CN111759663A - Multi-degree-of-freedom upper limb rehabilitation device - Google Patents
Multi-degree-of-freedom upper limb rehabilitation device Download PDFInfo
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- CN111759663A CN111759663A CN202010632822.7A CN202010632822A CN111759663A CN 111759663 A CN111759663 A CN 111759663A CN 202010632822 A CN202010632822 A CN 202010632822A CN 111759663 A CN111759663 A CN 111759663A
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 20
- 210000000707 wrist Anatomy 0.000 claims abstract description 29
- 230000009471 action Effects 0.000 claims abstract description 12
- 230000008602 contraction Effects 0.000 claims abstract description 7
- 230000033001 locomotion Effects 0.000 claims abstract description 6
- 238000005452 bending Methods 0.000 claims description 7
- 206010019468 Hemiplegia Diseases 0.000 abstract description 4
- 206010061225 Limb injury Diseases 0.000 abstract description 4
- 230000005540 biological transmission Effects 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 208000006011 Stroke Diseases 0.000 description 3
- 206010008190 Cerebrovascular accident Diseases 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000002490 cerebral effect Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000000474 nursing effect Effects 0.000 description 2
- 208000012260 Accidental injury Diseases 0.000 description 1
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
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- 210000003205 muscle Anatomy 0.000 description 1
- 230000035479 physiological effects, processes and functions Effects 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
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- 239000002699 waste material Substances 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
-
- 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
- A61H1/0277—Elbow
-
- 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
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- 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
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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)
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- Rehabilitation Tools (AREA)
Abstract
The invention provides a multi-degree-of-freedom upper limb rehabilitation device which mainly comprises a seat, a telescopic bracket, a shoulder rehabilitation component, an elbow rehabilitation component and a wrist rehabilitation component, wherein the telescopic bracket is arranged on the seat; the telescopic bracket is placed at the rear end of the seat, the shoulder rehabilitation component is fixed at the upper end of the telescopic bracket, the shoulder rehabilitation component and the elbow rehabilitation component are fixed by bolts, the elbow rehabilitation component and the wrist rehabilitation component are in gear transmission, and the wrist rehabilitation component has 3 degrees of freedom, high rigidity and good precision; by controlling the positive and negative rotation of the motor, the inward-contraction outward-swinging and forward-flexion and backward-extension actions of the shoulder, the forward-flexion and backward-extension actions of the elbow and the inward-rotation outward-rotation actions of the wrist can be realized; the wrist drives the gear and the rack to be meshed through the control motor to adjust the extension and contraction of the three branched chains, the forward-flexion and backward-extension and the inward-contraction and outward-extension actions of the wrist can be completed, and the movement of the upper limb with multiple degrees of freedom is realized. The invention has strong practicability and good economical efficiency, and is suitable for rehabilitation exercise of stroke hemiplegia patients and limb injury patients.
Description
Technical Field
The invention relates to the field of rehabilitation machinery, in particular to a multi-degree-of-freedom upper limb rehabilitation device.
Background
With the increasing severity of the aging population of our country, the number of the elderly population of our country is continuously expanding, the number of patients with cerebral apoplexy is continuously increasing, and hemiplegia is the most common cerebral apoplexy sequelae, which means that the muscle strength of one limb is reduced, the activity is unfavorable or completely immobile, and the disease deeply influences the daily life of people, and brings great pain to the physiology and the psychology of the patients. Meanwhile, with the development of society, in the process of exploration, human beings inevitably have accidental injuries including limb injuries and the like, and the daily life of patients is deeply puzzled by hemiplegia caused by stroke diseases or limb injuries caused by accidents.
The traditional rehabilitation training mode of a patient mainly depends on a professional nursing person or a physical therapist to carry out rehabilitation training on the patient by hands, and the traditional rehabilitation training effect is poor because the professional rehabilitation training staff is lack of the professional rehabilitation training staff and also considers the economic condition of the patient and whether high professional nursing cost can be borne. The medical rehabilitation instrument can replace a physical therapist to perform rehabilitation exercise on limbs of a patient well and efficiently, a large amount of manpower and material resources can be saved, fatigue can not be generated compared with manual work, and the rehabilitation effect can be well improved. The invention relates to a multi-degree-of-freedom upper limb exerciser for rehabilitation of patients.
Disclosure of Invention
In order to meet the comfort level of the patient in the rehabilitation process, the upper limb of the patient has a good rehabilitation effect. The invention provides a multi-degree-of-freedom upper limb rehabilitation device.
The technical scheme adopted by the invention for solving the technical problems is as follows: a multi-degree-of-freedom upper limb rehabilitation device comprises a seat, a telescopic bracket, a shoulder rehabilitation component, an elbow rehabilitation component and a wrist rehabilitation component; the telescopic bracket is placed at the rear end of the seat.
Preferably, the shoulder rehabilitation component comprises a support plate, a shell slide rail, a first motor, a first coupler, a first lead screw nut slide block, a first lead screw, a first bearing, a first connecting rod, a first pin shaft, a second pin shaft, a shoulder connecting plate, a boom slide rail, a second connecting rod, a second motor, a second coupler, a second lead screw nut slide block, a second lead screw and a second bearing, wherein the support plate is fixed in the telescopic bracket, the shell slide rail is fixed on the support plate through a bolt, the first motor is fixed on the shell slide rail through a bolt, one end of the first lead screw is connected with the first motor through the first coupler, the other end of the first lead screw is connected with the first bearing, the middle of the first lead screw nut slide block is connected with the first lead screw nut slide block, the first bearing is arranged in the shell slide rail, one end of the first connecting rod is connected with the first lead screw nut slide block through a bolt, the backup pad is connected with the shoulder connecting plate through the second round pin axle, the shoulder connecting plate passes through the bolt and links to each other with big arm slide rail, the second motor passes through the bolt fastening on big arm slide rail, second lead screw one end passes through the second shaft coupling and links to each other with the second motor, the other end links to each other with the second bearing, intermediate junction second lead screw nut slider, place in the big arm slide rail in the second bearing, second connecting rod one end is passed through the bolt and is connected with second lead screw nut slider, one end is connected with the shoulder connecting plate through the bolt.
Preferably, recovered subassembly of elbow is by module behind the elbow, third motor support, the third motor, the intermediate junction axle, module before the elbow, the fourth motor support, the pinion, the gear connecting axle, the shelves ring is constituteed, wherein, the module passes through the bolt and is fixed with big arm slide rail behind the elbow, the module passes through the intermediate junction axle with module before the elbow after the elbow and links to each other, the intermediate junction axle other end links to each other with the third motor, the third motor support passes through the bolt fastening on module behind the elbow, the third motor passes through the bolt fastening on the third motor support, the fourth motor support passes through the bolt fastening on module before the elbow, the fourth motor passes through the bolt fastening on the fourth motor support, the fourth motor is connected to gear connecting axle one end, one end passes through the bolt and links to each other with the pinion, the shelves ring passes through the bolt fastening.
Preferably, the wrist rehabilitation assembly structure is a parallel mechanism, the wrist rehabilitation assembly has 3 degrees of freedom, the special-shaped structure can increase the stroke of the moving pair and increase the range of motion of rehabilitation training, the wrist rehabilitation assembly mainly comprises a handheld upper platform, a lower platform, a gearwheel and three branched chains in the middle of the two platforms, the lower platform is welded with the gearwheel, the three branched chains in the middle are the same in structure and are symmetrically distributed, the lower end of the branched chains is connected with the lower platform through a bolt, the upper end of the branched chains is connected with the handheld upper platform through a spherical hinge, a fifth motor, a sixth motor and a seventh motor are respectively fixed on the three branched chains, and the three motors are controlled to drive the meshing of the gearwheel and the rack to adjust the stretching of the branched chains, so that the movement of the moving.
Preferably, the multi-degree-of-freedom upper limb rehabilitation device can enable the first lead screw nut slide block to slide on the shell slide rail in a reciprocating manner by controlling the forward rotation and the reverse rotation of the first motor, and drive the shoulder connecting plate to swing left and right through the first connecting rod to complete the inward contraction and outward swinging of the shoulder; the second lead screw nut slide block can slide on the large arm slide rail in a reciprocating manner by controlling the forward rotation and the reverse rotation of the second motor, and the large arm slide rail is driven to swing up and down through the second connecting rod to finish the forward bending and the backward extension of the shoulder; the elbow front module can move up and down by controlling the positive rotation and the negative rotation of the third motor, so that the bending and stretching actions of the elbow are completed; the wrist rehabilitation component can rotate forwards and backwards by controlling the forward rotation and the reverse rotation of the fourth motor, the wrist rehabilitation component rotates forwards and backwards by meshing of the gears to complete the inward rotation and the outward rotation of the wrist action, the three branch chains of the wrist drive the gears and the racks to stretch by controlling the fifth motor, the sixth motor and the seventh motor to drive the gears and the racks to complete the forward flexion and the backward extension, the inward contraction and the outward extension of the wrist action; thereby achieving the purpose of upper limb rehabilitation.
The invention has the advantages of simple structure, strong practicability and low cost, can realize passive training of patients, solves the problems of time and labor waste in the traditional rehabilitation process, makes the patients more comfortable in training and is beneficial to early rehabilitation of the patients.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic view of the overall structure of a multi-degree-of-freedom upper limb rehabilitation device.
Figure 2 is a schematic view of the shoulder rehabilitation assembly of the present invention.
Figure 3 is a schematic diagram of the elbow rehabilitation assembly of the present invention.
Figure 4 is a schematic view of the wrist rehabilitation assembly of the present invention.
In the figure, 1, a seat 2, a telescopic bracket 3, a shoulder rehabilitation component 301, a supporting plate 302, a shell sliding rail 303, a first motor 304, a first coupler 305, a first lead screw nut sliding block 306, a first lead screw 307, a first bearing 308, a first connecting rod 309, a first pin shaft 310, a second pin shaft 311, a shoulder connecting plate 312, a large arm sliding rail 313, a second connecting rod 314, a second motor 315, a second coupler 316, a second lead screw nut sliding block 317, a second lead screw 318, a second bearing 4, an elbow rehabilitation component 401, an elbow rear module 402, a third motor bracket 403, a third motor 404, an intermediate connecting shaft 405, a front module 406, a fourth motor 407, a fourth motor bracket 408, a small gear 409, a gear 410, a baffle ring 5, a wrist rehabilitation component 501, a hand-holding upper platform 502, a lower platform 503, a large gear 504, a first branch chain 505, a fifth motor 506, a second branch 507, a sixth motor 508, a third branch 509.
Detailed Description
As shown in fig. 1 to 4, the invention provides a multi-degree-of-freedom upper limb rehabilitation device, which mainly comprises a seat 1, a telescopic bracket 2, a shoulder rehabilitation component 3, an elbow rehabilitation component 4 and a wrist rehabilitation component 5; the telescopic bracket 2 is placed at the rear end of the seat 1.
In an embodiment of the present invention, the shoulder rehabilitation component 3 comprises a support plate 301, a housing slide rail 302, a first motor 303, a first coupler 304, a first lead screw nut slide block 305, a first lead screw 306, a first bearing 307, a first connecting rod 308, a first pin 309, a second pin 310, a shoulder connecting plate 311, a boom slide rail 312, a second connecting rod 313, a second motor 314, a second coupler 315, a second lead screw nut slide block 316, a second lead screw 317, and a second bearing 318, wherein the support plate 301 is fixed in the telescopic bracket 2, the housing slide rail 302 is fixed on the support plate 301 by bolts, the first motor 303 is fixed on the housing slide rail 302 by bolts, one end of the first lead screw 306 is connected with the first motor 303 by the first coupler 304, the other end is connected with the first bearing 307, the first lead screw nut slide block 305 is connected in the middle, the first bearing is arranged in the housing slide rail, first connecting rod 308 one end is connected with first lead screw nut slider 305 through the bolt, one end is connected with shoulder connecting plate 311 through first round pin axle 309, backup pad 301 is connected with shoulder connecting plate 311 through second round pin axle 310, shoulder connecting plate 311 links to each other through bolt and big arm slide rail 312, second motor 314 passes through the bolt fastening on big arm slide rail 312, second lead screw 317 one end links to each other with second motor 314 through second shaft coupling 315, the other end links to each other with second bearing 318, intermediate junction second lead screw nut slider 316, place in big arm slide rail 312 in second bearing 318, second connecting rod 313 one end is connected with second lead screw nut slider 316 through the bolt, one end is connected with shoulder connecting plate 311 through the bolt.
In one embodiment of the present invention, the elbow rehabilitation device 4 comprises a posterior elbow module 401, a third motor support 402, a third motor 403, an intermediate connecting shaft 404, a anterior elbow module 405, a fourth motor 406, a fourth motor support 407, a pinion 408, a gear connecting shaft 409 and a retainer ring 410, wherein the posterior elbow module 401 is fixed to the upper arm slide rail 312 by bolts, the posterior elbow module 401 is connected to the anterior elbow module 405 by the intermediate connecting shaft 404, the other end of the intermediate connecting shaft 404 is connected to the third motor 403, the third motor support 402 is fixed to the posterior elbow module 401 by bolts, the third motor 403 is fixed to the third motor support 402 by bolts, the fourth motor support 407 is fixed to the anterior elbow module 405 by bolts, the fourth motor 406 is fixed to the fourth motor support 407 by bolts, one end of the gear connecting shaft 409 is connected to the fourth motor 406, and the other end is connected to the pinion 408 by bolts, the stop ring 409 is fixed on the antecubital module 405 through bolts and plays a role in stopping.
In a specific embodiment of the present invention, the wrist rehabilitation component 5 is a parallel mechanism having 3 degrees of freedom, and the special-shaped structure can increase the travel of the sliding pair and increase the range of motion of rehabilitation training, and mainly comprises a hand-held upper platform 501, a lower platform 502, a gearwheel 503, a first branch chain 504, a fifth motor 505, a second branch chain 506, a sixth motor 507, a third branch chain 508, and a seventh motor 509, wherein the lower platform 502 and the gearwheel 503 are welded together, the middle first branch chain 504, the second branch chain 506, and the third branch chain 508 have the same structure and are symmetrically distributed, the lower end is connected with the lower platform 502 through bolts, the upper end is connected with the hand-held upper platform 501 through spherical hinges, the fifth motor 505, the sixth motor 507, and the seventh motor 509 are respectively fixed on the first branch chain 504, the second branch chain 506, and the third branch chain 508, the expansion and contraction of the branch chains are adjusted by controlling the three motors to drive the meshing of the gear rack, the movement of the moving pair on the branched chain is realized.
In an embodiment of the present invention, by controlling the forward rotation and the reverse rotation of the first motor 303, the first lead screw nut slider 305 can slide on the housing slide rail 302 in a reciprocating manner, and the first connecting rod 308 drives the shoulder connecting plate 311 to swing left and right, thereby completing the inward and outward swinging actions of the shoulder; by controlling the forward rotation and the reverse rotation of the second motor 314, the second lead screw nut slide block 316 can slide on the large arm slide rail 312 in a reciprocating manner, and the large arm slide rail 312 is driven to swing up and down through the second connecting rod 313, so that the forward bending and backward stretching actions of the shoulder are completed; by controlling the forward rotation and the reverse rotation of the third motor 403, the antecubital module 405 can move up and down to complete the flexion and extension of the elbow; the small gear 408 can be driven to rotate forwards and backwards by controlling the forward rotation and the reverse rotation of the fourth motor 406, the large gear 503 is driven to rotate through gear meshing so that the wrist rehabilitation component 5 rotates forwards and backwards to complete the inward rotation and outward rotation of the wrist, the three branch chains of the wrist drive the gears and the racks to be meshed through controlling the fifth motor 505, the sixth motor 507 and the seventh motor 509 to realize the extension and retraction of the three branch chains, and the forward bending and backward extension and inward and outward extension of the wrist can be completed; thereby achieving the purpose of upper limb rehabilitation.
The invention realizes the rehabilitation training of patients with hemiplegia or limb injury, has more comfortable sensation in the rehabilitation training process, achieves good rehabilitation effect and is beneficial to the early rehabilitation of the patients.
Claims (4)
1. A multi-degree-of-freedom upper limb rehabilitation device is characterized in that a shoulder rehabilitation component consists of a support plate, a shell slide rail, a first motor, a first coupler, a first lead screw nut slide block, a first lead screw, a first bearing, a first connecting rod, a first pin shaft, a second pin shaft, a shoulder connecting plate, a large arm slide rail, a second connecting rod, a second motor, a second coupler, a second lead screw nut slide block, a second lead screw and a second bearing, wherein the support plate is fixed in a telescopic bracket, the shell slide rail is fixed on the support plate through a bolt, the first bearing is arranged in the shell slide rail, one end of the first connecting rod is connected with the first lead screw nut slide block through a bolt, the other end of the first connecting rod is connected with the shoulder connecting plate through the first pin shaft, the support plate is connected with the shoulder connecting plate through the second pin shaft, the shoulder connecting plate is connected with the large arm slide, the second bearing is arranged in the large arm sliding rail, one end of the second connecting rod is connected with the second lead screw nut sliding block through a bolt, and the other end of the second connecting rod is connected with the shoulder connecting plate through a bolt.
2. The multi-degree-of-freedom upper limb rehabilitation device according to claim 1, wherein the elbow rehabilitation component is composed of a posterior elbow module, a third motor support, a third motor, an intermediate connecting shaft, a anterior elbow module, a fourth motor support, a pinion, a gear connecting shaft and a stop ring, wherein the posterior elbow module is fixed with the upper limb slide rail through bolts, the posterior elbow module is connected with the anterior elbow module through the intermediate connecting shaft, the other end of the intermediate connecting shaft is connected with the third motor, the third motor support is fixed on the posterior elbow module through bolts, the third motor is fixed on the third motor support through bolts, the fourth motor support is fixed on the anterior elbow module through bolts, the fourth motor is fixed on the fourth motor support through bolts, and the stop ring is fixed on the anterior elbow module through bolts.
3. The multi-degree-of-freedom upper limb rehabilitation device according to claim 2, wherein the wrist rehabilitation component has 3 degrees of freedom, the special-shaped structure can increase the stroke of the moving pair and increase the range of motion of rehabilitation training, the multi-degree-of-freedom upper limb rehabilitation device mainly comprises a handheld upper platform, a lower platform, a large gear and three branched chains in the middle of the two platforms, the lower platform and the large gear are welded together, the three branched chains in the middle are identical in structure and are symmetrically distributed, the lower end of the three branched chains is connected with the lower platform through bolts, the upper end of the three branched chains is connected with the handheld upper platform through spherical hinges, a fifth motor, a sixth motor and a seventh motor are respectively fixed on the three branched chains, and the three motors are controlled to drive gears and racks to be meshed to adjust the extension and retraction of the.
4. The multi-degree-of-freedom upper limb rehabilitation device according to claim 3, wherein the first lead screw nut slider can slide on the shell slide rail in a reciprocating manner by controlling the forward rotation and the reverse rotation of the first motor, and the first connecting rod drives the shoulder connecting plate to swing left and right to complete the inward contraction and outward swinging of the shoulder; the second lead screw nut slide block can slide on the large arm slide rail in a reciprocating manner by controlling the forward rotation and the reverse rotation of the second motor, and the large arm slide rail is driven to swing up and down through the second connecting rod to finish the forward bending and the backward extension of the shoulder; the elbow front module can move up and down by controlling the positive rotation and the negative rotation of the third motor, so that the bending and stretching actions of the elbow are completed; the wrist rehabilitation component can drive the pinion to rotate forwards and backwards by controlling the forward rotation and the reverse rotation of the fourth motor, the wrist rehabilitation component can rotate forwards and backwards by meshing the gears to complete the inward rotation and the outward rotation of the wrist action, the three branch chains of the wrist drive the gears and the racks to be meshed by controlling the fifth motor, the sixth motor and the seventh motor to realize the expansion and contraction of the three branch chains, and the forward bending and the backward stretching as well as the inward contraction and the outward expansion of the wrist action can be completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010632822.7A CN111759663A (en) | 2020-07-04 | 2020-07-04 | Multi-degree-of-freedom upper limb rehabilitation device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010632822.7A CN111759663A (en) | 2020-07-04 | 2020-07-04 | Multi-degree-of-freedom upper limb rehabilitation device |
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| CN111759663A true CN111759663A (en) | 2020-10-13 |
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| CN202010632822.7A Pending CN111759663A (en) | 2020-07-04 | 2020-07-04 | Multi-degree-of-freedom upper limb rehabilitation device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112294600A (en) * | 2020-10-29 | 2021-02-02 | 北京邮电大学 | Upper limb rehabilitation equipment |
| CN113520801A (en) * | 2021-08-19 | 2021-10-22 | 淮北贵翔堂医药有限公司 | Full-automatic stroke arm rehabilitation training device |
| WO2022231416A1 (en) * | 2021-04-26 | 2022-11-03 | Beltran Ramirez Jesus Raul | Rehabilitation device for the wrist joint |
-
2020
- 2020-07-04 CN CN202010632822.7A patent/CN111759663A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112294600A (en) * | 2020-10-29 | 2021-02-02 | 北京邮电大学 | Upper limb rehabilitation equipment |
| WO2022231416A1 (en) * | 2021-04-26 | 2022-11-03 | Beltran Ramirez Jesus Raul | Rehabilitation device for the wrist joint |
| CN113520801A (en) * | 2021-08-19 | 2021-10-22 | 淮北贵翔堂医药有限公司 | Full-automatic stroke arm rehabilitation training device |
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