion, and Rehabilitation interest is low, this large arm
Extrinsic power source is not used with the multiple training aids of forearm, patient's upper limbs autokinetic movement is realized, is changed less parts and is realized opposite side
Large arm and forearm rehabilitation training, equipped with articulation angle detection means, the rehabilitation efficacy of Real-Time Evaluation patient.
The content of the invention
It is an object of the invention to carry out autonomous rehabilitation, realization for large arm or the poor patient of arm movements function provide one kind
Large arm up and down, swing and forearm up and down, the recovery training appliance for recovery that swings.
The object of the present invention is achieved like this：A kind of large arm and forearm recovery training appliance for recovery, including base, are set on base
There is column, direct or indirect connection has an overarm on column, one end of crossbeam is rotatably connected on outstanding by the rotating shaft one of vertical direction
Liang Shang, the frame that swings is rotatably connected on the other end of crossbeam by the rotating shaft two on vertical direction, passes through on the frame that swings
The axis of rotation of horizontal direction is connected with large arm and swings up and down frame, to swing up and down be provided with frame in large arm and is tied up for connecting large arm
The bearing pin of device is tied up, described bearing pin is separately positioned on the both sides of large arm, be connected with large arm bondage device and be detachably connected on pin
On axle, swung up and down in large arm and be provided with above frame elastic pulling force device one, one end of elastic pulling force device one is fixed, another
End is connected with bracing wire one, and bracing wire one is fixedly connected on large arm and swings up and down on frame by the other end after fixed pulley one, on crossbeam
It is provided with along rotating shaft one circumferentially and along the locking device of the circumference of rotating shaft two；Large arm swings up and down erection and is equipped with length adjustment mechanism,
Forearm swing up and down frame by vertical direction rotating shaft five rotate set large arm swing up and down frame front end, forearm is swung up and down on frame
Elastic pulling force device two is installed, the adjustable small fupport arm of fore-and-aft direction, the bottom in large arm are installed on elastic pulling force device two
Position fixing apparatus of the forearm swing span along the circumference of rotating shaft five are provided with moving frame, further, described rotating shaft one, rotating shaft
2nd, angle detection device is provided with rotating shaft five, further, described large arm swings up and down frame turning including horizontal direction
Axle three, described rotating shaft three is rotatably connected on and swings on frame, and described swing span lower end is in fork-shaped, and the two ends of rotating shaft three rotate
Be connected on two fork-shaped parallel edges, rotated on two parallel edges of swing span be provided with it is parallel with rotating shaft three positioned at rotating shaft
The rotating shaft four of three lower sections, the rear end thereof of sleeve pipe one is connected in rotating shaft three, and the rear end thereof of sleeve pipe two is connected in rotating shaft four, sleeve pipe
The mobile bar one being slidably connected therewith is installed in the front end endoporus of one through hole, be provided with the front end endoporus of the through hole of sleeve pipe two with
The mobile bar two being slidably connected, described mobile bar one forms chain connection by jointed shaft one with the vertical edge of L-type support one,
Mobile bar two forms chain connection by jointed shaft two with the vertical edge of L-type support one, and rotary encoder is provided with jointed shaft two
Three, the following fork portion of described swing span, sleeve pipe one, mobile bar one, L-type support one, adjusting lever two, mobile bar dimorphism
Into parallelogram lindage, described sleeve pipe one is fixedly arranged at the front end with bracket one, and the front end of sleeve pipe two is equally fixed with bracket two, carrier frame plate
One end forms chain connection by jointed shaft three and bracket one, and the carrier frame plate other end forms hinge by jointed shaft four with bracket two
Connection, carrier frame plate is formed to rotate with bearing pin and is connected, and described bearing pin to the left and right stretch out with same structure, bearing pin right-hand member by both sides
Large arm bondage device is fixed with, carrier frame plate, sleeve pipe one, mobile bar one, L-type support one, sleeve pipe two, mobile bar two form parallel four
Linkage, further, fixed pulley one is rotatably connected on the side of rotating shaft three, and the bracing wire for matching therewith is provided with fixed pulley one
One, one end of bracing wire one is connected on elastic pulling force device one, and the other end is fixedly connected on bracket two after crossing fixed pulley one, is entered
One step, described elastic pulling force device one includes the fixed spring support in the top of bracket one, and adjustment bolt one is rotatably connected on
Spring support front end, adjustment bolt one forms threaded engagement with round nut one, and the outer round surface of round nut one is fixed with guiding
Bolt one, guide blot is slidably arranged in the elongated slot that spring support is opened up, and round nut one is fixed on the front end of spring one,
The other end of spring one is fixed on one end of bracing wire one, and elastic pulling force device two is identical with the structure of elastic pulling force device one, further
, described rotating shaft one, rotating shaft two, the angle detection device set in rotating shaft five are rotary encoder, further, in horizontal stroke
Rotating shaft one is respectively arranged with beam circumferentially and along the locking device of the circumference of rotating shaft two, the locking device along the circumference of rotating shaft one is：It is outstanding
Spring catch one and spring catch two are symmetrically installed with positioned at the left and right sides of rotating shaft one on beam, relevant position opens up circular hole on crossbeam,
Above-mentioned two spring catch coordinates with circular hole realizes crossbeam along the Peripheric locking of rotating shaft one, and the locking device along the circumference of rotating shaft two is：
Swing frame rotation lock and loosening device, described swing frame rotation lock and loosening device bag are provided with crossbeam
The spring catch three being arranged on crossbeam is included, disk is fixedly connected with rotating shaft three, along the circumferentially corresponding position of spring catch three of disc face
It is provided with multiple circular holes, spring catch three to be inserted or pull out realize in circular hole to swing and frame rotation lock and loosened, further,
Position regulator is fixedly installed in overarm, described position regulator includes the fixed supporting plate in column top, branch
The line slideway horizontally disposed in left-right direction that fagging upper surface is fixed, is equipped with sliding block on line slideway, overarm lower end leads to
The overarm fixed block for crossing the fixation of sliding block upper surface is fixedly connected on fixed sliding block, and it is solid that the lower section screw portion of handwheel one sets overarm
Determine in the screw of block, its screw rod lower end of handwheel one is rotatably connected to compression boots, further, described spring catch one includes outer
Shell, removable pin, stage clip, draw ring, backing pin, removable pin rotate coaxially setting with shell, and backing pin, and rear end are fixed with removable pin
Formed to rotate with draw ring and be connected, stage clip one end is withstood on removable pin boss, and the other end is withstood on shell indent step, outer casing back
It is provided with shallow grooves and circumferencial direction is separated by 90 degree of deep groove and backing pin is moved in its groove, each spring catch is identical, enters
One step, described large arm bondage apparatus structure is：The fixed bandage in fupport arm right side, fupport arm left side is provided with the elastic component of Ω types,
Its two ends is fixed in fupport arm, and fastener is fixed in fupport arm, and positioned at the left side of elastic component, fastener is provided with the groove of above-below direction,
The annular groove that bearing pin is opened up is slidably arranged in groove, the circular hole in the middle of described elastic component and the cylindrical matching of end part of pin shaft, enters one
Step, the length adjustment mechanism that the large arm swings up and down frame setting is：Bevel gear one and band are fixed with described rotating shaft three
Wheel one, is fixed with bevel gear two, belt wheel two in rotating shaft four, belt wheel one forms V belt translation, belt wheel one and band by band with belt wheel one
It is 1 to take turns two numbers of teeth:1, described bevel gear one engages with bevel gear three, and bevel gear three is fixed on the rear end of adjusting lever one, adjustment
The internal thread that the front end of bar one is provided with screw thread and is set with the rear end of mobile bar one is screwed, the described rear portion of mobile bar one for it is hollow with
The screw portion of adjusting lever one front end is accommodated, the described front end of sleeve pipe one is arranged to fork-shaped, its parallel edges of fork-shaped two and rotating shaft three
Formed and rotate connection, described bevel gear one is located between two parallel edges of the rear end fork-shaped of sleeve pipe one, under described sleeve pipe two
End is again provided with adjusting lever two, bevel gear four with adjusting lever one, angular wheel three-phase with mounting structure, described bevel gear
One is equal with the gear ratio of bevel gear four with the gear ratio of bevel gear three and bevel gear two, and further, described large arm is upper and lower
Swing span length front end swings up and down frame and is formed and rotates the structure that is connected and be by vertical direction rotating shaft five and forearm：In large arm
Bottom moving frame length front end connects L-type support one, and forearm swing span is connected in L-type support two, the horizontal sides of L-type support one and L
The side's horizontal sides of type support two rotate connection by rotating shaft five, and elastic pulling force device two is connected to L by the rotating shaft six of horizontal direction
On the vertical edge of type support two, rotary encoder five is installed in rotating shaft six, further, the one end of bracing wire two is fixed on elastic pulling force
On the spring two of device two, bracing wire two bypasses the fixed pulley two on spring support two, and the other end is fixed on L-type support two
The top of vertical edge, further, described large arm swings up and down the forearm swing span of setting on frame along the position of the circumference of rotating shaft five
Putting fixing device is：Frame length front end connection L-type support one is swung up and down in large arm, forearm swing span is connected to L-type support two
On, the horizontal sides of L-type support one are rotated by rotating shaft five with the side's horizontal sides of L-type support two and are connected, and lock fastener passes through jointed shaft five
Be connected to the vertical flank side surface of L-type support one, set fluted on lock fastener, the vertical edge of L-type support two be correspondingly arranged on it is recessed
The corresponding straight pin of groove, further, the lower surface of spring support two in described elastic pulling force device two is provided with inversion
T-shaped guide rail, small fupport arm one end upper surface is arranged to the sliding block being engaged with guide rail, and the lower surface of small its slide position of fupport arm sets
The screwed hole for running through put, is screwed with the screw rod on handwheel two, and the lower surface for making the screw rod end of handwheel two compress guide rail is come with this
The small fupport arm of fixation, described small fupport arm upper surface is fixed with small arm blaster, and described small arm blaster is fixed with forearm bandage, enters one
Step, the centre position of rotating shaft three is provided with into axisymmetric two parallel planes.
Positive Advantageous Effects of the invention are：Compared with prior art, the invention has the advantages that：One is real
Existing large arm, the single joint of forearm or multi-joint linkage, facilitate different patients to need to carry out weight for itself large arm, each joint of forearm
Point training；Two is to provide power without the external world, safe by patient's autokinetic movement；Three is to change less parts, can
Other side large arm, forearm rehabilitation training are realized, it is cost-effective；Four is that multiple fixed positions are adjustable, improves exercise-based rehabilitation program on patients
Comfort level.
Brief description of the drawings
Fig. 1 is the overall construction drawing of upper-limb recovery training device.
Fig. 2 is rehabilitation training of upper limbs mechanism section structural representation.
Fig. 3 is column and base portion structural representation.
Tu4Shi rehabilitation training of upper limbs mechanism right position adjusting apparatus structural representation.
Fig. 5 is overarm part-structure schematic diagram.
Fig. 6 is spring catch structural representation.
Fig. 7 is header portion structural representation.
Fig. 8 is large arm or so and swings up and down components structural representation.
Fig. 9 is the length-adjusting portion structural representation that large arm swings up and down component.
Figure 10 is that large arm swings up and down components structural representation one.
Figure 11 is that large arm swings up and down components structural representation two.
Figure 12 is the structural representation of large arm elastic pulling force device one.
Figure 13 is elbow joint wobble component structural representation one.
Figure 14 is elbow joint wobble component structural representation two and the structural representation of forearm elastic pulling force device two.
Figure 15 is that forearm swings up and down length component regulation part-structure schematic diagram.
Figure 16 is large arm fixture structure schematic diagram.
Specific embodiment
With reference to Fig. 1~16, a kind of upper-limb recovery training device of the invention includes base 1, column 2, rehabilitation training of upper limbs machine
Structure right position adjusting apparatus 3, overarm 4, seat 5 and rehabilitation training of upper limbs mechanism.Bearing definition during seat is seated at according to people
Left and right directions, in order to describe the application.
Described rehabilitation training of upper limbs mechanism swings up and down group including crossbeam 100, the large arm component 200, large arm that swings
Part 300, elbow joint wobble component 400, forearm swing up and down component 500, each several part included by rehabilitation training of upper limbs mechanism with
Cascade is connected.
The described downside of base 1 is provided with the universal wheel 11 of brake, described to facilitate the movement of upper-limb recovery training device
Column 2 including lower end electric lifting vertical column 21 and be fixed thereon end square beam 22, can be according in the comfort tuning of patient
The height of limbs rehabilitation training mechanism.
Described rehabilitation training of upper limbs mechanism right position adjusting apparatus 3 include the fixed supporting plate 31 in the top of column 2, branch
The line slideway 32 horizontally disposed in left-right direction that fagging upper surface is fixed, is equipped with sliding block 36, sliding block on line slideway 32
36 upper surfaces are fixed with overarm fixed block 33, and its screw portion of handwheel 1 forms threaded engagement, handwheel with overarm fixed block 33
Compression boots 35 are installed, by rotation hand wheel 1 and overarm in the way of external part is to rotate connection below one 34 its screw portion
The threaded engagement of fixed block 33 is acted on, and handwheel 1 is moved down with screw rod below, compression boots 35 is pressed on line slideway 32
Upper surface, the position of sliding block 36 is fixed with this.
The described lower end of overarm 4 is fixed on the beam fixed block 33 of rehabilitation training of upper limbs mechanism right position adjusting apparatus 3,
Its upper end is stretched out forwards, and it stretches out the cylinder 45 that end is connected with vertical direction, and the endoporus of cylinder 45 is provided with to be formed therewith and turns
The rotating shaft 1 of dynamic connection, one end of the lower end fixed cross beam 100 of rotating shaft 1 is provided with rotary encoder one in rotating shaft 1
42, it is used to detect that the which side in the upper limbs of the patient left and right sides carries out rehabilitation training, the both sides left and right directions of cylinder 45 is symmetrically installed
There are spring catch 1 and spring catch 2 43, crossbeam 100 offers a circular hole 100a, when crossbeam 100 turns to left side or right side,
Control spring catch 1 or the movable part of spring catch 2 43 carry out fixed cross beam 100 with circular hole 100a effects.
Described spring catch 1 includes shell 41d, removable pin 41b, stage clip 41c, draw ring 41a, backing pin 41e, described outer
Shell 41d and removable pin 41b is formed and is rotated coaxially cooperation, and backing pin 41e, and rear end and draw ring 41a shapes are fixed with removable pin 41b
Connected into rotating, described stage clip 41c one end is withstood on removable pin 41b boss, and the other end is withstood on shell 41d indent steps,
Shell 41d rear ends are provided with shallow grooves 41d-01 and circumferencial direction is separated by 90 degree of deep groove 41d-02 and makes the backing pin can be in its groove
It is interior movable, backing pin 41e is left the groove of shell 41d rear ends and is rotated by pulling draw ring 41a, fall backing pin 41e after rise
In shallow grooves 41d-01 or deep groove 41d-02, control removable pin 41b retracts or stretches out in front end.
The large arm component 200 that swings includes swinging frame 201, and the other end of described crossbeam 100 is fixed with vertically
The rotating shaft 2 102 that direction is set, and the end is also equipped with spring catch 3 101, and swing group below rotating shaft 2 102 with large arm
The frame 201 that swings in part 200 is formed and rotates connection, and the upper end of frame 201 that swings is provided with disk, disk and rotating shaft two
102 is coaxial, is evenly distributed with eight circular hole 201a in disk circumference, the circular hole 201a phase separations on spring catch 3 101 and disk,
Adjust the retraction of the removable pin of spring catch 3 101 or stretch out, the frame 201 that makes to swing freely is rotated or in eight circular holes
The relative position of 201a is fixed.
Large arm swing up and down component 300 include band 301, belt wheel 1, rotating shaft 3 303, rotating shaft four, bevel gear 1,
Bevel gear two, belt wheel 2 305, mobile bar 1, sleeve pipe 1, sleeve pipe 2 311, adjusting lever 1, adjusting lever two, movement
Bar 2 315, bevel gear 3 309, bevel gear four, fixed pulley 1, bracket 1, jointed shaft 1, jointed shaft 2 316, hinge
Spindle 4 319, L-type support 1, bracket 2 318, carrier frame plate 320, large arm bondage device 321, bearing pin 323, jointed shaft three
324th, bracing wire 1, elastic pulling force device one, jointed shaft 5 331, lock fastener 332.
Described elastic pulling force device one includes guide blot 1, adjustment bolt 1, round nut one 328, bullet
Spring bracket 1, spring 1.
The described lower end of rotating shaft 2 102 is provided with rotary encoder 2 202, and the described lower end of frame 201 that swings is in fork
Shape, two parallel edges of its fork-shaped are formed to rotate with the two ends of rotating shaft 3 303 and are connected, and bevel gear 1 is fixed with rotating shaft 3 303,
The right-hand member of rotating shaft 3 303 is fixed with belt wheel 1, and the lower end of rotating shaft 3 303 is provided with rotating shaft four, bevel gear two, band in the same fashion
2 305 are taken turns, belt wheel 1 forms V belt translation by band 301 and belt wheel 1, belt wheel 1 is 1 with the number of teeth of belt wheel 2 305:
1, described rotating shaft 3 303 is parallel with rotating shaft four.
Described bevel gear 1 engages with bevel gear 3 309, after bevel gear 3 309 is fixed on adjusting lever 1
End, the front end of adjusting lever 1 is provided with screw thread, and the internal thread 306a set with the rear end of mobile bar 1 is screwed, described shifting
The rear portion of lever 1 is the hollow screw portion to accommodate the front end of adjusting lever 1.Described mobile bar 1 and sleeve pipe one
307 formation are slidably matched.
The described front end of sleeve pipe 1 is arranged to fork-shaped 307a, and the parallel edges of its fork-shaped 307a two is formed with rotating shaft 3 303 and turned
Dynamic connection, fixed pulley 1 is formed to rotate and is connected with the left side of rotating shaft 3 303.The centre position of rotating shaft 3 303 is provided with into axle pair
The two parallel plane 303a for claiming, rotating shaft 3 303 is swung to spanner clamping.Described bevel gear 1 is located at sleeve pipe 1
Between two parallel edges of rear end fork-shaped 307a.The described lower end of sleeve pipe one is again provided with the adjusting lever of identical mounting structure
2nd, mobile bar 2 315, sleeve pipe 2 311, bevel gear four, described bevel gear 1 and the gear ratio of bevel gear 3 309 and cone
Gear two is equal with the gear ratio of bevel gear four, is rotated by adjusting rotating shaft 3 303, makes the band dynamic bevel gear three of bevel gear 1
309 rotate, and rotate adjusting lever 1, are acted on by its threaded engagement, move forward mobile bar 1, rotating shaft 3 303
Rotate simultaneously, the band movable belt pulley 2 305 of belt wheel 1 is rotated, and rotating shaft four is rotated, and makes mobile bar 2 315 synchronous in the same way
Forward extend out isometricly, to adjust the length that large arm swings up and down component 300.
Described mobile bar 1 forms chain connection by jointed shaft 1 and the vertical edge of L-type support 1, mobile
Bar 2 315 forms chain connection by jointed shaft 2 316 with the vertical edge of L-type support 1, and rotation is provided with jointed shaft 2 316
Turn encoder 3 314, swing the following fork portion of frame 201, sleeve pipe 1, adjusting lever 1, mobile bar one 306, L
Type support 1, sleeve pipe 2 311, adjusting lever two, mobile bar 2 315 form parallelogram lindage.Before described sleeve pipe 1
End is fixed with bracket 1, and the front end of sleeve pipe 2 311 is equally fixed with bracket 2 318, and the one end of carrier frame plate 320 passes through jointed shaft three
324 form chain connection with bracket 1, and the other end of carrier frame plate 320 forms hinge by jointed shaft 4 319 with bracket 2 318
Connection, carrier frame plate 320 is formed to rotate with bearing pin 323 and is connected, and the right-hand member of bearing pin 323 is fixed with large arm bondage device 321, carrier frame plate
320th, sleeve pipe 1, mobile bar 1, L-type support 1, sleeve pipe 2 311, mobile bar 2 315 form parallelogram lindage.
There is spring support 1 the described side of being fixed thereon of bracket 1, and cavity shape is arranged to inside it, adjustment
Bolt 1 is formed to rotate with the front end of spring support 1 and is connected, and adjustment bolt 1 forms spiral with round nut 1
Coordinate, the outer round surface of round nut 1 is fixed with guide blot 1, and guide blot 1 can be in spring support 1
Slided in the elongated slot 329a for being opened up, round nut 1 is fixed on the front end of spring 1, by rotating adjustment bolt one
327, under the guide effect of guide blot 1, make round nut 1 under the guide effect of guide blot 1, make spring
One 330 fixed position fore-aft adjustables, the other end of spring 1 is fixed on one end of bracing wire 1, and bracing wire 1 is bypassed determines cunning
Take turns 1 to be fixed on bracket 2 318, adjustment bolt 1, control spring 1 front end can be rotated according to patient comfort
Fixed position, adjust spring 1 elasticity, the initial position that patient's large arm swings up and down motion, patient are adjusted with this
When large arm is to lower swing, can make from the centre of gyration of fixed pulley 1 to the distance increase of bracket 2 318, and from fixed pulley 1
The centre of gyration is constant to the distance of spring support 1, so spring 1 is elongated, for patient provides the resistance of motion, patient
When large arm is swung up, can make to reduce from the centre of gyration of fixed pulley 1 to the distance of bracket 2 318, and from fixed pulley 1
The centre of gyration to the distance of spring support 1 keeps constant, so spring 1 is relaxed, large arm swings up and down component 300
And its component of front end connection provides the resistance that patient's large arm is moved upwards.
Described elbow joint wobble component 400 includes rotating shaft 5 401, L-type support 2 403, straight pin 404.
The described horizontal sides of L-type support 1 are set to the right, and horizontal sides pass through to turn to the right with L-type support 2 403 for it
Axle 5 401 is formed and rotates connection, and the lower end of rotating shaft 5 401 is provided with rotary encoder 4 402, is used to detect that the angle of elbow joint becomes
Change, the vertical edge centre position of L-type support 2 403 forms to rotate and is connected by rotating shaft 6 501 and spring support 2 502, rotating shaft six
On rotary encoder 5 503 is installed, be used to detect that patient's forearm swings up and down angle change relative to large arm.
The described vertical edge left surface of L-type support 1 makes the one end of lock fastener 332 shape therewith by jointed shaft 5 331
It is in the hinge connection, fluted 332a is set on lock fastener 332, the vertical edge of L-type support 2 403 is correspondingly arranged on straight pin 404,
When the vertical edge of L-type support 1 is fitted with the vertical edge of L-type support 2 403, the groove 332a parts of lock fastener 332 are stuck in
Straight pin 404, can make L-type support 1 not relatively rotated with L-type support 2 403.
Forearm swings up and down component 500 includes elastic pulling force device two, rotating shaft 6 501, bracing wire 2 505, fixed pulley two
506th, small fupport arm 511, handwheel 2 512, handwheel 3 513.
Described elastic pulling force device two includes spring support 2 502, spring 2 507, adjustment bolt 2 508, circular spiral shell
Female 2 510, guide blot 2 509.
Adjustment spring 2 507, tune are installed in the same fashion on described spring support 2 502 with elastic pulling force device one
Whole bolt 2 508, round nut 2 510, guide blot 2 509, the difference is that the one end of bracing wire 2 505 is fixed on spring 2 507
On, bracing wire 2 505 bypasses the fixed pulley 2 506 on spring support 2 502, and the other end is fixed on L-type support 2 403 and erects
The top of straight flange, is used to adjust and supports the weight of patient's forearm and provide forearm up and down motion resistance.
The described lower surface of spring support 2 502 is provided with inverted T-shaped guide rail 502a, one end upper surface of small fupport arm 511
It is arranged to the sliding shoe 511a being engaged with guide rail 502a, what the lower surface of its sliding shoe 511a of small fupport arm 511 positions was set passes through
Screw rod on the screwed hole worn, with handwheel 2 512 is screwed, make the screw rod end of handwheel 2 512 compress the lower surface of guide rail 502a with
This fixes small fupport arm 511, and the described upper surface of small fupport arm 511 is fixed with small arm blaster 514, described small arm blaster 514 is consolidated
Surely there is forearm bandage 515.
Described spring catch 2 43, spring catch 3 101 is with spring catch 1 with identical structure.
Described upper-limb recovery training device is also included on the symmetrical elbow joint wobble component 400 of patient and forearm
Component 500 is swung up and down, crossbeam 100 is turned to right side, large arm bondage device 321 is arranged on the left end of bearing pin 323, only removes original
Carry out elbow joint wobble component 400 and forearm swings up and down component 500, install on the symmetrical elbow joint wobble component of patient
400 and forearm swing up and down component 500, that is, realize the rehabilitation exercise of right side upper limbs.
During using this training aids, patient is sitting on seat 5, adjusts the height of column 2, then adjusts whole upper limb healing fortune
The height of motivation structure makes patient more comfortable, turns crossbeam 100 towards patient left side, using the fixed cross beam 100 of spring catch 2 43
The dynamic frame 201 that swings, makes large arm swing component 200 and the relatively comfortable position of patient's large arm, uses the spring catch 3 101 will
It is fixed, and patient's large arm is fixed on large arm bondage device 321, rotates adjustment bolt 1, adjusts the upper bottom of patient's large arm
The initial position of dynamic motion, using spanner rotating shaft 3 303, is moved forward or rearward mobile bar 1, makes rotating shaft five
401 are located at immediately below the elbow joint of patient, rotate L-type support 2 403 and are allowed to be fitted with L-type support 1, lock fastener 332
Fastened with straight pin 404, adjust the small front and back position of fupport arm 511, patient's forearm is fixed on small arm blaster 514, and patient now may be used
Swinging up and down for large arm or swinging up and down for forearm are carried out, output is big in real time for rotary encoder 3 314, rotary encoder 5 503
Arm or forearm rotational angle, trip spring pin 2 43, large arm can swing, and rotary encoder 2 202 exports large arm in real time
Rotational angle, unclamp lock fastener 332, patient's elbow joint can be rotated freely, and output elbow is closed rotary encoder 4 402 in real time
The rotational angle of section, more than patient each joint motions can by control its be locked mechanism's self-movement or multi-joint it is any
Aggregate motion, the movement angle in each joint of output patient, evaluates its rehabilitation situation.If patient right side upper limbs needs health
It is multiple, crossbeam 100 towards patient right side, large arm bondage device 321 can be made to be arranged on the left end of bearing pin 323, only remove original elbow joint
Wobble component 400 and forearm swing up and down component 500, install on the symmetrical elbow joint wobble component 400 of patient and small
Arm swings up and down component 500, realizes the rehabilitation exercise of right side upper limbs.
Claims (13)
1. a kind of large arm and forearm recovery training appliance for recovery, including base（1）, base（1）On be provided with column（2）, column（2）It is upper straight
Connect or be indirectly connected with overarm（4）, it is characterised in that：Crossbeam（100）One end by the rotating shaft one of vertical direction（44）Rotate
It is connected to overarm（4）On, swing frame（201）By the rotating shaft two on vertical direction（102）It is rotatably connected on crossbeam（100）
The other end, swing frame（201）The upper axis of rotation by horizontal direction is connected with large arm and swings up and down frame, in large arm
It is provided with bottom moving frame for connecting large arm bondage device（321）Bearing pin（323）, described bearing pin（323）It is respectively provided with
In the both sides of large arm, it is connected with large arm bondage device and is detachably connected on bearing pin（323）On, swing up and down the top of frame in large arm
Elastic pulling force device one is provided with, one end of elastic pulling force device one is fixed, and the other end is connected with bracing wire one（325）, bracing wire
（325）Large arm is fixedly connected on by the other end after fixed pulley one to swing up and down on frame, in crossbeam (100）On be provided with along rotating shaft
One (44）Circumferentially and along rotating shaft two (102）Circumferential locking device；Large arm swings up and down erection and is equipped with length adjustment mechanism, forearm
Frame is swung up and down by vertical direction rotating shaft five (401）It is rotatably arranged on large arm and swings up and down frame front end, forearm swings up and down frame
On elastic pulling force device two is installed, fore-and-aft direction adjustable small fupport arm (511 is installed on elastic pulling force device two）, in large arm
Swing up and down and be provided with frame forearm and swing up and down frame along rotating shaft five (401）Circumferential position fixing apparatus, described rotating shaft one
(44）, rotating shaft two (102）, angle detection device is provided with rotating shaft five (401), described large arm swings up and down frame includes water
Square to rotating shaft three (303）, described rotating shaft three (303）It is rotatably connected on the frame (201 that swings）On, described left and right pendulum
Moving frame (201）Lower end is in fork-shaped, rotating shaft three (303）Two ends are rotatably connected on two fork-shaped parallel edges, in the frame that swings
(201）Two parallel edges on rotate and be provided with and rotating shaft three (303）It is parallel positioned at rotating shaft three（303）The rotating shaft four of lower section,
Sleeve pipe one（307）Rear end thereof is connected to rotating shaft three（303）On, sleeve pipe two（311）Rear end thereof is connected in rotating shaft four, sleeve pipe
One（307）The mobile bar one (306 being slidably connected therewith is installed in the front end endoporus of through hole）, sleeve pipe two（311）Before through hole
The mobile bar two (315 being slidably connected therewith is installed in the endoporus of end）, described mobile bar one (306）By jointed shaft one
(313）With L-type support one (317）Vertical edge forms chain connection, mobile bar two (315）By jointed shaft two (316）With L-type branch
Frame one (317）Vertical edge forms chain connection, jointed shaft two (316）On rotary encoder three (314 is installed）, described left and right
Swing span (201）Following fork portion, sleeve pipe one (307）, mobile bar one (306）, L-type support one (317）, adjusting lever two,
Mobile bar two (315）Form parallelogram lindage, described sleeve pipe one (307）It is fixedly arranged at the front end with bracket one (312）, sleeve pipe two
(311）Front end is equally fixed with bracket two (318）, carrier frame plate (320）One end passes through jointed shaft three (324）With bracket one (312）
Form chain connection, carrier frame plate (320）The other end passes through jointed shaft four (319）With bracket two (318）Form chain connection, bracket
Plate (320）With bearing pin (323）Formed and rotate connection, described bearing pin (323）Both sides are stretched out with same structure, pin to the left and right
Axle (323）Right-hand member is fixed with large arm bondage device (321）, carrier frame plate (320）, sleeve pipe one (307）, mobile bar one (306）, L-type
Support one (317）, sleeve pipe two (311）, mobile bar two (315）Form parallelogram lindage.
2. a kind of large arm according to claim 1 and forearm recovery training appliance for recovery, it is characterised in that：Fixed pulley one（310）Turn
It is dynamic to be connected to rotating shaft three（301）Side, fixed pulley one（310）In the bracing wire one for matching therewith is installed（325）, bracing wire
（325）One end be connected on elastic pulling force device one, the other end crosses fixed pulley one（310）After be fixedly connected on bracket two
（318）On.
3. a kind of large arm according to claim 1 and forearm recovery training appliance for recovery, it is characterised in that：Described elastic pulling force dress
Putting one includes bracket one（312）The spring support that top is fixed（329）, adjustment bolt（327）It is rotatably connected on spring support
（329）Front end, adjustment bolt one（327）With round nut one（328）Form threaded engagement, round nut one（328）Cylindrical table
Face is fixed with guide blot one（326）, guide blot（326）It is slidably arranged in spring support（329）The elongated slot for being opened up
（329a）It is interior, round nut one（328）It is fixed on spring one（330）Front end, spring one（330）The other end is fixed on bracing wire one
（325）One end, elastic pulling force device two is identical with the structure of elastic pulling force device one.
4. a kind of large arm according to claim 1 and forearm recovery training appliance for recovery, it is characterised in that：In crossbeam（100）Upper point
Rotating shaft one is not provided with（44）Circumferential and rotating shaft two（102）Circumferential locking device, rotating shaft one（44）Circumferential locking device is：
Overarm（4）It is upper to be located at rotating shaft one（44）The left and right sides is symmetrically installed with spring catch one（41）With spring catch two（43）, in crossbeam
（100）Upper relevant position opens up circular hole（100a）, above-mentioned two spring catch and circular hole（100a）Crossbeam is realized in cooperation（100）Edge turns
Axle one（44）Peripheric locking, rotating shaft two（102）Circumferential locking device is：In crossbeam（100）On be provided with the frame that swings
（201）Rotation lock and loosening device, the described frame that swings（201）Rotation lock and loosening device include being arranged on crossbeam
（100）On spring catch three（101）, rotating shaft three（301）On be fixedly connected with disk, along disc face circumferentially correspondence spring catch three
（101）Position is provided with multiple circular holes, and spring catch three realizes the frame that swings in inserting or pull out circular hole（201）Rotation lock and
Loosen.
5. a kind of large arm according to claim 1 and forearm recovery training appliance for recovery, it is characterised in that：In overarm（4）Upper fixation
It is provided with position regulator（3）, described position regulator（3）Including column（2）The supporting plate that top is fixed（31）, branch
Fagging（31）The line slideway horizontally disposed in left-right direction that upper surface is fixed（32）, line slideway（32）On be equipped with sliding block
（36）, overarm（4）Lower end passes through sliding block（36）The overarm fixed block that upper surface is fixed（33）It is fixedly connected on sliding block（36）On, hand
Wheel one（34）Lower section screw portion sets overarm fixed block（33）Screw in, handwheel one（34）Its screw rod lower end is rotatably connected to
Compress boots（35）.
6. a kind of large arm according to claim 4 and forearm recovery training appliance for recovery, it is characterised in that：Described spring catch one is wrapped
Include shell（41d）, removable pin（41b）, stage clip（41c）, draw ring（41a）, backing pin（41e）, removable pin（41b）With shell（41d）
Rotate coaxially setting, removable pin（41b）On be fixed with backing pin（41e）, and rear end and draw ring（41a）Formed and rotate connection, pressure
Spring（41c）One end withstands on removable pin（41b）On boss, the other end withstands on shell（41d）On indent step, shell（41d）Rear end
It is provided with shallow grooves（41d-01）With the deep groove that circumferencial direction is separated by 90 degree（41d-02）Backing pin is set to be moved in its groove,
Each spring catch is identical.
7. a kind of large arm according to claim 1 and forearm recovery training appliance for recovery, it is characterised in that：Described large arm bondage dress
Put（321）Structure is：Fupport arm（321-03）Bandage is fixed on right side（321-04）, fupport arm（321-03）Left side is provided with the bullet of Ω types
Property part（321-01）, its two ends is fixed on fupport arm（321-03）On, fastener（321-02）It is fixed on fupport arm（321-03）On, and position
In elastic component（321-01）Left side, fastener（321-02）It is provided with the groove of above-below direction（321-02a）, bearing pin（323）Open up
Annular groove（314a）It is slidably arranged in groove（321-02a）Interior, described elastic component（321-01）Middle circular hole and bearing pin（323）
The cylindrical matching in end.
8. a kind of large arm according to claim 1 and forearm recovery training appliance for recovery, it is characterised in that：The large arm swings up and down
Frame set length adjustment mechanism be：Described rotating shaft three (303）On be fixed with bevel gear one (304）With belt wheel one (302）, turn
Bevel gear two, belt wheel two (305 are fixed with axle four）, belt wheel one (302）By band (301）With belt wheel one (302）Band is formed to pass
It is dynamic, belt wheel one (302）With belt wheel two (305）The number of teeth is 1:1, described bevel gear one (304）With bevel gear three (309）Engagement,
Bevel gear three (309）It is fixed on adjusting lever one (308）Rear end, adjusting lever one (308）Front end is provided with screw thread and and mobile bar
One (306）Internal thread (the 306a that rear end is set）Screw, described mobile bar one (306）Rear portion is hollow to accommodate adjusting lever one
(308）The screw portion of front end, described sleeve pipe one (307）Front end is arranged to fork-shaped (307a）, its fork-shaped (307a）Two is parallel
Side and rotating shaft three (303）Formed and rotate connection, described bevel gear one (304）Positioned at sleeve pipe one (307）Rear end fork-shaped (307a）
Two parallel edges between, described sleeve pipe two（311）Lower end is again provided with and adjusting lever one (308), bevel gear three (309)
The adjusting lever two of identical mounting structure, bevel gear four, described bevel gear one (304）With bevel gear three (309）Gear ratio and
Bevel gear two is equal with the gear ratio of bevel gear four.
9. a kind of large arm according to claim 1 and forearm recovery training appliance for recovery, it is characterised in that：Described large arm is upper and lower
Swing span length front end passes through vertical direction rotating shaft five (401）Frame being swung up and down with forearm and being formed rotate the structure that is connected and be：
Large arm swings up and down frame length front end connection L-type support one (317）, forearm swings up and down frame and is connected to L-type support two (403）
On, L-type support one (317）Horizontal sides and L-type support two (403）Square horizontal sides pass through rotating shaft five (401）Connection is rotated, elasticity is drawn
The rotating shaft six (501 that power apparatus two pass through horizontal direction）It is connected to L-type support two (403）On vertical edge, rotating shaft six (501）Upper peace
Equipped with rotary encoder five (503）.
10. a kind of large arm according to claim 9 and forearm recovery training appliance for recovery, it is characterised in that：Bracing wire two (505）One end
It is fixed on the spring two (507 of elastic pulling force device two）On, bracing wire two (505）Bypass installed in spring support two (502）On
Fixed pulley two (506）, the other end is fixed on L-type support two (403）The top of vertical edge.
A kind of 11. large arm according to claim 1 and forearm recovery training appliance for recovery, it is characterised in that：Described large arm is upper and lower
The forearm set on swing span swings up and down frame along rotating shaft five (401）Circumferential position fixing apparatus are：Swung up and down in large arm
Frame length front end connects L-type support one (317）, forearm swings up and down frame and is connected to L-type support two (403）On, L-type support one
(317）Horizontal sides and L-type support two (403）Square horizontal sides pass through rotating shaft five (401）Rotate connection, lock fastener (332）Pass through
Jointed shaft five (331）It is connected to L-type support one (317）Vertical flank side surface, lock fastener (332）It is upper that fluted (332a is set）, L
Type support two (403）Vertical edge is correspondingly arranged on and groove (332a）Corresponding straight pin (404）.
A kind of 12. large arm according to claim 1 and forearm recovery training appliance for recovery, it is characterised in that：Described elastic pulling force
Spring support two (502 in device two）Lower surface is provided with inverted T-shaped guide rail (502a）, small fupport arm (511）One end upper table
Face is arranged to and inverted T-shaped guide rail (502a）Sliding shoe (the 511a being engaged）, small fupport arm (511）Its sliding shoe (511a）Position
The screwed hole for running through that the lower surface put is set, with handwheel two (512）On screw rod screw, make handwheel two (512）Screw rod end
Compress inverted T-shaped guide rail (502a）Lower surface small fupport arm (511 is fixed with this）, described small fupport arm (511）Upper surface
It is fixed with small arm blaster (514）, described small arm blaster (514）It is fixed with forearm bandage (515）.
A kind of 13. large arm according to claim 1 and forearm recovery training appliance for recovery, it is characterised in that：Rotating shaft three (303）In
Meta installs two parallel planes being equipped with axisymmetricly（303a）.
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| CN201510213091.1A CN104784888B (en) | 2015-04-30 | 2015-04-30 | A kind of large arm and forearm recovery training appliance for recovery |
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| CN201510213091.1A CN104784888B (en) | 2015-04-30 | 2015-04-30 | A kind of large arm and forearm recovery training appliance for recovery |
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| CN107224387B (en) * | 2017-07-20 | 2019-04-23 | 陈红卫 | A kind of elbow joint function rehabilitation device of band application function |
| CN108371803A (en) * | 2018-03-31 | 2018-08-07 | 平湖市酷风文体用品有限公司 | It serves a ball in a kind of tennis serve machine the horizontal hunting mechanism in channel |
| CN108553802A (en) * | 2018-04-03 | 2018-09-21 | 夏擎华 | A kind of Multifunctional recovery body-building device material |
| CN109464265B (en) * | 2018-12-20 | 2019-11-01 | 燕山大学 | A kind of upper limb rehabilitation robot based on Coupling System of Flexible Structures And Rigid Body |
| CN110064173B (en) * | 2019-05-13 | 2024-01-02 | 河南翔宇医疗设备股份有限公司 | Multi-joint upper limb rehabilitation training device |
| CN110975233B (en) * | 2019-12-12 | 2021-03-30 | 吉林省微核实控机电科技有限责任公司 | Joint mechanism and joint training device |
| CN114652569B (en) * | 2022-03-15 | 2024-01-30 | 吴春芳 | Swing arm device suitable for parkinsonism patient |
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| CN201101674Y (en) * | 2007-10-09 | 2008-08-20 | 南京康龙威科技实业有限公司 | Elbow joint rehabiliation apparatus |
| CN102379793B (en) * | 2011-08-18 | 2012-11-28 | 付风生 | Upper limb rehabilitation training robot |
| CN104056430A (en) * | 2014-07-06 | 2014-09-24 | 黄平县治刚野生甲鱼养殖场 | Multi-angle push-pull trainer |
| CN204671826U (en) * | 2015-04-30 | 2015-09-30 | 安阳市翔宇医疗设备有限责任公司 | A kind of large arm and forearm recovery training appliance for recovery |
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Address after: Anyang City, Henan province 456300 Ku Neihuang County Middle Road Patentee after: Xiangyu Medical Co.,Ltd. Address before: Anyang City, Henan province 456300 Ku Neihuang County Middle Road Patentee before: Henan Xiangyu Medical Equipment Co.,Ltd. |
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Address after: Anyang City, Henan province 456300 Ku Neihuang County Middle Road Patentee after: Henan Xiangyu Medical Equipment Co.,Ltd. Address before: Anyang City, Henan province Neihuang County Ku Middle Road Patentee before: ANYANG XIANGYU MEDICAL EQUIPMENT Co.,Ltd. |