CN107095766A - A kind of trainer for hemiparalysis tool - Google Patents

Abstract

The invention provides a hemiplegia rehabilitation training device. It solves the technical problems of the existing hemiplegia rehabilitation training apparatus such as single training action and poor training effect. The hemiplegia rehabilitation training apparatus includes a base, and is characterized in that a telescopic upright is vertically fixed on the base, the telescopic upright includes an upper upright and a lower upright, and the upper upright is provided with a hand rehabilitation training device for hand rehabilitation training. The device includes a fixed arm, a first arm, a second arm, a third arm and a finger coordination mechanism. Through the hand rehabilitation training device, the arm and fingers can be coordinated in various movement modes. The lower pole is equipped with The leg rehabilitation training device includes a seat board, a first leg arm, a second leg arm and a foot pedal, and the thigh, calf and foot are rehabilitated by the leg rehabilitation training device. The invention performs rehabilitation training on the hands and legs of the patient at the same time, has various training modes, and has the advantages of high rehabilitation training efficiency, good training effect and the like.

Description

A hemiplegia rehabilitation training device

technical field

The invention belongs to the technical field of medical devices, and relates to a rehabilitation training device, in particular to a hemiplegia rehabilitation training device.

Background technique

Hemiplegia refers to a common disability that is mainly manifested by hemiplegia motor dysfunction caused by cerebrovascular accident, brain trauma, brain tumor and other reasons. According to the epidemiological survey in my country, the annual incidence rate is 200/100 800,000 to 1,000,000 people die from stroke every year, about 75% of the survivors become disabled, and the recurrence rate within 5 years is as high as 41%. Rescue treatment, while formulating early and recovery rehabilitation treatment procedures, active early and correct rehabilitation treatment will significantly improve the function of 80% of patients. In the rehabilitation treatment program, the movement training treatment of the patient's limbs is very important and key , The traditional training methods include training at the bedside of the hospital, training on the bed, and training by using assistive devices such as canes and wheelchairs to overcome the adverse effects of paralysis as much as possible. There are limitations in the movement of various parts of the body in traditional training methods. For example, by using canes and wheelchairs, the patient's fingers, arms and legs cannot be well coordinated and unified. In order to overcome the above problems, Chinese patent (application number: 201310471611 .X) has announced a kind of portable hemiplegia upper limb hemiplegia rehabilitation training robot, and this robot can only be trained to the upper limb of hemiplegia patient, has limitation. Chinese patent (application number: 201110101203.6) has announced a kind of upper limb hemiplegia rehabilitation robot, and this robot also can only train the upper limb of hemiplegia patient, also can't train patient's finger and leg, also has limitation.

Contents of the invention

The purpose of the present invention is to solve the above-mentioned problems in the prior art, and proposes a hemiplegia rehabilitation training device, which can perform rehabilitation training on the patient's arms, fingers and legs at the same time, and improve the effect of rehabilitation treatment.

The purpose of the present invention can be achieved through the following technical solutions: a hemiplegia rehabilitation training apparatus, comprising a base, characterized in that the base is vertically fixed with a telescopic upright, the telescopic upright includes an upper upright and a lower upright, The bottom end of the lower pole is fixed to the base, and the upper pole can be lifted and positioned along the lower pole through a positioning mechanism. The upper pole is provided with a hand rehabilitation training device, and the lower pole is provided with a leg rehabilitation training device;

The hand rehabilitation training device includes a fixed arm, a first arm, a second arm, a third arm and a finger cooperation mechanism, the fixed arm is arranged horizontally, and one end of the fixed arm is connected to the upper pole The top of the fixed arm is fixed, the other end of the fixed arm is connected to the first arm through the first drive module, the first arm is connected to the second arm through the second drive module, and the second arm is connected to the second arm through the third drive module. The third support arm is connected, and the described finger coordination mechanism is arranged on the third support arm;

The leg rehabilitation training device includes a seat board, a first leg arm, a second leg arm and a pedal, a thigh plate is fixed on the first leg arm, a calf plate is fixed on the second leg arm, and the leg plate is fixed on the second leg arm. The first leg arm and the second leg arm are hinged, the bottom of the seat board is fixed with a servo motor, the output shaft of the servo motor is fixedly connected with a crank wheel, the side wall edge of the crank wheel is fixed with a crank rod, and the second leg arm The support rod is connected with the lower vertical rod, the connection mode between one end of the support rod and the second leg arm is hinged, and the other end of the support rod is fixedly connected with the lower vertical rod. The first leg arm and the second leg arm , the pedal and the crank rod are also connected with the one-leg arm linkage mechanism;

The finger cooperative mechanism includes an index finger extension arm, a middle finger extension arm, a ring finger extension arm and a little finger extension arm that can be freely folded or straightened; the index finger extension arm, the middle finger extension arm, the ring finger extension arm and the little finger extension arm are connected A finger drive module connection that allows it to be bent or straightened;

The first driving module, the second driving module, the third driving module, the finger driving module and the servo motor are all connected to a controller through lines.

The above-mentioned first drive module includes a first drive motor, the body of the first drive motor is fixed to the end of the fixed arm, the output shaft of the first drive motor faces downward, and the output shaft of the first drive motor is connected to the end of the first support arm. The part is fixedly connected, and the first driving motor is connected with the controller through a line.

The above-mentioned second drive module includes a second drive motor and a worm gear transmission set, the end of the first support arm is hinged to the end of the second support arm through a second hinge shaft, and the worm gear in the worm gear transmission set is connected to the second worm drive set. The two hinged shafts are fixed, the worm in the worm gear transmission group and the second drive motor are arranged on the first arm, the output shaft of the second drive motor is fixed with the second driving gear, and the end of the worm is fixed with the second driven gear , the second driving gear meshes with the second driven gear, the worm gear in the worm gear transmission set meshes with the worm, and the second driving motor is connected with the controller through a line.

The above-mentioned third driving module includes a third movable joint, a third connecting plate 1, a third connecting plate 2, a third driving motor 1, a third driving motor 2 and a third driving motor 3, and the third movable joint includes Left half-joint and right half-joint, the left half-joint has hinged ear 1 and semi-circular main body part 1, the right half-joint has hinged ear 2 and semi-circular main body 2, hinged ear 1 and hinged ear 2 pass through the hinge shaft Hinged together so that the left half-joint and the right half-joint can produce relative rotation, and the third driving motor 3 drives the left half-joint and the right half-joint to rotate relative to each other through a gear set;

The main body part 1 has an arc-shaped meshing surface 1, meshing teeth 1 are provided on the meshing surface 1, an arc-shaped guide groove 1 is provided on the side surface of the main body part 1, and one end of the third connecting plate 1 is fixed with a Guide column one, the end of guide column one rotates and is provided with guide wheel one, and one end of described third connecting plate one is also provided with the mounting hole that runs through the third connecting plate one, and rotating shaft one is arranged in the mounting hole, and rotating shaft One end of one is fixed with the third driving gear one, and the other end of the rotating shaft one is fixed with the driven sprocket, the guide wheel one is installed in the guide groove one, the third driving gear one meshes with the meshing teeth one, The body of three driving motors 1 is fixed on the other end of the third connecting plate 1, the output shaft of the 3rd driving motor 1 is fixed with a driving sprocket, and a drive chain is sleeved between the driving sprocket and the driven sprocket;

The main body part 2 has an arc-shaped meshing surface 2, the meshing surface 2 is provided with meshing teeth 2, the side surface of the main body part 2 is provided with an arc-shaped guide groove 2, and one end of the third connecting plate 2 is fixed with a The guide column two, the end of the guide column two is rotatably provided with the guide wheel two, and one end of the third connecting plate two is also provided with a mounting hole passing through the third connecting plate two, and the rotating shaft two is arranged in the mounting hole, and the rotating shaft One end of the second driving gear 2 is fixed, and the other end of the rotating shaft 2 is fixed with a driven pulley. The guide wheel 2 is installed in the guide groove 2, and the third driving gear 2 meshes with the meshing tooth 2. The body of three driving motors two is fixed on the other end of the third connecting plate two, the output shaft of the third driving motor two is fixed with a driving pulley, and a transmission belt is sleeved between the driving pulley and the driven pulley. Drive motor one, the third drive motor two and the third drive motor three are all connected to the controller through lines;

The third connecting plate one is connected with the second support arm through the distance adjusting mechanism one, and the third connecting plate two is connected with the third support arm through the distance adjusting mechanism two.

The above-mentioned distance adjustment mechanism 1 includes guide post 1, guide post 2, screw rod 1 and guide block 1, guide block 1 is fixed to the end of the second support arm, and guide block 1 is provided with guide hole 1, guide hole 2 and screw holes 1. Screw hole 1 is located between guide hole 1 and guide hole 2. One end of the guide post 1 and guide post 2 is fixed to the third connecting plate 1. The third connecting plate 1 is provided with an installation through hole, and the installation through hole A drive shaft 1 is arranged in an axially fixed and circumferentially rotating manner, one end of the drive shaft 1 is fixed to one end of the screw rod 1, the other end of the drive shaft 1 is fixed with a hand wheel 1, and the guide post 1 and guide post 2 are fixed. Insert into guide hole 1 and guide hole 2 respectively, and screw rod 1 is screwed into screw hole 1 through hand wheel 1;

Described distance adjustment mechanism two comprises guide post three, guide post four, screw rod two, guide block two and slide block, and slide block is provided with guide hole three, guide hole four and screw hole two, and screw hole two is positioned at guide hole three and Between the guide hole four, one end of the guide post three and guide post four is fixed to the third connecting plate two, and the other end is fixed to the guide block two, and the guide block two is provided with an installation through hole, and the installation through hole is fixed axially The way of circumferential rotation is provided with a transmission shaft two, one end of the transmission shaft two is fixed to one end of the screw rod one, the other end of the transmission shaft two is fixed with a hand wheel two, and the guide hole three and the guide hole four of the slider are respectively It is sleeved on the third guide post and the fourth guide post, the second screw hole is screwed with the second screw rod, and the slider is fixedly connected to the third support arm through the third connecting plate three.

The above-mentioned finger drive module includes a cam set arranged on the third arm and a finger drive motor, the finger drive motor is connected to the controller through a line, the cam set includes a camshaft, and the camshaft is sequentially provided with cams 1. Cam 2, Cam 3 and Cam 4. The camshaft is connected to the output shaft of the finger drive motor through a transmission mechanism. Arm one, index finger split arm two and index finger split arm three are hinged sequentially, the end of the third arm is fixed with hinge base one, the end of index finger split arm one is hinged on hinge base one, and the index finger split arm is hinged on hinge base one. The fronts of arm 1, index finger split arm 2 and index finger split arm 3 are all equipped with index finger placement slots that can accommodate index finger insertion, and the backs of index finger split arm 1, index finger split arm 2 and index finger split arm 3 are respectively fixed with index finger hinge seat 1 2. Index finger hinged seat 2 and index finger hinged seat 3. Index finger hinged seat 1, index finger hinged seat 2 and index finger hinged seat 3 are connected to the index finger linkage mechanism. Guide sleeve 1 is arranged on the third arm, and guide sleeve 1 is set inside There is a push rod one that can slide back and forth, one end of the push rod one conflicts with the cam one, and the other end of the push rod one is connected with the index finger linkage mechanism through the connecting rod one, and a return spring one is also arranged on the push rod one ;

The middle finger extension arm includes middle finger arm one, middle finger arm two and middle finger arm three, middle finger arm one, middle finger arm two and middle finger arm three are sequentially hinged, and the end of the third arm is fixed with Hinged base 2, the end of the middle finger arm 1 is hinged on the hinged base 2, the fronts of the middle finger arm 1, middle finger arm 2 and middle finger arm 3 are provided with a middle finger placement slot that can accommodate the middle finger The backs of the first middle finger split arm, the second middle finger split arm and the third middle finger split arm are respectively fixed with the middle finger hinge seat one, the middle finger hinge seat two and the middle finger hinge seat three, the middle finger hinge seat one, the middle finger hinge seat two and the middle finger hinge seat three and The middle finger link mechanism is connected, the third arm is provided with a guide sleeve 2, and a push rod 2 that can slide back and forth is arranged inside the guide sleeve 2, and one end of the push rod 2 conflicts with the cam 2, and the other end of the push rod 2 One end is connected with the middle finger linkage mechanism through the connecting rod 2, and the push rod 2 is also provided with a return spring 2;

The extension arm of the ring finger includes ring finger split arm 1, ring finger split arm 2 and ring finger split arm 3, the ring finger split arm 1, ring finger split arm 2 and ring finger split arm 3 are sequentially hinged, and the end of the third arm is fixed with Hinged base 3, the end of ring finger arm 1 is hinged on hinged base 3, and the fronts of ring finger arm 1, ring finger arm 2 and ring finger arm 3 are provided with ring finger slots that can accommodate ring fingers , ring finger split arm 1, ring finger split arm 2 and ring finger split arm 3 are respectively fixed with ring finger hinge seat 1, ring finger hinge seat 2 and ring finger hinge seat 3, ring finger hinge seat 1, ring finger hinge seat 2 and ring finger hinge seat 3 with The third arm is connected by a link mechanism. A guide sleeve 3 is provided on the third arm, and a push rod 3 that can slide back and forth is arranged inside the guide sleeve 3. One end of the push rod 3 is in conflict with the cam 3, and the other end of the push rod 3 is in conflict with the cam 3. One end is connected with the ring finger linkage mechanism through the connecting rod 3, and a return spring 3 is also arranged on the ejector rod 3;

The little finger extension arm includes little finger arm one, little finger arm two and little finger arm three, little finger arm one, little finger arm two and little finger arm three are hinged in turn, and the end of the third arm is fixed with Hinged base 4, the end of the little finger arm 1 is hinged on the hinged base 4, and the fronts of the little finger arm 1, little finger arm 2 and little finger arm 3 are provided with little finger slots that can accommodate the little finger , the backs of the little finger arm one, the little finger arm two and the little finger arm three are respectively fixed with the little finger hinge seat one, the little finger hinge seat two and the little finger hinge seat three, the little finger hinge seat one, the little finger hinge seat two and the little finger hinge seat three and Connected by the little finger linkage mechanism, the third support arm is provided with a guide sleeve 4, inside the guide sleeve 4 is provided with a push rod 4 that can slide back and forth, one end of the push rod 4 conflicts with the cam 4, and the other end of the push rod 4 One end is connected with the little finger linkage mechanism through the connecting rod 4, and a return spring 4 is also arranged on the push rod 4.

The above-mentioned index finger link mechanism includes index finger link 1, index finger link 2 and index finger link 3, index finger link 1 is hinged on said index finger hinge seat 1, index finger link 2 is hinged on said index finger hinge seat 2 On the above, the index finger connecting rod three is hinged on the index finger hinge seat three, and the index finger connecting rod one and the index finger connecting rod two are hinged, the index finger connecting rod three and the index finger connecting rod two are hinged, and one end of the connecting rod one is connected to the index finger The rod one is hinged, the other end of the connecting rod one is hinged with one end of the push rod one, the return spring is set on the push rod one, and the push rod one is sleeved and fixed with an annular stop piece one, and the return spring One end of one abuts against the ring stopper one, and the other end abuts against the end of the guide sleeve one;

The middle finger link mechanism includes a middle finger link one, a middle finger link two and a middle finger link three, the middle finger link one is hinged on the middle finger hinge seat one, and the middle finger link two is hinged on the middle finger hinge seat On the second, the middle finger connecting rod three is hinged on the middle finger hinge seat three, and the middle finger connecting rod one and the middle finger connecting rod two are hinged, the middle finger connecting rod three and the middle finger connecting rod two are hinged, and one end of the connecting rod two is connected to the middle finger The connecting rod one is hinged, the other end of the connecting rod two is hinged with one end of the ejector rod two, the return spring two is set on the ejector rod two, and the ejector rod two is sleeved and fixed with an annular stopper two, reset One end of the spring 2 abuts against the ring stopper 2, and the other end abuts against the end of the guide sleeve 2;

The ring finger link mechanism includes a ring finger link one, a ring finger link two and a ring finger link three, the ring finger link one is hinged on the ring finger hinge seat one, and the ring finger link two is hinged on the ring finger hinge seat On the second, the ring finger connecting rod three is hinged on the ring finger hinge seat three, and the ring finger connecting rod one and the ring finger connecting rod two are hinged, the ring finger connecting rod three and the ring finger connecting rod two are hinged, and one end of the connecting rod three is connected to the ring finger The connecting rod one is hinged, the other end of the connecting rod three is hinged with one end of the ejector rod three, the reset spring three is set on the ejector rod three, and the ejector rod three is sleeved and fixed with an annular stopper three, reset One end of the spring three abuts against the annular stopper three, and the other end abuts against the end of the guide sleeve three;

The little finger link mechanism includes a little finger link one, a little finger link two and a little finger link three, the little finger link one is hinged on the little finger hinge seat one, and the little finger link two is hinged on the little finger hinge seat On the second, the little finger connecting rod three is hinged on the little finger hinge seat three, and the little finger connecting rod one and the little finger connecting rod two are hinged, the little finger connecting rod three and the little finger connecting rod two are hinged, and one end of the connecting rod four is connected to the little finger The connecting rod one is hinged, the other end of the connecting rod four is hinged with one end of the push rod four, the return spring four is set on the push rod four, and the push rod four is sleeved and fixed with an annular stopper four, reset One end of the spring 4 abuts against the annular stopper 4, and the other end abuts against the end of the guide sleeve 4;

The above-mentioned third arm is provided with a fixing device for fixing the hand on the third arm, and the fixing device includes a fixed base one and a fixed base two, and the fixed base one and the fixed base two are respectively fixed On both sides of the third arm, the first fixing base is provided with a fixing hole 1, and the fixing base 2 is provided with a fixing hole 2, the fixing hole 1 is connected with the strap 1, and the fixing hole 2 is connected with the strap 2.

The above-mentioned leg-arm link mechanism comprises leg-arm link 1, leg-arm link 2 and leg-arm link 3, one end of leg-arm link 1 is hinged to the crank rod, the other end is hinged to the first leg-arm, and the legs The middle part of the arm connecting rod three is hinged on the end of the second leg arm, the pedal is fixed to the end of the leg arm connecting rod three, and one end of the leg arm connecting rod two is hinged on the first leg arm , the other end of the leg-arm link two is hinged with the end of the leg-arm link three.

The above-mentioned positioning mechanism includes a positioning motor, a positioning screw and a positioning guide sleeve. The lower pole is vertically provided with a positioning guide groove, and the upper pole is fixed with a positioning guide column. The positioning guide column is penetrated in the positioning guide groove, and the positioning motor The body of the machine is fixed on the lower pole, the output shaft of the positioning motor is fixedly connected with the positioning screw, the positioning guide sleeve is screwed into the positioning screw, and the positioning guide sleeve is fixed with the upper pole through a connecting frame.

Compared with the prior art, the present invention has the following advantages:

The present invention can realize rehabilitation training for the hands and legs of hemiplegic patients at the same time, make the hands and legs move in a coordinated manner, and improve the efficiency and effect of rehabilitation training. In addition, the hand rehabilitation training device can realize the upper arm, lower limb Arms and fingers are trained in different ways, such as lifting and sinking, lifting and lowering, swinging from side to side, turning the palm, and clenching and stretching of the fingers, etc., which has the advantages of diversified exercise methods and good rehabilitation training effects.

Description of drawings

Fig. 1 is a schematic view of the structure of the present invention.

Fig. 2 is a schematic diagram of the rear structure of the present invention.

Fig. 3 is a partial cross-sectional structural schematic diagram of the present invention.

Fig. 4 is a schematic diagram of the front structure of the third driving module in the present invention.

Fig. 5 is a schematic diagram of the rear structure of the third driving module in the present invention.

Fig. 6 is a schematic diagram of the front structure of the third driving module in the present invention.

Fig. 7 is a schematic diagram of the lateral structure of the third driving module in the present invention.

Fig. 8 is a schematic structural view of the left half joint in the third movable joint of the present invention.

Fig. 9 is a schematic structural view of the right half joint in the third movable joint of the present invention.

Fig. 10 is a schematic diagram of the forward structure of the middle finger coordination mechanism of the present invention.

Fig. 11 is a schematic diagram of the back structure of the finger coordination mechanism in the present invention.

Fig. 12 is a structural schematic diagram of the positioning mechanism in the present invention.

In the figure, 1, the base; 2, the upper pole; 3, the lower pole; 4, the fixed arm; 5, the first arm; 6, the second arm; 7, the third arm; 8, the fingers 81, index finger extension arm; 811, index finger arm one; 812, index finger arm two; 813, index finger arm three; 82, middle finger extension arm; 83, ring finger extension arm; 84, little finger extension arm; 9, The first driving module; 91, the first driving motor; 10, the second driving module; 101, the second driving motor; 102, the worm gear transmission group; 102a, the turbine; 102b, the worm; 103, the second hinge shaft; The second driving gear; 105, the second driven gear; 11, the third driving module; 111, the third movable joint; 111a, the left half joint; 111b, the right half joint; 112, the third connecting plate one; 113, the first joint Three connecting plates two; 114, the third drive motor one; 115, the third drive motor two; 116, the third drive motor three; 117a, hinge ear one; 117b, main body one; 117c, meshing teeth one; Slot one; 118a, hinge ear two; 118b, main body two; 118c, meshing teeth two; 118d, guide slot two; 119, gear set; 20, seat plate; 21, first leg arm; 22, second leg arm ; 23, foot pedal; 24, thigh board; 25, calf board; 26, servo motor; 32, guide column one; 33, guide wheel one; 34, rotating shaft one; 35, the third driving gear one; 36, driven sprocket wheel; 37, driving sprocket wheel; 38, guide column two; 39, guide wheel two ; 40, rotating shaft two; 41, the third driving gear two; 42, driven pulley; 43, driving pulley; 44, guide post one; 45, guide post two; 46, screw rod one; 47, guide block one ;48, hand wheel one; 49, guide post three; 50, guide post four; 51, screw two; 52, guide block two; 53, slider; 54, hand wheel two; 55, third connecting plate three; 56 , finger drive motor; 57, cam group; 57a, camshaft; 57b, cam one; 57c, cam two; 57d, cam three; 57e, cam four; 58, hinged base one; 1. Index finger hinged seat 1; 61. Index finger hinged seat 2; 62. Index finger hinged seat 3; 63. Guide sleeve 1; 64. Push rod 1; 65. Connecting rod 1; 66. Return spring 1; ; 68, index finger connecting rod two; 69, index finger connecting rod three; 70, ring block one; 71, fixed base one; 71a, fixed hole one; 72, fixed base two; 72a, fixed hole two; 73, Strap one; 74, strap two; 75a, leg-arm connecting rod one; 75b, leg-arm connecting rod two; 75c, leg-arm connecting rod three; 76a, positioning motor; 76b, positioning screw; 76c, positioning guide sleeve; 76d, positioning guide groove; 76e, positioning guide column; 77, connecting frame; 78, arm; 7 9. Legs.

detailed description

The following are specific embodiments of the present invention and in conjunction with the accompanying drawings, the technical solutions of the present invention are further described, but the present invention is not limited to these embodiments.

As shown in Fig. 1 and Fig. 2, a kind of hemiplegia rehabilitation training apparatus, comprises base 1, is characterized in that, on base 1 vertically is fixed with telescopic pole, and telescopic pole comprises upper pole 2 and lower pole 3, and lower pole The bottom of the pole 3 is fixed to the base 1, the upper pole 2 can be lifted and positioned along the lower pole 3 through a positioning mechanism, the upper pole 2 is provided with a hand rehabilitation training device, and the lower pole 3 is provided with a leg Internal rehabilitation training device;

The hand rehabilitation training device comprises a fixed arm 4, a first support arm 5, a second support arm 6, a third support arm 7 and a finger cooperation mechanism 8, the fixed arm 4 is arranged horizontally, and one end of the fixed arm 4 is connected to the upper vertical rod 2 is fixed, the other end of the fixed arm 4 is connected to the first arm 5 through the first drive module 9, the first arm 5 is connected to the second arm 6 through the second drive module 10, and the second arm 6 passes through The third drive module 11 is connected to the third arm 7, and the finger linkage mechanism 8 is arranged on the third arm 7;

The leg rehabilitation training device comprises a seat board 20, a first leg arm 21, a second leg arm 22 and a pedal 23, a thigh plate 24 is fixed on the first leg arm 21, and a calf plate 25 is fixed on the second leg arm 22 , the first leg arm 21 and the second leg arm 22 are hinged, the bottom of the seat board 20 is fixed with a servo motor 26, the output shaft of the servo motor 26 is fixedly connected with a crank wheel 27, and the side wall edge of the crank wheel 27 is fixed with a crank rod 28 , the second leg arm 22 is connected with the lower vertical rod 3 through the support rod 29, the connection mode between one end of the support rod 29 and the second leg arm 22 is hinged, the other end of the support rod 29 is fixedly connected with the lower vertical rod 3, and the first leg arm 21, the second leg arm 22, the pedal 23 and the crank rod 28 are also connected with the first leg arm link mechanism 30;

The finger cooperating mechanism 8 comprises an index finger extension arm 81, a middle finger extension arm 82, a ring finger extension arm 83 and a little finger extension arm 84 which can be freely bent or straightened; the index finger extension arm 81, the middle finger extension arm 82, the ring finger extension arm 83 and The little finger extension arm 84 is connected with a finger driving module that can make it bend or straighten;

The first drive module 9, the second drive module 10, the third drive module 11, the finger drive module and the servo motor 26 are all connected with a controller through a line, and the controller is a PLC programmable controller, which is fixed on the lower pole 3 superior.

Its working principle is as follows: the patient sits on the seat board 20, and the patient's arm 78 carries out activity training through the hand rehabilitation training device. One arm 5 rotates relative to the fixed arm 4, as shown by the arrow A in Figure 1, to realize the outward expansion or adduction movement of the upper arm relative to the shoulder joint; the patient's lower arm is parallel to and against the second arm 6, through The second driving module 10 makes the second support arm 6 rotate relative to the first support arm 5, as shown by arrow B in Fig. 1, realizes the up swing or down swing movement of the lower arm relative to the elbow joint; the lower arm of the patient is connected with the third arm. The support arm 7 is parallel to and against, and the third support arm 7 is rotated relative to the second support arm 6 through the third drive module 11, as shown by arrow C in FIG. , the third arm 7 can also be rotated by the third drive module 11, as shown by the arrow D in Figure 4, the clockwise or counterclockwise rotation of the lower arm can be realized; the index finger extension arm 81 can be extended by the finger drive module , the middle finger extension arm 82, the ring finger extension arm 83 and the little finger extension arm 84 are bent or straightened, so that the index finger, middle finger, ring finger and little finger are folded into a fist shape, or straightened into a flat shape, so as to realize the Rehabilitation exercise, in this embodiment, the patient's wrist and the third arm 7 are tied together by straps, so as to realize the fixation of the arm and hand rehabilitation training device;

The patient sits on the seat board 20, and the patient's legs 79 carry out activity training through the leg rehabilitation training device. The patient's thighs are against the thigh board 24, and the calf is against the lower leg board 25, and the foot is stepped on the pedal 23 , the output shaft of the servo motor 26 rotates, driving the crank wheel 27 to rotate, and the crank rod 28 on the crank wheel 27 rotates to drive the leg-arm linkage mechanism 30, so that the first leg arm 21 is raised or lowered, as shown by arrow E in Fig. 2 Make the second leg arm 22 go up or down, as shown by the arrow F in Figure 2; make the pedal 23 go up or down, as shown by the arrow G in Figure 2, so that the patient's thighs, shanks and feet are relatively Rehabilitation exercises for hip, knee and ankle joints;

The controller can control the individual execution of each module such as the first driving module 9, the second driving module 10, the third driving module 11, the finger driving module and the servo motor 26, so that the patient's upper arm, lower arm and fingers are relatively Shoulder joints, elbow joints and finger joints realize different forms of diversified movements, improve the effect of hand rehabilitation training for patients, and at the same time make patients' thighs, calves and feet do rehabilitation training exercises relative to hip joints, knee joints and ankle joints , improve the effect of the patient's leg rehabilitation training; the upper pole 2 can be lifted and positioned along the lower pole 3 through a positioning mechanism, and can be adapted to patients of different heights for rehabilitation training.

As shown in Figure 3, the first drive module 9 comprises a first drive motor 91, the body of the first drive motor 91 is fixed to the end of the fixed arm 4, the output shaft of the first drive motor 91 is downward, and the first drive motor 91 The output shaft is fixedly connected to the end of the first arm 5, the first drive motor 91 drives the first arm 5 to rotate in the direction shown by arrow A in Figure 1, and the first drive motor 91 is connected to the controller through a line.

As shown in FIG. 3 , the second drive module 10 includes a second drive motor 101 and a worm gear transmission group 102, the end of the first support arm 5 and the end of the second support arm 6 are hinged through a second hinge shaft 103, and the worm gear The worm wheel 102a in the worm drive group 102 is fixed to the second hinge shaft 103, the worm 102b in the worm drive group 102 and the second drive motor 101 are arranged on the first arm 5, and the output shaft of the second drive motor 101 is fixed with The second driving gear 104, the end of the worm is fixed with the second driven gear 105, the second driving gear 104 and the second driven gear 105 are meshed, the worm gear and the worm in the worm gear transmission group 102 are meshed, the second drive The motor 101 is connected with the controller through a line. The controller controls the rotation of the second driving motor 101. The second driving motor 101 is driven by the engagement of the second driving gear 104 and the second driven gear 105, and then the second arm 6 is driven relative to the first arm 5 through the worm gear transmission. Turn as indicated by arrow B in Figure 1.

As shown in Figure 4, Figure 5 and Figure 6, the third driving module 11 includes a third movable joint 111, a third connecting plate one 112, a third connecting plate two 113, a third driving motor one 114, a third driving motor two 115 and a third drive motor three 116, the third movable joint 111 includes a left half joint 111a and a right half joint 111b, the left half joint 111a has hinged ears one 117a and a semi-circular body part one 117b, and the right half joint 111b has a hinge The second ear 118a and the semi-circular main body part 118b, the first hinged ear 117a and the second hinged ear 118a are hinged together by the hinge shaft, so that the left half joint 111a and the right half joint 111b can produce the direction shown by the arrow C in Figure 4 The third driving motor 116 drives the left half joint 111a and the right half joint 111b to rotate relative to each other through a gear set 119. The gear set 119 includes a driving gear and a driven gear, and the driven gear is fixed to the hinge ear 1 117a through a rotating shaft. Connected, the driving gear is connected with the output shaft of the third driving motor, the third driving motor is fixed on a receiving plate 31, and the receiving plate 31 is fixed with the second hinge ear 118a, when the third driving motor rotates, the driven gear is due to passing through the rotating shaft and The hinged ear 117a is fixedly connected, the driven gear remains stationary, and the driving gear rotates around the driven gear, so that the right half-joint 111b and the left half-joint 111a are relatively rotated;

The main body part one 117b has an arc-shaped engagement surface one, as shown in Figure 8, the engagement surface one is provided with an engaging tooth one 117c, and the side surface of the main body part one 117b is provided with an arc-shaped guide groove one 117d, and the third connection One end of the plate 112 is fixed with a guide column 32, and the end of the guide column 32 is rotatably provided with a guide wheel 33. In this embodiment, the guide wheel 33 adopts a rolling bearing and is fixed on the guide column by means of an interference fit. The end portion of one 32, one end of the third connecting plate one 112 is also provided with the installation hole that runs through the third connecting plate one 112, the rotating shaft one 34 is arranged in the mounting hole, and the third driving gear is fixed on one end of the rotating shaft one 34 One 35, the other end of rotating shaft one 34 is fixed with driven sprocket 36, and guide wheel one 33 is installed in the guide groove one 117d, and the third driving gear one 35 meshes with meshing teeth one 117c, and the third driving motor one 114 The body is fixed on the other end of the third connecting plate one 112, the output shaft of the third driving motor one 114 is fixed with a driving sprocket 37, and a transmission chain is sleeved between the driving sprocket 37 and the driven sprocket 36; The motor one 114 rotates the third driving gear one 35 through sprocket transmission, and by meshing with the meshing gear one 117c, the guide wheel one 33 rolls in the guide groove one 117d, so that the left half joint 111a and the right half joint 111b are raised together or At the hem, the patient's forearm leans against the arc of the ring-shaped main body part 1 117b and main body part 2 118b, driving the forearm to lift or descend in the vertical direction, further increasing the movement mode and improving the effect of rehabilitation training.

The main body part 2 118b has an arc-shaped engaging surface 2. As shown in Figure 9, the engaging surface 2 is provided with an engaging tooth 2 118c, and the side surface of the main body part 2 118b is provided with an arc-shaped guide groove 2 118d. One end of the plate 2 113 is fixed with a guide column 2 38, and the end of the guide column 2 38 is rotatably provided with a guide wheel 2 39. The guide wheel 2 39 adopts a rolling bearing and is fixed on the end of the guide column 2 38 by means of interference fit. One end of the third connecting plate 113 is also provided with a mounting hole passing through the third connecting plate 113, a rotating shaft 2 40 is arranged in the mounting hole, and a third driving gear 2 41 is fixed on one end of the rotating shaft 2 40, and the rotating shaft The other end of the second 40 is fixed with a driven pulley 42, the second guide wheel 39 is installed in the guide groove two 118d, the third driving gear two 41 meshes with the second meshing teeth 118c, and the body of the third driving motor two 115 is fixed on The other end of the third connecting plate two 113, the output shaft of the third driving motor two 115 is fixed with a driving pulley 43, and a transmission belt is sleeved between the driving pulley 43 and the driven pulley 42, and the third driving motor two 115 passes through The belt transmission makes the third driving gear 2 41 rotate, the third driving gear 2 41 rises or falls along the meshing teeth 2 118c, and the guide wheel 2 39 rolls in the guide groove 2 118d, so that the third arm 7 circles around as shown in the figure. Turn in the direction shown by the arrow D in 4 to realize the twisting of the patient's forearm, and at the same time realize the left and right turning of the patient's palm. The controller is connected to control the rotation of the third driving motor 1 114, the third driving motor 2 115 and the third driving motor 3 116 in different directions through the controller, so as to realize the diversified movements of the patient's arm and improve the effect of rehabilitation training;

The third connecting plate one 112 is connected to the second arm 6 through the distance adjusting mechanism one, and the third connecting plate two 113 is connected to the third arm 7 through the distance adjusting mechanism two. The purpose is to adjust the distance between the third arm 7 and the second arm 6, and it is suitable for patients with different arm lengths to carry out rehabilitation training.

Above-mentioned distance adjustment mechanism one comprises guide post one 44, guide post two 45, screw rod one 46 and guide block one 47, guide block one 47 is fixed with the end of the second support arm 6, guide block one 47 offers guide hole one , guide hole two and screw hole one, screw hole one is located between guide hole one and guide hole two, one end of guide post one 44 and guide post two 45 is fixed with the third connecting plate one 112, and the third connecting plate one 112 is opened There is an installation through hole, and the drive shaft 1 is arranged in the way of axially fixed and circumferential rotation in the installation through hole. In this embodiment, a rolling bearing is arranged in the installation through hole. One end of the drive shaft 1 is connected to the screw rod 46 One end is fixed, the other end of the drive shaft 1 is fixed with a hand wheel 48, the guide post 1 44 and the guide post 2 45 are respectively inserted into the guide hole 1 and the guide hole 2, and the screw rod 1 46 is screwed into the screw hole 1 through the hand wheel 1 48 ; By turning the handwheel one 48, the handwheel one 48 drives the screw rod one 46 to rotate, so that the third connecting plate one 112 is away from or close to the second support arm 6, thereby realizing the distance between the third support arm 7 and the second support arm 6 Adjustable to adapt to patients with different arm lengths.

Distance adjustment mechanism two comprises guide post three 49, guide post four 50, screw rod two 51, guide block two 52 and slide block 53, slide block 53 offers guide hole three, guide hole four and screw hole two, screw hole two is positioned at guide Between the hole three and the guide hole four, one end of the guide post three 49 and the guide post four 50 is fixed to the third connecting plate two 113, and the other end is fixed to the guide block two 52, and the guide block two 52 is provided with a through hole for installation. The transmission shaft 2 is arranged in the hole in an axially fixed and circumferentially rotating manner. In this embodiment, a rolling bearing is provided in the installation through hole. One end of the transmission shaft 2 is fixed to one end of the screw rod 46, and the other end of the transmission shaft 2 One end is fixed with the hand wheel 2 54, the guide hole 3 and the guide hole 4 of the slider 53 are respectively sleeved on the guide post 3 49 and the guide post 4 50, the screw hole 2 is screwed with the screw rod 2 51, and the slide block 53 It is fixedly connected with the third arm 7 through the third connecting plate 3 55 . By turning the hand wheel 2 54, the screw 2 51 is rotated, and the slider 53 is moved away from or approached to the third arm 7 2, thereby realizing the adjustment of the distance between the third arm 7 and the second arm 6, and adapting to different arm lengths. patients to use. It can be adjusted separately through the distance adjusting mechanism 1, or can be adjusted independently through the distance adjusting mechanism 2, or can be adjusted simultaneously through the distance adjusting mechanism 1 and the distance adjusting mechanism 2 to increase the distance between the third support arm 7 and the second arm. Adjustable range to accommodate patients with particularly long or short arms.

As shown in Figures 10 and 11, the finger drive module includes a cam set 57 and a finger drive motor 56 arranged on the third arm 7, the finger drive motor 56 is connected with the controller through a line, and the cam set 57 includes a cam Shaft 57a, camshaft 57a rotation is arranged on the 3rd support arm 7, camshaft 57a is successively provided with cam one 57b, cam two 57c, cam three 57d and cam four 57e, camshaft 57a drives motor through transmission mechanism and finger The output shaft of 56 is connected, and in the present embodiment, this rotating mechanism is a pulley transmission mechanism, comprises driving pulley 43, driven pulley 42, and the output shaft of driving pulley 43 and finger drive motor 56 is fixed, driven belt Wheel 42 is fixed with the end of camshaft 57a, connects driving pulley 43 and driven pulley 42 by drive belt, and index finger extension arm 81 comprises index finger split arm one 811, index finger split arm two 812 and index finger split arm three 813, index finger split arm Arm 1 811, index finger arm 2 812 and index finger arm 3 813 are sequentially hinged, the end of the third arm 7 is fixed with hinge base 1 58, and the end of index finger arm 1 811 is hinged on hinge base 1 58 , the fronts of the first index finger split arm 811, the second index finger split arm 812 and the third index finger split arm 813 are all provided with index finger placement slots 59 that can accommodate the index fingers. put the middle finger into the groove, put the ring finger into the groove of the ring finger, and put the little finger into the groove of the little finger. In the present embodiment, the index finger, middle finger, ring finger and little finger are respectively fixed in the groove of the index finger by putting on gloves. In the middle finger placement groove, ring finger placement groove and little finger placement groove, index finger hinge seat 1 60, index finger hinge seat 2 61 and index finger hinge seat are respectively fixed on the backs of index finger arm one 811, index finger arm two 812 and index finger arm three 813 Three 62, index finger hinge seat 1 60, index finger hinge seat 2 61 and index finger hinge seat 3 62 are connected with the index finger linkage mechanism, the third arm 7 is provided with a guide sleeve 1 63, and the guide sleeve 1 63 is connected to the third arm 7 Fixed, the guide sleeve 63 is provided with a push rod 64 that can slide back and forth, one end of the push rod 64 is in conflict with the cam 57b, and the other end of the push rod 64 is connected with the index finger linkage mechanism through the connecting rod 65, and the top Also be provided with back-moving spring one 66 on the rod one 64, as shown in Figure 11; Controller controls finger drive motor 56 to rotate, drives cam one 57b, cam two 57c, cam three 57d and cam four 57e on the camshaft 57a to rotate , cam one 57b pushes push rod one 64, and push rod one 64 pushes connecting rod one 65 again to make the index finger link mechanism move, and the index finger link mechanism drives the index finger sub-arm one 811 of the index finger extension arm 81, the index finger sub-arm two 812 and The relative bending of the index finger arm three 813 makes the index finger extension arm 81 bend. At this time, the return spring one 66 is compressed. When the cam one 57b continues to rotate, the return spring one 66 rebounds and stretches back, driving the push rod one 64 to pull Connecting rod 1 65 is used to straighten the index finger extension arm 81 through the index finger linkage mechanism;

The middle finger extension arm 82 includes the first middle finger split arm, the second middle finger split arm and the third middle finger split arm. The first middle finger split arm, the second middle finger split arm and the third middle finger split arm are sequentially hinged. 2. The end of the middle finger arm 1 is hinged on the hinge base 2. The fronts of the middle finger arm 1, middle finger arm 2 and middle finger arm 3 are all equipped with a middle finger placement groove that can accommodate the middle finger. The middle finger arm 1 1. The backs of the middle finger split arm two and the middle finger split arm three are respectively fixed with the middle finger hinge seat one, the middle finger hinge seat two and the middle finger hinge seat three, and the middle finger hinge seat one, the middle finger hinge seat two and the middle finger hinge seat three are connected with the middle finger linkage mechanism , the third support arm 7 is provided with a guide sleeve 2, and a push rod 2 that can slide back and forth is arranged in the guide sleeve 2, and one end of the push rod 2 conflicts with the cam 2 57c, and the other end of the push rod 2 passes through the connecting rod 2 Connected with the middle finger link mechanism, the push rod two is also provided with a return spring two; the controller controls the finger driving motor 56 to rotate, and drives the cam one 57b, the two cam 57c, the three cam 57d and the four cam 57e on the camshaft 57a to rotate , the cam two 57c promotes the push rod two, and the push rod two pushes the connecting rod two again to make the middle finger link mechanism move, and the middle finger link mechanism drives the middle finger arm one, the middle finger arm two and the middle finger arm three of the middle finger extension arm 82 Relatively bent, the middle finger stretching arm 82 is bent. At this time, the return spring 2 is compressed. When the cam 2 57c continues to rotate, the return spring 2 rebounds and stretches back, driving the push rod 2 to pull back the connecting rod 2, and the connecting rod 2 is passed through the middle finger. The mechanism straightens the middle finger extension arm 82;

The ring finger extension arm 83 includes the first ring finger split arm, the second ring finger split arm and the third ring finger split arm. 3. The end of ring finger split arm 1 is hinged on hinge base 3. The fronts of ring finger split arm 1, ring finger split arm 2, and ring finger split arm 3 are all provided with ring finger placement slots that can accommodate ring finger insertion. Ring finger split arm 1 1. Ring finger split arm 2 and ring finger split arm 3 are respectively fixed with ring finger hinge seat 1, ring finger hinge seat 2 and ring finger hinge seat 3, and ring finger hinge seat 1, ring finger hinge seat 2 and ring finger hinge seat 3 are connected with the ring finger linkage mechanism , the third support arm 7 is provided with a guide sleeve three, inside the guide sleeve three is provided with a push rod three that can slide back and forth, one end of the push rod three conflicts with the cam three 57d, and the other end of the push rod three passes through the connecting rod three Connected with the ring finger link mechanism, the push rod three is also provided with a return spring three; the controller controls the finger drive motor 56 to rotate, and drives the cam one 57b, cam two 57c, cam three 57d and cam four 57e on the camshaft 57a to rotate , the cam three 57d pushes the push rod three, the push rod three pushes the connecting rod three again to make the ring finger link mechanism move, and the ring finger link mechanism drives the ring finger arm one, ring finger arm two and ring finger arm three of the ring finger extension arm 83 Relatively bend, so that the ring finger extension arm 83 is bent, at this time, the return spring 3 is compressed, and when the cam 3 57d continues to rotate, the return spring 3 rebounds and stretches back, driving the push rod 3 to pull back the connecting rod 3, and through the ring finger connecting rod The mechanism straightens the ring finger extension arm 83;

The little finger extension arm 84 includes the first little finger arm, the second little finger arm and the third little finger arm. The first little finger arm, the second little finger arm and the third little finger arm are sequentially hinged, and the end of the third arm 7 is fixed with a hinged base. 4. The end of the little finger arm 1 is hinged on the hinge base 4. The fronts of the little finger arm 1, the little finger arm 2 and the little finger arm 3 are all equipped with a little finger placement slot that can accommodate the little finger. The little finger arm 1 The backs of the second little finger split arm and the third little finger split arm are respectively fixed with the little finger hinge seat one, the little finger hinge seat two and the little finger hinge seat three, and the little finger hinge seat one, the little finger hinge seat two and the little finger hinge seat three are connected with the little finger linkage mechanism , the third support arm 7 is provided with a guide sleeve 4, a push rod 4 that can slide back and forth is arranged in the guide sleeve 4, one end of the push rod 4 conflicts with the cam 4 57e, and the other end of the push rod 4 passes through the connecting rod 4 It is connected with the little finger link mechanism, and a back-moving spring 4 is also arranged on the push rod 4. The controller controls the finger driving motor 56 to rotate, and drives cam one 57b, cam two 57c, cam three 57d and cam four 57e on the camshaft 57a to rotate, and cam four 57e pushes push rod four, and push rod four pushes connecting rod four to make The little finger link mechanism moves, and the little finger link mechanism drives the relative bending of the little finger branch arm one, the little finger branch arm two and the little finger branch arm three of the little finger extension arm 84 again, so that the little finger extension arm 84 is bent. Compression, when cam 4 57e continued to rotate, back-moving spring 4 bounced and stretched back, driving push rod 4 to pull back connecting rod 4, and the little finger extension arm 84 was straightened by the little finger linkage mechanism.

As shown in Figure 11, the index finger link mechanism includes index finger link 1 67, index finger link 2 68 and index finger link 3 69, index finger link 1 67 is hinged on index finger hinge seat 1 60, index finger link 2 68 is hinged on Index finger hinge seat 2 61, index finger link 3 69 is hinged on index finger hinge seat 3 62, index finger link 1 67 and index finger link 2 68 are hinged, index finger link 3 69 and index finger link 2 68 are hinged, connecting rod One end of one 65 is hinged with the index finger connecting rod one 67, the other end of the connecting rod one 65 is hinged with one end of the push rod one 64, the return spring one 66 is sleeved on the push rod one 64, and the push rod one 64 is sleeved and fixed There is an annular stopper 70, and one end of the return spring one 66 abuts against the annular stopper one 70, and the other end abuts against the end of the guide sleeve one 63. In the present embodiment, the return spring one 66, the return spring two, the reset spring Spring three and return spring four are compression springs;

The middle finger link mechanism includes middle finger link one, middle finger link two and middle finger link three, middle finger link one is hinged on middle finger hinge seat one, middle finger link two is hinged on middle finger hinge seat two, middle finger link three is hinged on Middle finger hinge seat three, and middle finger connecting rod one and middle finger connecting rod two are hinged, middle finger connecting rod three and middle finger connecting rod two are hinged, one end of connecting rod two is hinged with middle finger connecting rod one, and the other end of connecting rod two is connected with ejector rod One end of the second is hinged, the return spring two is set on the push rod two, and the push rod two is sleeved and fixed with the ring stopper two, one end of the return spring two is against the ring stopper two, and the other end is connected to the guide sleeve two end against;

The ring finger link mechanism includes ring finger link one, ring finger link two and ring finger link three. The ring finger hinge seat is on the third, and the ring finger connecting rod one and the ring finger connecting rod two are hinged, the ring finger connecting rod three and the ring finger connecting rod two are hinged, one end of the connecting rod three is hinged with the ring finger connecting rod one, and the other end of the connecting rod three is connected with the push rod One end of the third is hinged, and the return spring three is set on the push rod three, and the push rod three is sleeved and fixed with the annular stopper three, one end of the return spring three is against the annular stopper three, and the other end is connected to the guide sleeve three. end against;

The little finger link mechanism includes the first little finger link, the second little finger link and the third little finger link. The little finger hinge seat is on the third, and the little finger connecting rod one and the little finger connecting rod two are hinged, the little finger connecting rod three is hinged with the little finger connecting rod two, one end of the connecting rod four is hinged with the little finger connecting rod one, and the other end of the connecting rod four is connected with the ejector rod One end of the four is hinged, the return spring four is set on the push rod four, and the push rod four is sleeved and fixed with the annular stopper four, one end of the return spring four is against the annular stopper four, and the other end is connected to the guide sleeve four end against;

As shown in Figure 10, the third arm 7 is provided with a fixing device for fixing the hand on the third arm 7, the fixing device includes a fixed base 71 and a fixed base 2 72, and the fixed base 71 and fixed base two 72 are respectively fixed on the both sides of the third support arm 7, and fixed base one 71 is provided with fixed hole one 71a, and fixed base two 72 is provided with fixed hole two 72a, and fixed hole one 71a is tied with Strap one 73, the second fixing hole 72a is tied with two straps 74. Stick the back of the patient's hand on the third arm 7, and fix the palm with the third arm 7 by using the first strap 73 and the second strap 74. The first strap 73 and the second strap 74 are provided with Velcro, and tied up More convenient.

As shown in Figures 1 and 2, the leg-arm link mechanism 30 includes a leg-arm link 1 75a, a leg-arm link 2 75b and a leg-arm link 3 75c, and one end of the leg-arm link 1 75a is hinged to the crank rod 28 , the other end is hinged with the first leg arm 21, the middle part of the leg arm link three 75c is hinged at the end of the second leg arm 22, the pedal 23 is fixed with the end of the leg arm link three 75c, the leg arm link One end of the second 75b is hinged on the first leg arm 21, and the other end of the second leg arm link 75b is hinged with the end of the third leg arm link 75c.

The positioning mechanism includes a positioning motor 76a, a positioning screw 76b and a positioning guide sleeve 76c. The lower pole 3 is vertically provided with a positioning guide groove 76d, and the upper pole 2 is fixed with a positioning guide column 76e, and the positioning guide column 76e is installed in the positioning guide groove. In 76d, the body of the positioning motor 76a is fixed on the lower vertical rod 3, the output shaft of the positioning motor 76a is fixedly connected with the positioning screw rod 76b, the positioning guide sleeve 76c is screwed into the positioning screw rod 76b, and the positioning guide sleeve 76c is connected to the upper shaft by a connecting frame 77. The pole 2 is fixed. The positioning motor 76a drives the positioning screw 76b to rotate, so that the positioning guide sleeve 76c rises and falls on the positioning screw 76b, and drives the upper vertical rod 2 to move up and down relative to the lower vertical rod 3 .

The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which the present invention belongs can make various modifications or supplements to the described specific embodiments or adopt similar methods to replace them, but they will not deviate from the spirit of the present invention or go beyond the definition of the appended claims range.

Although this article uses 1, the base; 2, the upper pole; 3, the lower pole; 4, the fixed arm; 5, the first arm; 6, the second arm; 7, the third arm; 8 , finger coordination mechanism; 81, index finger extension arm; 811, index finger arm one; 812, index finger arm two; 813, index finger arm three; 82, middle finger extension arm; 83, ring finger extension arm; 84, little finger extension Arm; 9, the first driving module; 91, the first driving motor; 10, the second driving module; 101, the second driving motor; 102, the worm gear transmission group; 102a, the turbine; 102b, the worm; Shaft; 104, the second driving gear; 105, the second driven gear; 11, the third drive module; 111, the third movable joint; 111a, the left half joint; 111b, the right half joint; 112, the third connecting plate one ; 113, the third connecting plate two; 114, the third driving motor one; 115, the third driving motor two; 116, the third driving motor three; 117a, hinge ear one; 117b, main body one; ; 117d, guide groove one; 118a, hinge ear two; 118b, main body two; 118c, meshing teeth two; 118d, guide groove two; 119, gear set; 20, seat plate; 21, first leg arm; 22, Second leg arm; 23, pedal; 24, thigh plate; 25, calf plate; 26, servo motor; 27, crank wheel; 28, crank rod; 29, support rod; 30, leg arm linkage mechanism; 31 32, guide column one; 33, guide wheel one; 34, rotating shaft one; 35, the third driving gear one; 36, driven sprocket wheel; 37, driving sprocket wheel; 38, guide column two; 39 , guide wheel two; 40, rotating shaft two; 41, the third driving gear two; 42, driven pulley; 43, driving pulley; 44, guide post one; 45, guide post two; 46, screw rod one; 47 , guide block one; 48, hand wheel one; 49, guide post three; 50, guide post four; 51, screw rod two; 52, guide block two; 53, slider; 54, hand wheel two; 55, third connection Plate three; 56, finger drive motor; 57, cam group; 57a, cam shaft; 57b, cam one; 57c, cam two; 57d, cam three; 57e, cam four; 58, hinge base one; 59, index finger 60, index finger hinge seat one; 61, index finger hinge seat two; 62, index finger hinge seat three; 63, guide sleeve one; 64, ejector rod one; 65, connecting rod one; 66, return spring one; 67, Index finger connecting rod one; 68, index finger connecting rod two; 69, index finger connecting rod three; 70, ring stopper one; 71, fixing base one; 71a, fixing hole one; 72, fixing base two; 72a, fixing hole Two; 73, strap one; 74, strap two; 75a, leg-arm connecting rod one; 75b, leg-arm connecting rod two; 75c, leg-arm connecting rod three; 76a, positioning motor; 76b, positioning screw; 76c, Positioning guide sleeve; 76d, positioning guide groove; 76e, positioning guide column; 77, connecting frame; 78. Arm; 79. Leg and other terms, but the possibility of using other terms is not excluded. These terms are used only for the purpose of describing and explaining the essence of the present invention more conveniently; interpreting them as any kind of additional limitation is against the spirit of the present invention.

Claims (10)

1. a kind of trainer for hemiparalysis tool, including base (1), it is characterised in that be vertically fixed on the base (1) flexible Vertical rod, Extensible upright rod includes upper pright stanchion (2) and lower vertical rod (3), and the bottom of lower vertical rod (3) and base (1) are fixed, upper pright stanchion (2) It can be lifted and can positioned along lower vertical rod (3) by a detent mechanism, upper pright stanchion (2) is provided with hand device for healing and training, under Vertical rod (3) is provided with leg device for healing and training；

Described hand device for healing and training include fixed arm (4), first support arm (5), second support arm (6), the 3rd support arm (7) and Finger portion collaborates mechanism (8), and the fixed arm (4) is horizontally disposed with, and one end of fixed arm (4) is consolidated with the top of the upper pright stanchion (2) Fixed, the other end of fixed arm (4) is connected by the first drive module (9) with described first support arm (5), and first support arm (5) is led to Cross the second drive module (10) to be connected with second support arm (6), second support arm (6) passes through the 3rd drive module (11) and the 3rd support arm (7) connect, described finger portion collaborates mechanism (8) and is arranged on the 3rd support arm (7)；

Described leg device for healing and training includes seat (20), the first leg arm (21), the second leg arm (22) and pedal (23), It is fixed with the first leg arm (21) on thigh plate (24), the second leg arm (22) and is fixed with calf plate (25), first leg Arm (21) and the second leg arm (22) are hinged, and the bottom of the seat (20) is fixed with servomotor (26), servomotor (26) Output shaft is fixedly connected with a crankwheel (27), and the sidewall edge of crankwheel (27) is fixed with a toggle-action lever (28), described second Leg arm (22) is connected by support bar (29) with described lower vertical rod (3), described support bar (29) one end and the second leg arm (22) Connected mode to be hinged, support bar (29) other end is fixedly connected with lower vertical rod (3), the first leg arm (21), the second leg Arm (22), pedal (23) and toggle-action lever (28) are also connected with a leg arm link mechanism (30)；

Described finger portion collaborate mechanism (8) include can freely it is curved hold together or stretch forefinger extending arm (81), middle finger extending arm (82), Nameless extending arm (83) and little finger of toe extending arm (84), forefinger extending arm (81), middle finger extending arm (82), nameless extending arm (83) and little finger of toe extending arm (84) with one can make its it is curved hold together or the finger portion drive module stretched be connected；

Described the first drive module (9), the second drive module (10), the 3rd drive module (11), refer to portion's drive module and watch Motor (26) is taken to be connected with a controller by circuit.

2. a kind of trainer for hemiparalysis tool according to claim 1, it is characterised in that the first described drive module (9) the first motor (91) is included, the end of the body and fixed arm (4) of the first motor (91) is fixed, the first driving Down, the output shaft of the first motor (91) is fixedly connected the output shaft of motor (91) with the end of first support arm (5), and first Motor (91) is connected by circuit with described controller.

3. a kind of trainer for hemiparalysis tool according to claim 1, it is characterised in that the second described drive module (10) the second motor (101) and turbine and worm transmission group (102), the end of the first support arm (5) and second are included The end of arm (6) is hinged by the second jointed shaft (103), the turbine (102a) in turbine and worm transmission group (102) and the second hinge Spindle (103) is fixed, and the worm screw (102b) and the second motor (101) in turbine and worm transmission group (102) are arranged on the On one support arm (5), the output shaft of the second motor (101) is fixed with the second driving gear (104), the end of worm screw (102b) The second driven gear (105) is fixed with, the second driving gear (104) and the second driven gear (105) are meshed, turbine and worm is passed Turbine (102a) and worm screw (102b) in dynamic group (102) are meshed, and the second motor (101) passes through circuit and described control Device connection processed.

4. a kind of trainer for hemiparalysis tool according to claim 1, it is characterised in that the 3rd described drive module (11) the 3rd turning joint (111), the 3rd connecting plate one (112), the 3rd connecting plate two (113), the 3rd motor one are included (114), the 3rd motor two (115) and the 3rd motor three (116), the 3rd described turning joint (111) include a left side Semiarthrosis (111a) and right semiarthrosis (111b), left semiarthrosis (111a) have hinged ear one (117a) and in semiorbicular main body Portion one (117b), right semiarthrosis (111b) has hinged ear two (118a) and in semiorbicular main part two (118b), hinged ear One (117a) and hinged ear two (118a) are hinged by jointed shaft, make left semiarthrosis (111a) and right semiarthrosis (111b) It can produce relative rotation, the 3rd motor three (116) drives left semiarthrosis (111a) and right half by gear train (119) Joint (111b) is relatively rotated；

The main part one (117b) has offers engaging tooth one (117c) on the curved field of conjugate action one, the field of conjugate action one, main The side in body portion one (117b) offers curved guide groove one (117d), and one end of the 3rd connecting plate one (112) is consolidated Surely there is lead one (32), the end of lead one (32), which is rotated, is provided with directive wheel one (33), the 3rd connecting plate one (112) one end is further opened with the mounting hole of the connecting plate one (112) of insertion the 3rd, mounting hole being provided with rotary shaft one (34), One end of rotary shaft one (34) is fixed with the 3rd driving gear one (35), and the other end of rotary shaft one (34) is fixed with driven sprocket (36), the directive wheel one (33) is arranged in guide groove one (117d), the 3rd driving gear one (35) and engaging tooth one (117c) is engaged, and the body of the 3rd motor one (114) is fixed on the other end of the 3rd connecting plate one (112), the 3rd The output shaft of motor one (114) is fixed with drive sprocket (37), is arranged between drive sprocket (37) and driven sprocket (36) There is driving-chain；

The main part two (118b) has offers engaging tooth two (118c) on the curved field of conjugate action two, the field of conjugate action two, main The side in body portion two (118b) offers curved guide groove two (118d), and one end of the 3rd connecting plate two (113) is consolidated Surely there is lead two (38), the end of lead two (38), which is rotated, is provided with directive wheel two (39), the 3rd connecting plate two (113) one end is further opened with the mounting hole of the connecting plate two (113) of insertion the 3rd, mounting hole being provided with rotary shaft two (40), One end of rotary shaft two (40) is fixed with the 3rd driving gear two (41), and the other end of rotary shaft two (40) is fixed with driven pulley (42), the directive wheel two (39) is arranged in guide groove two (118d), the 3rd driving gear two (41) and engaging tooth two (118c) is engaged, and the body of the 3rd motor two (115) is fixed on the other end of the 3rd connecting plate two (113), the 3rd The output shaft of motor two (115) is fixed with driving pulley (43), is arranged between driving pulley (43) and driven pulley (42) There is transmission belt, the 3rd motor one (114), the 3rd motor two (115) and the 3rd motor three (116) lead to Circuit is crossed to be connected with described controller；

3rd connecting plate one (112) is connected by distance adjustor one with described second support arm (6), the 3rd connecting plate two (113) it is connected by distance adjustor two with the 3rd described support arm (7).

5. a kind of trainer for hemiparalysis tool according to claim 4, it is characterised in that described distance adjustor one includes Guide pillar one (44), guide pillar two (45), screw rod one (46) and guide block one (47), guide block one (47) and the end of second support arm (6) are consolidated Fixed, guide block one (47) offers guide hole one, guide hole two and screw one, and screw one is located between guide hole one and guide hole two, described to lead One end of post one (44) and guide pillar two (45) is fixed with the 3rd connecting plate one (112), and the 3rd connecting plate one (112) offers installation Power transmission shaft one, one end of power transmission shaft one and the spiral shell are provided with through hole, installation through-hole in the way of axial restraint is circumferentially rotated One end of bar one (46) is fixed, and the other end of power transmission shaft one is fixed with handwheel one (48), the guide pillar one (44) and guide pillar two (45) respectively in insertion guide hole one and guide hole two, screw rod one (46) is screwed in screw one by handwheel one (48)；

Described distance adjustor two includes guide pillar three (49), guide pillar four (50), screw rod two (51), guide block two (52) and sliding block (53), sliding block (53) offers guide hole three, guide hole four and screw two, and screw two is located between guide hole three and guide hole four, described to lead One end of post three (49) and guide pillar four (50) is fixed with the 3rd connecting plate two (113), and the other end is fixed with guide block two (52), guide block Two (52) offer in installation through-hole, installation through-hole and power transmission shaft two, power transmission shaft are provided with the way of axial restraint is circumferentially rotated Two one end and one end of the screw rod one (46) are fixed, and the other end of power transmission shaft two is fixed with handwheel two (54), the sliding block (53) guide hole three and guide hole four is respectively sleeved on guide pillar three (49) and guide pillar four (50), screw two and described screw rod two (51) screw, the sliding block (53) is fixedly connected by the 3rd connecting plate three (55) with the 3rd support arm (7).

6. a kind of trainer for hemiparalysis tool according to claim 1, it is characterised in that described finger portion drive module bag The cam set (57) being arranged on the 3rd support arm (7) and finger portion motor (56) are included, refers to portion's motor (56) by circuit It is connected with described controller, cam set (57) includes being disposed with cam one on camshaft (57a), camshaft (57a) (57b), cam two (57c), cam three (57d) and cam four (57e), camshaft (57a) are driven by transmission mechanism and finger portion The output shaft connection of motor (56), described forefinger extending arm (81) includes forefinger point arm one (811), forefinger point arm two (812) With forefinger point arm three (813), forefinger point arm one (811), forefinger point arm two (812) and forefinger point arm three (813) are hinged successively, institute The end for stating the 3rd support arm (7) is fixed with and is hinged pedestal one (58), and the end of forefinger point arm one (811), which is hinged on, is hinged pedestal one (58) on, the front of the forefinger point arm one (811), forefinger point arm two (812) and forefinger point arm three (813) offers and can held The forefinger standing groove (59) that forefinger of receiving is filled in, forefinger point arm one (811), forefinger point arm two (812) and forefinger divide arm three (813) The back side is respectively fixed with forefinger hinged seat one (60), forefinger hinged seat two (61) and forefinger hinged seat three (62), forefinger hinged seat One (60), forefinger hinged seat two (61) and forefinger hinged seat three (62) are connected with forefinger linkage, on the 3rd support arm (7) Be provided with guide pin bushing one (63), be provided with push rod one (64) sliding back and forth in guide pin bushing one (63), one end of push rod one (64) with The cam one (57b) is contradicted, and the other end of push rod one (64) is connected by connecting rod one (65) with forefinger linkage, described Back-moving spring one (66) is additionally provided with push rod one (64)；

Described middle finger extending arm (82) includes middle finger point arm one, middle finger point arm two and middle finger point arm three, middle finger point arm one, middle finger Arm two and middle finger point arm three is divided to be hinged successively, the end of the 3rd support arm (7), which is fixed with, is hinged pedestal two, middle finger point arm one End, which is hinged on, to be hinged on pedestal two, and the front of the middle finger point arm one, middle finger point arm two and middle finger point arm three is offered can The middle finger standing groove that middle finger is filled in is accommodated, during the back side of middle finger point arm one, middle finger point arm two and middle finger point arm three is respectively fixed with Refer to hinged seat one, middle finger hinged seat two and middle finger hinged seat three, middle finger hinged seat one, middle finger hinged seat two and middle finger hinged seat three It is connected with middle finger linkage, is provided with the 3rd support arm (7) in guide pin bushing two, guide pin bushing two and is provided with top sliding back and forth Bar two, one end of push rod two is contradicted with the cam two (57c), and the other end of push rod two passes through connecting rod two and middle finger connecting rod machine Structure is connected, and back-moving spring two is additionally provided with the push rod two；

Described nameless extending arm (83) includes nameless point of arm one, nameless point of arm two and nameless point of arm three, nameless Arm one, nameless point of arm two and a nameless point arm three is divided to be hinged successively, the end of the 3rd support arm (7), which is fixed with, is hinged pedestal Three, the end of the third finger point arm one, which is hinged on, to be hinged on pedestal three, the nameless point of arm one, nameless point of arm two and the third finger The nameless nameless standing groove filled in can be accommodated by dividing the front of arm three to offer, the third finger point arm one, the third finger point arm two Nameless hinged seat one, nameless hinged seat two and nameless hinged seat three are respectively fixed with the back side of nameless point of arm three, Nameless hinged seat one, nameless hinged seat two and nameless hinged seat three are connected with nameless linkage, described 3rd It is provided with arm (7) in guide pin bushing three, guide pin bushing three and is provided with push rod three sliding back and forth, one end of push rod three and the cam three (57d) is contradicted, and the other end of push rod three is connected by connecting rod three with nameless linkage, is additionally provided with the push rod three Back-moving spring three；

Described little finger of toe extending arm (84) includes little finger of toe point arm one, little finger of toe point arm two and little finger of toe point arm three, little finger of toe point arm one, little finger of toe Arm two and little finger of toe point arm three is divided to be hinged successively, the end of the 3rd support arm (7), which is fixed with, is hinged pedestal four, little finger of toe point arm one End, which is hinged on, to be hinged on pedestal four, and the front of the little finger of toe point arm one, little finger of toe point arm two and little finger of toe point arm three is offered can The little finger of toe standing groove that little finger of toe is filled in is accommodated, it is small that little finger of toe point arm one, little finger of toe point arm two and little finger of toe divide the back side of arm three to be respectively fixed with Refer to hinged seat one, little finger of toe hinged seat two and little finger of toe hinged seat three, little finger of toe hinged seat one, little finger of toe hinged seat two and little finger of toe hinged seat three It is connected with little finger of toe linkage, is provided with the 3rd support arm (7) in guide pin bushing four, guide pin bushing four and is provided with top sliding back and forth Bar four, one end of push rod four is contradicted with the cam four (57e), and the other end of push rod four passes through connecting rod four and little finger of toe connecting rod machine Structure is connected, and back-moving spring four is additionally provided with the push rod four.

7. a kind of trainer for hemiparalysis tool according to claim 6, it is characterised in that described forefinger linkage bag Forefinger connecting rod one (67), forefinger connecting rod two (68) and forefinger connecting rod three (69) are included, forefinger connecting rod one (67) is hinged on described food Refer on hinged seat one (60), forefinger connecting rod two (68) is hinged on described forefinger hinged seat two (61), forefinger connecting rod three (69) It is hinged on described forefinger hinged seat three (62), and forefinger connecting rod one (67) and forefinger connecting rod two (68) are hinged, and forefinger connects Bar three (69) and forefinger connecting rod two (68) are hinged, and one end and the forefinger connecting rod one (67) of the connecting rod one (65) are hinged, connection The other end of bar one (65) and one end of the push rod one (64) are hinged, and described back-moving spring one (66) is set in push rod one (64) on, it is arranged on push rod one (64) and is fixed with annular catch one (70), one end of back-moving spring one (66) and annular catch One (70) against the end of, the other end and guide pin bushing one (63) against；

Described middle finger linkage includes middle finger connecting rod one, middle finger connecting rod two and middle finger connecting rod three, and middle finger connecting rod one is hinged on On described middle finger hinged seat one, middle finger connecting rod two is hinged on described middle finger hinged seat two, and middle finger connecting rod three is hinged on institute On the middle finger hinged seat three stated, and middle finger connecting rod one and middle finger connecting rod two are hinged, and middle finger connecting rod three and middle finger connecting rod two are hinged, One end of the connecting rod two is hinged with middle finger connecting rod one, and one end of the other end of connecting rod two and the push rod two is hinged, institute The back-moving spring two stated is set on push rod two, is arranged on push rod two and is fixed with annular catch two, one end of back-moving spring two With annular catch two against the end of, the other end and guide pin bushing two against；

Described nameless linkage includes nameless connecting rod one, nameless connecting rod two and nameless connecting rod three, and the third finger is even Bar one is hinged on described nameless hinged seat one, and nameless connecting rod two is hinged on described nameless hinged seat two, nothing Name refers to connecting rod three and is hinged on described nameless hinged seat three, and nameless connecting rod one and nameless connecting rod two are hinged, nothing Name refers to connecting rod three and nameless connecting rod two is hinged, and one end of the connecting rod three is hinged with nameless connecting rod one, connecting rod three One end of the other end and the push rod three is hinged, and described back-moving spring three is set on push rod three, is arranged on push rod three and solid Surely have an annular catch three, one end of back-moving spring three and annular catch three against the end of, the other end and guide pin bushing three against；

Described little finger of toe linkage includes little finger of toe connecting rod one, little finger of toe connecting rod two and little finger of toe connecting rod three, and little finger of toe connecting rod one is hinged on On described little finger of toe hinged seat one, little finger of toe connecting rod two is hinged on described little finger of toe hinged seat two, and little finger of toe connecting rod three is hinged on institute On the little finger of toe hinged seat three stated, and little finger of toe connecting rod one and little finger of toe connecting rod two are hinged, and little finger of toe connecting rod three and little finger of toe connecting rod two are hinged, One end of the connecting rod four is hinged with little finger of toe connecting rod one, and one end of the other end of connecting rod four and the push rod four is hinged, institute The back-moving spring four stated is set on push rod four, is arranged on push rod four and is fixed with annular catch four, one end of back-moving spring four With annular catch four against the end of, the other end and guide pin bushing four against.

8. a kind of trainer for hemiparalysis tool according to claim 1, it is characterised in that set on the 3rd support arm (7) Be equipped with the fixing device for hand being fixed on the 3rd support arm (7), described fixing device includes fixed pedestal one (71) With fixed pedestal two (72), fixed pedestal one (71) and fixed pedestal two (72) are separately fixed at the both sides of the 3rd support arm (7), Gu Determine to offer on pedestal one (71) and fixing hole two (72a), fixing hole are offered on fixing hole one (71a), fixed pedestal two (72) There is bandage one (73) in one (71a) system, and there is bandage two (74) in fixing hole two (72a) system.

9. a kind of trainer for hemiparalysis tool according to claim 1, it is characterised in that described leg arm link mechanism (30) leg arm link one (75a), leg arm link two (75b) and leg arm link three (75c), the one of leg arm link one (75a) are included End is hinged with the toggle-action lever (28), and the other end is hinged with the first leg arm (21), and institute is hinged in the middle part of leg arm link three (75c) The end of the second leg arm (22) is stated, the pedal (23) and the end of leg arm link three (75c) are fixed, leg arm link two The one end of (75b) is hinged on the first described leg arm (21), the other end and the leg arm link three of leg arm link two (75b) The end of (75c) is hinged.

10. a kind of trainer for hemiparalysis tool according to claim 1, it is characterised in that described detent mechanism includes Positioning motor (76a), positioning screw (76b) and positioning guide pin bushing (76c), the lower vertical rod (3) vertically offer positioning and guiding groove (76d), upper pright stanchion (2) is fixed with positioning guide column (76e), and positioning guide column (76e) is located in positioning and guiding groove (76d), The body of positioning motor (76a) is fixed in lower vertical rod (3), and the output shaft and positioning screw (76b) of positioning motor (76a) are fixed Connect, the positioning guide pin bushing (76c) screws in positioning screw (76b), positioning guide pin bushing (76c) is simultaneously stood by a link (77) with upper Bar (2) is fixed.