CN109223447B - Upper limb rehabilitation and activity auxiliary device capable of realizing left-right interchange - Google Patents
Upper limb rehabilitation and activity auxiliary device capable of realizing left-right interchange Download PDFInfo
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- CN109223447B CN109223447B CN201811406185.0A CN201811406185A CN109223447B CN 109223447 B CN109223447 B CN 109223447B CN 201811406185 A CN201811406185 A CN 201811406185A CN 109223447 B CN109223447 B CN 109223447B
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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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0285—Hand
- A61H1/0288—Fingers
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/062—Shoulders
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/065—Hands
- A61H2205/067—Fingers
Abstract
The invention provides an upper limb rehabilitation and activity auxiliary device with left and right interchange, which is characterized by comprising: a movable platform; lifting the upright post; the arc-shaped sliding platform assembly comprises a sliding track base, a sliding end, a sliding track, a sliding block, a telescopic belt, a motor base, a sliding rotary motor, a cantilever motor connecting seat and a cantilever; the upper limb mechanical arm rear arm assembly comprises a rear arm connecting seat, a shoulder rotating motor, a shoulder motor rotating connecting sheet, a shoulder rotating base, a rear arm shell, a shoulder driven belt wheel, a shoulder transmission belt, a shoulder driving belt wheel, a shoulder flexion and extension motor, an excircle gear, an inner circle gear, a rear arm rotating motor, a front arm flexion and extension motor, a front arm driving belt wheel, a front arm transmission belt and a front arm driven belt wheel; and the forearm assembly of the upper limb mechanical arm comprises a forearm connecting disc, a forearm shell, a forearm rotating motor, a straight-tooth conical gear, a rotating copper sleeve, a wrist rotating motor, a straight-tooth cylindrical gear, a wrist curved-unfolding support and a palm part.
Description
Technical Field
The invention relates to a medical rehabilitation training instrument, in particular to an upper limb rehabilitation and activity auxiliary device with left and right interchange.
Background
Paralysis refers to the loss of single or multiple muscle sensation and motor function caused by the damage of human nervous system, and the main causes of the diseases comprise cerebral apoplexy, spinal cord injury and the like. For patients with stroke or upper limb dysfunction, limb training with certain strength is often required, in the aspect of reconstruction of paralyzed limb motor function, rehabilitation of motor function of upper limbs has important influence on daily life of the patients, and rehabilitation of fine motor function of upper limbs requires longer time than coarse movement of lower limbs, and faces greater difficulty.
The upper limb rehabilitation device can replace a large amount of repeated and single medical care work of medical staff to carry out rehabilitation training on a patient, thereby effectively improving the muscular atrophy symptom of the patient and avoiding the permanent loss of the muscle function. But the mode that present upper limbs rehabilitation device exchanged about to the upper limbs is very inconvenient, and the structure is asymmetric, often can produce uncoordinated motion after the hand exchanges about, in addition, and is fixed too much to the restraint of whole upper limbs, has brought the discomfort to patient's rehabilitation training, and is impractical. Therefore, there is an urgent need to develop an upper limb rehabilitation device which can truly realize the function of exchanging left and right hands, improve the comfort and actively assist the training of the patient.
Disclosure of Invention
The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide an upper limb rehabilitation and movement assistance device that is laterally interchangeable.
The invention provides an upper limb rehabilitation and activity auxiliary device with left and right interchange, which is used for helping patients to carry out upper limb rehabilitation training and is characterized by comprising the following components: the movable platform is arranged on the ground and comprises a platform base and four rollers which are arranged at four corners at the bottom of the platform base and used for moving; the lifting upright post is fixedly connected to the middle rear end of the top of the platform base through a screw and used for adjusting the height; the arc-shaped sliding platform assembly is fixed at the top of the lifting upright post through a screw and a connecting plate and comprises an arc-shaped sliding track base, sliding ends which are arranged at two ends of the sliding track base and used for determining the length of the sliding track base, a sliding track arranged in the sliding track base, a sliding block embedded on the sliding track, a telescopic belt which is arranged in the sliding track base and used for assisting the sliding block to slide, a motor base fixed on the sliding block, a sliding rotary motor fixed on the motor base, a cantilever motor connecting seat fixed on the sliding rotary motor through a screw, and a cantilever of which the front end is fixedly connected on the cantilever motor connecting seat through a screw is provided with a hexagon screw; an upper limb mechanical arm rear arm component fixedly connected with a cantilever through a hexagon screw, comprising a rear arm connecting seat, a shoulder rotating motor, a shoulder motor rotating connecting sheet, a shoulder rotating base, a rear arm shell, a shoulder driven belt wheel, a shoulder driving belt wheel, a shoulder buckling motor, an outer circular gear, an inner circular gear, a rear arm rotating motor, a shoulder buckling motor and a cantilever, wherein the top end of the rear arm connecting seat is provided with a hexagon screw hole and is used for being connected with the hexagon screw, the shoulder rotating base is arranged at the bottom end of the rear arm connecting seat and is fixed on the shoulder motor rotating connecting sheet through a screw, the rear arm shell is fixedly connected with the shoulder rotating base and is fixedly connected with the shoulder driven belt wheel, the shoulder buckling motor is connected with the shoulder driving belt wheel and is used for driving the shoulder driving belt wheel to move, the outer circular gear is arranged below the, A front arm bending and stretching motor arranged below the rear arm rotating motor, a front arm driving belt wheel connected with the front arm bending and stretching motor and a front arm driven belt wheel which is connected with the front arm driving belt wheel through a front arm transmission belt and is provided with a connecting hole site; and an upper limb mechanical arm forearm assembly, which comprises a forearm connecting disc, a forearm shell, a forearm rotating motor, a pair of straight-tooth bevel gears, a rotating copper sleeve, a wrist rotating motor, a pair of straight-tooth cylindrical gears, a wrist curved-unfolding support and a palm part, wherein the center of the forearm connecting disc is provided with a hexagon bolt connecting rod to be matched and connected with a connecting hole position in a forearm driven belt pulley, the forearm shell is fixedly connected with the forearm connecting disc, the forearm rotating motor is arranged in the forearm shell, the pair of straight-tooth conical gears are connected with the forearm rotating motor, the rotating copper sleeve is connected with the straight-tooth conical gears, the wrist rotating motor is arranged in the forearm shell, the pair of straight-tooth, wherein, be provided with the palm magic subsides that are used for fixed patient's palm on the palm, be provided with four fingers in the palm front end, the near-end phalanx department and the terminal phalanx department in four fingers all are provided with to point to bind and bring fixed patient's finger.
The upper limb rehabilitation and movement assisting device provided by the invention and capable of interchanging left and right can further have the following characteristics: wherein, the arc platform subassembly that slides carries out the arc through the slider and slides and simulate human left and right shoulder width distance to the difference of the shoulder width distance of according to patient finds the shoulder training position that is fit for the patient.
The upper limb rehabilitation and movement assisting device provided by the invention can be used for assisting upper limb rehabilitation and movement, and has the following characteristics: when the sliding rotating motor acts, the cantilever is driven to rotate by 360 degrees at most along the abduction direction of the upper limb on one side of the current training of the patient around the sliding rotating motor.
The upper limb rehabilitation and movement assisting device provided by the invention and capable of interchanging left and right can further have the following characteristics: wherein, the rear arm shell and the front arm shell are in bilateral symmetry structure.
The upper limb rehabilitation and movement assisting device provided by the invention and capable of interchanging left and right can further have the following characteristics: wherein, the shoulder rotating motor, the shoulder motor rotating connecting sheet and the shoulder rotating base are used for forming a shoulder internal rotation and outward turning mechanism, the shoulder driven belt pulley, the shoulder driving belt pulley and the shoulder flexion and extension motor are used for forming a shoulder internal contraction and outward extension mechanism, the inner circular gear, the outer circular gear and the rear arm rotating motor are used for forming a rear arm internal rotation and outward turning mechanism, the forearm flexion and extension motor, the forearm driving belt pulley and the forearm driven belt pulley are used for forming a forearm flexion and extension mechanism, the forearm rotating motor, the straight bevel gear and the rotating copper sleeve are used for forming a forearm internal rotation and outward turning mechanism, the wrist rotating motor, the straight bevel gear, the wrist flexion and extension support and the palm part are used for forming a palm and wrist flexion and extension mechanism, the shoulder internal rotation and outward turning mechanism, the shoulder internal rotation and outward extension mechanism, the rear arm internal rotation and outward turning mechanism and the forearm, therefore, the center of gravity is located on the symmetrical center, and the forearm internal rotation and external rotation and extension mechanism and the wrist flexion and extension mechanism are symmetrically arranged along the central symmetrical line of the forearm of the upper limb mechanical arm, so that the center of gravity is located on the symmetrical center.
The upper limb rehabilitation and movement assisting device provided by the invention and capable of interchanging left and right can further have the following characteristics: wherein, the sliding rotating motor and the forearm internal rotation and external rotation mechanism are used for mutually matching to finish the exchange of the left hand and the right hand when the rehabilitation training of the patient is finished.
Action and Effect of the invention
According to the upper limb rehabilitation and activity assisting device with left-right interchange, the device is of a left-right symmetrical structure as a whole, so that the left-hand and right-hand interchange can be realized, and the coordination symmetry of the device is kept; because the left and right arc-shaped sliding motion can be carried out on the sliding track by utilizing the sliding block at the bottom of the motor to drive the cantilever to slide, the left and right shoulder width distance of a human body is simulated, the arc-shaped sliding motion can be carried out according to different individual shoulder widths so as to reach a proper shoulder training position, and the device has good applicability; because the sliding rotating motor and the forearm internal rotation and external rotation mechanism are matched with each other to complete the left-hand and right-hand exchange during the rehabilitation training of the patient, the patient can complete the left-hand and right-hand exchange training operation without moving the body and manually moving equipment, and the patient can carry out the rehabilitation training more conveniently and comfortably; the height of the lifting upright post can be adjusted according to the heights of different people, so that the requirements of people with different heights can be met; because the preposed upper limb mechanical arm rear arm assembly and the preposed upper limb mechanical arm rear arm assembly can balance the gravity center with the postpositioned lifting upright post, the forward leaning, the backward leaning and the side turning can not occur when the equipment is moved, and the safety of a patient is ensured; because the palm magic subsides and the finger portion binding bring to bind the hand and pull, so, can realize the end of hand and pull the training, improve the patient to the degree of controllability of self. Therefore, the upper limb rehabilitation and activity assisting device capable of interchanging left and right can interchange left and right hands during rehabilitation training without moving a patient and the device, so that the patient can perform upper limb rehabilitation training more independently and comfortably.
Drawings
Fig. 1 is a schematic structural view of an upper limb rehabilitation and movement assisting device with left and right interchange according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of an arcuate skidding platform assembly in an embodiment of the present invention;
figure 3 is a schematic structural view of a rear arm assembly of an upper limb robotic arm in an embodiment of the invention;
fig. 4 is a schematic structural view of the forearm assembly of the upper limb mechanical arm in an embodiment of the invention.
Detailed Description
In order to make the technical means and functions of the present invention easy to understand, the present invention is specifically described below with reference to the embodiments and the accompanying drawings.
Example (b):
fig. 1 is a schematic structural diagram of an upper limb rehabilitation and activity assisting device with left and right interchange according to an embodiment of the present invention.
As shown in fig. 1, the left-right interchangeable upper limb rehabilitation and mobility assistance device 100 of the present embodiment is used for assisting a patient in upper limb rehabilitation training, and includes a movable platform 10, a lifting column 20, an arc-shaped sliding platform assembly 30, an upper limb mechanical arm rear arm assembly 40, and an upper limb mechanical arm front arm assembly 50.
The movable platform 10, disposed on the ground, includes a platform base and four rollers disposed at four corners of the bottom of the platform base for movement.
And the lifting upright post 20 is fixedly connected to the middle rear end of the top of the platform base through a screw and used for adjusting the height.
FIG. 2 is a schematic structural view of an arcuate skidding platform assembly in an embodiment of the present invention.
As shown in fig. 2, the arc sliding platform assembly 30, fixed to the top of the lifting column 20 by screws and a connecting plate, includes an arc sliding rail base 31, sliding ends 32 disposed at both ends of the sliding rail base 31 for determining the length of the sliding rail base 31, a sliding rail 33 disposed in the sliding rail base 31, a sliding block 34 embedded on the sliding rail 33, an expansion band 35 (only one expansion band is shown in the figure) disposed in the sliding rail base 31 for assisting the sliding block 34 to slide, a motor base 36 fixed on the sliding block 34, a sliding rotation motor 37 fixed on the motor base 36, a cantilever motor connecting base 38 fixed on the sliding rotation motor 37 by screws, and a cantilever 39 provided with a hexagon screw at the front end and fixedly connected on the cantilever motor connecting base 38 by screws.
The arc sliding platform assembly 30 performs arc sliding through the sliding block 34 to simulate the left and right shoulder width distances of a human body, and finds a shoulder training position suitable for a patient according to the difference of the left and right shoulder width distances of the patient.
When the sliding rotation motor 37 is operated, the cantilever 39 is driven to rotate around the sliding rotation motor 37 by up to 360 ° in the extending direction of the upper limb on the current training side of the patient.
Fig. 3 is a schematic structural view of the rear arm assembly of the upper limb mechanical arm in the embodiment of the invention.
As shown in FIG. 3, the upper arm assembly 40 is fixedly connected to the arm 39 by a hexagon screw, and comprises a rear arm connecting seat 41 having a hexagon screw hole at the top end thereof for being engaged with the hexagon screw, a shoulder rotating motor 42 provided at the bottom end of the rear arm connecting seat 41, a shoulder motor rotating connecting piece 43 fixed to the shoulder rotating motor 42 by a screw, a shoulder rotating base 44 fixed to the shoulder motor rotating connecting piece 43 by a screw, a rear arm casing 45 fixedly connected to the shoulder rotating base 44, a shoulder driven pulley 46 provided in the shoulder rotating base 44, a shoulder driving pulley 48 connected to the shoulder driven pulley 46 by a shoulder driving belt 47, a shoulder bending motor 49 connected to the shoulder driving pulley 48 for driving the shoulder driving pulley 48 to move, an outer gear 410 fixed to the rear arm casing 45 and provided below the shoulder bending motor 49, An inner gear 411 arranged inside the outer gear 410, a rear arm rotating motor 412 connected with the inner gear 411, a front arm extending motor 413 arranged below the rear arm rotating motor 412, a front arm driving pulley 414 connected with the front arm extending motor 413, and a front arm driven pulley 416 connected with the front arm driving pulley 414 through a front arm transmission belt 415 and provided with a connecting hole.
Fig. 4 is a schematic structural view of the forearm assembly of the upper limb mechanical arm in an embodiment of the invention.
As shown in fig. 4, the forearm assembly 50 of the upper arm robot includes a forearm connecting plate 52 provided with a hexagonal bolt connecting rod 51 at the center thereof to be fittingly connected to a connecting hole in a forearm driven pulley 416, a forearm housing 53 fixedly connected to the forearm connecting plate 52, a forearm rotating motor 54 provided in the forearm housing 53, a pair of spur bevel gears 55 connected to the forearm rotating motor 54, a rotating copper sleeve 56 connected to the spur bevel gears 55, a wrist rotating motor 57 provided in the forearm housing 53, a pair of spur gears 58 connected to the wrist rotating motor 57, a wrist extending support 59 provided behind the spur gears 58, and a palm portion 510 connected to the wrist extending support 59.
The rear arm shell 45 and the front arm shell 53 are both in a bilateral symmetry structure, and the whole device is in a bilateral symmetry structure.
The shoulder rotating motor 42, the shoulder motor rotating connecting sheet 43 and the shoulder rotating base 44 are used for forming a shoulder internal rotation and external rotation mechanism for the internal rotation and external rotation exercise of the shoulder,
the shoulder driven belt wheel 46, the shoulder transmission belt 47, the shoulder driving belt wheel 48 and the shoulder flexion and extension motor 49 are used for forming a shoulder adduction and abduction mechanism, used for shoulder adduction and abduction exercise,
the inner circular gear 411, the outer circular gear 410 and the rear arm rotating motor 412 are used for forming a rear arm inward-rotation and outward-turning mechanism, are used for inward-rotation and outward-turning exercise of the rear arm,
the forearm flexion and extension motor 413, the forearm driving pulley 414, the forearm transmission belt 415 and the forearm driven pulley 416 are used for forming a forearm flexion and extension mechanism for the flexion and extension exercise of the forearm,
the forearm rotating motor 54, the straight bevel gear 55 and the rotating copper sleeve 56 are used for forming a forearm internal rotation and eversion mechanism for internal rotation and eversion exercise of the forearm,
the wrist rotating motor 57, the spur gear 58, the wrist flexion and extension support 59 and the palm part 510 are used for forming a palm and wrist flexion and extension mechanism, which is used for the flexion and extension exercise of the palm part and the wrist part of the patient,
the shoulder internal rotation and external rotation mechanism, the shoulder internal contraction and external expansion mechanism, the rear arm internal rotation and external rotation mechanism and the front arm flexion and extension mechanism are all symmetrically arranged along the central symmetry line of the upper limb mechanical arm rear arm component 40, so that the center of gravity is positioned on the symmetrical center,
the forearm internal rotation and external rotation and stretching mechanism and the wrist flexion and stretching mechanism are symmetrically arranged along the central symmetry line of the forearm assembly 50 of the upper limb mechanical arm, so that the center of gravity falls on the symmetrical center.
The sliding rotary motor 37 and the forearm internal rotation and external rotation mechanism are used for mutually matching to complete the exchange of the left hand and the right hand of the patient during rehabilitation training.
The left-right interchange upper limb rehabilitation and activity assisting device of the embodiment has the working process that:
firstly, a patient leans against the arc sliding platform assembly 30, the arc sliding platform assembly 30 is adjusted to the shoulder position of the patient by adjusting the height of the lifting upright post 20, then, arc sliding is carried out through the slide block 34, the shoulder training position suitable for the patient is found according to the width distance of the left shoulder and the right shoulder of the patient, after the suitable training position is found, one hand of the patient is fixed on the whole forelimb mechanical arm through the magic tape 511 of the palm part and the finger binding tapes on the four fingers 512, after the fixing, the shoulder internal rotation and outward turning exercise is carried out through the shoulder internal rotation and outward turning mechanism, the rear arm internal rotation and outward turning exercise is carried out through the rear arm internal rotation and outward turning mechanism, the forearm flexion and extension exercise is carried out through the forearm flexion and extension mechanism, the forearm internal rotation and outward turning exercise is carried out through the forearm internal rotation, the flexion and extension exercises of the palm part and the wrist part are carried out through the palm and wrist part flexion and extension mechanism, after the arm rehabilitation training is finished, the patient is kept still, the sliding rotary motor 37 rotates the whole forelimb mechanical arm along the extending direction of the upper limb at one side of the current training of the patient, when the whole forelimb mechanical arm rotates to the back of the patient, the whole forelimb mechanical arm moves at the back of the patient through the slide block 34, after moving to the other side of the patient's shoulder, the whole forelimb mechanical arm is rotated by the sliding rotation motor 37, so that the whole forelimb mechanical arm is rotated to one side of the other hand, then the part above the rotary copper sleeve 56 is rotated for 180 degrees through a forearm internal rotation and external rotation mechanism, therefore, the left-right exchange of the whole forelimb mechanical arm is completed, and then the hand at the other side of the patient is fixed on the whole forelimb mechanical arm, so that the rehabilitation training of the other hand can be carried out.
Effects and effects of the embodiments
According to the upper limb rehabilitation and movement assisting device with left-right interchange according to the embodiment, because the whole device has a left-right symmetrical structure, the left-hand and right-hand interchange can be realized, and the coordination symmetry of the device can be kept; because the left and right arc-shaped sliding motion can be carried out on the sliding track by utilizing the sliding block at the bottom of the motor to drive the cantilever to slide, the left and right shoulder width distance of a human body is simulated, the arc-shaped sliding motion can be carried out according to different individual shoulder widths so as to reach a proper shoulder training position, and the device has good applicability; because the sliding rotating motor and the forearm internal rotation and external rotation mechanism are matched with each other to complete the left-hand and right-hand exchange during the rehabilitation training of the patient, the patient can complete the left-hand and right-hand exchange training operation without moving the body and manually moving equipment, and the patient can carry out the rehabilitation training more conveniently and comfortably; the height of the lifting upright post can be adjusted according to the heights of different people, so that the requirements of people with different heights can be met; because the preposed upper limb mechanical arm rear arm assembly and the preposed upper limb mechanical arm rear arm assembly can balance the gravity center with the postpositioned lifting upright post, the forward leaning, the backward leaning and the side turning can not occur when the equipment is moved, and the safety of a patient is ensured; because the palm magic subsides and the finger portion binding bring to bind the hand and pull, so, can realize the end of hand and pull the training, improve the patient to the degree of controllability of self. Therefore, the upper limb rehabilitation and activity assisting device with left-right interchange of the embodiment can complete interchange of left and right hands during rehabilitation training without moving a patient and the device, so that the patient can perform upper limb rehabilitation training more independently and comfortably.
The above embodiments are preferred examples of the present invention, and are not intended to limit the scope of the present invention.
Claims (6)
1. A left-right interchangeable upper limb rehabilitation and activity assisting device for assisting a patient in upper limb rehabilitation training, comprising:
the movable platform is arranged on the ground and comprises a platform base and four rollers which are arranged at four corners of the bottom of the platform base and used for moving;
the lifting upright post is fixedly connected to the middle rear end of the top of the platform base through a screw and used for adjusting the height;
the arc-shaped sliding platform assembly is fixed at the top of the lifting upright through a screw and a connecting plate and comprises an arc-shaped sliding track base, sliding ends, sliding tracks, sliding blocks, telescopic belts, a motor base, a sliding rotary motor, a cantilever motor connecting seat and a cantilever, wherein the sliding ends are arranged at the two ends of the sliding track base and used for determining the length of the sliding track base;
the upper limb mechanical arm rear arm component is fixedly connected with the cantilever through the hexagon screw, and comprises a rear arm connecting seat, a shoulder rotating motor, a shoulder motor rotating connecting piece, a shoulder rotating base, a rear arm shell, a shoulder driven pulley, a shoulder driving pulley, a shoulder flexion and extension motor, an outer circle gear, a shoulder flexion and extension motor, a shoulder rotating base and a cantilever connecting base, wherein the top end of the rear arm connecting seat is provided with a hexagon screw hole and is used for being connected with the hexagon screw in a matched mode, the shoulder rotating motor is arranged at the bottom end of the rear arm connecting seat, the shoulder motor rotating connecting piece is fixed on the shoulder rotating motor through a screw, the shoulder rotating base is fixed on the shoulder motor rotating connecting piece through a screw, the rear arm shell is fixedly connected with the shoulder rotating base, the shoulder driven pulley is arranged in the shoulder rotating base, the shoulder driving, The inner circular gear is arranged on the inner side of the outer circular gear, the rear arm rotating motor is connected with the inner circular gear, the front arm bending and stretching motor is arranged below the rear arm rotating motor, the front arm driving belt wheel is connected with the front arm bending and stretching motor, and the front arm driven belt wheel is connected with the front arm driving belt wheel through a front arm transmission belt and is provided with a connecting hole site; and
an upper limb mechanical arm forearm component which comprises a forearm connecting disc, a forearm shell, a forearm rotating motor, a pair of straight-tooth conical gears, a rotating copper sleeve, a wrist rotating motor, a pair of straight-tooth cylindrical gears, a wrist curved-unfolding support and a palm part, wherein the center of the forearm connecting disc is provided with a hexagon bolt connecting rod to be connected with the connecting hole site in a forearm driven belt pulley, the forearm shell is fixedly connected with the forearm connecting disc, the forearm rotating motor is arranged in the forearm shell, the straight-tooth conical gears are connected with the forearm rotating motor, the rotating copper sleeve is connected with the straight-tooth conical gears, the wrist rotating motor is arranged in the forearm shell, the straight-tooth cylindrical gears are connected with the wrist rotating motor, the wrist curved-,
wherein, the palm part is provided with a palm part magic tape used for fixing the palm of the patient,
be provided with four fingers in the palm portion front end, the near-end phalanx department and the terminal phalanx department in four fingers all are provided with the finger and bind and bring fixed patient's finger.
2. The device for assisting rehabilitation and movement of upper limbs interchanged left and right according to claim 1, wherein:
the arc-shaped sliding platform assembly simulates the width distance of the left shoulder and the right shoulder of a human body by arc-shaped sliding of the sliding block, and finds the shoulder training position suitable for a patient according to the difference of the width distance of the left shoulder and the right shoulder of the patient.
3. The device for assisting rehabilitation and movement of upper limbs interchanged left and right according to claim 1, wherein:
when the sliding rotary motor acts, the cantilever is driven to rotate by 360 degrees at most along the abduction direction of the upper limb on one side of the current training of the patient around the sliding rotary motor.
4. The device for assisting rehabilitation and movement of upper limbs interchanged left and right according to claim 1, wherein:
wherein, the rear arm shell and the front arm shell are in bilateral symmetry structure.
5. The device for assisting rehabilitation and movement of upper limbs interchanged left and right according to claim 1, wherein:
wherein the shoulder rotating motor, the shoulder motor rotating connecting sheet and the shoulder rotating base are used for forming a shoulder inward-rotation and outward-rotation mechanism,
the shoulder driven belt wheel, the shoulder transmission belt, the shoulder driving belt wheel and the shoulder flexion and extension motor are used for forming a shoulder internal contraction and external extension mechanism,
the inner circular gear, the outer circular gear and the rear arm rotating motor are used for forming a rear arm inward-rotation and outward-turning mechanism,
the forearm flexion and extension motor, the forearm driving belt wheel, the forearm transmission belt and the forearm driven belt wheel are used for forming a forearm flexion and extension mechanism,
the forearm rotating motor, the straight bevel gear and the rotating copper sleeve are used for forming a forearm internal rotation and external rotation mechanism,
the wrist rotating motor, the straight spur gear, the wrist bending and stretching support and the palm part are used for forming a palm and wrist bending and stretching mechanism,
the shoulder internal rotation and external rotation mechanism, the shoulder internal contraction and external expansion mechanism, the rear arm internal rotation and external rotation mechanism and the forearm flexion and extension mechanism are all symmetrically arranged along the central symmetry line of the rear arm of the upper limb mechanical arm, so that the center of gravity is positioned on the symmetry center,
the forearm internal rotation and external rotation and stretching mechanism and the wrist flexion and stretching mechanism are symmetrically arranged along the central symmetry line of the forearm of the upper limb mechanical arm, so that the center of gravity is positioned on the symmetric center.
6. The device for assisting rehabilitation and movement of upper limbs interchanged left and right according to claim 1, wherein:
wherein, the sliding rotary motor and the forearm internal rotation and external rotation mechanism are used for mutually matching to complete the exchange of the left hand and the right hand during the rehabilitation training of the patient.
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| CN109620647B (en) * | 2019-02-01 | 2021-03-26 | 苏州好博医疗器械有限公司 | Line drive upper limbs rehabilitation training arm |
| CN110393655A (en) * | 2019-09-03 | 2019-11-01 | 南京工业大学 | A kind of wearable upper limb rehabilitation robot that motor is mixed with pneumatic muscles |
| CN110538015B (en) * | 2019-09-06 | 2021-07-02 | 山东科技大学 | Mechanical artificial limb arm |
| CN113876544A (en) * | 2021-09-23 | 2022-01-04 | 北京邮电大学 | Dual-mode driven seven-degree-of-freedom upper limb rehabilitation mechanical arm |
| CN114272077A (en) * | 2021-12-10 | 2022-04-05 | 宁波慈溪生物医学工程研究所 | Double-arm training robot and double-arm training method |
| CN114699283A (en) * | 2022-04-15 | 2022-07-05 | 上海理工大学 | Desktop type three-degree-of-freedom wrist joint rehabilitation training robot |
| CN116492202B (en) * | 2023-06-21 | 2023-10-03 | 山东泽普医疗科技有限公司 | Three-dimensional upper limb rehabilitation training instrument |
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