CN113332099A - Upper limb movement rehabilitation training device based on rope driving - Google Patents
Upper limb movement rehabilitation training device based on rope driving Download PDFInfo
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- CN113332099A CN113332099A CN202110641726.3A CN202110641726A CN113332099A CN 113332099 A CN113332099 A CN 113332099A CN 202110641726 A CN202110641726 A CN 202110641726A CN 113332099 A CN113332099 A CN 113332099A
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- 230000033001 locomotion Effects 0.000 title claims abstract description 40
- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 21
- 210000000245 forearm Anatomy 0.000 claims abstract description 75
- 210000000707 wrist Anatomy 0.000 claims abstract description 75
- 230000000694 effects Effects 0.000 claims abstract description 11
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 4
- 238000010168 coupling process Methods 0.000 claims description 33
- 238000005859 coupling reaction Methods 0.000 claims description 33
- 230000008878 coupling Effects 0.000 claims description 27
- 230000005540 biological transmission Effects 0.000 claims description 12
- 244000309464 bull Species 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 3
- 210000003414 extremity Anatomy 0.000 abstract description 7
- 230000004064 dysfunction Effects 0.000 abstract description 3
- 239000001472 potassium tartrate Substances 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 208000006011 Stroke Diseases 0.000 description 5
- 239000001358 L(+)-tartaric acid Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000000554 physical therapy Methods 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 206010061296 Motor dysfunction Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 201000007201 aphasia Diseases 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 210000002310 elbow joint Anatomy 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000000638 stimulation Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Rehabilitation Tools (AREA)
Abstract
The invention relates to an upper limb movement rehabilitation training device based on rope driving, which comprises a base, a horizontal rotating frame assembly, a vertical rotating frame assembly, a forearm fixing assembly, a wrist rotating assembly and a control circuit module, wherein the horizontal rotating frame assembly is arranged on the base; the base realizes the functions of fixing the integral device and moving the horizontal rotating frame component; the effect of support and rotatory vertical rotation frame subassembly is realized to horizontal rotation frame subassembly, the effect of the fixed subassembly of support and rotatory forearm is realized to vertical rotation frame subassembly, the fixed subassembly of forearm realizes the effect of the fixed subassembly of fixed forearm and wrist, the fixed subassembly of wrist realizes the effect of fixed wrist joint and rotatory wrist. The invention provides an upper limb movement rehabilitation training device based on rope driving, which can provide upper limb rehabilitation training with various functions for patients with limb movement dysfunction.
Description
Technical Field
The invention relates to the technical field of medical rehabilitation equipment, in particular to a medical auxiliary instrument for assisting rehabilitation training, and particularly relates to an upper limb movement rehabilitation training device based on rope driving.
Background
At present, the onset of stroke (commonly called stroke) shows a trend of younger age, and the average onset age is advanced from 55 years to 45 years, which becomes a more serious social problem. In the new stroke patients, 75% of stroke survivors can leave sequelae such as hemiplegia, aphasia and the like, lose labor capacity to different degrees, and cause serious disability in 40%, which causes huge burden on the life quality, families and even society of the patients. In clinic, motor rehabilitation training is one of important methods for treating limb motor dysfunction, and effective motor stimulation is beneficial to the recovery of limb movement of a patient.
Traditional motion rehabilitation training mainly relies on the supplementary completion of physiotherapy teacher, and the supplementary patient of "hand handle" formula accomplishes the rehabilitation training action, and this kind of traditional training mode has many problems, if: at present, the number of domestic professional physical therapies is limited, and the increasing demands are difficult to meet; the cost of professional physical therapists is high, and most of patients are difficult to bear at home; the traditional training mode has extremely high requirements on the specialty, physical ability and endurance of a physical therapist, and the like. In order to provide timely and appropriate treatment for stroke patients and improve the effect of rehabilitation training, more and more limb movement rehabilitation training devices are applied to help patients to complete rehabilitation training. The limb movement rehabilitation training device can provide effective training for a patient, record the rehabilitation condition of the patient in real time, and formulate a reasonable training scheme according to specific conditions, so that the family economic burden of the patient is greatly reduced.
At present, most of upper limb exercise rehabilitation training devices realize multi-degree-of-freedom rehabilitation exercise through mutual matching of a speed reducer and a motor through gears, rigid connection among joints can increase the load of the motor, and the flexibility and the safety of rehabilitation training are greatly reduced. In addition, most of the existing rehabilitation equipment on the market has the limitations of large volume, high price and the like.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to overcome the defects in the prior art, the invention provides the upper limb movement rehabilitation training device based on the rope drive, which has low cost and multiple functions, for the patients with limb movement dysfunction so as to meet the requirements of the upper limb rehabilitation training of the patients.
The technical scheme adopted by the invention for solving the technical problems is as follows: an upper limb movement rehabilitation training device based on rope driving comprises a base, a horizontal rotating frame assembly, a vertical rotating frame assembly, a forearm fixing assembly and a wrist rotating assembly; the horizontal rotating frame assembly is located above the base, the horizontal rotating frame assembly realizes relative linear motion of one degree of freedom relative to the base, the vertical rotating frame assembly is located above the horizontal rotating frame assembly, the vertical rotating frame assembly realizes relative rotary motion of one degree of freedom around the horizontal rotating center shaft of the horizontal rotating frame assembly, the forearm fixing assembly is located on the side of the vertical rotating frame assembly, the forearm fixing assembly is connected with the vertical rotating frame assembly through a hinge, relative rotary motion of one degree of freedom is realized, the wrist fixing assembly is located inside the forearm fixing assembly, and the wrist fixing assembly realizes relative rotary motion of one degree of freedom around the central axis of the hollow large gear.
The base realizes the effect of fixed integrated device and removal horizontal rotation frame subassembly, and the base includes centre gripping fixed knot structure, sharp structure, linear guide slip table of adjusting, and centre gripping fixed knot constructs the top and adopts detachable fixed connection structural connection with sharp structure bottom of adjusting, and the linear guide slip table is located sharp structure top of adjusting. The clamping and fixing structure can select different types of adaptive structures according to different demand scenes; the linear adjusting structure comprises a motor A, a coupler A, a screw rod A, a nut A and a guide rod group A, wherein the motor A is fixedly connected to a clamping fixing structure, the motor A and the screw rod are fixedly connected through the coupler, the internal thread of the nut A is matched with the external thread of the screw rod A, the outer surface of the nut A is fixedly connected with a linear guide rail sliding table, and the guide rod group A is parallel to the central axis of the screw rod A and is fixedly connected to the linear adjusting structure. The motor A in the linear adjusting structure is controlled by the control circuit module, and when the driving motor A drives the screw rod to rotate, the nut A makes relative linear motion along the axis direction of the guide rod group A, so that the linear guide rail sliding table is driven to make relative linear motion along the axis direction of the guide rod group A relative to the linear adjusting structure.
The horizontal rotating frame assembly realizes the functions of supporting and rotating the vertical rotating frame assembly, and comprises a horizontal arc-shaped guide rail, an arc-shaped guide rail sliding block A and a horizontal rope driving structure, wherein the horizontal rope driving structure guides the arc-shaped guide rail sliding block A to move in the horizontal arc-shaped guide rail, and the lower end face of the horizontal arc-shaped guide rail on the horizontal rotating frame assembly is fixedly connected with the upper end face of a horizontal guide rail sliding table on the base. Horizontal rope drive structure includes reel A, reel B, shaft coupling C, motor B, motor C, rope A and rope B, wherein motor B links firmly on horizontal rotation frame subassembly with motor C, reel A passes through shaft coupling B fixed connection with the motor B main shaft, reel B passes through shaft coupling C fixed connection with the motor C main shaft, rope A one end is around on reel A, the rope A other end is connected on the first buckle of arc guide rail slider A, rope B one end is around on reel B, the rope B other end is connected on arc guide rail slider A second buckle. Motor B and motor C in the horizontal rope drive structure are through control circuit module parallel control, the rotational speed is unanimous with turning to when control motor B operates with motor C, when driving motor B rotates and drives reel A and receive short rope A, can driving motor C rotate simultaneously and drive reel B and put long rope B, thereby drive ARC guide rail slider A along certain direction motion in horizontal ARC guide rail, when driving motor B lengthens rope A, can driving motor C receive short rope B simultaneously, thereby drive ARC guide rail slider A along another direction motion in horizontal ARC guide rail.
The vertical rotating frame assembly realizes the functions of supporting and rotating the front arm fixing assembly and comprises a vertical arc-shaped guide rail, an arc-shaped guide rail sliding block B and a vertical rope driving structure, wherein the vertical rope driving structure guides the arc-shaped guide rail sliding block B to move in the vertical arc-shaped guide rail, a vertical rotating center hole in the vertical arc-shaped guide rail is connected with a horizontal rotating center shaft in the horizontal arc-shaped guide rail through a hinge, and a guide rail edge fixing end in the vertical arc-shaped guide rail is fixedly connected with the upper end face of the arc-shaped guide rail sliding block A in the horizontal rotating frame assembly. Vertical rope drive structure includes reel C, reel D, shaft coupling E, motor D, motor E, rope C and rope D, wherein, motor D links firmly on vertical rotating frame subassembly with motor E, reel C passes through shaft coupling D fixed connection with the motor D main shaft, reel D passes through shaft coupling E fixed connection with the motor E main shaft, rope C one end is around on reel C, the rope C other end is connected on the first buckle of arc guide rail slider B, rope D one end is around on reel D, the rope D other end is connected on arc guide rail slider B second buckle. Motor D and motor E in the vertical rope drive structure are through control circuit module parallel control, the rotational speed is unanimous with turning to when control motor D operates with motor E, when driving motor D rotates and drives reel C and receive short rope C, can driving motor E rotate simultaneously and drive reel D and lengthen rope D, thereby drive ARC guide rail slider B and move along a certain direction in vertical ARC guide rail, when driving motor D lengthens rope C, can driving motor E receive short rope D simultaneously, thereby drive ARC guide rail slider B and move along another direction in vertical ARC guide rail.
The fixed subassembly of forearm realizes the effect of the fixed subassembly of fixed forearm and wrist, the fixed subassembly of forearm includes forearm fixed knot structure, structure and linear transmission structure are adjusted to the forearm, wherein, forearm rotation center pin on the forearm fixed knot structure passes through hinged joint with vertical arc guide, terminal dead lever of forearm on the forearm fixed knot structure and arc guide slider B up end fixed connection, the forearm is adjusted the structure and is located forearm fixed knot structure front end, adjust the relative distance that structure was adjusted to forearm fixed knot structure and forearm through linear transmission structure, during the use, it is continuous with the forearm fixed band to be close to the articulated part of elbow with the user forearm. Linear transmission structure includes motor F, motor G, shaft coupling F, shaft coupling G, lead screw B, lead screw C, nut B, nut C, guide bar group B, wherein, motor F is parallel to each other with motor G's main shaft axis and all links firmly on forearm regulation structure, motor F main shaft passes through shaft coupling F fixed connection with lead screw B, motor G main shaft passes through shaft coupling G fixed connection with lead screw C, lead screw B is the same with lead screw C's model, nut B internal thread and lead screw B external screw thread are mutually supported, nut C internal thread and lead screw C external screw thread are mutually supported, nut B and nut C's surface all with forearm fixed knot construct fixed connection, guide bar group B is on a parallel with lead screw B axis and fixed connection is on forearm regulation structure. The motor F and the motor G in the linear transmission structure are controlled in parallel through the control circuit module, the rotating speed and the rotating direction of the motor F and the motor G are controlled to be consistent when the motor F and the motor G are operated, when the driving motor F and the motor G respectively drive the screw rod B and the screw rod C to rotate, the nut B and the nut C do relative linear motion along the axis direction of the guide rod group B, and therefore the front arm fixing structure is driven to do relative linear motion relative to the front arm adjusting structure along the axis direction of the guide rod group B.
The fixed subassembly of wrist realizes the effect of fixed wrist joint and rotatory wrist, and wrist rotating assembly includes wrist fixed knot structure, wrist revolution mechanic, and wherein, wrist fixed knot constructs inside being located wrist revolution mechanic, and structure fixed connection is adjusted to the forearm in outer frame of wrist and the fixed subassembly of forearm, and during the use, the inner layer wrist band sleeve inboard is fixed with user's wrist. Wrist revolution mechanic includes wrist outer frame, hollow gear wheel, drive gear group, motor group H, shaft coupling group, and wherein, motor group H fixed connection is on wrist outer frame, and drive gear group passes through shaft coupling group fixed connection with motor group H, and drive gear group and hollow gear wheel are mutually supported, distribute around hollow gear wheel. The wrist fixing structure comprises an outer-layer wrist protecting sleeve, an inner-layer wrist protecting sleeve and a rope set, wherein the outer-layer wrist protecting sleeve is connected with the hollow large gear through the rope set, one end of each rope of the rope set is connected to the outer surface of the outer-layer wrist protecting sleeve, and the other end of each rope of the rope set is connected to the inner surface of the hollow large gear, so that the outer-layer wrist protecting sleeve is fixed in the center of the hollow large gear. All motors in a motor group H in the wrist rotating structure are controlled in parallel through a control circuit module, a driving motor drives a driving gear group to rotate so as to drive a hollow large gear to rotate, and the wrist fixing structure is pulled by a rope group to rotate along with the hollow large gear.
The control circuit module realizes the coordination control of all motors, the data acquisition of the sensors and the data interaction with an upper computer (or other equipment) in the movement process of the device.
The invention has the beneficial effects that:
(1) the invention overcomes the defects of relatively single function, high price and the like of the traditional upper limb movement rehabilitation training device and provides diversified rehabilitation training for patients with limb movement dysfunction;
(2) the upper limb rehabilitation training system adopts a rope driving design, so that the whole upper limb rehabilitation training system has higher safety.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic structural diagram of the base of the present invention.
Fig. 3 is a schematic structural view of the horizontal and vertical rotating frame assemblies according to the present invention.
Fig. 4 is a schematic structural diagram of the arc-shaped guide rail sliding block.
Fig. 5 is a schematic structural view of a forearm fixation assembly in accordance with the invention.
Figure 6 is a schematic diagram of the wrist rotation assembly of the present invention.
In the figure: 1-a base; 2-horizontally rotating the frame assembly; 3-vertically rotating the frame assembly; 4-forearm fixation assembly; 5-wrist rotation assembly; 11-a clamping and fixing structure; 12-a linear adjustment structure; 13-linear guide way slipway; 121-motor a; 122-coupling A; 123-lead screw A; 124-nut A; 125-guide rod group A; 21-horizontal arc guide rail; 22-arc guide rail slide block A; 23-a horizontal rope drive arrangement; 211-horizontal central axis of rotation; 221-a first clasp ring; 222-a second clasp ring; 231-reel A; 232-reel B; 233-coupler B; 234-coupling C; 235-motor B; 236-motor C; 237-rope a; 238-rope B; 31-vertical arc guide rails; 32-arc guide rail slide block; 33-vertical rope drive structure; 311-vertical rotation center hole; 312-guide rail edge fixing end; 331-reel C; 332-reel D; 333-coupler D; 334-coupling E; 335-motor D; 336-motor E; 337-rope C; 338-rope D; 41-forearm fixation structure; 42-forearm adjustment structure; 43-linear transmission structure; 411-forearm rotation center axis; 412-forearm end fixation rod; 431-motor F; 432-motor G; 433-coupling F; 434-coupling G; 435-lead screw B; 436-lead screw C; 437-nut B; 438-nut C; 439-guide rod group B; 51-wrist fixation structure; 52-wrist rotation; 511-outer cuff sleeve; 512-inner layer cuff sleeve; 513-a rope set; 521-wrist outer frame; 522-hollow bull gear; 523-drive gear set; 524-fixed gear set; 525-motor group H; 526-coupling group.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
As shown in fig. 1, the upper limb movement rehabilitation training device based on rope driving comprises a base 1, a horizontal rotating frame assembly 2, a vertical rotating frame assembly 3, a forearm fixing assembly 4, a wrist rotating assembly 5 and a control circuit module; the horizontal rotating frame assembly 2 is positioned above the base 1, and the horizontal rotating frame assembly 2 realizes relative linear motion with one degree of freedom relative to the base 1; vertical rotatory frame subassembly 3 is located 2 tops of horizontal rotation frame subassembly, and vertical rotatory frame subassembly 3 realizes the relative rotary motion of a degree of freedom around horizontal rotation center pin 211, the fixed subassembly 4 of forearm is located 3 sides of vertical rotatory frame subassembly, and the fixed subassembly 4 of forearm passes through hinged joint with vertical rotatory frame subassembly 3, realizes the relative rotary motion of a degree of freedom, the fixed subassembly 5 of wrist is located the fixed subassembly 4 of forearm inside, and the fixed subassembly 5 of wrist realizes the relative rotary motion of a degree of freedom around hollow gear wheel 522 the central axis.
The base 1 realizes the effect of fixed integrated device and removal horizontal rotation frame subassembly 2, and base 1 is as shown in figure 2, including centre gripping fixed knot structure 11, sharp structure 12 and linear guide slip table 13 of adjusting, and wherein, centre gripping fixed knot constructs 11 tops and adopts detachable fixed connection structural connection with linear guide 12 bottoms, and linear guide slip table 13 is located the sharp structure 12 top of adjusting.
The structure schematic diagrams of the horizontal rotating frame assembly and the vertical rotating frame assembly are shown in fig. 3, the horizontal rotating frame assembly 2 realizes the function of supporting and rotating the vertical rotating frame assembly 3, and comprises a horizontal arc-shaped guide rail 21, an arc-shaped guide rail slider A22 and a horizontal rope driving structure 23, wherein the horizontal rope driving structure 23 guides the arc-shaped guide rail slider A22 to move in the horizontal arc-shaped guide rail 21, and the lower end face of the horizontal arc-shaped guide rail 21 on the horizontal rotating frame assembly 2 is fixedly connected with the upper end face of the horizontal guide rail sliding table 13 on the base 1.
Vertical swivel frame subassembly 3 realizes supporting and the effect of rotatory forearm fixed subassembly 4, and vertical swivel frame subassembly 3 includes vertical arc guide rail 31, arc guide rail slider B32 and vertical rope drive structure 33, and wherein, arc guide rail slider schematic diagram is shown in fig. 4, and vertical rope drive structure 33 guide arc guide rail slider B32 moves in vertical arc guide rail 31, and vertical rotation centre bore 311 on the vertical arc guide rail 31 passes through hinged joint with the horizontal rotation center pin 211 on the horizontal arc guide rail 21, and guide rail edge stiff end 312 on the vertical arc guide rail 31 and the arc guide rail slider A22 up end fixed connection on the horizontal swivel frame subassembly 2.
The structural schematic diagram of the forearm fixing component is shown in fig. 5, and the forearm fixing component 4 realizes the function of fixing the forearm and the wrist fixing component 5, and comprises a forearm fixing structure 41, a forearm adjusting structure 42 and a linear transmission structure 43; wherein, forearm rotation center axle 411 on forearm fixed knot structure 41 passes through hinged joint with vertical arc guide rail 31, and forearm terminal dead lever 412 and the up end fixed connection of arc guide rail slider B32 on forearm fixed knot structure 41, forearm adjusting structure 42 are located forearm fixed knot structure 41 front end, adjust forearm fixed knot structure 41 and forearm adjusting structure 42's relative distance through linear transmission structure 43, during the use, link to each other with forearm fixed band 421 with the part that user's forearm is close to the elbow joint.
The structural schematic diagram of the wrist fixing assembly is shown in fig. 6, the wrist fixing assembly 5 realizes the functions of fixing a wrist joint and rotating a wrist, and comprises a wrist fixing structure 51 and a wrist rotating structure 52; the wrist fixing structure 51 is located inside the wrist rotating structure 52, wherein the wrist outer frame 521 is fixedly connected to the forearm adjusting structure 42 of the forearm fixing assembly 4, and when in use, the inner side of the inner wrist protecting sleeve is fixed to the wrist of the user.
The control circuit module realizes the control of all motors, the data acquisition of the sensors and the data exchange with an upper computer (or other equipment) in the movement process of the device.
In a specific embodiment, the clamping and fixing structure 11 may select different types of adapting structures according to different demand scenarios; the linear adjusting structure 12 comprises a motor A121, a coupler A122, a lead screw A123, a nut A124 and a guide rod group A125; wherein, motor A121 links firmly on centre gripping fixed knot constructs 11, and motor A121 passes through shaft coupling 122 fixed connection with lead screw 123, and nut A124 internal thread mutually supports with lead screw A123 external screw thread, and nut A124 surface and linear guide slip table 13 fixed connection, guide rod group A125 is on a parallel with lead screw A123 axis and fixed connection on centre gripping fixed knot constructs 11.
In a specific embodiment, the motor a121 in the linear adjustment structure 12 is controlled by the control circuit module, and when the driving motor a121 drives the lead screw 123 to rotate, the nut a124 makes a linear motion along the axial direction of the guide rod group a125, so as to drive the linear guide rail sliding table 13 to make a linear motion relative to the linear adjustment structure 12 along the axial direction of the guide rod group a 125.
In a specific embodiment, the horizontal rope driving structure 23 includes a reel a231, a reel B232, a coupler B233, a coupler C234, a motor B235, a motor C236, a rope a237 and a rope B238, wherein the motor B235 and the motor C236 are fixedly connected to the horizontal rotating frame assembly 2, the reel a231 and a main shaft of the motor B235 are fixedly connected through the coupler B233, the reel B232 and the main shaft of the motor C236 are fixedly connected through the coupler C234, one end of the rope a237 is wound on the reel a231, the other end of the rope a237 is connected to the first retaining ring 221 of the arc-shaped rail slider a22, one end of the rope B238 is wound on the reel B232, and the other end of the rope B238 is connected to the second retaining ring 222 of the arc-shaped rail slider a 22.
In one specific embodiment, the motor B235 and the motor C236 in the horizontal rope driving structure 23 are controlled in parallel by the control circuit module, the rotation speed and the rotation direction of the motor B235 and the motor C236 are controlled to be consistent when the motor B235 rotates to drive the reel a231 to shorten the rope a237, the motor C236 rotates to drive the reel B232 to lengthen the rope B238, so as to drive the arc-shaped guide rail slider a22 to move in one direction in the horizontal arc-shaped guide rail 21, and the motor C236 shortens the rope B238 when the motor B235 lengthens the rope a237, so as to drive the arc-shaped guide rail slider a22 to move in the other direction in the horizontal arc-shaped guide rail 21.
In a specific embodiment, the vertical rope driving structure 33 comprises a reel C331, a reel D332, a coupler D333, a coupler E334, a motor D335, a motor E336, a rope C337 and a rope D338, wherein the motor D335 and the motor E336 are fixedly connected to the vertical rotating frame assembly 3, the reel C331 and a main shaft of the motor D335 are fixedly connected through the coupler D333, and the reel D332 and the main shaft of the motor E336 are fixedly connected through the coupler E334; the structure of the arc-shaped guide rail sliding block B32 is the same as that of the arc-shaped guide rail sliding block A22; the connection mode of the rope C337 and the rope D337 is the same as that of the rope a237 and the rope B238.
In one specific embodiment, the motor D335 and the motor E336 in the vertical rope driving structure 33 are controlled in parallel by the control circuit module, the rotation speed and the rotation direction of the control motor D335 and the motor E336 are consistent when the control motor D335 and the motor E336 operate, when the drive motor D335 rotates to drive the reel C331 to reel C337, the drive motor E336 rotates to drive the reel D332 to reel D338, thereby driving the arc-shaped guide block B32 to move in one direction in the vertical arc-shaped guide 31, and when the drive motor D335 lengthens the rope C337, the drive motor E336 simultaneously reels D338, thereby driving the arc-shaped guide block B32 to move in the other direction in the vertical arc-shaped guide 31.
In a specific embodiment, the linear transmission structure 43 includes a motor F431, a motor G432, a coupling F433, a coupling G434, a lead screw B435, a lead screw C436, a nut B437, a nut C438, and a guide rod group B439, wherein central axes of spindles of the motor F431 and the motor G432 are parallel to each other and are fixedly connected to the forearm adjusting structure 42, the spindle of the motor F431 and the lead screw B435 are fixedly connected through the coupling F433, the spindle of the motor G432 and the lead screw C436 are fixedly connected through the coupling G434, the types of the lead screw B435 and the lead screw C436 are the same, an internal thread of the nut B437 and an external thread of the lead screw B435 are matched with each other, an internal thread of the nut C438 and an external thread of the lead screw C436 are matched with each other, outer surfaces of the nut B437 and the nut C438 are fixedly connected to the forearm fixing structure 41, and the guide rod group B439 is parallel to the central axis of the lead screw B435 and is fixedly connected to the forearm adjusting structure 42.
In a specific embodiment, the motor F431 and the motor G432 in the linear transmission structure 43 are controlled in parallel by a control circuit module, the rotation speed and the rotation direction of the motor F431 and the motor G432 are controlled to be consistent when the motor F431 and the motor G432 are driven to rotate the lead screw B435 and the lead screw C436 respectively, and the nut B437 and the nut C438 make linear motion along the axial direction of the guide rod group B439, so as to drive the forearm fixing structure 41 to make linear motion relative to the forearm adjusting structure 42 along the axial direction of the guide rod group B439.
In a specific embodiment, the wrist rotation structure 52 includes a wrist outer frame 521, a hollow bull gear 522, a driving gear set 523, a fixed gear set 524, a motor set H525 and a coupling set 526, wherein the motor set H525 is fixedly connected to the wrist outer frame 521, the driving gear set 523 and the motor set H525 are fixedly connected through the coupling set 526, and the driving gear set 523 and the fixed gear set 524 are matched with the hollow bull gear 522 and distributed around the hollow bull gear 522.
In one embodiment, the wrist fixing structure 51 comprises an outer cuff sleeve 511, an inner cuff sleeve 512 and a cable set 513, wherein the outer cuff sleeve 511 is connected with the hollow bull gear 522 through the cable set 513, and each cable of the cable set 513 is connected with one end of the outer cuff sleeve 511 on the outer surface and the other end of the inner surface of the hollow bull gear 522, so that the outer cuff sleeve 511 is fixed at the center of the hollow bull gear 522.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (7)
1. An upper limb movement rehabilitation training device based on rope driving comprises a base (1), a horizontal rotating frame assembly (2), a vertical rotating frame assembly (3), a forearm fixing assembly (4), a wrist rotating assembly (5) and a control circuit module; the horizontal rotating frame assembly (2) is positioned above the base (1), and the horizontal rotating frame assembly (2) realizes relative linear motion with one degree of freedom relative to the base (1); the wrist fixing assembly (5) is positioned in the wrist fixing assembly (4), and the wrist fixing assembly (5) realizes the relative rotation movement of one degree of freedom around the central axis of the hollow bull gear (522) of the wrist fixing assembly (5);
the base (1) realizes the functions of fixing the integral device and moving the horizontal rotating frame assembly (2), and the base (1) comprises a clamping and fixing structure (11), a linear adjusting structure (12) and a linear guide rail sliding table (13); the top of the clamping and fixing structure (11) is connected with the bottom of the linear adjusting structure (12) by a detachable fixed connecting structure, and the linear guide rail sliding table (13) is positioned above the linear adjusting structure (12);
the horizontal rotating frame assembly (2) achieves the functions of supporting and rotating the vertical rotating frame assembly (3), and the horizontal rotating frame assembly (2) comprises a horizontal arc-shaped guide rail (21), an arc-shaped guide rail sliding block A (22) and a horizontal rope driving structure (23); the horizontal rope driving structure (23) guides the arc-shaped guide rail sliding block A (22) to move in the horizontal arc-shaped guide rail (21), and the lower end face of the horizontal arc-shaped guide rail (21) is fixedly connected with the upper end face of the linear guide rail sliding table (13) on the base (1);
the vertical rotating frame assembly (3) achieves the functions of supporting and rotating the front arm fixing assembly (4), the vertical rotating frame assembly (3) comprises a vertical arc-shaped guide rail (31), an arc-shaped guide rail sliding block B (32) and a vertical rope driving structure (33), the vertical rope driving structure (33) guides the arc-shaped guide rail sliding block B (32) to move in the vertical arc-shaped guide rail (31), a vertical rotating center hole (311) in the vertical arc-shaped guide rail (31) is connected with a horizontal rotating center shaft (211) in the horizontal arc-shaped guide rail (21) through a hinge, and a guide rail edge fixing end (312) in the vertical arc-shaped guide rail (31) is fixedly connected with the upper end face of the arc-shaped guide rail sliding block A (22) in the horizontal rotating frame assembly (2);
the forearm fixing assembly (4) achieves the effect of fixing a forearm and a wrist fixing assembly (5), the forearm fixing assembly (4) comprises a forearm fixing structure (41), a forearm adjusting structure (42) and a linear transmission structure (43), a forearm rotating central shaft (411) on the forearm fixing structure (41) is connected with a vertical arc-shaped guide rail (31) through a hinge, a forearm tail end fixing rod (412) on the forearm fixing structure (41) is fixedly connected with the upper end face of an arc-shaped guide rail sliding block B (32), the forearm adjusting structure (42) is located at the front end of the forearm fixing structure (41), and the relative distance between the forearm fixing structure (41) and the forearm adjusting structure (42) is adjusted through the linear transmission structure (43);
the wrist fixing component (5) realizes the functions of fixing a wrist joint and rotating a wrist, the wrist rotating component (5) comprises a wrist fixing structure (51) and a wrist rotating structure (52), the wrist fixing structure (51) is positioned in the wrist rotating structure (52), and a wrist outer layer frame (521) of the wrist rotating structure (52) is fixedly connected with a forearm adjusting structure (42) in the forearm fixing component (4);
the control circuit module realizes the control of all motors, the data acquisition of the sensors and the data exchange with the upper computer in the movement process of the device.
2. The upper limb exercise rehabilitation training device based on rope drive as claimed in claim 1, wherein: the linear adjusting structure (12) comprises a motor A (121), a coupler A (122), a lead screw A (123), a nut A (124) and a guide rod group A (125); motor A (121) link firmly on centre gripping fixed knot constructs (11), and motor A (121) pass through shaft coupling (122) fixed connection with lead screw (123), nut A (124) internal thread and lead screw A (123) external screw thread are mutually supported, surface and linear guide slip table (13) fixed connection, guide bar group A (125) are on a parallel with lead screw A (123) axis and fixed connection is on centre gripping fixed knot structure (11).
3. The upper limb exercise rehabilitation training device based on rope drive as claimed in claim 1, wherein: the horizontal rope driving structure (23) comprises a reel A (231), a reel B (232), a coupler B (233), a coupler C (234), a motor B (235), a motor C (236), a rope A (237) and a rope B (238), the motor B (235) and the motor C (236) are fixedly connected on the horizontal rotating frame component (2), the reel A (231) is fixedly connected with the main shaft of the motor B (235) through a coupling B (233), the reel B (232) is fixedly connected with the main shaft of the motor C (236) through a coupler C (234), one end of the rope A (237) is wound on the reel A (231), the other end of the rope A (237) is connected on the arc-shaped guide rail slide block A (22), one end of the rope B (238) is wound on the reel B (232), and the other end of the rope B (238) is connected to the arc-shaped guide rail sliding block A (22).
4. The upper limb exercise rehabilitation training device based on rope drive as claimed in claim 1, wherein: the vertical rope drive structure (33) comprises a reel C (331), a reel D (332), a coupler D (333), a coupler E (334), a motor D (335), a motor E (336), a rope C (337), and a rope D (338); the motor D (335) and the motor E (336) are fixedly connected on the vertical rotating frame assembly (3), the reel C (331) is fixedly connected with a main shaft of the motor D (335) through a coupler D (333), and the reel D (332) is fixedly connected with a main shaft of the motor E (336) through a coupler E (334); one end of a rope C (337) is wound on the reel C (331), the other end of the rope C (337) is connected to the curved rail slider B (32), one end of a rope D (338) is wound on the reel D (332), and the other end of the rope D (338) is connected to the curved rail slider B (32).
5. The upper limb exercise rehabilitation training device based on rope drive as claimed in claim 1, wherein: the linear transmission structure (43) comprises a motor F (431), a motor G (432), a coupling F (433), a coupling G (434), a lead screw B (435), a lead screw C (436), a nut B (437), a nut C (438) and a guide rod group B (439); the utility model discloses a lead screw structure, including motor F (431), lead screw C (435), motor G (432), lead screw C (436), motor F (431) and lead screw B (435), motor G (432) main shaft and lead screw C (436) are parallel to each other and all link firmly on forearm regulation structure (42), motor F (431) main shaft passes through shaft coupling F (433) fixed connection with lead screw B (435), motor G (432) main shaft passes through shaft coupling G (434) fixed connection with lead screw C (436), lead screw B (435) is the same with the model of lead screw C (436), nut B (437) internal thread and lead screw B (435) external screw thread are mutually supported, nut C (438) internal thread and lead screw C (436) external screw thread are mutually supported, the surface of nut B (437) and nut C (438) all with forearm fixed connection (41), lead screw group B (439) is on a parallel to lead screw B (435) and fixed connection on forearm regulation structure (42).
6. The upper limb exercise rehabilitation training device based on rope drive as claimed in claim 1, wherein: the wrist rotating structure (52) comprises a wrist outer layer frame (521), a hollow bull gear (522), a driving gear set (523), a motor set H (524) and a coupling set (525); the motor set H (524) is fixedly connected to the outer layer frame (521) of the wrist, the driving gear set (523) is fixedly connected with the motor set H (524) through a coupling set (525), and the driving gear set (523) is matched with the hollow large gear (522) and distributed around the hollow large gear (522).
7. The upper limb motor rehabilitation training device based on rope drive as claimed in claim 6, wherein: the wrist fixing structure (51) comprises an outer layer wrist protecting sleeve (511), an inner layer wrist protecting sleeve (512) and a rope group (513); the wrist protection sleeve is characterized in that the outer-layer wrist protection sleeve (511) is connected with the hollow large gear (522) through a rope group (513), one end of each rope of the rope group (513) is connected to the outer surface of the outer-layer wrist protection sleeve (511), the other end of each rope is connected to the inner surface of the hollow large gear (522), the outer-layer wrist protection sleeve (511) is fixed to the center of the hollow large gear (522), and the inner side of the inner-layer wrist protection sleeve (512) is fixed to the wrist of a user.
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