CN106214421B - A kind of elbow joint, shoulder joint and knee joint rehabilitation device - Google Patents
A kind of elbow joint, shoulder joint and knee joint rehabilitation device Download PDFInfo
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- CN106214421B CN106214421B CN201610562878.3A CN201610562878A CN106214421B CN 106214421 B CN106214421 B CN 106214421B CN 201610562878 A CN201610562878 A CN 201610562878A CN 106214421 B CN106214421 B CN 106214421B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H2001/0207—Nutating movement of a body part around its articulation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0149—Seat or chair
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1409—Hydraulic or pneumatic means
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention provides a kind of elbow joint, shoulder joint and knee joint rehabilitation device, including back bracket, seat, the identical ectoskeleton single armed component of two structures and limb member, the seat are fixedly welded on the downside of back bracket；Two single armed components are separately mounted to the two sides of back bracket；Two elbow joint traction hydraulic cylinders and two shoulder joint traction hydraulic cylinders are fixed on the inside of the back bracket；The pulling motion meeting haulage cable of hydraulic cylinder, the rotation of exoskeleton elbow joint and shoulder joint is drawn by the traction of wirerope；Exoskeleton lower limbs component is fixedly mounted on seat two sides, and driving motor is equipped at limb member knee joint, and the rotation of driving motor can realize the kneed movement of exoskeleton lower limbs component.It is separately installed with angular transducer at the elbow joint of convalescence device, shoulder joint and knee joint, to measure the angle of joint, controls the movement of traction hydraulic cylinder and knee joint driving motor by central control unit according to the different angle value measured.
Description
Technical field
The invention belongs to medicine to assist in the treatment of research field, and in particular to a kind of elbow joint, shoulder joint and knee joint recovery
Device.
Background technique
With the raising of social standard of living and the progress of modern medical service technology, China's average life span is continuously improved,
Quickly step into aging society.Cut-off 2010, the elderly population in China 60 years old or more reach total population more than 1.78 hundred million
13.26%.Meanwhile the elderly population of over-65s are about 1.19 hundred million, account for the 8.87% of total population.On the other hand, with life
The increase of quickening and life stress that movable joint is played, Hemiplegic Patients caused by cardiovascular and cerebrovascular disease and the nervous system disease by
Year increases.China's apoplexy (cerebral apoplexy) disease incidence the first in the world, wherein about 3/4 patient has different degrees of neurotrosis and fortune
Dynamic obstacle.Ever-increasing elderly population and cerebral apoplexy lose disease patient and propose severe challenge to rehabilitation work.
Central nervous system has the plasticity of height.By the way that timely and effectively rehabilitation training, Ke Yixian is unfolded to patient
It writes and reduces nervous function damage, reduce the generation of complication, while motor function can be rebuild, improve the energy of taking care of oneself of patient
Power.Traditional rehabilitation relies primarily on physiatrician and implements unarmed rehabilitation training to patient, and there are many limitations: (1) cannot
It is accurately controlled training parameter, therapeutic effect depends primarily on the experience and level of doctor；(2) the one-to-one treatment of doctor, rehabilitation
Training effectiveness is low, doctor's large labor intensity.
Convalescence device in present society is mostly that can only realize that some joint recovering moves, and can't realize that human body is more
A joint coordination Union Movement and have the shortcomings that it is complicated for operation, be not easy to rehabilitation patient wearing.Therefore, in view of the above technology
Problem, it is necessary to which the elbow joint, shoulder joint and kneed multi-joint that one kind is easy to operate, easy to wear, is easy to drive are provided
Exoskeleton rehabilitation device, to solve appeal defect.
Summary of the invention
The purpose of the present invention is provide a kind of elbow joint, shoulder joint and knee joint rehabilitation device, the dress regarding to the issue above
Tunable movement is set, has the characteristics that safety, easy donning and submissive.
The technical scheme is that a kind of elbow joint, shoulder joint and knee joint rehabilitation device, including back bracket, seat
Chair, central control unit, the identical single armed component of two structures and the identical limb member of two structures；
The seat is fixedly welded on the downside of back bracket；Two single armed components are separately mounted to the two of back bracket
Side；Two limb members are separately mounted on two front side seat legs of seat；Two are fixed on the inside of the back bracket
Elbow joint draws hydraulic cylinder and two shoulder joint draw hydraulic cylinder；
The single armed component includes ectoskeleton forearm, elbow joint, Medial upper arm plate, upper arm outer panel and shoulder joint；It is described
One end of Medial upper arm plate is rotatablely connected by elbow joint and ectoskeleton forearm, and one end of the other end and upper arm outer panel is detachable
The other end of connection, upper arm outer panel is connect by shoulder joint with the back bracket, and elbow lateral is equipped with Angle of Elbow Joint
Sensor；Left and right sides shoulder joint connects with the telescopic rod of corresponding shoulder joint traction hydraulic cylinder respectively through shoulder joint haulage cable
It connecing, left and right sides elbow joint is connected with the telescopic rod of corresponding elbow joint traction hydraulic cylinder respectively through elbow joint haulage cable,
The outside of shoulder joint is equipped with shoulder joint angular transducer；
The limb member includes ectoskeleton thigh, exoskeleton lower limbs knee joint fixator, ectoskeleton shank, pedal and knee
Joint drive motor；One end of the ectoskeleton thigh is fixedly connected with two front side seat legs of seat, the other end and lower limb
One end of knee joint fixator is rotatablely connected, the fixed company of the other end of lower limb knee joint fixator and one end of ectoskeleton shank
It connects, the other end of ectoskeleton shank is fixedly connected with pedal；Knee joint driving motor and exoskeleton lower limbs knee joint fixator are solid
Fixed connection, knee joint driving motor outside are equipped with knee joint angle sensor；
The central control unit includes that information acquisition module, shoulder joint control module, elbow joint control module and knee close
Save control module；The information acquisition module respectively with shoulder joint angular transducer, Angle of Elbow Joint sensor and knee angle
Sensor electrical connection is spent, for receiving shoulder joint rotational angle signal, elbow joint rotational angle signal and knee joint rotational angle
Signal, and it is transmitted to shoulder joint control module, elbow joint control module and knee joint control module respectively, the shoulder joint control
Module is electrically connected with shoulder joint traction hydraulic cylinder, for controlling shoulder joint traction hydraulic cylinder according to shoulder joint rotational angle signal
Work；The elbow joint control module is electrically connected with elbow joint traction hydraulic cylinder, for according to elbow joint rotational angle signal control
The work of elbow joint traction hydraulic cylinder processed；The knee joint control module is electrically connected with knee joint driving motor, for according to knee
The work of articulation angle signal control knee joint driving motor.
In above scheme, the elbow joint includes Angle of Elbow Joint sensor, elbow joint axis and elbow joint transmission device；Institute
It states elbow joint transmission device to cover on elbow joint axis and be fixedly welded with ectoskeleton forearm, is wound with elbow on elbow joint transmission device
Joint haulage cable；The Angle of Elbow Joint sensor be mounted between ectoskeleton forearm and elbow joint transmission device and with
Ectoskeleton forearm is fixedly connected.
In above scheme, the shoulder joint includes the fixed device of shoulder joint, shoulder joint angular transducer, shoulder joint transmission dress
It sets, connecting plate and L-square；
The fixed device of the shoulder joint and shoulder joint transmission device are sequentially sleeved on shoulder joint nodal axisn, and the shoulder joint angle passes
Sensor is mounted between the fixed device of shoulder joint and shoulder joint transmission device and respectively with the fixed device of shoulder joint and shoulder joint and passes
Dynamic device is fixedly connected, and the fixed device of shoulder joint is fixedly connected with one end of upper arm outer panel；It is wound on shoulder joint transmission device
There is shoulder joint haulage cable；The connecting plate is fixedly welded on back bracket two sides, there is shoulder connecting shaft on the connecting plate
Hole；L-square is provided with L-square axis hole, and L-square is detachably connected by shoulder connecting shaft hole with L-square axis hole with connecting plate
It connects.
It further, further include two plate wiring boards；Two plate wiring boards are fixedly welded on back branch respectively
On the connecting plate of frame two sides, two wirerope wire guides are had on the plate wiring board, are opened on the upside of the back bracket
There are four back bracket wirerope wire guides；
Shoulder joint haulage cable sequentially passes through back bracket wirerope wire guide and shoulder wirerope wire guide and shoulder joint
Save transmission device connection；Elbow joint haulage cable sequentially passes through back bracket wirerope wire guide and shoulder wirerope wire guide
It is connect with elbow joint transmission device.
It further include the back fixation bar of two end bends in above scheme；The vertical end of the back fixation bar is distinguished
It is fixedly welded on back bracket top two sides.
In above scheme, the ectoskeleton forearm leading inside is fixedly installed with fixed ring.
Further, the inside of the ectoskeleton forearm is equipped with cotton padded coaming.
In above scheme, the Medial upper arm plate and upper arm outer panel are respectively equipped with the identical threaded hole of specification, in upper arm
Side plate is bolted with upper arm outer panel.
In above scheme, the limb member further includes limb member fixator；The limb member fixator is fixed on
One end of ectoskeleton thigh；Limb member retainer hole is provided on the limb member fixator, the foreleg of seat is each passed through
Limb member retainer hole and with limb member retainer hole be interference fitted.
It further include the power supply in above scheme；The power supply is mounted on the two sides of seat and draws respectively with elbow joint
Hydraulic cylinder, shoulder joint traction hydraulic cylinder, Angle of Elbow Joint sensor, shoulder joint angular transducer, knee joint angle sensor and
The electrical connection of knee joint driving motor.
The beneficial effects of the present invention are: compared with prior art, elbow joint, shoulder joint and knee joint recovery of the present invention
Device, which can be very good to realize, is able to achieve help with human upper limb elbow joint, shoulder joint and the kneed movement of lower limb, the device
Patient activity joint and mitigate medical staff's labor intensity basic function, have the characteristics that it is easy to wear, be easy to drive, movement
It works well, to overcome some intrinsic wearing troubles of existing power-assisting robot, cumbersome disadvantage, is more applicable for full
Sufficient social demand, the present invention have weight in the rehabilitation for helping hemiplegic patient caused by cardiovascular and cerebrovascular disease and the nervous system disease
The effect wanted.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of the back bracket of an embodiment of the present invention；
Fig. 3 is the structural schematic diagram of the ectoskeleton arm of an embodiment of the present invention；
Fig. 4 is the shoulder structure schematic diagram of an embodiment of the present invention；
Fig. 5 is the limb member structural schematic diagram of an embodiment of the present invention；
Fig. 6 is the central control unit module frame figure of an embodiment of the present invention.
In figure: 1, back bracket；2, back bracket wirerope wire guide；3, back fixation bar；4, upper arm outer panel；5, on
Arm interior plate；6, ectoskeleton forearm；7, seat；8, shoulder joint haulage cable；9, shoulder connecting shaft hole；10, L-square；11,
Elbow joint haulage cable；12, elbow joint draws hydraulic cylinder；13, shoulder joint draws hydraulic cylinder；14, central control unit；14-
1, information acquisition module；14-2, shoulder joint control module；14-3, elbow joint control module；14-4, knee joint control module；
15, plate wiring board；16, shoulder wirerope wire guide；17, the fixed device of shoulder joint；18, shoulder joint nodal axisn；19, threaded hole；20,
Fixed ring；21, Angle of Elbow Joint sensor；22, elbow joint axis；23, elbow joint transmission device；24, bolt；25, shoulder joint passes
Dynamic device；26, shoulder joint angular transducer；27, L-square axis hole；28, connecting plate；29, L-square；30, power supply；31, lower limb
Component fixator；32, limb member retainer hole；33, ectoskeleton thigh；34, lower limb knee joint fixator；35, ectoskeleton is small
Leg；36, pedal；37, knee joint driving motor；38, knee joint angle sensor.
Specific embodiment
Invention is further described in detail with reference to the accompanying drawings and detailed description, but protection scope of the present invention
It is not limited to this.
Fig. 1 show a kind of embodiment of elbow joint of the present invention, shoulder joint and knee joint rehabilitation device, the elbow
Joint, shoulder joint and knee joint rehabilitation device, including back bracket 1, central control unit 14, seat 7, power supply 30, two knots
The identical single armed component of structure and the identical limb member of two structures.The seat 7 is fixedly welded on the downside of back bracket 1；
Shoulder joint in two single armed components is separately mounted to the two sides of back bracket 1；Two limb members are separately mounted to seat 7
On two front side seat legs；Central control unit 14 is fixedly mounted on 7 inside of seat, and the power supply 30 is mounted on the two of seat 7
Side.
As shown in Fig. 2, the back bracket 1 includes two elbow joint traction hydraulic cylinders 12 of power device and two shoulder joint
Draw hydraulic cylinder 13；Elbow joint traction hydraulic cylinder 12 and shoulder joint traction hydraulic cylinder 13 are fixedly connected on the inside of back bracket 1,
The telescopic end of elbow joint traction hydraulic cylinder 12 is connect with elbow joint haulage cable 11, and shoulder joint draws the telescopic end of hydraulic cylinder 13
It is connect with shoulder joint haulage cable 8.
Preferably, the 1 top two sides of back bracket further include the back fixation bar 3 of two end bends；The back
The vertical end of fixed link 3 is fixedly welded on 1 top two sides of back bracket respectively, when people is sitting on seat 7, plays fixing human back
The effect in portion.
As shown in figure 3, the single armed component includes ectoskeleton forearm 6, elbow joint, Medial upper arm plate 5, upper arm outer panel 4
And shoulder joint；One end of the Medial upper arm plate 5 is rotatablely connected by elbow joint and ectoskeleton forearm 6, outside the other end and upper arm
One end of side plate 4 is detachably connected, and the other end of upper arm outer panel 4 is connect by shoulder joint with the back bracket 1, elbow joint
Outside is equipped with Angle of Elbow Joint sensor 21；Left and right sides shoulder joint through shoulder joint haulage cable 8 respectively with corresponding shoulder joint
The telescopic rod connection of section traction hydraulic cylinder 13, left and right sides elbow joint are closed with corresponding elbow respectively through elbow joint haulage cable 11
The telescopic rod connection of section traction hydraulic cylinder 12, the outside of shoulder joint are equipped with shoulder joint angular transducer 26.
The elbow joint includes Angle of Elbow Joint sensor 21, elbow joint axis 22 and elbow joint transmission device 23；The elbow
23 sets of joint transmission means are fixedly welded on elbow joint axis 22 and with ectoskeleton forearm 6, wind on elbow joint transmission device 23
There is elbow joint haulage cable 11, the rotation of 11 pulled elbow joint transmission means 23 of elbow joint haulage cable drives ectoskeleton forearm
6 movement；The Angle of Elbow Joint sensor 21 be mounted between ectoskeleton forearm 6 and elbow joint transmission device 23 and with it is outer
Bone forearm 6 is fixedly connected and ectoskeleton forearm 6 moves together and detect the angle of elbow joint, and elbow joint rotational angle is believed
Number pass to central control unit 14.
Preferably, 6 leading inside of ectoskeleton forearm is fixedly installed with fixed ring 20, plays the work of fixing human forearm
With.The inside of the ectoskeleton forearm 6 is equipped with cotton padded coaming.
Preferably, the Medial upper arm plate 5 and upper arm outer panel 4 are respectively equipped with that specification is identical, equidistant threaded hole
19, Medial upper arm plate 5 is bolted with upper arm outer panel 4, adjustment bolt by Medial upper arm plate 5 and upper arm outer panel 4 it
Between different threaded hole connect the length of changeable ectoskeleton upper arm.
As shown in figure 4, the shoulder joint includes plate wiring board 15, shoulder joint fixed device 17, shoulder joint angle sensor
Device 26, shoulder joint transmission device 25, connecting plate 28 and L-square 29；
The fixed device 17 of the shoulder joint and shoulder joint transmission device 25 are sequentially sleeved on shoulder joint nodal axisn 18, the shoulder joint
Angular transducer 26 is mounted between the fixed device 17 of shoulder joint and shoulder joint transmission device 25 and fixes respectively with shoulder joint and fills
It sets 17 to be fixedly connected with shoulder joint transmission device 25, the fixed device 17 of shoulder joint is fixedly connected with one end of upper arm outer panel 4；Shoulder
The shoulder joint that joint angles sensor 26 can swing together with the movement of upper arm with the fixed device 17 of shoulder joint, and will test
Section rotational angle signal passes to central control unit 14；Shoulder joint haulage cable 8 is wound on shoulder joint transmission device 25,
Shoulder joint haulage cable 8 draws the movement that the rotation of shoulder joint transmission device 25 drives upper arm outer panel 4 and Medial upper arm plate 5；
The connecting plate 28 is fixedly welded on 1 two sides of back bracket, has shoulder connecting shaft hole 9 on the connecting plate 28；29 liang of L-square
There is L-square axis hole 27 in side, and L-square 29 is detachably connected by shoulder connecting shaft hole 9 with L-square axis hole 27 with connecting plate 28,
L-square 29 can be rotated around connecting plate 28.
Preferably, the two sides of the back bracket 1 are additionally provided with two plate wiring boards 15；Two plate cablings
Plate 15 is fixedly welded on respectively on the connecting plate 28 of 1 two sides of back bracket, and two steel are had on the plate wiring board 15
Cord wire guide 16,1 upside of the back bracket also open that there are four back bracket wirerope wire guides 2, play and lead to wirerope
To effect.Shoulder joint haulage cable 8 sequentially pass through back bracket wirerope wire guide 2 and shoulder wirerope wire guide 16 with
Shoulder joint transmission device 25 connects；Elbow joint haulage cable 11 sequentially passes through back bracket wirerope wire guide 2 and shoulder steel
Cord wire guide 16 is connect with elbow joint transmission device 23, realizes the effect being oriented to wirerope.
As shown in figure 5, the limb member includes limb member fixator 31, ectoskeleton thigh 33, exoskeleton lower limbs knee
Joint fixation apparatus 34, ectoskeleton shank 35, pedal 36 and knee joint driving motor 37；One end of the ectoskeleton thigh 33 passes through
Limb member fixator 31 is fixedly connected with two front side seat legs of seat 7, it is preferred that the limb member fixator 31 is solid
Surely it is welded on one end of ectoskeleton thigh 33, ectoskeleton thigh 33 is bound together with human thigh when work；The lower limb portion
Be provided with limb member retainer hole 32 on part fixator 31, the foreleg of seat 7 be each passed through limb member retainer hole 32 and with
Limb member retainer hole 32 is interference fitted, and the other end of ectoskeleton thigh 33 and one end of lower limb knee joint fixator 34 rotate
Connection, in the freedom degree of only one rotation of junction, it is ensured that the rotation of human body knee joint；Lower limb knee joint fixator 34
The other end be fixedly connected with one end of ectoskeleton shank 35, at work, human calf and ectoskeleton shank 35 are bundled in one
It rises, the rotation of exoskeleton lower limbs knee joint fixator 34 will drive the rotation of ectoskeleton shank 35, and then drive human calf's
Rotation；The other end of ectoskeleton shank 35 is fixedly connected with pedal 36, and when work, foot is placed on above pedal 36；Knee joint drives
Dynamic motor 37 is fixedly connected with exoskeleton lower limbs knee joint fixator 34, and the rotation of knee joint driving motor 37 will drive ectoskeleton
The rotation of lower limb knee joint fixator 34, is equipped with knee joint angle sensor 38 on the outside of knee joint driving motor 37, and knee closes
Section angular transducer 38 is electrically connected with central control unit 14, the knee joint fixator that knee joint angle sensor 38 will test
34 rotational angle passes to central control unit, and central control unit 14 is according to the angle control knee joint driving electricity detected
The work of machine 37.
The power supply 30 is sensed with elbow joint traction hydraulic cylinder 12, shoulder joint traction hydraulic cylinder 13, Angle of Elbow Joint respectively
Device 21, shoulder joint angular transducer 26, knee joint angle sensor 38 and knee joint driving motor 37 are electrically connected.
As shown in fig. 6, the central control unit 14 include information acquisition module 14-1, shoulder joint control module 14-2,
Elbow joint control module 14-3 and knee joint control module 14-4；The information acquisition module 14-1 is passed with shoulder joint angle respectively
Sensor 26, Angle of Elbow Joint sensor 21, knee joint angle sensor 38, shoulder joint control module 14-2, elbow joint control mould
Block 14-3 and knee joint control module 14-4 electrical connection, for receiving shoulder joint rotational angle signal, elbow joint rotational angle letter
Number and knee joint fixator 34 rotational angle signal, and be transmitted to respectively shoulder joint control module 14-2, elbow joint control mould
Block 14-3 and knee joint control module 14-4, the shoulder joint control module 14-2 are electrically connected with shoulder joint traction hydraulic cylinder 13,
After to shoulder joint rotational angle signal processing, the work of control shoulder joint traction hydraulic cylinder 13；The elbow joint controls mould
Block 14-3 is electrically connected with elbow joint traction hydraulic cylinder 12, and after to elbow joint rotational angle signal processing, control elbow joint is led
Draw the work of hydraulic cylinder 12；The knee joint control module 14-4 is electrically connected with knee joint driving motor 37, for knee joint
After the rotational angle signal processing of fixator 34, the work of knee joint driving motor 37 is controlled.
The course of work of the invention is as follows:
When wearer needs to do rehabilitation exercise to elbow joint, shoulder joint and knee joint, wearer is sitting on seat 7, shoulder
Back bracket 1 and human body back are flexibly connected by wing in 3 inside of back fixation bar, and ectoskeleton forearm 6 and human body forearm flexibility connect
It connects, elbow joint and human elbow are flexibly connected, and upper arm outer panel 4 and Medial upper arm plate 5 and human body upper arm are flexibly connected, shoulder joint
Section is flexibly connected with human body shoulder joint.The foot of wearer is placed on above pedal 36, and thigh and the ectoskeleton thigh 33 of wearer is tied up
It is scheduled on together, shank and the ectoskeleton shank 35 of wearer is bound together.
When human upper limb is when doing rehabilitation exercise, elbow joint draws hydraulic cylinder 12 and moves, and elbow joint draws hydraulic cylinder 12 and receives
When contracting, elbow joint haulage cable 11 is drawn, elbow joint haulage cable 11 is through back bracket wirerope wire guide 2 and shoulder steel
The guidance of cord wire guide 16 is wound on elbow joint transmission device 23, auxiliary torque is generated to elbow joint axis 22, to drive people
The movement of body elbow joint, after elbow joint is retracted to certain angle, central control unit 14 is according to the elbow joint angle of rotation received
Signal is spent, control elbow joint traction hydraulic cylinder 12 stretches, and elbow joint does stretching routine by rehabilitation clients itself strength；Work as elbow joint
After being stretched over certain angle, central control unit 14 controls elbow joint traction according to the elbow joint rotational angle signal received
Hydraulic cylinder 12 is shunk, and human elbow makes one the tractive force of elbow joint haulage cable 11 by elbow joint traction hydraulic cylinder 12
Body elbow joint is shunk.When shoulder joint traction hydraulic cylinder 13 moves, when shoulder joint draws the contraction of hydraulic cylinder 13, traction shoulder joint traction
Wirerope 8 is wound on shoulder joint transmission device by the guidance of back bracket wirerope wire guide 2 and shoulder wirerope wire guide 16
On 25, auxiliary torque is generated to shoulder joint nodal axisn 18, so that the movement of human body shoulder joint is driven, when shoulder joint is stretched over certain angle
Afterwards, central control unit 14 controls shoulder joint traction hydraulic cylinder 13 and stretches according to the shoulder joint rotational angle signal received, shoulder
Contractile motion is done by the strength of human body itself in joint；After shoulder joint is retracted to certain angle, 14 basis of central control unit
The shoulder joint rotational angle signal received, control shoulder joint traction hydraulic cylinder 13 are shunk, and human body shoulder joint is led by shoulder joint
Drawing hydraulic cylinder 13 stretches human body shoulder joint the tractive force of shoulder joint haulage cable 8.
When human body lower limbs are when doing rehabilitation exercise, the knee joint angle signal that knee joint angle sensor 38 will test is passed
Central control unit 14 is passed, central control unit 14 controls knee joint driving motor 37 and rotates forward, and drives human body knee joint to do and stretches
Exhibition movement, when human body knee joint is stretched over certain angle, central control unit 14 is according to the knee joint rotational angle detected
Signal controls knee joint driving motor 37 and inverts, and human body knee joint is driven to do contractile motion；When human body knee joint is retracted to centainly
Angle, central control unit 14 according to detect angle signal control knee joint driving motor 37 rotate forward, drive human body knee
Do stretching routine in joint.
The power that the present invention is generated by elbow joint traction hydraulic cylinder 12 and the shoulder joint traction movement of hydraulic cylinder 13, on corresponding
Limb joint generates auxiliary torque, the movement of ectoskeleton shank is driven by the torque that knee joint driving motor 37 generates, to corresponding
Joint of lower extremity generates auxiliary torque and then drives the movement of human calf, reaches and assists wearer's upper limb and lower extremity movement, realizes
Promote the purpose of the function of wearing personnel.
Although not each embodiment only includes one it should be appreciated that this specification describes according to various embodiments
A independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should will say
As a whole, the technical solutions in the various embodiments may also be suitably combined for bright book, and forming those skilled in the art can be with
The other embodiments of understanding.
The series of detailed descriptions listed above are illustrated only for possible embodiments of the invention,
The protection scope that they are not intended to limit the invention, it is all without departing from equivalent embodiment made by technical spirit of the present invention or change
It should all be included in the protection scope of the present invention.
Claims (7)
1. a kind of elbow joint, shoulder joint and knee joint rehabilitation device, which is characterized in that including back bracket (1), seat (7), in
Entreat control device (14), the identical single armed component of two structures and the identical limb member of two structures；
The seat (7) is fixedly welded on the downside of back bracket (1)；Two single armed components are separately mounted to back bracket (1)
Two sides；Two limb members are separately mounted on two front side seat legs of seat (7)；It is solid on the inside of the back bracket (1)
Surely elbow joint traction hydraulic cylinder (12) and two shoulder joint tractions hydraulic cylinder (13) there are two setting；
The single armed component includes ectoskeleton forearm (6), elbow joint, Medial upper arm plate (5), upper arm outer panel (4) and shoulder joint；
The elbow joint includes elbow joint axis (22) and elbow joint transmission device (23)；The elbow joint transmission device (23) covers
It is fixedly welded on elbow joint axis (22) and with ectoskeleton forearm (6), elbow joint traction is wound on elbow joint transmission device (23)
Wirerope (11)；
The shoulder joint includes shoulder joint fixed device (17), shoulder joint transmission device (25), connecting plate (28) and L-square
(29)；
The shoulder joint fixed device (17) and shoulder joint transmission device (25) are sequentially sleeved on shoulder joint nodal axisn (18), and shoulder joint is solid
Determine device (17) to be fixedly connected with one end of upper arm outer panel (4)；Shoulder joint traction is wound on shoulder joint transmission device (25)
Wirerope (8)；The connecting plate (28) is fixedly welded on back bracket (1) two sides, has shoulder connection on the connecting plate (28)
Axis hole (9)；L-square (29) is provided with L-square axis hole (27), and L-square (29) and connecting plate (28) pass through shoulder connecting shaft hole
(9) it is detachably connected with L-square axis hole (27)；
One end of the Medial upper arm plate (5) is rotatablely connected by elbow joint and ectoskeleton forearm (6), on the outside of the other end and upper arm
One end of plate (4) is detachably connected, and the other end of upper arm outer panel (4) is connect by shoulder joint with the back bracket (1), elbow
Angle of Elbow Joint sensor (21) are equipped on the outside of joint, the Angle of Elbow Joint sensor (21) is mounted on ectoskeleton forearm (6)
It is fixedly connected between elbow joint transmission device (23) and with ectoskeleton forearm (6)；Left and right sides shoulder joint is drawn through shoulder joint
Wirerope (8) is connected with the telescopic rod of corresponding shoulder joint traction hydraulic cylinder (13) respectively, and left and right sides elbow joint is through elbow joint
Haulage cable (11) is connected with the telescopic rod of corresponding elbow joint traction hydraulic cylinder (12) respectively, and the outside of shoulder joint is equipped with shoulder
Joint angles sensor (26), the shoulder joint angular transducer (26) is mounted on shoulder joint fixed device (17) and shoulder joint passes
It is fixedly connected between dynamic device (25) and respectively with shoulder joint fixed device (17) and shoulder joint transmission device (25)；
The limb member include ectoskeleton thigh (33), exoskeleton lower limbs knee joint fixator (34), ectoskeleton shank (35),
Pedal (36) and knee joint driving motor (37)；One end of the ectoskeleton thigh (33) and two front side seats of seat (7)
Leg is fixedly connected, and one end of the other end and lower limb knee joint fixator (34) is rotatablely connected, lower limb knee joint fixator (34)
The other end is fixedly connected with the one end of ectoskeleton shank (35), the other end of ectoskeleton shank (35) and pedal (36) fixed company
It connects；Knee joint driving motor (37) is fixedly connected with exoskeleton lower limbs knee joint fixator (34), knee joint driving motor (37)
Outside is equipped with knee joint angle sensor (38)；
It further include the back fixation bar (3) of two end bends；The vertical end of the back fixation bar (3) is fixedly welded on respectively
Back bracket (1) top two sides；
The central control unit (14) includes information acquisition module (14-1), shoulder joint control module (14-2), elbow joint control
Molding block (14-3) and knee joint control module (14-4)；The information acquisition module (14-1) respectively with shoulder joint angle sensor
Device (26), Angle of Elbow Joint sensor (21) and knee joint angle sensor (38) electrical connection, for receiving shoulder joint angle of rotation
Signal, elbow joint rotational angle signal and knee joint rotational angle signal are spent, and is transmitted to shoulder joint control module (14- respectively
2), elbow joint control module (14-3) and knee joint control module (14-4), the shoulder joint control module (14-2) and shoulder joint
Section traction hydraulic cylinder (13) electrical connection, for controlling the work of shoulder joint traction hydraulic cylinder (13) according to shoulder joint rotational angle signal
Make；The elbow joint control module (14-3) is electrically connected with elbow joint traction hydraulic cylinder (12), for according to elbow joint angle of rotation
Spend the work of signal control elbow joint traction hydraulic cylinder (12)；The knee joint control module (14-4) and knee joint driving motor
(37) it is electrically connected, for controlling the work of knee joint driving motor (37) according to knee joint rotational angle signal.
2. elbow joint according to claim 1, shoulder joint and knee joint rehabilitation device, which is characterized in that further include two
Plate wiring board (15)；Two plate wiring boards (15) are fixedly welded on the connecting plate of back bracket (1) two sides respectively
(28) two shoulder wirerope wire guides (16) are had on, on the plate wiring board (15), on the back bracket (1)
It opens there are four back bracket wirerope wire guide (2) side；
Shoulder joint haulage cable (8) sequentially passes through back bracket wirerope wire guide (2) and shoulder wirerope wire guide (16)
It is connect with shoulder joint transmission device (25)；Elbow joint haulage cable (11) sequentially passes through back bracket wirerope wire guide (2)
It is connect with shoulder wirerope wire guide (16) with elbow joint transmission device (23).
3. elbow joint according to claim 1, shoulder joint and knee joint rehabilitation device, which is characterized in that the ectoskeleton
Forearm (6) leading inside is fixedly installed with fixed ring (20).
4. elbow joint according to claim 3, shoulder joint and knee joint rehabilitation device, which is characterized in that the ectoskeleton
The inside of forearm (6) is equipped with cotton padded coaming.
5. a kind of elbow joint, shoulder joint and knee joint rehabilitation device according to claim 1, which is characterized in that on described
Arm interior plate (5) and upper arm outer panel (4) are respectively equipped with the identical threaded hole (19) of specification, outside Medial upper arm plate (5) and upper arm
Side plate (4) is bolted.
6. a kind of elbow joint, shoulder joint and knee joint rehabilitation device according to claim 1, which is characterized in that under described
Limb component further includes limb member fixator (31)；The limb member fixator (31) is fixed on the one of ectoskeleton thigh (33)
End；It is provided with limb member retainer hole (32) on the limb member fixator (31), two front side seat legs point of seat (7)
Not Chuan Guo corresponding limb member retainer hole (32) and with limb member retainer hole (32) be interference fitted.
7. a kind of elbow joint, shoulder joint and knee joint rehabilitation device according to claim 1, which is characterized in that further include
Power supply (30)；The power supply (30) is mounted on the two sides of seat (7) and draws hydraulic cylinder (12), shoulder joint with elbow joint respectively
Draw hydraulic cylinder (13), Angle of Elbow Joint sensor (21), shoulder joint angular transducer (26), knee joint angle sensor (38)
It is electrically connected with knee joint driving motor (37).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610562878.3A CN106214421B (en) | 2016-07-15 | 2016-07-15 | A kind of elbow joint, shoulder joint and knee joint rehabilitation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610562878.3A CN106214421B (en) | 2016-07-15 | 2016-07-15 | A kind of elbow joint, shoulder joint and knee joint rehabilitation device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106214421A CN106214421A (en) | 2016-12-14 |
| CN106214421B true CN106214421B (en) | 2019-02-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610562878.3A Expired - Fee Related CN106214421B (en) | 2016-07-15 | 2016-07-15 | A kind of elbow joint, shoulder joint and knee joint rehabilitation device |
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Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107684703B (en) * | 2017-10-10 | 2019-02-22 | 安阳工学院 | A kind of passive four limbs recovery training appliance for recovery of master |
| CN107670238A (en) * | 2017-11-08 | 2018-02-09 | 周济超 | A kind of Orthopeadic Surgery shoulder rehabilitation therapeutic system |
| CN107928984A (en) * | 2017-12-06 | 2018-04-20 | 广州绿竹环保科技有限公司 | A kind of rehabilitation machines |
| CN108567545A (en) * | 2018-04-03 | 2018-09-25 | 李正福 | A kind of Cardiological Multi-function nursing device |
| CN108433941B (en) * | 2018-04-08 | 2024-03-01 | 徐立彪 | Digital three-dimensional human lower limb joint function correcting rehabilitation therapeutic apparatus |
| CN108542565B (en) * | 2018-04-08 | 2024-01-12 | 徐立彪 | Digital three-dimensional human joint function correcting rehabilitation therapeutic instrument |
| CN108542709A (en) * | 2018-04-28 | 2018-09-18 | 桂林电子科技大学 | A kind of old age rehabilitation joint therapeutic equipment |
| CN108969302B (en) * | 2018-07-02 | 2021-12-28 | 吴波 | Joint surgery postoperative rehabilitation training device for sports medicine |
| CN109512637B (en) * | 2018-11-12 | 2020-10-30 | 上海电机学院 | Hemiplegia rehabilitation training instrument |
| CN109646895A (en) * | 2019-01-21 | 2019-04-19 | 北京工业大学 | A kind of shoulder elbow joint Ergometric training device for half disability old man |
| CN109846670A (en) * | 2019-02-13 | 2019-06-07 | 南京林业大学 | A kind of the elderly's joint recovering auxiliary therapeutic instrument |
| CN110916982B (en) * | 2019-12-24 | 2021-07-27 | 天水师范学院 | Disabled person shoulder joint rehabilitation training device |
| CN112891839A (en) * | 2021-01-19 | 2021-06-04 | 厦门大学 | Multi-purpose rehabilitation auxiliary exercise device |
| CN112972192B (en) * | 2021-03-02 | 2022-12-06 | 新疆维吾尔自治区人民医院 | Auxiliary appliance for lower limb rehabilitation |
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| CN103465253A (en) * | 2013-09-10 | 2013-12-25 | 浙江大学 | Upper limb exoskeleton steering mechanism driven by pneumatic muscles |
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| JP2004008745A (en) * | 2002-06-06 | 2004-01-15 | Kensei Go | Upper/lower limb movement simulating apparatus for remote rehabilitation |
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| CN103465253A (en) * | 2013-09-10 | 2013-12-25 | 浙江大学 | Upper limb exoskeleton steering mechanism driven by pneumatic muscles |
| CN104434466A (en) * | 2014-11-12 | 2015-03-25 | 济南鲁智电子科技有限公司 | Rehabilitation robot system for old people with cerebral apoplexy |
| CN204636903U (en) * | 2015-04-20 | 2015-09-16 | 湘潭职业技术学院 | A kind of intelligent rehabilitation is movable bed |
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