CN110974628A - Upper limb rehabilitation training device - Google Patents
Upper limb rehabilitation training device Download PDFInfo
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- CN110974628A CN110974628A CN201911426204.0A CN201911426204A CN110974628A CN 110974628 A CN110974628 A CN 110974628A CN 201911426204 A CN201911426204 A CN 201911426204A CN 110974628 A CN110974628 A CN 110974628A
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 45
- 239000003638 chemical reducing agent Substances 0.000 claims description 20
- 230000003993 interaction Effects 0.000 claims description 11
- 230000033001 locomotion Effects 0.000 claims description 9
- 210000003141 lower extremity Anatomy 0.000 claims 3
- 230000009467 reduction Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 210000000707 wrist Anatomy 0.000 description 4
- 210000004247 hand Anatomy 0.000 description 3
- 230000001681 protective effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 239000004744 fabric Substances 0.000 description 2
- 208000021421 Arm injury Diseases 0.000 description 1
- 208000011092 Hand injury Diseases 0.000 description 1
- 206010061296 Motor dysfunction Diseases 0.000 description 1
- 208000012902 Nervous system disease Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 208000030886 Traumatic Brain injury Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009529 traumatic brain injury Effects 0.000 description 1
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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
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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
- 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
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to an upper limb rehabilitation training device, which comprises a cabinet body, wherein the top end of the cabinet body is rotatably connected with a support, the support can rotate in a horizontal plane, a first driving part is fixed on the support and connected with a shoulder assembly, the shoulder assembly comprises a first shoulder plate and a second shoulder plate, the first shoulder plate and the second shoulder plate respectively comprise a first shoulder plate part and a second shoulder plate part, the first shoulder plate part of the first shoulder plate is connected with the first driving part, the second shoulder plate part of the first shoulder plate is provided with a second driving part with an axis vertical to the second shoulder plate part, the second driving part is connected with the first shoulder plate part of the second shoulder plate, the second shoulder plate part of the second shoulder plate is connected with an arm assembly, the arm assembly comprises an upper arm assembly and a lower arm assembly, one end of the upper arm assembly is connected with the second shoulder plate part of the second shoulder plate through a third driving part, the other end of the upper arm assembly is connected with one end of the lower arm assembly through a fourth driving part, the rehabilitation training device is high in flexibility and applicability.
Description
Technical Field
The invention relates to the technical field of rehabilitation instruments, in particular to an upper limb rehabilitation training device.
Background
The exoskeleton upper limb rehabilitation training robot is specially designed for patients with stroke, traumatic brain injury and hand and arm injury after neurological disorder. The utility model provides an intelligence upper limbs support function on a large scale in three-dimensional space, even the early patient of the serious damage of upper limbs function also can utilize it to carry out a large amount of repeated functional training, and this is crucial to the action function of relearning, simultaneously, uses treatment and the efficiency that effectively promotes the patient, reduces therapist's physical power by a wide margin for rehabilitation therapist can concentrate on guide patient's treatment with whole energy, attends to many patients simultaneously, improves manpower resources's utilization efficiency greatly.
The upper limb rehabilitation training device which is designed and developed at home and abroad at present has a plurality of defects. The inventor finds that the existing training device is single in function, large in size and low in freedom degree of movement, and one piece of equipment cannot meet the rehabilitation requirement of patients with the motion function of the left arm or the right arm.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an upper limb rehabilitation training device which has more freedom of movement, can meet the rehabilitation requirements of a left arm and a slave arm simultaneously by the same equipment and has strong applicability.
In order to achieve the purpose, the invention adopts the following technical scheme:
an upper limb rehabilitation training device comprises a cabinet body, wherein the top end of the cabinet body is rotatably connected with a support, the support can rotate around a vertical axis, the support is fixed with a first driving piece, the first driving piece is connected with a shoulder assembly and can drive the shoulder assembly to rotate around a horizontal axis, the shoulder assembly comprises a first shoulder plate and a second shoulder plate, the first shoulder plate and the second shoulder plate respectively comprise a first shoulder plate part and a second shoulder plate part which are arranged in an L shape, the first shoulder plate part of the first shoulder plate is connected with the first driving piece, the second shoulder plate part of the first shoulder plate is provided with a second driving piece, the axis of the second driving piece is perpendicular to the second shoulder plate part, the second driving piece is connected with the first shoulder plate part of the second shoulder plate, the second shoulder plate part of the second shoulder plate is connected with an upper arm assembly, the arm assembly comprises an upper arm assembly and a lower arm assembly, one end of the upper arm assembly is connected with the second shoulder plate part of the second shoulder plate, the other end is connected with one end of the lower arm assembly through a fourth driving piece, and the other end of the lower arm assembly is connected with a hand assembly.
Further, be fixed with first stopper on the support, be fixed with the second stopper on the first shoulder board portion of first shoulder board, the first shoulder board portion of first shoulder board can rotate under the drive of first driving piece, and first stopper and second stopper can contact, carry on spacingly to the turned angle of first shoulder board.
Furthermore, be provided with first photoelectric switch on the first stopper, be provided with on the second stopper with photoelectric switch assorted first baffle, light that first photoelectric switch sent can be sheltered from to first baffle.
Further, be provided with the third stopper on the second shoulder board portion of first shoulder board, be provided with the fourth stopper on the first shoulder board portion of second shoulder board, the first shoulder board portion of second shoulder board can rotate under the drive of second driving piece, and the third stopper can contact with the fourth stopper, carries on spacingly to the turned angle of the second shoulder board portion of second shoulder board.
Furthermore, a second photoelectric switch is arranged on the third limiting block, a second baffle matched with the second photoelectric switch is arranged on the fourth limiting block, and the second baffle can shield light rays emitted by the second photoelectric switch.
Furthermore, the upper arm assembly comprises an upper arm supporting plate, a third driving piece and a fourth driving piece are respectively fixed at two ends of the upper arm supporting plate, the third driving piece is connected with a second shoulder plate of the second shoulder plate, the fourth driving piece is connected with the lower arm assembly, and an arc-shaped upper arm supporting plate is further fixed on the upper arm supporting plate and used for supporting the upper arm.
Further, the two ends of the upper arm supporting plate are respectively provided with a fifth limiting block and a sixth limiting block, the second shoulder plate portion of the second shoulder plate is provided with a seventh limiting block, the lower arm assembly is provided with an eighth limiting block, the fifth limiting block can be in contact with the seventh limiting block to limit the rotation angle between the upper arm assembly and the second shoulder plate, and the sixth limiting block can be in contact with the eighth limiting block to limit the rotation angle between the upper arm assembly and the lower arm assembly.
Furthermore, a third photoelectric switch and a fourth photoelectric switch are respectively arranged on the fifth limiting block and the sixth limiting block, and a third baffle and a fourth baffle which are matched with the third photoelectric switch and the fourth photoelectric switch are respectively arranged on the seventh limiting block and the eighth limiting block.
Further, underarm assembly includes the underarm backup pad that one end and fourth drive part are connected, be fixed with curved underarm layer board in the underarm backup pad for hold underarm, the other end and the hand assembly of underarm backup pad are connected.
Further, the hand assembly includes the connecting plate, the connecting plate is including being first connecting portion and the second connecting portion of L type distribution, first connecting portion and underarm assembly fixed connection are provided with the fifth driving piece on the second connecting portion, and the fifth driving piece is connected with the support body, can drive the support body and rotate around the first axis of perpendicular to second connecting portion, be provided with the sixth driving piece on the support body, the sixth driving piece is connected with the hand bracket, can drive the rotation of hand bracket around the second axis with first axis vertically, the hand bracket is used for supporting hand.
Further, the cabinet body is fixed on the bottom support through the pillar, a plurality of universal wheels are installed to the bottom support, make things convenient for whole upper limbs rehabilitation training device's removal.
Further, the cabinet body still installs the human-computer interaction screen, the human-computer interaction screen is connected with the control system who is located the cabinet internal, can send the instruction to control system through the human-computer interaction screen, control system is connected with first driving piece, second driving piece, third driving piece, fourth driving piece, fifth driving piece and sixth driving piece, controls its work.
Furthermore, the first driving part, the second driving part, the third driving part and the fourth driving part all adopt disc type brushless servo motors, and the disc type brushless servo motors are connected with the harmonic speed reducer.
The invention has the beneficial effects that:
1. according to the upper limb rehabilitation training device, the bracket is rotatably connected with the cabinet body, and the first shoulder plate and the second shoulder plate can rotate relatively, so that the same training device can meet the training requirements of the left arm and the right arm at the same time, the universality of the left arm and the right arm is realized, the applicability of the training device is high, and the equipment purchase and maintenance cost is reduced.
2. The upper limb rehabilitation training device provided by the invention is provided with six driving pieces, can realize six-degree-of-freedom movement, has high flexibility, can complete complex actions, and can provide more scientific and professional rehabilitation training for patients with motor dysfunction.
3. According to the upper limb rehabilitation training device, the first driving piece, the second driving piece, the third driving piece and the fourth driving piece adopt the disc type brushless servo motor and the harmonic reducer, so that the volumes of the motor and the reducer can be effectively reduced, and the occupied space of the whole training device is reduced.
4. According to the upper limb rehabilitation training device, the photoelectric switch and the baffle are mounted on the limiting block, double protection of physical limiting and electrical limiting is adopted, safety is good, and secondary injury to a patient due to over-rotation is prevented.
5. The upper limb rehabilitation training device provided by the invention is provided with the universal wheels, has good mobility, can be moved to the side of a patient at any time when the patient is inconvenient to move, and is convenient for a rehabilitation center to use.
6. The upper limb rehabilitation training device provided by the invention considers the necessity of rehabilitation training of the hands of a patient, is provided with the fifth driving element and the sixth driving element, can realize pronation and supination of the lower arm and flexion and extension of the wrist, and overcomes the problem of insufficient rehabilitation of the lower arm and the wrist of the existing equipment.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a first schematic view of the overall structure of embodiment 1 of the present invention;
FIG. 2 is a schematic diagram of the overall structure of embodiment 1 of the present invention;
FIG. 3 is a schematic view of a stent structure according to example 1 of the present invention;
FIG. 4 is a schematic view of a shoulder assembly according to embodiment 1 of the present invention;
FIG. 5 is a schematic structural view of an upper arm assembly according to embodiment 1 of the present invention;
FIG. 6 is a schematic view of the assembly of the lower arm assembly and the hand assembly according to embodiment 1 of the present invention;
FIG. 7 is a schematic view of the freedom of movement of the hand assembly in operation according to embodiment 1 of the present invention;
wherein, 1, a cabinet body, 2, a support, 3, a bottom bracket, 4, a universal wheel, 5, a support rod, 6, a rotary bearing, 7, a fixing plate, 8, a first disc type brushless servo motor, 9, a first harmonic reducer, 10, a first limit block, 11, a first photoelectric switch, 12, a first shoulder plate part I, 13, a second shoulder plate part I, 14, a first shoulder plate part II, 15, a second shoulder plate part II, 16, a second limit block, 17, a first baffle, 18, a second disc type brushless servo motor, 19, a second harmonic reducer, 20, a third limit block, 21, a second photoelectric switch, 22, a sixth limit block, 23, a third baffle, 24, an upper arm support plate, 25, a third disc type brushless servo motor, 26, a third harmonic reducer, 27, a fifth limit block, 28, a third photoelectric switch, 29, an upper arm support plate, 30, a fourth disc type brushless servo motor, 31. the fourth harmonic reducer comprises a fourth harmonic reducer, 32, a seventh limiting block, 33, a fourth photoelectric switch, 35, an eighth limiting block, 36, a fourth baffle, 37, a connecting plate, 38, a fifth disc type brushless servo motor, 39, a first bevel gear transmission mechanism, 40, a frame body, 41, a hand bracket, 42, a sixth disc type brushless servo motor, 43, a second bevel gear transmission mechanism, 44, a lower arm supporting plate, 45, a protective shell, 46, an adjustable support, 47, a man-machine interaction screen, 48, a starting button and 49, and a closing button.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
For convenience of description, the words "up", "down", "left" and "right" in the present invention, if any, merely indicate correspondence with up, down, left and right directions of the drawings themselves, and do not limit the structure, but merely facilitate the description of the invention and simplify the description, rather than indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention.
Just as the introduction of background art, the recovered training device of upper limbs of present can't satisfy the recovered demand of left arm and right arm simultaneously to one equipment, and bulky, the activity degree of freedom is few, and to above-mentioned problem, this application has proposed an upper limbs recovered training device.
In a typical embodiment example 1 of this application, as shown in fig. 1-6, an upper limbs rehabilitation training device, including the cabinet body 1, the cabinet body passes through flange fixed connection with the top of pillar 2, flange and 3 fixed connection of bottom support are passed through to the bottom of pillar, the bottom support adopts "worker" style of calligraphy board, four universal wheels 4 are installed to the bottom surface of bottom support, improve whole upper limbs rehabilitation training device's mobility.
The utility model discloses a cabinet body, including the cabinet body, the cabinet body is connected with the support through slew bearing 6 rotation, and the support is connected with the support through slew bearing 6 rotation, and slew bearing's the vertical setting of axis, support can rotate around vertical axis, and the support can free rotation in the horizontal plane, the support includes branch 5 of L type, branch one end is passed through slew bearing and is connected with the cabinet body rotation, and the other end is fixed with fixed plate 7, the upper portion fixed connection of branch and fixed plate.
First driving piece is installed to the lower part of fixed plate, first driving piece includes first dish brushless servo motor 8, first dish brushless servo motor is connected with first harmonic reduction gear 9, first harmonic reduction gear is fixed on the fixed plate, the output shaft and the shoulder assembly of first harmonic reduction gear are connected, the axis level setting of first dish brushless servo motor and harmonic first harmonic reduction gear, first driving piece can drive the shoulder assembly and rotate around horizontal axis.
The shoulder assembly includes first shoulder board and second shoulder board, first shoulder board and second shoulder board are the L type, and first shoulder board includes first shoulder board I12 and second shoulder board I13, the second shoulder board includes first shoulder board II 14 and second shoulder board II 15.
First shoulder board I is connected with the output shaft of first harmonic reduction gear, be fixed with first stopper 10 on the fixed plate, be fixed with second stopper 16 on the first shoulder board I, first driving piece can drive first shoulder board I and rotate, rotates to setting for the angle after, first stopper can contact with the second stopper, and it is spacing to carry out physics to the turned angle of first shoulder board I.
Be provided with first photoelectric switch 11 on the first stopper, be provided with on the second stopper with first photoelectric switch assorted first baffle 17, first stopper and second stopper contact back, first baffle can shelter from the light that photoelectric switch sent to control system signals, control system control first dish brushless servo motor stall carries out electrical spacing.
And the safety is ensured by adopting physical limit and electrical limit.
And a second driving piece is fixed on the second shoulder plate part I and comprises a second disc type brushless servo motor 18, the second disc type brushless servo motor is connected with a second harmonic reducer 19, the second harmonic reducer is installed on the second shoulder plate part I, and the axes of the second disc type brushless servo motor and the second harmonic reducer are perpendicular to the second shoulder plate part I.
The output shaft of second harmonic speed reducer ware and II fixed connection of first shoulder board portion can drive the rotation of first shoulder board portion II, be provided with third stopper 20 on the second shoulder board portion I, second photoelectric switch 21 is installed at the both ends of third stopper, be provided with the fourth stopper on the first shoulder board portion II, be provided with on the fourth stopper with second photoelectric switch assorted second baffle, can carry out physics spacing and electrical spacing to the turned angle of second shoulder board portion I and first shoulder board portion II.
The second shoulder plate part II is connected with an arm assembly, and the arm assembly comprises an upper arm assembly and a lower arm assembly.
The upper arm assembly comprises an upper arm supporting plate 24, a third driving part and a fourth driving part are respectively fixed at two ends of the upper arm supporting plate, the axes of the third driving part and the fourth driving part are both vertical to the upper arm supporting plate, the third driving member includes a third disc brushless servo motor 25 and a third harmonic reducer 26, the third harmonic reducer is fixed on the upper arm support plate, an output shaft of the third harmonic reducer is fixedly connected with the second shoulder plate part II, a fifth limiting block 27 is arranged at the end part of the upper arm supporting plate, a sixth limiting block 22 is arranged on the second shoulder plate part II, a third photoelectric switch 28 is arranged at the end part of the fifth limiting block, the end part of the sixth limiting block is provided with a third baffle 23 matched with the third photoelectric switch, and physical and electrical dual limiting can be performed on the relative rotation angle of the upper arm supporting plate and the second shoulder plate part II.
An upper arm supporting plate 29 is fixed in the middle of the upper arm supporting plate, is an arc-shaped plate and can support the upper arm of a patient.
The fourth driving member includes a fourth disk brushless servo motor 30 and a fourth harmonic reducer 31, and the fourth harmonic reducer is fixed to the upper arm support plate.
Underarm assembly includes underarm backup pad 34, underarm backup pad one end and fourth harmonic speed reducer's output shaft fixed connection, the tip of upper arm backup pad is provided with seventh stopper 32, be provided with eighth stopper 35 in the underarm backup pad, install fourth photoelectric switch 33 on the seventh stopper, be provided with on the eighth stopper with fourth photoelectric switch assorted fourth baffle 36, can carry out physics and electrical dual spacing to the relative rotation of underarm backup pad and upper arm backup pad. An arc-shaped lower arm support plate 44 is fixed to the lower arm support plate for supporting the lower arm of the patient.
The lower arm supporting plate is connected with a hand assembly, the hand assembly comprises an L-shaped connecting plate 37, the connecting plate comprises a first connecting part and a second connecting part which are perpendicular to each other, the first connecting part is fixedly connected with the lower arm supporting plate, a fifth driving part is fixed on the bottom surface of the second connecting part, the fifth driving part comprises a fifth disc type brushless servo motor 38, the fifth disc type brushless servo motor is connected with a frame body 40 through a first bevel gear transmission mechanism 39, the fifth disc type brushless servo motor can drive the frame body to rotate around a first axis which is perpendicular to the second connecting part, the frame body is rotatably connected with a hand bracket 41, the hand bracket is connected with a sixth driving part fixed on the frame body, the sixth driving part comprises a sixth disc type brushless servo motor 42 fixed on the frame body, and the sixth disc type brushless servo motor is connected with the hand bracket through a second bevel gear transmission mechanism 43, the hand bracket can be driven to rotate around a second axis vertical to the first axis. The hand bracket comprises a bottom plate and a plurality of U-shaped plates fixed on the bottom plate, and the hands of the patient are placed in the space between the bottom plate and the U-shaped plates and used for supporting the hands of the patient.
As shown in fig. 7, the fifth disc type brushless servo motor can realize the pronation and supination movements of the lower arm, and the sixth disc type brushless servo motor can realize the movements of bending and extending the wrist, thereby overcoming the problem of insufficient rehabilitation of the lower arm and the wrist of the existing upper limb rehabilitation training device.
The intelligent cabinet is characterized in that a control system is installed in the cabinet body, the control system is connected with the first driving piece, the second driving piece, the third driving piece, the fourth driving piece, the fifth driving piece and the sixth driving piece and can control the work of the control system, and the first photoelectric switch, the second photoelectric switch, the third photoelectric switch and the fourth photoelectric switch are connected with the control system and can send signals to the control system.
The top tank wall of the cabinet body is connected with a human-computer interaction screen 47 through an adjustable support 46, the human-computer interaction screen is connected with a control system, an operator can send an instruction to the control system through the human-computer interaction screen, the adjustable support adopts the existing structure and comprises a plurality of adjusting rods, the adjacent adjusting rods are rotatably connected, and the position of the human-computer interaction screen can be adjusted.
The cabinet body is also provided with a power supply for supplying power to related elements.
The top box wall of the cabinet body is also provided with a starting button 48 and a closing button 49 for starting and closing the whole upper limb rehabilitation training device.
When the upper limbs rehabilitation training device of this embodiment used, the patient backed the cabinet body, passed through the cloth tape ligature with the upper arm of patient's arm on the upper arm layer board, and the lower arm passes through the cloth tape ligature on the lower arm layer board, expandes the hand again and fixes on the hand layer board, and six driving piece work of control system control drive patient's arm motion carries out the rehabilitation training.
The upper limbs rehabilitation training device of this embodiment can satisfy the training demand of left arm or right arm simultaneously, only need with the support rotation 180, utilize the second driving piece to drive the second shoulder board rotation 180 can, the suitability is strong.
In this embodiment, adopt disk brushless servo motor and harmonic speed reducer ware, occupation of land space is little, and has the universal wheel, conveniently removes, when the inconvenient removal of patient, can remove the rehabilitation training device to patient's side at any time and use, compound rehabilitation center's user demand.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (10)
1. An upper limb rehabilitation training device is characterized by comprising a cabinet body, wherein the top end of the cabinet body is rotatably connected with a support, the support can rotate around a vertical axis, the support is fixed with a first driving piece, the first driving piece is connected with a shoulder assembly and can drive the shoulder assembly to rotate around a horizontal axis, the shoulder assembly comprises a first shoulder board and a second shoulder board, the first shoulder board and the second shoulder board respectively comprise a first shoulder board part and a second shoulder board part which are arranged in an L shape, the first shoulder board part of the first shoulder board is connected with the first driving piece, the second shoulder board part of the first shoulder board is provided with a second driving piece, the axis of the second driving piece is perpendicular to the second shoulder board part, the second driving piece is connected with the first shoulder board part of the second shoulder board, the second shoulder board part of the second shoulder board is connected with an arm assembly, the arm assembly comprises an upper arm assembly and a lower arm assembly, one end of the upper arm assembly is connected with the second shoulder board part of the second shoulder board through a, the other end is connected with one end of the lower arm assembly through a fourth driving piece, and the other end of the lower arm assembly is connected with a hand assembly.
2. The upper limb rehabilitation training device of claim 1, wherein a first limit block is fixed on the bracket, a second limit block is fixed on the first shoulder plate part of the first shoulder plate, the first shoulder plate part of the first shoulder plate can be driven by the first driving member to rotate, and the first limit block and the second limit block can be contacted to limit the rotating angle of the first shoulder plate;
furthermore, be provided with first photoelectric switch on the first stopper, be provided with on the second stopper with photoelectric switch assorted first baffle, light that first photoelectric switch sent can be sheltered from to first baffle.
3. The upper limb rehabilitation training device of claim 1, wherein a third limiting block is disposed on the second shoulder plate portion of the first shoulder plate, a fourth limiting block is disposed on the first shoulder plate portion of the second shoulder plate, the first shoulder plate portion of the second shoulder plate can be driven by the second driving member to rotate, and the third limiting block can contact with the fourth limiting block to limit the rotation angle of the second shoulder plate portion of the second shoulder plate;
furthermore, a second photoelectric switch is arranged on the third limiting block, a second baffle matched with the second photoelectric switch is arranged on the fourth limiting block, and the second baffle can shield light rays emitted by the second photoelectric switch.
4. The upper limb rehabilitation training device of claim 1, wherein the upper limb assembly comprises an upper limb support plate, a third driving member and a fourth driving member are respectively fixed at two ends of the upper limb support plate, the third driving member is connected with the second shoulder plate portion of the second shoulder plate, the fourth driving member is connected with the lower limb assembly, and an arc-shaped upper limb arc plate for supporting the upper limb is further fixed on the upper limb support plate.
5. The upper limb rehabilitation training device of claim 4, wherein a fifth limiting block and a sixth limiting block are respectively arranged at two ends of the upper limb supporting plate, a seventh limiting block is arranged at the second shoulder plate part of the second shoulder plate, an eighth limiting block is arranged on the lower limb assembly, the fifth limiting block can be in contact with the seventh limiting block to limit the rotation angle between the upper limb assembly and the second shoulder plate, and the sixth limiting block can be in contact with the eighth limiting block to limit the rotation angle between the upper limb assembly and the lower limb assembly;
furthermore, a third photoelectric switch and a fourth photoelectric switch are respectively arranged on the fifth limiting block and the sixth limiting block, and a third baffle and a fourth baffle which are matched with the third photoelectric switch and the fourth photoelectric switch are respectively arranged on the seventh limiting block and the eighth limiting block.
6. The upper limb rehabilitation training device of claim 1, wherein the lower arm assembly comprises a lower arm support plate connected with the fourth driving member at one end, an arc-shaped lower arm support plate is fixed on the lower arm support plate and used for supporting the lower arm, and the other end of the lower arm support plate is connected with the hand assembly.
7. The upper limb rehabilitation training device of claim 1, wherein the hand assembly comprises a connecting plate, the connecting plate comprises a first connecting portion and a second connecting portion which are distributed in an L shape, the first connecting portion is fixedly connected with the lower arm assembly, a fifth driving member is arranged on the second connecting portion, the fifth driving member is connected with the frame body and can drive the frame body to rotate around a first axis perpendicular to the second connecting portion, a sixth driving member is arranged on the frame body and is connected with the hand bracket and can drive the hand bracket to rotate around a second axis perpendicular to the first axis, and the hand bracket is used for supporting the hand.
8. The upper limb rehabilitation training device of claim 1, wherein the cabinet body is fixed on a bottom bracket through a pillar, and the bottom bracket is provided with a plurality of universal wheels to facilitate the movement of the whole upper limb rehabilitation training device.
9. The upper limb rehabilitation training device of claim 1, wherein the cabinet body is further provided with a human-computer interaction screen, the human-computer interaction screen is connected with a control system located in the cabinet body and can send commands to the control system through the human-computer interaction screen, and the control system is connected with the first driving piece, the second driving piece, the third driving piece, the fourth driving piece, the fifth driving piece and the sixth driving piece to control the operation of the first driving piece, the second driving piece, the third driving piece, the fourth driving piece, the fifth driving piece and the sixth driving piece.
10. The upper limb rehabilitation training device of claim 1, wherein the first driving member, the second driving member, the third driving member and the fourth driving member are disc brushless servo motors, and the disc brushless servo motors are connected with the harmonic reducers.
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| CN112545835A (en) * | 2020-12-10 | 2021-03-26 | 山东中医药大学 | Wrist joint assembly for upper limb exoskeleton |
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