CN111956447B - A dynamic and static combined upper limb rehabilitation brace - Google Patents

Abstract

The invention relates to a dynamic and static combined upper limb rehabilitation support, which comprises an elbow joint support, a shoulder joint movable frame, a controller and a servo motor II, wherein the elbow joint support is connected with the shoulder joint movable frame; the elbow joint support comprises a small arm fixing rod and an elbow fixing rod; the small arm fixing rod and the elbow fixing rod are movably connected and can be bent, a servo motor I drives the small arm fixing rod to completely bend and straighten, and a brake I and an angle sensor assist in completing the elbow joint of the movable upper limb; the shoulder joint movable frame comprises a rotary disc, a disc driving support mechanism and a cylinder; the rotary disc is connected with the elbow joint support through a movable connecting rod, a servo motor II, a servo motor driver and a brake II are arranged in the disc driving and supporting mechanism and jointly drive the rotary disc to rotate to drive the elbow joint support to move, and the cylinder adjusts the height of the upper limb rehabilitation support; the controller is a square box, a single chip microcomputer is arranged in the controller, and a control panel is arranged on the upper surface of the controller. The upper limb rehabilitation brace with the dynamic and static combination is used for carrying out simple upper limb movable support, and is simple in structure and easy to realize.

Description

A dynamic and static combined upper limb rehabilitation brace

technical field

The invention relates to the field of limb rehabilitation aids, in particular to a dynamic and static combined upper limb rehabilitation support and a method for using the same.

Background technique

Limb movement disorder refers to that some or all of the limbs of a person have no normal motor function and cannot move like normal people, such as hemiplegia, paraplegia, monoplegia, etc. Hemilateral limb paralysis, refers to the dysfunction of one side of the limb, such as the inability to lift the upper limb, abduction, internal rotation, external rotation, the inability to hold the object with the hand, the unstable holding of the object, or the weakness of holding the object, the lower limb walking and mopping the floor, or walking in circles . Paraplegia, monoplegia is the paralysis of one of the four limbs.

Upper limb movement disorder requires certain rehabilitation training to prevent muscle atrophy, restore motor function, and maintain upper limb motor nerve activity; appropriate rehabilitation training can also help brain nerve recovery. At present, the upper limb rehabilitation training includes artificial assisted physiotherapy and external mechanical assisted rehabilitation; artificial assisted physiotherapy is manual massage, auxiliary movable limbs, etc. The physiotherapy effect is good but the limitations are obvious, requiring certain professional techniques and physiotherapy costs are high, and upper limb movement disorders take a long time recovery, the cost of physical therapy is unbearable. Exo-mechanical assisted rehabilitation is the use of machinery to assist limb activities. There are mainly two types of assistive devices in the form of mechanical exoskeletons and brackets. Exoskeleton machinery drives upper limb activities through machinery attached to the arm. This type of machinery Most of them have complex structure, high price, and difficult maintenance and care of the device, which is unbearable for most patients; auxiliary devices in the form of brackets are simple in structure, but inconvenient to move, need to rely on items such as beds, and the application site is not flexible.

In general, the problems to be solved by the present invention are:

Among the equipment for mechanically assisted upper extremity rehabilitation, exoskeletons have high cost and complex structure, and the maintenance and maintenance are unbearable for ordinary patients; the auxiliary equipment in the form of brackets is inconvenient to move and the application site is inflexible.

SUMMARY OF THE INVENTION

In order to solve the above technical problems, the solution of the present invention is to provide a dynamic and static combined upper limb rehabilitation support and a method of using the same.

A dynamic and static combined upper limb rehabilitation support includes an elbow joint support, a shoulder joint movable frame and a controller;

The elbow joint bracket includes a forearm fixing rod and an elbow fixing rod; a fixing belt is arranged under one end of the forearm fixing rod, the fixing belt is fixed on the forearm, and the other end is provided with a circular through hole, which is provided with a circular through hole. There is a groove on the side wall of one end of the hole that can be inserted into the elbow fixing rod; an arm fixing strap is arranged under one end of the elbow fixing rod, the fixing strap is fixed on the elbow, there is a protruding shaft above, and the side of the shaft is opened with a A circular through hole, and a cylindrical shaft is arranged at the other end, the cylindrical shaft connects the forearm fixing rod and the elbow fixing rod, and an angle sensor is arranged at the connection of the forearm fixing rod and the elbow fixing rod; the upper end of the cylindrical shaft is connected to the servo The output shaft of the motor I has a brake I on the lower end; the servo motor I and the brake I are fixed on the forearm fixing rod, and the servo motor I has a reduction gear box;

The shoulder joint movable frame includes a rotating disk, a disk driving support mechanism, and a cylinder; a linear array of shafts is protruded on the same radius on the front of the rotating disk, and a circular hole is opened on the side of the shaft. It is connected with the elbow fixing rod by a movable link; the center of the back of the rotating disk is provided with a rotating shaft; the square frame formed by the four side walls of the disk driving support mechanism has a round tube on the middle line of the upper side, and the circular There are rectangular gear grooves and brake II grooves on the pipe, a servo motor seat and a servo motor driver are arranged inside, and a cylinder connecting pipe with an inner thread with an opening at the lower end is arranged in the center of the lower side; the rotating shaft of the rotating disc is inserted into the circular In the circular tube of the disk drive support mechanism, the gear is fixed on the rotating shaft and placed in the gear groove, and the brake II is fixed on the groove of the brake II, which is connected to the rotating shaft; the servo motor II has a reduction gear box, and the servo motor II is fixedly installed in the On the base of the servo motor, the output shaft of the servo motor II is provided with a gear meshing with the gear on the rotating shaft; the bottom surface of the cylinder is provided with a cylinder base, and the telescopic rod is threadedly connected with the cylinder connecting pipe of the disc drive support mechanism;

The controller is a square box with a single chip inside and a control panel on the upper surface.

Further, the bending movement direction of the elbow joint support is the inward bending direction of the arm, the groove of the elbow fixing rod is provided with a blocking plate on the side that is bent outward, and the elbow fixing rod is movable in a range of 90° relative to the forearm fixing rod. .

Further, the movable connecting rod includes a connecting rod and a rotating joint; the connecting rod is a solid rod, and the two ends are small cylinders; A circular through hole is opened on the top; the upper bottom surface of the rotary joint is a cylindrical groove, and the upper bottom surface is equipped with a cover; the bottom surface of the cover is provided with a circular through hole, and the cover is threadedly connected with the rotary joint; small cylinders at both ends of the connecting rod It is placed in the cylindrical groove of the rotating joint, the cover prevents the small cylinder from coming out, the connecting rod and the rotating joint form a rotating connection; A swivel joint is connected to the shaft of the elbow fixing rod through a bolt and nut, and the connection between the swivel joint and the shaft is an active connection.

Further, the cylinder seat is a disc, which is connected with the cylinder bolt, and the cylinder seat can support the shoulder joint movable frame upright.

Further, the control panel is provided with knob switches for brake I and brake II, a start-off button for servo motor I, a start-off button for servo motor II, a cylinder up button, and a cylinder down button.

Further, the angle sensor is preset to be 0° when the forearm fixing rod and the elbow fixing rod are 180°, and the angle sensor returns a signal value to the microcontroller when the angle is 0° and 90°.

Further, the fixing belt is a thickened nylon belt, which is wrapped around the elbow and the forearm through Velcro; a cylinder is fixed on the nylon belt, and the cylinder is fixedly connected with the forearm fixing rod and the elbow fixing rod.

A method for using a dynamic and static combined upper limb rehabilitation brace, comprising the following methods:

(1) Passive extension and flexion of the elbow joint: fix the elbow joint bracket on the user's upper limb through the fixing belt, press the servo motor I on the controller to start and close the button, the servo motor I starts, and the elbow fixing rod is relative to the forearm When the fixed rod is bent, when the bending reaches 90°, the angle sensor sends a signal to the single-chip microcomputer, and the single-chip microcomputer drives the servo motor driver to reverse the servo motor I, and the elbow joint bracket is straightened. When it reaches 0°, the angle sensor sends a signal to the single-chip computer, and the single-chip microcomputer drives the servo motor driver. Reverse the servo motor I again, and bend the elbow joint bracket; repeat the above process to move the elbow joint;

(2) Static fixation of the elbow joint: fix the elbow joint support on the user's upper limb through the fixing belt, manually bend the elbow joint support, adjust the resistance to the maximum with the knob switch of brake I at the appropriate position, and fix the shape of the elbow joint support , so as to fix the shape of the elbow joint, it is necessary to adjust the shape of the elbow joint bracket and then use the brake I to fix the shape to achieve the purpose of static;

(3) Active exercise of elbow joint: fix the elbow joint bracket on the user's upper limb through the fixing belt, the user bends the elbow with his own muscle strength, and gradually increases the resistance of the brake I with the knob switch of the brake I as the exercise progresses , to achieve the results of enhanced exercise;

(4) Passive movement of shoulder joint: the user takes a sitting position and uses the cylinder up button and cylinder down button on the controller to lift and rotate the disc, adjust the position of the shoulder joint movable frame so that the shoulders face the center of the rotary disc, and the elbow joint supports It is fixed on the user's upper limb with a fixed belt to keep the arm straight, the movable link connects the rotating disc and the elbow joint bracket, and the servo motor II of the controller is used to start and close the button to turn on the servo motor II. The disk rotates to drive the front end of the elbow joint bracket to rotate in a circle, thereby activating the shoulder joint, connecting the shafts with different eccentric positions on the rotating disk according to different needs, and increasing or decreasing the circle rotation radius;

(5) The shoulder joint is stationary and fixed: the user adopts the seated position to use the cylinder up button and the cylinder down button on the controller to lift the rotating disc, adjust the position of the shoulder joint movable frame so that the shoulders face the center of the rotating disc, and the elbow joint supports It is fixed on the user's upper limb with a fixed belt to keep the arm straight, and the movable link connects the rotating disc and the elbow joint bracket. fix the position of the shoulder joint;

(6) Active exercise of shoulder joint: the user adopts the seated position to use the cylinder up button and cylinder down button on the controller to lift the rotating disc, adjust the position of the shoulder joint movable frame so that the shoulders face the center of the rotating disc, and the elbow joint supports It is fixed on the user's upper limb with a fixed belt to keep the arm straight, and the movable link connects the rotating disc and the elbow joint bracket. The switch gradually increases the resistance of the brake II to achieve the result of strengthening the exercise.

Further, in the step (4), in the later stage of rehabilitation, the user can hold the movable link by hand to follow the rotation of the rotating disc.

Further, in the step (6), in the later stage of recovery, the user can hold the movable link by hand to push the rotating disc to rotate.

Beneficial Effects of Invention

(1) The upper limb rehabilitation brace has a simple structure, many replaceable parts and easy acquisition, simple daily maintenance and low cost;

(2) The upper limb rehabilitation brace is not in a fixed position, and can be moved to a place that the patient feels appropriate.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings that need to be used in the embodiments. Obviously, the drawings in the following description are only some embodiments described in the present invention. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

Fig. 1 is the structure schematic diagram of the upper limb rehabilitation brace combined with dynamic and static:

Figure 2 is a schematic diagram of the structure of the connection between the movable link and the elbow fixed rod:

Figure 3 is a schematic diagram of the front view of the disk drive support mechanism:

Figure 4 is a schematic top view of the disk drive support mechanism:

Figure 5 is a schematic diagram of the frame structure of the disk drive support mechanism:

Figure 6 is a schematic diagram of the controller:

The components and their labels in the accompanying drawings are as follows:

Elbow joint bracket 1, forearm fixing rod 1-1, elbow fixing rod 1-2, fixing belt 1-3, axis 1-4, angle sensor 1-5, servo motor I 1-6, cylindrical axis 1-7, Blocks 1-8, Brakes 1-9;

Shoulder joint movable frame 2, rotating disc 2-1, disc drive support mechanism 2-2, cylinder 2-3, shaft 2-4, movable connecting rod 2-5, rotating shaft 2-6, circular tube 2-7, Rectangular gear slot 2-8, brake II slot 2-9, servo motor base 2-10, servo motor driver 2-11, cylinder connecting pipe 2-12, gear 2-13, cylinder base 2-14, servo motor II 2 -15, Brake II 2-16, connecting rod 2-17, rotary joint 2-18, cover 2-19;

Controller 3, knob switch of brake I 3-1, knob switch of brake II 3-2, servo motor I start and close button 3-3, servo motor II start and close button 3-4, cylinder up button 3-5, cylinder Down button 3-6, MCU 3-7.

Example

The technical solutions of the present invention will be clearly and completely described below through specific embodiments.

Example I

The structure of the dynamic and static combined upper limb rehabilitation brace of the present invention is shown in FIGS. 1 to 6 , including an elbow joint support 1 , a shoulder joint movable frame 2 , and a controller 3 ;

The elbow joint bracket 1 includes a forearm fixing rod 1-1 and an elbow fixing rod 1-2; a fixing belt 1-3 is arranged under one end of the forearm fixing rod 1-1, and the fixing belt 1-3 is fixed on the forearm The other end is provided with a circular through hole, and the side wall of one end of the circular through hole is provided with a groove for inserting the elbow fixing rod 1-2; the arm is fixed under one end of the elbow fixing rod 1-2 Belt 1-3, the fixing belt 1-3 is fixed on the elbow, there is a protruding shaft 1-4 above, a circular through hole is opened on the side of the shaft 1-4, and the other end is placed with a cylindrical shaft 1-7. The axis 1-7 connects the forearm fixing rod 1-1 and the elbow fixing rod 1-2 to 2-5, and the angle sensor 1-5 is arranged at the connection between the forearm fixing rod 1-1 and the elbow fixing rod 1-2; The upper end of the cylindrical shaft 1-7 is connected to the output shaft 1-4 of the servo motor I1-6, and the lower end is provided with a brake I1-9; the servo motor I1-6 and the brake I1-9 are fixed on the forearm fixing rod 1- 1, the servo motor I1-6 is equipped with a reduction gear box; the bending and moving direction of the elbow joint bracket 1 is the inward bending direction of the arm, and the groove of the elbow fixing rod 1-2 is provided with a blocking plate on the side of the outward bending 1-8, the elbow fixing rod 1-2 can move in a range of 90° relative to the forearm fixing rod to prevent the mechanical failure from spraining the user's joints; the fixing belts 1-3 are thickened nylon belts, which are wound on the On the elbow and the forearm; a cylinder is fixed on the nylon belt, and the cylinder is fixedly connected with the forearm fixing rod 1-1 and the elbow fixing rod 1-2.

The shoulder joint movable frame 2 includes a rotating disk 2-1, a disk driving support mechanism 2-2, and a cylinder 2-3; the front surface of the rotating disk 2-1 has a linear array of shafts 2-1 protruding on the same radius. 4. A round hole is opened on the side of the shaft 2-4, and the shaft 2-4 of the rotating disc 2-1 and the elbow fixing rod 1-2 are connected by the movable link 2-5; the rotating disc 2-1 There is a rotating shaft 2-6 in the center of the back of the disk; the disk drive support mechanism 2-2 is a square frame composed of four side walls, and a round tube 2-7 is arranged on the midline of the upper side, and a rectangular shape is opened on the round tube 2-7. Gear slot 2-8 and brake II 2-16 slot 2-9, there are servo motor base 2-10 and servo motor driver 2-11 inside, and the inner center of the lower side is provided with a cylinder connecting pipe 2 with an inner thread with a lower end opening -12; the rotating shaft 2-6 of the rotating disc 2-1 is inserted into the circular tube 2-7 of the disc drive supporting mechanism 2-2, and the gear 2-13 is fixed on the rotating shaft 2-6 and placed on the gear 2-13 In the groove, the brake II2-16 is fixed on the groove 2-9 of the brake II2-16, and is connected to the rotating shaft 2-6; the servo motor II2-15 has a reduction gear 2-13 box, and the servo motor II2-15 is fixedly installed in the On the servo motor base 2-10, the output shaft 2-4 of the servo motor II 2-15 is provided with a gear 2-13 which meshes with the gear 2-13 on the rotating shaft 2-6; the bottom surface of the cylinder 2-3 is provided with a cylinder block 2-14, the telescopic rod is threadedly connected with the threaded pipe of the disc drive support mechanism 2-2; the angle sensor 1-5 is preset to 0° when the forearm fixing rod 1-1 and the elbow fixing rod 1-2180° , the angle sensor 1-5 returns a signal value to the microcontroller at 0° and 90° to realize the function of repeatedly stretching and flexing the arm. The movable connecting rod 2-5 includes a connecting rod 2-17 and a rotating connecting head 2-18; the connecting rod 2-17 is a solid rod, and both ends are small cylinders; the rotating connecting head 2-18 is a cylinder, There is a groove on the side wall of the lower bottom surface, and a circular through hole is opened on the side of the groove; the upper bottom surface of the rotary joint 2-18 is a cylindrical groove, and the upper bottom surface is equipped with a cover 2-19; the bottom surface of the cover 2-19 There is a circular through hole, the cover 2-19 is screwed with the rotary joint 2-18; the small cylinders at both ends of the connecting rod 2-17 are placed in the cylindrical groove of the rotary joint 2-18, and the cover 2-19 prevents the small cylinders The connecting rod 2-17 and the rotary joint 2-18 form a rotary connection; the cylinder base 2-14 is a disc, which is bolted to the cylinder 2-3, and the cylinder base 2-14 can support the shoulder joint movable frame 2 stand up.

The rotary joints 2-18 at one end of the movable link 2-5 are respectively connected to one of the shafts 2-4 of the rotating disc 2-1 through bolts and nuts, and the other rotary joints 2-18 are connected to each other through bolts and nuts. On the shaft 2-4 of the elbow fixing rod 1-2, the connection between the rotary joint 2-18 and the shaft 2-4 is an active connection. The rotating disc 2-1 drives the shoulder joint movable frame 2.

The controller 3 is a square box with a single-chip microcomputer 3-7 inside, and a control panel on the upper surface; the control panel is provided with knob switches for brakes I1-9 and brakes II2-16, and the servo motor I starts and closes. Button 3-3, servo motor II start and close button 3-4, cylinder up button 3-5, cylinder down button 3-6.

Example II

A use method (1) of a dynamic and static combined upper limb rehabilitation brace is as follows:

Passive extension and flexion of the elbow joint: Fix the elbow joint bracket 1 on the user's upper limb through the fixing belt 1-3, press the servo motor I on the controller 3 to start and close the button 3-3, the servo motor I1-6 is activated, and the hand The elbow fixing rod 1-2 is bent relative to the forearm fixing rod 1-1. When the bending reaches 90°, the angle sensor 1-5 sends a signal to the microcontroller 3-7, and the microcontroller 3-7 drives the servo motor driver 2-11 to make the servo motor I1 -6 is reversed, the elbow joint bracket 1 is straightened, and when it reaches 0°, the angle sensor 1-5 sends a signal to the single-chip microcomputer 3-7, and the single-chip microcomputer 3-7 drives the servo motor driver 2-11 to make the servo motor I1-6 reverse again, The elbow joint support 1 is straightened; the above process is repeated to move the elbow joint;

Example III

A use method (2) of a dynamic and static combined upper limb rehabilitation brace is as follows:

Static fixation of the elbow joint: Fix the elbow joint bracket 1 on the user's upper limb through the fixing belt 1-3, manually bend the elbow joint bracket 1, and adjust the resistance to the maximum with the knob switch 3-1 of the brake I at the appropriate position, and fix it. The shape of the elbow joint bracket 1, so as to fix the shape of the elbow joint, it is necessary to adjust the shape of the elbow joint bracket 1 and then use the brake I1-9 to fix the shape to achieve the purpose of static;

Example IV

A use method (3) of a dynamic and static combined upper limb rehabilitation brace is as follows:

Active Elbow Exercise: Fix the elbow joint bracket 1 on the user's upper limb through the fixing belt 1-3, the user bends the elbow with his own muscle strength, and gradually increases the knob switch 3-1 of the brake I with the deepening of the exercise The resistance of the brakes I1-9 achieves the result of enhanced exercise;

Example V

A use method (4) of a dynamic and static combined upper limb rehabilitation brace is as follows:

Passive shoulder movement: the user takes a sitting position and uses the cylinder 2-3 ascending button 3-5, cylinder 2-3 descending button 3-6 on the controller 3 to lift the rotating disc 2-1 to adjust the position of the shoulder joint movable frame 2 Make the shoulders face the center of the rotating disc 2-1, the elbow joint bracket 1 is fixed on the upper limb of the user through the fixing belt 1-3 to keep the arm straight, and the movable link 2-5 is connected to the rotating disc 2- 1 and the elbow joint bracket 1, use the servo motor II of the controller 3 to start and close the button 3-4 to turn on the servo motor II 2-15, the servo motor II 2-15 drives the rotating disc 2-1 to rotate, and drives the front end of the elbow joint bracket 1 to make a circle Rotate, thereby activating the shoulder joint, and rotating the shaft 2-4 connecting the different eccentric positions on the rotating disc 2-1 according to different needs, increasing or decreasing the radius of the circle rotation;

Example VI

A use method (5) of a dynamic and static combined upper limb rehabilitation brace is as follows:

The shoulder joint is stationary and fixed: the user takes a sitting position and uses the cylinder 2-3 ascending button 3-5, cylinder 2-3 descending button 3-6 on the controller 3 to lift the rotating disc 2-1 to adjust the position of the shoulder joint movable frame 2 Make the shoulders face the center of the rotating disc 2-1, the elbow joint bracket 1 is fixed on the upper limb of the user through the fixing belt 1-3 to keep the arm straight, and the movable link 2-5 is connected to the rotating disc 2- 1 and the elbow joint bracket 1, the assistant manually rotates the rotating disc 2-1, adjusts the resistance of the brake II 2-16 to the maximum at a certain position, and fixes the position of the shoulder joint;

Example VII

A use method (6) of a dynamic and static combined upper limb rehabilitation brace is as follows:

Shoulder joint active exercise: the user takes a seated position and uses the cylinder 2-3 ascending button 3-5, cylinder 2-3 descending button 3-6 on the controller 3 to lift the rotating disc 2-1 to adjust the position of the shoulder joint movable frame 2 Make the shoulders face the center of the rotating disc 2-1, the elbow joint bracket 1 is fixed on the upper limb of the user through the fixing belt 1-3 to keep the arm straight, and the movable link 2-5 is connected to the rotating disc 2- 1 and elbow joint bracket 1, the user drives the rotating disc 2-1 to rotate with his own muscle strength, and gradually increases the resistance of the brake II2-16 with the knob switch of the brake II2-16 with the deepening of the exercise to achieve the result of enhanced exercise.

In the method (4), in the later stage of rehabilitation, the user can hold the movable link 2-5 by hand and follow the rotation of the rotating disc 2-1.

In the method (6), in the later stage of rehabilitation, the user can hold the movable link 2-5 by hand to push the rotating disc 2-1 to rotate.

The above-mentioned embodiments are only the preferred embodiments of the present invention to describe, and do not limit the concept and scope of the present invention. Various modifications and improvements made should fall within the protection scope of the present invention, and the technical content of the claimed protection of the present invention has been fully recorded in the technical requirements.

Claims (4)

1. The utility model provides a recovered brace of upper limbs of dynamic and static combination which characterized in that: comprises an elbow joint bracket, a shoulder joint movable frame, a controller and a servo motor II;

the elbow joint support comprises a small arm fixing rod and an elbow fixing rod; a fixing belt is arranged below one end of the small arm fixing rod and fixed on the small arm, a circular through hole is formed in the other end of the small arm fixing rod, and a groove capable of being inserted into the elbow fixing rod is formed in the side wall of one end provided with the circular through hole; an arm fixing belt is arranged below one end of the elbow fixing rod and fixed on the elbow, a protruding shaft is arranged above the elbow fixing rod, a circular through hole is formed in the side surface of the shaft, a cylindrical shaft is arranged at the other end of the shaft, the small arm fixing rod and the elbow fixing rod are connected through the cylindrical shaft, and an angle sensor is arranged at the joint of the small arm fixing rod and the elbow fixing rod; the upper end of the cylindrical shaft is connected with an output shaft of a servo motor I, and the lower end of the cylindrical shaft is provided with a brake I; the servo motor I and the brake I are fixed on the small arm fixing rod, and the servo motor I is provided with a reduction gear box;

the shoulder joint movable frame comprises a rotary disc, a disc driving support mechanism and a cylinder; the front surface of the rotating disc is provided with a linear array shaft in a protruding manner at the same radius, the side surface of the shaft is provided with a round hole, and the shaft of the rotating disc is connected with the elbow fixing rod through a movable connecting rod; the center of the back of the rotating disc is provided with a rotating shaft; the center line of the upper side surface of a square frame consisting of four side walls of the disc driving support mechanism is provided with a round pipe, a rectangular gear groove and a groove of a brake II are formed in the round pipe, a servo motor base and a servo motor driver are arranged in the round pipe, and the center of the inner part of the lower side surface of the square frame is provided with a cylinder connecting pipe with an internal thread and an opening at the lower end; a rotating shaft of the rotating disc is inserted into a circular tube of the disc driving support mechanism, a gear is fixed on the rotating shaft and placed in a gear groove, and a brake II is fixed on a groove of the brake II and connected with the rotating shaft; the servo motor II is provided with a reduction gear box, the servo motor II is fixedly arranged on a servo motor base, and a gear arranged on an output shaft of the servo motor II is meshed with a gear on the rotating shaft; a cylinder seat is arranged on the bottom surface of the cylinder, and the telescopic rod is in threaded connection with a cylinder connecting pipe of the disc driving support mechanism; the controller is a square box, a single chip microcomputer is arranged in the controller, and a control panel is arranged on the upper surface of the controller; the bending moving direction of the elbow joint support is the inward bending direction of the arm, a blocking piece is arranged on one side, bent outwards, of the groove of the elbow fixing rod, and the elbow fixing rod moves in a range of 90 degrees relative to the small arm fixing rod; the movable connecting rod comprises a connecting rod and a rotary connector; the connecting rod is a solid rod, and two ends of the connecting rod are small cylinders; the rotary connector is a cylinder, a groove is formed in the side wall of the lower bottom surface, and a circular through hole is formed in the side of the groove; the upper bottom surface of the rotary connector is provided with a cylindrical groove, and the upper bottom surface is provided with a cover; the bottom surface of the cover is provided with a circular through hole, and the cover is in threaded connection with the rotary connector; the small cylinders at the two ends of the connecting rod are arranged in the cylinder grooves of the rotary connector, the small cylinders are prevented from falling off by the cover, and the connecting rod and the rotary connector form rotary connection; the rotary connector at one end of the movable connecting rod is connected to one shaft of the rotary disc through a bolt and a nut, the other rotary connector is connected to a shaft of the elbow fixing rod through a bolt and a nut, and the rotary connector is movably connected with the shaft;

the control panel is provided with knob switches of a brake I and a brake II, and a servo motor I starts a closing button, a servo motor II starts a closing button, a cylinder ascending button and a cylinder descending button;

the angle sensor is preset with a small arm fixing rod and an elbow fixing rod which are 0 degrees when the angles are 180 degrees, and returns primary signal values to the single chip microcomputer when the angles are 0 degrees and 90 degrees;

the fixing band is a thickened nylon band and is wound on the elbow and the small arm through a magic tape; a cylinder is fixed on the nylon belt and is fixedly connected with a small arm fixing rod and an elbow fixing rod;

the use method of the upper limb rehabilitation brace comprises the following steps:

(1) the elbow joint is stretched and bent passively: the elbow joint support is fixed on the upper limb of a user through a fixing band, a servo motor I on a controller is pressed to start a closing button, the servo motor I is started, an elbow fixing rod is bent relative to a forearm fixing rod, an angle sensor sends a signal to a single chip microcomputer when the elbow fixing rod is bent to 90 degrees, the single chip microcomputer drives a servo motor driver to enable the servo motor I to rotate reversely, the elbow joint support is straightened, the angle sensor sends a signal to the single chip microcomputer when the elbow joint support reaches 0 degree, the single chip microcomputer drives the servo motor driver to enable the servo motor I to rotate reversely again, and the elbow joint support is bent; repeating the above process to move the elbow joint;

(2) the elbow joint is fixed in a static mode: fixing the elbow joint support on the upper limb of a user through a fixing band, manually bending the elbow joint support, adjusting the resistance to the maximum at a proper position by using a knob switch of a brake I, and fixing the shape of the elbow joint support so as to fix the shape of the elbow joint;

(3) actively exercising the elbow joint: the elbow joint support is fixed on the upper limb of a user through a fixing band, the user bends the elbow according to the muscle strength of the user, the resistance of the brake I is gradually increased by using a knob switch of the brake I along with the deep exercise, and the exercise enhancing result is achieved;

(4) passive movement of the shoulder joint: a user uses a cylinder ascending button and a cylinder descending button on a controller to lift a rotating disc in a sitting posture, the position of a shoulder joint movable frame is adjusted to enable shoulders of the user to be over against the center of the rotating disc, an elbow joint support is fixed on upper limbs of the user through a fixing band to enable arms to be kept in a straight state, a movable connecting rod is connected with the rotating disc and the elbow joint support, a servo motor II of the controller is used for starting a closing button to start a servo motor II, the servo motor II drives the rotating disc to rotate to drive a winding at the front end of the elbow joint support to rotate, so that shoulder joints are moved, shafts at different eccentric positions on the rotating disc are connected according to different requirements, and the rotating radius of the winding is increased or reduced;

(5) the shoulder joint is fixed in a static way: a user uses a cylinder ascending button and a cylinder descending button on a controller to lift a rotating disc in a sitting posture, the position of a shoulder joint movable frame is adjusted to enable shoulders of the user to be over against the circle center of the rotating disc, an elbow joint support is fixed on upper limbs of the user through a fixing belt to enable arms to be kept in a stretched state, a movable connecting rod is connected with the rotating disc and the elbow joint support to assist the user to manually rotate the rotating disc, the resistance of a brake II is adjusted to be maximum at a certain position, and the position of a shoulder joint is fixed;

(6) actively exercising the shoulder joint: the user adopts the position of sitting to use cylinder ascending button, cylinder descending button lift rotating disc on the controller, the position of adjustment shoulder joint adjustable shelf makes people's shoulder just to the centre of a circle of rotating disc, elbow joint support passes through the fixed band to be fixed on user's upper limbs and makes the arm keep straightening the state, swing joint connects rotating disc and elbow joint support, the user relies on self muscle strength to drive rotating disc and rotates, along with the deepening of taking exercise with the knob switch of stopper II increase the resistance of stopper II gradually, reach the result of reinforcing exercise.

2. The upper limb rehabilitation brace with dynamic and static combination according to claim 1, characterized in that: the cylinder base is a disc and is connected with a cylinder bolt, and the cylinder base can support the shoulder joint movable frame to stand.

3. The dynamic and static combined upper limb rehabilitation brace as claimed in claim 1, characterized in that: in the method (4), the movable connecting rod can be held by hands to rotate along with the rotating disc at the later stage of the rehabilitation of a user.

4. The upper limb rehabilitation brace with dynamic and static combination of claim 1, characterized in that: in the method (6), the user can hold the movable connecting rod by hand to push the rotating disc to rotate in the later stage of rehabilitation.

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