CN111513990A

CN111513990A - Flexible forearm rehabilitation training device

Info

Publication number: CN111513990A
Application number: CN202010448466.3A
Authority: CN
Inventors: 王洪波; 严浩; 李云贵; 李双双; 陈鹏; 王辛诚; 刘师赫; 朱文涛
Original assignee: Yanshan University
Current assignee: Yanshan University
Priority date: 2020-05-25
Filing date: 2020-05-25
Publication date: 2020-08-11

Abstract

The invention belongs to the technical field of medical equipment, and particularly relates to a flexible forearm rehabilitation training device. The flexible forearm rehabilitation training device comprises a forearm support, a first swing arm and a second swing arm which are symmetrically and rotatably connected to two ends of the forearm support, a motor support arranged at the upper ends of the first swing arm and the second swing arm, a rotating motor arranged on the motor support, a first belt wheel coaxially connected with an output shaft of the rotating motor, and a second belt wheel connected with the first belt wheel through a belt.

Description

Flexible forearm rehabilitation training device

Technical Field

The invention belongs to the technical field of medical equipment, and particularly relates to a flexible forearm rehabilitation training device.

Background

Joints are important components of a human body motion system, and the joints cannot be separated when a person acts. The wrist joint positioned on the upper limb of the human body moves flexibly and has extremely important function in the daily life of people. With the aggravation of social aging and frequent traffic accidents, the incidence of fracture of forearms and wrist joints of human bodies is higher and higher.

According to the statistics of the national health commission data, the population number of people aged 60 years and above is nearly 2.5 hundred million, the number of disabled old people exceeds 4000 ten thousand, and the situation of aging is severe. In the elderly, cerebral apoplexy is a disease with high morbidity, the disability rate is as high as 75%, and 80-90% of survivors often have hemiplegia sequelae, which cause motor dysfunction, such as paralysis of limbs, abnormal muscle tension, abnormal coordinated movement, and balance dysfunction. Meanwhile, the hemiplegia patients have dysfunction of upper limbs and hands after illness, which is mainly manifested as the flexion of wrist joints, the wrist joints are the parts of the upper limbs of the human body bearing the maximum load in the movements of supporting, pushing, pulling and the like, the damage of the wrist joints seriously affects the daily life, and the motion function needs to be improved or recovered by adopting an effective rehabilitation method.

In traditional upper limb rehabilitation training, a rehabilitation therapist trains shoulder joints, elbow joints, wrist joints and finger-palm joints of a patient by using different methods. The training process is monotonous, the repeatability is high, the physical consumption of a rehabilitation therapist is large, the efficiency is low, and the stability and the continuity of the rehabilitation training are difficult to ensure.

The wrist joint rehabilitation robots at home and abroad are mainly divided into two categories: a strength-type-trained wrist joint rehabilitation robot and a sensitivity-trained wrist joint rehabilitation robot. The former focuses on the exercise of muscle strength, and the latter focuses on the sensitivity training, thereby meeting the training requirements of patients at different stages. The rehabilitation robot for strength type training has the characteristics of simple structure and high reliability, but usually does not conform to the motion rule of human body at the cost of sacrificing the relative motion of little fingers and ring fingers; the rehabilitation robot for sensitivity training is beneficial to improving the initiative of a patient, but has a complex structure and high cost.

Disclosure of Invention

The invention aims to overcome the defects of complex structure and large volume of the traditional rehabilitation training device and provides a flexible forearm rehabilitation training device which is small in structure and improves the training efficiency.

The technical scheme adopted by the invention for solving the technical problems is as follows: a flexible forearm rehabilitation training device comprises a forearm support, a first swing arm and a second swing arm which are symmetrically and rotatably connected to two ends of the forearm support, a motor support arranged at the upper ends of the first swing arm and the second swing arm, a rotating motor arranged on the motor support, a first belt wheel coaxially connected with an output shaft of the rotating motor, and a second belt wheel connected with the first belt wheel through a belt; the second rotating shaft of the second belt wheel is arranged on the motor bracket through a bearing, and the first swing arm is fixedly connected with the second rotating shaft; a third rotating shaft is fixedly arranged on the first swing arm, the third rotating shaft is rotatably arranged on a first handle bracket through a bearing, and a third belt wheel coaxially fixed with the third rotating shaft is arranged on the first handle bracket; the third belt wheel is connected with a fourth belt wheel through a belt, a fourth rotating shaft of the fourth belt wheel is fixed on the first handle support, the fourth rotating shaft is rotatably connected on the second handle support through a bearing, and the first handle is coaxially fixed on the fourth rotating shaft; the second handle support is mounted on the second swing arm through a support fixing shaft, and the second handle support is rotatably connected with the support fixing shaft.

Further, the forearm support comprises a Z-shaped base and a forearm cross rod, and the Z-shaped base is fixedly connected to the forearm cross rod.

Further, the first swing arm and the second swing arm are respectively installed at two ends of the front arm cross rod through bearing screws.

Further, the Z-shaped base is fixedly arranged on the edge of a table or a platform.

Further, the motor support is V-shaped, and the upper end of the first swing arm and the upper end of the second swing arm are respectively arranged at the two ends of the V-shaped motor support.

Further, still include wrist joint motion, wrist joint motion includes: the wrist joint connecting piece is fixedly installed on the first handle, a wrist joint fixing frame fixedly connected with the wrist joint connecting piece, a wrist joint rotating frame leg with one end rotatably installed on the wrist joint fixing frame through a bearing, a wrist joint frame body fixedly connected with the other end of the wrist joint rotating frame leg, a wrist joint motor installed on the wrist joint frame body, a third driving belt wheel coaxially connected with an output shaft of the wrist joint motor, a third driven belt wheel connected with the third driving belt wheel through a wrist joint belt and a second handle arranged on the wrist joint frame body; the third driven belt wheel is fixedly connected with the wrist joint fixing frame through a wrist joint rotating shaft, the wrist joint rotating shaft is further fixedly connected with a tensioning frame used for tensioning a wrist joint belt, and the wrist joint rotating shaft is rotatably connected with the wrist joint rotating frame legs.

Further, the first handle is square and round.

The flexible forearm rehabilitation training device has the beneficial effects that:

1. the forearm training device can be placed on a carrying tool such as a desk or a platform for rehabilitation training, has small limitation degree of training scenes, and has the advantages of convenience in movement and training and improvement of space occupation compared with the problems of large size, inconvenience in movement and the like of forearm training devices in the existing market.

2. Compared with the exoskeleton type rehabilitation training device, the driving axis is transferred from the forearm to the outside of the body during the forearm pronation and supination training, so that the structure of the device is reduced, the motor is reduced, the fear of the patient in training is reduced, the training enthusiasm of the patient is increased, the flexibility in the training process is increased, the pertinence is strong, and the training efficiency and the training completion degree of the patient are improved.

3. The wrist joint motion mechanism can be selectively installed to carry out targeted training on the wrist joint.

4. Compared with the forearm training device in the market, the forearm training device has small volume and light weight, so the forearm training device has low manufacturing cost, and has simple structure for active and passive combined training.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

FIG. 1 is a perspective view of an embodiment of the present invention;

fig. 2 is a perspective view of a forearm rotation mechanism in accordance with an embodiment of the invention;

FIG. 3 is a partial block diagram of a front rotary mechanism in accordance with an embodiment of the present invention;

fig. 4 is a rear view of a forearm rotation mechanism in accordance with an embodiment of the invention;

FIG. 5 is a cross-sectional view of a forearm rotation mechanism bearing mount of an embodiment of the invention;

figure 6 is a wrist articulation mechanism of an embodiment of the present invention.

In the figure, 1, a forearm support, 101, a Z-shaped base, 102, a forearm cross rod, 103, a bearing screw, 2, a first swing arm, 3, a second swing arm, 4, a motor support, 5, a wrist joint movement mechanism, 50, a wrist joint fixing frame, 51, a wrist joint rotating frame leg, 52, a wrist joint frame body, 53, a wrist joint motor, 54, a third driving belt wheel, 55, a third driven belt wheel, 56, a handle, 57, a wrist joint rotating shaft, 58, a tensioning frame, 581, a tensioning limiting groove, 582, a tensioning wheel, 59, a wrist joint connecting piece, 6, a first belt wheel, 7, a second belt wheel, 8, a second rotating shaft, 9, a third rotating shaft, 10, a first handle support, 11, a third belt wheel, 12, a fourth belt wheel, 13, a fourth rotating shaft, 14, a second handle support, 15, a first handle, 16, a support fixing shaft, 17, a support bearing, 18, a small washer, 19, Big packing ring, 20, rotating electrical machines.

Detailed Description

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.

The embodiment of the flexible forearm rehabilitation training device of the present invention shown in fig. 1 to fig. 6 mainly includes a forearm rotating mechanism, and can also be used in combination with a wrist joint movement mechanism as required, wherein the forearm rotating mechanism includes a forearm support 1, a first swing arm 2 and a second swing arm 3 symmetrically and rotatably connected to two ends of the forearm support 1, a motor support 4 mounted at the upper end of the first swing arm 2 and the upper end of the second swing arm 3, a rotating motor 20 mounted on the motor support 4, a first belt pulley 6 coaxially connected to an output shaft of the rotating motor 20, and a second belt pulley 7 connected to the first belt pulley 6 through a belt; a second rotating shaft 8 of the second belt wheel 7 is arranged on the motor bracket 4 through a bearing, and the first swing arm 2 is fixedly connected with the second rotating shaft 8; a third rotating shaft 9 is fixedly arranged on the first swing arm 2, the third rotating shaft 9 is rotatably arranged on a first handle bracket 10 through a bearing, and a third belt wheel 11 coaxially fixed with the third rotating shaft 9 is arranged on the first handle bracket 10; the third belt wheel 11 is connected with a fourth belt wheel 12 through a belt, a fourth rotating shaft 13 of the fourth belt wheel 12 is fixed on the first handle support 10, the fourth rotating shaft 13 is rotatably connected on a second handle support 14 through a bearing, and a first handle 15 is coaxially fixed on the fourth rotating shaft 13; the second handle bracket 14 is mounted on the second swing arm 3 through a bracket fixing shaft 16, and the second handle bracket 14 is rotatably connected with the bracket fixing shaft 16. In this embodiment, the diameter of the first pulley 6 is smaller than the diameter of the second pulley 7, and the rotation speed of the first pulley 6 is greater than the rotation speed of the second pulley 7, so that the first pulley 6 and the second pulley 7 form a proper transmission ratio, and the first handle 15 moves at a proper speed, which is not too fast or too slow.

The forearm support 1 comprises a Z-shaped base 101 and a forearm cross rod 102, the Z-shaped base 101 is fixedly connected to the forearm cross rod 102, a first swing arm 2 and a second swing arm 3 are respectively installed at two ends of the forearm cross rod 102 through bearing screws 103, the Z-shaped base 101 is fixedly installed on a table, a platform and other carriers to perform rehabilitation training, the limitation degree of a training scene is small, and compared with the problems that a forearm training device on the existing market is large in size, inconvenient to move and the like, the forearm support has the advantages of convenience in moving and training and capability of improving space occupation rate. The motor support 4 is V-shaped, the upper end of the first swing arm 2 and the upper end of the second swing arm 3 are respectively connected to two ends of the V-shaped motor support 4 in a rotating mode, and the rotating motor 20 is installed in the middle of the motor support 4, so that the first swing arm 2, the second swing arm 3, the first handle support 10 and the second handle support 14 can achieve rehabilitation training of forearms by means of the principle of parallelogram motion. In the embodiment of the present invention, the first handle 15 may have other shapes such as a square shape or a circular shape.

With reference to fig. 1 to 5, if only the forearm is rotated forwards and backwards, assuming that the palm of the right hand of the patient holds the first handle 15 of the training apparatus upwards, when the rotating motor 20 rotates counterclockwise, the first pulley 6 is driven to rotate counterclockwise, the first pulley 6 serves as a driving wheel to transmit force to the driven wheel and the second pulley 7 through a belt to realize counterclockwise rotation, the second rotating shaft 8 of the second pulley 7 drives the first swing arm 2 coaxially connected with the driving wheel, the third rotating shaft 9 on the first swing arm 2 transmits force to the third pulley 11, the belt transmits motion to the fourth pulley 12, the fourth pulley 12 drives the first handle 15 coaxially connected with the driving wheel to move, so that the counterclockwise rotation of the first handle 15 is realized, thereby the right arm is rotated forwards, and when the rotating motor 20 rotates clockwise, the right arm is rotated backwards; if the left arm is used for training, the rotating motor 20 rotates clockwise to realize the forward rotation of the left arm, and rotates counterclockwise to realize the backward rotation of the left arm. The training action of the forearm for pronation and supination can effectively exercise the pronation circular muscle, the pronation quadratus muscle, the supination muscle and the biceps brachii muscle. The flexible forearm rehabilitation training device is simple in structure and realizes active and passive combined training.

Referring to fig. 4 and 5, the second handle bracket 14 of the present invention is rotatably coupled to the bracket fixing shaft 16 by the bracket bearing 17. The mounting structure mainly comprises a handle fixing shaft, a second handle bracket 14, a bracket bearing 17, a large gasket 19 and a small gasket 18. The support bearing 17 is installed on the support fixed shaft 16 and fixed by a left side shaft shoulder fixed support bearing 17 left side inner ring, the small washer 18 is installed on the support bearing 17 right side and fixed inner ring right side, the big washer 19 is installed on the support bearing 17 left side and the second handle support 14 outer ring of fixed support bearing 17 respectively, and the support bearing 17 is prevented from axial displacement in the training process. The large washer 19 and the small washer 18 are embedded in the groove of the second handle support 14, so that the axial movement of the handle support can be prevented, and the safety of a patient in the training process can be ensured. In this embodiment, the bearing rotation connection structure is the same as that described above, and is not described one by one.

With reference to fig. 1 and 6, the forearm rotating mechanism may further be combined with a wrist joint movement mechanism for rehabilitation training of the forearm, and the wrist joint movement mechanism is directly connected to the end of the forearm rotating mechanism for rehabilitation training of the hand and wrist in a targeted manner. The wrist joint movement mechanism includes: the first handle is fixedly arranged on a wrist joint connecting piece 59 arranged on the first handle, a wrist joint fixing frame 50 fixedly connected with the wrist joint connecting piece 59, a wrist joint rotating frame leg 51 with one end rotatably arranged on the wrist joint fixing frame 50 through a bearing, a wrist joint frame body 52 fixedly connected with the other end of the wrist joint rotating frame leg 51, a wrist joint motor 53 arranged on the wrist joint frame body 52, a third driving belt wheel 54 coaxially connected with an output shaft of the wrist joint motor 53, a third driven belt wheel 55 connected with the third driving belt wheel 54 through a wrist joint belt and a second handle 56 arranged on the wrist joint frame body 52; the third driven belt wheel 55 is fixedly connected with the wrist joint fixing frame 50 through a wrist joint rotating shaft 57, the wrist joint rotating shaft 57 is also fixedly connected with a tensioning frame 58 for tensioning a wrist joint belt, and the wrist joint rotating shaft 57 is rotatably connected with the wrist joint rotating frame legs 51.

When patient's right hand gripping is in handle 56 department, suppose wrist joint motor 53 clockwise rotation, third driving pulley 54 realizes clockwise rotation as the action wheel through the belt with power transmission for third driven pulley 55, and wrist joint pivot 57 of third driven pulley 55 drives coaxial coupling's wrist joint swivel mount leg 51 and rotates to drive wrist joint support body 52 and rotate, thereby realize patient's wrist joint's bucking motion, otherwise when wrist joint motor 53 anticlockwise rotation, realize wrist joint's extension motion.

It should be understood that the above-described specific embodiments are merely illustrative of the present invention and are not intended to limit the present invention. Obvious variations or modifications which are within the spirit of the invention are possible within the scope of the invention.

Claims

1. The utility model provides a flexible forearm rehabilitation training device which characterized in that: the device comprises a forearm rotating mechanism, wherein the forearm rotating mechanism comprises a forearm support (1), a first swing arm (2) and a second swing arm (3) which are symmetrically and rotatably connected to two ends of the forearm support (1), a motor support (4) arranged at the upper end of the first swing arm (2) and the upper end of the second swing arm (3), a rotating motor (20) arranged on the motor support (4), a first belt wheel (6) coaxially connected with an output shaft of the rotating motor (20), and a second belt wheel (7) connected with the first belt wheel (6) through a belt; a second rotating shaft (8) of the second belt wheel (7) is mounted on the motor support (4) through a bearing, and the first swing arm (2) is fixedly connected with the second rotating shaft (8); a third rotating shaft (9) is fixedly installed on the first swing arm (2), the third rotating shaft (9) is rotatably installed on a first handle support (10) through a bearing, and a third belt wheel (11) coaxially fixed with the third rotating shaft (9) is installed on the first handle support (10); the third belt wheel (11) is connected with a fourth belt wheel (12) through a belt, a fourth rotating shaft (13) of the fourth belt wheel (12) is fixed on the first handle support (10), the fourth rotating shaft (13) is rotatably connected on the second handle support (14) through a bearing, and a first handle (15) is coaxially fixed on the fourth rotating shaft (13); the second handle support (14) is mounted on the second swing arm (3) through a support fixing shaft (16), and the second handle support (14) is rotatably connected with the support fixing shaft (16).

2. A flexible forearm rehabilitation training device according to claim 1 wherein: the forearm support (1) comprises a Z-shaped base (101) and a forearm cross rod (102), and the Z-shaped base (101) is fixedly connected to the forearm cross rod (102).

3. A flexible forearm rehabilitation training device according to claim 2 wherein: the first swing arm (2) and the second swing arm (3) are respectively installed at two ends of the front arm cross rod (102) through bearing screws (103).

4. A flexible forearm rehabilitation training device according to claim 3 wherein: the Z-shaped base (101) is fixedly arranged on the edge of a desk or a platform.

5. A flexible forearm rehabilitation training device according to claim 1 wherein: the motor support (4) is V-shaped, and the upper end of the first swing arm (2) and the upper end of the second swing arm (3) are respectively arranged at two ends of the V-shaped motor support (4).

6. A flexible forearm rehabilitation training device according to claim 1 wherein: still include wrist joint motion, wrist joint motion includes: the wrist joint connecting piece (59) is fixedly installed on the first handle, the wrist joint fixing frame (50) is fixedly connected with the wrist joint connecting piece (59), one end of the wrist joint rotating frame leg (51) is rotatably installed on the wrist joint fixing frame (50) through a bearing, the wrist joint frame body (52) is fixedly connected with the other end of the wrist joint rotating frame leg (51), the wrist joint motor (53) is installed on the wrist joint frame body (52), the third driving belt wheel (54) is coaxially connected with an output shaft of the wrist joint motor (53), the third driven belt wheel (55) is connected with the third driving belt wheel (54) through a wrist joint belt, and the second handle (56) is arranged on the wrist joint frame body (52); the third driven belt wheel (55) is fixedly connected with the wrist joint fixing frame (50) through a wrist joint rotating shaft (57), a tensioning frame (58) used for tensioning a wrist joint belt is further fixedly connected onto the wrist joint rotating shaft (57), and the wrist joint rotating shaft (57) is rotatably connected with the wrist joint rotating frame legs (51).

7. A flexible forearm rehabilitation training device according to any one of claims 1 to 6 wherein: the first handle (15) is square or round.