CN111920638A - Elbow joint flexion and extension rehabilitation training device - Google Patents
Elbow joint flexion and extension rehabilitation training device Download PDFInfo
- Publication number
- CN111920638A CN111920638A CN202010648057.8A CN202010648057A CN111920638A CN 111920638 A CN111920638 A CN 111920638A CN 202010648057 A CN202010648057 A CN 202010648057A CN 111920638 A CN111920638 A CN 111920638A
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- fixing component
- shaft
- arm fixing
- bearing
- small arm
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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
- 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
- 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
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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 discloses an elbow joint flexion and extension rehabilitation training device which comprises: the device comprises a small arm fixing component, a large arm fixing component and a motor fixedly arranged on the large arm fixing component, wherein a static torque sensor is fixedly arranged on the small arm fixing component and is movably connected to the large arm fixing component through a transmission mechanism, the static torque sensor is in a stepped shaft shape and sequentially comprises an input flange shaft, a middle transmission shaft and an output square shaft, a first shaft sleeve fixedly arranged on the large arm fixing component is sleeved on the middle transmission shaft, a second shaft sleeve fixedly arranged on the small arm fixing component is sleeved outside the output square shaft, a limit switch for limiting the small arm fixing component is arranged on the large arm fixing component, and a position code for detecting the rotating position of the small arm fixing component is arranged on the motor. The market promotion prospect is better.
Description
Technical Field
The invention relates to the technical field of rehabilitation medical treatment, in particular to an elbow joint flexion and extension rehabilitation training device.
Background
After stroke patients suffer from diseases, the patients are mostly accompanied with hemiplegia symptoms, the hemiplegia patients have about 75 percent of disability rate after the diseases are attacked, the hemiplegia patients are also the most common death reasons in the world, most patients lose limb movement ability, great pain and inconvenience are brought to the lives of the patients, and burden and pressure are increased for families and countries. The traditional rehabilitation means mainly depends on one-to-one service of rehabilitation doctors, and 7000 thousands of patients with stroke are in China, so that the number of the rehabilitation doctors is seriously insufficient. The affected side of the upper limb of the hemiplegic patient is in a bending posture, which seriously affects the daily life of the patient, so the rehabilitation training of the elbow joint plays an extremely important role in the overall rehabilitation of the hemiplegic patient.
In recent years, robot technology has been rapidly developed, and rehabilitation robots have also been rapidly developed as a new industry in the field of medical rehabilitation. Compare with traditional rely on professional rehabilitation training of recovered teacher, it has a great deal of advantage to utilize the robot to help the patient carry out rehabilitation training: (1) the robot is more suitable for repeated work, and the speed and the force are more stable; (2) during the rehabilitation training process, physical information of a patient can be recorded in real time by means of sensors, and the rehabilitation robot can make a proper training plan for the patient according to the information. (3) Convenient to use can carry out the rehabilitation training at patient's family.
The existing robot for carrying out rehabilitation training on elbow joints is heavy mostly, large in size and short of real-time monitoring on motion data of patient rehabilitation training due to the fact that a driving device is needed, the rehabilitation condition of the patient cannot be effectively evaluated, and secondary injury can be caused to the patient due to improper training.
Disclosure of Invention
The technical problem to be solved by the invention is to provide the elbow joint flexion and extension rehabilitation training device which is compact in structure and capable of monitoring the motion data of the rehabilitation training in real time, and the defects that the device is heavy and cannot monitor the motion data in real time in the prior art are overcome.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: an elbow joint flexion and extension rehabilitation training device comprises: the device comprises a small arm fixing component, a large arm fixing component and a motor fixedly arranged on the large arm fixing component, wherein a static torque sensor used for detecting dynamic torque of an elbow joint during flexion and extension training is fixedly arranged on the small arm fixing component, the static torque sensor is movably connected to the large arm fixing component through a transmission mechanism, the static torque sensor is in a stepped shaft shape and sequentially comprises an input flange shaft, a middle transmission shaft and an output square shaft, a first shaft sleeve fixedly arranged on the large arm fixing component is sleeved on the middle transmission shaft, the first shaft sleeve is connected with the small arm fixing component in the radial direction through a second bearing, a second shaft sleeve fixedly arranged on the small arm fixing component is sleeved outside the output square shaft, the first shaft sleeve is connected with the second shaft sleeve in the radial direction through a first bearing, and a limit switch for limiting the small arm fixing component is arranged on the large arm fixing component, and a position encoder for detecting the rotation position of the small arm fixing component is arranged on the motor.
The technical scheme of the invention is further improved as follows: drive mechanism includes with motor output shaft coaxial coupling's drive rope sheave, cover establish driven rope sheave, the flexible wire rope on fixing drive rope sheave and driven rope sheave respectively at input flange epaxial both ends, be connected through the third bearing between driven rope sheave and the first axle sleeve is radial, flexible wire rope sets up to two and length the same, two flexible wire rope walks around from the upside and the downside of drive rope sheave and driven rope sheave respectively.
The technical scheme of the invention is further improved as follows: the small arm fixing assembly comprises a small arm mounting plate, a first square hole corresponding to an output square shaft is formed in a groove and a groove which are formed in the small arm mounting plate, a fixing base plate is arranged in the groove in the small arm mounting plate, a fixing screw penetrates through the fixing base plate and the output square shaft in sequence to fixedly mount the output square shaft on the small arm mounting plate, and an arc-shaped small arm fixing plate deviating from the motor direction is arranged on the small arm mounting plate.
The technical scheme of the invention is further improved as follows: the big arm fixing component comprises a big arm mounting plate, an arc-shaped big arm fixing plate deviating from the direction of the motor is arranged on the big arm mounting plate, the arc-shaped big arm fixing plate and the arc-shaped small arm fixing plate are both provided with installation lug holes, and the big arm and the small arm are fixed by magic tapes penetrating the installation lug holes.
The technical scheme of the invention is further improved as follows: and a shaft end check ring used for axially limiting the third bearing is arranged outside the first shaft sleeve.
The technical scheme of the invention is further improved as follows: the first shaft sleeve comprises a basic shaft sleeve part sleeved on the middle transmission shaft and a bearing mounting sleeve part arranged outside the first bearing, and an L-shaped extension mounting part is further arranged on the outer side of the bearing mounting sleeve part; the second bearing is mounted between the bearing mounting sleeve portion and the L-shaped extension mounting portion.
The technical scheme of the invention is further improved as follows: the first bearing, the second bearing and the third bearing are all deep groove ball bearings.
The technical scheme of the invention is further improved as follows: and the limit switch is fixedly arranged on the large arm mounting plate through a switch bracket.
The technical scheme of the invention is further improved as follows: and a wire groove for allowing an electric wire to pass through is formed in the inner wall surface of the driven rope pulley.
Due to the adoption of the technical scheme, the invention has the technical progress that:
1. the device directly uses the stepped shaft of the static torque sensor as a transmission shaft to carry out mechanism design, realizes that the static torque sensor is used for directly measuring the dynamic torque of the elbow, and improves the measurement precision by directly connecting with the measured object;
2. the dynamic torque of the elbow joint in the rehabilitation training process is monitored in real time through the static torque sensor, the rotating position of the forearm fixing component is monitored through the dynamic encoder on the motor, the state monitoring of the rehabilitation training data can be achieved, the rehabilitation effect can be effectively evaluated, and the safety and reliability of the rehabilitation training are improved;
3. by skillfully designing the structures of the first shaft sleeve and the second shaft sleeve, the mounting of the bearing is realized, the radial force borne by the static torque sensor is dispersed, and the service life and the measurement precision of the static torque sensor are improved;
4. the invention adopts the control principle of a marionette, and realizes the positive and negative rotation movement of the driven rope pulley by using two flexible steel wire ropes, thereby realizing the flexion and extension rehabilitation training of the elbow joint;
5. the device has the advantages of compact structure, simple appearance, few parts, great saving of processing cost and good market popularization prospect.
Drawings
FIG. 1 is a view of the present invention mounted on an arm;
FIG. 2 is a front perspective view of the apparatus of the present invention;
FIG. 3 is a perspective view from the back of the apparatus of the present invention;
FIG. 4 is a cross-sectional view of the apparatus of the present invention;
FIG. 5 is an exploded view of the apparatus of the present invention;
FIG. 6 is a schematic view of a first sleeve configuration of the apparatus of the present invention;
in the figure, the device comprises a motor 1, a motor 2, a driving rope pulley 3, a large arm fixing assembly 31, a large arm mounting plate 32, an arc-shaped large arm fixing plate 4, a small arm fixing assembly 41, a small arm mounting plate 411, a first square hole 42, an arc-shaped small arm fixing plate 5, a static torque sensor 51, an input flange shaft 52, an intermediate transmission shaft 53, an output square shaft 6, a driven rope pulley 61, a wire groove 7, a flexible steel wire rope 8, a first shaft sleeve 81, a basic shaft sleeve part 82, a bearing mounting sleeve part 83, an L-shaped extension mounting part 9, a second shaft sleeve 10, a third bearing 11, a first bearing 12, a second bearing 13, a position encoder 14, a limit switch 15, a switch mounting frame 16, a fixing cushion plate 17, a fixing screw 18, a mounting lug hole 19 and a bearing retainer ring.
Detailed Description
The present invention will be described in further detail with reference to the following examples:
as shown in fig. 1 to 6, an elbow joint flexion and extension rehabilitation training device comprises a forearm fixing component 4, a forearm fixing component 3 and a motor 1 fixedly arranged on the forearm fixing component 3, wherein a static torque sensor 5 for detecting dynamic torque of an elbow joint during flexion and extension training is fixedly arranged on the forearm fixing component 4, the static torque sensor 5 is movably connected to the forearm fixing component 3 through a transmission mechanism, the static torque sensor 5 is stepped shaft-shaped and sequentially comprises an input flange shaft 51, a middle transmission shaft 52 and an output square shaft 53, a first shaft sleeve 8 fixedly arranged on the forearm fixing component 3 is sleeved on the middle transmission shaft 52, the first shaft sleeve 8 is radially connected with the forearm fixing component 4 through a second bearing 12, a second shaft sleeve 9 fixedly arranged on the forearm fixing component 4 is sleeved on the output square shaft 53, first axle sleeve 8 and second axle sleeve 9 are connected through first bearing 11 between radial, be provided with on the fixed subassembly 3 of forearm limit switch 14 to the fixed subassembly 4 of forearm, limit switch 14 passes through switch bracket fixed mounting and is in on the big arm mounting panel 31, be provided with the position encoder 13 that is used for detecting the fixed subassembly 4 pivoted position of forearm on the motor 1.
Drive mechanism includes with 1 output shaft coaxial coupling of motor drive rope sheave 2, the cover establish driven rope sheave 6 on input flange axle 51, flexible wire rope 7 on drive rope sheave 2 and driven rope sheave 6 is fixed respectively at both ends, be provided with the wire casing 61 that makes the electric wire pass on the 6 internal faces of driven rope sheave, be connected through third bearing 10 between driven rope sheave 6 and the first axle sleeve 8 is radial, first bearing 11, second bearing 12 with third bearing 10 all adopts deep groove ball bearing, first axle sleeve 8 is provided with outward and is used for right the spacing axle head retaining ring of third bearing 10 axial. The device adopts the control principle of a marionette to drive the driven rope pulley 6 to rotate positively and negatively, the two flexible steel wire ropes 7 are arranged and have the same length, and the driving rope pulley 2 and the driven rope pulley 6 are respectively provided with two steel wire installation grooves for winding the flexible steel wire ropes 7; the fixed points at the two ends of the two flexible steel wire ropes 7 are arranged at the corresponding positions of the adjacent steel wire mounting grooves, and the two flexible steel wire ropes 7 are respectively wound around the upper side and the lower side of the driving rope wheel 2 and the driven rope wheel 6.
In order to adapt to the shape of an arm, the small arm fixing component 4 comprises a small arm mounting plate 41, an arc-shaped small arm fixing plate 42 deviating from the direction of the motor 1 is arranged on the small arm mounting plate 41, the large arm fixing component 3 comprises a large arm mounting plate 31, an arc-shaped large arm fixing plate 32 deviating from the direction of the motor 1 is arranged on the large arm mounting plate 31, installation lug holes 18 are formed in the arc-shaped large arm fixing plate 32 and the arc-shaped small arm fixing plate 42, and the large arm and the small arm are fixed through magic tapes penetrating through the installation lug holes 18.
The forearm mounting plate 41 is provided with a groove, a first square hole 411 corresponding to the output square shaft 53 is formed in the groove, a fixed base plate 16 is arranged in the groove in the forearm mounting plate 41, and the fixed screw 17 penetrates through the fixed base plate 16 and the output square shaft 53 in sequence to fixedly mount the output square shaft 53 on the forearm mounting plate 41.
In order to adapt to the installation of each bearing, the first shaft sleeve 8 comprises a basic shaft sleeve part 81 sleeved on the middle transmission shaft 52 and a bearing installation sleeve part 82 installed outside the first bearing 11, and an L-shaped extension installation part 83 is further arranged on the outer side of the bearing installation sleeve part 82; the second bearing 12 is installed between the bearing mounting sleeve portion 82 and the L-shaped extension mounting portion 83, and the second bearing 12 is axially and radially positioned through the matching use between the small arm mounting plate 41 and the bearing mounting sleeve portion 82 and the L-shaped extension mounting portion 83.
The specific working process of the device is as follows:
when carrying out the rehabilitation training, the training person at first through having elastic magic subsides with big arm and forearm and big arm fixed component 3 and forearm fixed component 4 fixed connection respectively. When passive training is performed, the working state of the motor 1 is as follows: in the position control mode, the motor 1 drives the static torque sensor 5 to rotate through the flexible steel wire rope 7, the static torque sensor 5 drives the forearm fixing component 4 to rotate, and then the elbow joint of the human body is driven to do flexion/extension passive rehabilitation training; when active training is implemented, the working state of the motor 1 is as follows: in the torque control mode, a patient does active flexion/extension training action, the motor 1 is driven to rotate reversely through the static torque sensor 5 and the flexible steel wire rope 7, and the motor 1 outputs fixed torque to provide damping required by the patient training. Static torque sensor 5 and position encoder 13 can detect the dynamic moment of torsion and the position of elbow joint when doing the flexion/extension training, state data when providing patient's rehabilitation training, and limit switch 14 restricts the training scope to carry out the validity of rehabilitation training to the patient and make the evaluation, improve rehabilitation training's fail safe nature.
The device of the invention directly uses the stepped shaft of the static torque sensor 5 as a transmission shaft to carry out mechanism design, realizes that the static torque sensor is used for directly measuring the dynamic torque of the elbow, and improves the measuring precision through the direct connection with the measured object; the dynamic torque of the elbow joint in the rehabilitation training process is monitored in real time through the static torque sensor 5, the rotating position of the forearm fixing component 4 is monitored through the position encoder 13 on the motor 1, the state monitoring of the rehabilitation training data can be realized, the rehabilitation effect can be effectively evaluated, and the safety and reliability of the rehabilitation training are improved; by skillfully designing the structures of the first shaft sleeve 8 and the second shaft sleeve 9, not only is the installation of the bearing realized, but also the radial force borne by the static torque sensor 5 is dispersed, and the service life and the measurement precision of the static torque sensor 5 are improved; the control principle of the marionette is adopted, and the positive and negative rotation motion of the driven rope wheel 6 is realized by applying the two flexible steel wire ropes 7, so that the flexion and extension rehabilitation training of the elbow joint is realized. The device has the advantages of compact structure, simple appearance, few parts, great saving of processing cost and good market popularization prospect.
Claims (9)
1. The utility model provides an elbow joint bends and stretches rehabilitation training device which characterized in that: comprises a small arm fixing component (4), a large arm fixing component (3) and a motor (1) fixedly arranged on the large arm fixing component (3), wherein a static torque sensor (5) used for detecting dynamic torque of an elbow joint during flexion and extension training is fixedly arranged on the small arm fixing component (4), the static torque sensor (5) is movably connected to the large arm fixing component (3) through a transmission mechanism, the static torque sensor (5) is in a stepped shaft shape and sequentially comprises an input flange shaft (51), a middle transmission shaft (52) and an output square shaft (53), a first shaft sleeve (8) fixedly arranged on the large arm fixing component (3) is sleeved on the middle transmission shaft (52), the first shaft sleeve (8) is connected with the small arm fixing component (4) in the radial direction through a second bearing (12), and a second shaft sleeve (9) fixedly arranged on the small arm fixing component (4) is sleeved outside the output square shaft (53), the first shaft sleeve (8) is connected with the second shaft sleeve (9) in the radial direction through a first bearing (11), a limit switch (14) for limiting the small arm fixing component (4) is arranged on the large arm fixing component (3), and a position encoder (13) for detecting the rotating position of the small arm fixing component (4) is arranged on the motor (1).
2. The elbow flexion and extension rehabilitation training device according to claim 1, characterized in that: drive mechanism includes drive rope sheave (2), the cover of establishing with motor (1) output shaft coaxial coupling and establishes driven rope sheave (6), flexible wire rope (7) on drive rope sheave (2) and driven rope sheave (6) at both ends on input flange axle (51) respectively, be connected through third bearing (10) between driven rope sheave (6) and the radial of first axle sleeve (8), flexible wire rope (7) set up to two and length the same, two flexible wire rope (7) are walked around from the upside and the downside of drive rope sheave (2) and driven rope sheave (6) respectively.
3. The elbow flexion and extension rehabilitation training device according to claim 1, characterized in that: the small arm fixing assembly (4) comprises a small arm mounting plate (41), a first square hole (411) corresponding to an output square shaft (53) is formed in a groove and a groove formed in the small arm mounting plate (41), a fixing base plate (16) is arranged in the groove formed in the small arm mounting plate (41), a fixing screw (17) penetrates through the fixing base plate (16) and the output square shaft (53) in sequence to fixedly mount the output square shaft (53) on the small arm mounting plate (41), and an arc-shaped small arm fixing plate (42) deviating from the direction of the motor (1) is arranged on the small arm mounting plate (41).
4. The elbow flexion and extension rehabilitation training device according to claim 3, characterized in that: big arm fixed subassembly (3) are including big arm mounting panel (31), be provided with arc big arm fixed plate (32) that deviate from motor (1) direction on big arm mounting panel (31), arc big arm fixed plate (32) with all be provided with installation lug hole (18) on arc forearm fixed plate (42), through passing the magic subsides of installation lug hole (18) are fixed big arm and forearm.
5. The elbow flexion and extension rehabilitation training device according to claim 2, characterized in that: and a shaft end retainer ring for axially limiting the third bearing (10) is arranged outside the first shaft sleeve (8).
6. The elbow flexion and extension rehabilitation training device according to claim 1, characterized in that: the first shaft sleeve (8) comprises a basic shaft sleeve part (81) sleeved on the middle transmission shaft (52) and a bearing mounting sleeve part (82) mounted outside the first bearing (11), and an L-shaped extension mounting part (83) is further arranged on the outer side of the bearing mounting sleeve part (82); the second bearing (12) is mounted between the bearing mounting sleeve portion (82) and the L-shaped extension mounting portion (83).
7. The elbow flexion and extension rehabilitation training device according to any one of claims 1 to 6, characterized in that: the first bearing (11), the second bearing (12) and the third bearing (10) are all deep groove ball bearings.
8. The elbow flexion and extension rehabilitation training device according to claim 1, characterized in that: the limit switch (14) is fixedly arranged on the large arm mounting plate (31) through a switch bracket.
9. The elbow flexion and extension rehabilitation training device according to claim 2, characterized in that: a wire groove (61) for allowing an electric wire to pass through is formed in the inner wall surface of the driven rope pulley (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010648057.8A CN111920638A (en) | 2020-07-07 | 2020-07-07 | Elbow joint flexion and extension rehabilitation training device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010648057.8A CN111920638A (en) | 2020-07-07 | 2020-07-07 | Elbow joint flexion and extension rehabilitation training device |
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| Publication Number | Publication Date |
|---|---|
| CN111920638A true CN111920638A (en) | 2020-11-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010648057.8A Pending CN111920638A (en) | 2020-07-07 | 2020-07-07 | Elbow joint flexion and extension rehabilitation training device |
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| CN (1) | CN111920638A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112691000A (en) * | 2021-01-13 | 2021-04-23 | 上海理工大学 | Elbow joint rehabilitation exoskeleton with unpowered rotating forearms |
| CN113558927A (en) * | 2021-06-21 | 2021-10-29 | 浙江工业大学 | Chair type lower limb movement rehabilitation robot |
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2020
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112691000A (en) * | 2021-01-13 | 2021-04-23 | 上海理工大学 | Elbow joint rehabilitation exoskeleton with unpowered rotating forearms |
| CN113558927A (en) * | 2021-06-21 | 2021-10-29 | 浙江工业大学 | Chair type lower limb movement rehabilitation robot |
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Application publication date: 20201113 |
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