CN111956447B - Recovered brace of upper limbs that dynamic and static combines - Google Patents

Recovered brace of upper limbs that dynamic and static combines Download PDF

Info

Publication number
CN111956447B
CN111956447B CN202010604456.4A CN202010604456A CN111956447B CN 111956447 B CN111956447 B CN 111956447B CN 202010604456 A CN202010604456 A CN 202010604456A CN 111956447 B CN111956447 B CN 111956447B
Authority
CN
China
Prior art keywords
elbow
servo motor
fixing rod
cylinder
elbow joint
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202010604456.4A
Other languages
Chinese (zh)
Other versions
CN111956447A (en
Inventor
李武全
张文滔
刘军
刘文军
孟美芬
张艳玲
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Second Affiliated Hospital of Kunming Medical University
Original Assignee
Second Affiliated Hospital of Kunming Medical University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Second Affiliated Hospital of Kunming Medical University filed Critical Second Affiliated Hospital of Kunming Medical University
Priority to CN202010604456.4A priority Critical patent/CN111956447B/en
Publication of CN111956447A publication Critical patent/CN111956447A/en
Application granted granted Critical
Publication of CN111956447B publication Critical patent/CN111956447B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
    • A63B23/1245—Primarily by articulating the shoulder joint
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
    • A63B23/1281—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles primarily by articulating the elbow joint
    • 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
    • A61H2001/0207—Nutating movement of a body part around its articulation
    • 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
    • A61H2201/12—Driving means
    • A61H2201/1238—Driving means with hydraulic or pneumatic drive

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

Recovered brace of upper limbs that dynamic and static combines
Technical Field
The invention relates to the field of limb rehabilitation auxiliary instruments, in particular to an upper limb rehabilitation brace with dynamic and static combination and a using method thereof.
Background
The limb movement disorder is the four limbs of a person, wherein a part or all of the limbs do not have normal motor functions and can not move like normal people, such as hemiparalysis, paraplegia, monoplegia and the like. Paralysis of the hemilateral limbs refers to dysfunction of the limbs on one side, such as inability to lift the upper limbs, abduction, internal rotation, external rotation, inability to hold objects in the hands, instability in holding objects, or inability to hold objects, dragging the floor during walking of the lower limbs, or circling during walking. Paraplegia, monoplegia refers to one of the four limbs being paralyzed.
The upper limb movement disorder needs to carry out certain rehabilitation training to prevent muscular atrophy, recover motor function and keep the motor nerve activity of the upper limb; proper rehabilitation training can also help the recovery of the brain nerves. The existing upper limb rehabilitation training comprises artificial auxiliary physical therapy and external mechanical auxiliary rehabilitation; the manual auxiliary physical therapy is manual massage and assists in moving limbs and the like, the physical therapy effect is good, the limitation is obvious, a certain professional skill is needed, the physical therapy cost is high, the upper limb movement disorder needs to be recovered for a long time, and the physical therapy cost is difficult to bear. The external mechanical auxiliary rehabilitation is to assist limb movement by means of machinery, the existing two types of auxiliary instruments are mainly in a mechanical exoskeleton form and a support form, the exoskeleton machinery drives upper limbs to move by the aid of machinery attached to arms, most of the machines of the type are complex in structure and high in price, and the devices are difficult to maintain and care and are difficult to bear by most of patients; the auxiliary apparatus in the form of the support is simple in structure, but is inconvenient to move, needs to be supported by objects such as beds, and is not flexible in application places.
In summary, the problems to be solved by the present invention are:
the outer skeleton in the equipment for mechanically assisting upper limb rehabilitation has high cost and complex structure, and is difficult to bear by ordinary patients for maintenance; the auxiliary equipment in the form of a bracket is inconvenient to move and the application place is not flexible.
Disclosure of Invention
In order to solve the technical problems, the invention adopts the scheme that: provides a dynamic and static combined upper limb rehabilitation brace and a using method thereof.
A dynamic and static combined upper limb rehabilitation brace comprises an elbow joint support, a shoulder joint movable frame and a controller;
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 of the rotary disk is provided with a linear array of shafts in a protruding manner at the same radius, the side surface of each shaft is provided with a round hole, and the shafts of the rotary disk are connected with the elbow fixing rods through movable connecting rods; 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 and 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.
Furthermore, the bending moving direction of the elbow joint support is the inward bending direction of the arm, a blocking piece is arranged at 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 forearm fixing rod.
Furthermore, 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 the shaft of the elbow fixing rod through a bolt and a nut, and the rotary connector is movably connected with the shaft.
Furthermore, the cylinder block is a disc and is connected with a cylinder bolt, and the cylinder block can support the shoulder joint movable frame.
Furthermore, 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.
Furthermore, the angle sensor presets the forearm fixing rod and the elbow fixing rod to be 0 degree when the angles are 180 degrees, and returns a signal value to the single chip microcomputer when the angles are 0 degrees and 90 degrees.
Furthermore, the fixing belt is a thickened nylon belt 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 the small arm fixing rod and the elbow fixing rod.
A use method of an upper limb rehabilitation brace with dynamic and static combination comprises the following steps:
(1) the elbow joint is stretched and bent passively: an elbow joint support is fixed on the upper limb of a user through a fixing belt, a servo motor I on a controller is pressed to start a closing button, the servo motor I is started, the 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 degrees, 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: the elbow joint support is fixed on the upper limb of a user through a fixing band, the elbow joint support is manually bent, resistance is adjusted to the maximum by a knob switch of a brake I at a proper position, the shape of the elbow joint support is fixed, and therefore the elbow joint shape is fixed, and the shape of the elbow joint support needs to be adjusted and then fixed through the brake I to achieve the purpose of stillness;
(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.
Furthermore, in the later stage of the rehabilitation of the user in the step (4), the movable connecting rod can be held by hands to rotate along with the rotating disc.
Furthermore, in the step (6), the user can hold the movable connecting rod by hand to push the rotating disc to rotate in the later stage of rehabilitation.
Advantageous effects of the invention
(1) The upper limb rehabilitation brace has the advantages of simple structure, more replaceable parts, easiness in obtaining, simplicity in daily maintenance and low cost;
(2) the upper limb rehabilitation brace is not fixed in position and can be moved to a place where the patient feels suitable.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments are briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural view of an upper limb rehabilitation brace with dynamic and static combination:
FIG. 2 is a schematic view of the connection between the movable connecting rod and the elbow fixing rod:
FIG. 3 is a schematic view of the structure of the disk drive support mechanism from the front view side:
FIG. 4 is a schematic top view of the disk drive supporting mechanism:
FIG. 5 is a schematic diagram of a frame structure of the disk drive supporting mechanism:
FIG. 6 is a schematic diagram of the controller:
the parts and their numbers in the drawings are as follows:
the device comprises an elbow joint support 1, a forearm fixing rod 1-1, an elbow fixing rod 1-2, a fixing band 1-3, a shaft 1-4, an angle sensor 1-5, a servo motor I1-6, a cylindrical shaft 1-7, a blocking piece 1-8 and a brake I1-9;
2-1 parts of a shoulder joint movable frame, 2-2 parts of a rotary disc, 2-2 parts of a disc driving support mechanism, 2-3 parts of a cylinder, 2-4 parts of a shaft, 2-5 parts of a movable connecting rod, 2-6 parts of a rotating shaft, 2-7 parts of a circular tube, 2-8 parts of a rectangular gear groove, 2-9 parts of a brake II, 2-10 parts of a servo motor seat, 2-11 parts of a servo motor driver, 2-12 parts of a cylinder connecting pipe, 2-13 parts of a gear, 2-14 parts of a cylinder seat, 2-15 parts of a servo motor II, 2-16 parts of a brake II, 2-17 parts of a connecting rod, 2-18 parts of a rotary connector and 2-19 parts of a cover;
the brake comprises a controller 3, a knob switch 3-1 of a brake I, a knob switch 3-2 of a brake II, a starting and closing button 3-3 of a servo motor I, a starting and closing button 3-4 of a servo motor II, an air cylinder lifting button 3-5, an air cylinder descending button 3-6 and a single chip microcomputer 3-7.
Examples
The technical solution of the present invention will be clearly and completely described by the following specific examples.
Example I
The structure of the upper limb rehabilitation brace with dynamic and static combination is shown in figures 1-6 and comprises an elbow joint support 1, a shoulder joint movable frame 2 and a controller 3;
the elbow joint support 1 comprises a small arm fixing rod 1-1 and an elbow fixing rod 1-2; a fixing belt 1-3 is arranged below one end of the small arm fixing rod 1-1, the fixing belt 1-3 is 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 1-2 is formed in the side wall of one end provided with the circular through hole; an arm fixing belt 1-3 is arranged below one end of the elbow fixing rod 1-2, the fixing belt 1-3 is fixed on the elbow, a protruding shaft 1-4 is arranged above the fixing belt 1-3, a circular through hole is formed in the side face of the shaft 1-4, a cylindrical shaft 1-7 is arranged at the other end of the shaft 1-4, the small arm fixing rod 1-1 and the elbow fixing rod 1-2 are connected 2-5 through the cylindrical shaft 1-7, and an angle sensor 1-5 is arranged at the joint of the small arm fixing rod 1-1 and the elbow fixing rod 1-2; the upper end of the cylindrical shaft 1-7 is connected with an output shaft 1-4 of a servo motor I1-6, and the lower end of the cylindrical shaft is provided with a brake I1-9; the servo motors I1-6 and the brakes I1-9 are fixed on the small arm fixing rods 1-1, and the servo motors I1-6 are provided with reduction gear boxes; the bending moving direction of the elbow joint support 1 is the inward bending direction of the arm, a baffle plate 1-8 is arranged at one side, bent outwards, of a groove of the elbow fixing rod 1-2, the elbow fixing rod 1-2 moves in a range of 90 degrees relative to the forearm fixing rod, and the joint of a user is prevented from being sprained when the elbow joint support is in mechanical failure operation; the fixing belts 1-3 are thickened nylon belts and are wound on the elbows and the small arms through magic tapes; a cylinder is fixed on the nylon belt and is fixedly connected with a small arm fixing rod 1-1 and an elbow fixing rod 1-2.
The shoulder joint moving frame 2 comprises a rotating disc 2-1, a disc driving support mechanism 2-2 and a cylinder 2-3; the front surface of the rotating disc 2-1 is provided with a linear array shaft 2-4 in a protruding manner at the same radius, the side surface of the shaft 2-4 is provided with a round hole, and the shaft 2-4 of the rotating disc 2-1 is connected with the elbow fixing rod 1-2 through a movable connecting rod 2-5; the center of the back of the rotating disc 2-1 is provided with a rotating shaft 2-6; the disc driving support mechanism 2-2 is a square frame formed by four side walls, a circular tube 2-7 is arranged on the central line of the upper side surface of the square frame, a rectangular gear groove 2-8 and a groove 2-9 of a brake II 2-16 are formed in the circular tube 2-7, a servo motor base 2-10 and a servo motor driver 2-11 are arranged in the square frame, and a cylinder connecting pipe 2-12 with an internal thread and an opening at the lower end is arranged in the center of the inner side surface of the square frame; a rotating shaft 2-6 of the rotating disc 2-1 is inserted into a circular tube 2-7 of the disc driving support mechanism 2-2, a gear 2-13 is fixed on the rotating shaft 2-6 and placed in a groove 2-13 of the gear, and a brake II 2-16 is fixed on a groove 2-9 of the brake II 2-16 and connected with the rotating shaft 2-6; the servo motor II 2-15 is provided with a reduction gear box 2-13, the servo motor II 2-15 is fixedly arranged on the servo motor base 2-10, and a gear 2-13 arranged on an output shaft 2-4 of the servo motor II 2-15 is meshed with a gear 2-13 on a rotating shaft 2-6; the bottom surface of the cylinder 2-3 is provided with a cylinder seat 2-14, and the telescopic rod is in threaded connection with a threaded pipe of the disc driving support mechanism 2-2; the angle sensor 1-5 is preset with a small arm fixing rod 1-1 and an elbow fixing rod 1-2180 degree of 0 degree, and the angle sensor 1-5 returns a signal value to the single chip microcomputer at 0 degree and 90 degrees, so that the function of repeatedly stretching and bending arms is realized. The movable connecting rod 2-5 comprises a connecting rod 2-17 and a rotary connector 2-18; the connecting rods 2 to 17 are solid rods, and two ends of each connecting rod are small cylinders; the rotary connectors 2-18 are cylinders, grooves are formed in the side wall of the lower bottom surface, and circular through holes are formed in the side of each groove; the upper bottom surface of the rotary connector 2-18 is provided with a cylindrical groove, and the upper bottom surface is provided with a cover 2-19; the bottom surface of the cover 2-19 is provided with a circular through hole, and the cover 2-19 is in threaded connection with the rotary connector 2-18; the small cylinders at the two ends of the connecting rod 2-17 are arranged in the cylinder grooves of the rotary connectors 2-18, the small cylinders are prevented from falling off by the covers 2-19, and the connecting rod 2-17 and the rotary connectors 2-18 form rotary connection; the cylinder seats 2-14 are round discs and are connected with the cylinders 2-3 through bolts, and the shoulder joint movable frames 2 can be supported and erected by the cylinder seats 2-14.
The rotary connectors 2-18 at one end of the movable connecting rod 2-5 are respectively connected to one shaft 2-4 of the rotary disc 2-1 through bolts and nuts, the other rotary connector 2-18 is connected to the shaft 2-4 of the elbow fixing rod 1-2 through bolts and nuts, and the rotary connectors 2-18 are movably connected with the shafts 2-4. The rotary disc 2-1 drives the shoulder joint movable frame 2.
The controller 3 is a square box, a singlechip 3-7 is arranged in the controller, and a control panel is arranged on the upper surface of the controller; the control panel is provided with knob switches of a brake I1-9 and a brake II 2-16, a servo motor I starts a closing button 3-3, a servo motor II starts a closing button 3-4, a cylinder ascending button 3-5 and a cylinder descending button 3-6.
Example II
The use method (1) of the upper limb rehabilitation brace with dynamic and static combination comprises the following steps:
the elbow joint is stretched and bent passively: the elbow joint support 1 is fixed on the upper limb of a user through a fixing band 1-3, a servo motor I on a controller 3 is pressed to start a closing button 3-3, the servo motor I1-6 is started, an elbow fixing rod 1-2 is bent relative to a small arm fixing rod 1-1, an angle sensor 1-5 sends a signal to a single chip microcomputer 3-7 when the bending reaches 90 degrees, the single chip microcomputer 3-7 drives a servo motor driver 2-11 to enable the servo motor I1-6 to rotate reversely, the elbow joint support 1 is straightened, the angle sensor 1-5 sends a signal to the single chip microcomputer 3-7 when the bending reaches 0 degrees, the single chip microcomputer 3-7 drives a servo motor driver 2-11 to enable the servo motor I1-6 to rotate reversely again, and the elbow joint support 1 is straightened; repeating the above process to move the elbow joint;
example III
A use method (2) of the upper limb rehabilitation brace with dynamic and static combination comprises the following steps:
the elbow joint is static and fixed: the elbow joint support 1 is fixed on the upper limb of a user through a fixing band 1-3, the elbow joint support 1 is manually bent, resistance is adjusted to the maximum by a knob switch 3-1 of a brake I at a proper position, the shape of the elbow joint support 1 is fixed, so that the shape of the elbow joint is fixed, and the shape of the elbow joint support 1 needs to be adjusted and then is fixed by a brake I1-9 to achieve the purpose of stillness;
example IV
A use method (3) of the upper limb rehabilitation brace with dynamic and static combination comprises the following steps:
actively exercising the elbow joint: the elbow joint support 1 is fixed on the upper limb of a user through the fixing belt 1-3, the user bends the elbow according to the muscle strength of the user, and the resistance of the brake I1-9 is gradually increased along with the deep exercise by using the knob switch 3-1 of the brake I, so that the exercise is enhanced;
example V
A use method (4) of the upper limb rehabilitation brace with dynamic and static combination comprises the following steps:
passive movement of the shoulder joint: a user adopts a sitting posture to use a cylinder 2-3 ascending button 3-5 and a cylinder 2-3 descending button 3-6 on a controller 3 to ascend and descend a rotating disc 2-1, the position of a shoulder joint moving frame 2 is adjusted to enable the shoulder of the user to be opposite to the circle center of the rotating disc 2-1, an elbow joint support 1 is fixed on the upper limb of the user through a fixing band 1-3 to enable the arm to keep a straight state, a movable connecting rod 2-5 is connected with the rotating disc 2-1 and the elbow joint support 1, a servo motor II of the controller 3 is used for starting a closing button 3-4 to start a servo motor II 2-15, the servo motor II 2-15 drives the rotating disc 2-1 to rotate to drive the front end of the elbow joint support 1 to rotate in a winding way, so as to move shoulder joints, shafts 2-4 at different eccentric positions on the rotating disc 2-1 are rotatably connected according to different requirements, increasing or decreasing the radius of rotation of the windings;
example VI
The use method (5) of the upper limb rehabilitation brace with dynamic and static combination comprises the following steps:
the shoulder joint is fixed in a static way: a user uses a cylinder 2-3 ascending button 3-5 and a cylinder 2-3 descending button 3-6 on a controller 3 to ascend and descend a rotary disc 2-1 in a sitting posture, the position of a shoulder joint movable frame 2 is adjusted to enable shoulders of the user to be over against the circle center of the rotary disc 2-1, an elbow joint support 1 is fixed on upper limbs of the user through fixing belts 1-3 to enable arms to keep in a stretched state, a movable connecting rod 2-5 is connected with the rotary disc 2-1 and the elbow joint support 1, the helper rotates the rotary disc 2-1 manually, the resistance of a brake II 2-16 is adjusted to be maximum at a certain position, and the position of a shoulder joint is fixed;
example VII
A use method (6) of the upper limb rehabilitation brace with dynamic and static combination comprises the following steps:
shoulder joint active exercise: a user uses a cylinder 2-3 ascending button 3-5 and a cylinder 2-3 descending button 3-6 on a controller 3 to ascend and descend a rotary disc 2-1 in a sitting posture, the position of a shoulder joint movable frame 2 is adjusted to enable shoulders of the user to be over against the circle center of the rotary disc 2-1, an elbow joint support 1 is fixed on upper limbs of the user through fixing belts 1-3 to enable arms to be kept in a stretched state, a movable connecting rod 2-5 is connected with the rotary disc 2-1 and the elbow joint support 1, the user drives the rotary disc 2-1 to rotate by means of muscle strength of the user, resistance of a brake II 2-16 is gradually increased along with deep exercise through a knob switch of the brake II 2-16, and the exercise effect is enhanced.
In the method (4), the user can hold the movable connecting rod 2-5 by hand to rotate along with the rotating disc 2-1 in the later stage of rehabilitation.
In the method (6), the user can hold the movable connecting rod 2-5 by hand to push the rotating disc 2-1 to rotate in the later stage of rehabilitation.
The above-mentioned embodiments are merely descriptions of the preferred embodiments of the present invention, and do not limit the concept and scope of the present invention, and various modifications and improvements made to the technical solutions of the present invention by those skilled in the art should fall into the protection scope of the present invention without departing from the design concept of the present invention, and the technical contents of the present invention as claimed are all described in the technical claims.

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.
CN202010604456.4A 2020-06-29 2020-06-29 Recovered brace of upper limbs that dynamic and static combines Active CN111956447B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010604456.4A CN111956447B (en) 2020-06-29 2020-06-29 Recovered brace of upper limbs that dynamic and static combines

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010604456.4A CN111956447B (en) 2020-06-29 2020-06-29 Recovered brace of upper limbs that dynamic and static combines

Publications (2)

Publication Number Publication Date
CN111956447A CN111956447A (en) 2020-11-20
CN111956447B true CN111956447B (en) 2022-09-09

Family

ID=73361086

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010604456.4A Active CN111956447B (en) 2020-06-29 2020-06-29 Recovered brace of upper limbs that dynamic and static combines

Country Status (1)

Country Link
CN (1) CN111956447B (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112603631A (en) * 2021-01-27 2021-04-06 米朝清 Auxiliary bone fixing device for medical treatment
CN113081668B (en) * 2021-03-25 2022-06-24 南通大学附属医院 Upper limb nerve rehabilitation training device
CN113181002B (en) * 2021-04-28 2022-08-09 青岛大学附属医院 Upper limb exercising device and exercising method
CN113350750A (en) * 2021-06-16 2021-09-07 浙江省肿瘤医院 Nursing device suitable for breast cancer postoperative
CN113350752B (en) * 2021-07-19 2022-05-31 赣南医学院 Ball mat hybrid yoga exercise device

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2393527Y (en) * 1999-01-05 2000-08-30 徐志远 Electric physiotherapeutical instrument
KR20110066565A (en) * 2009-12-11 2011-06-17 대한민국(국립재활원장) Rehabilitative and assistive device for elbow movements
CN204501508U (en) * 2015-03-23 2015-07-29 安阳市翔宇医疗设备有限责任公司 A kind of shoulder elbow carpal joint device for rehabilitation
CN205994968U (en) * 2016-08-31 2017-03-08 河南优德医疗设备股份有限公司 A kind of shoulder joint trainer
CN108853937A (en) * 2016-06-27 2018-11-23 张七龙 The application method of spiral upper limb rotator

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2393527Y (en) * 1999-01-05 2000-08-30 徐志远 Electric physiotherapeutical instrument
KR20110066565A (en) * 2009-12-11 2011-06-17 대한민국(국립재활원장) Rehabilitative and assistive device for elbow movements
CN204501508U (en) * 2015-03-23 2015-07-29 安阳市翔宇医疗设备有限责任公司 A kind of shoulder elbow carpal joint device for rehabilitation
CN108853937A (en) * 2016-06-27 2018-11-23 张七龙 The application method of spiral upper limb rotator
CN205994968U (en) * 2016-08-31 2017-03-08 河南优德医疗设备股份有限公司 A kind of shoulder joint trainer

Also Published As

Publication number Publication date
CN111956447A (en) 2020-11-20

Similar Documents

Publication Publication Date Title
CN111956447B (en) Recovered brace of upper limbs that dynamic and static combines
KR101099063B1 (en) Arm rehabilitation device using the air muscle
CN111408106B (en) Auxiliary device for rehabilitation of orthopedics department
CN108553271A (en) A kind of MR damper sitting and lying formula lower limb rehabilitation robot
CN213406831U (en) Seat suitable for old person carries out four limbs rehabilitation training
CN109248408A (en) A kind of whole body healing robot
CN206652147U (en) Old disability patient with four limbs link auxiliary rehabilitation device
KR20150021736A (en) reform apparatus for cerebralapoplexy rehabilitative therapeutic
CN105833468A (en) Limb linkage rehabilitation exercising machine
KR102220000B1 (en) Upper extremity muscle strength rehabilitation robot
CN112220646A (en) Hemiplegia motion body-building device for rehabilitation medicine
CN113101153B (en) Walking auxiliary device for orthopedics rehabilitation
CN115590732A (en) Medical rehabilitation training instrument
Cao et al. Development and evaluation of a rehabilitation wheelchair with multiposture transformation and smart control
CN209392331U (en) A kind of rehabilitation training robot for function of hand
CN208851936U (en) A kind of MR damper sitting and lying formula lower limb rehabilitation robot
CN209123286U (en) A kind of whole body healing robot
CN113633477A (en) Paralyzed limb joint rehabilitation intelligent assembly for neurology department
CN112473080A (en) Multifunctional lower limb rehabilitation training bed
CN217118841U (en) Auxiliary arm rehabilitation massage device
CN109394478A (en) A kind of rehabilitation training robot for function of hand
CN213076431U (en) Rehabilitation training device for bedridden patient
CN219071141U (en) Walking aid for rehabilitation of lower limbs
CN216754944U (en) Pressure-adjustable lower limb rehabilitation device for orthopedic nursing
CN220736076U (en) Physical training arm training ware

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant