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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- CN104814858B CN104814858B CN201510243697.XA CN201510243697A CN104814858B CN 104814858 B CN104814858 B CN 104814858B CN 201510243697 A CN201510243697 A CN 201510243697A CN 104814858 B CN104814858 B CN 104814858B
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- upper limb
- fixed
- leading screw
- rotating shaft
- horizontal
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- 210000001364 Upper Extremity Anatomy 0.000 title claims abstract description 60
- 238000011084 recovery Methods 0.000 claims abstract description 10
- 230000035876 healing Effects 0.000 claims description 5
- 239000007787 solid Substances 0.000 claims description 3
- 210000003414 Extremities Anatomy 0.000 description 5
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 210000004247 Hand Anatomy 0.000 description 1
- 206010022114 Injury Diseases 0.000 description 1
- 208000001738 Nervous System Trauma Diseases 0.000 description 1
- 210000001331 Nose Anatomy 0.000 description 1
- 235000012364 Peperomia pellucida Nutrition 0.000 description 1
- 240000007711 Peperomia pellucida Species 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000002567 autonomic Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 238000002651 drug therapy Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000000630 rising Effects 0.000 description 1
Abstract
The present invention provides a kind of unilateral upper limb passive rehabilitation training device, including base, seat, upper-lower position adjustment mechanism, it is left, right both sides exercising apparatus for recovery of upper limb, it is left, right both sides exercising apparatus for recovery of upper limb is equipped with the line slideway and slide block mechanism of fore-and-aft direction setting, pinion and rack, side exercising apparatus for recovery of upper limb drives opposite side exercising apparatus for recovery of upper limb to move forward and backward in the same direction by middle mobile station, pass through rack and pinion engagement simultaneously, must rotate when moving it, double rack of the right side exercising apparatus for recovery of upper limb using adjustable position, engage can different rack and pinions, patient side upper limb front end is made actively to do picture circular motion while movable drive platform to drive opposite side upper limb front end passively to carry out in the same direction or reversely do picture circular motion while doing movable in the same direction, simple structure, it is safe.
Description
First, technical field
The present invention relates to a kind of unilateral upper limb passive rehabilitation training device, belongs to rehabilitation medical instrument field.
2nd, background technology
China every year due to the nervous system injury that apoplexy, contingency cause, make limbs of patient loss of motor function or
The number of some lost rising year by year, these patients in addition to the operative treatment and necessary Drug therapy of early stage, correct, section
Rehabilitation training recovers have important function to improving extremity motor function, and rehabilitation doctor is man-to-man carries out rehabilitation instruction
Practice, one side rehabilitation is costly, on the other hand due to the impact of the factors such as rehabilitation doctor emotion, fatigue, it is impossible to ensure
Patient per's rehabilitation training quality reaches preferable state, can replace specialist rehabilitation training completely using rehabilitation appliances,
Not only ensure each training strength, be not affected by human factors, while Real-Time Evaluation can be carried out to the rehabilitation efficacy of patient.
This unilateral upper limb passive rehabilitation training device, adopts without exterior power input, simple structure, before realizing side upper limb
End picture circle, while movable active exercise drive opposite side upper limb to draw circle in the same direction or reversely, while movable in the same direction, it is real
The autonomous rehabilitation of existing patient.
3rd, the content of the invention
It is an object of the invention to：For upper limb disorder patient provide a kind of side upper limb front end it is movable, while
Autonomous picture is justified, and drive opposite side upper limb front end is movable in the same direction to do the round rehabilitation exercise of in the same direction or reverse picture simultaneously, by upper limb
Nose motion drives the collaboration rehabilitation exercise of whole upper limb then.
The object of the present invention is achieved like this：
A kind of unilateral upper limb passive rehabilitation training device, including base 1, column 2, upper-lower position adjustment mechanism, on left side
Limb rehabilitation exercise mechanism and right side upper limb healing motion, described column 2 are arranged on base 1, upper-lower position adjustment machine
Structure can be adjusted along column upper-lower position, be fixed with support 6, be fixed with a left side on support 6 on described upper-lower position adjustment mechanism
Side exercising apparatus for recovery of upper limb and right side exercising apparatus for recovery of upper limb；
The horizontal stand 601 for extending back is provided with the left of support 6,601 upper surface side of horizontal stand is installed with along front
The line slideway 2 13 of rear direction horizontal positioned, is provided with slide block 2 15 on line slideway 2 13, slide block 2 15 is fixed on movement
One end of platform 16,16 one end of mobile station are fixedly connected with 14 front end of left side connecting plate, and described 2 13 side of line slideway is parallel
Tooth bar 1 is provided with, tooth bar 1 is fixed on horizontal stand 601, left pivot movement disk 17 is vertically arranged with left side palm bar 19,
Left side 22 lower end of rotating shaft is fixed with gear 1, and rotating shaft 22 upper end in left side is fixed on through the bearing block of 14 rear end of left side connecting plate
17 center of left pivot movement disk, gear 1 are engaged with tooth bar 1；
Described 6 right side upper surface of support is provided with the horizontal stand 602 for extending back, and is again provided with regard to suffering from above which
The symmetrical line slideway 3 32 of person, right side connecting plate 27, right side rotation dish 25, gear 2 47, right side rotating shaft 49, right side connects
Fishplate bar 27 is fixed on the top of 16 other end of mobile station, is fixed with link 38 on described 602 lower surface of horizontal stand, described
Left horizontal sides stationary rack 2 46, right horizontal sides stationary rack 3 48 are provided with link 38, two tooth bars are parallel to straight
Line guide rail 3 32, and gear 2 47 between them, is provided with, left horizontal sides stationary rack 2 46, right horizontal sides stationary rack three
48 can be engaged with gear 2 47 respectively by linear moving mechanism movement, and gear 2 47 is fixed on the lower end of right side rotating shaft 49,
Right side 49 upper end of rotating shaft is fixed on the center of right side rotation dish 25 through the bearing block of right side connecting plate 27, in right side rotation dish 25
It is fixed with right side palm bar.
The linear moving mechanism is screw nut driven mechanism.
The concrete structure of the screw nut driven mechanism is：38 right side facade rear end of the link is provided with bearing axle
Bearing 4 28, its endoporus are provided with leading screw rotating shaft 1, and one 30 horizontal left and right directions of leading screw rotating shaft is arranged, and its low order end is fixed with
Handwheel 2 31, is fixed with sprocket wheel 1 in the leading screw rotating shaft 1 on the right side of bearing bearing block 4 28, and the link 38 is right
It is provided with bearing bearing block 5 37, leading screw rotating shaft 2 36, handwheel 3 34, sprocket wheel 2 35, chain on front side of side elevation in an identical manner
Take turns 2 35 to be driven using chain 33 with sprocket wheel 1, above-mentioned leading screw rotating shaft 1 and leading screw rotating shaft 2 36 are caused by nut
Left horizontal sides stationary rack 2 46, the bracing frame of right horizontal sides stationary rack 3 48 are moved along track, realize adjusting.
Horizontal stand 381 overhanging to the right, 381 rear upper surface left and right directions of horizontal stand are provided with below the link 38
Line slideway 3 42 is fixed with, slide block 3 44 is installed on guide rail, 3 44 upper surface of slide block is installed with rack bracket 45, tooth
Bar bracket 45 is in inverted " several " font, and its lower horizontal side is fixed on 3 44 upper surface of slide block, solid on the upside of rack bracket 45
Surely there are left horizontal sides stationary rack 2 46, right horizontal sides stationary rack 3 48；
The leading screw of described leading screw rotating shaft 1 constitutes screw pair with nut 1, and nut 1 is fixed on rack bracket 45
Lower horizontal side lower surface, is again provided with line slideway 4 39, slide block 4 40, nut 2 41, institute in the front of horizontal stand 381
Screw thread is provided with the leading screw rotating shaft 2 36 stated, and screw pair is constituted with nut 2 41.
The screw nut driven mechanism adopts handwheel or crank to drive and adjusts.
Left side palm bar 19 and left side palm rod outer surface kink have sleeve 20, and 20 two ends of sleeve are fixed with palm bandage
18。
Upper-lower position adjustment mechanism is nut, leading screw governor motion.
The nut, the concrete structure of leading screw governor motion are：Be fixed with guide rail 4, leading screw 9 on column 2, leading screw 9 with lead
4 parallel vertical of rail is placed, and the slide block 5 on nut 8, guide rail 4 on leading screw 9 is fixedly connected with support 6, described 9 upper end of leading screw
It is fixed with handwheel 11.
The unilateral upper limb passive rehabilitation training device also includes seat 3.
Compared with prior art, the invention has the advantages that：
1., without the need for extraneous offer power, patient side upper limb autonomic movement, drive opposite side can not paleocinetic upper limb
Carry out rehabilitation training.
2. patient's upper limb both direction is realized while moving, and patient both sides upper limb front end is both same to move in front-rear direction, and
Draw circle simultaneously in the same direction or reversely, select to draw circle in the same direction or reversely according to the level of comfort of patient.
3. safe, the upper limb active exercise of patient side drives opposite side passive exercise, when range of movement is excessive or leads
When gravitation is excessive, patient may feel that pain and reduce motion amplitude, carries out self-protection, prevents patient injury.
4. frame for movement is adopted, and low cost is easy to utilize.
4th, illustrate
Fig. 1 is the overall construction drawing of unilateral upper limb passive rehabilitation training device
Fig. 2 is the upper and lower adjustment member structural representation of unilateral upper limb passive rehabilitation training device
Fig. 3 is that running part structural representation is moved forward and backward on the left of unilateral upper limb passive rehabilitation training device
Fig. 4 is rotation transmitting portion structural representation on the left of unilateral upper limb passive rehabilitation training device
Fig. 5 is that running part structural representation is moved forward and backward on the right side of unilateral upper limb passive rehabilitation training device
Fig. 6 is rotation transmitting portion structural representation on the right side of unilateral upper limb passive rehabilitation training device
5th, specific embodiment
With reference to Fig. 1～6, the unilateral upper limb passive rehabilitation training device of the present invention includes base 1, column 2, seat 3, upper and lower
Position adjusting mechanism, left side upper limb healing motion and right side upper limb healing motion.The side being seated at according to people during seat
Position defines left and right directions, in order to describe the application.Guide rail 1 is fixed with the right side of 2 leading flank of the column, guide rail 1 is erected
It is straight to place, slide block 1 is installed on guide rail 1, the left side of described 2 leading flank of column is vertically fixed with bearing bearing
Seat one 7, bearing bearing block 2 10, bearing bearing block 1 and bearing bearing block 2 10 are equipped with leading screw 9, leading screw 9 and guide rail 1
Parallel vertical is placed, and nut 8 is housed on leading screw 9, and nut 8 and one 5 front surface of slide block are formed with 6 vertical direction of support and fixed
Connection, 6 another side of support are placed in the horizontal direction, and 6 upper surface of support is fixed with left side exercising apparatus for recovery of upper limb and right side
Limbs rehabilitation training device, described leading screw 9 are located at the upper end of bearing bearing block 2 10 and are fixed with handwheel 1.
Described 6 left side upper surface of support is provided with the horizontal stand 601 for extending back, and pacifies on the left of 601 upper surface of horizontal stand
Line slideway 2 13 equipped with horizontal positioned along the longitudinal direction, is provided with slide block 2 15, on slide block 2 15 on line slideway 2 13
Mobile station 16 is fixed with, in inverted " several " font, the horizontal sides on the downside of which are fixed on the upper surface of slide block 2 15 to mobile station 16
On, two horizontal sides upper surfaces above which are fixedly connected with 14 front end of left side connecting plate, are put down on the right side of described line slideway 2 13
Water-filling is flat to be provided with tooth bar 1, and which is fixed on 601 upper surface of horizontal stand, left pivot movement disk 17, is fixed near edge
The left side palm bar 19 being vertically arranged, 19 outer surface kink of left side palm bar have left hand sleeves 20 and are formed therewith and rotate connection,
20 two ends of left hand sleeves are fixed with bandage 18 on the left of palm.
Described 14 rear end of left side connecting plate is provided with bearing bearing block 3 21, and its endoporus is equipped with left side rotating shaft 22, left side
22 lower end of rotating shaft is fixed with gear 1, and gear 1 is engaged with tooth bar 1, and gear 1 is located on the right side of tooth bar 1.
Described 6 right side upper surface of support is provided with the horizontal stand 602 for extending back, and is again provided with regard to suffering from above which
The symmetrical line slideway 3 32 of person, right side connecting plate 27, right side rotation dish 25, right hand sleeves 26, right side palm bandage 24,
Link 38 is fixed with described 602 lower surface of horizontal stand, facade rear end is provided with bearing bearing block 4 28 on the right side of which, in which
Hole is provided with leading screw rotating shaft 1, and one 30 horizontal left and right directions of leading screw rotating shaft is arranged, and its low order end is fixed with handwheel 2 31, is located at
Sprocket wheel 1 is fixed with leading screw rotating shaft 1 on the right side of bearing bearing block 4 28, with identical on front side of 38 right side facade of link
Mode is provided with bearing bearing block 5 37, leading screw rotating shaft 2 36, handwheel 3 34, sprocket wheel 2 35, and sprocket wheel 2 35 is adopted with sprocket wheel 1
It is driven with chain 33.
Horizontal stand 381 overhanging to the left, 381 rear upper surface right and left of horizontal stand are provided with below described link 38
To line slideway 3 42 is fixed with, slide block 3 44 is installed on guide rail, 3 44 upper surface of slide block is installed with rack bracket 45,
In inverted " several " font, its lower horizontal side is fixed on 3 44 upper surface of slide block rack bracket 45, left horizontal sides on the upside of which
Difference stationary rack 2 46, right horizontal sides stationary rack 3 48 are provided with gear 2 47 between two tooth bars, gear 2 47 is fixed on
The lower end of right side rotating shaft 49, the leading screw of described leading screw rotating shaft 1 constitute screw pair with nut 1, and nut 1 is fixed on
45 lower horizontal side lower surface of rack bracket, is again provided with line slideway 4 39, slide block 4 40 in the front of horizontal stand 381,
Nut 2 41, is provided with screw thread in described leading screw rotating shaft 2 36, constitutes screw pair with nut 2 41..
Patient is sitting on seat 3, rotates handwheel 1, adjusts the upper-lower position of support 6, is adjusted in arranged on left and right sides then
Limb rehabilitation exercise mechanism highly makes patient more comfortable, and on the left of patient, the palm centre of the palm is attached on left hand sleeves 20, tightens left side handss
Palm bandage 18, right side palm is attached in right hand sleeves 26, tightens right side palm bandage 24, rotation hand wheel 2 31 or handwheel 3 34,
One 30 leading screw rotating shaft 2 36 of leading screw rotating shaft is made by chain 33 while driving nut 1, nut 2 41 synchronizing moving to the right, Gu
Rack bracket 45 on slide block 3 44, slide block 4 40 moves right, and makes tooth bar 2 46 move right and engages with gear 2 47,
If upper limb is actively on the left of patient, left hand rotates left pivot movement disk 17 by left side palm bar 19, due to gear 1 and tooth
Bar 1 is engaged, and rotation dish 17 is rotated and is moved forward or rearward along line slideway 2 13 simultaneously, does upper limb front end on the left of patient
Draw circle action simultaneously movable, by mobile station 16 make on the right side of patient upper limb passively with left side upper limb front end equidirectional
Draw round and movable；If adjustment handwheel 2 31 or handwheel 3 34, make tooth bar 3 48 engage with gear 2 47, then on the right side of patient
Passive exercise is moved forward or rearward with left side motion equidirectional, but upper limb picture circular direction in both sides is contrary.
If upper limb active exercise on the right side of patient, drive mechanism moving line is reversely, same to drive left side upper limb front end quilt
Dynamic movable, identical or rightabout in the same direction does picture circle action.
Claims (9)
1. a kind of unilateral upper limb passive rehabilitation training device, including base (1), column (2), upper-lower position adjustment mechanism, left side
Upper limb healing motion and right side upper limb healing motion, described column (2) are arranged on base (1), and its feature exists
In：Upper-lower position adjustment mechanism can be adjusted along column upper-lower position, be fixed with support on described upper-lower position adjustment mechanism
(6) left side exercising apparatus for recovery of upper limb and right side exercising apparatus for recovery of upper limb, are fixed with support (6)；
The horizontal stand (601) for extending back is provided with the left of support (6), horizontal stand (601) upper surface side is installed with edge
The line slideway two (13) of fore-and-aft direction horizontal positioned, is provided with slide block two (15), slide block two (15) on line slideway two (13)
One end of mobile station (16) is fixed on, mobile station (16) one end is fixedly connected with left side connecting plate (14) front end, described straight line
Two (13) side of guide rail is arranged with tooth bar one (12) in parallel, and tooth bar one (12) is fixed on horizontal stand (601), left pivot movement disk
(17) left side palm bar (19) is vertically arranged with, left side rotating shaft (22) lower end is fixed with gear one (23), in left side rotating shaft (22)
The bearing block through left side connecting plate (14) rear end is held to be fixed on left pivot movement disk (17) center, gear one (23) and tooth bar one
(12) engage；
On the right side of described support (6), upper surface is provided with the horizontal stand (602) for extending back, and is again provided with regard to suffering from above which
The symmetrical line slideway three (32) of person, right side connecting plate (27), right side rotation dish (25), gear two (47), right side rotating shaft
(49), right side connecting plate (27) is fixed on the top of mobile station (16) other end, fixed on described horizontal stand (602) lower surface
There is link (38), on described link (38), be provided with left horizontal sides stationary rack two (46), right horizontal sides stationary rack
Three (48), two tooth bars are parallel to line slideway three (32), and gear two (47) is provided between them, and left horizontal sides are solid
Fixed rack two (46), right horizontal sides stationary rack three (48) can be nibbled with gear two (47) respectively by linear moving mechanism movement
Close, gear two (47) is fixed on the lower end on right side rotating shaft (49), axle of right side rotating shaft (49) upper end through right side connecting plate (27)
Bearing is fixed on the center on right side rotation dish (25), and right side palm bar is fixed with right side rotation dish (25).
2. one side upper limb passive rehabilitation training device as claimed in claim 1, it is characterised in that：The linear moving mechanism is
Screw nut driven mechanism.
3. one side upper limb passive rehabilitation training device as claimed in claim 2, it is characterised in that：The screw nut driven machine
The concrete structure of structure is：On the right side of the link (38), facade rear end is provided with bearing bearing block four (28), and its endoporus is provided with
Leading screw rotating shaft one (30), one (30) horizontal left and right directions of leading screw rotating shaft are arranged, and its low order end is fixed with handwheel two (31), positioned at axle
Hold, on the right side of the link (38) before facade
Side is provided with bearing bearing block five (37), leading screw rotating shaft two (36), handwheel three (34), sprocket wheel two (35), chain in an identical manner
Wheel two (35) is driven using chain (33) with sprocket wheel one (29), and above-mentioned leading screw rotating shaft one (30) and leading screw rotating shaft two (36) are logical
Crossing nut causes the bracing frame of left horizontal sides stationary rack two (46), right horizontal sides stationary rack three (48) to move along track, real
Now adjust.
4. one side upper limb passive rehabilitation training device as claimed in claim 3, it is characterised in that：Below the link (38)
Horizontal stand (381) overhanging to the right is provided with, horizontal stand (381) rear upper surface left and right directions is fixed with line slideway three
(42) slide block three (44), is installed on guide rail, three (44) upper surface of slide block is installed with rack bracket (45), rack bracket
(45) in inverted " several " font, its lower horizontal side is fixed on three (44) upper surface of slide block, solid on the upside of rack bracket (45)
Surely there are left horizontal sides stationary rack two (46), right horizontal sides stationary rack three (48)；
The leading screw of described leading screw rotating shaft one (30) constitutes screw pair with nut one (43), and nut one (43) is fixed on rack bracket
(45) lower horizontal side lower surface, is again provided with line slideway four (39), slide block four (40) in front of horizontal stand (381),
Nut two (41), is provided with screw thread in described leading screw rotating shaft two (36), constitutes screw pair with nut two (41).
5. one side upper limb passive rehabilitation training device as claimed in claim 4, it is characterised in that：The screw nut driven machine
Structure adopts handwheel or crank to drive and adjusts.
6. one side upper limb passive rehabilitation training device as claimed in claim 1, it is characterised in that：Left side palm bar (19) and a left side
Side palm rod outer surface kink has sleeve (20), and sleeve (20) two ends are fixed with palm bandage (18).
7. one side upper limb passive rehabilitation training device as claimed in claim 1, it is characterised in that：Upper-lower position adjustment mechanism is
Nut, leading screw governor motion.
8. one side upper limb passive rehabilitation training device as claimed in claim 7, it is characterised in that：The nut, leading screw are adjusted
The concrete structure of mechanism is：Guide rail (4), leading screw (9) are fixed with column (2), leading screw (9) is placed with guide rail (4) parallel vertical,
The slide block (5) on nut (8), guide rail (4) on leading screw (9) is fixedly connected with support (6), and described leading screw (9) upper end is fixed
There is handwheel (11).
9. one side upper limb passive rehabilitation training device as claimed in claim 1, it is characterised in that：The passive health of the unilateral upper limb
Multiple training devicess also include seat (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510243697.XA CN104814858B (en) | 2015-05-09 | 2015-05-09 | A kind of unilateral upper limb passive rehabilitation training device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510243697.XA CN104814858B (en) | 2015-05-09 | 2015-05-09 | A kind of unilateral upper limb passive rehabilitation training device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104814858A CN104814858A (en) | 2015-08-05 |
| CN104814858B true CN104814858B (en) | 2017-04-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510243697.XA Expired - Fee Related CN104814858B (en) | 2015-05-09 | 2015-05-09 | A kind of unilateral upper limb passive rehabilitation training device |
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| Country | Link |
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| CN (1) | CN104814858B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110547948A (en) * | 2019-09-11 | 2019-12-10 | 聊城大学 | Two-shaft movable upper limb rehabilitation device |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018001348A1 (en) * | 2016-06-30 | 2018-01-04 | 上海傅利叶智能科技有限公司 | Upper limb rehabilitation training machine |
| CN107224384B (en) * | 2017-05-19 | 2019-07-09 | 山东建筑大学 | Principal and subordinate's arm robot and its control system and control method |
| CN107019621A (en) * | 2017-05-19 | 2017-08-08 | 山东建筑大学 | Upper limb rehabilitation robot |
| CN107224385B (en) * | 2017-05-19 | 2019-07-09 | 山东建筑大学 | Active/passive both arms upper limb rehabilitation robot |
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| Publication number | Publication date |
|---|---|
| CN104814858A (en) | 2015-08-05 |
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