CN105055122B - A kind of counter motion both upper extremities recovery training appliance for recovery - Google Patents

Abstract

The invention provides a reverse movement bilateral upper limb rehabilitation training device, which includes a fork-shaped suspension beam, and the front end of the fork-shaped suspension beam with adjustable height is installed with a bearing fixing plate with adjustable front and rear positions, and a fixed shaft fixed on the bearing fixing plate is rotated to install the cone Gear 1 and bevel gear 1 are symmetrically arranged with left and right upper limb rehabilitation training mechanisms on both sides of the patient. Bevel gear 2 of the left upper limb rehabilitation training mechanism meshes with bevel gear 1. Bevel gear 2 is connected to the right hand palm connection frame through the right shaft , the upper end of the right palm connection frame is installed with the right arc guide rail slider mechanism, the right arc guide rail slider mechanism is indirectly connected with the right slider, and the rack set on the right slider meshes with the upper end of the fixed shaft to rotate and connect the cylindrical gear , the left sliding part is indirectly connected to the left guide rail slider mechanism, and the second rack set on the left sliding part meshes with the cylindrical gear, and the two racks are located on both sides of the cylindrical gear to realize the synchronization of the patient's left and right upper limbs reverse movement.

Description

Rehabilitation training device for bilateral upper limbs with reverse motion

1. Technical field

The invention relates to a reverse motion bilateral upper limb rehabilitation training device, which belongs to the field of rehabilitation medical equipment.

2. Background technology

With the continuous increase of the aging population in our country, the number of patients with upper limb dysfunction caused by stroke, brain trauma, upper limb trauma, etc. is increasing year by year. The society and families need to spend a lot of money to treat and care for these patients. For patients with upper limb dysfunction, we must strive for early rehabilitation treatment, especially rehabilitation treatment within the first three months after the onset of disease is the best way to achieve ideal rehabilitation. The best time for the treatment effect, early intervention with rehabilitation training plays a positive and effective role in improving the quality of life of patients.

Most of the rehabilitation equipment used by my country's rehabilitation medical institutions relies on imports, and the cost of use is higher than the ability of most patients. The research and development of domestic rehabilitation equipment mainly relies on well-known domestic universities and research institutes, but due to human and financial constraints. There is still a gap between foreign advanced rehabilitation equipment, especially in terms of safety, many better equipment cannot be used in clinical practice, this application does not use external power input, two degrees of freedom alone or combined movement, to achieve multiple movements of the patient's upper limbs It can make the rehabilitation training of the upper limbs of patients more comfortable and safe, and the cost is low.

3. Contents of the invention

The purpose of the present invention is to: provide a kind of upper limbs on one side to move forward and backward and swing left and right independently for patients who can only move autonomously on one side, and drive the upper limbs on the other side that cannot move independently to move forward synchronously and swing passively in the right and left directions. Upper limb rehabilitation trainer.

The object of the present invention is achieved like this: a kind of reverse motion bilateral upper limbs rehabilitation trainer comprises fork-shaped suspension beam 5, seat 3, is characterized in that the height of described fork-shaped suspension beam 5 is adjustable, and described fork-shaped suspension beam 5 The two forks of the suspension beam 5 are arranged parallel to each other in the front and rear directions, and the bearing fixing plate 4 is arranged horizontally in the left and right directions. The bearing fixing plate 4 is installed on the fork-shaped suspension beam 5 and can be adjusted along the front and rear directions;

The bottom end of the fixed shaft 17 arranged in the vertical direction is fixed on the middle position of the left and right directions of the bearing fixed plate 4, the fixed shaft 17 is rotated and installed with a bevel gear-16, and the left and right sides of the bevel gear-16 are provided with left upper limb rehabilitation training symmetrically about the left and right sides of the patient. Mechanism, right upper limb rehabilitation training mechanism, described right upper limb rehabilitation training mechanism comprises bevel gear 2 15, right rotating shaft 8, right bearing housing 14, right bearing frame 13, right palm connecting frame 12, right guide rail Support 10, right side arc-shaped guide rail 9, slide block one 25, connection seat one 23, connecting rod one 22, slide block two 19, connection seat two 20, linear guide rail one 18, linear guide rail support one 26, described Bevel gear two 15 meshes with bevel gear one 16, and bevel gear two 15 is fixed on the left end of the right side rotating shaft 8 that horizontal direction is arranged on the left and right sides, and the right side bearing housing 14 is fixed on the right side bearing frame 13, and inside the right side bearing housing 14 Hole rotates and installs the middle position of right side rotating shaft 8, and right side rotating shaft 8 right-hand sides is connected to the top one position in the middle of right side rotating shaft 8 right-hand pins 11 and right side palm connection frame 12 by front and rear direction horizontal setting.

The top of the right side palm connecting frame 12 is fixed with a right side guide rail support 10, and the right side guide rail support 10 is fixed with a right side arc-shaped guide rail 9, and the circular center of the right side arc-shaped guide rail 9 coincides with the right rotating shaft 8 , right side circular arc guide rail 9 is equipped with slide block one 25, and slide block one 25 fixes connection seat one 23, and connection seat one 23 fixes the front end of column pin two 24 that front and rear directions are horizontally arranged, and the rear end of column pin two 24 is with One end of connecting rod one 22 is rotationally connected, and linear guide rail one 18 is fixed on the bearing fixing plate 4 by linear guide rail bracket one 26, and linear guide rail one 18 is positioned at the right top of right rotating shaft 8, and described linear guide rail one 18 is installed with Slide block two 19, slide block two 19 are fixed with connection seat two 20.

The reverse motion bilateral upper limb rehabilitation training device also includes a cylindrical gear 28, a right sliding part 27, and a left sliding part 30. The coaxial rotation of the cylindrical gear 28 is installed on the upper end of the fixed shaft 17, and the right The side slider 27 is in an S-shape toppled forward, and the lower surface of the horizontal side of the S-shaped upper side is provided with a rack one, which is positioned in front of the spur gear 28 and meshes with it, and the S-shaped side slider 27 on the right side The end of the lower horizontal side is hinged to the other end of the connecting rod one 22 through the column pin three 21, and the other end of the S-shaped lower horizontal side is fixed on the connecting seat two 20, and the left sliding part 30 is also forward. Toppled S-shaped, the horizontal edge end of the S-shaped upper side is hinged to the other end of the connecting rod 2 34 in the left upper limb rehabilitation training device with connecting rod 6 33 and connecting rod 22 left and right symmetrical, and the S-shaped upper side The other end of the horizontal edge is fixed on the connection seat 4 32, and the upper surface of the S-shaped lower horizontal edge of the left slider 30 is provided with a rack two, and the second rack is engaged with the cylindrical gear 28 and is located behind it.

The height-adjustable structure of the fork suspension beam 5 is as follows: the fork-shaped tail of the fork suspension beam 5 is fixedly connected to the top of the connecting column 6, the bottom end of the connection column 6 is fixed on the top of the electric lifting column 7, and the electric lifting column 7 fixed on base 1.

The structure that the bearing fixing plate 4 is installed on the fork-shaped suspension beam 5 and can be adjusted along the front and rear direction is: the left and right ends of the lower surface of the bearing fixing plate 4 are provided with front and rear through holes that are adapted to the two-fork outer contour of the fork-shaped suspension beam 5, and the bearing Set screws 47 are provided on the front and rear through holes provided at both ends of the fixing plate 4 .

The right side palm connecting frame 12 is provided with an inverted hollow triangle-121 through the lower end of the vertical rod in the middle, and the right side palm strap 48 is fixed on the lower surface of the inverted hollow triangle-121.

Universal wheels 2 are installed on the lower surface of the base 1 .

The first bevel gear 16, the second bevel gear 15, and the third bevel gear 46 have the same number of teeth, and the angle of intersection between the bevel gears meshing with each other is 90 degrees.

Compared with prior art, the present invention has following advantage:

1. Through the cylindrical gear and bevel gear transmission mechanism, the left and right upper limbs swing in opposite directions, improving the comfort of patients in rehabilitation training;

2. Through the voluntary movement of one side of the upper limb of the patient, the paralyzed upper limb of the other side is driven to carry out rehabilitation training, which is easy to operate and has high safety.

3. The upper limbs can swing back and forth and left and right to synthesize sports rehabilitation training to realize the diversification of upper limb movement trajectories.

4. Rehabilitation training depends on the patient's self-motion without external force assistance, saving costs.

4. Description of drawings

Fig. 1 is the overall structure diagram of the reverse kinematic bilateral upper limb rehabilitation trainer

Figure 2 is a schematic diagram of the reverse kinematic bilateral upper limb rehabilitation training mechanism

Figure 3 is a schematic diagram of the reverse kinematic bilateral upper limb rehabilitation training mechanism II

Figure 4 is a schematic diagram of the right upper limb transmission to the left upper limb rehabilitation training mechanism

Figure 5. Structural diagram of the connection between the bearing fixing plate and the fork-shaped suspension beam and the right-hand connecting frame

5. Specific implementation

1-5, a reverse motion bilateral upper limb rehabilitation training device of the present invention includes a base 1, an electric lifting column 7, a fork beam 5, a seat 3, a left upper limb rehabilitation training mechanism, and a right upper limb rehabilitation training mechanism. The front, rear, 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 fork-shaped tail of the fork-shaped suspension beam 5 is fixedly connected to the top of the connecting column 6, the bottom of the connecting column 6 is fixed on the top of the electric lifting column 7, the electric lifting column 7 is fixed on the upper surface of the base 1, and the lower surface of the base 1 is installed There is a universal wheel 2, and the fork-shaped cantilever beam 5 is arranged parallel to each other in the front and rear directions. The fork-shaped cantilever beam 5 and the fork-shaped part are slidingly connected with the bearing fixing plate 4 fork-shaped part to adjust the rehabilitation training of the left upper limb. Mechanism, the position of the front and rear direction of the right upper limb rehabilitation training mechanism, to adapt to the position of the patient's bilateral upper limbs, the bearing fixed plate 4 left and right directions are horizontally arranged.

The bottom end of the fixed shaft 17 arranged in the vertical direction is fixed on the middle position of the left and right direction of the bearing fixing plate 4, and the fixed shaft 17 is coaxially rotated below the middle position to install a bevel gear 16, and the left and right sides of the bevel gear 16 are arranged symmetrically about the patient There is a left upper limb rehabilitation training mechanism and a right upper limb rehabilitation training mechanism, and the right upper limb rehabilitation training mechanism includes a bevel gear 2 15, a right rotating shaft 8, a right bearing housing 14, a right bearing frame 13, and a right palm connecting frame 12. Right guide rail bracket 10, right arc-shaped guide rail 9, slider 1 25, connecting seat 1 23, connecting rod 1 22, slider 2 19, connecting seat 2 20, linear guide rail 1 18, linear guide rail support 1 26. The second bevel gear 15 meshes with the first bevel gear 16, the second bevel gear 15 is fixed on the left end of the right rotating shaft 8 arranged in the left and right horizontal directions, the right side bearing frame 13 is L-shaped, and its L-shaped horizontal side is fixed on the On the upper surface of the bearing fixing plate 4, its L-shaped vertical side of the right side bearing frame 13 is positioned at the right side of the horizontal side, and the L-shaped vertical side left side surface of the right side bearing frame 13 fixes the right side bearing housing 14, the right side Bearing bearing housing 14 inner holes rotate and install the middle position of right side rotating shaft 8, right side rotating shaft 8 right ends fix the column pin one 11 middle positions that front and back direction horizontally arranges, the two ends of column pin one 11 are in the middle of right hand connecting frame 12 to The two sides of the fork-shaped pivot connection set at the top position.

The right side guide rail support 10 is fixed on the top of the right palm connection frame 12, the right side guide rail support 10 left side is fixed with the right side circular arc guide rail 9, and the circular center of the right side circular arc guide rail 9 is connected to the right side. Rotating shaft 8 overlaps, and slide block one 25 is installed on the left side surface of right side arc-shaped guide rail 9, and connecting seat one 23 is fixed on the left side surface of slide block one 25, and connecting seat one 23 left side surface is provided with protruding to the left. Boss one 231, boss one 231 fixes the front end of column pin two 24 that front and rear direction is horizontally arranged, the rear end of column pin two 24 is rotationally connected with an end of connecting rod one 22, and linear guide rail support one 26 is the U that topples backwards. Type, the upper surface of the upper side of the linear guide rail bracket-26 two parallel sides is fixed on the lower surface of the linear guide rail-18, the lower surface of the lower side of the linear guide rail-18 two parallel sides is fixed on the upper surface of the bearing fixing plate 4, the linear guide rail One 18 is located directly above the right rotating shaft 8, and its U-shaped cavity of the linear guide rail support one 26 is used to avoid the right rotating shaft 8. The upper surface of the linear guide rail one 18 is equipped with a slider two 19, and the upper surface of the slider two 19 The surface is fixed with the second connecting seat 20, and the upper surface of the second connecting seat 20 has double bosses 201 extending upwards and parallel before and after.

The left upper limb rehabilitation training mechanism arranged symmetrically on the left side of the bevel gear one 16 about the left and right sides of the patient includes bevel gear three 46, the left rotating shaft 44, the pin four 40 fixed at the left end of the left rotating shaft, and the left bearing frame 43, the left side bearing housing 42, the left palm connecting frame 41, the left side guide rail bracket 45, the left side arc guide rail 38, the left side guide rail support 39, the slide block three 37 installed on the left side arc guide rail 38 3, the connecting seat three 36 that slide block three 37 right side surfaces are fixed, the connecting seat three 36 right side surfaces stretch out to the right the column pin five 35 that is fixed on boss three, connecting rod two 34, connecting seat four 32, connecting seat four 32 is fixed on the upper surface of slide block four 31, linear guide two 29.

The reverse motion bilateral upper limb rehabilitation training device also includes a cylindrical gear 28, a right sliding part 27, and a left sliding part 30. The coaxial rotation of the cylindrical gear 28 is installed on the upper end of the fixed shaft 17, and the right The side slider 27 is in an S-shape toppled forward, and the lower surface of the horizontal side of the S-shaped upper side is provided with a rack one, which is positioned in front of the spur gear 28 and meshes with it, and the S-shaped side slider 27 on the right side The end of the lower side horizontal edge is hingedly connected with the other end of the connecting rod one 22 through the column pin three 21, and the other end of the S-shaped lower horizontal edge is fixed between the two bosses of the double boss two 201 provided by the connecting seat two 20, The left sliding part 30 is also in an S-shape toppled forward, and the horizontal side end of the S-shaped upper side passes through the pin six 33 and the connecting rod one 22. The left upper limb rehabilitation training device is left symmetrical. The other end of the bar two 34 is hingedly connected, and the other end of the S-shaped upper side horizontal side is fixed between the two bosses of the double boss four provided by the connecting seat four 32, and the upper surface of the S-shaped lower side horizontal side of the left side slider 30 A second rack is provided, and the second rack is meshed with the cylindrical gear 28 and is located behind it.

The right side palm connection frame 12 is provided with an inverted hollow triangle-121 through the lower end of the vertical rod in the middle, for grasping the patient's right palm, and the lower surface of the inverted hollow triangle-121 is fixed with a right palm strap 48, used to fix the right palm of the patient, the structures of the left palm connecting frame 41 and the right palm connecting frame 41 are left-right symmetrical with respect to the patient, that is, the lower end of the left palm connecting frame 12 is also provided with an inverted hollow triangular two and left palm strap.

The structure of the two-fork part of the fork-shaped suspension beam 5 slidingly connected with the two ends of the bearing fixing plate 4 is as follows: the left and right ends of the lower surface of the bearing fixing plate 4 are provided with front and rear penetrations adapted to the two-fork outer contour of the fork-shaped suspension beam 5 hole, while the front and rear through holes provided at both ends of the bearing fixing plate 4 are provided with set screws 47 for fixing the adjusted position of the bearing fixing plate 4 .

The first bevel gear 16, the second bevel gear 15, and the third bevel gear 46 have the same number of teeth, and the angle of intersection between the bevel gears meshing with each other is 90 degrees.

The patient sits on the seat 3, adjusts the height of the electric lifting column 7, and adjusts the position of the bearing fixing plate 4 in the front and rear directions, thereby adjusting the height and front and rear positions of the left upper limb rehabilitation training mechanism and the right upper limb rehabilitation training mechanism to make the patient more comfortable. The patient's left and right palms are grasped at the lower ends of the left palm connecting frame 41 and the right palm connecting frame 12 respectively. If the patient's right upper limb can actively move, and the right hand moves back and forth to drive the right upper limb to move forward and backward, the right palm connecting frame 12 rotates through the right rotating shaft 8 to drive the bevel gear 2 15 to rotate, and drives the bevel gear 3 by meshing with the bevel gear 1 16 46 rotations, the left side palm connecting frame 41 is driven to swing by the left rotating shaft 44, so that the patient's left and right upper limbs are synchronously moved back and forth in the opposite direction. The sliding connection with slider one 23 prevents the connecting rod one 22 from moving, so that the patient's bilateral upper limbs move back and forth and swing left and right without mutual influence; if the patient's right upper limb swings left and right, the right palm connecting frame 12 Swing around the column pin 11, drive the slider 25 to swing through the right circular guide rail 9, drive the right slider 27 to move in the right and left direction through the connecting rod 22, drive the cylindrical gear 28 to rotate, and the cylindrical gear 28 drives the left The side slider 30 moves left and right, drives the slider 3 37 to move through the connecting rod 2 34, and the left circular arc-shaped guide rail 38 drives the left palm connecting frame 41 to swing in the right and left direction, so that the left and right swing directions of the upper limbs of both sides are opposite. The upper limbs move back and forth and swing left and right, which is a synthesis of the above two movements. The patient's left upper limb and right upper limb move and swing synchronously.

If the patient's left upper limb can actively move, the transmission route is opposite to the above-mentioned transmission route, and the left upper limb can drive the right upper limb to move.

Claims (6)

1. a kind of counter motion both upper extremities recovery training appliance for recovery, including fork-shaped overarm (5), seat (3), it is characterised in that described Fork-shaped overarm (5) it is Height Adjustable, described fork-shaped (5) two fork-shapeds of hanging oneself from a beam extend and are parallel to each other in fore-and-aft direction and set Put, bearing (setting) plate (4) left and right directions is horizontally disposed with, bearing (setting) plate (4) is installed in fork-shaped overarm (5) and along the longitudinal direction may be used Adjustment；

Fixing axle (17) bottom that vertical direction is set is fixed on the centre position of bearing (setting) plate (4) left and right directions, fixing axle (17) bevel gear one (16) is rotatablely equipped with, bevel gear one (16) left and right sides is symmetrically set with left upper extremity health on patient Multiple training institution, upper right limbs rehabilitation training mechanism, described upper right limbs rehabilitation training mechanism include bevel gear two (15), right side and turned Axle (8), right side bearing bearing block (14), right side bearing bracket stand (13), right side palm link (12), right rail support (10), Right circles arc-shaped guide rail (9), sliding block one (25), connecting seat one (23), connecting rod one (22), sliding block two (19), connecting seat two (20), Line slideway one (18), line slideway support one (26), described bevel gear two (15) engage with bevel gear one (16), bevel gear Two (15) are fixed on fixed right side bearing on the left end of the right side rotating shaft (8) of left and right horizontal direction setting, right side bearing bracket stand (13) Bearing block (14), the centre position of right side bearing bearing block (14) endoporus rotational installation right side rotating shaft (8), right side rotating shaft (8) is right End is rotated by the horizontally disposed pin one (11) of fore-and-aft direction with the position in the middle of right side palm link (12) to top Connection；

Described right side palm link (12) top is fixed with right rail support (10), and right rail support (10) is fixed with Right circles arc-shaped guide rail (9), the circular central of right circles arc-shaped guide rail (9) is overlapped with right side rotating shaft (8), right circles arc-shaped guide rail (9) sliding block one (25) is installed, sliding block one (25) fixed connecting base one (23), the fixed fore-and-aft direction level of connecting seat one (23) is set The front end for the pin two (24) put, the rear end of pin two (24) rotates with one end of connecting rod one (22) and is connected, line slideway one (18) by being fixed on line slideway support one (26) on bearing (setting) plate (4), line slideway one (18) is located at right side rotating shaft (8) surface, described line slideway one (18) is provided with sliding block two (19), and sliding block two (19) is fixed with connecting seat two (20), described connecting rod one (22) is located at the left side of connecting seat one (23)；

Described counter motion both upper extremities recovery training appliance for recovery also includes roller gear (28), right side sliding part (27), left side cunning Moving part (30), described roller gear (28) is rotated coaxially installed in fixing axle (17) upper end, described right side sliding part (27) In the S-shaped dumped forward, the rear surface on its S-shaped front side horizontal side is provided with tooth bar one, and tooth bar one is located at roller gear (28) Front is simultaneously engaged with, and horizontal edge tail passes through pin three (21) and connecting rod one (22) on rear side of the S-shaped of right side sliding part (27) The horizontal sides other end is fixed on connecting seat two (20) on rear side of other end chain connection, its S-shaped, described left slide part (30) Also in the S-shaped dumped forward, its S-shaped front side horizontal edge tail passes through pin six (33) and the symmetrical left side of connecting rod one (22) Described connecting rod two (34) other end chain connection in the exercising apparatus for recovery of upper limb of side, the S-shaped front side horizontal side other end is fixed With in the symmetrical upper left limbs rehabilitation training mechanism of connecting seat two (20) on connecting seat four (32), left slide part (30) The preceding surface of horizontal sides is provided with tooth bar two on rear side of S-shaped, and tooth bar two is engaged with roller gear (28) and positioned at its rear.

2. counter motion both upper extremities recovery training appliance for recovery as claimed in claim 1, it is characterised in that：Described fork-shaped overarm (5) Height Adjustable structure is：The fork-shaped afterbody of fork-shaped overarm (5) is fixedly connected on the top of connecting pole (6), connecting pole (6) bottom is fixed on the top of electric lifting vertical column (7), and electric lifting vertical column (7) is fixed on base (1).

3. counter motion both upper extremities recovery training appliance for recovery as claimed in claim 1, it is characterised in that：Bearing (setting) plate (4) is pacified Fill in fork-shaped overarm (5) and adjustable structure is along the longitudinal direction：Bearing (setting) plate (4) lower surface left and right ends be provided with The front and rear through hole of fork-shaped overarm (5) two forked type outlines adaptation, while the front and rear through hole that bearing (setting) plate (4) two ends are set On be provided with holding screw (47).

4. counter motion both upper extremities recovery training appliance for recovery as claimed in claim 1, it is characterised in that：Described right side palm connects Connect frame (12) and inverted three-pointed hollow star one (121), inverted three-pointed hollow star one are provided with by middle vertical bar lower end (121) lower surface is fixed with right side palm bandage (48).

5. counter motion both upper extremities recovery training appliance for recovery as claimed in claim 2, it is characterised in that：Under described base (1) Surface is provided with universal wheel (2).

6. counter motion both upper extremities recovery training appliance for recovery as claimed in claim 1, it is characterised in that：Described bevel gear one (16), bevel gear two (15) number of teeth is equal, and the crossed axis angle between intermeshing bevel gear is 90 degree.