CN106264987B - Rehabilitation device capable of exercising shoulder joint mobility and arm self-exertion - Google Patents

Abstract

The invention discloses a rehabilitation device capable of exercising shoulder joint mobility and arm self-exertion, which comprises a support and a rehabilitation trainer, wherein the rehabilitation trainer comprises an arm exercising mechanism, a shoulder joint exercising mechanism, a self-exertion measuring mechanism and a control system, and the support is connected with the arm exercising mechanism through a universal connecting structure; the shoulder joint exercising mechanism comprises a swinging direction control mechanism, a walking mechanism and a supporting base with a spherical groove and a revolving angle control mechanism, wherein the swinging direction control mechanism comprises a swinging control motor and a rotating disc; the walking mechanism comprises a walking motor, a connecting frame and an elastic rubber wheel arranged on a main shaft of the walking motor, the lower end of the connecting frame is fixedly connected with the walking motor, and the upper end of the connecting frame is hinged to the rotating disc; the revolving angle control mechanism is composed of a cylinder. The rehabilitation device can train shoulder joints and has the advantages of large range of motion, multiple action styles and the like.

Description

A rehabilitation device capable of exercising the mobility of the shoulder joint and the autonomous force of the arm

technical field

The invention relates to human body rehabilitation training equipment, in particular to a rehabilitation device capable of exercising the mobility of the shoulder joint and autonomous force of the arm.

Background technique

For patients with limb paralysis, rehabilitation training can help patients regain the motor function of paralyzed limbs. The traditional method is that doctors conduct hands-on training for patients. This has disadvantages such as low efficiency, patients cannot arrange training time independently, high cost, and the training effect depends on the doctor's experience level. The use of limb rehabilitation equipment can solve this problem well.

Existing limb rehabilitation equipment usually provides related motion training for the limbs through the joint structure. For example, for arm training, the rotation joint is used to drive the forearm to rotate around the elbow joint to train the bending and straightening functions of the forearm. Existing limb rehabilitation equipment includes the "Human Upper Limb Rehabilitation Robot" disclosed in the invention patent application with the application publication number CN 102727360 A, "a hemiplegia rehabilitation physiotherapy instrument" disclosed in the invention patent application with the application publication number CN104352335 A, and the application publication number It is an "intelligent upper limb rehabilitation training device" disclosed in the invention patent application of CN 104983549 A. The shortcomings of existing limb rehabilitation equipment are:

1. It cannot train the function of the shoulder joint well.

2. Human limbs are trained with the assistance of external forces, which is a passive training process. Patients cannot actively participate in rehabilitation training at different stages of rehabilitation according to their own rehabilitation conditions, which is not conducive to the rapid recovery of patients' functions .

Contents of the invention

In order to overcome the above-mentioned deficiencies in the prior art, the purpose of the present invention is to provide a rehabilitation device that can exercise the mobility of the shoulder joint and the autonomous force of the arm. advantage.

The present invention realizes above-mentioned object technical scheme as:

A rehabilitation device capable of exercising the mobility of the shoulder joint and autonomous force of the arm, comprising a bracket and a rehabilitation training device, wherein the rehabilitation training device includes an arm exercise mechanism for exercising the mobility of the arm, an arm exercise mechanism for exercising the mobility of the shoulder joint The shoulder joint exercise mechanism, the autonomous force measurement mechanism and the control system, wherein, the bracket is connected to the arm exercise mechanism through a universal connection structure, and the shoulder joint exercise mechanism is connected to the bottom of the arm exercise mechanism;

The universal connection structure includes a connecting rod and a universal joint, wherein one end of the connecting rod is fixed on the arm exercise mechanism, and the other end is connected to the bracket through the universal joint, and the universal joint includes a The spherical dimple of the rod and the spherical joint arranged at the upper end of the bracket;

The shoulder joint exercise mechanism includes a swing direction control mechanism, a walking mechanism, a rotation angle control mechanism, and a support base with a spherical groove, wherein the swing direction control mechanism includes a swing control motor and a rotating shaft connected to the swing control motor shaft. plate, the swing control motor is connected to the bottom of the arm exercise mechanism; the walking mechanism includes a walking motor, a connecting frame and an elastic rubber wheel arranged on the main shaft of the walking motor, wherein the lower end of the connecting frame is fixedly connected to the walking motor, The upper end is hinged on the rotating disk, and the elastic rubber wheel is pressed into the spherical groove of the support base, and the elastic rubber wheel is compressed at the part in contact with the spherical groove; the rotation angle control mechanism is composed of a cylinder , the upper end of the cylinder body of the cylinder is hinged on the rotating disk, and the telescopic rod of the cylinder is hinged on the connecting frame;

The arm exercise mechanism includes a base, an arm fixing plate, an arm fixing strap arranged on the arm fixing plate, a bending drive mechanism that drives the arm fixing plate to bend and straighten, and a rotating drive that drives the arm fixing plate to reciprocate. institutions, where:

The bending drive mechanism includes a bending drive fixing base, a bending driving motor and a bending driving transmission mechanism, wherein one end of the arm fixing plate is connected to the bending driving fixing base through a first rotating shaft, and the bending driving motor is fixed on the bending driving On the fixed seat, the bending drive transmission mechanism is connected between the main shaft of the bending drive motor and the first rotating shaft of the arm fixing plate;

The rotation drive mechanism includes a rotation drive motor and a rotation drive transmission mechanism, wherein the rotation drive motor is fixed on the base, the bending drive fixing seat is connected to the base through a second rotating shaft, and the rotation drive transmission mechanism Connected between the main shaft of the rotating drive motor and the second rotating shaft of the bending drive holder;

The autonomous force measuring mechanism includes an arm fixing strap, a photoelectric sensor, an induction sheet, a spring, and a guide mechanism, wherein the guide mechanism includes a guide seat arranged on the side of the arm fixing plate and a guide hole matched to the guide seat. A guide rod, the upper end of the guide rod is provided with an upper connecting plate, and the lower end is provided with a lower connecting plate; one end of the arm fixing strap is connected to the upper connecting plate, and the other end is provided with a hanging ring, and the arm is fixed The board is provided with a hook on the side opposite to the guide mechanism, and the hanging ring is hooked on the hook during work; the photoelectric sensors are multiple and arranged vertically, and the photoelectric sensors are arranged on the arm fixing plate On the same side as the guide mechanism; the induction plate is connected to the lower connecting plate, and is located at the corresponding position of the induction channel of the photoelectric sensor; the spring is sleeved on the guide rod, and the upper and lower ends of the spring Act on the guide seat and the lower connecting plate respectively;

The control system includes a central processing unit, the signal input end of the central processing unit is connected with the photoelectric sensor, and the signal output end is connected with the bending drive motor and the rotation drive motor.

The working principle of the above-mentioned rehabilitation device that can exercise the mobility of the shoulder joint and the autonomous force of the arm is:

When in use, the arm is fixed on the arm exercise mechanism, and the arm exercise mechanism exercises the mobility of the arm, and the shoulder joint exercise ability is combined by the shoulder joint exercise mechanism and the universal connection structure. Specifically, when exercising the mobility of the shoulder joint, it is divided into two actions, the first action is to train the ability of the shoulder joint to swing, and the second action is to train the ability of the shoulder joint to rotate. The training process of the first action is: when carrying out the first action training, the elastic rubber wheel is in an upright state, that is, the plane where the elastic rubber wheel is located passes through the bottom of the spherical groove; Drive the elastic rubber wheel to rotate, because the elastic rubber wheel is elastically pressed in the spherical groove of the supporting base, so the elastic rubber wheel walks along a certain plane in the spherical groove as an arc track (that is, walks along the latitude direction) ), under the cooperation of the universal connection structure, the whole arm exercise mechanism swings in one direction, so as to realize the swing training of the shoulder joint, and the amplitude of the swing is controlled by the walking motor; when the direction of the swing needs to be changed, the swing direction The swing control motor in the control mechanism drives the rotating disk to rotate, thereby driving the entire traveling mechanism to rotate, changing the plane where the elastic rubber wheel is located, and then changing the swing direction. The training process of the second action is: the cylinder in the rotation angle control mechanism drives the traveling mechanism to rotate a certain angle relative to the rotating disk through telescopic movement, so that the elastic rubber wheel is inclined, and at this time the elastic rubber wheel is pressed against the concave surface of the spherical surface. At a certain latitude of the groove (the deformation of the elastic rubber wheel should ensure that when the elastic rubber wheel swings to any position, it can contact the spherical groove), then the elastic rubber wheel rotates and walks along the longitude direction in the spherical groove , with the cooperation of the universal connection structure, the entire arm exercise mechanism performs orbital movement, thereby realizing the orbital training of the shoulder joint. The trajectory of the upper arm is conical, and the size of the cone angle is controlled by the orbital angle control mechanism.

When training the mobility of the arm, the function of the bending drive mechanism is to drive the arm fixed plate to bend and straighten, thereby training the ability of the forearm to bend and straighten, specifically driven by the bending drive motor and the bending drive transmission mechanism The arm fixing plate rotates around the first rotating shaft; the rotation driving mechanism is used to drive the arm fixing plate to rotate around the axis in its length direction, so as to train the ability of the forearm to rotate. Specifically, the rotation driving motor and the rotation driving transmission mechanism drive the arm to fix The plate rotates about the second axis of rotation.

When training the forearm bending and straightening ability, the patient can apply a certain amount of force independently according to his own ability, and the autonomous force measurement mechanism and the central processor jointly detect and calculate the size of the autonomous force, and then the central processing The controller controls the auxiliary driving force output by the bending drive motor. The auxiliary driving force changes with the change of the patient's voluntary force. The greater the voluntary force, the smaller the auxiliary driving force, so as to maximize the patient's autonomous exercise ability. Specifically, when the patient's forearm voluntarily applies force to bend the forearm, the arm fixing strap will drive the upper connecting plate, the guide rod, the lower connecting plate and the sensing piece to move together, and the upper connecting plate and the lower connecting plate will move the spring Compression, the sensing sheet enters the sensing channel of the photoelectric sensor, the greater the autonomous force, the greater the moving distance of the sensing sheet, and the relationship between the two is linear (because the deformation of the spring conforms to Hooke's law); There are multiple photoelectric sensors, the size of the moving distance of the sensing sheet is detected by the photoelectric sensor, and the sensing sheet reaches different photoelectric sensors, and the moving distance of the sensing sheet can be determined accordingly; the photoelectric sensor transmits the real-time position signal of the sensing sheet to the central processing The central processing unit converts the position signal into the magnitude of the main force, thereby calculating the auxiliary driving force output by the bending drive motor, and realizing the adjustment of the auxiliary driving force by controlling the output power of the bending drive motor. During the training process, the patient's autonomous force can be applied at any time, revoked at any time, and increased and decreased at will according to his own ability. No matter how the patient's autonomous force changes, the central processing unit can calculate the size of the autonomous force in real time to determine the bending drive. The auxiliary driving force output by the motor, the patient's active training and passive training are organically combined. When the patient's autonomous force returns to a better level, the bending drive motor can also output a reverse force, so that the patient's independent force needs to drive the gravity of his forearm and arm fixing plate to bend, and also needs to overcome the bending drive. Under the reverse action of the motor, the patient's autonomous force ability can be exercised more effectively.

In a preferred solution of the present invention, wherein the bending driving transmission mechanism is composed of a first partial gear transmission mechanism, the first partial gear transmission mechanism includes a first active partial gear connected to the main shaft of the bending driving motor and a first rotating shaft The first driven part of the gear; the rotation drive transmission mechanism is composed of a second part of the gear transmission mechanism, the second part of the gear transmission mechanism includes a second active part of the gear connected to the main shaft of the rotary drive motor and connected to the second rotating shaft on the second driven section gear. The advantage of adopting the above scheme is that: the gear transmission mechanism adopts the form of partial gears, which can better ensure the safety of the patient during the training process; Within the set range, otherwise, if the rotation range exceeds the set stroke, the patient’s arm may be sprained, or even a serious safety accident may occur; the rotation stroke of the two motors is usually controlled by the central processing unit; and the above-mentioned part of the gear After the transmission mechanism, if the rotation stroke accidentally exceeds the set range, this part of the gear transmission mechanism will lose the power transmission effect, thereby cutting off the power to ensure the safety of the patient's arm.

Preferably, the first driven part gear and the second driven part gear are internal gears, which makes the structure more compact and allows the driving part gear and the driven part gear to rotate in the same direction.

In a preferred solution of the present invention, there are three photoelectric sensors, and when the sensing sheet is located at the bottom photoelectric sensor, the bending drive motor applies positive auxiliary driving force; when the sensing sheet is located at the middle photoelectric sensor , the auxiliary driving force applied by the bending drive motor is zero, and when the induction sheet is located at the uppermost photoelectric sensor, the bending driving motor applies a reverse auxiliary driving force. From a structural point of view, this preferred solution has a small number of photoelectric sensors and a simple structure, and from a control point of view, the amount of data processing is small, which is convenient for control.

In a preferred solution of the present invention, there are two guide rods, and a spring is provided on each guide rod, so that the force is balanced and the measurement result of the main force is more accurate.

In a preferred solution of the present invention, there are two or more autonomous force measuring mechanisms, and these autonomous force measuring mechanisms are arranged along the length direction of the arm fixing plate. The purpose is that, according to the principle of leverage, the distance between the autonomous force measuring mechanism and the first rotating shaft is different, and the force required by the patient to drive the arm fixing plate to bend upward is also different. The closer the distance, the greater the force required. By setting two The above autonomous force measuring mechanism can select a suitable autonomous force measuring mechanism to work according to the size of the patient's autonomous force, and has better applicability.

In a preferred solution of the present invention, the arm fixing plate is provided with a positioning groove matching the shape of the forearm, so as to facilitate the fixation of the forearm.

In a preferred solution of the present invention, wherein the cylinder body of the air cylinder is connected to the rotating disk through a connecting piece, one end of the connecting piece is fixed on the rotating disk, and the other end extends radially to the rotating disk and then obliquely upwards Extended and hinged on the cylinder.

In a preferred solution of the present invention, wherein, the upper end of the bracket is provided with a spherical connecting piece, one end of the spherical connecting piece is fixedly connected with the bracket, and the other end is provided with the spherical joint; There is a locking screw at the place, and the locking is pressed on the spherical joint.

Compared with the prior art, the present invention has the following beneficial effects:

1. Realize the swing training and rotation training of the shoulder joint, and assist the recovery of the patient's shoulder joint mobility.

2. The swing range of the shoulder joint and the cone angle of the rotation can be adjusted, with a wide range of motion and various movement styles, thus adapting to the training of different patients at different rehabilitation stages.

3. It can not only realize ordinary passive training, but also cooperate with the patient's active training, and determine the degree of assistance to the patient according to the patient's active participation degree, so as to give full play to the patient's initiative and improve the speed and effect of the patient's recovery function .

4. During the training process, the patient's autonomous force can be applied at any time, revoked at any time, and increased and decreased at will according to his own ability. No matter how the patient's autonomous force changes, the central processing unit can calculate the size of the autonomous force in real time, so as to determine the bending drive The auxiliary driving force output by the motor, the patient's active training and passive training are organically combined.

5. When the patient's independent force returns to a better level, the bending drive motor can also output a reverse force, so that the patient's independent force needs to drive the gravity of the forearm and the arm fixing plate to bend, and also needs to overcome Under the reverse action of the bending drive motor, the patient's autonomous exertion ability can be exercised more effectively.

Description of drawings

1-3 are three-dimensional schematic diagrams of a specific embodiment of the rehabilitation device capable of exercising the mobility of the shoulder joint and the autonomous force of the arm of the present invention.

Fig. 4 is a perspective structural view of the shoulder joint exercise mechanism in the embodiment shown in Figs. 1-3.

Fig. 5 is a schematic structural view (sectional view) of the universal connection structure part in the embodiment shown in Fig. 1-Fig. 3 .

Fig. 6 and Fig. 7 are three-dimensional structural schematic diagrams of the arm exercise mechanism in the embodiment shown in Fig. 1-Fig. 3 .

Fig. 8 and Fig. 9 are the explosion diagrams of the bending drive mechanism and the rotation drive mechanism in the arm exercise mechanism shown in Fig. 6 and Fig. 7, wherein, the explosion position in Fig. 8 is the corresponding part of the first part of the gear transmission mechanism, and the explosion position in Fig. 9 is Corresponding to the second part of the gear transmission mechanism.

Fig. 10 is a partially enlarged view of the part of the autonomous force measuring mechanism in 7.

Fig. 11 is a functional block diagram of the control system in the rehabilitation device of the present invention.

Fig. 12 is a three-dimensional schematic diagram of the arm exercise mechanism in the second embodiment of the rehabilitation device capable of exercising the mobility of the shoulder joint and the autonomous force of the arm of the present invention.

Fig. 13 is a structural schematic diagram (sectional view) of the universal connection structure part of the third embodiment of the rehabilitation device capable of exercising the mobility of the shoulder joint and the autonomous force of the arm of the present invention.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

Example 1

As shown in Fig. 1-Fig. 3, the rehabilitation device capable of exercising the mobility of the shoulder joint and the autonomous force of the arm of the present invention includes a bracket 22 and a rehabilitation trainer, wherein the rehabilitation trainer includes an arm exercise for exercising the mobility of the arm Mechanism 20, a shoulder joint exercise mechanism 21 for exercising the mobility of the shoulder joint, an autonomous force measurement mechanism and a control system, wherein, the support 22 is connected with the arm exercise mechanism 20 by a universal connection structure, and the shoulder joint exercise The mechanism 21 is connected to the bottom of the arm exercising mechanism 20 .

As shown in Figure 5, the universal connection structure includes a connecting rod 23 and a universal joint, wherein one end of the connecting rod 23 is fixed on the arm exercise mechanism 20, and the other end passes through the connection between the universal joint and the support 22. The upper end is connected, and the universal joint includes a spherical dimple 23 - 1 on the connecting rod 23 and a spherical joint 24 - 1 on the upper end of the bracket 22 . The upper end of the bracket 22 is provided with a spherical connector 24, one end of the spherical connector 24 is fixedly connected with the bracket 22, and the other end is provided with the spherical joint 24-1.

1-4, the shoulder joint exercise mechanism 21 includes a swing direction control mechanism, a walking mechanism, a rotation angle control mechanism and a support base 30 with a spherical groove 30-1, wherein the swing direction control mechanism includes Swing control motor 25 and the rotating disk 26 that is connected with swing control motor 25 main shafts, described swing control motor 25 is connected at the bottom of arm exercise mechanism 20; The elastic rubber wheel 29 on the main shaft, wherein, the lower end of the connecting frame 27 is fixedly connected with the travel motor 28, and the upper end is hinged on the rotating disk 26, and the elastic rubber wheel 29 is pressed against the spherical groove 30 of the support base 30 -1, the elastic rubber wheel 29 is compressed at the position in contact with the spherical groove 30-1; the rotation angle control mechanism is composed of a cylinder 31, and the upper end of the cylinder body of the cylinder 31 is hinged on the rotating disk 26 On, the telescopic rod of the air cylinder 31 is hinged on the connecting frame 27 .

As shown in Figures 6-9, the arm exercise mechanism 20 includes a base 8, an arm fixing plate 1, an arm fixing strap 9 arranged on the arm fixing plate 1, and drives the arm fixing plate 1 to perform bending and straightening movements. The bending driving mechanism and the rotating driving mechanism that drives the arm fixed plate 1 to do reciprocating rotation.

As shown in Figures 6-9, the bending drive mechanism includes a bending drive fixing seat 5, a bending drive motor 2 and a bending drive transmission mechanism, wherein one end of the arm fixing plate 1 is connected to the bending drive through a first rotating shaft 4. On the fixed seat 5, the bending drive motor 2 is fixed on the bending drive fixed seat 5, and the bending drive transmission mechanism is connected between the main shaft of the bending drive motor 2 and the first rotating shaft 4 of the arm fixing plate 1.

As shown in Figures 6-9, the rotation drive mechanism includes a rotation drive motor 6 and a rotation drive transmission mechanism, wherein the rotation drive motor 6 is fixed on the base 8, and the bending drive fixing seat 5 passes through the second The rotating shaft 10 is connected on the base 8 , and the rotating drive transmission mechanism is connected between the main shaft of the rotating driving motor 6 and the second rotating shaft 10 of the bending driving fixed seat 5 .

As shown in Figures 6-11, the autonomous force measurement mechanism includes an arm fixing strap 9, a photoelectric sensor 12, an induction sheet 13, a spring 18, and a guide mechanism, wherein the guide mechanism includes a The upper guide seat 15 and the guide rod 14 matched in the guide hole of the guide seat 15, the upper end of the guide rod 14 is provided with an upper connecting plate 16, and the lower end is provided with a lower connecting plate 17; One end is connected on the described upper connecting plate 16, and the other end is provided with hanging ring 11, and described arm fixing plate 1 is provided with hook 19 on the opposite side with guiding mechanism, and described hanging ring 11 is hooked on the place during work. on the above-mentioned hook 19; the photoelectric sensor 12 is multiple, arranged vertically, and the photoelectric sensor 12 is arranged on the same side as the guide mechanism in the arm fixing plate 1; the induction sheet 13 is connected to the lower On the connecting plate 17, it is located at the corresponding position of the sensing channel 12-1 of the photoelectric sensor 12; the spring 18 is sleeved on the guide rod 14, and the upper and lower ends of the spring 18 respectively act on the upper connecting plate 16 and the lower connecting plate 17 on.

As shown in Figure 11, the control system includes a central processing unit, a memory and a driving circuit, the signal input end of the central processing unit is connected to the photoelectric sensor 12, and the signal output end is connected to the bending drive motor 2 and the bending drive motor 2 through the driving circuit. The rotation drive motor 6 is connected.

As shown in Figures 6-9, the bending drive transmission mechanism is composed of a first partial gear transmission mechanism 3, which includes a first active partial gear 3-1 connected to the main shaft of the bending drive motor 2 and The first driven part gear 3-2 that is connected on the first rotating shaft 4; The described rotation drive transmission mechanism is made up of the second part gear transmission mechanism 7, and this second part gear transmission mechanism 7 includes the main shaft connected to the rotation drive motor 6 The second driving part gear 7-1 on the top and the second driven part gear 7-2 connected on the second rotating shaft 10. The first driven part gear 3-2 and the second driven part gear 7-2 are internal gears. The advantage of adopting the above structure is that: the gear transmission mechanism adopts the form of partial gears to better ensure the safety of the patient in the training process; It should be limited within the set range, otherwise, if the rotation range exceeds the set stroke, the patient’s arm may be sprained, and even serious safety accidents may occur; the rotation strokes of the two motors are usually controlled by the central processing unit; After part of the gear transmission mechanism, if the rotation stroke accidentally exceeds the set range, the part of the gear transmission mechanism will lose the power transmission effect, thereby cutting off the power to ensure the safety of the patient's arm.

As shown in FIGS. 6-9 , the arm fixing plate 1 is provided with a positioning groove 1 - 1 matching the shape of the forearm, so as to facilitate the fixation of the forearm.

As shown in Figures 1 to 4, the cylinder body of the cylinder 31 is connected to the rotating disk 26 through a connecting piece 25, one end of the connecting piece 25 is fixed on the rotating disk 26, and the other end is connected to the diameter of the rotating disk 26. It extends obliquely upwards after extending, and is hinged on the cylinder body.

The working principle of the above-mentioned rehabilitation device that can exercise the mobility of the shoulder joint and the autonomous force of the arm will be further described below in conjunction with the accompanying drawings:

As shown in Figures 1-11, during use, the arm is fixed on the arm exercise mechanism 20, and the mobility of the arm is exercised by the arm exercise mechanism 20, and the shoulder exercise mechanism is combined by the shoulder joint exercise mechanism 21 and the universal connection structure. joint mobility. Specifically, when exercising the mobility of the shoulder joint, it is divided into two actions, the first action is to train the ability of the shoulder joint to swing, and the second action is to train the ability of the shoulder joint to rotate. The training process of the first action is: when performing the first action training, the elastic rubber wheel 29 is in an upright state, that is, the plane where the elastic rubber wheel 29 is located passes through the bottom of the spherical groove 30-1; The walking motor 28 in the mechanism drives the elastic rubber wheel 29 to rotate. Since the elastic rubber wheel 29 is elastically compressed in the spherical groove 30-1 of the support base 30, the elastic rubber wheel 29 moves along a certain direction in the spherical groove 30-1. Walking on a plane as a circular arc track (that is, walking along the latitude direction, as shown by the arrow in Figure 1), under the cooperation of the universal connection structure, the whole arm exercise mechanism 20 swings in one direction, thereby realizing shoulder alignment. For the swing training of joints, the amplitude of swing is controlled by walking motor 28; when the direction of swing needs to be changed, the swing control motor 25 in the swing direction control mechanism drives the rotating disc 26 to rotate, thereby driving the whole walking mechanism to rotate and changing the elastic glue Wheel 29 place plane, and then changes the direction of swing. The training process of the second action is: the cylinder 31 in the rotation angle control mechanism drives the traveling mechanism to rotate a certain angle relative to the rotating disk 26 through telescopic movement, so that the elastic rubber wheel 29 is inclined, and at this time the elastic rubber wheel 29 presses Closely on a certain latitude of the spherical groove 30-1 (the deformation of the elastic rubber wheel 29 should ensure that the elastic rubber wheel 29 can be in contact with the spherical groove 30-1 when the elastic rubber wheel 29 swings to any position), and then the elastic rubber wheel 29 rotations, walk along the longitude direction in the spherical groove 30-1 (as shown by the arrow in Figure 3), and under the cooperation of the universal connection structure, the whole arm exercise mechanism 20 performs a revolving movement, thereby realizing the exercise of the shoulder joint. For the training of rotation, the track of the upper arm is conical, and the size of the cone angle is controlled by the rotation angle control mechanism.

When training the mobility of the arm, the function of the bending drive mechanism is to drive the arm fixing plate 1 to perform bending and straightening movements, thereby training the ability of the forearm to bend and straighten, specifically through the bending drive motor 2 and the bending drive transmission The mechanism drives the arm fixing plate 1 to rotate around the first rotating shaft 4; the rotation driving mechanism is used to drive the arm fixing plate 1 to rotate around the axis of its length direction, thereby training the ability of the forearm to rotate, specifically by rotating the drive motor 6 and rotating The driving transmission mechanism drives the arm fixing plate 1 to rotate around the second rotating shaft 10 .

When training the forearm bending and straightening ability, the patient can apply a certain amount of force independently according to his own ability, and the autonomous force measurement mechanism and the central processor jointly detect and calculate the size of the autonomous force, and then the central processing The device controls the auxiliary driving force output by the bending drive motor 2, and the auxiliary driving force changes with the change of the patient's voluntary effort. Specifically, when the patient's forearm voluntarily applies force to make the forearm bend, the arm fixing strap 9 will drive the upper connecting plate 16, the guide rod 14, the lower connecting plate 17 and the induction piece 13 to move together, and the upper connecting plate 16 and the The lower connecting plate 17 compresses the spring 18, and the sensing piece 13 enters the sensing channel 12-1 of the photoelectric sensor 12. The greater the autonomous force, the greater the moving distance of the sensing piece 13, and both are linear relationship (because the deformation of the spring 18 conforms to Hooke's law); due to being provided with a plurality of photoelectric sensors 12, the size of the moving distance of the sensing sheet 13 is detected by the photoelectric sensor 12, and the sensing sheet 13 arrives at different photoelectric sensor 12 places, which can be correspondingly Determine the moving distance of the induction sheet 13; the photoelectric sensor 12 transmits the real-time position signal of the induction sheet 13 to the central processing unit, and the central processing unit converts the position signal into the magnitude of the main force, thereby calculating the output of the bending drive motor 2 The auxiliary driving force is adjusted by controlling the output power of the bending drive motor 2 . During the training process, the patient's autonomous force can be applied at any time, revoked at any time, and increased and decreased at will according to his own ability. No matter how the patient's autonomous force changes, the central processing unit can calculate the size of the autonomous force in real time to determine the bending drive. The auxiliary driving force output by the motor 2, the patient's active training and passive training are organically combined. When the patient's autonomous force returns to a better level, the bending drive motor 2 can also output a reverse force, so that the patient's autonomous force needs to drive the gravity of his forearm and arm fixing plate 1 to bend, and also needs to overcome Under the reverse action of the bending drive motor 2, the patient's ability to exert force autonomously can be exercised more effectively.

Example 2

As shown in Figure 12, the difference between this embodiment and Embodiment 1 is that in this embodiment, the number of the autonomous force measurement mechanisms is three, and these autonomous force measurement mechanisms are along the arm fixing plate 1. aligned lengthwise. The purpose is that, according to the principle of leverage, the distance between the autonomous force measuring mechanism and the first rotating shaft 4 is different, and the force required by the patient to drive the arm fixing plate 1 to bend upward is also different. The closer the distance, the greater the force required. By setting With more than two autonomous force measuring mechanisms, an appropriate autonomous force measuring mechanism can be selected to work according to the size of the patient's autonomous force, and the applicability is better.

Example 3

As shown in Figure 13, the difference between this embodiment and Embodiment 1 is that in this embodiment, the connecting rod 23 is provided with a locking screw 33 corresponding to the spherical recess 23-1. The tightening screw 33 is compressed on the spherical joint 24-1. Its purpose is to make the locking between the spherical dimple 23-1 and the spherical joint 24-1 more firm; during use, if you want to adjust the position of the rehabilitation training device 20, loosen the locking screw 33, and when the rehabilitation training After the position of the device 20 is adjusted, then tighten the locking screw 33.

The embodiments of the present invention are not limited thereto. According to the above content of the present invention, using ordinary technical knowledge and conventional means in this field, without departing from the above-mentioned basic technical ideas of the present invention, the present invention can also make other various forms. Amendment, replacement or alteration all fall within the protection scope of the present invention.

Claims (9)

1. A rehabilitation device that can exercise shoulder joint mobility and arm self-effort, comprises support and rehabilitation trainer, wherein, said rehabilitation trainer includes an arm exercise mechanism for exercising arm mobility, for exercising shoulder joint activity A capable shoulder joint exercise mechanism, an autonomous force measurement mechanism and a control system, wherein the bracket is connected to the arm exercise mechanism through a universal connection structure, and the shoulder joint exercise mechanism is connected to the bottom of the arm exercise mechanism; The universal connection structure includes a connecting rod and a universal joint, wherein one end of the connecting rod is fixed on the arm exercise mechanism, and the other end is connected to the bracket through the universal joint, and the universal joint includes a The spherical dimple of the rod and the spherical joint arranged at the upper end of the bracket; The shoulder joint exercise mechanism includes a swing direction control mechanism, a walking mechanism, a rotation angle control mechanism, and a support base with a spherical groove, wherein the swing direction control mechanism includes a swing control motor and a rotating shaft connected to the swing control motor shaft. plate, the swing control motor is connected to the bottom of the arm exercise mechanism; the walking mechanism includes a walking motor, a connecting frame and an elastic rubber wheel arranged on the main shaft of the walking motor, wherein the lower end of the connecting frame is fixedly connected to the walking motor, The upper end is hinged on the rotating disk, and the elastic rubber wheel is pressed into the spherical groove of the support base, and the elastic rubber wheel is compressed at the part in contact with the spherical groove; the rotation angle control mechanism is composed of a cylinder , the upper end of the cylinder body of the cylinder is hinged on the rotating disk, and the telescopic rod of the cylinder is hinged on the connecting frame; The arm exercise mechanism includes a base, an arm fixing plate, an arm fixing strap arranged on the arm fixing plate, a bending drive mechanism that drives the arm fixing plate to bend and straighten, and a rotating drive that drives the arm fixing plate to reciprocate. institutions, where: The bending drive mechanism includes a bending drive fixing base, a bending driving motor and a bending driving transmission mechanism, wherein one end of the arm fixing plate is connected to the bending driving fixing base through a first rotating shaft, and the bending driving motor is fixed on the bending driving On the fixed seat, the bending drive transmission mechanism is connected between the main shaft of the bending drive motor and the first rotating shaft of the arm fixing plate; The rotation drive mechanism includes a rotation drive motor and a rotation drive transmission mechanism, wherein the rotation drive motor is fixed on the base, the bending drive fixing seat is connected to the base through a second rotating shaft, and the rotation drive transmission mechanism Connected between the main shaft of the rotating drive motor and the second rotating shaft of the bending drive holder; The autonomous force measuring mechanism includes an arm fixing strap, a photoelectric sensor, an induction sheet, a spring, and a guide mechanism, wherein the guide mechanism includes a guide seat arranged on the side of the arm fixing plate and a guide hole matched to the guide seat. A guide rod, the upper end of the guide rod is provided with an upper connecting plate, and the lower end is provided with a lower connecting plate; one end of the arm fixing strap is connected to the upper connecting plate, and the other end is provided with a hanging ring, and the arm is fixed The board is provided with a hook on the side opposite to the guide mechanism, and the hanging ring is hooked on the hook during work; the photoelectric sensors are multiple and arranged vertically, and the photoelectric sensors are arranged on the arm fixing plate On the same side as the guide mechanism; the induction plate is connected to the lower connecting plate, and is located at the corresponding position of the induction channel of the photoelectric sensor; the spring is sleeved on the guide rod, and the upper and lower ends of the spring Act on the guide seat and the lower connecting plate respectively; The control system includes a central processing unit, the signal input end of the central processing unit is connected with the photoelectric sensor, and the signal output end is connected with the bending drive motor and the rotation drive motor. 2. The rehabilitation device capable of exercising the mobility of the shoulder joint and the autonomous force of the arm according to claim 1, wherein the bending drive transmission mechanism is composed of a first part of the gear transmission mechanism, and the first part of the gear transmission mechanism includes a The first active part gear on the main shaft of the bending drive motor and the first driven part gear connected on the first rotating shaft; Rotate the second driving part gear on the main shaft of the drive motor and the second driven part gear connected on the second rotating shaft. 3. The rehabilitation device capable of exercising the mobility of the shoulder joint and the autonomous exertion of the arm according to claim 2, characterized in that, the first driven part gear and the second driven part gear are internal gears, which makes the structure more It is compact and allows the driving part gear and the driven part gear to rotate in the same direction. 4. The rehabilitation device capable of exercising the mobility of the shoulder joint and the autonomous force of the arm according to claim 1, characterized in that there are three photoelectric sensors, and when the sensing sheet is located at the bottom photoelectric sensor, the curved The driving motor applies positive auxiliary driving force. When the induction sheet is located at the photoelectric sensor in the middle, the auxiliary driving force applied by the bending drive motor is zero. When the induction sheet is located at the top photoelectric sensor, the bending driving motor Apply reverse auxiliary drive. 5. The rehabilitation device capable of exercising shoulder joint mobility and autonomous arm strength according to claim 1, characterized in that there are two guide rods, each of which is provided with a spring. 6. The rehabilitation device capable of exercising shoulder joint mobility and autonomous arm exertion according to claim 1, characterized in that the number of said autonomous exertion measuring mechanisms is two or more, and these autonomous exerting force measuring mechanisms are along the arm The lengthwise direction of the fixed plates is arranged. 7. The rehabilitation device capable of exercising shoulder joint mobility and autonomous arm strength according to claim 1, characterized in that, the arm fixing plate is provided with a positioning groove matching the shape of the forearm. 8. The rehabilitation device capable of exercising shoulder joint mobility and autonomous arm strength according to claim 1, wherein the cylinder body of the air cylinder is connected to the rotating disk through a connecting piece, and one end of the connecting piece is fixed On the rotating disk, the other end extends radially of the rotating disk and then extends obliquely upward, and is hinged on the cylinder body. 9. The rehabilitation device capable of exercising the mobility of the shoulder joint and the autonomous exertion of the arm according to claim 1, wherein the upper end of the bracket is provided with a spherical connector, one end of the spherical connector is fixedly connected with the bracket, and the other The spherical joint is arranged at one end; the connecting rod is provided with a locking screw corresponding to the spherical recess, and the locking screw is pressed on the spherical joint.