CN112826704A - Unpowered upper limb double-arm rehabilitation training device - Google Patents
Unpowered upper limb double-arm rehabilitation training device Download PDFInfo
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- CN112826704A CN112826704A CN202110200635.6A CN202110200635A CN112826704A CN 112826704 A CN112826704 A CN 112826704A CN 202110200635 A CN202110200635 A CN 202110200635A CN 112826704 A CN112826704 A CN 112826704A
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- rehabilitation training
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- upper limb
- training device
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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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1253—Driving means driven by a human being, e.g. hand driven
- A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
- A61H2201/1269—Passive exercise driven by movement of healthy limbs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—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
Abstract
The invention relates to the field of rehabilitation medical instruments, in particular to an unpowered upper limb double-arm rehabilitation training device which comprises an upper limb double-arm rehabilitation training device, a force transmission device, a mode switching and power balance compensation device and a rack, wherein one end of the force transmission device is fixed on each joint of the upper limb double-arm rehabilitation training device, and the other end of the force transmission device is fixed on the mode switching and power balance compensation device and is used for transmitting force between the inner parts of the whole device. The two mechanical arms of the invention have adjustable shoulder width, elbow mechanical arm length, chair height and backrest height, the pedal plate can be folded or put down according to the requirement, the invention can adapt to patients with different body sizes, and can partially or completely balance the load moment generated by the self weight of the mechanical arms and the arms of the patients by adding or reducing the number of counterweight weights aiming at the patients with different motion abilities, thereby matching the burden required by the rehabilitation training of the patients.
Description
Technical Field
The invention relates to the field of rehabilitation medical instruments, in particular to an unpowered upper limb double-arm rehabilitation training device.
Background
Rehabilitation training is an important means for postoperative treatment of patients with cerebral apoplexy, and can promote the brain motor nervous system to be remodeled through the stimulation of limb movement, so that the affected limb gradually recovers the normal movement function. In the clinical treatment process, the introduction of the rehabilitation training device not only can relieve the working pressure of a rehabilitation therapist, but also can provide higher-quality rehabilitation treatment for patients. Rehabilitation training of patients with impaired motor function is mainly divided into passive training and active training. According to different stages of rehabilitation, patients in early stages do not have autonomous motor abilities, passive training is generally carried out, patients in middle and later stages have certain autonomous motor abilities, and active training is mainly used for rehabilitation training. In the upper limb rehabilitation training devices which are currently put into clinical use, the power type rehabilitation training device can provide active/passive training modes for patients at the same time, but the use cost is high and the device needs to be operated by a special person of a rehabilitation doctor; the unpowered rehabilitation training device only provides active training, is only suitable for patients with certain autonomous movement capacity, and is low in use cost and free of operation of special persons. However, both the power type and the unpowered rehabilitation training device adopt the single-arm design, and although the left and the right sides can be interchanged, the rehabilitation training can be only carried out on the affected limb at one time, and the help of the simultaneous movement of the left and the right arms on the exercise therapy is neglected.
According to the different participation degrees of limbs, the rehabilitation training of the upper limbs of the hemiplegic patient is divided into unilateral training and bilateral training. During the early rehabilitation treatment process of the bilateral training, the subjective participation degree of the rehabilitation training of a patient can be improved in a mode that the healthy side drives the affected side, and the treatment effect is further enhanced; in the middle and later period rehabilitation treatment process, the coordination movement ability of the two arms can be trained in a mode of independent movement of the two arms, so that the patient can recover the self-care ability of life in the early period. Therefore, compared with the prior unpowered upper limb double-arm rehabilitation training device, the unpowered upper limb double-arm rehabilitation training device has wider applicability and richer functions.
Disclosure of Invention
Based on the technical problems in the background art, the invention provides an unpowered upper limb double-arm rehabilitation training device, which can realize complete active type and limited passive type upper limb rehabilitation training without additional power, can be switched between the complete active type mode and the limited passive type mode at will according to actual needs, and has better applicability.
The invention provides the following technical scheme: an unpowered upper limb double-arm rehabilitation training device comprises an upper limb double-arm rehabilitation training device and a rack, wherein the upper limb double-arm rehabilitation training device is fixed at the uppermost end of the rack;
the upper limb double-arm rehabilitation training device is bilaterally symmetrical and comprises a shoulder width adjusting and self-locking mechanism, a width adjusting handle, a shoulder joint abduction and adduction assembly, a shoulder joint internal and external rotation assembly, a shoulder joint flexion and extension assembly and an elbow joint flexion and extension assembly;
the front end face of the shoulder width adjusting and self-locking mechanism is provided with a mounting hole, the mounting hole is fixed at the uppermost end of the rack through a bolt, and the width adjusting handle is used for adjusting the shoulder width and the width of the self-locking mechanism;
the shoulder joint abduction and adduction assembly is fixed at the left end and the right end of the shoulder width adjusting and self-locking mechanism, the upper end of the shoulder joint flexion and extension assembly is fixed on the shoulder joint abduction and adduction assembly, the lower end of the shoulder joint flexion and extension assembly is fixedly connected with the upper end of the elbow joint flexion and extension assembly, the shoulder joint internal rotation and external rotation assembly is fixed in the middle of the shoulder joint flexion and extension assembly, and the elbow joint flexion and extension assembly adjusts the length of the elbow mechanical arm through an adjusting screw;
the frame comprises a frame upright post, a backrest, a cushion, a pedal plate frame and a D-shaped frame, and the D-shaped frame is fixedly connected with the lower end of the frame upright post through a bolt; the lowest end of the stand column of the rack is in contact with the ground surface;
the backrest is slidably arranged on the upright post and is fixed by the cam locking handle and the T-shaped nut;
the cushion is arranged on the stand column in a lifting way and is fixed in a threaded hole of the stand column of the stand frame through a spherical spring bolt;
the pedals are fixed on the pedal frame in a bilateral symmetry mode, the pedal frame is hinged to the front end of the stand column of the frame, and the pedal frame can rotatably receive and release the pedals.
Preferably, upper limbs both arms rehabilitation training device still includes bandage, elbow bandage, grab handle, the bandage is located shoulder joint respectively with the elbow bandage and bends and stretch the subassembly and the elbow joint bends and stretch the subassembly for be fixed in patient's both arms on upper limbs both arms rehabilitation training device's the robotic arm about, the grab handle is located elbow joint and bends and stretch the lower extreme of subassembly for gripping when patient's rehabilitation training makes patient's arm and robotic arm simultaneous movement.
Preferably, the frame further comprises an upper backrest connecting block, a backrest adjusting slide rod, a backrest slide rod fixing block, a cam locking handle and a lower backrest connecting block;
connecting block and back lower connecting block are respectively with back rear surface about mounting hole fixed connection on the back, back regulation slide bar upper end is fixed in back upper connecting block and back lower connecting block rear surface respectively with the lower extreme, back regulation slide bar passes back slide bar fixed block square hole along vertical direction, both clearance fit, cam lock handle and T type nut cooperation use are fixed in on the back slide bar fixed block mounting hole.
Preferably, the machine frame further comprises a square machine frame and a T-shaped machine frame, the lower surface of the cushion is provided with threaded holes and is fixed on the upper surface of the square machine frame through bolts, the square machine frame is fixed on the T-shaped machine frame through bolts, the T-shaped machine frame is provided with bolt hole positions with uniform intervals in the vertical direction, the lower end of the T-shaped machine frame is vertically inserted into the square holes of the stand column of the machine frame, the bolt hole positions and the bolt hole positions are in clearance fit, the spherical spring bolts are fixed in the threaded holes of the stand column of the machine frame and are inserted into the bolt hole positions with uniform intervals in the.
Preferably, the frame still includes lower margin and truckle, lower margin and truckle bilateral symmetry are fixed in D type frame lower surface, lower margin and ground surface contact, the truckle and ground line contact.
Preferably, the unpowered upper limb double-arm rehabilitation training device further comprises a force transmission device and a mode switching and power balance compensation device;
the mode switching and power balance compensation device is fixed at the rear end of the rack, one end of the force transmission device is fixed on each joint of the upper limb double-arm rehabilitation training device, and the other end of the force transmission device is fixed on the mode switching and power balance compensation device and used for transmitting force between the inner parts of the whole device.
Preferably, the force transmission treatment comprises a wire rope sleeve, a sleeve and a wire rope;
one end of the rope sling is fixed in each sleeve on the upper limb double-arm rehabilitation training device, the other end of the rope sling is fixed in each sleeve on the mode switching and dynamic balance compensation device, the steel wire rope bypasses each mechanism in the mode switching and dynamic balance compensation device, the two ends of the steel wire rope are respectively fixed on the rope discs of each left joint component and each right joint component of the upper limb double-arm rehabilitation training device and penetrate through the inner hole of the steel wire rope sling, and all the steel wire ropes in the whole device form a force transmission loop to transmit the force in the device.
Preferably, the mode switching and power balance compensation device comprises a rope transmission mechanism capable of converting a transmission mode, a power compensation mechanism with a torque self-adaptive adjustment function, a weight and an aluminum profile support frame;
the rope transmission mechanism for converting the transmission mode and the power compensation mechanism with the torque self-adaptive adjusting function are fixed on the aluminum profile support frame, the weights are positioned on the left side and the right side of the mode switching and power balance compensation device and are stacked, and the mode switching and power balance compensation device changes the size of the compensation torque generated by the power compensation mechanism with the torque self-adaptive adjusting function through adding and subtracting the number of the weights.
The invention provides an unpowered upper limb double-arm rehabilitation training device which has the characteristics of compact structure, small volume, convenient movement, adjustable load moment, good applicability and the like, can be used for complete active and limited passive upper limb double-arm rehabilitation training, is suitable for the early rehabilitation treatment process, can improve the subjective participation degree of the rehabilitation training of a patient by driving the limited passive rehabilitation training of the affected side through the healthy side, and enhances the treatment effect; the full active type is suitable for the middle and later period rehabilitation therapy process, the coordinated movement capability of the two arms of the patient can be improved through the full active type rehabilitation training of the two-arm linkage, the full active type and the limited passive type are switched through the rope transmission mechanism capable of converting the transmission mode, and the load moment generated by the mechanical arm and the arm of the patient can be partially or completely balanced through the dynamic balance compensation device and the number of the add-subtract weights.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a rear perspective view of the present invention
FIG. 3 is a schematic view of the overall structure of the upper limb dual-arm rehabilitation training device;
FIG. 4 is a schematic structural view of a frame;
in the figure: 1. an upper limb double-arm rehabilitation training device; 101. a shoulder width adjusting and self-locking mechanism; 101-01, a width adjusting handle; 102. a shoulder abduction and adduction assembly; 103. a shoulder joint internal and external rotation component; 104. a shoulder flexion and extension assembly; 104-01, a strap; 105. an elbow flexion and extension component; 105-01, adjusting screws; 105-02, elbow strap; 105-03, a handle; 2. a force transfer device; 201. a steel wire rope sleeve; 202. a sleeve; 203. a wire rope; 3. a mode switching and dynamic balance compensation device; 301. a rope transmission mechanism; 302. a power compensation mechanism; 302-01, a weight; 303. an aluminum profile supporting frame; 4. a frame; 401. a frame column; 402. a connecting block is arranged on the backrest; 403. a backrest adjusting slide bar; 404. a backrest slide bar fixing block; 405. a cam locking handle; 406. a lower backrest connecting block; 407. a backrest; 408. a cushion; 409. a square frame; 410. a T-shaped frame; 411. a spherical spring bolt; 412. a foot pedal; 413. a pedal frame; 414. ground feet; 415. a caster wheel; 416. and a D-shaped frame.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the present application provides an unpowered upper limb dual-arm rehabilitation training device, which comprises an upper limb dual-arm rehabilitation training device 1, a force transmission device 2, a mode switching and power balance compensation device 3, and a frame 4.
The upper limb double-arm rehabilitation training device 1 is fixed at the uppermost end of the rack 4, the mode switching and dynamic balance compensation device 3 is fixed at the rear end of the rack 4, one end of the force transmission device 2 is fixed on each joint of the upper limb double-arm rehabilitation training device 1, and the other end of the force transmission device is fixed on the mode switching and dynamic balance compensation device 3 and used for transmitting force between the inner parts of the whole device. The double arrows in fig. 1 respectively indicate the adjusting directions, that is, the widths of the shoulders of the two mechanical arms, the lengths of the mechanical arms at the elbows, the heights of the seats and the heights of the backrests are all adjustable, and the pedals can be folded or put down as required, so that the adjustable mechanical arm can adapt to patients with different body types.
As shown in fig. 2, the force transmission treatment includes a wire rope cover 201, a sleeve 202, and a wire rope 203.
One end of a steel wire rope sleeve 201 is fixed in each sleeve 202 on the upper limb double-arm rehabilitation training device 1, the other end of the steel wire rope sleeve is fixed in each sleeve 202 on the mode switching and power balance compensation device 3, a steel wire rope 203 bypasses each mechanism inside the mode switching and power balance compensation device 3, two ends of the steel wire rope 203 are respectively fixed on rope reels of each left joint component and right joint component of the upper limb double-arm rehabilitation training device 1 and penetrate through an inner hole of the steel wire rope sleeve 201, and all the steel wire ropes 203 inside the whole device form a force transmission loop to transmit the force inside the device.
The mode switching and power balance compensating device 3 comprises a rope transmission mechanism 301 capable of switching transmission modes, a power compensation mechanism 302 with a moment self-adaptive adjusting function, weights 302-01 and an aluminum profile supporting frame 303.
The rope transmission mechanism 301 capable of converting the transmission mode and the power compensation mechanism 302 with the moment self-adaptive adjusting function are both fixed on the aluminum profile supporting frame 303, the weights 302-01 are positioned at the left side and the right side of the mode switching and power balance compensation device 3 and are stacked, and the compensation moment generated by the power compensation mechanism 302 with the moment self-adaptive adjusting function can be changed by adding or subtracting the weights 302-01.
As shown in figure 3, the upper limb double-arm rehabilitation training device 1 is bilaterally symmetrical and comprises a shoulder width adjusting and self-locking mechanism 101, a width adjusting handle 101-01, a shoulder joint abduction and adduction component 102, a shoulder joint internal and external rotation component 103, a shoulder joint flexion and extension component 104, a binding band 104-01, an elbow joint flexion and extension component 105, an adjusting screw 105-01, an elbow binding band 105-02 and a grab handle 105-03.
The front end face of the shoulder width adjusting and self-locking mechanism 101 is provided with a mounting hole and is fixed at the uppermost end of the frame 4 through a bolt, a width adjusting handle 101-01 is used for adjusting the shoulder width and the width of the self-locking mechanism 101, a shoulder joint abduction and adduction component 102 is fixed at the left end and the right end of the shoulder width adjusting and self-locking mechanism 101, the upper end of a shoulder joint flexion and extension component 104 is fixed on the shoulder joint abduction and adduction component 102, the lower end of the shoulder joint flexion and adduction component is fixedly connected with the upper end of an elbow joint flexion and extension component 105, a shoulder joint internal and external rotation component 103 is fixed at the middle part of the shoulder joint flexion and extension component 104, a bandage 104-01 and an elbow bandage 105-02 are respectively positioned on the shoulder joint flexion and extension component 104 and the elbow joint flexion and extension component 105 and are used for fixing the two arms of a patient on the left mechanical arm and, so that the arm of the patient and the mechanical arm can move synchronously.
As shown in fig. 4, the frame 4 includes a frame upright 401, an upper backrest connecting block 402, a backrest adjusting slide bar 403, a backrest slide bar fixing block 404, a cam locking handle 405, a lower backrest connecting block 406, a backrest 407, a seat cushion 408, a square frame 409, a T-shaped frame 410, a ball-shaped spring bolt 411, a foot pedal 412, a foot pedal frame 413, a foot 414, casters 415, and a D-shaped frame 416.
The upper backrest connecting block 402 and the lower backrest connecting block 406 are respectively fixedly connected with the upper and lower mounting holes on the rear surface of the backrest 407, the upper end and the lower end of a backrest adjusting slide bar 403 are respectively fixed on the rear surfaces of the upper backrest connecting block 402 and the lower backrest connecting block 406, the backrest adjusting slide bar 403 passes through the square inner hole of the backrest slide bar fixing block 404 along the vertical direction and is in clearance fit with the square inner hole, a cam locking handle 405 is matched with a T-shaped nut for use and is fixed on the mounting hole of the backrest slide bar fixing block 404, the lower surface of a cushion 408 is provided with a threaded hole and is fixed on the upper surface of the square frame 4 through a bolt, the square frame 4 is fixed on the T-shaped frame 410 through a bolt, the T-shaped frame 410 is provided with bolt hole positions with uniform intervals along the vertical direction, the lower end is vertically inserted into the square hole of the frame upright column 401 and is in clearance fit with the spherical spring bolt, the position of the T-shaped frame 410 in the vertical direction is limited, the pedals 412 are fixed on the pedal frame 413 in a bilateral symmetry mode, the pedal frame 413 is hinged to the front end of the frame upright column 401, the pedal frame 413 can rotate to retract and release the pedals 412, the feet 414 and the casters 415 are fixed on the lower surface of the D-shaped frame 416 in a bilateral symmetry mode, and the D-shaped frame 416 is fixedly connected with the lower end of the frame upright column 401 through bolts.
Whole frame 4 mainly plays the support connection effect, wherein frame stand 401 lowermost end and ground surface contact, about the lower margin 414 with ground surface contact and truckle 415 and ground line junction about, altogether, during the installation, the accessible is adjusted about the height of lower margin 414 and is realized the coplane, it is that whole device is in the horizontality, when needs move whole device, adjustable about the lower margin 414, make it not contact with ground, then lift up frame 4 front end, only about this moment two truckles 415 and ground contact, alright pull whole device and remove.
The unpowered upper limb double-arm rehabilitation training device can be used for complete active and limited passive upper limb double-arm rehabilitation training, the complete active and limited passive switching is realized through the rope transmission mechanism 301 capable of converting a transmission mode, and the load moment generated by a mechanical arm and a patient arm can be partially or completely balanced through the dynamic balance compensation device and the number of the add-subtract weights 302-01;
specifically, when a patient carries out upper limb rehabilitation training, the adjustable parts of the device are firstly adjusted, the height of the chair is adjusted through the spherical spring bolt 411, when the patient sits normally, the motion center of a shoulder joint is aligned with the motion center of a shoulder joint of a mechanical arm, the shoulder width of the upper limb double-arm rehabilitation training device 1 is adjusted through the width adjusting handle 101-01 on the shoulder width adjusting and self-locking mechanism 101 so as to match the shoulder width of the patient, the elbow mechanical arm length is adjusted through the adjusting screw 105-01 on an elbow joint component so as to adapt to the elbow arm length of the patient, the height of the backrest 407 is adjusted through the cam locking handle 405, the backrest 407 is in the position above the waist of the patient, the waist of the patient is protected, the pedal 412 can be selectively folded or put down according to the height of the patient, and the sizes of the parts of the upper limb double-arm rehabilitation training device are matched with, the effective performance of the rehabilitation training is guaranteed, and the comfort level of the rehabilitation training of the patient is improved;
the patient's arms are fixed on the left and right mechanical arms through the binding bands 104-01 and the elbow binding bands 105-02, the patient's hands grasp the grab handles 105-03 to keep the arms and the mechanical arms moving synchronously, and the dynamic compensation mechanism 302 with the moment self-adaptive adjustment function partially or completely balances the load moment generated by the self-weight of each joint of the mechanical arm and the patient's arms by adding or subtracting the number of the counterweight weights 302-01 of each joint according to the movement capacity of each joint of the patient's arms to match the burden required by the patient during training.
According to the requirements of the rehabilitation training of the patient, the training mode of the unpowered upper limb double-arm rehabilitation training device is selected, the mode selection is realized by adjusting the rope transmission mechanism 301 capable of converting the transmission mode, when the fully active rehabilitation training is carried out, the rope transmission mechanism 301 capable of converting the transmission mode is adjusted, so that the rope transmission of the unpowered upper limb double-arm rehabilitation training device is in the mirror image transmission mode, and at the moment, the patient can carry out mirror image fully active double-arm coordination training; when limited passive rehabilitation training is required, the rope transmission mechanism 301 with a convertible transmission mode is adjusted to enable the rope transmission of the unpowered upper limb double-arm rehabilitation training device to be in a non-mirror image transmission mode, and at the moment, the patient can drive the affected side to perform limited passive non-mirror image rehabilitation training through the healthy side.
According to the invention, complete active type and limited passive type upper limb rehabilitation training can be realized without external power, the two modes of the complete active type and the limited passive type can be switched at will according to actual needs, and the device has better applicability, in the whole device, the shoulder widths of the two mechanical arms, the length of the elbow mechanical arm, the height of the seat and the height of the backrest 407 can be adjusted, the pedal plate 412 can be folded or put down according to needs, and can be suitable for patients with different body types, and for patients with different movement capabilities, the load moment generated by the self weights of the mechanical arms and the arms of the patients can be partially or completely balanced by adding and subtracting the number of the counterweight weights 302-01, so that the load required by the patients during rehabilitation training can be matched, meanwhile, the force transmission mechanism of the device is simple, the weight is light, and the whole device is convenient.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (8)
1. The utility model provides an unpowered upper limbs both arms rehabilitation training device which characterized in that: the upper limb double-arm rehabilitation training device comprises an upper limb double-arm rehabilitation training device (1) and a rack (4), wherein the upper limb double-arm rehabilitation training device (1) is fixed at the uppermost end of the rack (4);
the upper limb double-arm rehabilitation training device (1) is bilaterally symmetrical and comprises a shoulder width adjusting and self-locking mechanism (101), a width adjusting handle (101-01), a shoulder joint abduction and adduction component (102), a shoulder joint internal and external rotation component (103), a shoulder joint flexion and extension component (104) and an elbow joint flexion and extension component (105);
the front end face of the shoulder width adjusting and self-locking mechanism (101) is provided with a mounting hole and is fixed at the uppermost end of the rack (4) through a bolt, and the width adjusting handle (101-01) is used for adjusting the width of the shoulder and the width of the self-locking mechanism (101);
the shoulder joint abduction and adduction assembly (102) is fixed at the left end and the right end of the shoulder width adjusting and self-locking mechanism (101), the upper end of the shoulder joint flexion and extension assembly (104) is fixed on the shoulder joint abduction and adduction assembly (102), the lower end of the shoulder joint flexion and extension assembly is fixedly connected with the upper end of the elbow joint flexion and extension assembly (105), the shoulder joint internal rotation and external rotation assembly (103) is fixed in the middle of the shoulder joint flexion and extension assembly (104), and the elbow joint flexion and extension assembly (105) adjusts the elbow mechanical arm length through an adjusting screw (105-01);
the frame (4) comprises a frame upright post (401), a backrest (407), a seat cushion (408), a pedal plate (412), a pedal plate frame (413) and a D-shaped frame (416), wherein the D-shaped frame (416) is fixedly connected with the lower end of the frame upright post (401) through a bolt; the lowest end of the stand column (401) of the rack is in contact with the ground surface;
the backrest (407) is slidably mounted on the upright post and is fixed by a cam lock handle (405) and a T-shaped nut;
the cushion (408) is arranged on the upright post in a lifting way and is fixed in a threaded hole of the upright post (401) of the frame through a spherical spring bolt (411);
the pedals (412) are fixed on the pedal frame (413) in a bilateral symmetry mode, the pedal frame (413) is hinged to the front end of the frame upright post (401), and the pedal frame (413) can rotatably receive and release the pedals (412).
2. The unpowered upper limb double-arm rehabilitation training device according to claim 1, wherein: the upper limb double-arm rehabilitation training device (1) further comprises a binding band (104-01), an elbow binding band (105-02) and a grab handle (105-03);
bandage (104-01) and elbow bandage (105-02) are located shoulder joint and bend respectively and stretch subassembly (104) and elbow joint and bend and stretch subassembly (105) for on being fixed in upper limbs both arms rehabilitation training device (1) the left and right robotic arm of patient's both arms, grab handle (105-03) are located the lower extreme of elbow joint and bend and stretch subassembly (105) for gripping when patient's rehabilitation training makes patient's arm and robotic arm simultaneous movement.
3. The unpowered upper limb double-arm rehabilitation training device according to claim 1, wherein: the frame (4) further comprises an upper backrest connecting block (402), a backrest adjusting slide rod (403), a backrest slide rod fixing block (404), a cam locking handle (405) and a lower backrest connecting block (406);
connecting block (402) and back lower connecting block (406) are respectively with back (407) rear surface about mounting hole fixed connection on the back, back regulation slide bar (403) upper end is fixed in back on connecting block (402) and back lower connecting block (406) rear surface respectively with the lower extreme, back regulation slide bar (403) pass back slide bar fixed block (404) square hole along vertical direction, both clearance fit, cam lock handle (405) and T type nut cooperation are used, are fixed in on back slide bar fixed block (404) mounting hole.
4. The unpowered upper limb double-arm rehabilitation training device according to claim 1, wherein: the frame (4) further comprises a square frame (409) and a T-shaped frame (410), threaded holes are formed in the lower surface of the cushion (408), the cushion is fixed to the upper surface of the square frame (4) through bolts, the square frame (4) is fixed to the T-shaped frame (410) through bolts, bolt hole positions with uniform intervals are formed in the T-shaped frame (410) in the vertical direction, the lower end of the bolt hole positions is vertically inserted into the square hole of the frame upright column (401) and is in clearance fit with the square hole of the frame upright column (401), a spherical spring bolt (411) is fixed into the threaded hole of the frame upright column (401) and is inserted into the bolt hole positions with uniform intervals in the vertical direction of the T-shaped frame (410), and the position of the T-.
5. The unpowered upper limb double-arm rehabilitation training device according to claim 1, wherein: the frame (4) further comprises ground feet (414) and caster wheels (415), the ground feet (414) and the caster wheels (415) are fixed on the lower surface of the D-shaped frame (416) in a bilateral symmetry mode, the ground feet (414) are in contact with the ground surface, and the caster wheels (415) are in contact with the ground line.
6. The unpowered upper limb double-arm rehabilitation training device according to claim 1, wherein: the unpowered upper limb double-arm rehabilitation training device also comprises a force transfer device (2) and a mode switching and power balance compensation device (3);
the mode switching and power balance compensation device (3) is fixed at the rear end of the rack (4), one end of the force transmission device (2) is fixed on each joint of the upper limb double-arm rehabilitation training device (1), and the other end of the force transmission device is fixed on the mode switching and power balance compensation device (3) and is used for transmitting force between the inner parts of the whole device.
7. The unpowered upper limb double-arm rehabilitation training device according to claim 6, wherein: the force transmission treatment comprises a steel wire rope sleeve (201), a sleeve (202) and a steel wire rope (203);
one end of the rope sling is fixed in each sleeve (202) on the upper limb double-arm rehabilitation training device (1), the other end of the rope sling is fixed in each sleeve (202) on the mode switching and power balance compensation device (3), the steel wire rope (203) bypasses each mechanism inside the mode switching and power balance compensation device (3), the two ends of the steel wire rope (203) are respectively fixed on rope reels of each left joint component and right joint component of the upper limb double-arm rehabilitation training device (1) and penetrate through inner holes of the steel wire rope sling (201), and all the steel wire ropes (203) inside the whole device form a force transmission loop to transmit the force inside the device.
8. The unpowered upper limb double-arm rehabilitation training device according to claim 6, wherein: the mode switching and power balance compensating device (3) comprises a rope transmission mechanism (301) capable of converting a transmission mode, a power compensation mechanism (302) with a moment self-adaptive adjusting function, weights (302-01) and an aluminum profile support frame (303);
the rope transmission mechanism (301) for converting the transmission mode and the power compensation mechanism (302) with the moment self-adaptive adjustment function are both fixed on the aluminum profile support frame (303), the weights (302-01) are positioned on the left side and the right side of the mode switching and power balance compensation device (3) in a stacked mode, and the mode switching and power balance compensation device (3) changes the size of the compensation moment generated by the power compensation mechanism (302) with the moment self-adaptive adjustment function through adding and subtracting the number of the weights (302-01).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110200635.6A CN112826704A (en) | 2021-02-23 | 2021-02-23 | Unpowered upper limb double-arm rehabilitation training device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114425007A (en) * | 2021-12-21 | 2022-05-03 | 中国人民解放军空军军医大学 | Cerebral infarction patient limb rehabilitation training device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114425007A (en) * | 2021-12-21 | 2022-05-03 | 中国人民解放军空军军医大学 | Cerebral infarction patient limb rehabilitation training device |
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