CN107233189A - A kind of combined type device for healing and training - Google Patents
A kind of combined type device for healing and training Download PDFInfo
- Publication number
- CN107233189A CN107233189A CN201710339610.8A CN201710339610A CN107233189A CN 107233189 A CN107233189 A CN 107233189A CN 201710339610 A CN201710339610 A CN 201710339610A CN 107233189 A CN107233189 A CN 107233189A
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- screw mandrel
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower 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
- A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
-
- 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
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/004—With mechanical drive, e.g. spring mechanism or vibrating unit being hit for starting vibration and then applied to the body of a patient
-
- 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
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/006—Percussion or tapping massage
-
- 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
- A61H23/00—Percussion or vibration massage, e.g. using supersonic vibration; Suction-vibration massage; Massage with moving diaphragms
- A61H23/06—Hand percussion, i.e. Hand driven
-
- 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
-
- 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
- A61H2201/1253—Driving means driven by a human being, e.g. hand driven
- A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
- A61H2201/1269—Passive exercise driven by movement of healthy limbs
Abstract
The invention discloses a kind of combined type device for healing and training, including seat frame, exercising apparatus for recovery of upper limb, lower limb rehabilitation training device, back pat massage machine etc..Wherein, the exercising apparatus for recovery of upper limb above seat frame is used to carry out rehabilitation training to human arm, and lower limb rehabilitation training device can realize the rehabilitation training being passively or actively to human leg；Back pats massage machine and is arranged on seat frame rear, and provided with governor motion, can be achieved to carry out beating massage to the different parts of human body back.The present invention can be achieved to the rehabilitation training demands of the different parts such as human arm, leg, foot and back, with reliable operation, structure design is simple compact and simple to operate the characteristics of, the requirement that patient is trained in the different rehabilitation stages can be met.
Description
Technical field
The invention belongs to medical rehabilitation instrument field, and in particular to a kind of combined type device for healing and training.
Background technology
At present, China just steps into aging society, and the cerebrovascular, the nervous system disease are multiple in older population, many
Number has the symptom of hemiplegia.Meanwhile, because of contingency and caused by neurotrosis or limb injury number it is also more and more, seriously
It has impact on the daily life of patient.This kind of patient is in addition to early operation, drug therapy, and the science rehabilitation training in later stage is to limbs
The improvement of motor function plays very important effect.Traditional rehabilitation training depends on the one-to-one hand operation of therapist,
Not only lose time, and inefficiency.And existing device for healing and training is complicated, operate single, do not reach desired
Rehabilitation efficacy, therefore, a kind of letter combined type device for healing and training to be studied.The present apparatus has structure design simple compact and behaviour
The features such as making to facilitate, can meet the requirement that patient is trained in the different rehabilitation stages.
The content of the invention
The purpose of the present invention is to overcome drawbacks described above, considers clinical rehabilitation therapy theory and robot field's technology,
A kind of combined type device for healing and training is designed, to help different patients to complete rehabilitation training.
The technical problems to be solved by the invention are realized using following technical scheme.
A kind of combined type device for healing and training include seat frame, lower limb rehabilitation training device, back pat massage machine, on
Limbs rehabilitation training device, described seat frame includes seat, handrail, and described handrail has two, and it is bolted present
The both sides of chair；Described lower limb rehabilitation training device includes passive exercise device and active training device, described passive exercise
Device is located at the lower section of seat, and described active training device is installed on the seat；
Described passive exercise device includes passive exercise drive device one, the first follower link, pedal, passive exercise
Drive device two, described passive matrix device one is arranged on the first platform of two grades of paralells, and it includes the first driving tooth
Wheel, the first driven gear shaft, the first driven gear, the first driven rack, primary transmission connecting rod, motor I and II kinematic link,
The first described driving gear is connected to by key on the output shaft of motor one, and the two ends of the first described driven gear shaft pass through
Bearing is connected on the bearing block of two grades of paralells, and the first described driven gear is connected to the first driven gear shaft by key,
And keep engaging with the first driving gear and the first driven rack simultaneously, the first described driven rack is arranged on two grades of paralells
T-shaped guide groove on, formed prismatic pair, one end of described primary transmission connecting rod is connected through the hinge in the first driven rack
One end, its other end is connected through the hinge with secondary transmission connecting rod, and one end of described secondary transmission connecting rod is connected by hinge
Connect on the footrests, the other end is connected through the hinge on the first platform of two grades of paralells；The first described follower link has
Two, positioned at the both sides of pedal, its one end is connected through the hinge on the footrests, and the other end is connected through the hinge flat at two grades
On first platform of stand；Described passive exercise drive device two is arranged on the second platform of two grades of paralells, and it includes
Second follower link, the first screw, the first dextrorotation screw mandrel, the second driven gear, the second driving gear, motor two, second are left-handed
Screw mandrel, the second screw, the second described follower link have two, and one end of one of them the second follower link is connected by ball pair
On the footrests, one end is connected on the first screw by ball pair, and one end of another the second follower link is connected by ball pair
On the footrests, one end is connected to the second screw by ball pair, and the first described screw is arranged on the first dextrorotation screw mandrel, described
One end of the first dextrorotation screw mandrel be arranged on by bearing block on the second platform of two grades of paralells, the other end and the second left-handed silk
Bar is fixed together, and the second described driven gear is connected on the second left-handed screw mandrel by key, and is protected with the second driving gear
Engagement is held, the second described driving gear is connected to by key on the output shaft of motor two, and described motor two is connected by bolt
On the second platform for being connected on two grades of paralells, the other end of the second described left-handed screw mandrel is arranged on two grades of platforms by bearing block
On second platform of frame, the second described screw is arranged on the second left-handed screw mandrel；
Described active training device includes two grades of paralells, Z-type connecting plate one, screw body, two grades of rail groove mechanisms, masters
Dynamic training transmission device, active handwheel, one-stage gear axle, secondary gear wheel shaft, two grades of described paralells include the first platform, axle
Bearing, T-shaped guide groove, the second platform, roller, the first described platform are fixed together by welding with the second platform, described
Bearing block has two, and it is connected by screw on the first platform, and described T-shaped guide groove is connected by screw in the first platform
On, described roller has two, and it is arranged on the lower section of the second platform；Described Z-type connecting plate one has two, and its upper surface leads to
Cross and be bolted on the first driven screw of screw body, lower surface is bolted the first platform in two grades of paralells
On；Described screw body includes the first driven screw, the first driven screw mandrel, described the first driven screw be arranged on first from
On dynamic screw mandrel, the two ends of the first described driven screw mandrel are installed on the seat by bearing block；Two grades of described rail groove mechanism bags
Two grades of guide grooves, one-level guide groove are included, two grades of described guide grooves and one-level guide groove are connected by screw on the seat；Described active instruction
Practicing transmission device has two, and it includes secondary gear bar, transmission guide rod, one-level rack, secondary gear, one-stage gear, tertiary gear,
Described secondary gear bar is arranged on two grades of guide grooves, formed prismatic pair, and secondary gear bar keeps engaging with tertiary gear, institute
The one end for the transmission guide rod stated is threadedly attached on one-level rack, and the other end is threadedly attached on secondary gear bar, institute
The one-level rack stated is arranged on one-level guide groove, and formed prismatic pair, described secondary gear is connected to secondary gear by key
On wheel shaft, secondary gear keeps engaging with one-stage gear and one-level rack simultaneously, and described one-stage gear is connected to one by key
On level gear shaft, described tertiary gear is connected on the first driven screw mandrel of screw body by key；Described active handwheel
It is threadedly attached on one-stage gear axle；Described one-stage gear axle and secondary gear wheel shaft is arranged on seat by bearing block
On；
Pat the rear that massage machine is located at seat frame in described back；Described exercising apparatus for recovery of upper limb is located at seat
The top of frame.
Massage machine is patted at described back includes governor motion, beater mechanism, mobile platform, Rack Body, described tune
Saving mechanism includes driving belt pulley shaft, driving pulley, handle, the second driven screw mandrel, the second driven screw, circular guideway, driven belt
Wheel, circular guide, belt, described driving belt pulley shaft are arranged on the lower section of seat by bearing block, and described driving pulley leads to
Cross key to be connected on driving belt pulley shaft, it is connected with driven pulley by belt, described handle is threadedly attached in actively
On belt wheel, the second described driven screw mandrel is connected on the support two of Rack Body by bearing, the second described driven screw peace
On the second driven screw mandrel, the second driven screw is bolted with mobile platform, and described circular guideway has two, its
On circular guide, with circular guide formation prismatic pair, the upper end of circular guideway is connected by screw on a mobile platform,
Described driven pulley is connected to one end of the second driven screw mandrel by key, and described circular guide is connected by screw in frame
On the square frame of body；Described beater mechanism has two, and it includes drawstring, U-shaped bull stick, rope-winding shaft, beating head, the second transmission
Connecting rod, the first kinematic link, V-type connecting rod, spring, one end of described drawstring are wound on rope-winding shaft, and the other end passes through spring system
In one end of V-type connecting rod, described U-shaped bull stick is connected through the hinge on the handrail of seat frame, the two ends of described rope-winding shaft
It is connected to by bearing on U-shaped bull stick, described beating head is threadedly attached on the second kinematic link, the second described biography
Dynamic connecting rod is connected through the hinge on a mobile platform, and one end of the first described kinematic link is connected through the hinge in the second transmission
On connecting rod, one end of the other end and V-type connecting rod is connected through the hinge, and described V-type connecting rod is connected through the hinge in mobile platform
On, described spring is connected by screw on a mobile platform, and the upper end of spring is connected in one end of V-type connecting rod；Described machine
Support body includes N-type frame, support one, square frame, support two, and described N-type frame, support one and support two is bolted
On square frame.
Described exercising apparatus for recovery of upper limb includes forearm drive device, arm bracket, arms swing drive device, large arm
Drive device, rotatable platform, arm rotating driving device, regulation paralell, vertical rotating shaft, described forearm drive device have two
Individual, it includes the 3rd driving gear, the 3rd driven gear, connecting rod one, connecting rod two, connecting rod three, connecting rod four, the 3rd driven gear
Axle, motor three, the 3rd described driving gear are connected to by key on the output shaft of motor three, and it keeps with the 3rd driven gear
Engagement, the 3rd described driven gear is connected on the 3rd driven gear shaft by key, and one end of described connecting rod one passes through spiral shell
Line is connected on the 3rd driven gear shaft, and the other end is connected through the hinge with connecting rod two, the other end of described connecting rod two and company
Bar three and connecting rod four are connected through the hinge, and form compound hinges, described connecting rod three is by being hingedly connected at the big of arm bracket
On fupport arm disk, described connecting rod four is by being hingedly connected on the forearm pallet of arm bracket, the 3rd described driven gear shaft
On the L-type contiguous block that shoulder joint connector is arranged on by bearing block, described motor three is connected by being bolted to shoulder joint
On the L-type contiguous block of fitting；Described arm bracket has two, and it includes the 3rd follower link, the 4th follower link, small fupport arm
Disk, large arm pallet, connected plate, one end of the 3rd described follower link are connected through the hinge with the 4th follower link, the other end
It is connected through the hinge on large arm pallet, the other end of the 4th described follower link is connected through the hinge on forearm pallet,
Described forearm pallet is connected through the hinge on large arm pallet, and described large arm pallet, which is bolted, to be connected on plate,
Described connected plate is bolted on the Z-type connecting plate two of arms swing drive device；Described arms swing driving
Device has two, and it includes the 4th driven gear, the 4th driven gear shaft, the 4th driving gear, motor four, shoulder joint connection
Part, Z-type connecting plate two, the 4th described driven gear are connected on the 4th driven gear shaft by key, and with the 4th driving tooth
Wheel keeps engagement, and the 4th described driven gear shaft is arranged on by bearing block on the L-type contiguous block of shoulder joint connector, described
The 4th driving gear be connected to by key on the output shaft of motor four, described motor four is connected by being bolted to shoulder joint
On the L-type contiguous block of fitting, described shoulder joint connector includes horizontal guide, vertical guide rod and L-type contiguous block, described water
Flat guide rod through threaded is connected to one end of vertical guide rod, and described vertical guide rod is connected by screw one end of L-type contiguous block
On face, one end of described Z-type connecting plate two is threadedly attached on the 4th driven gear shaft；Described large arm drive device
There are two, it includes motor five, the 5th driving gear, the 5th driven gear, the 3rd driven screw mandrel, the 3rd driven screw, the 5th
Follower link, drive shaft, described motor five are bolted on rotatable platform, and the 5th described driving gear passes through
Key is connected on the output shaft of motor five, and is engaged with the holding of the 5th driven gear, and the 5th described driven gear is connected by key
It is connected on one end of the 3rd driven screw mandrel, the 3rd described driven screw mandrel is arranged on rotatable platform by bearing block, described the
Three driven screws are arranged on the 3rd driven screw mandrel, and one end of the 5th described follower link is connected through the hinge driven the 3rd
On screw, the other end is connected through the hinge in the horizontal guide of shoulder joint connector, and one end of described drive shaft passes through
Bearing block is arranged on rotatable platform, and the other end is threadedly attached on the L-type contiguous block of shoulder joint connector；Described hand
Arm rotating driving device include motor six, the 6th driving gear, the 6th driven gear, the 4th driven screw mandrel, the 4th driven screw,
Be connected axle, the 6th driven rack, the 7th driven gear, the 7th driven gear shaft, and described motor six, which is bolted, to be adjusted
Save paralell T-shaped platform on, the 6th described driving gear is connected to by key on the output shaft of motor six, and with the 6th from
Moving gear keeps engagement, and the 6th described driven gear is connected to one end of the 4th driven screw mandrel by key, the described 4th from
Dynamic screw mandrel is arranged on by bearing block on the T-shaped platform of regulation paralell, and it is driven that the 4th described driven screw is arranged on the 4th
On screw mandrel, one end of described connected axle is threadedly attached on the 4th driven screw, and the other end is threadedly attached in
On six driven racks, the 7th described driven gear has two, and it is connected on the 7th driven gear shaft by key, and described
Seven driven gear shafts are threadedly attached on rotatable platform；Described regulation paralell includes T-shaped platform, vertical guide groove, erected
Straight guide, the 5th driven screw mandrel, the 5th driven screw, position fixing knob, described T-shaped platform are bolted driven the 5th
On screw, described vertical guide groove has two, and it is connected by screw on the N-type frame of Rack Body, described upright guide rail peace
On vertical guide groove, formed prismatic pair, upright guide rail is connected by screw on T-shaped platform, and described the 5th is driven
Screw mandrel is connected on the support one of Rack Body by bearing, and the 5th described driven screw is arranged on the 5th driven screw mandrel, the
Five driven screws are bolted with T-shaped platform, and described position fixing knob is threadedly attached in the one of the 5th driven screw mandrel
End；Described vertical rotating shaft has two, and its one end is connected on rotatable platform by bearing, and the other end, which is bolted, to be adjusted
On the T-shaped platform for saving paralell.
In use, when patient needs to carry out passive rehabilitation training to leg, patient is sat on the seat, and both feet are placed on
On pedal；Start motor one, the first driving gear on the output shaft of motor one, which drives, is arranged on the first driven gear
The first driven gear on axle is rotated so that the first driven rack motion on T-shaped guide groove, by primary transmission connecting rod
Transmission, secondary transmission connecting rod and the motion of the first follower link are driven, and then make motion of foot, so that patient legs transport
It is dynamic；The rotating of controlled motor one can make pedal do reciprocating translatory, so that the leg of patient, which is done, stretches rehabilitation training in the wrong.When
Make foot-operated sheet reset, close motor for the moment, start motor two, the second driving gear on the output shaft of motor two drives peace
The second driven gear motion on the second left-handed screw mandrel so that the first screw and the motion of the second screw, and then drive second
Follower link is moved, so that pedal is around the first follower link and secondary transmission link rotatable, and final patient feet will be with
Rotation；The rotating of controlled motor two can cause pedal to do reciprocating rotation, the rehabilitation so that ankle of patient rotates
Training.
When patient needs to carry out initiative rehabilitation training to leg, patient is sat on the seat, and both feet are placed on into pedal
On；Patient's both hands hold the active handwheel of seat both sides, and rotate active handwheel so that the one-level on one-stage gear axle
Gear drives the secondary gear being arranged on secondary gear wheel shaft to rotate, and will be transported by one-level rack, transmission guide rod and secondary gear bar
Dynamic to pass to tertiary gear, the driven screw mandrel of driving first is rotated so that the first driven screw movement, and then makes to put down installed in two grades
Motion of foot on stand, so that patient legs move；The rotating of active handwheel is controlled, patient legs can be done
Stretch rehabilitation training in the wrong.
When patient needs to do back beating massage, patient sits on the seat；The position for needing to pat is determined first, then is turned
Dynamic rope-winding shaft, makes drawstring be in relaxed state, then holds handle, rotates driving pulley, rotates driven pulley, and then drives
The second driven screw motion on the second driven screw mandrel, so that mobile platform is moved, with the motion of mobile platform
So that beater mechanism reaches the position for needing to pat；Rope-winding shaft is finally rotated further by, makes drawstring just at straight condition, completes to clap
The adjustment beaten before massage；Patient's both hands are held rope-winding shaft and are lifted up so that the U-shaped bar rotation on handrail, and V-type connects
Bar drives the motion of the first kinematic link under the pulling of drawstring, and the second kinematic link motion for patting head is provided with so as to drive,
So that patting head pats massage position；Both hands put back to U-shaped bull stick, and spring causes V-type connecting rod to be moved back, so that patting head
Reset, complete once to pat massage；Rotating U-shaped bull stick repeatedly can make patient carry out back beating massage.
When patient needs to do rehabilitation training to arm, the position of exercising apparatus for recovery of upper limb is adjusted first, to adapt to suffer from
The height of person；Position fixing knob is held, the 5th driven screw mandrel is rotated, and then drives regulation paralell movement, by adjusting up and down
It is adjusted in place exercising apparatus for recovery of upper limb；Then, patient is sat on the seat, and arm is placed on arm bracket；Start motor
Three, the 3rd driving gear on the output shaft of motor three drives the 3rd driven gear being arranged on the 3rd driven gear shaft
Rotate, connecting rod three and connecting rod four passed motion to by connecting rod one and connecting rod two, drive forearm pallet to be rotated around large arm pallet,
So that patient's arm movements；The rotating of controlled motor three can make patient's forearm do flexion movement.When starting motor five,
The 5th driving gear on the output shaft of motor five drives the 5th driven gear being arranged on the 3rd driven screw mandrel to rotate,
So that the 3rd driven screw movement, under the pulling of the 5th follower link, makes shoulder joint connector and arm bracket turn around driving
Axle is rotated, so that patient's large arm is moved；The rotating of controlled motor five can make patient's large arm do flexion movement.It is electric when starting
During machine four, the 4th driving gear on the output shaft of motor four drives the 4th be arranged on the 4th driven gear shaft driven
Pinion rotation so that Z-type connecting plate two is rotated, and then arm bracket is rotated, so that patient's arm motion；Controlled motor
Four rotating can make it that patient's arm swings rehabilitation training.When forearm drive device and large arm drive device make trouble
When person's arm motion is to parallel to ground, start motor six, the 6th driving gear on the output shaft of motor six drives peace
The 6th driven gear on the 4th driven screw mandrel is rotated so that the connected axle movement on the 4th driven screw, warp
Cross the 6th driven rack and pass motion to the 7th driven gear, make rotatable platform around vertical axis of rotation, so that patient's hand
Arm is moved；The rotating of controlled motor six can make patient's arm do swing rehabilitation training around body.
Beneficial effects of the present invention：The present invention can overcome the technological deficiency of existing device for healing and training, can be achieved to human body
The rehabilitation training demand of the different parts such as arm, leg, foot and back, meets the requirement of the comprehensive reconditioning of patient；This
Invention has the advantages that the convenient and vdiverse in function words of reliable operation, Operation and Maintenance, can effectively lift extremity motor function damage
The rehabilitation efficacy of patient, suits large area to popularize.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the passive exercise apparatus structure schematic diagram of the present invention；
Fig. 3 is the active training device structural representation of the present invention；
Pat massage machine structural representation in the back that Fig. 4 is the present invention；
Fig. 5 is the exercising apparatus for recovery of upper limb structural representation of the present invention；
The arm rotating driving device structural representation of present invention during Fig. 6.
Embodiment
In order that technological means, creation characteristic, reached purpose and effect that the present invention is realized are easy to understand, below
In conjunction with specific embodiments and diagram, the present invention is expanded on further.
As shown in figure 1, a kind of combined type device for healing and training includes seat frame 1, lower limb rehabilitation training device 2, back bat
Massage machine 3, exercising apparatus for recovery of upper limb 4 are beaten, described seat frame 1 includes seat 11, handrail 12, and described handrail 12 has two
Individual, it is bolted in the both sides of seat 11；Described lower limb rehabilitation training device 2 includes passive exercise device 21 and main
Dynamic trainer 22, described passive exercise device 21 is located at the lower section of seat 11, and described active training device 22 is arranged on
On seat 11；
As depicted in figs. 1 and 2, described passive exercise device 21 is driven including passive exercise drive device one 211, first
Connecting rod 212, pedal 213, passive exercise drive device 2 214, described passive matrix device 1 are arranged on two grades of platforms
On first platform 2211 of frame 221, it includes the first driving gear 2111, the first driven gear shaft 2112, the first driven gear
2113rd, the first driven rack 2114, primary transmission connecting rod 2115, motor 1, secondary transmission connecting rod 2117, described first
Driving gear 2111 is connected to by key on the output shaft of motor 1, and the two ends of the first described driven gear shaft 2112 lead to
Cross bearing to be connected on the bearing block 2212 of two grades of paralells 221, the first described driven gear 2113 is connected to by key
One driven gear shaft 2112, and keep engaging with the first driving gear 2111 and the first driven rack 2114 simultaneously, described the
One driven rack 2114 is arranged on the T-shaped guide groove 2213 of two grades of paralells 221, formed prismatic pair, and described one-level is passed
One end of dynamic connecting rod 2115 is connected through the hinge in one end of the first driven rack 2114, its other end and secondary transmission connecting rod
2117 are connected through the hinge, and one end of described secondary transmission connecting rod 2117 is connected through the hinge on pedal 213, the other end
It is connected through the hinge on the first platform 2211 of two grades of paralells 221；The first described follower link 212 has two, is located at
The both sides of pedal 213, its one end is connected through the hinge on pedal 213, and the other end is connected through the hinge in two grades of platforms
On first platform 2211 of frame 221；It is second flat that described passive exercise drive device 2 214 is arranged on two grades of paralells 221
On platform 2214, it includes the second follower link 2141, the first screw 2142, the first dextrorotation screw mandrel 2143, the second driven gear
2144th, the second driving gear 2145, motor 2 2146, the second left-handed screw mandrel 2147, the second screw 2148, described second are driven
Connecting rod 2141 has two, and one end of one of them the second follower link 2141 is connected on pedal 213 by ball pair, and one end leads to
Cross ball pair to be connected on the first screw 2142, one end of another the second follower link 2141 is connected to pedal by ball pair
On 213, one end is connected to the second screw 2148 by ball pair, and the first described screw 2142 is arranged on the first dextrorotation screw mandrel 2143
On, one end of the first described dextrorotation screw mandrel 2143 is arranged on by bearing block on the second platform 2214 of two grades of paralells 221,
The other end is fixed together with the second left-handed screw mandrel 2147, and it is left-handed that described the second driven gear 2144 is connected to second by key
On screw mandrel 2147, and engaged with the holding of the second driving gear 2145, the second described driving gear 2145 is connected to electricity by key
On the output shaft of machine 2 2146, described motor 2 2146 is bolted the second platform 2214 in two grades of paralells 221
On, the other end of the second described left-handed screw mandrel 2147 is arranged on the second platform 2214 of two grades of paralells 221 by bearing block
On, the second described screw 2148 is arranged on the second left-handed screw mandrel 2147；
As shown in figures 1 and 3, described active training device 22 include two grades of paralells 221, Z-type connecting plate 1,
Screw body 223, two grades of rail groove mechanisms 224, active training transmission device 225, active handwheel 226, one-stage gear axles 227, two
Level gear shaft 228, it is flat that two grades of described paralells 221 include the first platform 2211, bearing block 2212, T-shaped guide groove 2213, second
Platform 2214, roller 2215, the first described platform 2211 are fixed together by welding with the second platform 2214, described bearing
Seat 2212 has two, and it is connected by screw on the first platform 2211, and described T-shaped guide groove 2213 is connected by screw the
On one platform 2211, described roller 2215 has two, and it is arranged on the lower section of the second platform 2214；Described Z-type connecting plate
One 222 have two, and its upper surface is bolted on the first driven screw 2231 of screw body 223, and lower surface passes through
On the first platform 2211 for being bolted to two grades of paralells 221；Described screw body 223 includes the first driven screw
2231st, the first driven screw mandrel 2232, described the first driven screw 2231 is arranged on the first driven screw mandrel 2232, and described the
The two ends of one driven screw mandrel 2232 are arranged on seat 11 by bearing block；Two grades of described rail groove mechanisms 224 are led including two grades
Groove 2241, one-level guide groove 2242, two grades of described guide grooves 2241 and one-level guide groove 2242 are connected by screw on seat 11；Institute
The active training transmission device 225 stated has two, and it includes secondary gear bar 2251, transmission guide rod 2252, one-level rack 2253, two
Level gear 2254, one-stage gear 2255, tertiary gear 2256, described secondary gear bar 2251 are arranged on two grades of guide grooves 2241,
Formed prismatic pair, and secondary gear bar 2251 and tertiary gear 2256 keep engaging, one end of described transmission guide rod 2252
It is threadedly attached on one-level rack 2253, the other end is threadedly attached on secondary gear bar 2251, described one-level tooth
Bar 2253 is arranged on one-level guide groove 2242, and formed prismatic pair, described secondary gear 2254 is connected to two grades by key
On gear shaft 228, secondary gear 2254 keeps engaging with one-stage gear 2255 and one-level rack 2253 simultaneously, described one-level tooth
Wheel 2255 is connected on one-stage gear axle 227 by key, and described tertiary gear 2256 is connected to screw body 223 by key
On first driven screw mandrel 2232；Described active handwheel 226 is threadedly attached on one-stage gear axle 227；Described one-level
Gear shaft 227 and secondary gear wheel shaft 228 are arranged on seat 11 by bearing block；
As shown in figure 1, the rear that massage machine 3 is located at seat frame 1 is patted at described back；Described rehabilitation training of upper limbs
Device 4 is located at the top of seat frame 1.
As shown in Figure 1 and Figure 4, massage machine 3 is patted at described back includes governor motion 31, beater mechanism 32, movement
Platform 33, Rack Body 34, described governor motion 31 include driving belt pulley shaft 311, driving pulley 312, handle 313, second from
Dynamic screw mandrel 314, the second driven screw 315, circular guideway 316, driven pulley 317, circular guide 318, belt 319, it is described
Driving belt pulley shaft 311 is arranged on the lower section of seat 11 by bearing block, and described driving pulley 312 is connected to main belt by key
On wheel shaft 311, it is connected with driven pulley 317 by belt 319, and described handle 313 is threadedly attached in driving pulley
On 312, the second described driven screw mandrel 314 is connected on the support 2 344 of Rack Body 34 by bearing, and described second is driven
Screw 315 is arranged on the second driven screw mandrel 314, and the second driven screw 315 is bolted with mobile platform 33, described
Circular guideway 316 has two, and it is arranged on circular guide 318, and prismatic pair is formed with circular guide 318, circular guideway 316
Upper end is connected by screw on mobile platform 33, and described driven pulley 317 is connected to the second driven screw mandrel 314 by key
One end, described circular guide is connected by screw on the square frame 343 of Rack Body 34；Described beater mechanism 32 has two
Individual, it includes drawstring 321, U-shaped bull stick 322, rope-winding shaft 323, first 324, second kinematic link 325 of beating, the first kinematic link
326th, V-type connecting rod 327, spring 328, one end of described drawstring 321 are wound on rope-winding shaft 323, and the other end is through spring 328
In one end of V-type connecting rod 327, described U-shaped bull stick 322 is connected through the hinge on the handrail 12 of seat frame 1, described serving
The two ends of axle 323 are connected on U-shaped bull stick 322 by bearing, and described beating first 324 is threadedly attached in the second transmission company
On bar 325, the second described kinematic link 325 is connected through the hinge on mobile platform 33, the first described kinematic link 326
One end be connected through the hinge on the second kinematic link 325, one end of the other end and V-type connecting rod 327 is connected through the hinge, institute
The V-type connecting rod 327 stated is connected through the hinge on mobile platform 33, and described spring 328 is connected by screw in mobile platform
On 33, the upper end of spring 328 is connected in one end of V-type connecting rod 327；Described Rack Body 34 includes N-type frame 341, support one
342nd, square frame 343, support 2 344, described N-type frame 341, support 1 and support 2 344 are bolted
On square frame 343.
As shown in Fig. 1, Fig. 4, Fig. 5 and Fig. 6, described exercising apparatus for recovery of upper limb 4 includes forearm drive device 41, arm
Bracket 42, arms swing drive device 43, large arm drive device 44, rotatable platform 45, arm rotating driving device 46, regulation are flat
Stand 47, vertical rotating shaft 48, described forearm drive device 41 have two, and it includes the 3rd driving gear 411, the 3rd driven tooth
Wheel 412, connecting rod 1, connecting rod 2 414, connecting rod 3 415, connecting rod 4 416, the 3rd driven gear shaft 417, motor 3 418, institute
The 3rd driving gear 411 stated is connected to by key on the output shaft of motor 3 418, and it keeps nibbling with the 3rd driven gear 412
Close, the 3rd described driven gear 412 is connected on the 3rd driven gear shaft 417 by key, one end of described connecting rod 1
It is threadedly attached on the 3rd driven gear shaft 417, the other end is connected through the hinge with connecting rod 2 414, described connecting rod two
414 other end is connected through the hinge with connecting rod 3 415 and connecting rod 4 416, forms compound hinges, and described connecting rod 3 415 leads to
Cross and be hingedly connected on the large arm pallet 424 of arm bracket 42, described connecting rod 4 416 is connected through the hinge in arm bracket 42
Forearm pallet 423 on, the L-type that described the 3rd driven gear shaft 417 is arranged on shoulder joint connector 435 by bearing block connects
Connect on block 4353, described motor 3 418 is bolted on the L-type contiguous block 4353 of shoulder joint connector 435；It is described
Arm bracket 42 have two, it includes the 3rd follower link 421, the 4th follower link 422, forearm pallet 423, large arm pallet
424th, be connected plate 425, and one end of the 3rd described follower link 421 is connected through the hinge with the 4th follower link 422, the other end
It is connected through the hinge on large arm pallet 424, the other end of the 4th described follower link 422 is connected through the hinge in small fupport arm
On disk 423, described forearm pallet 423 is connected through the hinge on large arm pallet 424, and described large arm pallet 424 passes through spiral shell
Tether and be connected on connected plate 425, described connected plate 425 is bolted the Z-type connection in arms swing drive device 43
On plate 2 436；Described arms swing drive device 43 has two, and it includes the 4th driven gear 431, the 4th driven gear shaft
432nd, the 4th driving gear 433, motor 4 434, shoulder joint connector 435, Z-type connecting plate 2 436, the 4th described driven tooth
Wheel 431 is connected on the 4th driven gear shaft 432 by key, and keeps with the 4th driving gear 433 engaging, the described 4th from
Movable gear shaft 432 is arranged on by bearing block on the L-type contiguous block 4353 of shoulder joint connector 435, the 4th described driving tooth
Wheel 433 is connected to by key on the output shaft of motor 4 434, and described motor 4 434 is bolted in shoulder joint connection
On the L-type contiguous block 4353 of part 435, described shoulder joint connector 435 includes horizontal guide 4351, vertical guide rod 4352 and L
Type contiguous block 4353, described horizontal guide 4351 is threadedly attached in one end of vertical guide rod 4352, and described leads vertically
Bar 4352 is connected by screw on the end face of L-type contiguous block 4353, and one end of described Z-type connecting plate 2 436 passes through screw thread
It is connected on the 4th driven gear shaft 432；Described large arm drive device 44 has two, and it includes motor the 5 441, the 5th actively
Gear 442, the 5th driven gear 443, the 3rd driven screw mandrel 444, the 3rd driven screw 445, the 5th follower link 446, driving
Rotating shaft 447, described motor 5 441 is bolted on rotatable platform 45, and the 5th described driving gear 442 passes through key
On the output shaft for being connected to motor 5 441, and engaged with the holding of the 5th driven gear 443, the 5th described driven gear 443 leads to
One end that key is connected to the 3rd driven screw mandrel 444 is crossed, the 3rd described driven screw mandrel 444 is arranged on rotatable platform by bearing block
On 45, described the 3rd driven screw 445 is arranged on the 3rd driven screw mandrel 444, one end of described the 5th follower link 446
It is connected through the hinge on the 3rd driven screw 445, the other end is connected through the hinge in the horizontal guide of shoulder joint connector 435
On 4351, one end of described drive shaft 447 is arranged on rotatable platform 45 by bearing block, and the other end is connected through a screw thread
On the L-type contiguous block 4353 of shoulder joint connector 435；Described arm rotating driving device 46 includes motor the 6 461, the 6th
Driving gear 462, the 6th driven gear 463, the 4th driven screw mandrel 464, the 4th driven screw 465, be connected axle the 466, the 6th from
Carry-over bar 467, the 7th driven gear 468, the 7th driven gear shaft 469, described motor 6 461 are bolted in regulation
On the T-shaped platform 471 of paralell 47, the 6th described driving gear 462 is connected on the output shaft of motor 6 461 by key, and
Keep engaging with the 6th driven gear 463, the 6th described driven gear 463 is connected to the 4th driven screw mandrel 464 by key
One end, described the 4th driven screw mandrel 464 is arranged on by bearing block on the T-shaped platform 471 of regulation paralell 47, and described the
Four driven screws 465 are arranged on the 4th driven screw mandrel 464, and one end of described connected axle 466 is threadedly attached in the 4th
On driven screw 465, the other end is threadedly attached on the 6th driven rack 467, and the 7th described driven gear 468 has two
Individual, it is connected on the 7th driven gear shaft 469 by key, and the 7th described driven gear shaft 469, which is threadedly attached in, to be turned
On moving platform 45；It is driven that described regulation paralell 47 includes T-shaped platform 471, vertical guide groove 472, upright guide rail the 473, the 5th
Screw mandrel 474, the 5th driven screw 475, position fixing knob 476, described T-shaped platform 471 are bolted in the 5th driven silk
On mother 475, described vertical guide groove 472 has two, and it is connected by screw on the N-type frame 341 of Rack Body 34, and described is perpendicular
Straight guide 473 is arranged on vertical guide groove 472, and formed prismatic pair, upright guide rail 473 is connected by screw in T-shaped platform
On 471, the 5th described driven screw mandrel 474 is connected on the support 1 of Rack Body 34 by bearing, and described the 5th is driven
Screw 475 is arranged on the 5th driven screw mandrel 474, and the 5th driven screw 475 is bolted with T-shaped platform 471, described
Position fixing knob 476 is threadedly attached in one end of the 5th driven screw mandrel 474；Described vertical rotating shaft 48 has two, its one end
It is connected to by bearing on rotatable platform 45, the other end is bolted on the T-shaped platform 471 of regulation paralell 47.
In use, when patient needs to carry out passive rehabilitation training to leg, patient is sitting on seat 11, by both feet placement
On pedal 213；Start motor 1, the first driving gear 2111 on the output shaft of motor 1 drives peace
The first driven gear 2113 on the first driven gear shaft 2112 is rotated so that first on T-shaped guide groove 2213
Driven rack 2114 is moved, by the transmission of primary transmission connecting rod 2115, drives secondary transmission connecting rod 2117 and the first driven company
Bar 212 is moved, and then moves pedal 213, so that patient legs move；The rotating of controlled motor 1 can make
Pedal 213 does reciprocating translatory, so that the leg of patient, which is done, stretches rehabilitation training in the wrong.When resetting pedal 213, close motor
When 1, start motor 2 2146, the second driving gear 2145 on the output shaft of motor 2 2146 drives and is arranged on
The second driven gear 2144 on second left-handed screw mandrel 2147 is moved so that the first screw 2142 and the second screw 2148 are moved,
And then drive the second follower link 2141 to move, so that pedal 213 is around the first follower link 212 and secondary transmission connecting rod
2117 rotate, and final patient feet is by concomitant rotation；The rotating of controlled motor 2 2146 can cause pedal 213 to do back and forth
Rotate, the rehabilitation training so that ankle of patient rotates.
When patient needs to carry out initiative rehabilitation training to leg, patient is sitting on seat 11, both feet is placed on foot-operated
On plate 213；Patient's both hands hold the active handwheel 226 of the both sides of seat 11, and rotate active handwheel 226 so that installed in one-level
One-stage gear 2255 on gear shaft 227 drives the secondary gear 2254 being arranged on secondary gear wheel shaft 228 to rotate, by one-level
Rack 2253, transmission guide rod 2252 and secondary gear bar 2251 pass motion to tertiary gear 2256, drive the first driven screw mandrel
2232 are rotated so that the first driven screw 2231 is moved, and then move the pedal 213 being arranged on two grades of paralells 221,
So that patient legs move；The rotating of active handwheel 226 is controlled, can cause patient legs do to stretch rehabilitation training in the wrong.
When patient needs to do back beating massage, patient is sitting on seat 11；The position for needing to pat is determined first, then
Rope-winding shaft 323 is rotated, drawstring 321 is in relaxed state, handle 313 is then held, driving pulley 312 is rotated, makes driven belt
Wheel 317 is rotated, and then drives the second driven screw 315 being arranged on the second driven screw mandrel 314 to move, so that mobile platform
33 motions, as the motion of mobile platform 33 causes beater mechanism 32 to reach the position for needing to pat；Finally it is rotated further by rope-winding shaft
323, make drawstring 321 just at straight condition, complete to pat the adjustment before massage；It is upward that patient's both hands hold rope-winding shaft 323
Lift so that the U-shaped bull stick 322 on handrail 12 is rotated, V-type connecting rod 327 drives first under the pulling of drawstring 321
Kinematic link 326 is moved, and is moved so as to drive and be provided with the second kinematic link 325 for patting first 324 so that pat first 324 and clap
Beat massage position；Both hands put back to U-shaped bull stick 322, and spring 328 causes V-type connecting rod 327 to be moved back, so that patting first 324
Reset, complete once to pat massage；Rotating U-shaped bull stick 322 repeatedly can make patient carry out back beating massage.
When patient needs to do rehabilitation training to arm, the position of exercising apparatus for recovery of upper limb 4 is adjusted first, to adapt to suffer from
The height of person；Position fixing knob 476 is held, the 5th driven screw mandrel 474 is rotated, and then drives regulation paralell 47 to move, is passed through
Adjustment is adjusted in place exercising apparatus for recovery of upper limb 4 up and down；Then, patient is sitting on seat 11, and arm is placed on into arm bracket
On 42；Start motor 3 418, the 3rd driving gear 411 on the output shaft of motor 3 418 drives driven installed in the 3rd
The 3rd driven gear 412 on gear shaft 417 is rotated, and connecting rod three is passed motion to by connecting rod 1 and connecting rod 2 414
415 and connecting rod 4 416, drive forearm pallet 423 to be rotated around large arm pallet 424, so that patient's arm movements；Controlled motor three
418 rotating can make patient's forearm do flexion movement.When starting motor 5 441, on the output shaft of motor 5 441
The 5th driving gear 442 drive be arranged on the 3rd driven screw mandrel 444 on the 5th driven gear 443 rotate so that the 3rd from
Dynamic screw 445 is moved, under the pulling of the 5th follower link 446, shoulder joint connector 435 and arm bracket 42 is turned around driving
Axle 447 is rotated, so that patient's large arm is moved；The rotating of controlled motor 5 441 can make patient's large arm do flexion movement.When
When starting motor 4 434, the 4th driving gear 433 on the output shaft of motor 4 434, which drives, is arranged on the 4th driven tooth
The 4th driven gear 431 on wheel shaft 432 is rotated so that Z-type connecting plate 2 436 is rotated, and then arm bracket 42 is rotated,
So that patient's arm motion；The rotating of controlled motor 4 434 can make it that patient's arm swings rehabilitation training.When
When forearm drive device 41 and large arm drive device 44 make patient's arm motion to parallel to ground, start motor 6 461, install
The 6th driving gear 462 on the output shaft of motor 6 461 drives the 6th driven gear being arranged on the 4th driven screw mandrel 464
463 are rotated so that the connected axle 466 on the 4th driven screw 465 is moved, and will be moved by the 6th driven rack 467
The 7th driven gear 468 is passed to, rotatable platform 45 is rotated around vertical rotating shaft 48, so that patient's arm motion；Control electricity
The rotating of machine 6 461 can make patient's arm do swing rehabilitation training around body.
Claims (3)
1. a kind of combined type device for healing and training, it is characterised in that：Patted including seat frame, lower limb rehabilitation training device, back
Massage machine, exercising apparatus for recovery of upper limb, described seat frame include seat, handrail, and described handrail has two, and it passes through spiral shell
Tether the both sides for being connected on seat；Described lower limb rehabilitation training device includes passive exercise device and active training device, described
Passive exercise device be located at the lower section of seat, described active training device is installed on the seat；
Described passive exercise device includes passive exercise drive device one, the first follower link, pedal, passive exercise driving
Device two, described passive matrix device one is arranged on the first platform of two grades of paralells, and it includes the first driving gear, the
One driven gear shaft, the first driven gear, the first driven rack, primary transmission connecting rod, motor I and II kinematic link, it is described
The first driving gear be connected to by key on the output shaft of motor one, the two ends of the first described driven gear shaft pass through bearing
On the bearing block for being connected to two grades of paralells, the first described driven gear is connected to the first driven gear shaft by key, and together
When keep engage with the first driving gear and the first driven rack, the T of described the first driven rack installed in two grades of paralells
On type guide groove, formed prismatic pair, one end of described primary transmission connecting rod is connected through the hinge in the first driven rack
One end, its other end is connected through the hinge with secondary transmission connecting rod, and one end of described secondary transmission connecting rod is connected through the hinge
On the footrests, the other end is connected through the hinge on the first platform of two grades of paralells；The first described follower link has two
Individual, positioned at the both sides of pedal, its one end is connected through the hinge on the footrests, and the other end is connected through the hinge in two grades of platforms
On first platform of frame；Described passive exercise drive device two is arranged on the second platform of two grades of paralells, and it includes the
Two follower links, the first screw, the first dextrorotation screw mandrel, the second driven gear, the second driving gear, motor two, the second left-handed silk
Bar, the second screw, the second described follower link have two, and one end of one of them the second follower link is connected to by ball pair
On pedal, one end is connected on the first screw by ball pair, and one end of another the second follower link is connected to by ball pair
On pedal, one end is connected to the second screw by ball pair, and the first described screw is arranged on the first dextrorotation screw mandrel, described
One end of first dextrorotation screw mandrel is arranged on by bearing block on the second platform of two grades of paralells, the other end and the second left-handed screw mandrel
It is fixed together, the second described driven gear is connected on the second left-handed screw mandrel by key, and is kept with the second driving gear
Engagement, the second described driving gear is connected to by key on the output shaft of motor two, and described motor two is bolted
On the second platform of two grades of paralells, the other end of the second described left-handed screw mandrel is arranged on two grades of paralells by bearing block
The second platform on, described the second screw is arranged on the second left-handed screw mandrel；
Described active training device includes two grades of paralells, Z-type connecting plate one, screw body, two grades of rail groove mechanisms, active instructions
Practice transmission device, active handwheel, one-stage gear axle, secondary gear wheel shaft, two grades of described paralells include the first platform, bearing
Seat, T-shaped guide groove, the second platform, roller, the first described platform are fixed together by welding with the second platform, described axle
Bearing has two, and it is connected by screw on the first platform, and described T-shaped guide groove is connected by screw on the first platform,
Described roller has two, and it is arranged on the lower section of the second platform；Described Z-type connecting plate one has two, and its upper surface passes through
It is bolted on the first driven screw of screw body, lower surface is bolted the first platform in two grades of paralells
On；Described screw body includes the first driven screw, the first driven screw mandrel, described the first driven screw be arranged on first from
On dynamic screw mandrel, the two ends of the first described driven screw mandrel are installed on the seat by bearing block；Two grades of described rail groove mechanism bags
Two grades of guide grooves, one-level guide groove are included, two grades of described guide grooves and one-level guide groove are connected by screw on the seat；Described active instruction
Practicing transmission device has two, and it includes secondary gear bar, transmission guide rod, one-level rack, secondary gear, one-stage gear, tertiary gear,
Described secondary gear bar is arranged on two grades of guide grooves, formed prismatic pair, and secondary gear bar keeps engaging with tertiary gear, institute
The one end for the transmission guide rod stated is threadedly attached on one-level rack, and the other end is threadedly attached on secondary gear bar, institute
The one-level rack stated is arranged on one-level guide groove, and formed prismatic pair, described secondary gear is connected to secondary gear by key
On wheel shaft, secondary gear keeps engaging with one-stage gear and one-level rack simultaneously, and described one-stage gear is connected to one by key
On level gear shaft, described tertiary gear is connected on the first driven screw mandrel of screw body by key；Described active handwheel
It is threadedly attached on one-stage gear axle；Described one-stage gear axle and secondary gear wheel shaft is arranged on seat by bearing block
On；
Pat the rear that massage machine is located at seat frame in described back；Described exercising apparatus for recovery of upper limb is located at seat frame
Top.
2. a kind of combined type device for healing and training according to claim 1, it is characterised in that：Pat massage in described back
Device includes governor motion, beater mechanism, mobile platform, Rack Body, and described governor motion includes driving belt pulley shaft, main belt
Wheel, handle, the second driven screw mandrel, the second driven screw, circular guideway, driven pulley, circular guide, belt, described active
Belt shaft is arranged on the lower section of seat by bearing block, and described driving pulley is connected on driving belt pulley shaft by key, its with
Driven pulley is connected by belt, and described handle is threadedly attached on driving pulley, and the second described driven screw mandrel leads to
Cross bearing to be connected on the support two of Rack Body, the second described driven screw is arranged on the second driven screw mandrel, and second is driven
Screw is bolted with mobile platform, and described circular guideway has two, and it is arranged on circular guide, with circular guide
Prismatic pair is formed, the upper end of circular guideway is connected by screw on a mobile platform, and described driven pulley is connected to by key
One end of second driven screw mandrel, described circular guide is connected by screw on the square frame of Rack Body；Described beating
Mechanism has two, and it includes drawstring, U-shaped bull stick, rope-winding shaft, beating head, the second kinematic link, the first kinematic link, V-type and connected
Bar, spring, one end of described drawstring are wound on rope-winding shaft, and the other end ties up to one end of V-type connecting rod, described U through spring
Type bull stick is connected through the hinge on the handrail of seat frame, and the two ends of described rope-winding shaft are connected on U-shaped bull stick by bearing,
Described beating head is threadedly attached on the second kinematic link, and the second described kinematic link is connected through the hinge in movement
On platform, one end of the first described kinematic link is connected through the hinge on the second kinematic link, the other end and V-type connecting rod
One end is connected through the hinge, and described V-type connecting rod is connected through the hinge on a mobile platform, and described spring is connected by screw
On a mobile platform, the upper end of spring is connected in one end of V-type connecting rod；Described Rack Body includes N-type frame, support one, square
Frame, support two, described N-type frame, support one and support two are bolted on square frame.
3. a kind of combined type device for healing and training according to claim 1, it is characterised in that：Described rehabilitation training of upper limbs
Device includes forearm drive device, arm bracket, arms swing drive device, large arm drive device, rotatable platform, arm rotation
Drive device, regulation paralell, vertical rotating shaft, described forearm drive device have two, and it includes the 3rd driving gear, the 3rd
Driven gear, connecting rod one, connecting rod two, connecting rod three, connecting rod four, the 3rd driven gear shaft, motor three, the 3rd described driving gear
On the output shaft that motor three is connected to by key, it keeps engaging with the 3rd driven gear, and the 3rd described driven gear passes through
Key is connected on the 3rd driven gear shaft, and one end of described connecting rod one is threadedly attached on the 3rd driven gear shaft, separately
One end is connected through the hinge with connecting rod two, and the other end of described connecting rod two is connected through the hinge with connecting rod three and connecting rod four, shape
Into compound hinges, described connecting rod three is by being hingedly connected on the large arm pallet of arm bracket, and described connecting rod four passes through hinge
Chain is connected on the forearm pallet of arm bracket, and the 3rd described driven gear shaft is arranged on shoulder joint connector by bearing block
L-type contiguous block on, described motor three is by being bolted on the L-type contiguous block of shoulder joint connector；Described arm
Bracket has two, and it includes the 3rd follower link, the 4th follower link, forearm pallet, large arm pallet, be connected plate, and described the
One end of three follower links is connected through the hinge with the 4th follower link, and the other end is connected through the hinge on large arm pallet, institute
The other end for the 4th follower link stated is connected through the hinge on forearm pallet, and described forearm pallet is connected through the hinge
On large arm pallet, described large arm pallet, which is bolted, to be connected on plate, and described connected plate is bolted in hand
On the Z-type connecting plate two of arm swing drive device；Described arms swing drive device has two, and it includes the 4th driven tooth
Wheel, the 4th driven gear shaft, the 4th driving gear, motor four, shoulder joint connector, Z-type connecting plate two, described the 4th are driven
Gear is connected on the 4th driven gear shaft by key, and is engaged with the holding of the 4th driving gear, the 4th described driven gear
Axle is arranged on by bearing block on the L-type contiguous block of shoulder joint connector, and the 4th described driving gear is connected to electricity by key
On the output shaft of machine four, described motor four is by being bolted on the L-type contiguous block of shoulder joint connector, described shoulder joint
Saving connector includes horizontal guide, vertical guide rod and L-type contiguous block, and described horizontal guide is threadedly attached in vertical guide rod
One end, described vertical guide rod is connected by screw on the end face of L-type contiguous block, one end of described Z-type connecting plate two
It is threadedly attached on the 4th driven gear shaft；Described large arm drive device has two, and it includes motor the five, the 5th actively
Gear, the 5th driven gear, the 3rd driven screw mandrel, the 3rd driven screw, the 5th follower link, drive shaft, described motor
Five are bolted on rotatable platform, and the 5th described driving gear is connected to by key on the output shaft of motor five, and
Keep engaging with the 5th driven gear, the 5th described driven gear is connected to one end of the 3rd driven screw mandrel by key, described
The 3rd driven screw mandrel be arranged on by bearing block on rotatable platform, described the 3rd driven screw is arranged on the 3rd driven screw mandrel
On, one end of the 5th described follower link is connected through the hinge on the 3rd driven screw, and the other end is connected through the hinge
In the horizontal guide of shoulder joint connector, one end of described drive shaft is arranged on rotatable platform by bearing block, another
End is threadedly attached on the L-type contiguous block of shoulder joint connector；Described arm rotating driving device includes motor six, the
Six driving gears, the 6th driven gear, the 4th driven screw mandrel, the 4th driven screw, be connected axle, the 6th driven rack, the 7th from
Moving gear, the 7th driven gear shaft, described motor six are bolted on the T-shaped platform of regulation paralell, described
6th driving gear is connected to by key on the output shaft of motor six, and is engaged with the holding of the 6th driven gear, the described the 6th
Driven gear is connected to one end of the 4th driven screw mandrel by key, and the 4th described driven screw mandrel is arranged on regulation by bearing block
On the T-shaped platform of paralell, the 4th described driven screw is arranged on the 4th driven screw mandrel, and one end of described connected axle leads to
Cross and be threaded on the 4th driven screw, the other end is threadedly attached on the 6th driven rack, described the 7th is driven
Gear has two, and it is connected on the 7th driven gear shaft by key, and the 7th described driven gear shaft is threadedly attached in
On rotatable platform；Described regulation paralell include T-shaped platform, vertical guide groove, upright guide rail, the 5th driven screw mandrel, the 5th from
Dynamic screw, position fixing knob, described T-shaped platform are bolted on the 5th driven screw, and described vertical guide groove has two
Individual, it is connected by screw on the N-type frame of Rack Body, and described upright guide rail is arranged on vertical guide groove, formed to move
Dynamic pair, upright guide rail is connected by screw on T-shaped platform, and the 5th described driven screw mandrel is connected to Rack Body by bearing
On support one, the 5th described driven screw is arranged on the 5th driven screw mandrel, and the 5th driven screw passes through bolt with T-shaped platform
Connection, described position fixing knob is threadedly attached in one end of the 5th driven screw mandrel；Described vertical rotating shaft has two, one
End is connected on rotatable platform by bearing, and the other end is bolted on the T-shaped platform of regulation paralell.
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| CN107233189B CN107233189B (en) | 2019-09-06 |
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| CN107811812A (en) * | 2017-12-07 | 2018-03-20 | 浙江海洋大学 | A kind of stroke patient convalescence device |
| CN108567545A (en) * | 2018-04-03 | 2018-09-25 | 李正福 | A kind of Cardiological Multi-function nursing device |
| CN108578168A (en) * | 2018-02-26 | 2018-09-28 | 管奇芳 | A kind of foot-operated arm activity care device |
| CN109730897A (en) * | 2019-03-18 | 2019-05-10 | 吉林大学 | A kind of leg impairment device for healing and training |
| CN110934717A (en) * | 2019-12-13 | 2020-03-31 | 商洛学院 | Massage chair with lower limb training function |
| CN110934725A (en) * | 2019-12-13 | 2020-03-31 | 商洛学院 | Mechanical shoulder pinching massager |
| CN111150603A (en) * | 2019-12-27 | 2020-05-15 | 中国人民解放军陆军军医大学第一附属医院 | Power-assisted rehabilitation training device |
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Effective date of registration: 20200818 Address after: 233200 No.4 Xinglong Road, Dingyuan Industrial Park, Chuzhou City, Anhui Province Patentee after: DINGYUAN JIESHIDA SPORTS GOODS Co.,Ltd. Address before: 238000, Anhui, Hefei Province, Chaohu Province opened the district half soup Road No. 1 Patentee before: CHAOHU University |