CN106264987A - A kind of convalescence device tempering shoulder mobility ability and arm independently firmly - Google Patents
A kind of convalescence device tempering shoulder mobility ability and arm independently firmly Download PDFInfo
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- CN106264987A CN106264987A CN201610883774.2A CN201610883774A CN106264987A CN 106264987 A CN106264987 A CN 106264987A CN 201610883774 A CN201610883774 A CN 201610883774A CN 106264987 A CN106264987 A CN 106264987A
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- arm
- bending
- motor
- drive
- firmly
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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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/005—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters
- A63B21/0058—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters using motors
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/06—User-manipulated weights
- A63B21/065—User-manipulated weights worn on user's body
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/51—Force
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2230/00—Measuring physiological parameters of the user
- A63B2230/60—Measuring physiological parameters of the user muscle strain, i.e. measured on the user
Abstract
The invention discloses a kind of convalescence device tempering shoulder mobility ability and arm independently firmly, including support and recovery training appliance for recovery, described recovery training appliance for recovery includes arm exercises mechanism, shoulder joint exercise mechanism, autonomous firmly measuring mechanism and control system, is connected by universal connection structure between described support with arm exercises mechanism；Described shoulder joint exercise mechanism include swaying direction controlling organization, walking mechanism, the angle control mechanism that rotates to have the support base of spherical groove, described swaying direction controlling organization includes weave control motor and rotation dish；Described walking mechanism includes movable motor, link and the elastic rubber tire being arranged on movable motor main shaft, and described link lower end is fixing with movable motor to be connected, and upper end thereof is on described rotation dish；The described angle control mechanism that rotates is made up of cylinder.Shoulder joint can be trained by the convalescence device of the present invention, has the advantages such as range of activity is big, action pattern is many.
Description
Technical field
The present invention relates to human body recovery training equipment, be specifically related to one can take exercise shoulder mobility ability and arm from
The convalescence device of primary power.
Background technology
For the patient of quadriplegia, auxiliary patient is conducive to recapture the motor function of paralyzed limbs by rehabilitation training.
Traditional method is the training that doctor carries out by doing and illustrating to patient, and this exists, and efficiency is low, patient can not independently arrange training time, one-tenth
This height, training effect depend on the deficiencies such as the experience level of doctor, use limb rehabilitating equipment then can solve this problem well.
The action training that existing limb rehabilitating equipment is generally correlated with for limbs offer by articulation structure, such as, for
The training of arm, utilizes cradle head to drive forearm to rotate around elbow joint, with the bending training forearm and the function stretched.Existing
Limb rehabilitating equipment have disclosed " the human upper limb rehabilitation machine of application for a patent for invention of application publication number CN 102727360 A
People ", application publication number be application for a patent for invention disclosed " a kind of hemiparalysis recovery physiotherapy table " and the application of CN104352335 A
Publication No. is the application for a patent for invention disclosed " a kind of intelligent upper-limb recovery training device " etc. of CN 104983549 A.Existing
The deficiency that limb rehabilitating equipment exists is:
1, the movement function of shoulder joint can not be trained well.
2, human body limb is all to carry out training under the assistance of external force, is a kind of passive type training process, and patient is not
Rehabilitation training can be actively engaged according to the rehabilitation situation of self to some extent in the different phase of rehabilitation, thus be unfavorable for patient
The fast quick-recovery of function.
Summary of the invention
In order to overcome the above-mentioned deficiency of prior art, it is an object of the invention to provide one and can temper shoulder mobility energy
The convalescence device that power and arm are independently exerted oneself, shoulder joint can be trained by this convalescence device, has range of activity big, dynamic
Make the advantages such as pattern is many.
The present invention realizes above-mentioned purpose technical scheme:
A kind of convalescence device tempering shoulder mobility ability and arm independently firmly, including support and rehabilitation training
Device, wherein, described recovery training appliance for recovery includes the arm exercises mechanism for tempering arm mobility, for tempering shoulder joint work
The shoulder joint exercise mechanism of kinetic force, autonomous firmly measuring mechanism and control system, wherein, described support and arm exercises machine
Being connected by universal connection structure between structure, described shoulder joint exercise mechanism is connected to the bottom of arm exercises mechanism；
Described universal connection structure includes connecting rod and universal joint, and wherein, one end of described connecting rod is fixed on arm
On exercise mechanism, the other end is connected with support by described universal joint, and described universal joint includes the sphere being located at connecting rod
Recess and be located at the spherical joint of pedestal upper end；
Described shoulder joint exercise mechanism includes that swaying direction controlling organization, walking mechanism, the angle control mechanism that rotates are with tool
Having the support base of spherical groove, wherein, described swaying direction controlling organization includes weave control motor and and weave control
The rotation dish that electric machine main shaft connects, described weave control motor is connected to the bottom of arm exercises mechanism；Described walking mechanism bag
Include movable motor, link and the elastic rubber tire being arranged on movable motor main shaft, wherein, described link lower end and walking
Motor is fixing to be connected, and upper end thereof is on described rotation dish, and described elastic gum wheel is pressed in the spherical groove supporting base, should
Elastic rubber tire is compressed at the position contacted with spherical groove；The described angle control mechanism that rotates is made up of cylinder, this cylinder
The upper end thereof of cylinder body is on described rotation dish, and the expansion link of this cylinder is hinged on described link；
Arm exercises mechanism described in described arm exercises mechanism includes pedestal, arm fixing plate, is located on arm fixing plate
Arm fix bandage, drive arm fixing plate make bending and the bending drive mechanism of unbending movement and drive arm fixing plate
Make the rotating drive mechanism of reciprocating rotation, wherein:
Described bending drive mechanism includes that bending drives fixing seat, bending to drive motor and bending drive transmission device,
Wherein, one end of described arm fixing plate is connected to bending by the first rotating shaft and drives on fixing seat, and described bending drives motor
Being fixed on bending and drive on fixing seat, described bending drive transmission device is connected to bending and drives the main shaft of motor to fix with arm
Between first rotating shaft of plate；
Described rotating drive mechanism includes rotational drive motor and rotates drive transmission device, and wherein, described rotation drives
Motor is fixed on pedestal, and described bending drives fixing seat to be connected on pedestal by the second rotating shaft, and described rotation drives transmission
Mechanism is connected between the main shaft of rotational drive motor and the second rotating shaft of the fixing seat of bending driving；
Described autonomous firmly measuring mechanism includes that arm fixes bandage, photoelectric sensor, sensing chip, spring and Guiding machine
Structure, wherein, described guiding mechanism includes the guide holder being located on arm fixing plate side and is matched with in the pilot hole of guide holder
Guide post, the upper end of described guide post is provided with upper junction plate, and lower end is provided with lower connecting plate；Described arm fixes one end of bandage
Being connected on described upper junction plate, the other end is provided with link, and described arm fixing plate sets on the side relative with guiding mechanism
Having hook, during work, described link is hooked on described hook；Described photoelectric sensor is multiple, along vertical array, and this light
Electric transducer is arranged on side identical with guiding mechanism in arm fixing plate；Described sensing chip is connected to described lower connecting plate
On, and it is positioned at the induction channels corresponding position of described photoelectric sensor；Described spring housing on the guide bar, the two ends up and down of this spring
It is respectively acting on upper junction plate and lower connecting plate；
Described control system includes central processing unit, and the signal input part of this central processing unit is with described photoelectric sensor even
Connecing, signal output part drives motor and rotational drive motor to be connected with described bending.
Above-mentioned temper shoulder mobility ability and arm convalescence device independently firmly operation principle be:
During use, arm is fixed in arm exercises mechanism, this arm exercises mechanism temper the mobility of arm, and
Combined by shoulder joint exercise mechanism and universal connection structure and temper the mobility of shoulder joint.Specifically, carrying out
During shoulder mobility ability education, being divided into two actions, first element is the ability that training shoulder joint swings, second action
It it is the ability training shoulder joint to rotate.The training process of first element is: when carrying out first element training, described elasticity
Rubber tire is erectility, that is elastic rubber tire place plane is through the bottom of spherical groove；Walking during work, in walking mechanism
Driven by motor elastic gum wheel rotates, owing to elastic rubber tire elastic compression is in the spherical groove supporting base, and therefore elastic rubber tire
In spherical groove, make the walking (namely walking along latitude direction) of arc track along certain plane, connect knot universal
Under the cooperation of structure, whole arm exercises mechanism makees unidirectional swing, thus realizes the swing to shoulder joint and train, the width of swing
Degree is by movable motor control；When needing to change the direction swung, the weave control motor in described swaying direction controlling organization
Drive turn disc, thus drive whole walking mechanism to rotate, change elastic rubber tire place plane, and then change the side swung
To.The training process of second action is: the cylinder rotating in angle control mechanism passes through stretching motion, drives walking mechanism phase
For turn disc certain angle so that the elastic inclined shape of rubber tire, now elastic gum wheel is pressed on a certain of spherical groove
On latitude, (deflection of elastic rubber tire is it should be guaranteed that all can connect with spherical groove to any position when elastic rubber tire carries out rotation
Touch), elastic gum wheel rotates subsequently, walks along longitudinal in spherical groove, under the cooperation of universal connection structure, whole
Arm exercises mechanism rotates motion, thus the training that realizes shoulder joint is rotated, the track of upper arm is tapered, the size of cone angle
By rotating, angle control mechanism controls.
When training the mobility of arm, the effect of described bending drive mechanism is to drive arm fixing plate to bend
With unbending movement, thus train little brachiocylloosis and the ability stretched, drive motor and bending to drive particular by bending and pass
Motivation structure drives arm fixing plate around the first axis of rotation；Described rotating drive mechanism is used for driving arm fixing plate around its length
The axis in direction rotates, thus the ability training forearm to rotate, drive transmission particular by rotational drive motor and rotation
Mechanism drives arm fixing plate around the second axis of rotation.
When the training carrying out little brachiocylloosis and the ability of stretching, patient can independently apply certain work according to the ability of oneself
Firmly, by independently exerting oneself measuring mechanism and central processing unit detects and calculate the size of autonomisation power jointly, so by
Central processor controls bending and drives the auxiliary driving force of motor output, and this auxiliary driving force becomes with patient's independently change firmly
Changing, autonomisation power is the biggest, and auxiliary driving force is the least, thus plays the independent exercising ability of patient as much as possible.Specifically,
When the forearm of patient independently apply active force make little brachiocylloosis time, arm fixes bandage can drive upper junction plate, guide post, lower company
Fishplate bar and sensing chip move together, and spring is compressed by upper junction plate and lower connecting plate, and described sensing chip enters into photoelectricity
In the induction channels of sensor, described autonomisation power is the biggest, and the displacement of sensing chip is the biggest, and both are linear
(because the deformation of spring meets Hooke's law)；Owing to being provided with multiple photoelectric sensor, the size of sensing chip displacement by
Photoelectric sensor detects, and sensing chip arrives at different photoelectric sensors, correspondingly can determine that the displacement of sensing chip；Photoelectricity
Sensor sends the real-time position signal of sensing chip to central processing unit, and this position signalling is converted into described by central processing unit
From the size of the main force, thus calculate bending and drive the auxiliary driving force of motor output, drive the defeated of motor by controlling bending
The mode going out power realizes the regulation of auxiliary driving force.In the training process, patient can be according to the ability of self from the main force
Applying at any time, cancel at any time and arbitrarily increase and reduce, regardless of how changing from the main force of patient, central processing unit can be real
Time calculate from the size of the main force, so that it is determined that bending drives the auxiliary driving force of motor output, the active training of patient and passive
Training organically combines.When patient after the main force returns to preferable level, described bending drives the motor can also be defeated
Go out opposition so that patient from the main force except needing the gravity driving self forearm and arm fixing plate to carry out curved
Bent, in addition it is also necessary to overcome bending to drive under the back action of motor, thus the autonomous firmly ability of the patient more effectively taken exercise.
One preferred version of the present invention, wherein, described bending drive transmission device is by Part I gear drive
Constituting, this Part I gear drive includes that being connected to bending drives the first active part gear and company on electric machine main shaft
The the first secondary part gear being connected in the first rotating shaft；Described rotation drive transmission device is by Part II gear drive structure
Becoming, this Part II gear drive includes the second active part gear and the connection being connected on rotational drive motor main shaft
The second secondary part gear in the second rotating shaft.Such scheme is used to be advantageous in that: described gear drive employing portion
The form of point gear can better assure that the safety of patient during training；During training, bending drives motor and rotation
Driving motor to make reciprocating rotation, in the range of its stroke rotated should be limited to set, slewing area exceedes and sets else if
Determine stroke, it is possible to patient's arm is produced and sprains, serious security incident even occurs；The rotational travel of two motors is usual
Controlled by central processing unit；And after using above-mentioned operative gear drive mechanism, if rotational travel exceedes setting model because of unexpected
Enclosing, this operative gear drive mechanism will run out of steam transmission effect, thus cuts off power, it is ensured that patient's arm safety.
Preferably, described first secondary part gear and the second secondary part gear are internal gear, and this makes structure more
Compact, and allow active part gear and the secondary part gear can be with rotating in same direction.
One preferred version of the present invention, wherein, described photoelectric sensor is three, when sensing chip is positioned at the light of bottom
Time at electric transducer, described bending drives motor to apply forward auxiliary driving force, when sensing chip is positioned at the photoelectric sensor of centre
During place, the auxiliary driving force that described bending drives motor to apply is zero, when sensing chip is positioned at the photoelectric sensor of the top,
Described bending drives motor to apply reverse auxiliary driving force.This preferred version from structure, photoelectric sensor negligible amounts, knot
Structure is simple, and from controlling, data processing amount is few, it is simple to control.
One preferred version of the present invention, wherein, described guide post is two, and each guide post is provided with a spring,
Make stress equalization, more accurate from the measurement result of the main force.
One preferred version of the present invention, wherein, the quantity of described autonomous firmly measuring mechanism is two or more, this
A little autonomous firmly measuring mechanisms arrange along the length direction of arm fixing plate.It is intended that according to lever principle, from primary
The distance of power measuring mechanism distance the first rotating shaft is different, and patient's arm fixing plate to be driven is bent upwards the power needed for rotation the most not
With, distance is the nearest, and required power is the biggest, by arranging plural autonomous firmly measuring mechanism, can according to patient from
The size of the main force selects the most autonomous firmly measuring mechanism to be operated, and the suitability is more preferable.
One preferred version of the present invention, wherein, described arm fixing plate is provided with and the location of forearm mating shapes
Groove, in order to fixing of forearm.
One preferred version of the present invention, wherein, the cylinder body of described cylinder is connected with described rotation dish by connector, institute
The one end stating connector is fixed on rotation dish, and the other end extends after the radially extending of rotation dish the most obliquely, and is hinged on
On described cylinder body.
One preferred version of the present invention, wherein, the upper end of described support is provided with ball joint, this ball joint
One end is fixing with support to be connected, and the other end arranges described spherical joint；Described connecting rod is being provided with sphere recess corresponding position
Lock-screw, this locking is pressed on spherical joint.
The present invention compared with prior art has a following beneficial effect:
1, the training of the swing to shoulder joint and the training that rotates, the recovery of auxiliary patient's shoulder mobility ability are achieved.
2, the amplitude of fluctuation of shoulder joint and the cone angle that rotates all can regulate, and range of activity is big, action pattern is many, thus
It is adapted to the different patient training in the different rehabilitation stages.
3, it is not only able to realize common passive type training, but also the initiative of patient can be coordinated to train, according to trouble
The initiative degree of participation of person determines the assistance degree to patient, thus gives full play to the initiative of patient, improves patient and recovers
The speed of function and effect.
4, during training, patient's can apply at any time according to the ability of self from the main force, cancel at any time and arbitrarily increase
Big and reduce, no matter how the changing from the main force of patient, central processing unit can calculate the size from the main force in real time, so that it is determined that
Bending drives the auxiliary driving force of motor output, and active training and the passive exercise of patient organically combine.
5, when patient after the main force returns to preferable level, described bending drive motor can also export back action
Power so that patient from the main force except needing the gravity driving self forearm and arm fixing plate to be curved, in addition it is also necessary to gram
Clothes bending drives under the back action of motor, thus the autonomous firmly ability of the patient more effectively taken exercise.
Accompanying drawing explanation
Fig. 1-Fig. 3 is of the taken exercise shoulder mobility ability of the present invention and arm convalescence device independently firmly
The perspective view of detailed description of the invention.
Fig. 4 is the perspective view of shoulder joint exercise mechanism part in Fig. 1-Fig. 3 illustrated embodiment.
Fig. 5 is the structural representation (profile) of universal connection structure part in Fig. 1-Fig. 3 illustrated embodiment.
Fig. 6 and Fig. 7 is the perspective view of arm exercises mechanism in Fig. 1-Fig. 3 illustrated embodiment.
Fig. 8 and Fig. 9 is to bend drive mechanism and the blast of rotating drive mechanism in arm exercises mechanism shown in Fig. 6 and Fig. 7
Figure, wherein, the blast position of Fig. 8 is Part I gear drive corresponding position, and the blast position of Fig. 9 is Part II gear
Drive mechanism corresponding position.
Figure 10 is the partial enlarged drawing of autonomous firmly measuring mechanism part in 7.
Figure 11 be the present invention convalescence device in the theory diagram of control system.
Figure 12 is second of the taken exercise shoulder mobility ability of the present invention and arm convalescence device independently firmly
The perspective view of arm exercises mechanism in detailed description of the invention.
Figure 13 is the 3rd of the taken exercise shoulder mobility ability of the present invention and arm convalescence device independently firmly
The structural representation (profile) of universal connection structure part in detailed description of the invention.
Detailed description of the invention
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment 1
As shown in Figure 1-Figure 3, the taken exercise shoulder mobility ability of the present invention and arm independently convalescence device firmly
Including support 22 and recovery training appliance for recovery, wherein, described recovery training appliance for recovery includes the arm exercises for tempering arm mobility
Mechanism 20, for tempering the shoulder joint exercise mechanism 21 of shoulder mobility ability, autonomous firmly measuring mechanism and control system,
Wherein, described support 22 is connected by universal connection structure between arm exercises mechanism 20, described shoulder joint exercise mechanism 21
It is connected to the bottom of arm exercises mechanism 20.
As it is shown in figure 5, described universal connection structure includes connecting rod 23 and universal joint, wherein, described connecting rod 23
One end is fixed in arm exercises mechanism 20, and the other end is connected with the upper end of support 22 by described universal joint, described universal
Joint includes the sphere recess 23-1 being located in the connecting rod 23 and spherical joint 24-1 being located at support 22 upper end.Described support
The upper end of 22 is provided with ball joint 24, and one end of this ball joint 24 is fixing with support 22 to be connected, and the other end arranges described
Spherical joint 24-1.
See Fig. 1-Fig. 4, described shoulder joint exercise mechanism 21 include swaying direction controlling organization, walking mechanism, around corner
Degree controlling organization is to have the support base 30 of spherical groove 30-1, and wherein, described swaying direction controlling organization includes swinging control
Motor 25 processed and the rotation dish 26 being connected with weave control motor 25 main shaft, described weave control motor 25 is connected to arm forging
The bottom of refining mechanism 20；Described walking mechanism includes movable motor 28, link 27 and is arranged on movable motor 28 main shaft
Elastic rubber tire 29, wherein, described link 27 lower end and movable motor 28 is fixing to be connected, and upper end thereof is at described rotation dish 26
On, described elastic rubber tire 29 is pressed in the spherical groove 30-1 supporting base 30, this elasticity rubber tire 29 with spherical groove 30-
The position of 1 contact is compressed；The described angle control mechanism that rotates is made up of cylinder 31, and the upper end thereof of the cylinder body of this cylinder 31 exists
On described rotation dish 26, the expansion link of this cylinder 31 is hinged on described link 27.
As shown in Fig. 6-Fig. 9, described arm exercises mechanism 20 includes pedestal 8, arm fixing plate 1, is located at arm fixing plate 1
On arm fix bandage 9, drive arm fixing plate 1 make bending and the bending drive mechanism of unbending movement and drive arm solid
Determine plate 1 and make the rotating drive mechanism of reciprocating rotation.
As shown in Fig. 6-Fig. 9, described bending drive mechanism includes that bending drives fixing seat 5, bending to drive motor 2 and curved
Bent drive transmission device, wherein, one end of described arm fixing plate 1 is connected to bending by the first rotating shaft 4 and drives fixing seat 5
On, described bending drives motor 2 to be fixed on bending and drives on fixing seat 5, and described bending drive transmission device is connected to bending and drives
Between main shaft and first rotating shaft 4 of arm fixing plate 1 of galvanic electricity machine 2.
As shown in Fig. 6-Fig. 9, described rotating drive mechanism includes rotational drive motor 6 and rotates drive transmission device, its
In, described rotational drive motor 6 is fixed on pedestal 8, and described bending drives fixing seat 5 to be connected to pedestal by the second rotating shaft 10
On 8, described rotation drive transmission device is connected to the main shaft of rotational drive motor 6 and drives the second rotating shaft fixing seat 5 with bending
Between 10.
As shown in Fig. 6-Figure 11, described autonomous firmly measuring mechanism includes that arm fixes bandage 9, photoelectric sensor 12, sense
Answering sheet 13, spring 18 and guiding mechanism, wherein, described guiding mechanism includes the guide holder being located on arm fixing plate 1 side
15 and the guide post 14 that is matched with in the pilot hole of guide holder 15, the upper end of described guide post 14 is provided with upper junction plate 16, lower end
It is provided with lower connecting plate 17；Described arm is fixed one end of bandage 9 and is connected on described upper junction plate 16, and the other end is provided with link
11, described arm fixing plate 1 is provided with hook 19 on the side relative with guiding mechanism, and during work, described link 11 is hooked on institute
State on hook 19；Described photoelectric sensor 12 is multiple, and along vertical array, this photoelectric sensor 12 is arranged on arm fixing plate
On side identical with guiding mechanism in 1；Described sensing chip 13 is connected on described lower connecting plate 17, and is positioned at described photoelectric transfer
The induction channels 12-1 corresponding position of sensor 12；Described spring 18 is enclosed within guide post 14, and the two ends up and down of this spring 18 are made respectively
It is used on upper junction plate 16 and lower connecting plate 17.
As shown in figure 11, described control system includes central processing unit, memorizer and drive circuit, this central processing unit
Signal input part be connected with described photoelectric sensor 12, signal output part by drive circuit with described bending drive motor 2
Connect with rotational drive motor 6.
As shown in Fig. 6-Fig. 9, described bending drive transmission device is made up of Part I gear drive 3, and this is first years old
Operative gear drive mechanism 3 includes being connected to bending and drives the first active part gear 3-1 on motor 2 main shaft and be connected to the
The first secondary part gear 3-2 in one rotating shaft 4；Described rotation drive transmission device is by Part II gear drive 7 structure
Becoming, this Part II gear drive 7 includes the second active part gear 7-1 being connected on rotational drive motor 6 main shaft
With the second secondary part gear 7-2 being connected in the second rotating shaft 10.Described first secondary part gear 3-2 and the second follower
Dividing gear 7-2 is internal gear.Said structure is used to be advantageous in that: described gear drive uses the form energy of operative gear
Enough better assure that the safety of patient during training；During training, bending drives motor 2 and rotational drive motor 6 to make past
Multiple rotation, its stroke rotated should be limited in the range of setting, and slewing area exceedes setting stroke else if, it is possible to
Patient's arm is produced and sprains, serious security incident even occurs；The rotational travel of two motors is generally by central processing unit
Control；And after using above-mentioned operative gear drive mechanism, if rotational travel exceedes set point because of unexpected, this operative gear
Drive mechanism will run out of steam transmission effect, thus cuts off power, it is ensured that patient's arm safety.
As shown in Fig. 6-Fig. 9, described arm fixing plate 1 is provided with the locating slot 1-1 with forearm mating shapes, in order to
Fixing of forearm.
As Figure 1-Figure 4, the cylinder body of described cylinder 31 is connected with described rotation dish 26 by connector 25, described connection
One end of part 25 is fixed on rotation dish 26, and the other end extends after the radially extending of rotation dish 26 the most obliquely, and is hinged on
On described cylinder body.
Below in conjunction with the accompanying drawings to the above-mentioned work tempering shoulder mobility ability and arm convalescence device independently firmly
It is further described as principle:
As Figure 1-Figure 11, during use, arm is fixed in arm exercises mechanism 20, this arm exercises mechanism 20 forge
The mobility of refining arm, and the work of the exercise shoulder joint that combined by shoulder joint exercise mechanism 21 and universal connection structure
Kinetic force.Specifically, when carrying out shoulder mobility ability education, being divided into two actions, first element is training shoulder joint
The ability swung, second action is the ability that training shoulder joint rotates.The training process of first element is: carrying out first
During individual action training, described elastic rubber tire 29 is in erectility, that is elastic rubber tire 29 place plane is through spherical groove 30-1
Bottom；During work, the movable motor 28 in walking mechanism drives elastic rubber tire 29 to rotate, due to elastic rubber tire 29 elastic compression
In the spherical groove 30-1 supporting base 30, therefore elastic rubber tire 29 makees circular arc along certain plane in spherical groove 30-1
The walking of track is (namely along the walking of latitude direction, as shown by the arrows in Figure 1), under the cooperation of universal connection structure, whole
Individual arm exercises mechanism 20 makees unidirectional swing, thus realizes the swing to shoulder joint and train, and the amplitude of swing is by electricity of walking
Machine 28 controls；When needing to change the direction swung, the weave control motor 25 in described swaying direction controlling organization drives and turns
Moving plate 26 rotates, thus drives whole walking mechanism to rotate, and changes elastic rubber tire 29 place plane, and then changes the side swung
To.The training process of second action is: the cylinder 31 in angle control mechanism that rotates, by stretching motion, drives walking mechanism
Turning an angle relative to rotation dish 26 so that the elastic inclined shape of rubber tire 29, now to be pressed on sphere recessed for elastic rubber tire 29
On a certain latitude of groove 30-1, (deflection of elastic rubber tire 29 is it should be guaranteed that to carry out rotation equal to any position when elastic rubber tire 29
Can contact with spherical groove 30-1), elastic rubber tire 29 rotates subsequently, in spherical groove 30-1 along longitudinal walking (as
Shown in Fig. 3 arrow), under the cooperation of universal connection structure, whole arm exercises mechanism 20 rotates motion, thus realizes shoulder
The training that rotates in joint, the track of upper arm is tapered, and the size of cone angle is controlled by the angle control mechanism that rotates.
When training the mobility of arm, the effect of described bending drive mechanism is to drive arm fixing plate 1 to make curved
Song and unbending movement, thus train little brachiocylloosis and the ability stretched, drive motor 2 and bending to drive particular by bending
Drive mechanism drives arm fixing plate 1 to rotate around the first rotating shaft 4；Described rotating drive mechanism be used for driving arm fixing plate 1 around
The axis of its length direction rotates, thus the ability training forearm to rotate, drive particular by rotational drive motor 6 and rotation
Dynamic drive mechanism drives arm fixing plate 1 to rotate around the second rotating shaft 10.
When the training carrying out little brachiocylloosis and the ability of stretching, patient can independently apply certain work according to the ability of oneself
Firmly, by independently exerting oneself measuring mechanism and central processing unit detects and calculate the size of autonomisation power jointly, so by
Central processor controls bending and drives the auxiliary driving force of motor 2 output, and this auxiliary driving force is with patient's independently change firmly
Change, autonomisation power is the biggest, and auxiliary driving force is the least, thus plays the independent exercising ability of patient as much as possible.Specifically
Ground, when the forearm of patient independently apply active force make little brachiocylloosis time, arm fix bandage 9 can drive upper junction plate 16, guide
Bar 14, lower connecting plate 17 and sensing chip 13 move together, and spring 18 is compressed by upper junction plate 16 and lower connecting plate 17, institute
Stating in induction channels 12-1 that sensing chip 13 enters into photoelectric sensor 12, described autonomisation power is the biggest, the shifting of sensing chip 13
Dynamic distance is the biggest, and both linear (because the deformation of spring 18 meets Hooke's law)；Owing to being provided with multiple light
Electric transducer 12, the size of sensing chip 13 displacement is detected by photoelectric sensor 12, and sensing chip 13 arrives different photoelectric transfers
At sensor 12, correspondingly can determine that the displacement of sensing chip 13；Photoelectric sensor 12 is by the real-time position signal of sensing chip 13
Sending central processing unit to, this position signalling is converted into described from the size of the main force by central processing unit, thus calculates bending
Drive the auxiliary driving force of motor 2 output, drive the output of motor 2 by controlling bending by the way of, realize auxiliary driving force
Regulation.In the training process, can the applying at any time according to the ability of self from the main force, cancel at any time and arbitrarily increase of patient
Big and reduce, no matter how the changing from the main force of patient, central processing unit can calculate the size from the main force in real time, so that it is determined that
Bending drives the auxiliary driving force of motor 2 output, and active training and the passive exercise of patient organically combine.Work as patient
After the main force returns to preferable level, described bending drive motor 2 can also export opposition so that patient's is autonomous
Power is curved except needing the gravity driving self forearm and arm fixing plate 1, in addition it is also necessary to overcome bending to drive motor 2
Under back action, thus the autonomous firmly ability of the patient more effectively taken exercise.
Embodiment 2
As shown in figure 12, the present embodiment difference compared with Example 1 is, in the present embodiment, described from primary
The quantity of power measuring mechanism is three, these measuring mechanism length direction arrangements along arm fixing plate 1 of independently exerting oneself.Its mesh
Be, according to lever principle, the distance of autonomous firmly measuring mechanism distance the first rotating shaft 4 is different, and patient's arm to be driven is solid
Determine the power needed for plate 1 is bent upwards rotation the most different, distance the nearest, required power is the biggest, by arrange plural independently
Firmly measuring mechanism, can be operated according to the size selection the most firmly measuring mechanism from the main force of patient, suitable
More preferable by property.
Embodiment 3
As shown in figure 13, the present embodiment difference compared with Example 1 is, in the present embodiment, and described connecting rod
23 are being provided with lock-screw 33 with sphere recess 23-1 corresponding position, and this lock-screw 33 is pressed on spherical joint 24-1.Its mesh
Be, make the locking between sphere recess 23-1 and spherical joint 24-1 more firm；During use, if rehabilitation to be regulated instruction
Practice the position of device 20, unclamp described lock-screw 33, after the position adjustments of recovery training appliance for recovery 20 is good, then lock described locking screw
Nail 33.
Embodiments of the present invention are not limited to this, according to the foregoing of the present invention, utilize the ordinary skill of this area to know
Knowing and customary means, without departing under the present invention above-mentioned basic fundamental thought premise, the present invention can also make other multiple shape
The amendment of formula, replace or change, within the scope of all falling within rights protection of the present invention.
Claims (9)
1. can temper a shoulder mobility ability and arm convalescence device independently firmly, including support and rehabilitation training
Device, wherein, described recovery training appliance for recovery includes the arm exercises mechanism for tempering arm mobility, for tempering shoulder joint work
The shoulder joint exercise mechanism of kinetic force, autonomous firmly measuring mechanism and control system, wherein, described support and arm exercises machine
Being connected by universal connection structure between structure, described shoulder joint exercise mechanism is connected to the bottom of arm exercises mechanism；
Described universal connection structure includes connecting rod and universal joint, and wherein, one end of described connecting rod is fixed on arm exercises
In mechanism, the other end is connected with support by described universal joint, and described universal joint includes the sphere recess being located at connecting rod
And it is located at the spherical joint of pedestal upper end；
Described shoulder joint exercise mechanism includes that swaying direction controlling organization, walking mechanism, the angle control mechanism that rotates are to have ball
The support base of face groove, wherein, described swaying direction controlling organization include weave control motor and with weave control motor
The rotation dish that main shaft connects, described weave control motor is connected to the bottom of arm exercises mechanism；Described walking mechanism includes row
Walk motor, link and the elastic rubber tire being arranged on movable motor main shaft, wherein, described link lower end and movable motor
Fixing connection, upper end thereof is on described rotation dish, and described elastic gum wheel is pressed in the spherical groove supporting base, this elasticity
Rubber tire is compressed at the position contacted with spherical groove；The described angle control mechanism that rotates is made up of cylinder, the cylinder body of this cylinder
Upper end thereof on described rotation dish, the expansion link of this cylinder is hinged on described link；
Arm exercises mechanism described in described arm exercises mechanism includes pedestal, arm fixing plate, the hands that is located on arm fixing plate
Arm is fixed bandage, is driven arm fixing plate make the bending drive mechanism of bending and unbending movement and drive arm fixing plate to make past
The multiple rotating drive mechanism rotated, wherein:
Described bending drive mechanism includes that bending drives fixing seat, bends driving motor and bending drive transmission device, wherein,
One end of described arm fixing plate is connected to bending by the first rotating shaft and drives on fixing seat, and described bending drives motor to be fixed on
Bending drives on fixing seat, and described bending drive transmission device is connected to bending and drives the of the main shaft of motor and arm fixing plate
Between one rotating shaft；
Described rotating drive mechanism includes rotational drive motor and rotates drive transmission device, wherein, described rotational drive motor
Being fixed on pedestal, described bending drives fixing seat to be connected on pedestal by the second rotating shaft, described rotation drive transmission device
The main shaft and the bending that are connected to rotational drive motor drive between the second rotating shaft fixing seat；
Described autonomous firmly measuring mechanism includes that arm fixes bandage, photoelectric sensor, sensing chip, spring and guiding mechanism,
Wherein, described guiding mechanism includes the guide holder being located on arm fixing plate side and leading of being matched with in the pilot hole of guide holder
To bar, the upper end of described guide post is provided with upper junction plate, and lower end is provided with lower connecting plate；Described arm is fixed one end of bandage and is connected
On described upper junction plate, the other end is provided with link, and described arm fixing plate is provided with extension on the side relative with guiding mechanism
Hook, during work, described link is hooked on described hook；Described photoelectric sensor is multiple, along vertical array, and this photoelectric transfer
Sensor is arranged on side identical with guiding mechanism in arm fixing plate；Described sensing chip is connected on described lower connecting plate,
And it is positioned at the induction channels corresponding position of described photoelectric sensor；Described spring housing on the guide bar, divide by the two ends up and down of this spring
Do not act on upper junction plate and lower connecting plate；
Described control system includes central processing unit, and the signal input part of this central processing unit is connected with described photoelectric sensor,
Signal output part drives motor and rotational drive motor to be connected with described bending.
The convalescence device tempering shoulder mobility ability and arm independently firmly the most according to claim 1, it is special
Levying and be, described bending drive transmission device is made up of Part I gear drive, this Part I gear drive
The first active part gear on electric machine main shaft and the first follower being connected in the first rotating shaft is driven including being connected to bending
Divide gear；Described rotation drive transmission device is made up of Part II gear drive, this Part II gear drive
Including the second active part gear being connected on rotational drive motor main shaft and the second follower being connected in the second rotating shaft
Divide gear.
The convalescence device tempering shoulder mobility ability and arm independently firmly the most according to claim 2, it is special
Levying and be, described first secondary part gear and the second secondary part gear are internal gear, and this makes structure compacter, and allows
Active part gear and secondary part gear can be with rotating in same directions.
The convalescence device tempering shoulder mobility ability and arm independently firmly the most according to claim 1, it is special
Levying and be, described photoelectric sensor is three, and when sensing chip is positioned at the photoelectric sensor of bottom, described bending drives electricity
Machine applies forward auxiliary driving force, and time at the photoelectric sensor that sensing chip is positioned at centre, described bending drives motor to apply
Auxiliary driving force is zero, and when sensing chip is positioned at the photoelectric sensor of the top, it is the most auxiliary that described bending drives motor to apply
Help driving force.
The convalescence device tempering shoulder mobility ability and arm independently firmly the most according to claim 1, it is special
Levying and be, described guide post is two, and each guide post is provided with a spring.
The convalescence device tempering shoulder mobility ability and arm independently firmly the most according to claim 1, it is special
Levying and be, the quantity of described autonomous firmly measuring mechanism is two or more, and these measuring mechanisms of independently exerting oneself are along arm
The length direction arrangement of fixed plate.
The convalescence device tempering shoulder mobility ability and arm independently firmly the most according to claim 1, it is special
Levying and be, described arm fixing plate is provided with and the locating slot of forearm mating shapes.
The convalescence device tempering shoulder mobility ability and arm independently firmly the most according to claim 1, it is special
Levying and be, the cylinder body of described cylinder is connected with described rotation dish by connector, and one end of described connector is fixed on rotation dish
On, the other end extends after the radially extending of rotation dish the most obliquely, and is hinged on described cylinder body.
The convalescence device tempering shoulder mobility ability and arm independently firmly the most according to claim 1, it is special
Levying and be, the upper end of described support is provided with ball joint, and one end of this ball joint is fixing with support to be connected, and the other end sets
Put described spherical joint；Described connecting rod is being provided with lock-screw with sphere recess corresponding position, and this locking is pressed on sphere and connects
On head.
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| CN108317982A (en) * | 2018-02-02 | 2018-07-24 | 廊坊师范学院 | A kind of three dimensions body position feels test device and method |
| CN108338906A (en) * | 2018-04-25 | 2018-07-31 | 吉林大学 | A kind of medical massage bed |
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| CN109011404A (en) * | 2018-08-16 | 2018-12-18 | 朱鹏豫 | Healing and training shoulder joint Medical Devices |
| CN109009874A (en) * | 2018-08-16 | 2018-12-18 | 朱鹏豫 | Multifunctional medical shoulder joint rehabilitation trainer |
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| CN108317982A (en) * | 2018-02-02 | 2018-07-24 | 廊坊师范学院 | A kind of three dimensions body position feels test device and method |
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| CN111012560A (en) * | 2019-11-27 | 2020-04-17 | 陈红卫 | Elbow joint traction therapeutic device |
| CN113144506A (en) * | 2020-01-22 | 2021-07-23 | 博世汽车部件(长沙)有限公司 | Motor system for a resistance training device, resistance training device and method for adjusting or configuring a motor system |
| CN113616479A (en) * | 2021-08-09 | 2021-11-09 | 浙江师范大学 | Device of sports dance exercise split |
| CN113616479B (en) * | 2021-08-09 | 2023-10-03 | 浙江师范大学 | Device for training split of sports dance |
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