CN106264987B - It is a kind of to temper the convalescence device of shoulder mobility ability and arm independently firmly - Google Patents

It is a kind of to temper the convalescence device of shoulder mobility ability and arm independently firmly Download PDF

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Publication number
CN106264987B
CN106264987B CN201610883774.2A CN201610883774A CN106264987B CN 106264987 B CN106264987 B CN 106264987B CN 201610883774 A CN201610883774 A CN 201610883774A CN 106264987 B CN106264987 B CN 106264987B
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China
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arm
gear
bending
convalescence
driving
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CN106264987A (en
Inventor
邹彤昕
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Taizhou Bang Fu Environmental Protection Technology Co., Ltd.
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Taizhou Bang Fu Environmental Protection Technology Co Ltd
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Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/00178Exercising 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
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/00181Exercising 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
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/005Exercising 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
    • A63B21/0058Exercising 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
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/06User-manipulated weights
    • A63B21/065User-manipulated weights worn on user's body
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/12Exercising 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
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2220/00Measuring of physical parameters relating to sporting activity
    • A63B2220/50Force related parameters
    • A63B2220/51Force
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2230/00Measuring physiological parameters of the user
    • A63B2230/60Measuring physiological parameters of the user muscle strain, i.e. measured on the user

Abstract

The invention discloses one kind can temper the convalescence device of shoulder mobility ability and arm independently firmly, including bracket and recovery training appliance for recovery, the recovery training appliance for recovery includes arm exercises mechanism, shoulder joint exercise mechanism, independently exert oneself measuring mechanism and control system, passes through universal connection structure between the bracket and arm exercises mechanism and connects;The shoulder joint exercise mechanism includes swaying direction control mechanism, walking mechanism, the angle control mechanism that rotates with the support base with spherical groove, and the swaying direction control mechanism includes weave control motor and rotating disc;The walking mechanism includes the elastic rubber tire that movable motor, connection frame and setting are expert on electric machine main shaft, and the connection frame lower end is fixedly connected with movable motor, and upper end is hinged on the rotating disc;The angle control mechanism that rotates is made of cylinder.Convalescence device of the invention can be trained shoulder joint, have many advantages, such as that scope of activities is big, movement pattern is more.

Description

It is a kind of to temper the convalescence device of shoulder mobility ability and arm independently firmly
Technical field
The present invention relates to human body recovery training equipment, and in particular to one kind can temper shoulder mobility ability and arm certainly The convalescence device of primary power.
Background technique
For the patient of quadriplegia, be conducive to the motor function for assisting patient to recapture paralyzed limbs by rehabilitation training. Conventional method, which is doctor, carries out the training of teach-by-doing to patient, this there are low efficiency, patient cannot independently arrange the training time, at The deficiencies of this height, training effect depend on the experience level of doctor, then can be well solved the problem using limb rehabilitating equipment.
Existing limb rehabilitating equipment usually passes through joint structure and provides relevant action training for limbs, for example, for The training of arm drives forearm to rotate around elbow joint, with the function of training the bending of forearm and stretch using cradle head.It is existing Limb rehabilitating equipment have " human upper limb rehabilitation machine disclosed in the application for a patent for invention of 102727360 A of application publication number CN " a kind of hemiparalysis recovery physiotherapy equipment " and application disclosed in people ", the application for a patent for invention that application publication number is CN104352335 A Publication No. is " a kind of intelligent upper-limb recovery training device " etc. disclosed in the application for a patent for invention of 104983549 A of CN.It is existing Deficiency existing for limb rehabilitating equipment is:
1, the movement function of shoulder joint cannot be trained well.
2, human body limb is all that training is carried out under the assistance of external force, is a kind of passive type training process, patient is not It can be actively engaged in some extent rehabilitation training in the different phase of rehabilitation according to the rehabilitation situation of itself, to be unfavorable for patient The fast quick-recovery of function.
Summary of the invention
In order to overcome the above-mentioned deficiency of the prior art, the purpose of the present invention is to provide one kind can temper shoulder mobility energy The convalescence device of power and arm independently firmly, the convalescence device can be trained shoulder joint, have scope of activities big, dynamic Make the advantages that pattern is more.
The present invention realizes that above-mentioned purpose technical solution is:
It is a kind of to temper the convalescence device of shoulder mobility ability and arm independently firmly, including bracket and rehabilitation training Device, wherein the recovery training appliance for recovery includes for tempering the arm exercises mechanism of arm mobility, living for tempering shoulder joint The shoulder joint exercise mechanism of kinetic force, independently exert oneself measuring mechanism and control system, wherein the bracket and arm exercises machine It is connected between structure by universal connection structure, the shoulder joint exercise mechanism is connected to the bottom of arm exercises mechanism;
The universal connection structure includes connecting rod and universal joint, wherein one end of the connecting rod is fixed on arm On exercise mechanism, the other end is connect by the universal joint with bracket, and the universal joint includes the spherical surface for being located at connecting rod Recess and the spherical joint for being located at pedestal upper end;
The shoulder joint exercise mechanism include swaying direction control mechanism, walking mechanism, rotate angle control mechanism and Support base with spherical groove, wherein the swaying direction control mechanism includes weave control motor and controls with swinging The rotating disc of electric machine main shaft connection processed, the weave control motor are connected to the bottom of arm exercises mechanism;The walking mechanism The elastic rubber tire for being expert on electric machine main shaft including movable motor, connection frame and setting, wherein the connection frame lower end and row Motor to be walked to be fixedly connected, upper end is hinged on the rotating disc, and the elastic gum wheel is pressed in the spherical groove of support base, The elasticity rubber tire is compressed at the position contacted with spherical groove;The angle control mechanism that rotates is made of cylinder, the cylinder The upper end of cylinder body be hinged on the rotating disc, the telescopic rod of the cylinder is hinged on the connection frame;
The arm exercises mechanism includes pedestal, arm fixing plate, the arm fixation bandage being located on arm fixing plate, drives Arm restraining board of starting makees bending and the bending driving mechanism of unbending movement and the rotation for driving arm fixing plate to make reciprocating rotation Driving mechanism, wherein:
The bending driving mechanism includes bending driving fixing seat, bending driving motor and is bent drive transmission device, Wherein, one end of the arm fixing plate is connected in bending driving fixing seat by first rotating shaft, the bending driving motor It is fixed in bending driving fixing seat, the bending drive transmission device is connected to the main shaft and arm fixation of bending driving motor Between the first rotating shaft of plate;
The rotating drive mechanism includes rotational drive motor and rotate driving transmission mechanism, wherein the rotate driving Motor is fixed on the base, and the bending driving fixing seat is connected on the base by the second shaft, the rotate driving transmission Mechanism is connected between the main shaft of rotational drive motor and the second shaft of bending driving fixing seat;
It is described that independently firmly measuring mechanism includes arm fixation bandage, photoelectric sensor, sensing chip, spring and Guiding machine Structure, wherein the guiding mechanism includes the guide holder being located on arm fixing plate side and is matched in the pilot hole of guide holder Guide rod, the upper end of the guide rod is equipped with upper junction plate, and lower end is equipped with lower connecting plate;One end of the arm fixation bandage It is connected on the upper junction plate, the other end is equipped with link, and the arm fixing plate is set on the side opposite with guiding mechanism There is a hook, when work, the link was hooked on the hook;The photoelectric sensor be it is multiple, along vertical array, the light Electric transducer is arranged in arm fixing plate on side identical with guiding mechanism;The sensing chip is connected to the lower connecting plate On, and it is located at the induction channels corresponding position of the photoelectric sensor;The spring pocket on the guide bar, the upper and lower ends of the spring It is respectively acting on guide holder and lower connecting plate;
The control system includes central processing unit, and the signal input part of the central processing unit and the photoelectric sensor connect It connects, signal output end is connect with the bending driving motor and rotational drive motor.
The above-mentioned working principle of convalescence device of shoulder mobility ability and arm independently firmly of taking exercise is:
In use, arm fixation in arm exercises mechanism, is tempered the mobility of arm by the arm exercises mechanism, and The mobility for tempering shoulder joint is combined together by shoulder joint exercise mechanism and universal connection structure.Specifically, it is carrying out When shoulder mobility ability education, it is divided into two movements, first element is the ability that trained shoulder joint is swung, second movement It is the ability that trained shoulder joint rotates.The training process of first element is:When carrying out first element training, the elasticity Rubber tire is in upright state, that is, plane where elastic rubber tire passes through the bottom of spherical groove;Walking when work, in walking mechanism Motor drives the rotation of elastic gum wheel, since elastic rubber tire elastic compression is in the spherical groove of support base, elastic rubber tire The walking (namely walking along latitude direction) for making arc track along some plane in spherical groove, is tied in universal connection Under the cooperation of structure, entire arm exercises mechanism makees unidirectional swing, to realize the swing training to shoulder joint, the width of swing Degree is controlled by movable motor;Weave control motor when needing to change the direction swung, in the swaying direction control mechanism Turn disc is driven, so that entire walking mechanism be driven to rotate, changes plane where elastic rubber tire, and then change the side swung To.Second movement training process be:The cylinder to rotate in angle control mechanism drives walking mechanism phase by stretching motion For turn disc certain angle, so that elastic rubber tire is oblique, elastic gum wheel is pressed on a certain of spherical groove at this time (deflection of elastic rubber tire should be guaranteed that when elastic rubber tire carries out putting to be turned to any position connecing with spherical groove on latitude Touching), subsequent elastic gum wheel rotation is walked in spherical groove along longitudinal, under the cooperation of universal connection structure, entirely Arm exercises mechanism rotates movement, to realize the training that rotates to shoulder joint, the track of upper arm is tapered, the size of cone angle It is controlled by rotating angle control mechanism.
In the mobility of training arm, the effect of the bending driving mechanism is that arm fixing plate is driven to be bent With unbending movement, so that the small brachiocylloosis of training and the ability stretched, pass particular by bending driving motor and bending driving Motivation structure drives arm fixing plate to rotate around first rotating shaft;The rotating drive mechanism is for driving arm fixing plate around its length The axis in direction rotates, so that the ability of training forearm rotation, is driven particular by rotational drive motor and rotate driving Mechanism drives arm fixing plate to rotate around the second shaft.
When carrying out small brachiocylloosis and the training for ability of stretching, patient can independently apply certain work according to the ability of oneself Firmly, the size of autonomisation power is detected and calculated jointly by independently exert oneself measuring mechanism and central processing unit, and then in The auxiliary driving force of central processor control bending driving motor output, the auxiliary driving force become with the variation that patient independently exerts oneself Change, autonomisation power is bigger, and auxiliary driving force is with regard to smaller, to play the independent exercising ability of patient as much as possible.Specifically, When the forearm of patient, which independently applies active force, makes small brachiocylloosis, arm fixation bandage will drive upper junction plate, guide rod, lower company Fishplate bar and sensing chip move together, and upper junction plate and lower connecting plate compress spring, and the sensing chip enters photoelectricity In the induction channels of sensor, the autonomisation power is bigger, and the moving distance of sensing chip is bigger, and the two is in a linear relationship (because the deformation of spring meets Hooke's law);Due to being provided with multiple photoelectric sensors, the size of sensing chip moving distance by Photoelectric sensor detection, sensing chip reach at different photoelectric sensors, correspondingly can determine that the moving distance of sensing chip;Photoelectricity Sensor sends the real-time position signal of sensing chip to central processing unit, which is converted into described by central processing unit From the size of the main force, to calculate the auxiliary driving force of bending driving motor output, pass through the defeated of control bending driving motor The mode of power realizes the adjusting of auxiliary driving force out.In the training process, patient can be according to itself ability from the main force Apply at any time, cancel at any time and arbitrarily increase and reduce, regardless of changing from the main force for patient, central processing unit can be real When calculate from the size of the main force, so that it is determined that the auxiliary driving force of bending driving motor output, the active training of patient and passive Training is organically combined together.When patient is after being restored to preferable level from the main force, the bending driving motor can be with defeated Opposition out, so that patient's is curved in addition to needing that the gravity of itself forearm and arm fixing plate is driven to carry out from the main force It is bent, it is also necessary under the acting in opposition for overcoming bending driving motor, thus the ability of independently exerting oneself of the patient more effectively taken exercise.
A preferred embodiment of the invention, wherein the bending drive transmission device is by first part's gear drive It constitutes, which includes the first active part gear being connected on bending driving motor main shaft and company Connect the first secondary part gear in first rotating shaft;The rotate driving transmission mechanism is by second part gear drive structure At the second part gear drive includes the second active part gear being connected on rotational drive motor main shaft and connection The second secondary part gear in the second shaft.It is advantageous in that using the above scheme:The gear drive uses portion The form of split gear can better assure the safety of patient in training process;In training process, it is bent driving motor and rotation Driving motor makees reciprocating rotation, and the stroke of rotation should be limited in the range of setting, else if slewing area is more than to set Determine stroke, it is possible to strain be generated to patient's arm, or even serious safety accident occur;The rotational travel of two motors is usual It is controlled by central processing unit;And after using above-mentioned operative gear transmission mechanism, if rotational travel is because unexpected more than setting model It encloses, which will run out of steam transmission effect, to cut off power, it is ensured that patient's arm safety.
Preferably, the first secondary part gear and the second secondary part gear are internal gear, this makes structure more It is compact, and active part gear and secondary part gear can be rotate in same direction.
A preferred embodiment of the invention, wherein the photoelectric sensor is three, when sensing chip is located at the light of bottom When at electric transducer, the bending driving motor applies positive auxiliary driving force, when sensing chip is located in the middle photoelectric sensor When place, the auxiliary driving force that the bending driving motor applies is zero, when at the photoelectric sensor that sensing chip is located at the top, The bending driving motor applies reversed auxiliary driving force.The preferred embodiment is structurally, photoelectric sensor negligible amounts, knot Structure is simple, and from control, data processing amount is few, convenient for control.
A preferred embodiment of the invention, wherein the guide rod is two, and each guide rod is equipped with a spring, So that stress equalization, more accurate from the measurement result of the main force.
A preferred embodiment of the invention, wherein the quantity of the autonomous firmly measuring mechanism is two or more, this A little autonomous firmly measuring mechanisms are arranged along the length direction of arm fixing plate.It is intended that according to lever principle, from primary Distance of the power measuring mechanism apart from first rotating shaft is different, and patient will drive arm fixing plate to be bent upwards the required power of rotation also not Together, distance is closer, and required power is bigger, by the way that more than two independently firmly measuring mechanisms are arranged, can according to patient from The size selection of the main force is suitable, and independently firmly measuring mechanism works, and applicability is more preferable.
A preferred embodiment of the invention, wherein the arm fixing plate is equipped with the positioning to match with forearm shape Slot, in order to the fixation of forearm.
A preferred embodiment of the invention, wherein the cylinder body of the cylinder is connect by connector with the rotating disc, institute The one end for stating connector is fixed on rotating disc, and the other end is hinged on to being extended obliquely upward after the radially extending of rotating disc again On the cylinder body.
A preferred embodiment of the invention, wherein the upper end of the bracket is equipped with ball joint, the ball joint One end is fixedly connected with bracket, the other end setting spherical joint;The connecting rod is equipped with spherical surface recess corresponding position Lock-screw, the locking are pressed on spherical joint.
The present invention has beneficial effect below compared with prior art:
1, swing training and the training that rotates to shoulder joint are realized, the recovery of patient's shoulder mobility ability is assisted.
2, the amplitude of fluctuation of shoulder joint and the cone angle to rotate are adjustable, and scope of activities is big, movement pattern is more, thus Different patients are adapted in the training in different rehabilitation stages.
3, it is not only able to realize common passive type training, but also the initiative training of patient can be cooperated, according to trouble The initiative degree of participation of person determines the assistance degree to patient, to give full play to the initiative of patient, improves patient and restores The speed and effect of function.
4, being applied at any time according to the ability of itself from the main force of patient, at any time revocation and arbitrarily increase in training process Big and reduction, regardless of changing from the main force for patient, central processing unit can calculate the size from the main force in real time, so that it is determined that It is bent the auxiliary driving force of driving motor output, the active training and passive exercise of patient is organically combined together.
5, when patient is after being restored to preferable level from the main force, the bending driving motor can also export acting in opposition Power so that patient from the main force in addition to needing the gravity for driving itself forearm and arm fixing plate to be bent, it is also necessary to gram Under the acting in opposition of clothes bending driving motor, thus the ability of independently exerting oneself of the patient more effectively taken exercise.
Detailed description of the invention
Fig. 1-Fig. 3 is one for tempering the convalescence device of shoulder mobility ability and arm independently firmly of the invention The schematic perspective view of specific embodiment.
Fig. 4 is the schematic perspective view of shoulder joint exercise mechanism part in Fig. 1-Fig. 3 illustrated embodiment.
Fig. 5 is the structural schematic diagram (sectional view) of universal connection structure part in Fig. 1-Fig. 3 illustrated embodiment.
Fig. 6 and Fig. 7 is the schematic perspective view of arm exercises mechanism in Fig. 1-Fig. 3 illustrated embodiment.
Fig. 8 and Fig. 9 is the explosion that driving mechanism and rotating drive mechanism are bent in arm exercises mechanism shown in Fig. 6 and Fig. 7 Figure, wherein the explosion position of Fig. 8 is first part's gear drive corresponding position, and the explosion position of Fig. 9 is second part gear Transmission mechanism corresponding position.
Figure 10 be 7 in independently exert oneself measuring mechanism part partial enlarged view.
Figure 11 is the functional block diagram of control system in convalescence device of the invention.
Figure 12 is second for tempering the convalescence device of shoulder mobility ability and arm independently firmly of the invention The schematic perspective view of arm exercises mechanism in specific embodiment.
Figure 13 is the third for tempering the convalescence device of shoulder mobility ability and arm independently firmly of the invention The structural schematic diagram (sectional view) of universal connection structure part in specific embodiment.
Specific embodiment
The following further describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
Embodiment 1
As shown in Figure 1-Figure 3, the convalescence device tempering shoulder mobility ability and arm and independently exerting oneself of the invention Including bracket 22 and recovery training appliance for recovery, wherein the recovery training appliance for recovery includes the arm exercises for tempering arm mobility Mechanism 20, the shoulder joint exercise mechanism 21 for tempering shoulder mobility ability, independently exert oneself measuring mechanism and control system, Wherein, it is connected between the bracket 22 and arm exercises mechanism 20 by universal connection structure, the shoulder joint exercise mechanism 21 It is connected to the bottom of arm exercises mechanism 20.
As shown in figure 5, the universal connection structure includes connecting rod 23 and universal joint, wherein the connecting rod 23 One end is fixed in arm exercises mechanism 20, and the other end is connect by the universal joint with the upper end of bracket 22, described universal Connector includes the spherical surface recess 23-1 being located in the connecting rod 23 and spherical joint 24-1 for being located at 22 upper end of bracket.The bracket 22 upper end is equipped with ball joint 24, and one end of the ball joint 24 is fixedly connected with bracket 22, described in other end setting Spherical joint 24-1.
Referring to figures 1-4, the shoulder joint exercise mechanism 21 includes swaying direction control mechanism, walking mechanism, around corner Spend control mechanism and the support base 30 with spherical groove 30-1, wherein the swaying direction control mechanism includes swinging Control motor 25 and the rotating disc 26 connecting with 25 main shaft of weave control motor, the weave control motor 25 are connected to arm The bottom of exercise mechanism 20;The walking mechanism includes movable motor 28, connection frame 27 and is arranged in 28 main shaft of movable motor On elastic rubber tire 29, wherein 27 lower end of connection frame is fixedly connected with movable motor 28, and upper end is hinged on the rotating disc On 26, it is described elasticity rubber tire 29 be pressed in the spherical groove 30-1 of support base 30, the elasticity rubber tire 29 with spherical groove It is compressed at the position of 30-1 contact;The angle control mechanism that rotates is made of cylinder 31, the upper end hinge of the cylinder body of the cylinder 31 It connects on the rotating disc 26, the telescopic rod of the cylinder 31 is hinged on the connection frame 27.
As shown in Fig. 6-Fig. 9, the arm exercises mechanism 20 includes pedestal 8, arm fixing plate 1, is located at arm fixing plate 1 On arm fixation bandage 9, driving arm fixing plate 1 makees bending and the bending driving mechanism of unbending movement and driving arm are solid Fixed board 1 makees the rotating drive mechanism of reciprocating rotation.
As shown in Fig. 6-Fig. 9, the bending driving mechanism includes bending driving fixing seat 5, bending driving motor 2 and curved Bent drive transmission device, wherein one end of the arm fixing plate 1 is connected to bending driving fixing seat 5 by first rotating shaft 4 On, the bending driving motor 2 is fixed in bending driving fixing seat 5, and the bending drive transmission device is connected to bending and drives Between the main shaft of dynamic motor 2 and the first rotating shaft 4 of arm fixing plate 1.
As shown in Fig. 6-Fig. 9, the rotating drive mechanism includes rotational drive motor 6 and rotate driving transmission mechanism, In, the rotational drive motor 6 is fixed on pedestal 8, and the bending driving fixing seat 5 is connected to pedestal by the second shaft 10 On 8, the rotate driving transmission mechanism is connected to the main shaft of rotational drive motor 6 and the second shaft of bending driving fixing seat 5 Between 10.
As shown in Fig. 6-Figure 11, described independently firmly measuring mechanism includes arm fixation bandage 9, photoelectric sensor 12, sense Answer piece 13, spring 18 and guiding mechanism, wherein the guiding mechanism includes the guide holder being located on 1 side of arm fixing plate 15 and the guide rod 14 that is matched in the pilot hole of guide holder 15, the upper end of the guide rod 14 be equipped with upper junction plate 16, lower end Equipped with lower connecting plate 17;One end of the arm fixation bandage 9 is connected on the upper junction plate 16, and the other end is equipped with link 11, the arm fixing plate 1 is equipped with hook 19 on the side opposite with guiding mechanism, and when work, the link 11 was hooked on institute It states on hook 19;The photoelectric sensor 12 be it is multiple, along vertical array, which is arranged in arm fixing plate In 1 on side identical with guiding mechanism;The sensing chip 13 is connected on the lower connecting plate 17, and is located at the photoelectric transfer The corresponding position induction channels 12-1 of sensor 12;18 sets of the spring on guide rod 14, make respectively by the upper and lower ends of the spring 18 With on upper junction plate 16 and lower connecting plate 17.
As shown in figure 11, the control system includes central processing unit, memory and driving circuit, the central processing unit Signal input part connect with the photoelectric sensor 12, signal output end passes through driving circuit and the bending driving motor 2 It is connected with rotational drive motor 6.
As shown in Fig. 6-Fig. 9, the bending drive transmission device is made of first part's gear drive 3, this first Operative gear transmission mechanism 3 includes the first active part gear 3-1 being connected on bending 2 main shaft of driving motor and is connected to the The first secondary part gear 3-2 in one shaft 4;The rotate driving transmission mechanism is by 7 structure of second part gear drive At the second part gear drive 7 includes the second active part gear 7-1 being connected on 6 main shaft of rotational drive motor With the second secondary part gear 7-2 being connected in the second shaft 10.The first secondary part gear 3-2 and the second follower Split gear 7-2 is internal gear.It is advantageous in that using the above structure:The gear drive uses the form energy of operative gear Enough better assure the safety of patient in training process;In training process, be bent driving motor 2 and rotational drive motor 6 make it is past Multiple rotation, the stroke of rotation should be limited in the range of setting, else if slewing area is more than setting stroke, it is possible to Strain is generated to patient's arm, or even serious safety accident occurs;The rotational travel of two motors is usually by central processing unit To control;And after using above-mentioned operative gear transmission mechanism, if rotational travel is because unexpected more than setting range, the operative gear Transmission mechanism will run out of steam transmission effect, to cut off power, it is ensured that patient's arm safety.
As shown in Fig. 6-Fig. 9, the arm fixing plate 1 is equipped with the locating slot 1-1 to match with forearm shape, in order to The fixation of forearm.
As Figure 1-Figure 4, the cylinder body of the cylinder 31 is connect by connector 25 with the rotating disc 26, the connection One end of part 25 is fixed on rotating disc 26, and the other end is hinged on to being extended obliquely upward after the radially extending of rotating disc 26 again On the cylinder body.
With reference to the accompanying drawing to the above-mentioned work for tempering the convalescence device of shoulder mobility ability and arm independently firmly It is further described as principle:
As shown in Figure 1-Figure 11, it in use, arm fixation is in arm exercises mechanism 20, is forged by the arm exercises mechanism 20 The mobility of arm is refined, and is combined together the work for tempering shoulder joint by shoulder joint exercise mechanism 21 and universal connection structure Kinetic force.Specifically, when carrying out shoulder mobility ability education, it is divided into two movements, first element is trained shoulder joint The ability of swing, second movement are the abilities that trained shoulder joint rotates.The training process of first element is:Carrying out first When a action training, the elasticity rubber tire 29 is in upright state, that is, elastic 29 place plane of rubber tire passes through spherical groove 30-1 Bottom;When work, the movable motor 28 in walking mechanism drives elastic rubber tire 29 to rotate, due to elastic 29 elastic compression of rubber tire In the spherical groove 30-1 of support base 30, therefore elastic rubber tire 29 makees circular arc along some plane in spherical groove 30-1 The walking (namely walking along latitude direction, as shown by the arrows in Figure 1) of track, it is whole under the cooperation of universal connection structure A arm exercises mechanism 20 makees unidirectional swing, to realize the swing training to shoulder joint, the amplitude of swing is by walking electricity Machine 28 controls;When needing to change the direction swung, the weave control motor 25 in the swaying direction control mechanism is with turn Moving plate 26 rotates, so that entire walking mechanism be driven to rotate, changes 29 place plane of elastic rubber tire, and then change the side swung To.Second movement training process be:The cylinder 31 to rotate in angle control mechanism drives walking mechanism by stretching motion It turns an angle relative to rotating disc 26, so that elastic rubber tire 29 is oblique, it is recessed to be pressed on spherical surface for elastic rubber tire 29 at this time (deflection of elastic rubber tire 29 should be guaranteed that be turned to any position when elastic rubber tire 29 carries out pendulum on a certain latitude of slot 30-1 Can be contacted with spherical groove 30-1), then elasticity rubber tire 29 rotates, in spherical groove 30-1 (such as along longitudinal walking Shown in Fig. 3 arrow), under the cooperation of universal connection structure, entire arm exercises mechanism 20 rotates movement, to realize to shoulder The training that rotates in joint, the track of upper arm is tapered, and the size of cone angle is controlled by rotating angle control mechanism.
In the mobility of training arm, it is curved that the effect of the bending driving mechanism is that driving arm fixing plate 1 is made Bent and unbending movement, so that the ability training small brachiocylloosis and stretching, drives particular by bending driving motor 2 and bending Transmission mechanism drives arm fixing plate 1 to rotate around first rotating shaft 4;The rotating drive mechanism for drive arm fixing plate 1 around The axis of its length direction rotates, so that the ability of training forearm rotation, drives particular by rotational drive motor 6 and rotation Dynamic transmission mechanism drives arm fixing plate 1 to rotate around the second shaft 10.
When carrying out small brachiocylloosis and the training for ability of stretching, patient can independently apply certain work according to the ability of oneself Firmly, the size of autonomisation power is detected and calculated jointly by independently exert oneself measuring mechanism and central processing unit, and then in Central processor control bending driving motor 2 export auxiliary driving force, the auxiliary driving force with patient independently firmly variation and Variation, autonomisation power is bigger, and auxiliary driving force is with regard to smaller, to play the independent exercising ability of patient as much as possible.Specifically Ground, when the forearm of patient, which independently applies active force, makes small brachiocylloosis, arm fixation bandage 9 will drive upper junction plate 16, guiding Bar 14, lower connecting plate 17 and sensing chip 13 move together, and upper junction plate 16 and lower connecting plate 17 compress spring 18, institute It states sensing chip 13 to enter in the induction channels 12-1 of photoelectric sensor 12, the autonomisation power is bigger, the shifting of sensing chip 13 Dynamic distance is bigger, and the two is (because the deformation of spring 18 meets Hooke's law) in a linear relationship;Due to being provided with multiple light The size of electric transducer 12,13 moving distance of sensing chip is detected by photoelectric sensor 12, and sensing chip 13 reaches different photoelectric transfers At sensor 12, the moving distance of sensing chip 13 correspondingly can determine that;Photoelectric sensor 12 is by the real-time position signal of sensing chip 13 Send central processing unit to, which is converted into the size from the main force by central processing unit, to calculate bending The auxiliary driving force that driving motor 2 exports realizes auxiliary driving force by way of the output power of control bending driving motor 2 Adjusting.In the training process, being applied at any time according to the ability of itself from the main force of patient, at any time revocation and arbitrarily increase Big and reduction, regardless of changing from the main force for patient, central processing unit can calculate the size from the main force in real time, so that it is determined that It is bent the auxiliary driving force that driving motor 2 exports, the active training and passive exercise of patient is organically combined together.Work as patient From the main force be restored to it is preferably horizontal after, the bending driving motor 2 can also export opposition, so that patient's is autonomous Power is in addition to needing that itself forearm and the gravity of arm fixing plate 1 is driven to be bent, it is also necessary to overcome bending driving motor 2 Under acting in opposition, thus the ability of independently exerting oneself of the patient more effectively taken exercise.
Embodiment 2
As shown in figure 12, the present embodiment compared with Example 1 the difference is that, it is described from primary in the present embodiment The quantity of power measuring mechanism is three, these measuring mechanisms of independently exerting oneself are arranged along the length direction of arm fixing plate 1.Its mesh Be, according to lever principle, autonomous distance of the firmly measuring mechanism apart from first rotating shaft 4 is different, and patient will drive arm solid Power needed for fixed board 1 is bent upwards rotation is also different, and distance is closer, and required power is bigger, more than two autonomous by being arranged Firmly measuring mechanism can work according to the suitable measuring mechanism of independently exerting oneself of the size selection from the main force of patient, fit It is more preferable with property.
Embodiment 3
As shown in figure 13, the present embodiment compared with Example 1 the difference is that, in the present embodiment, the connecting rod 23 are being equipped with lock-screw 33 with the spherical surface corresponding position recess 23-1, which is pressed on spherical joint 24-1.Its mesh Be, make the locking between spherical surface recess 23-1 and spherical joint 24-1 stronger;In use, if to adjust rehabilitation instruction The position for practicing device 20, unclamps the lock-screw 33, after the position of recovery training appliance for recovery 20 regulates, then locks the locking screw Nail 33.
The implementation of the present invention is not limited to this, and above content according to the invention is known using the ordinary skill of this field Knowledge and customary means, under the premise of not departing from above-mentioned basic fundamental thought of the invention, the present invention can also make other a variety of shapes Modification, replacement or the change of formula, all fall within rights protection scope of the present invention.

Claims (9)

1. one kind can temper the convalescence device of shoulder mobility ability and arm independently firmly, including bracket and rehabilitation training Device, wherein the recovery training appliance for recovery includes for tempering the arm exercises mechanism of arm mobility, living for tempering shoulder joint The shoulder joint exercise mechanism of kinetic force, independently exert oneself measuring mechanism and control system, wherein the bracket and arm exercises machine It is connected between structure by universal connection structure, the shoulder joint exercise mechanism is connected to the bottom of arm exercises mechanism;
The universal connection structure includes connecting rod and universal joint, wherein one end of the connecting rod is fixed on arm exercises In mechanism, the other end is connect by the universal joint with bracket, and the universal joint includes the spherical surface recess for being located at connecting rod And it is located at the spherical joint of pedestal upper end;
The shoulder joint exercise mechanism includes swaying direction control mechanism, walking mechanism, rotating angle control mechanism and has The support base of spherical groove, wherein the swaying direction control mechanism include weave control motor and with weave control electricity The rotating disc of owner's axis connection, the weave control motor are connected to the bottom of arm exercises mechanism;The walking mechanism includes The elastic rubber tire that movable motor, connection frame and setting are expert on electric machine main shaft, wherein the connection frame lower end and walking electricity Machine is fixedly connected, and upper end is hinged on the rotating disc, and the elastic gum wheel is pressed in the spherical groove of support base, the bullet Property rubber tire is compressed at the position contacted with spherical groove;The angle control mechanism that rotates is made of cylinder, the cylinder of the cylinder The upper end of body is hinged on the rotating disc, and the telescopic rod of the cylinder is hinged on the connection frame;
The arm exercises mechanism includes pedestal, arm fixing plate, the arm fixation bandage being located on arm fixing plate, driving hand Arm restraining board makees to be bent the rotate driving for making reciprocating rotation with the bending driving mechanism of unbending movement and driving arm fixing plate Mechanism, wherein:
The bending driving mechanism includes bending driving fixing seat, bending driving motor and bending drive transmission device, wherein One end of the arm fixing plate is connected in bending driving fixing seat by first rotating shaft, and the bending driving motor is fixed on In bending driving fixing seat, the bending drive transmission device be connected to bending driving motor main shaft and arm fixing plate the Between one shaft;
The rotating drive mechanism includes rotational drive motor and rotate driving transmission mechanism, wherein the rotational drive motor It fixes on the base, the bending driving fixing seat is connected on the base by the second shaft, the rotate driving transmission mechanism It is connected between the main shaft of rotational drive motor and the second shaft of bending driving fixing seat;
It is described that independently firmly measuring mechanism includes arm fixation bandage, photoelectric sensor, sensing chip, spring and guiding mechanism, Wherein, the guiding mechanism includes the guide holder being located on arm fixing plate side and is matched with leading in the pilot hole of guide holder To bar, the upper end of the guide rod is equipped with upper junction plate, and lower end is equipped with lower connecting plate;One end of the arm fixation bandage connects On the upper junction plate, the other end is equipped with link, and the arm fixing plate is equipped on the side opposite with guiding mechanism and hangs Hook, when work, the link was hooked on the hook;The photoelectric sensor be it is multiple, along vertical array, the photoelectric transfer Sensor is arranged in arm fixing plate on side identical with guiding mechanism;The sensing chip is connected on the lower connecting plate, And it is located at the induction channels corresponding position of the photoelectric sensor;The spring pocket on the guide bar, divide by the upper and lower ends of the spring It does not act on guide holder and lower connecting plate;
The control system includes central processing unit, and the signal input part of the central processing unit is connect with the photoelectric sensor, Signal output end is connect with the bending driving motor and rotational drive motor.
2. according to claim 1 temper the convalescence device of shoulder mobility ability and arm independently firmly, spy Sign is that the bending drive transmission device is made of first part's gear drive, first part's gear drive Including the first active part gear being connected on bending driving motor main shaft and the first follower being connected in first rotating shaft Split gear;The rotate driving transmission mechanism is made of second part gear drive, the second part 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 shaft Split gear.
3. according to claim 2 temper the convalescence device of shoulder mobility ability and arm independently firmly, spy Sign is that the first secondary part gear and the second secondary part gear are internal gear, this makes structure more compact, and allows Active part gear and secondary part gear can rotate in same direction.
4. according to claim 1 temper the convalescence device of shoulder mobility ability and arm independently firmly, spy Sign is that the photoelectric sensor is three, when at the photoelectric sensor that sensing chip is located at bottom, the bending driving electricity Machine applies positive auxiliary driving force, when sensing chip is located in the middle at photoelectric sensor, what the bending driving motor applied Auxiliary driving force is zero, and when at the photoelectric sensor that sensing chip is located at the top, the bending driving motor applies reversed auxiliary Help driving force.
5. according to claim 1 temper the convalescence device of shoulder mobility ability and arm independently firmly, spy Sign is that the guide rod is two, and each guide rod is equipped with a spring.
6. according to claim 1 temper the convalescence device of shoulder mobility ability and arm independently firmly, spy Sign is that the quantity of the autonomous firmly measuring mechanism is two or more, these measuring mechanisms of independently exerting oneself are along arm The length direction of fixed plate arranges.
7. according to claim 1 temper the convalescence device of shoulder mobility ability and arm independently firmly, spy Sign is that the arm fixing plate is equipped with the locating slot to match with forearm shape.
8. according to claim 1 temper the convalescence device of shoulder mobility ability and arm independently firmly, spy Sign is that the cylinder body of the cylinder is connect by connector with the rotating disc, and one end of the connector is fixed on rotating disc On, the other end is hinged on the cylinder body to being extended obliquely upward after the radially extending of rotating disc again.
9. according to claim 1 temper the convalescence device of shoulder mobility ability and arm independently firmly, spy Sign is that the upper end of the bracket is equipped with ball joint, and one end of the ball joint is fixedly connected with bracket, and the other end is set Set the spherical joint;The connecting rod is being equipped with lock-screw with spherical surface recess corresponding position, which is pressed on spherical surface and connects On head.
CN201610883774.2A 2016-10-10 2016-10-10 It is a kind of to temper the convalescence device of shoulder mobility ability and arm independently firmly Active CN106264987B (en)

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CN108317982B (en) * 2018-02-02 2020-03-31 廊坊师范学院 Three-dimensional space body position sense testing device and method
CN109011403A (en) * 2018-08-16 2018-12-18 朱鹏豫 Medical shoulder joint rehabilitation trainer
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
CN110063874A (en) * 2019-05-17 2019-07-30 温州康宁医院股份有限公司 A kind of arm exercises device of anti-senile dementia

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