CN106420260B - It is a kind of can comprehensive autonomous trained upper limb body mobility rehabilitation seat - Google Patents
It is a kind of can comprehensive autonomous trained upper limb body mobility rehabilitation seat Download PDFInfo
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- CN106420260B CN106420260B CN201610882364.6A CN201610882364A CN106420260B CN 106420260 B CN106420260 B CN 106420260B CN 201610882364 A CN201610882364 A CN 201610882364A CN 106420260 B CN106420260 B CN 106420260B
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 152
- 238000012549 training Methods 0.000 claims abstract description 147
- 238000011084 recovery Methods 0.000 claims abstract description 37
- 230000033001 locomotion Effects 0.000 claims abstract description 30
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 26
- 238000005452 bending Methods 0.000 claims description 115
- 230000005540 biological transmission Effects 0.000 claims description 38
- 210000000245 forearm Anatomy 0.000 claims description 18
- 238000012545 processing Methods 0.000 claims description 17
- 230000006698 induction Effects 0.000 claims description 6
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 5
- 238000012546 transfer Methods 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 208000034657 Convalescence Diseases 0.000 claims 8
- 230000000694 effects Effects 0.000 abstract description 12
- 238000000034 method Methods 0.000 description 14
- 230000008569 process Effects 0.000 description 13
- 230000008859 change Effects 0.000 description 9
- 210000003414 extremity Anatomy 0.000 description 7
- 230000006870 function Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000007812 deficiency Effects 0.000 description 3
- 238000004880 explosion Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 230000005483 Hooke's law Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
- 206010033799 Paralysis Diseases 0.000 description 1
- 206010037714 Quadriplegia Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 210000002310 elbow joint Anatomy 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 230000037081 physical activity Effects 0.000 description 1
- 238000000554 physical therapy Methods 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 230000001568 sexual effect Effects 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/1209—Involving a bending of elbow and shoulder joints simultaneously
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/14—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for wrist joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0149—Seat or chair
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses it is a kind of can comprehensive autonomous trained upper limb body mobility rehabilitation seat, including seat body, bracket and two recovery training appliance for recovery for being symmetrically arranged at seat body two sides；Wherein, described bracket one end is mounted in seat body, and the other end is connect with the recovery training appliance for recovery；The recovery training appliance for recovery includes arm training mechanism, palm training institution, shoulder joint training institution, independently exert oneself measuring mechanism and control system；Wherein, it is connected between the bracket and arm training mechanism by universal connection structure, the shoulder joint training institution is connected to the bottom of arm training mechanism；The palm training institution is mounted on the end of arm training mechanism；Rehabilitation seat of the invention can be trained upper limb body, and the assistance degree to patient can be determined according to the initiative degree of participation of patient, to give full play to the initiative of patient, improve the speed that patient regains the function；The device has many advantages, such as that scope of activities is big, movement pattern is more.
Description
Technical field
The present invention relates to human body recovery training equipment, and in particular to one kind can comprehensive autonomous trained upper limb body mobility
Rehabilitation seat.
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, cannot comprehensive trained arm well movement function.
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.
3, the carpal mobility of opponent is unable to be trained.
4, comfortable seat cannot be provided for patient, can not be performed physical exercise simultaneously to two arms.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide one kind can comprehensive autonomous trained upper limb body activity
The rehabilitation seat of ability.The rehabilitation seat can be trained shoulder joint, arm, wrist, and can be according to the master of patient
Dynamic property degree of participation determines the assistance degree to patient, to give full play to the initiative of patient, improves what patient regained the function
Speed and effect；The device has many advantages, such as that scope of activities is big, movement pattern is more.
The present invention solve above-mentioned technical problem technical solution be：
It is a kind of can comprehensive autonomous trained upper limb body mobility rehabilitation seat, including seat body, bracket and right
Claim two recovery training appliance for recovery for being located at seat body two sides；Wherein, described bracket one end is mounted in seat body, the other end with
The recovery training appliance for recovery connection；The recovery training appliance for recovery includes for training the arm training mechanism of arm mobility, training
The palm training institution of palm mobility, the shoulder joint training institution for training shoulder mobility ability, autonomous firmly survey
Measuring mechanism and control system；Wherein, it is connected between the bracket and arm training mechanism by universal connection structure, the shoulder
Joint training institution is connected to the bottom of arm training mechanism；The palm training institution is mounted on the arm training mechanism
End；The autonomous firmly measuring mechanism is mounted on the side of the arm training mechanism；Wherein：
The universal connection structure includes connecting rod and universal joint, wherein one end of the connecting rod is fixed on arm
In training institution, the other end is connect by the universal structure 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 training institution includes swaying direction control mechanism, walking mechanism, rotates angle control mechanism to have
There is the support base of spherical groove, wherein the swaying direction control mechanism includes weave control motor and and weave control
The rotating disc of electric machine main shaft connection, the weave control motor are connected to the bottom of arm training mechanism；The walking mechanism packet
Include 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
Motor 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, should
Elastic 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 is hinged on the rotating disc, and the telescopic rod of the cylinder is hinged on the connection frame；
The arm training mechanism includes pedestal, arm fixing plate, driving arm fixing plate work bending and unbending movement
Arm bending driving mechanism and driving arm fixing plate make the rotating drive mechanism of reciprocating rotation；Wherein：The arm bending
Driving mechanism includes arm bending driving fixing seat, arm bending driving motor and arm bending drive transmission device, wherein
One end of the arm fixing plate is connected to arm bending by first rotating shaft and drives in fixing seat, the arm bending driving electricity
Machine is fixed in arm bending driving fixing seat, and the arm bending drive transmission device is connected to arm bending driving motor
Between main shaft and the first rotating shaft of arm fixing plate；The rotating drive mechanism includes rotational drive motor and rotate driving transmission
Mechanism, wherein the rotational drive motor is fixed on the base, and the arm bending driving fixing seat is connected by the second shaft
On the base, the rotate driving transmission mechanism be connected to rotational drive motor main shaft and arm bending driving fixing seat the
Between two shafts；
The palm training institution includes the hand that palm fixed plate and driving palm fixed plate make bending with unbending movement
Palm bending driving mechanism；Palm bending driving mechanism include palm bending driving fixing seat, palm bending driving motor with
And palm is bent drive transmission device, wherein the palm fixed plate is connected to the end of arm fixing plate by third shaft,
The palm bending driving fixing seat is connected to the downside of the end of arm fixing plate by the 4th shaft, and the palm bending is driven
Dynamic motor is fixed in palm bending driving fixing seat, and the palm bending drive transmission device is connected to palm bending driving electricity
Between the main shaft of machine and the third shaft of palm fixed plate；
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 arm bending driving motor and rotational drive motor.
The working principle of the rehabilitation seat of above-mentioned comprehensive autonomous trained arm is：
In use, user is sitting on the rehabilitation seat, by its arm fixation in arm training mechanism；It is instructed by palm
The mobility for practicing mechanism training wrist, by the mobility of arm training mechanism training arm, and by shoulder joint training airplane
Structure and universal connection structure are combined together the mobility of trained shoulder joint.
Specifically, when carrying out shoulder mobility ability training, 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 is in upright state, that is, plane where elastic rubber tire passes through the bottom of spherical groove；Work
When making, the movable motor in walking mechanism drives the rotation of elastic gum wheel, since elastic rubber tire elastic compression is in the ball of support base
In the groove of face, therefore elastic rubber tire makees the walking of arc track (namely along latitude along some plane in spherical groove
Direction walking), under the cooperation of universal connection structure, entire arm training mechanism makees unidirectional swing, to realize to shoulder
The swing training in joint, the amplitude of swing are controlled by movable motor；When needing to change the direction swung, the swaying direction control
Weave control motor in mechanism processed drives turn disc, so that entire walking mechanism be driven to rotate, changes elastic rubber tire institute
In plane, and then change the direction swung.Second movement training process be：The cylinder to rotate in angle control mechanism passes through
Stretching motion drives walking mechanism relative to turn disc certain angle, so that elastic rubber tire is oblique, elastic gum at this time
Wheel is pressed on a certain latitude of spherical groove that (deflection of elastic rubber tire should be guaranteed that when elastic rubber tire carries out rotation to any
Position can be contacted with spherical groove), subsequent elastic gum wheel rotation is walked in spherical groove along longitudinal, universal
Under the cooperation of connection structure, entire arm training mechanism rotates movement, thus realize the training that rotates to shoulder joint, upper arm
Track is tapered, and the size of cone angle is controlled by rotating angle control mechanism.
When carrying out the training of arm mobility, the forearm of patient is placed on arm fixing plate, and is tied up by arm fixation
Band is fixed.The effect of the bending driving mechanism is that arm fixing plate is driven to make bending and unbending movement, thus training forearm
The ability for being bent and stretching drives arm fixing plate around the particular by bending driving motor and bending drive transmission device
The rotation of one shaft；The rotating drive mechanism is used to that arm fixing plate to be driven to rotate around the axis of its length direction, thus training
The ability of forearm rotation drives arm fixing plate around second particular by rotational drive motor and rotate driving transmission mechanism
Shaft rotation, to realize that stretching for arm is trained with bending.The effect of the palm bending driving mechanism is to drive palm
Fixed plate makees bending and unbending movement, so that the ability that training palm is bent and stretches, is bent driving electricity particular by palm
Machine and palm bending drive transmission device drive palm fixed plate to rotate around third 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
Central processor controls the auxiliary driving force of arm bending driving motor output, variation of the auxiliary driving force with patient independently firmly
And change, autonomisation power is bigger, and auxiliary driving force is just smaller, to play the autonomous Training Capability of patient as much as possible.Tool
Body, when the forearm of patient, which independently applies active force, makes small brachiocylloosis, arm fixation bandage will drive upper junction plate, guiding
Bar, lower connecting plate and sensing chip move together, and upper junction plate and lower connecting plate compress spring, and the sensing chip enters
Into the induction channels of photoelectric sensor, the autonomisation power is bigger, and the moving distance of sensing chip is bigger, and the two is in line
Sexual intercourse (because the deformation of spring meets Hooke's law)；Due to being provided with multiple photoelectric sensors, sensing chip moving distance
Size is detected by photoelectric sensor, and sensing chip reaches at different photoelectric sensors, correspondingly can determine that the movement of sensing chip away from
From；Photoelectric sensor sends the real-time position signal of sensing chip to central processing unit, and central processing unit changes the position signal
It is counted as the size from the main force, so that the auxiliary driving force of arm bending driving motor output is calculated, by controlling arm
The mode for being bent the output power of driving motor realizes the adjusting of auxiliary driving force.In the training process, patient can from the main force
To be applied at any time according to the ability of itself, revocation at any time and arbitrarily increases and reduce, 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 the auxiliary driving force of arm bending driving motor output,
The active training and passive exercise of patient is organically combined together.It is described after patient is restored to preferable level from the main force
Arm bending driving motor can also export opposition so that patient from the main force in addition to need to drive itself forearm and
The gravity of arm fixing plate is bent, it is also necessary under the acting in opposition for overcoming arm bending driving motor, thus more effectively
The ability of independently exerting oneself of trained patient.
This preferred embodiment of the invention, wherein the palm bending drive transmission device is by lead-screw drive mechanism structure
At, wherein the lead screw in lead-screw drive mechanism is connect with the main shaft of palm bending driving motor, the lead screw in lead-screw drive mechanism
Nut is fixed on a link block, which is connect by the 5th shaft with the downside of palm fixed plate.Utilize lead screw transmission
Mechanism drives palm fixed plate to make bending motion, and motion control accuracy is high, compact-sized.
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 arm bending driving motor applies positive auxiliary driving force, when sensing chip is located in the middle photoelectric transfer
When at sensor, the auxiliary driving force that the arm bending driving motor applies is zero, when sensing chip is located at the photoelectric transfer of the top
When at sensor, the arm bending driving motor applies reversed auxiliary driving force.The preferred embodiment is structurally, photoelectric sensing
Device negligible amounts, structure is simple, and from control, data processing amount is few, convenient for control.
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, the seat body are equipped with a backrest；The bracket is symmetrically mounted on institute
It states on two sides of backrest upper end.Setting above structure can be convenient two recovery training appliance for recovery of installation, and patient is in training
It can lean against by back in the process.
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 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.
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 realizes to palm, arm stretches, is bent training.
4, 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.
5, 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
The auxiliary driving force of arm bending driving motor output, the active training and passive exercise of patient are organically combined together.
6, when patient is after being restored to preferable level from the main force, the arm bending driving motor can also export reversed work
Firmly, 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
Under the acting in opposition for overcoming arm bending driving motor, thus the more effectively ability of independently exerting oneself of trained patient.
7, comfortable seat is provided for patient, while can performed physical exercise to two arms.
Detailed description of the invention
Fig. 1 be it is of the invention can comprehensive trained arm mobility rehabilitation seat a specific embodiment it is vertical
Body structural schematic diagram.
Fig. 2~Fig. 4 is the schematic perspective view of recovery training appliance for recovery in Fig. 1 illustrated embodiment.
Fig. 5 is the schematic perspective view of shoulder joint training institution part in Fig. 2-Fig. 4 illustrated embodiment.
Fig. 6 is the structural schematic diagram (sectional view) of universal connection structure part in Fig. 2-Fig. 4 illustrated embodiment.
Fig. 7 and Fig. 8 is that the stereochemical structure of arm training machine and palm training institution is illustrated in Fig. 3-Fig. 4 illustrated embodiment
Figure.
Fig. 9 and Figure 10 is the explosion that driving mechanism and rotating drive mechanism are bent in arm training mechanism shown in Fig. 7 and Fig. 8
Figure, wherein the explosion position of Fig. 9 is first part's gear drive corresponding position, and the explosion position of Figure 10 is second part tooth
Wheel drive mechanism corresponding position.
Figure 11 be Fig. 2~Fig. 4 in independently exert oneself measuring mechanism structural schematic diagram.
Figure 12 is the control flow chart of control system in Fig. 2~Fig. 4.
Figure 13 be it is of the invention can second of rehabilitation seat of comprehensive autonomous trained upper limb body mobility it is specific real
Apply the structural schematic diagram (sectional view) of universal connection structure part in mode.
Figure 14 be it is of the invention can comprehensive autonomous trained upper limb body mobility rehabilitation seat third it is specific real
Apply the schematic perspective view of arm training mechanism in mode.
Specific embodiment
The following further describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
Embodiment 1
As Figure 1-Figure 4, the rehabilitation seat that can independently train arm mobility of the invention, including seat body
40, bracket 15 and two recovery training appliance for recovery of 40 two sides of seat body are symmetrically arranged at；Wherein, the seat body 40 is equipped with
One backrest 40-1；The bracket 15 is symmetrically mounted on two sides of the upper end the backrest 40-1, the bracket 15 with it is described
Recovery training appliance for recovery connection；The recovery training appliance for recovery includes for training the arm training mechanism 13 of arm mobility, for instructing
Practice the shoulder joint training institution 14 of shoulder mobility ability, the palm training institution for training palm mobility, from primary
Power measuring mechanism and control system, wherein connected between the bracket 15 and arm training mechanism 13 by universal connection structure
It connects, the shoulder joint training institution 14 is connected to the bottom of arm training mechanism 13, and the palm training institution is mounted on arm
The end of training institution 13, the autonomous firmly measuring mechanism are mounted on the side of the arm training mechanism.
As shown in fig. 6, the universal connection structure includes connecting rod 16 and universal joint, wherein the connecting rod 16
One end is fixed in arm training mechanism 13, and the other end is connect by the universal structure with the upper end of bracket 15, described universal
Connector includes the spherical surface recess 16-1 being located in the connecting rod 16 and spherical joint 17-1 for being located at 15 upper end of bracket.The bracket
15 upper end is equipped with ball joint 17, and one end of the ball joint 17 is fixedly connected with bracket 15, described in other end setting
Spherical joint 17-1.
Referring to fig. 4, the shoulder joint training institution 14 includes swaying direction control mechanism, walking mechanism, around gyration control
Mechanism processed is with the support base 23 with spherical groove 23-1, wherein the swaying direction control mechanism includes weave control electricity
Machine 18 and the rotating disc 19 connecting with 18 main shaft of weave control motor, the weave control motor 18 are connected to arm training machine
The bottom of structure 13；The walking mechanism includes movable motor 21, connection frame 20 and the bullet being arranged on 21 main shaft of movable motor
Property rubber tire 22, wherein 20 lower end of connection frame is fixedly connected with movable motor 21, and upper end is hinged on the rotating disc 19,
The elasticity rubber tire 22 is pressed in the spherical groove 23-1 of support base 23, which connects with spherical groove 23-1
It is compressed at the position of touching；The angle control mechanism that rotates is made of cylinder 24, and the upper end of the cylinder body of the cylinder 24 is hinged on institute
It states on rotating disc 19, the telescopic rod of the cylinder 24 is hinged on the connection frame 20.
As shown in Fig. 7-Figure 10, the arm training mechanism 13 includes pedestal 8, arm fixing plate 1, is located at arm fixing plate
Arm fixation bandage 9, driving arm fixing plate 1 on 1 make the bending driving mechanism and driving arm of bending and unbending movement
Fixed plate 1 makees the rotating drive mechanism of reciprocating rotation.
As shown in Fig. 7-Figure 10, one end of the arm fixation bandage 9 is connected to one of edge of arm fixing plate 1
On, the other end is equipped with link 11, and another edge of the arm fixing plate 1 is equipped with hook 12, when work the link 11
It is hooked on the hook 12；
As shown in Fig. 7-Figure 10, the bending driving mechanism include bending driving fixing seat 5, bending driving motor 2 and
It is 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. 7-Figure 10, 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.
Referring to Fig. 7~Figure 10, the palm training institution include palm fixed plate 26 and driving palm fixed plate make it is curved
The bent palm with unbending movement is bent driving mechanism；Palm bending driving mechanism include palm bending driving fixing seat 27,
Palm is bent driving motor 28 and palm is bent drive transmission device, wherein the palm fixed plate 26 passes through third shaft
29 are connected to the end of arm fixing plate, and the palm bending driving fixing seat 27 is connected to arm fixation by the 4th shaft 30
The downside of the end of plate, the palm bending driving motor 28 are fixed in palm bending driving fixing seat 27, and the palm is curved
Bent drive transmission device is connected between the main shaft of palm bending driving motor 28 and the third shaft 29 of palm fixed plate 26.
Referring to Fig. 7~Figure 10, the palm bending drive transmission device is made of lead-screw drive mechanism 31, wherein lead screw
Lead screw 31-1 in transmission mechanism 31 is connect with the main shaft of palm bending driving motor 28, the lead screw spiral shell in lead-screw drive mechanism 31
Female 31-2 is fixed on a link block 31-3, and link block 31-3 is connected by the downside of the 5th shaft 32 and palm fixed plate 26
It connects.Palm fixed plate 26 is driven to make bending motion using lead-screw drive mechanism 31, motion control accuracy is high, compact-sized.
Referring to Fig. 7~Figure 11, described independently firmly measuring mechanism includes arm fixation bandage 9, photoelectric sensor 33, induction
Piece 34, spring 39 and guiding mechanism, wherein the guiding mechanism includes the guide holder 36 being located on 1 side of arm fixing plate
Be matched with guide holder 36 pilot hole in guide rod 35, the upper end of the guide rod 35 is equipped with upper junction plate 37, and lower end is set
There is lower connecting plate 38；One end of the arm fixation bandage 9 is connected on the upper junction plate 37, and the other end is equipped with link 11,
The arm fixing plate 1 is equipped with hook 12 on the side opposite with guiding mechanism, when work the link 11 be hooked on it is described
On hook 12；The photoelectric sensor 33 be it is multiple, along vertical array, which is arranged in arm fixing plate 1
In on side identical with guiding mechanism；The sensing chip 34 is connected on the lower connecting plate 38, and is located at the photoelectric transfer
The corresponding position induction channels 33-1 of sensor 33；39 sets of the spring on guide rod 35, make respectively by the upper and lower ends of the spring 39
With on guide holder 36 and lower connecting plate 38.
Referring to shown in Figure 11~Figure 12, the control system includes central processing unit, memory and driving circuit, in this
The signal input part of central processor is connect with the photoelectric sensor 33, and signal output end is curved by driving circuit and the arm
Bent driving motor 2 and rotational drive motor 6 connect.
As shown in figure 11, the photoelectric sensor 33 is three, when sensing chip 34 is located at the photoelectric sensor 33 of bottom
When place, the arm bending driving motor 2 applies positive auxiliary driving force, when sensing chip 34 is located in the middle photoelectric sensor 33
When place, the auxiliary driving force that the arm bending driving motor 2 applies is zero, when sensing chip 34 is located at the photoelectric sensing of the top
When at device 33, the arm bending driving motor 2 applies reversed auxiliary driving force；And when the light for being located at bottom when sensing chip 34
When the lower section of electric transducer 33, patient does not exert oneself actively at this time, and the power of arm bending all drives by the arm bending
The positive auxiliary driving force that motor 2 applies.
As shown in Fig. 7-Figure 10, the arm fixing plate 1 is equipped with the locating slot 1-1 to match with forearm shape, so as to
In the fixation of forearm.
As shown in figure 11, the guide rod 35 is two, and each guide rod 35 is equipped with a spring 39, so that stress is equal
Weighing apparatus is more accurate from the measurement result of the main force.
As shown in figure 5, the cylinder body of the cylinder 24 is connect by connector 25 with the rotating disc 19, the connector 25
One end be fixed on rotating disc 19, the other end is hinged on described to being extended obliquely upward after the radially extending of rotating disc 19 again
On cylinder body.
With reference to the accompanying drawing to it is above-mentioned can comprehensive autonomous trained upper limb body mobility rehabilitation seat working principle
It is further described：
As shown in Fig. 1-Figure 12, in use, user is sitting in the seat body 40, the arm fixation of the user exists
In arm training mechanism 13, by the arm training mechanism 13 training arm mobility, and by shoulder joint training institution 14 with
And universal connection structure is combined together the mobility of trained shoulder joint.User can choose single arm training, can also
To select the training simultaneously of two arms.Specifically, when carrying out shoulder mobility ability training, it is divided into two movements, first
Movement is the ability that trained shoulder joint is swung, and second movement is the ability that trained shoulder joint rotates.The training of first element
Process is：When carrying out first element training, the elasticity rubber tire 22 is in upright state, that is, elastic 22 place plane of rubber tire
By the bottom of spherical groove 23-1；When work, the movable motor 21 in walking mechanism drives elastic rubber tire 22 to rotate, due to bullet
Property 22 elastic compression of rubber tire in the spherical groove 23-1 of support base 23, therefore the elastic edge in spherical groove 23-1 of rubber tire 22
Some plane make arc track walking (namely along latitude direction walk, as shown by the arrows in Figure 1), in universal connection
Under the cooperation of structure, entire arm training mechanism 13 makees unidirectional swing, to realize the swing training to shoulder joint, swings
Amplitude controlled by movable motor 21；Swing control when needing to change the direction swung, in the swaying direction control mechanism
Motor 18 processed drives rotating disc 19 to rotate, so that entire walking mechanism be driven to rotate, changes 22 place plane of elastic rubber tire, in turn
Change the direction swung.Second movement training process be：The cylinder 24 to rotate in angle control mechanism by stretching motion,
Walking mechanism is driven to turn an angle relative to rotating disc 19, so that elastic rubber tire 22 is oblique, elastic rubber tire 22 at this time
It is pressed on a certain latitude of spherical groove 23-1 that (deflection of elastic rubber tire 22 should be guaranteed that when elastic rubber tire 22 carries out rotation
Can be contacted to any position with spherical groove 23-1), then elasticity rubber tire 22 rotates, along longitude in spherical groove 23-1
Direction is walked (as shown in Fig. 4 connector), and under the cooperation of universal connection structure, entire arm training mechanism 13 rotates movement,
To realize the training that rotates to shoulder joint, the track of upper arm is tapered, and the size of cone angle is controlled by rotating angle control mechanism
System.
When training arm, the forearm of user is placed on arm fixing plate 1, and solid by arm fixation bandage 9
It is fixed.The effect of the arm bending driving mechanism is that arm fixing plate 1 is driven to make bending and unbending movement, thus training forearm
The ability for being bent and stretching drives arm particular by arm bending driving motor 2 and arm bending drive transmission device
Fixed plate 1 is rotated around first rotating shaft 4；The rotating drive mechanism is for driving arm fixing plate 1 around the axis of its length direction
Rotation, so that the ability of training forearm rotation, starts particular by rotational drive motor 6 and rotate driving transmission mechanism band
Arm restraining board 1 is rotated around the second shaft 10；It is curved that the effect of the palm bending driving mechanism is that driving palm fixed plate 26 is made
Bent and unbending movement, so that the ability that training palm is bent and stretches, is bent driving motor 28 and hand particular by palm
Palm bending drive transmission device drives palm fixed plate 26 to rotate around third shaft 29.
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 controls the auxiliary driving force that arm bending driving motor 2 exports, change of the auxiliary driving force with patient independently firmly
Change and change, autonomisation power is bigger, and auxiliary driving force is just smaller, to play the autonomous Training Capability of patient as much as possible.
Specifically, when the forearm of patient, which independently applies active force, makes small brachiocylloosis, arm fixation bandage 9 will drive upper junction plate 37,
Guide rod 35, lower connecting plate 38 and sensing chip 34 move together, and upper junction plate 37 and lower connecting plate 38 press spring 39
Contracting, the sensing chip 34 enter in the induction channels 33-1 of photoelectric sensor 33, and the autonomisation power is bigger, sensing chip 34
Moving distance it is bigger, and the two is the deformation of spring 39 (because meet Hooke's law) in a linear relationship；It is more due to being provided with
The size of a photoelectric sensor 33,34 moving distance of sensing chip is detected by photoelectric sensor 33, and sensing chip 34 reaches different light
At electric transducer 33, the moving distance of sensing chip 34 correspondingly can determine that；Photoelectric sensor 33 is by the real time position of sensing chip 34
Signal sends central processing unit to, which is converted into the size from the main force by central processing unit, to calculate
The auxiliary driving force that arm bending driving motor 2 exports, it is real by way of controlling the output power of arm bending driving motor 2
The adjusting of existing auxiliary driving force.In the training process, patient can apply at any time according to the ability of itself from the main force, remove at any time
Pin and arbitrarily increase and reduction, regardless of changing from the main force for patient, central processing unit can be calculated in real time from the main force
Size, so that it is determined that the auxiliary driving force that arm bending driving motor 2 exports, the active training and passive exercise of patient is organically
It is combined together.When patient is after being restored to preferable level from the main force, the arm bending driving motor 2 can also be exported reversely
Active force so that patient from the main force in addition to needing that itself forearm and the gravity of arm fixing plate 1 is driven to be bent, also need
Under the acting in opposition for overcoming arm bending driving motor 2, thus the more effectively ability of independently exerting oneself of trained patient.
Embodiment 2
As shown in figure 13, the present embodiment compared with Example 1 the difference is that, in the present embodiment, the connecting rod
16 are being equipped with lock-screw with the spherical surface corresponding position recess 16-1, which is pressed on spherical joint 17-1.Its purpose exists
In making the locking between spherical surface recess 16-1 and spherical joint 17-1 stronger；In use, if to adjust recovery training appliance for recovery
The lock-screw is unclamped in 20 position, after the position of recovery training appliance for recovery 20 regulates, then locks the lock-screw i.e.
It can.
Embodiment 3
As shown in figure 14, 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.
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 comprehensive autonomous trained upper limb body mobility rehabilitation seat, which is characterized in that the rehabilitation seat packet
Include seat body, bracket and two recovery training appliance for recovery for being symmetrically arranged at seat body two sides；Wherein, bracket one end installation
In the seat body, the other end is connect with the recovery training appliance for recovery；The recovery training appliance for recovery includes for training arm living
The arm training mechanism of kinetic force, the palm training institution of training palm mobility, for training shoulder mobility ability
Shoulder joint training institution, independently exert oneself measuring mechanism and control system；Wherein, lead between the bracket and arm training mechanism
Universal connection structure connection is crossed, the shoulder joint training institution is connected to the bottom of arm training mechanism；The palm training
Mechanism is mounted on the end of the arm training mechanism；It is described that independently firmly measuring mechanism is mounted on the arm training mechanism
Middle part；Wherein：
The universal connection structure includes connecting rod and universal joint, wherein one end of the connecting rod is fixed on arm training
In mechanism, the other end is connect by the universal structure 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 training institution includes swaying direction control mechanism, walking mechanism, the angle control mechanism that rotates with ball
The support base of face groove, wherein the swaying direction control mechanism include weave control motor and with weave control motor
The rotating disc of main shaft connection, the weave control motor are connected to the bottom of arm training mechanism；The walking mechanism includes row
Walk the elastic rubber tire that motor, connection frame and setting are expert on electric machine main shaft, wherein the connection frame lower end and movable motor
It is 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 body of the cylinder
Upper end be hinged on the rotating disc, the telescopic rod of the cylinder is hinged on the connection frame；
The arm training mechanism includes pedestal, arm fixing plate, driving arm fixing plate work is bent and the arm of unbending movement
Bending driving mechanism and driving arm fixing plate make the rotating drive mechanism of reciprocating rotation；Wherein：The arm bending driving
Mechanism includes arm bending driving fixing seat, arm bending driving motor and arm bending drive transmission device, wherein described
One end of arm fixing plate is connected to arm bending by first rotating shaft and drives in fixing seat, and the arm bending driving motor is solid
It is scheduled in arm bending driving fixing seat, the arm bending drive transmission device is connected to the main shaft of arm bending driving motor
Between the first rotating shaft of arm fixing plate；The rotating drive mechanism includes rotational drive motor and rotate driving driver
Structure, wherein the rotational drive motor is fixed on the base, and the arm bending driving fixing seat is connected to by the second shaft
On pedestal, the rotate driving transmission mechanism is connected to the main shaft of rotational drive motor and arm bending drives the second of fixing seat
Between shaft；
The palm training institution includes that palm fixed plate and driving palm fixed plate work bending are curved with the palm of unbending movement
Bent driving mechanism；The palm bending driving mechanism includes palm bending driving fixing seat, palm bending driving motor and hand
Palm bending drive transmission device；Wherein, the palm fixed plate is connected to the end of arm fixing plate by third shaft, described
Palm bending driving fixing seat is connected to the downside of the end of arm fixing plate, the palm bending driving electricity by the 4th shaft
Machine is fixed in palm bending driving fixing seat, and the palm bending drive transmission device is connected to palm bending driving motor
Between main shaft and the third shaft of palm fixed plate；
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 arm bending driving motor and rotational drive motor.
2. it is according to claim 1 can comprehensive autonomous trained upper limb body mobility convalescence device, which is characterized in that
The palm bending drive transmission device is made of lead-screw drive mechanism, wherein the lead screw and palm in lead-screw drive mechanism are curved
The main shaft of bent driving motor connects, and the feed screw nut in lead-screw drive mechanism is fixed on a link block, which passes through the
Five shafts are connect with the downside of palm fixed plate.
3. it is according to claim 1 can comprehensive autonomous trained upper limb body mobility convalescence device, which is characterized in that
The bending drive transmission device is made of first part's gear drive, which includes connection
In the first active part gear being bent on driving motor main shaft and the first secondary part gear being connected in first rotating shaft；Institute
It states rotate driving transmission mechanism to be made of second part gear drive, which includes being connected to
The second active part gear on rotational drive motor main shaft and the second secondary part gear being connected in the second shaft.
4. it is according to claim 3 can comprehensive autonomous trained upper limb body mobility convalescence device, which is characterized in that
The first secondary part gear and the second secondary part gear are internal gear.
5. it is according to claim 1 can comprehensive autonomous trained upper limb body mobility convalescence device, which is characterized in that
The photoelectric sensor is three, when at the photoelectric sensor that sensing chip is located at bottom, the arm bending driving motor
Apply positive auxiliary driving force, when sensing chip is located in the middle at photoelectric sensor, the arm bending driving motor applies
Auxiliary driving force be zero, when at the photoelectric sensor that sensing chip is located at the top, the arm bending driving motor applies
Reversed auxiliary driving force.
6. it is according to claim 1 can comprehensive autonomous trained upper limb body mobility convalescence device, which is characterized in that
The arm fixing plate is equipped with the locating slot to match with forearm shape.
7. it is according to claim 1 can comprehensive autonomous trained upper limb body mobility convalescence device, wherein it is described to lead
It is two to bar, each guide rod is equipped with a spring.
8. it is according to claim 1 can comprehensive autonomous trained upper limb body mobility convalescence device, which is characterized in 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, another
It holds and is extended obliquely upward again after the radially extending of rotating disc, and be hinged on the cylinder body.
9. it is according to claim 1 can comprehensive autonomous trained upper limb body mobility convalescence device, which is characterized in that
The quantity of the autonomous firmly measuring mechanism is two or more, these measuring mechanisms of independently exerting oneself are along arm fixing plate
Length direction arrangement.
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| CN108078736B (en) * | 2017-12-29 | 2024-06-21 | 威海市立医院 | Rotator cuff trainer |
| CN110013416B (en) * | 2019-04-01 | 2024-03-19 | 宜都市中医医院 | Pneumatic patient limb rehabilitation training device for medical nursing |
| CN110946739B (en) * | 2019-12-13 | 2021-10-29 | 寿光市人民医院 | Neural hemiplegia rehabilitation daily exercise auxiliary device |
| CN110916982B (en) * | 2019-12-24 | 2021-07-27 | 天水师范学院 | Disabled person shoulder joint rehabilitation training device |
| CN110975236A (en) * | 2019-12-30 | 2020-04-10 | 颜开 | Upper limb active rehabilitation device based on electroencephalogram and functional electrical stimulation |
| CN111904794B (en) * | 2020-08-17 | 2022-09-13 | 大连理工江苏研究院有限公司金坛分公司 | Arm rehabilitation equipment for medical care |
| CN113350750A (en) * | 2021-06-16 | 2021-09-07 | 浙江省肿瘤医院 | Nursing device suitable for breast cancer postoperative |
| CN113520801A (en) * | 2021-08-19 | 2021-10-22 | 淮北贵翔堂医药有限公司 | Full-automatic stroke arm rehabilitation training device |
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| CN102379793A (en) * | 2011-08-18 | 2012-03-21 | 付风生 | Upper limb rehabilitation training robot |
| CN105150190A (en) * | 2015-07-22 | 2015-12-16 | 广州大学 | Six-freedom-degree bionic mechanical arm based on pneumatic muscle |
| CN105434144A (en) * | 2015-12-30 | 2016-03-30 | 哈尔滨工业大学 | Forearm turning and wrist bending rehabilitation device and turning and bending method thereof |
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| KR101546882B1 (en) * | 2013-09-06 | 2015-08-24 | 동의대학교 산학협력단 | Wearable excercise device for upper limb rehabilitation |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102379793A (en) * | 2011-08-18 | 2012-03-21 | 付风生 | Upper limb rehabilitation training robot |
| CN105150190A (en) * | 2015-07-22 | 2015-12-16 | 广州大学 | Six-freedom-degree bionic mechanical arm based on pneumatic muscle |
| CN105434144A (en) * | 2015-12-30 | 2016-03-30 | 哈尔滨工业大学 | Forearm turning and wrist bending rehabilitation device and turning and bending method thereof |
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