CN107928986A - Wrist joint device for healing and training - Google Patents

Abstract

The invention discloses wrist joint device for healing and training,Including base,Arm support mechanism,Holding mechanism,Power transmission mechanism,Testing agency and control system,The base is provided with left support seat and right support seat,The power transmission mechanism is installed on right support seat,The holding mechanism is connected to the mechanical output power axis of power transmission mechanism by right connection swing arm,The left support seat is connected with and the right connection symmetrically arranged left connection swing arm of swing arm,Left connection swing arm is connected with holding mechanism,Arm support mechanism includes arm supporting plate,Height adjustment device is provided with below arm supporting plate,Grip component is made of holding rod and angle regulator,The angle regulator adjusts the angle of holding rod,Its height adjustment mechanism is in order to which wrist joint axis positioning is better achieved,Its holding mechanism can multi-angle continuously adjust,It can actively or passively be trained and monitor in real time,Had according to the more change of grip easily and fast of patient hand's difference.

Description

Wrist joint device for healing and training

Technical field

The invention belongs to technical field of medical equipment, concretely relates to wrist joint device for healing and training.

Background technology

Hemiplegia and postoperative caused wrist joint dysfunction, have seriously affected the daily life of patient, in the later stage Rehabilitation is particularly important the carpal functional recovery of patient, and it is one-to-one that traditional rehabilitation maneuver relies primarily on Physical Therapist Service, but there is the problem of Physical Therapist's number deficiency, great work intensity.

Existing wrist joint device for healing and training can only the training bent and stretched of wrist palm or the back of the hand, training free degree list One, receipts or the abduction free degree in wrist joint can not be trained, have impact on patients recovery rate, the rehabilitation for wrist joint For, wrist belongs to a multivariant turning joint, only trains a direction to be unfavorable for carpal comprehensive rehabilitation；And Grasped for hemiplegic patient's hand there are certain inclination angle, but the tool of holding of existing wrist joint training device is that level is set Put, the horizontality of normal person cannot have been kept by not accounting for some patientss hand, existing certain inclination angle, horizontal grasping Easily loosen, come off with holding tool when holding tool, influence rehabilitation training effect, or even wrist joint causes to damage.

In addition, existing wrist joint recovery training appliance for recovery is not accurate enough in progress wrist joint axis positioning, because of patient's arm The difference of length and thickness causes each patient to be required for axis to align, and repeatability is high；And adjusting usually needs multi-step every time Adjust, adjusting is difficult manually, and axis contraposition is ineffective, influences rehabilitation training effect, or even occurs drawing, presses wrist joint and give Patient brings secondary injury.

The finger of hemiplegic patient often deforms, and bending and stretching for otherness is presented, then just needs according to different patients Finger shape selection be adapted to what patient gripped to hold tool, but existing wrist joint device for healing and training does not possess according to trouble The corresponding function of properly holding tool of finger shape selection of person, can not meet the requirement of different patients not homochirality, cause rehabilitation to be instructed Patient hand occurs phenomena such as loosening, coming off, influencing rehabilitation efficacy, in some instances it may even be possible to bring extra damage with holding tool when practicing；When So, it is also faced with a problem and is how that more change of grip easily and fast has, mitigates the workload of medical staff, and after installation Tool of holding want firm stabilization, this just need provide one kind can be come with rapid dismounting apparatus more change of grip easily and fast tool.

The content of the invention

The object of the present invention is to provide wrist joint device for healing and training, it aims to solve the problem that existing wrist joint device for rehabilitation For tool mostly based on patient's passive exercise, training mode is single, it is impossible to provides aggressive mode exercise for power platform for patient；Wrist Grip angle to fix, can not meet the gripping requirement of different patient's palm different angles；Hand hold tool can not replace or replace it is tired Difficulty, can not meet the grasping requirement of different patients not homochirality；Wrist joints sporting axis location is difficult or does not have auxiliary positioning skill Art, bad with dynamic axis of flow contraposition, caused rehabilitation efficacy is not good enough or even wrist joint is caused to draw, presses through the secondary injury such as big； Patient's training parameter can not be recorded in real time.In order to solve the above technical problems, the object of the present invention is achieved like this：

Wrist joint device for healing and training, including base, arm support mechanism, holding mechanism, power transmission mechanism, testing agency And control system, the base are provided with left support seat and right support seat, the power transmission mechanism is installed on right support seat, institute The mechanical output power axis that holding mechanism is connected to power transmission mechanism by right connection swing arm is stated, the left support seat activity connects It is connected to and is connected with the right connection symmetrically arranged left connection swing arm of swing arm, the left connection swing arm with holding mechanism；The arm is held Support mechanism includes arm supporting plate, and height adjustment device, height adjustment device and arm are provided with below the arm supporting plate Support plate is provided between supporting plate, the support plate is fixed on the output shaft of height adjustment device, the arm supporting plate point For the first arm supporting plate and the second arm supporting plate, the first arm supporting plate and the second arm supporting plate be arranged side by side in In support plate；The holding mechanism includes grip component, and the grip component is formed by holding tool and angle regulator, the angle Degree regulating device adjusts the angle for holding tool；The power that the power transmission mechanism is exported by load motor, gear reducer and machinery Axis forms；The testing agency includes the angular transducer for monitoring the left and right connection swing arm rotational angle and monitors described dynamic The torque sensor composition of power axis moment of torsion；The control system includes controller, the letter that controller can be transmitted by testing agency Number control load motor action.

On the basis of such scheme and as the preferred solution of such scheme：The height adjustment device is filled by driving Put, guide rail, the sliding block composition slided along guide rail, the guide rail is fixedly connected below base, and the sliding block is connected with support plate, described Driving device can drive support plate to be moved axially along the output shaft of driving device.

On the basis of such scheme and as the preferred solution of such scheme：The height adjustment device is provided with zero-bit Detection device, the zero detector, the zero testing are triggered when the height adjustment device drops to extreme lower position Device provides a reset signal to device in order to control.

On the basis of such scheme and as the preferred solution of such scheme：The first arm supporting plate and second-hand Arm supporting plate is respectively arranged with the first sliding bottom and the second sliding bottom, first sliding bottom and the second sliding bottom point It is not slidably arranged in support plate, first sliding bottom and the second sliding bottom, which are respectively arranged with, is located at branch The first positioner and the second positioner on fagging, first sliding bottom and the second sliding bottom are respectively arranged with limit Make the first limiting device and the second limiting device of its sliding scale.

On the basis of such scheme and as the preferred solution of such scheme：The support plate has been arranged side by side more respectively A and first limiting device and corresponding first dimple of the second limiting device and the second dimple, described first is spacing Device and the second limiting device are respectively comprising the first positioning body and second that can be fastened in the first dimple and the second dimple Positioning body, the first compression spring being often pressed on first positioning body and the second positioning body in the first dimple and the second dimple With the second compression spring and the first compression spring and the first adjusting knob and the second adjusting knob of the second compression spring decrement can be adjusted respectively.

On the basis of such scheme and as the preferred solution of such scheme：First sliding bottom and second slides Base is respectively arranged with the first limiting device and the second limiting device, and the support plate is provided with and the first limiting device and second The corresponding the first sliding groove of limiting device and the second sliding slot, first limiting device and the second limiting device are respectively by being arranged at The first threaded hole and the second threaded hole and the first threaded hole and the second threaded hole spiral shell on one sliding bottom and the second sliding bottom First positioning jackscrew of line connection and the second positioning jackscrew composition, the first positioning jackscrew and the second positioning jackscrew end can be divided Not Xuan Ru in the first sliding groove and the second sliding slot, and with the first sliding groove and the second sliding slot clearance fit.

On the basis of such scheme and as the preferred solution of such scheme：The angle regulator includes retainer ring And flexible connection and the regulation ring in the retainer ring, the regulation ring is coaxial with the retainer ring and can be rotated around the axis, The angle regulator also includes positioner, and the positioner, which can position regulation ring, prevents it from rotating, the tune Continuous protrusion is evenly equipped with section ring outer circumferential surface, and the positioner includes locating rod, and it is adjacent convex that the locating rod is stuck in two Between rising, the locating rod is provided with size makes the groove and raised phase slightly larger than raised groove, the mobile locating rod Pair when, the protrusion can be from the groove by being respectively arranged with the retainer ring and spacing ring corresponding with the locating rod Mounting hole and limit hole, it is movable that the locating rod is only capable of in mounting hole and limit hole, and being provided with the mounting hole will be described Groove is often lifted off the compression spring with the raised relative position.

On the basis of such scheme and as the preferred solution of such scheme：The wrist joint device for healing and training is set The positioning light-beam transmitter for aiding in the arm support mechanism to carry out height adjusting is equipped with, what the positioning light-beam transmitter projected Light beam is overlapped with the line shaft axis.

On the basis of such scheme and as the preferred solution of such scheme：The power transmission mechanism is provided with to institute State upper limit angle limit assembly and lower limit angle limit assembly that line shaft rotational angle carries out mechanical position limitation, the upper limit angle The spacing scope of limit assembly and lower limit angle limit assembly adjusts.

On the basis of such scheme and as the preferred solution of such scheme：The regulation ring is provided with fast assembling-disassembling group Part, the tool of holding are mounted on fast assembling-disassembling component.

Specifically, the fast assembling-disassembling component includes fixed seat, slides shift fork, detent, cover board, the fixed seat is set It is equipped with pawl shaft, accommodates the cavity for sliding shift fork and the detent, the cavity, which includes, supplies the slip shift fork The slide of slip, is provided with fork spring in the slide, it often suppresses the slip shift fork to away from fork spring direction, The detent is semi-annular shape structure, holds in the embedded detent of tool, is provided with the detent and the pawl The matched shaft hole of shaft, is provided with the torsion that the detent is often suppressed to rotation to open side in the pawl shaft Spring, described detent one end are provided with Access Division, are provided with bayonet on the slip shift fork, the Access Division is clamped on described On bayonet, the detent is prevented to be rotated under the torsional spring active force.

On the basis of such scheme and as the preferred solution of such scheme：The left support seat is provided with control button Component, the control button component include button.

The present invention is prominent and beneficial compared with prior art to be had the technical effect that：Arm supporting board can be thick according to the arm of patient It is thin to carry out height adjusting, while the first arm supporting board and the second arm supporting board are provided with, can be according to the arm length of different patients The distance of the first arm supporting board is adjusted, and the first arm supporting board can flexibly be adjusted, and can preferably adapt to the hand of patient Arm.

The design of regulation ring realizes the switching of two frees degree of wrist joint（The abduction/adduction free degree and palmar flexion/dorsiflex are certainly By spending）, it is adjusted by holding tool angle adjusting mechanism, when it is 90 ° to adjust angle, is just adjusted horizontally disposed tool of holding Moved into the abduction/adduction free degree, realize the switching of two frees degree, the wrist joint training equipment of mesh the first two free degree, needs Want two actuators（Such as two motors）, compare, apparatus parts are less, structure is more simplified；Deposited for some patientss hand In inclination angle problem, their rehabilitation training demand can be met at any angle by adjusting.

And the tool of holding of the holding mechanism is installed using fast assembling-disassembling component, realizes the hand-type side for different patients Just quickly replace and hold tool accordingly.

Testing agency can gather the exercise data of patient and pass data to controller, and controller is moved according to these Data provide the training of adaptability for patient, are additionally provided with the upper limit angle limit assembly and spacing group of lower limit angle of mechanical structure Part, prevents control system failure in the training process and causes patients wrist injured, training is more reasonable, and safety and reliability.

Brief description of the drawings

Fig. 1 is the overall structure diagram of the present invention.

Fig. 2 is upper and lower limit angle limit component structure diagram.

Fig. 3 is power transmission mechanism structure diagram.

Fig. 4 is arm support mechanism overall structure front view.

Fig. 5 is arm support mechanism overall structure right view.

Fig. 6 is arm support mechanism overall structure rearview.

Fig. 7 is device for adjusting height structure diagram.

Fig. 8 is the first positioner and the first limiting device enlarged structure schematic diagram.

Fig. 9 is holding mechanism configuration diagram.

Figure 10 is regulation ring structure diagram.

Figure 11 is positioning device structure schematic diagram.

Figure 12 is fast assembling-disassembling component internal structure diagram.

Figure 13 is fast assembling-disassembling component structure diagram.

Embodiment

To make the purpose, technical scheme and advantage of the application clearer, below in conjunction with the attached drawing in embodiment, to reality The technical solution applied in example is clearly and completely described, it is clear that described embodiment is only that the application part is implemented Example, rather than whole embodiments.Based on the embodiment provided, those of ordinary skill in the art are not before creative work is made All other embodiments obtained are put, shall fall in the protection scope of this application.

In the description of the present application, it is to be understood that the orientation or position relationship of the instruction such as term " on ", " under " are base In orientation shown in the drawings or position relationship, it is for only for ease of description the application and simplifies description, rather than indicate or imply Signified device or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to this The limitation of application.

In the description of the present application, term " first ", " second " etc. be only used for description purpose, and it is not intended that instruction or Imply relative importance or the implicit quantity for indicating indicated technical characteristic.

See Fig. 1-2, wrist joint device for healing and training, including base 200, arm support mechanism 100, holding mechanism 400, Power transmission mechanism 300, testing agency and control system, base 200 are provided with left support seat 530 and right support seat 330, power Transmission mechanism 300 is installed on right support seat 330, and holding mechanism 400 is connected to power transmission mechanism by right connection swing arm 510 300 mechanical output power axis 380, left support seat 530 is connected with puts with the symmetrically arranged left connection of right connection swing arm 510 Arm 520, left connection swing arm 520 are connected with holding mechanism 400.

Fig. 4, the arm support mechanism of wrist joint device for healing and training, including arm supporting plate are seen, under arm supporting plate Side is provided with height adjustment device 120, and support plate 130, support plate are provided between height adjustment device 120 and arm supporting plate 130 are fixed on the output shaft of height adjustment device 120, and arm supporting plate is divided into the first arm supporting plate 140 and the second arm is held Supporting plate 150, the first arm supporting plate 140 and the second arm supporting plate 150 are arranged side by side in support plate 130, and the first arm 140 and second arm supporting plate 150 of supporting plate can be towards or away from linear movement.

Further, Fig. 7 is seen, height adjustment device 120 is by driving device, guide rail 127, the sliding block slided along guide rail 127 125 compositions, guide rail 127 is fixedly connected below base 110, and sliding block 125 is connected with support plate 130, and the output shaft 123 of driving device is Screw, is provided with nut 1241 in push rod 124, and output shaft 123 is threadedly coupled with nut 1241, when output shaft 123 rotates, push rod 124 move along output shaft 123 is axial linear；130 bottom of support plate be provided with, the matched square groove 135 of push rod 124, In the clamping of push rod 124 and the square groove 135, push rod 124 is fixedly connected with support plate 130 by being connected bolt 128, drives branch Fagging 130 is moved axially along the output shaft 124 of driving device.

Further, driving device includes motor 160, and motor 160 is connected on base 110 by electric machine support 163, electricity Arbor 161 is connected by shaft coupling 162 and transmission shaft 122, and transmission shaft 122, which rotates, can drive output shaft 123 to move up and down.

Preferably, Fig. 5, Fig. 6 are seen, sliding block 125 is fixed with driving lever 126, microswitch 190 is provided with guide rail 127, works as cunning When block 125 moves down into extreme lower position, driving lever 126 presses the contact of microswitch 190, and device provides one to microswitch 190 in order to control The position reset is zero point by a reset signal, controller.

Further, Fig. 5, Fig. 6, Fig. 8 are seen, the first arm supporting plate 140 and the second arm supporting plate 150 are respectively arranged with First sliding bottom 172 and the second sliding bottom 182, the first sliding bottom 172 and the second sliding bottom 182 are respectively sleeved at branch On fagging 130, and with 130 clearance fit of support plate.

Specifically, the first sliding bottom 172 and the second sliding bottom 182 are respectively arranged with the first positioner 170 and Two positioners 180.Support plate 130 is respectively arranged with and the first positioner 170 and the second positioner 180 corresponding One dimple 131 and the second dimple（Not shown in attached drawing）.

First dimple 131 be arranged side by side it is multiple, the first positioner 170 include can be fastened on the first dimple 131 The first interior positioning body 175, and the first compression spring 174 the first positioning body 175 being often pressed in the first dimple 131.

First positioner 170 and the second positioner 180 also adjust rotation comprising the first adjusting knob 171 and second respectively Button 181.

Specifically, the first adjusting knob 171 can make the first compression spring 174 discharge or compress the first positioning body 175, so that the One positioning body 175 is deviate from from the first dimple 131, it is possible to mobile first sliding bottom, 172 adjusting position, or by first Positioning body 175 is pressed in the first dimple 131 and positions the first sliding bottom 172.

First adjusting knob 171 is threaded with connecting tube 173, and the first compression spring 174 is arranged in connecting tube 173, and first 174 one end of compression spring is against on the first positioning body 175, and the other end is pushed against on the first adjusting knob 171, and connecting tube 173 is by holding out against In the spacing mounting hole set on the first sliding bottom 172 of screw 176, forward and reverse the first adjusting knob of turn 171 can make One compression spring 174 is compressed or loosened, so as to change the pressure on the first positioning body 175, that is, it is fixed from first to change the first limit body 175 The complexity removed in the nest 131 of position.

It should be noted that the second positioner 180 and 170 structure of the first positioner and principle all same,（In attached drawing It is not shown）, but the two role in the present invention is different, the first positioner 170 is used to adjust the first supporting plate 140 To suitable position, the position of the first supporting plate 140 is positioned before adjust next time, avoids it from will moving；And second The effect of positioner 180 be patient when performing physical exercise, to a certain extent, activity point of view is gradual in wrist for wrist activity Increase, the active force in wrist can produce an active force by arm to pusher, when the angle increase of wrist activity, will make hand Arm is also increasing to the component of pusher, and when this component is sufficiently large, arm can drive the second supporting plate 180 to the first supporting plate 170 movements, reduce arm and the angle of wrist, then namely play the work of wrist activity point of view and the protection of activity power restriction With preventing that in rehabilitation training wrist is injured.

Similarly, wrist joint is opposite with force compression when being pulled up, then will drive arm and Two trailing arm plates, 150 forward slip, prevents that wrist is injured when Rehabilitation is trained.

In addition, need the patient into Mobile state drawing-off rehabilitation training for some, appropriate extruding and drawing at wrist joint Its comfort can be improved by stretching, then can the second adjusting knob of turn 181, increase the decrement of the second compression spring, then mobile Second trailing arm plate 150 just becomes extremely difficult, quite with the second trailing arm plate 150 fix with support plate 130 on, then can hand The second trailing arm plate 150 will not slide when carpal extruding and stretching.

It should be noted that the big I for the power that the first supporting plate 140 and the second trailing arm plate 150 move horizontally passes through respectively The first adjusting knob 171 and the second adjusting knob 181 on first positioner 170 and the second positioner 180 are adjusted.

Further, Fig. 6, Fig. 8 are seen, it is spacing that the first sliding bottom 172 and the second sliding bottom 182 are respectively arranged with first 177 and second limiting device 183 of device, support plate 130 are provided with and 183 phase of the first limiting device 177 and the second limiting device 132 and second sliding slot 133 of the first sliding groove answered.

Specifically, the first limiting device 177 and the second limiting device 183 are respectively by being arranged at 172 He of the first sliding bottom The first threaded hole 1721 and the second threaded hole 1821 and the first threaded hole 1721 and the second screw thread on second sliding bottom 182 The first positioning jackscrew 1771 and second that hole 1821 is threadedly coupled positions jackscrew 1831 and forms, the first positioning jackscrew 1771 and second 1831 end of positioning jackscrew can screw in 132 and second sliding slot 133 of the first sliding groove respectively, and be slided with the first sliding groove 132 and second 133 clearance fit of groove, thus the first sliding bottom 172 and the second sliding bottom 182 is spacing in support plate 130, avoid The first sliding bottom 172 and the second sliding bottom 182 are skidded off from support plate 130 during adjusting.

The course of work is：

First, patient's arm is placed on the first arm supporting plate 140 and the second arm supporting plate 150, is powered on.

Then, the axis that reference beams are launched is operated by the driving device in button control device for adjusting height 120, Support plate 130 is driven to carry out high high adjustment to proper height.

Secondly, the first arm supporting plate 140 is adjusted according to patient's arm length, because upon mediation first in advance adjusts rotation Button 171 adjusts the decrement of the first compression spring 174 to suitable size, then at this moment only needs the first supporting plate 140 of front and rear pulling It can be adjusted, the first positioning body 175 is then moved in next first dimple 131 and continues to position after adjusting, adjusts Section is completed.

See Fig. 9, the holding mechanism of wrist joint device for healing and training, including base 200, base 200 is equipped with gripping group Part and drive component 300, drive component 300 are connected with the line shaft 380 of machinery output, and line shaft 380 connects grip component, institute State grip component 400 and formed by holding tool 600 and angle regulator 400.

Figure 10 is seen, specifically, the adjustable angle for holding tool 600 of angle regulator 400, angle regulator 400 include Retainer ring 420, the spacing ring 410 for being connected in retainer ring side and rotatably it is arranged between retainer ring 420 and spacing ring 410 Regulation ring 430.

Preferably, retainer ring 420 is provided with the annular groove 422 for receiving regulation ring, and regulation ring 430 is embedded into the annular groove 422 Interior, the spacing ring 410 is installed on the outside of regulation ring 430, and limitation regulation ring 430 removes annular groove 422.

Further, angle regulator also includes positioner 440, and positioner 440 can position regulation ring 430 Prevent its rotation.

Specifically, being provided with continuous toothed projections 431 on 430 outer circumferential surface of regulation ring, positioner 440 includes locating rod 442, the locating rod 442 is stuck between two adjacent toothed projections 431.

See Figure 11, locating rod 442 is provided with the groove 4421 that size is slightly larger than toothed projections, the mobile locating rod 442 When making the groove 4421 opposite with toothed projections 431, the toothed projections 431 can be from the groove 4421 by thus may be used To rotate regulation ring 430, it is respectively arranged with retainer ring 420 and spacing ring 410 and the 442 corresponding mounting hole of locating rod 421 and limit hole 411, the locating rod 442 is only capable of in mounting hole 421 and limit hole 411 movable.

The compression spring being often lifted off the groove 4421 with 431 relative position of toothed projections is provided with mounting hole 421 443,442 one end of locating rod is provided with compression spring fixed seat 4422, and the other end is fixed with briquetting 441, and pushing briquetting 441 can incite somebody to action Groove 4421 is moved to be adjusted angle, discharges briquetting 441, groove with 431 relative position of toothed projections, rotation regulation ring 430 4421 remove the position opposite with toothed projections 431, and it is adjacent that locating rod 442 is stuck in two again under the elastic force effect of compression spring 443 Toothed projections 431 between, by regulation ring 430 positioning can not rotate.

See Figure 12-13, further, be provided with regulation ring 430 and hold tool connecting portion 431, hold and set on tool connecting portion 431 There is fast assembling-disassembling component 700, hold tool 600 and be clamped in the fast assembling-disassembling component 700.

Specifically, fast assembling-disassembling component 700 includes fixed seat 710, slides shift fork 720, detent 730, cover board 760, Fixed seat is provided with pawl shaft 770, accommodates the cavity 780 for sliding shift fork 720 and detent 730, and cavity 780 is included for sliding The slide that shift fork 720 slides is moved, fork spring 750 is provided with slide, it will slide shift fork 720 often to away from fork spring 750, detent 730 is semi-annular shape structure, holds tool and 600 is embedded in the semicircular ring, is provided with detent 730 and spine The matched shaft hole 732 of pawl shaft 770, is provided with rotate detent 730 to 711 side of opening in pawl shaft 770 Torsional spring 740,730 one end of detent are provided with Access Division 731, slide and are provided with bayonet 721 on shift fork 720, Access Division 731 is blocked Tightly on bayonet 721, detent 730 is prevented to be rotated under torsional spring active force.

Specific disassembly process, demounting procedure, holds tool 600 and is stopped 730 clamping of pawl, pull to the right（The direction of arrow）Slide Shift fork 720（Dotted line position）, bayonet 721 separates with Access Division 731, and detent 730 is under the action of torsional spring 740 to opening 711 rotate, and slide shift fork 720 and are suppressed by fork spring 750 to initial position, so that will hold tool 600 is exposed to opening 711（It is empty Line position）, can will easily hold tool 600 and be removed from fast assembling-disassembling component.

Installation steps are pressed into demounting procedure on the contrary, tool 600 will be held from opening 711, overcome the torsion of torsional spring 740, stop Pawl 730 rotates backward, until tool 600 by 721 clamping of bayonet, is held in Access Division 731, installation is complete.

See Fig. 1, left support seat 530 is provided with positioning light-beam transmitter 910, the light beam that positioning light-beam transmitter 910 projects Overlapped with 380 axis of line shaft of power transmission mechanism 300, the purpose so set is in order to which supplementary height regulating device carries out Adjust, be set as that the height of this axis grips optimal position for wrist, arm is prevented on arm supporting board, positions light beam The light beam that transmitter 910 is sent beats one bright spot of formation on arm, and adjusting the height of arm supporting board makes this bright spot be located at hand On the center line of arm, then the height of arm is adjusted to optimum position；Doctor can be according to adjustment patient's hand before and after bright spot position at the same time Arm is placed so that patient's wrist joint axis is essentially coincided with 380 axis of line shaft, to reach optimal rehabilitation efficacy.

It should be noted that light-beam transmitter 910 is internally provided with laser module（For the prior art）, adjust laser module The light launched is overlapped with the axis of line shaft 380.

See Fig. 1-3, power transmission mechanism 300 is provided with the upper limit that mechanical position limitation is carried out to left and right connection swing arm rotational angle Angle limit component 320 and lower limit angle limit assembly 310, upper limit angle limit assembly 320 and lower limit angle limit assembly 310 Respectively by the upper limit lantern ring 321 and the lower limit lantern ring 311 that are coaxially disposed with line shaft 380, the upper limit lantern ring 321 and lower limit The side face of the lantern ring 311 is respectively arranged with upper limit portion 322 and lower limit portion 312, and lever 511 is provided with right connecting rocker arm 510, When right connecting rocker arm 510 reaches upper limit rotational angle or lower limit rotational angle, upper limit portion 322 and lower limit portion 312 can be kept out Lever 511, limits right connecting rocker arm 510 and is rotated further.

Right support seat 330 has the circular terminal pad 331 coaxial with line shaft 380, and it is some fixed to be provided with terminal pad 331 Position hole 332, is respectively arranged with upper limit locking device and drop lock device on the upper limit lantern ring 321 and the lower limit lantern ring 311（It is attached Not shown in figure）, upper limit locking device includes adjusting pulling block 323 and check lock lever 324, the upper limit lantern ring 321 are provided with and lock The pilot hole 3211 of tight 324 clearance fit of bar, is provided with locking compression spring 325 in pilot hole 3211, lock is provided with check lock lever 324 Press spring fixed seat 3231,324 one end of check lock lever is consolidated after sequentially passing through locking spring 325, pilot hole 3211 with adjusting pulling block 323 Even, for locking spring 325 often by check lock lever 324 to location hole 332, pulling out adjusting pulling block 323 makes check lock lever 324 depart from positioning Hole 332 adjusts the rotational angle upper limit of right connecting rod Rocker arm 5 10 with regard to rotatable upper limit ring set 321.

It should be noted that drop lock device is identical with upper limit locking device structure and principle.

See Fig. 1, left support seat 530 is provided with control button component 800, and control button component 800 is by grip part 810 and behaviour Vertical button 820 forms, and control button 820 is arranged at the top of grip part 810, and grip part 810 is fixed on left branch by being affiliated to stent 540 Support on seat 530.

See the line shaft that Fig. 3 power transmission mechanisms 300 are mainly exported by power motor 340, harmonic wave speed reducing machine 350, machinery 380 and intermediate connector composition, power motor 340 and harmonic wave speed reducing machine 350 it is solid by gear reducer connecting flange 370 after being connected It is connected on right support seat 330,370 first half of gear reducer connecting flange is arranged to notch 371, pacifies in gear reducer deceleration flange 370 Torque sensor 360 equipped with detection 380 moment of torsion of line shaft, notch 371 carry for the signal transmssion line 361 of torque sensor 360 For active tunnel.

See Fig. 1, left support seat 530 is provided with the angular transducer 900 for monitoring left connection 520 rotational angle of swing arm, angle Sensor 900 is preferably Hall angular transducer, and synchronization is driven it includes Hall element, magnet steel and by left connection swing arm 520 The magnet steel mounting bracket of rotation.

Control system includes controller（Not shown in attached drawing）, torque sensor 360,900 control button of angular transducer 820th, microswitch 190 and height adjusting switch（Attached drawing is not shown）Detection signal and control signal can be transferred to control Device, so that the action according to these detection signals and control signal control power motor and height adjustment device

Specifically, first, height adjusting switch control controller highly adjusts arm supporting board, and coding is provided with motor 160 Device, the number of turns of 160 rotor of motor rotation is obtained by the signal controller of encoder, so as to calculate height adjustment device rising Or the distance declined, often replacing a patient needs to control height controller triggering microswitch 190 by the position in controller Put and resetted, determine zero point, then carry out height adjusting again, so that accurately positional information is stored in controller.

Then, carry out an assessment to the wrist joint of patient endurance, including the limit range of wrist joint activity with The size of endurance, patient hold grip part 810 on the other hand, and thumb is placed on control button 820, and another arm is placed on arm support On plate, hand holds tool 600, and grip component comes into play, and torque sensor 360, angular transducer 900 pass corresponding information Controller is passed, when wrist activity is to the endurance limit, presses control button 820, controller records current maximum Angle of rotation angle value, while connecting rocker arm drives holding mechanism and wrist to rotate round about, is born when reaching wrist activity During the power limit, then control button 820 is pressed, the current maximum rotation angle value of controller record other direction, this is twice The angular range of record is exactly the critical activity scope of patient.

Above-described embodiment is only presently preferred embodiments of the present invention, is not limited the scope of the invention according to this, therefore：It is all according to The equivalence changes that structure, shape, the principle of the present invention is done, should all be covered by within protection scope of the present invention.

Claims (10)

1. wrist joint device for healing and training, including base, arm support mechanism, holding mechanism, power transmission mechanism, detection machine Structure and control system, the base are provided with left support seat and right support seat, and the power transmission mechanism is installed on right support seat, The holding mechanism is connected to the mechanical output power axis of power transmission mechanism, the left support seat activity by right connection swing arm It is connected with and is connected with the right connection symmetrically arranged left connection swing arm of swing arm, the left connection swing arm with holding mechanism；The arm Support mechanism includes arm supporting plate, and height adjustment device, height adjustment device and hand are provided with below the arm supporting plate Support plate is provided between arm supporting plate, the support plate is fixed on the output shaft of height adjustment device, the arm supporting plate It is divided into the first arm supporting plate and the second arm supporting plate, the first arm supporting plate and the second arm supporting plate are arranged side by side In in support plate；The holding mechanism includes grip component, and the grip component is formed by holding tool and angle regulator, described Angle regulator adjusts the angle for holding tool；The power transmission mechanism is dynamic by load motor, gear reducer and machinery output Power axis forms；The testing agency is included described in the angular transducer for monitoring the left and right connection swing arm rotational angle and monitoring The torque sensor composition of line shaft moment of torsion；The control system includes controller, what controller can be transmitted by testing agency Signal controls the action of load motor.

2. wrist joint device for healing and training according to claim 1, it is characterised in that：The height adjustment device is by driving Dynamic device, guide rail, the sliding block composition slided along guide rail, the guide rail is fixedly connected below base, and the sliding block is connected with support plate, The driving device can drive support plate to be moved axially along the output shaft of driving device.

3. wrist joint device for healing and training according to claim 2, it is characterised in that：The height adjustment device is set There is zero detector, trigger the zero detector when the height adjustment device drops to extreme lower position, described zero Device provides a reset signal to position zero detector in order to control.

4. wrist joint device for healing and training according to claim 1, it is characterised in that：The first arm supporting plate and Second arm supporting plate is respectively arranged with the first sliding bottom and the second sliding bottom, and first sliding bottom and second slide Base is slidably arranged in support plate respectively, and first sliding bottom and the second sliding bottom are respectively arranged with and are determined The first positioner and the second positioner of position on the supporting plate, first sliding bottom and the second sliding bottom are set respectively It is equipped with the first limiting device and the second limiting device for limiting its sliding scale.

5. wrist joint device for healing and training according to claim 4, it is characterised in that：The support plate is set side by side respectively Be equipped with it is multiple with first limiting device and corresponding first dimple of the second limiting device and the second dimple, described the One limiting device and the second limiting device are respectively comprising the first positioning body that can be fastened in the first dimple and the second dimple Be often pressed on the second positioning body, by first positioning body and the second positioning body in the first dimple and the second dimple One compression spring and the second compression spring and the first adjusting knob and the second tune that the first compression spring and the second compression spring decrement can be adjusted respectively Save knob.

6. wrist joint device for healing and training according to claim 1, it is characterised in that：The angle regulator includes Retainer ring and flexible connection and the regulation ring in the retainer ring, the regulation ring is coaxial with the retainer ring and can be around the axis Rotate, the angle regulator also includes positioner, and the positioner, which can position regulation ring, prevents it from rotating.

7. wrist joint device for healing and training according to claim 1, it is characterised in that：The wrist joint rehabilitation training Device is provided with the positioning light-beam transmitter for aiding in the arm support mechanism to carry out height adjusting, the positioning light-beam transmitter The light beam of injection is overlapped with the line shaft axis.

8. wrist joint device for healing and training according to claim 1, it is characterised in that：The power transmission mechanism is set Have to the line shaft rotational angle carry out mechanical position limitation upper limit angle limit assembly and lower limit angle limit assembly, it is described on The spacing scope of limit angle limit component and lower limit angle limit assembly adjusts.

9. wrist joint device for healing and training according to claim 1, it is characterised in that：The regulation ring is provided with quickly Removable component, the tool of holding are mounted on Quick-dismantle component.

10. wrist joint device for healing and training according to claim 1, it is characterised in that：The left support seat is provided with Control button component, the control button component include button.