CN104814858B - A kind of unilateral upper limb passive rehabilitation training device - Google Patents
A kind of unilateral upper limb passive rehabilitation training device Download PDFInfo
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Abstract
本发明提供一种单侧上肢被动康复训练装置，包括底座，座椅，上下位置调整机构、左、右两侧上肢康复训练装置，左、右两侧上肢康复训练装置都装有前后方向设置的直线导轨和滑块机构、齿轮齿条机构，一侧上肢康复训练装置通过中间移动台带动另一侧上肢康复训练装置同向前后移动，同时通过齿轮齿条啮合，使其移动时必须转动，右侧上肢康复训练装置采用可调整位置的双齿条，可以使不同的齿条与齿轮啮合，使患者一侧上肢前端主动做画圆运动同时前后移动带动台带动另一侧上肢前端被动进行同向或反向做画圆运动同时做同向前后移动，结构简单、安全性高。
The invention provides a passive rehabilitation training device for unilateral upper limbs, comprising a base, a seat, an up and down position adjustment mechanism, left and right upper limb rehabilitation training devices, and both left and right upper limb rehabilitation training devices are equipped with front and rear direction Linear guide rail and slider mechanism, rack and pinion mechanism, one side of the upper limb rehabilitation training device drives the other side of the upper limb rehabilitation training device to move forward and backward through the middle mobile platform, and at the same time, it is meshed with the pinion and rack to make it must rotate when moving, right The side upper limb rehabilitation training device adopts double racks with adjustable positions, which can make different racks mesh with the gears, so that the front end of one upper limb of the patient can actively do a circle movement, and at the same time move the driving table to drive the front end of the other upper limb passively in the same direction. Or do the circular movement in the opposite direction and move forward and backward at the same time, the structure is simple and the safety is high.
Description
一、技术领域1. Technical field
本发明涉及一种单侧上肢被动康复训练装置，属于康复医疗器械领域。The invention relates to a passive rehabilitation training device for one upper limb, belonging to the field of rehabilitation medical equipment.
二、背景技术2. Background technology
我国每年由于中风、意外事故引起的神经系统损伤，使患者肢体运动功能丧失或部分丧失的人数在逐年上升，这些患者除了早期的手术治疗和必要的药物治疗外，正确、科学的康复训练恢复对提高肢体运动功能具有重要作用，而康复医生一对一的进行康复训练，一方面康复治疗费用较高，另一方面由于康复医生情绪、疲劳等因素的影响，不能保证患者每次康复训练质量达到较好的状态，采用康复器械完全可以代替专业医师康复训练，不仅保证每次的训练强度，不受人为因素影响，同时可以对患者的康复效果进行实时评价。Every year in our country, due to the nervous system damage caused by stroke and accidents, the number of patients with loss of limb motor function or partial loss is increasing year by year. In addition to early surgical treatment and necessary drug treatment, correct and scientific rehabilitation training is essential for these patients. Improving the motor function of the limbs plays an important role. However, rehabilitation doctors conduct one-on-one rehabilitation training. On the one hand, the cost of rehabilitation treatment is relatively high. In a better state, the use of rehabilitation equipment can completely replace the rehabilitation training of professional doctors, which not only ensures the intensity of each training, is not affected by human factors, but also can evaluate the rehabilitation effect of patients in real time.
本单侧上肢被动康复训练装置，采用无外界动力输入、结构简单，实现一侧上肢前端画圆、同时前后移动的主动运动带动另一侧上肢同向或反向画圆、同时同向前后移动，实现患者自主康复。This unilateral upper limb passive rehabilitation training device adopts no external power input and has a simple structure. It realizes the active movement of the front end of one upper limb to draw a circle and move back and forth at the same time to drive the other upper limb to draw a circle in the same direction or in the opposite direction and move forward and backward at the same time. , to achieve the patient's autonomous recovery.
三、发明内容3. Contents of the invention
本发明的目的在于：为上肢功能障碍患者提供一种一侧上肢前端前后移动、同时自主画圆，带动另一侧上肢前端同向前后移动同时做同向或反向画圆康复运动，通过上肢前端运动继而带动整个上肢的协同康复运动。The purpose of the present invention is to provide patients with upper limb dysfunction with a front end of one side of the upper limb that moves back and forth while drawing a circle independently, and drives the front end of the other side of the upper limb to move forward and backward in the same direction while performing circle rehabilitation exercises in the same direction or in the opposite direction. The front end movement then drives the coordinated rehabilitation movement of the entire upper limb.
本发明的目的是这样实现的：The purpose of the present invention is achieved like this:
一种单侧上肢被动康复训练装置，包括底座1、立柱2、上下位置调整机构、左侧上肢康复运动机构与右侧上肢康复运动机构，所述的立柱2设置在底座1上，上下位置调整机构能够沿立柱上下位置调整，所述的上下位置调整机构上固定有支架6，支架6上固定有左侧上肢康复训练装置和右侧上肢康复训练装置；A unilateral upper limb passive rehabilitation training device, comprising a base 1, a column 2, an up and down position adjustment mechanism, a left upper limb rehabilitation movement mechanism and a right upper limb rehabilitation movement mechanism, the column 2 is arranged on the base 1, and the up and down position adjustment The mechanism can be adjusted up and down along the column, and the up and down position adjustment mechanism is fixed with a bracket 6, and the left upper limb rehabilitation training device and the right upper limb rehabilitation training device are fixed on the bracket 6;
支架6左侧设置有向后延伸的水平台601，水平台601上表面一侧固定安装有沿前后方向水平放置的直线导轨二13，直线导轨二13上安装有滑块二15，滑块二15固定在移动台16的一端，移动台16一端与左侧连接板14前端固定连接，所述的直线导轨二13一侧平行设置有齿条一12，齿条一12固定在水平台601上，左侧转动盘17竖直设置有左侧手掌杆19，左侧转轴22下端固定有齿轮一23，左侧转轴22上端穿过左侧连接板14后端的轴承座固定在左侧转动盘17中心，齿轮一23与齿条一12啮合；The left side of the support 6 is provided with a horizontal platform 601 extending backward, and one side of the upper surface of the horizontal platform 601 is fixedly installed with a linear guide rail 2 13 placed horizontally along the front and rear directions, and a slide block 2 15 is installed on the linear guide rail 2 13, and the slide block 2 15 is fixed on one end of the mobile platform 16, and one end of the mobile platform 16 is fixedly connected to the front end of the left connecting plate 14, and the side of the linear guide rail 2 13 is provided with a rack 12 in parallel, and the rack 12 is fixed on the horizontal platform 601 , the left side rotating disc 17 is vertically provided with a left palm lever 19, the left side rotating shaft 22 lower end is fixed with a gear 1 23, and the left side rotating shaft 22 upper end passes through the bearing seat at the left side connecting plate 14 rear end and is fixed on the left side rotating disc 17 In the center, the gear one 23 meshes with the rack one 12;
所述的支架6右侧上表面设置有向后延伸的水平台602，其上方同样设置有关于患者左右对称的直线导轨三32、右侧连接板27、右侧转动盘25、齿轮二47、右侧转轴49，右侧连接板27固定在移动台16另一端的上方，所述的水平台602下表面上固定有连接架38，所述的连接架38上设置有左水平边固定齿条二46、右水平边固定齿条三48，该两个齿条平行于直线导轨三32，并且它们之间设置有齿轮二47，左水平边固定齿条二46、右水平边固定齿条三48通过直线移动机构移动能够分别与齿轮二47啮合，齿轮二47固定在右侧转轴49的下端，右侧转轴49上端穿过右侧连接板27的轴承座固定在右侧转动盘25的中心，右侧转动盘25上固定有右侧手掌杆。The upper surface of the right side of the support 6 is provided with a horizontal platform 602 extending backwards, and above it is also provided with a linear guide rail three 32 symmetrical about the patient, a right connecting plate 27, a right rotating disc 25, a gear two 47, The right side rotating shaft 49, the right connecting plate 27 are fixed on the top of the other end of the mobile platform 16, the connecting frame 38 is fixed on the lower surface of the horizontal platform 602, and the left horizontal side fixed rack is arranged on the described connecting frame 38 Two 46, right horizontal side fixed rack three 48, these two tooth racks are parallel to linear guide rail three 32, and gear two 47 are arranged between them, left horizontal side fixed rack two 46, right horizontal side fixed rack three 48 can be respectively meshed with the second gear 47 by moving through the linear movement mechanism, the second gear 47 is fixed on the lower end of the right rotating shaft 49, and the upper end of the right rotating shaft 49 passes through the bearing seat of the right connecting plate 27 and is fixed on the center of the right rotating disk 25 , the right side palm bar is fixed on the right side rotating disk 25.
所述直线移动机构为丝杠螺母传动机构。The linear movement mechanism is a screw nut transmission mechanism.
所述丝杠螺母传动机构的具体结构为：所述连接架38右侧立面后端安装有轴承轴承座四28，其内孔安装有丝杠转轴一30，丝杠转轴一30水平左右方向设置，其最右端固定有手轮二31，位于轴承轴承座四28右侧的丝杠转轴一30上固定有链轮一29，所述连接架38右侧立面前侧以相同的方式设置有轴承轴承座五37、丝杠转轴二36、手轮三34、链轮二35，链轮二35与链轮一29采用链条33进行传动，上述丝杠转轴一30和丝杠转轴二36通过螺母使得左水平边固定齿条二46、右水平边固定齿条三48的支撑架沿轨道移动，实现调节。The concrete structure of described leading screw nut transmission mechanism is: the rear end of described connecting frame 38 right sides facade is equipped with bearing housing 4 28, and its inner hole is equipped with leading screw rotating shaft 1 30, and leading screw rotating shaft 1 30 horizontal direction Set, its rightmost end is fixed with handwheel two 31, is positioned at the lead screw shaft one 30 on the right side of bearing housing four 28 and is fixed with sprocket one 29, and described connecting frame 38 right side elevation front sides are provided with in the same way Bearing housing five 37, leading screw rotating shaft two 36, hand wheel three 34, sprocket two 35, sprocket two 35 and sprocket one 29 adopt chain 33 to carry out transmission, above-mentioned leading screw rotating shaft one 30 and leading screw rotating shaft two 36 pass through The nut makes the support frame of the fixed rack two 46 on the left horizontal side and the third 48 fixed rack on the right horizontal side move along the track to realize adjustment.
所述连接架38下方设置有向右外伸的水平台381，水平台381后方上表面左右方向固定有直线导轨三42，导轨上安装有滑块三44，滑块三44上表面固定安装有齿条托架45，齿条托架45呈倒置的“几”字形，其下侧水平边固定在滑块三44上表面上，齿条托架45上侧固定有左水平边固定齿条二46、右水平边固定齿条三48；The bottom of the connecting frame 38 is provided with a water platform 381 protruding to the right, and a linear guide rail 3 42 is fixed on the upper surface of the water platform 381 rear in the left and right direction, and a slider 3 44 is installed on the guide rail, and the upper surface of the slider 3 44 is fixedly installed with a Rack bracket 45, the rack bracket 45 is an inverted "several" shape, and its lower horizontal edge is fixed on the upper surface of the slider three 44, and the upper side of the rack bracket 45 is fixed with a left horizontal edge fixed rack two. 46. Fixed rack three 48 on the right horizontal side;
所述的丝杠转轴一30的丝杠与螺母一43组成螺旋副，螺母一43固定在齿条托架45下侧水平边下表面，在水平台381的前方同样设置有直线导轨四39、滑块四40，螺母二41，所述的丝杠转轴二36上设置有螺纹，与螺母二41组成螺旋副。The leading screw of the described screw shaft one 30 and the nut one 43 form a helical pair, and the nut one 43 is fixed on the lower surface of the horizontal side of the lower side of the rack bracket 45, and a linear guide rail four 39, Slide block four 40, nut two 41, described leading screw rotating shaft two 36 are provided with screw thread, and nut two 41 form screw pair.
所述丝杠螺母传动机构采用手轮或摇把驱动调节。The screw nut transmission mechanism is driven and adjusted by a hand wheel or a crank.
左侧手掌杆19和左侧手掌杆外表面活套有套筒20，套筒20两端固定有手掌绑带18。The left palm bar 19 and the outer surface of the left palm bar are looped with a sleeve 20, and the two ends of the sleeve 20 are fixed with palm straps 18.
上下位置调整机构为螺母、丝杠调节机构。The up and down position adjustment mechanism is a nut and lead screw adjustment mechanism.
所述螺母、丝杠调节机构的具体结构为：立柱2上固定有导轨4、丝杠9，丝杠9与导轨4平行竖直放置，丝杠9上的螺母8、导轨4上的滑块5与支架6固定连接，所述的丝杠9上端固定有手轮11。The concrete structure of described nut, leading screw adjustment mechanism is: guide rail 4, leading screw 9 are fixed on the column 2, leading screw 9 and guide rail 4 are placed vertically in parallel, the nut 8 on the leading screw 9, the slide block on the guide rail 4 5 is fixedly connected with the bracket 6, and the upper end of the screw 9 is fixed with a hand wheel 11.
所述单侧上肢被动康复训练装置还包括座椅3。The unilateral upper limb passive rehabilitation training device also includes a seat 3 .
与现有技术相比，本发明具有如下优点：Compared with prior art, the present invention has following advantage:
1.无需外界提供动力，患者一侧上肢自主运动，带动另一侧不能自主运动的上肢进行康复训练。1. Without the need for external power, one side of the patient's upper limb moves autonomously, driving the other side of the upper limb that cannot move independently to perform rehabilitation training.
2.实现患者上肢两个方向同时运动，患者两侧上肢前端既同向前后方向移动，又同时同向或反向画圆，根据患者的舒适程度选择同向或反向画圆。2. Realize the simultaneous movement of the patient's upper limbs in two directions. The front ends of the patient's upper limbs on both sides move forward and backward in the same direction, and draw circles in the same direction or in the opposite direction at the same time. Choose the same direction or reverse circles according to the patient's comfort level.
3.安全性高，患者一侧上肢主动运动带动另一侧被动运动，当运动范围过大或牵引力过大时，患者会感觉到疼痛而减小运动幅度，进行自我保护，防止患者受伤。3. High safety. The active movement of one upper limb of the patient drives the passive movement of the other side. When the range of motion is too large or the traction force is too large, the patient will feel pain and reduce the range of motion to protect himself and prevent the patient from being injured.
4.采用机械结构，成本低，便于推广应用。4. The mechanical structure is adopted, the cost is low, and it is easy to popularize and apply.
四、附图说明4. Description of drawings
图1是单侧上肢被动康复训练装置的总体结构图Figure 1 is the overall structure diagram of the unilateral upper limb passive rehabilitation training device
图2是单侧上肢被动康复训练装置上下调整部分结构示意图Figure 2 is a structural schematic diagram of the upper and lower adjustment parts of the unilateral upper limb passive rehabilitation training device
图3是单侧上肢被动康复训练装置左侧前后移动传动部分结构示意图Figure 3 is a schematic diagram of the structure of the left side forward and backward movement transmission part of the unilateral upper limb passive rehabilitation training device
图4是单侧上肢被动康复训练装置左侧旋转传动部分结构示意图Figure 4 is a schematic diagram of the structure of the left rotating transmission part of the unilateral upper limb passive rehabilitation training device
图5是单侧上肢被动康复训练装置右侧前后移动传动部分结构示意图Figure 5 is a schematic diagram of the structure of the transmission part of the right side of the passive rehabilitation training device for the upper limb.
图6是单侧上肢被动康复训练装置右侧旋转传动部分结构示意图Figure 6 is a schematic diagram of the structure of the right side rotation transmission part of the passive rehabilitation training device for the upper limbs on one side
五、具体实施方式5. Specific implementation
结合图1～6，本发明的单侧上肢被动康复训练装置包括底座1、立柱2、座椅3、上下位置调整机构、左侧上肢康复运动机构与右侧上肢康复运动机构。按照人坐于座椅时的方位定义左右方向，以便于描述本申请。所述立柱2前侧面的右侧固定有导轨一4，导轨一4竖直放置，导轨一4上安装有滑块一5，所述的立柱2前侧面的左侧沿竖直方向固定有轴承轴承座一7、轴承轴承座二10，轴承轴承座一7和轴承轴承座二10装配有丝杠9，丝杠9与导轨一4平行竖直放置，丝杠9上装有螺母8，螺母8和滑块一5前表面与支架6竖直方向一边形成固定连接，支架6另一边沿水平方向放置，支架6上表面固定有左侧上肢康复训练装置和右侧上肢康复训练装置，所述的丝杠9位于轴承轴承座二10的上端固定有手轮一11。1-6, the unilateral upper limb passive rehabilitation training device of the present invention includes a base 1, a column 2, a seat 3, an up and down position adjustment mechanism, a left upper limb rehabilitation movement mechanism and a right upper limb rehabilitation movement mechanism. The left and right directions are defined according to the orientation of a person sitting on a seat, so as to facilitate the description of this application. The right side of the front side of the column 2 is fixed with a guide rail-4, the guide rail-4 is placed vertically, the slide block-5 is installed on the guide rail-4, and the left side of the front side of the column 2 is fixed with a bearing along the vertical direction. Bearing block one 7, bearing block two 10, bearing block one 7 and bearing block two 10 are equipped with lead screw 9, lead screw 9 and guide rail one 4 parallel vertical placement, lead screw 9 is equipped with nut 8, nut 8 The front surface of slider one 5 forms a fixed connection with one side of the vertical direction of the support 6, and the other side of the support 6 is placed along the horizontal direction. The upper surface of the support 6 is fixed with a left upper limb rehabilitation training device and a right upper limb rehabilitation training device. Leading screw 9 is positioned at the upper end of bearing housing two 10 and is fixed with hand wheel one 11.
所述的支架6左侧上表面设置有向后延伸的水平台601，水平台601上表面左侧安装有沿前后方向水平放置的直线导轨二13，直线导轨二13上安装有滑块二15，滑块二15上固定有移动台16，移动台16呈倒置的“几”字形，其下侧的水平边固定在滑块二15的上表面上，其上方的两水平边上表面与左侧连接板14前端固定连接，所述的直线导轨二13右侧平行水平设置有齿条一12，其固定在水平台601上表面上，左侧转动盘17，靠近边缘处固定有竖直设置的左侧手掌杆19，左侧手掌杆19外表面活套有左侧套筒20并与之形成转动连接，左侧套筒20两端固定有手掌左侧绑带18。The upper surface on the left side of the support 6 is provided with a horizontal platform 601 extending backward, and the left side of the upper surface of the horizontal platform 601 is equipped with a linear guide rail 2 13 placed horizontally along the front and rear direction, and a slider 2 15 is installed on the linear guide rail 2 13 , the slider 2 15 is fixed with a mobile platform 16, the mobile platform 16 is in the shape of an upside-down "several", the horizontal side of its lower side is fixed on the upper surface of the slider 2 15, and the upper surface of the two horizontal sides above it is aligned with the left side. The front end of the side connecting plate 14 is fixedly connected, and the right side of the linear guide rail 13 is parallel and horizontally provided with a rack 1 12, which is fixed on the upper surface of the horizontal platform 601. The left side palm bar 19, the left side sleeve 20 is looped on the outer surface of the left side palm bar 19 and forms a rotational connection with it, and the left side sleeve 20 two ends are fixed with the left side strap 18 of the palm.
所述的左侧连接板14后端安装有轴承轴承座三21，其内孔装有左侧转轴22，左侧转轴22下端固定有齿轮一23，齿轮一23与齿条一12啮合，齿轮一23位于齿条一12右侧。Described left connecting plate 14 rear end is equipped with bearing housing three 21, and its inner hole is equipped with left rotating shaft 22, and left rotating shaft 22 lower end is fixed with gear one 23, and gear one 23 meshes with rack one 12, and gear One 23 is located on the right side of rack one 12.
所述的支架6右侧上表面设置有向后延伸的水平台602，其上方同样设置有关于患者左右对称的直线导轨三32、右侧连接板27、右侧转动盘25、右侧套筒26、右侧手掌绑带24，所述的水平台602下表面上固定有连接架38，其右侧立面后端安装有轴承轴承座四28，其内孔安装有丝杠转轴一30，丝杠转轴一30水平左右方向设置，其最右端固定有手轮二31，位于轴承轴承座四28右侧的丝杠转轴一30上固定有链轮一29，连接架38右侧立面前侧以相同的方式设置有轴承轴承座五37、丝杠转轴二36、手轮三34、链轮二35，链轮二35与链轮一29采用链条33进行传动。The upper surface of the right side of the support 6 is provided with a horizontal platform 602 extending backwards, and above it is also provided with a linear guide rail 3 32 symmetrical about the left and right sides of the patient, a right connecting plate 27, a right rotating disc 25, and a right sleeve 26. The right hand strap 24, the lower surface of the horizontal platform 602 is fixed with a connecting frame 38, the rear end of the right facade is equipped with a bearing seat 4 28, and the inner hole is equipped with a screw shaft 1 30, Lead screw rotating shaft 1 30 is horizontally arranged in the left and right direction, and its rightmost end is fixed with hand wheel 2 31, is positioned at the leading screw rotating shaft 1 30 on the right side of bearing housing 4 28 and is fixed with sprocket 1 29, and connecting frame 38 right side facade front side Be provided with bearing housing five 37, leading screw rotating shaft two 36, hand wheel three 34, sprocket two 35 in the same way, and sprocket two 35 and sprocket one 29 adopt chain 33 to carry out transmission.
所述的连接架38下方设置有向左外伸的水平台381，水平台381后方上表面左右方向固定有直线导轨三42，导轨上安装有滑块三44，滑块三44上表面固定安装有齿条托架45，齿条托架45呈倒置的“几”字形，其下侧水平边固定在滑块三44上表面上，其上侧左水平边分别固定齿条二46，右水平边固定齿条三48，两齿条之间设置有齿轮二47，齿轮二47固定在右侧转轴49的下端，所述的丝杠转轴一30的丝杠与螺母一43组成螺旋副，螺母一43固定在齿条托架45下侧水平边下表面，在水平台381的前方同样设置有直线导轨四39、滑块四40，螺母二41，所述的丝杠转轴二36上设置有螺纹，与螺母二41组成螺旋副。。A water platform 381 protruding to the left is arranged below the connecting frame 38, and a linear guide rail 3 42 is fixed on the left and right directions on the upper surface of the water platform 381 rear, and a slider 3 44 is installed on the guide rail, and the upper surface of the slider 3 44 is fixedly installed A rack bracket 45 is arranged, and the rack bracket 45 is in the shape of an upside-down "several". Fixed rack three 48 on the side, two gears 47 are arranged between the two racks, and two gears 47 are fixed on the lower end of the right rotating shaft 49, the leading screw of the described leading screw shaft one 30 and the nut one 43 form a helical pair, and the nut one One 43 is fixed on the lower surface of the horizontal side of the lower side of the rack bracket 45, and the front of the horizontal platform 381 is also provided with a linear guide rail four 39, a slide block four 40, a nut two 41, and the two screw shafts 36 are provided with Screw thread, forms spiral pair with nut two 41. .
患者坐在座椅3上，转动手轮一11，调整支架6的上下位置，继而调整左、右两侧上肢康复运动机构高度使患者更为舒适，患者左侧手掌掌心贴在左侧套筒20上，绑紧左侧手掌绑带18，右侧手掌贴在右侧套筒26上，绑紧右侧手掌绑带24，旋转手轮二31或手轮三34，通过链条33使丝杠转轴一30丝杠转轴二36同时带动螺母一43、螺母二41向右同步移动，固定于滑块三44、滑块四40上的齿条托架45向右移动，使齿条二46向右移动与齿轮二47啮合，如果患者左侧上肢主动，左手通过左侧手掌杆19使左侧转动盘17转动，由于齿轮一23与齿条一12啮合，转动盘17转动同时沿直线导轨二13向前或向后移动，使患者左侧上肢前端做画圆动作同时前后移动，通过移动台16使患者右侧上肢被动地与左侧上肢前端相同方向的画圆和前后移动；如果调整手轮二31或手轮三34，使齿条三48与齿轮二47啮合，则患者右侧被动运动与左侧运动相同方向的向前或向后移动，但两侧上肢画圆方向相反。The patient sits on the seat 3, turns the hand wheel 11, adjusts the up and down position of the bracket 6, and then adjusts the height of the upper limb rehabilitation movement mechanism on the left and right sides to make the patient more comfortable. The patient's left palm sticks to the left sleeve 20, tighten the left palm strap 18, stick the right palm on the right side sleeve 26, tighten the right palm strap 24, rotate the handwheel two 31 or the handwheel three 34, and make the lead screw through the chain 33 Rotating shaft one 30 leading screw rotating shaft two 36 drives nut one 43, nut two 41 to move synchronously to the right simultaneously, the rack bracket 45 that is fixed on slide block three 44, slide block four 40 moves to the right, makes rack two 46 Right movement meshes with gear two 47. If the patient's left upper limb is active, the left hand rotates the left rotating disk 17 through the left palm bar 19. Because the gear one 23 is meshed with the rack one 12, the rotating disk 17 rotates along the linear guide rail two. 13 Move forward or backward so that the front end of the patient's left upper limb draws a circle and moves back and forth at the same time, and the patient's right upper limb passively draws a circle and moves back and forth in the same direction as the front end of the left upper limb through the mobile platform 16; Wheel two 31 or hand wheel three 34 make rack three 48 and gear two 47 mesh, then the patient's right side passive movement moves forward or backward in the same direction as the left side movement, but the direction of drawing circles on both sides of the upper limbs is opposite.
如果患者右侧上肢主动运动，传动机构运动路线反向，同样带动左侧上肢前端被动的同向前后移动、相同或相反方向做画圆动作。If the patient's right upper limb moves actively, the movement route of the transmission mechanism is reversed, and the front end of the left upper limb is also passively moved forward and backward in the same direction, and circles are drawn in the same or opposite direction.
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