CN113576828B - Upper limb rehabilitation training device capable of adjusting training tension - Google Patents

Abstract

The invention discloses an upper limb rehabilitation training device capable of adjusting training tension, which relates to the technical field of rehabilitation training devices and comprises a shoulder joint movement mechanism, an upper arm rotation mechanism, an elbow joint bending and stretching mechanism, a forearm rotation mechanism and a wrist joint bending and stretching mechanism, wherein the shoulder joint movement mechanism is used for realizing outward swinging, inward folding and buckling and stretching movements, the upper arm rotation mechanism is used for rotating a large arm, the elbow joint bending and stretching mechanism is used for bending and stretching an elbow joint, the forearm rotation mechanism is used for rotating a forearm, the wrist joint bending and stretching mechanism is used for bending and stretching a wrist joint, the forearm tension adjusting mechanism is used for providing counter force and driving force, the massage mechanism is used for massaging the large arm, the joint traction mechanism is used for providing traction force for the wrist, and the upper arm rotation centering mechanism is used for compensating the eccentricity of the large arm. The invention can realize the rehabilitation training of the upper limbs in various forms with six degrees of freedom and effectively avoid the secondary injury of the rehabilitation training device to the user; the rehabilitation training device can effectively relieve the tension of the large arm muscles, delay fatigue, stretch joints of a user, increase joint gaps, reduce the tension of the muscles and effectively relieve pain and discomfort of patients in the rehabilitation training process.

Description

An upper limb rehabilitation training device with adjustable training tension

technical field

The invention relates to the technical field of rehabilitation training devices, in particular to a device for upper limb rehabilitation training.

Background technique

Population aging is one of the serious problems facing modern human society. With the phenomenon of population aging, the number of patients with stroke, cerebral palsy and other diseases is increasing year by year. Physical assisted therapy has a significant rehabilitation effect in the early stage of stroke and cerebral palsy. Traditional physical assisted therapy needs to be performed by rehabilitation medical personnel to assist patients. However, with the increase in the number of patients, the limited number of rehabilitation medical personnel can no longer meet the actual needs. Therefore, rehabilitation training devices that can automatically or semi-automatically assist patients in rehabilitation training are gradually being more and more widely used.

The upper limb rehabilitation training device is one of the rehabilitation training devices with a large demand for rehabilitation training. It can effectively provide corresponding rehabilitation training for patients of different ages and different degrees of illness, and accurately execute according to the range of motion of each joint of the patient's upper limbs. A rehabilitation training program developed by medical personnel. However, when the existing upper limb rehabilitation training device drives the patient's damaged upper limb to carry out rehabilitation training, it often causes the patient to have severe pain and fatigue, causing the patient to have a lot of discomfort during the rehabilitation training, and even causing the patient's damaged upper limb secondary injury.

Through prior art search, there are the following known technical solutions:

Prior art 1:

Application number: CN201710811090.6, application date: 20170911, publication (announcement) date: 20191029, discloses a five-degree-of-freedom exoskeleton upper limb rehabilitation robot, including upper shoulder joint rotation components, upper arm rotation components, elbow flexion and extension components, Forearm rotation component, wrist flexion and extension component, arm overall rotation component and arm overall height adjustment box; upper shoulder joint rotation component is connected with upper arm rotation component; upper arm rotation component is connected with elbow joint flexion and extension component; elbow joint flexion and extension component is connected with forearm rotation component The forearm rotation component is connected with the wrist joint flexion and extension component; the arm overall rotation component is connected with the upper shoulder joint rotation component; the arm overall rotation component is fixed on the arm overall height adjustment box. The robot can realize five degrees of freedom movements of shoulder joint rotation, upper arm internal rotation and external rotation, elbow joint flexion and extension, forearm internal rotation and external rotation, wrist joint flexion and extension, and one degree of freedom of arm vertical height adjustment. , Improve the scientificity, flexibility and effectiveness of rehabilitation exercises.

However, this prior art is limited by the structure of the device itself, so that the angle at which the shoulder joint can be trained is very limited, and this invention does not have a training device for shoulder joint flexion/extension degrees of freedom, and there is no other auxiliary training except for the realization of five degrees of freedom device.

Prior art 2:

Application number: CN201811012470.4, application date: 20180831, publication (announcement) date: 20200825, discloses an upper limb rehabilitation training device with shoulder massage function, including supporting legs, seat cushion, backrest, the seat cushion is installed on The upper end of the support leg, the rear side of the seat cushion is provided with a non-circular cross-section insertion slot along the vertical direction, and the lower end of the backrest is provided with a first rack that is slidably connected in the insertion slot The lower surface of the seat cushion is equipped with a first driving motor through a support plate, and the output shaft of the first driving motor is equipped with a first gear meshed with the first rack; the left and right sides of the upper end of the backrest Both sides are equipped with arm recovery mechanisms; the left and right sides of the back of the back are equipped with shoulder massage mechanisms; the upper limb rehabilitation training device with shoulder massage function is not only simple in structure, but also can realize diversified training of upper limbs, making Patients can quickly complete the rehabilitation of the upper limbs.

This prior art has adopted hammer to adopt the mode of percussion to carry out massage, although structure is simple, but the effect of massage is limited, and this invention can't realize the active training demand of patient, and training mode is single.

Through the above search, it is found that the above technical solutions do not affect the novelty of the present invention; and the mutual combination of the above prior art does not destroy the inventiveness of the present invention.

Contents of the invention

The present invention provides an upper limb rehabilitation training device with adjustable training tension just to avoid the shortcomings of the above-mentioned prior art.

The present invention adopts the following technical solutions to solve the technical problems: an upper limb rehabilitation training device with adjustable training tension, including a shoulder joint movement mechanism, an upper arm rotation mechanism, an elbow joint flexion and extension mechanism, a forearm rotation mechanism and a wrist joint flexion and extension mechanism installed and connected in sequence And the forearm tension adjustment mechanism installed on the elbow joint flexion and extension mechanism;

The shoulder joint motion mechanism includes a fixed bracket, a shoulder joint swing-out drive motor, a shoulder joint swing-out drive motor, a shoulder joint flexion-extension drive motor, a shoulder joint flexion-extension support frame, a flexion-extension slider, a shoulder joint The flexion-extension crank and the flexion-extension compensation slider; the drive motor for swinging out and inward of the shoulder joint is installed on the fixed bracket above the shoulder of the user, and its output end is connected to the connecting rod for the outward swing inward movement of the shoulder joint The top end of the shoulder joint is connected and fixed, and the connecting rod for the outward swing and inward movement of the shoulder joint is set to fit the top of the user's shoulder and the outside of the upper arm; the shoulder joint outward swing and inward drive motor is used to drive the shoulder joint for outward swing and inward movement The movement connecting rod is rotated in the direction of outward swing and inward of the shoulder joint relative to the fixed bracket;

The shoulder joint flexion and extension support frame is located on the outer side of the user's big arm, and its front end is rotatably connected to the bottom end of the shoulder joint outward swing and inward movement connecting rod. The shoulder joint flexion and extension drive motor is installed outside the shoulder joint on the connecting rod for pendulum adduction movement; the front end of the shoulder joint flexion and extension crank is connected and fixed with the output end of the shoulder joint flexion and extension drive motor, and the end is rotatably connected with the flexion and extension slider, and the flexion and extension slider is connected with the The shoulder joint flexion and extension support frame is slidingly fitted and connected to form a sliding pair along the length of the shoulder joint flexion and extension support frame; the shoulder joint flexion and extension drive motor is used to drive the shoulder joint flexion and extension crank to drive the The flexion and extension support frame of the shoulder joint is rotated in the direction of flexion and extension of the shoulder joint relative to the connecting rod for swinging and adduction movement of the shoulder joint;

The flexion-extension compensation slider is slidably connected to the shoulder joint flexion-extension support frame, and the two form a sliding pair along the length of the shoulder joint flexion-extension support frame;

The upper arm rotation mechanism includes an upper arm rotation support plate, an upper arm rotation drive motor, an arc guide rail, an arc guide rail support roller, an arc rack and an upper arm support sleeve, and the upper arm rotation support plate is connected and fixed to the flexion extension compensation slide On the block, the upper arm rotation drive motor is installed on it and at least four of the arc guide rail support rollers are rotatably connected, and the arc guide rail support rollers are provided with limiting grooves, and the arc guide rails are matched and set on the Each of the circular-arc guide rails supports rollers in the limit grooves, and can slide in each of the limit grooves; each of the circular-arc guide rail support rollers is respectively arranged above and below the circular-arc guide rails, and the circle There are no less than two arc guide rail supporting rollers arranged above and below the arc guide rail; one side of the arc guide rail is provided with the arc rack, and the arc rack and the upper arm are rotationally driven The output end of the motor is connected to the upper arm rotation drive gear, and the upper arm rotation drive motor is used to drive the upper arm rotation drive gear and the arc rack to drive the arc guide rail to drive the upper arm support sleeve relative to the upper arm. Rotate the support plate to rotate in the direction of boom rotation;

The upper arm support sleeve is connected and fixed with the arc guide rail through the upper arm support sleeve connecting plate, and is used to fix the user's big arm; the arc guide rail, each of the arc guide rail support rollers, the arc rack and the arc guide rail The axes of the above-mentioned upper arm support sleeves are all parallel to the length of the user's big arm;

The elbow joint flexion and extension mechanism includes an elbow joint flexion and extension motor, an electromagnetic clutch, an elbow joint support frame, an elbow joint displacement compensation plate, an elbow joint displacement guide rod and a connecting block. The front side and the back side when the natural sagging, the two elbow joint displacement compensation plates are respectively arranged on the front side and the back side when the user's forearm is naturally sagging, and the front end of the elbow joint displacement compensation plate is connected to the same side. The ends of the elbow support frame are connected in rotation and form a revolving pair whose axis is located at the user's elbow; The electromagnetic clutch is provided between the front ends of the displacement compensation plates; the elbow joint flexion and extension motor is used to drive the elbow joint displacement compensation plate to form an elbow joint relative to the elbow support frame when the electromagnetic clutch is engaged. Rotation in the direction of flexion and extension;

The two elbow joint displacement guide rods are respectively connected by sliding fit between the ends of the two elbow joint displacement compensation plates and the elbow joint displacement compensation plate on the same side, and form a joint along the length of the elbow joint displacement compensation plate. The sliding pair, the side of the two elbow joint displacement compensation plates are connected and fixed with the connecting block;

The forearm rotation mechanism includes a forearm rotation telescopic rod, a forearm rotation support base, a forearm rotation drive motor, a limit rotation block and an arc-shaped inner rack, and the forearm rotation support base connects with the connecting block through the forearm rotation telescopic rod. connected, the forearm rotation support seat and the limit rotation block are in an arc-shaped plate structure, and the rear end surface of the forearm rotation support seat is slidably connected with the front end surface of the limit rotation block to form a sliding pair; The outer side of the limit rotation block is connected and fixed with an arc-shaped inner rack, the forearm rotation drive motor is installed on the forearm rotation support seat, and its output end is connected and fixed with a forearm meshing with the arc-shaped inner rack. Rotation drive gear; the forearm rotation drive motor is used to drive the limit rotation block to rotate in the forearm rotation direction relative to the forearm rotation support seat through the arc-shaped inner rack and the forearm rotation drive gear; The forearm rotation support seat and the forearm rotation drive motor are worn on the user's forearm, and the expansion and contraction direction of the forearm rotation telescopic rod is along the length of the user's forearm;

The wrist joint flexion and extension mechanism includes a wrist joint flexion and extension motor, a grip handle, a wrist joint support frame, a wrist joint displacement compensation plate and a wrist joint displacement guide rod. The two wrist joint displacement compensating plates are respectively arranged on the front and rear sides when the user's hands are naturally drooping. The end of the joint support frame is rotatably connected to form a rotating pair whose axis is located at the user's wrist; the wrist joint flexion and extension motor is installed on any of the wrist joint support frames, and its output end is compensated for the displacement of the wrist joint on the same side. The front end of the plate is connected and fixed; the wrist joint flexion and extension motor is used to drive the wrist joint displacement compensation plate to rotate in the direction of wrist joint flexion and extension relative to the wrist joint support frame; the two wrist joint displacement guide rods are respectively controlled by two The ends of the two wrist joint displacement compensating plates are slidably connected with the same side of the wrist joint displacement compensating plate, and form a sliding pair along the length of the wrist joint displacement compensating plate, and the gripping handle is connected and fixed on the two wrist joint displacement compensating plates. the end of the wrist joint displacement guide rod;

The forearm tension adjustment mechanism includes a ball screw frame, a forearm tension adjustment motor, a screw, a pulley support frame, a pulley and an elastic belt, and the ball screw frame is connected and fixed on the elbow joint displacement compensation plate, and rotates on it Install the lead screw, the pulley support frame is threadedly connected to the lead screw through the guide block provided on its back, and the pulley support frame and the lead screw form a moving pair along the axis of the lead screw; The pulley support frame is rotatably equipped with two pulleys, the elastic belt passes between the two pulleys, and is stretched around one of the pulleys, and its front end is connected and fixed to the elbow joint support frame. , the other end is connected and fixed to the elbow joint displacement compensation plate or the connecting block;

The forearm tension adjustment motor is installed on the ball screw frame, and the forearm tension adjustment gear connected to its output end meshes with the lead screw gear connected and fixed on the lead screw; the forearm tension adjustment motor is used for The forearm tension adjustment gear and the lead screw gear drive the guide block to drive the pulley support frame to slide along the lead screw to adjust the positions of the two pulleys, thereby realizing the adjustment of the tension of the elastic belt;

Further, it also includes a flexion-extension compensation slider and a massage mechanism, the flexion-extension compensation slider is slidably connected to the shoulder joint flexion-extension support frame, and the two form a joint along the length of the shoulder joint flexion-extension support frame. sliding pair;

The massage mechanism includes a massage connecting plate, a massage driving motor, a massage cam, a massage pressing rod, a massage roller, a massage supporting frame, a massage telescopic rod, a massage pressing block and a massage plate, and the massage connecting plate is connected and fixed on the buckling On the extension compensation slider, two massage driving motors are installed on it, and the output ends of the massage driving motors are connected and fixed with the massage cam; the openings of the two arc-shaped massage support frames are arranged on the same side It is connected and fixed to the massage connection plate, and the line connecting the centers of the two massage support frames is along the length of the user's forearm;

The opposite end faces of the two massage support frames are provided with arc-shaped massage bar grooves, the massage bar grooves are equipped with the massage bar, and the massage bar is rotatably connected with the corresponding The massage cams cooperate with the massage rollers in contact; the massage support frame is provided with massage pressing block grooves on the outside or inside of the massage pressing bar groove in the circumferential direction, and the massage pressing block grooves are provided with massage pressing block grooves. The massage pressing block that moves radially along the corresponding massage support frame in the groove is provided with a massage return spring; One end of the massage return spring is connected and fixed to the corresponding groove end of the massage pressing block, and the other end is connected and fixed to the corresponding massage pressing block. The massage return spring is connected to the arc-shaped protrusion The blocks are respectively located on both sides of the corresponding massage pressing block;

The massage pressing block grooves on the two massage support frames are symmetrically arranged in pairs, and the corresponding pair of massage pressing blocks are respectively hinged with the two ends of the same massage expansion rod. The massage board is connected and fixed, and the massage board is disconnected at the telescopic position of the corresponding massage telescopic rod; the massage support frame and the massage board are arranged close to the user's forearm.

Further, it also includes a joint traction mechanism, the joint traction mechanism includes a moving sheath supporting block, a coil, a moving sheath, a movable magnetic core and a wrist fixing structure, and the moving sheath supporting block is located between the two wrists. The side of the joint displacement compensation plate is connected and fixed with the two wrist joint displacement compensation plates, and each of the coils whose axes are parallel to the length of the user’s forearm is connected and fixed on it. The number of the movable magnetic cores and positions corresponding to said coil settings;

The movable magnetic core is inserted into the coil by one end of the corresponding coil, and is connected and fixed with the other end of the coil through the joint traction return spring, and the movable magnetic core and the corresponding coil form a Sliding pair along the direction of its own axis; the moving sheath is connected and fixed to the free ends of each of the movable magnetic cores, on which the wrist fixing structure is installed, and the wrist fixing structure is worn and fixed on the user's wrist .

Further, the moving sheath support block and the moving sheath are both arc-shaped, and each of the coils and each of the movable magnetic cores is evenly distributed along the circumferential direction of the moving sheath support block and the moving sheath set up.

Further, it also includes an upper arm rotation centering mechanism and an upper arm fixing structure, the upper arm rotation centering mechanism includes an upper arm centering connection block and an upper arm centering spring group, each upper arm centering connection block is evenly distributed along the inner side of the upper arm support sleeve Each of the upper arm centering connection blocks is connected to the upper arm support sleeve through the corresponding upper arm centering spring group; the upper arm fixing structure is arranged on the inner side of the upper arm support sleeve, and each of the upper arm centering connection blocks is It is connected and fixed to the outer surface of the upper arm fixing structure, and the upper arm fixing structure is worn and fixed on the user's upper arm.

Further, the upper arm fixing structure and the wrist fixing structure include a fixed contact sleeve, a fixed strap, a fixed ring and a Velcro. The fixed contact sleeve is in an arc-shaped structure with a fixed ring at one end; the strap One end is connected and fixed to the end of the fixed contact sleeve without a fixing ring, and the other end is folded outward through the fixing ring, and pasted and fixed on the Velcro on the outer side of the fixed contact sleeve.

Further, the elbow joint displacement compensation plate and the wrist joint displacement compensation plate are respectively provided with an elbow joint displacement guide rod hole groove and a wrist joint displacement guide rod hole groove, corresponding to the elbow joint displacement guide rod and the The wrist joint displacement guide rods are respectively slidably connected to the hole groove of the elbow joint displacement guide rod and the hole groove of the wrist joint displacement guide rod;

The end of the hole groove of the elbow joint displacement guide rod and the end of the hole groove of the wrist joint displacement guide rod are respectively provided with displacement compensation limit blocks for limiting the sliding limit positions of the elbow joint displacement guide rod and the wrist joint displacement guide rod A displacement compensation spring is also arranged in the hole groove of the elbow joint displacement guide rod and the hole groove of the wrist joint displacement guide rod, and one end of the displacement compensation spring is connected to the hole groove of the elbow joint displacement guide rod or the wrist joint The front end of the hole slot of the displacement guide rod is connected and fixed, and the other end is connected and fixed with the front end of the elbow joint displacement guide rod or the wrist joint displacement guide rod.

Further, the front end and the end of the elastic belt are respectively connected and fixed to the elbow joint support frame and the elbow joint displacement compensation plate or the connection block through a connecting column, and the connecting column extends to the point where the elbow joint flexes and extends. The outer side of the mechanism and the roller; the line connecting the two connecting columns is set perpendicular to the axis of the screw;

Further, the shoulder joint swing-out drive motor, the shoulder joint flexion-extension drive motor, the upper arm rotation drive motor, the elbow joint flexion-extension motor, the forearm rotation drive motor, the wrist joint flexion-extension motor and the output shaft of the forearm tension adjustment motor are all connected to the reducer, and the output shaft of the correspondingly connected reducer is used as the output end; The upper arm rotation drive motor, the elbow joint flexion and extension motor, the forearm rotation drive motor and the wrist joint flexion and extension motor are servo motors.

Further, it also includes a mobile frame, a lifting assembly and a seat, the lifting assembly and the seat are installed on the top of the mobile frame, and the bottom of the mobile frame is provided with various universal wheels; the shoulder joint movement mechanism The front end of the fixed bracket is connected and fixed with the execution end of the lifting assembly, and the flexion and extension drive motor of the shoulder joint is installed on the lower part to the bottom of the connecting rod for outward swing and adduction movement of the shoulder joint.

The invention provides an upper limb rehabilitation training device with adjustable training tension, which has the following beneficial effects:

1. The present invention can realize three degrees of freedom of the shoulder joint, two degrees of freedom of the elbow joint and one degree of freedom of the wrist joint through the movement mechanism of the shoulder joint, the rotation mechanism of the upper arm, the flexion and extension mechanism of the elbow joint, the rotation mechanism of the forearm and the flexion and extension mechanism of the wrist joint. One degree of freedom and multiple forms of upper limb rehabilitation training. The forearm tension adjustment mechanism can provide infinitely adjustable resistance or driving force for elbow flexion and extension when the electromagnetic clutch disconnects the power of the elbow flexion and extension motor, and is used to achieve elbow flexion and extension. The active rehabilitation training is beneficial to the recovery of the flexion and extension function of the elbow joint in the middle and late stages of the user's rehabilitation training;

2. The present invention is equipped with a massage mechanism worn on the user's arm. During the rehabilitation training process, the massage drive motor of the massage mechanism drives the pressing rod through the cam roller structure to periodically press each massage pressing block, and cooperates with each massage reset spring to drive The massage plates on each massage telescopic rod squeeze and massage the upper arm, which can effectively relieve the muscle tension of the upper arm, delay fatigue, and benefit the recovery of the muscle and nerve tissue of the upper arm;

3. The present invention is provided with a joint traction mechanism located at the wrist of the user. During the rehabilitation training process, the joint traction mechanism can stretch the user's joints, increase the joint space, reduce muscle tension, and effectively relieve the patient's pain and pain during the rehabilitation training process. discomfort;

4. The present invention is equipped with an upper arm rotation and centering mechanism. During the rehabilitation training process, the upper arm rotation and centering mechanism can realize the relative displacement caused by the misalignment of the rotation axis of the big arm and the rotation axis of the device, and flexion and extension compensation of the slider and shoulder joint flexion The sliding pair between the extension support frame, the elbow joint displacement compensation plate and the elbow joint displacement guide rod, and the wrist joint displacement compensation plate and the wrist joint displacement guide rod can compensate the linear displacement deviation caused by the misalignment of the user's upper limbs and the rotation axis of the device, Effectively prevent the rehabilitation training device from causing secondary injury to the user.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is the local structure schematic diagram of the present invention;

Fig. 3 is the structural representation of the shoulder joint motion mechanism of the present invention;

Fig. 4 is a schematic structural view of the upper arm rotation mechanism of the present invention;

Fig. 5 is a schematic structural view of the elbow joint flexion and extension mechanism of the present invention;

Fig. 6 is a structural schematic diagram of the forearm rotation mechanism of the present invention;

Fig. 7 is a structural schematic diagram of the wrist joint flexion and extension mechanism of the present invention;

Fig. 8 is a structural schematic diagram of the forearm tension adjusting mechanism of the present invention;

Fig. 9 is a structural schematic diagram of a massage mechanism of the present invention;

Fig. 10 is a structural schematic diagram of the massage pressing rod, the massage support frame and the massage pressing block of the present invention;

Fig. 11 is a schematic cross-sectional structure diagram at A-A of the present invention;

Fig. 12 is a schematic structural view of the joint traction mechanism of the present invention;

Fig. 13 is a schematic structural view of the upper arm rotation centering mechanism of the present invention.

In the picture:

1. Shoulder joint movement mechanism, 11. Fixing bracket, 12. Shoulder joint outward swing and inward drive motor, 13. Shoulder joint outward swing and inward movement connecting rod, 14. Shoulder joint flexion and extension drive motor, 15. Shoulder joint flexion and extension Support frame, 16, flexion and extension slider, 17, shoulder joint flexion and extension crank, 18, flexion and extension compensation slider;

2. Upper arm rotation mechanism, 21. Upper arm rotation support plate, 22. Upper arm rotation drive motor, 23. Arc guide rail, 24. Arc guide rail support roller, 25. Arc rack, 26. Upper arm support sleeve;

3. Elbow joint flexion and extension mechanism, 31. Elbow joint flexion and extension motor, 32. Electromagnetic clutch, 33. Elbow joint support frame, 34. Elbow joint displacement compensation plate, 35. Elbow joint displacement guide rod, 38. Connection block;

4. Forearm rotation mechanism, 41. Forearm rotation telescopic rod, 42. Forearm rotation support seat, 43. Forearm rotation drive motor, 44. Limit rotation block, 45. Arc inner rack;

5. Wrist joint flexion and extension mechanism, 51. Wrist joint flexion and extension motor, 52. Grab handle, 53. Wrist joint support frame, 54. Wrist joint displacement compensation plate, 55. Wrist joint displacement guide rod;

6. Massage mechanism, 61. Massage connection plate, 62. Massage drive motor, 63. Massage cam, 64. Massage pressure bar, 65. Massage roller; 66. Massage support frame, 661. Massage pressure bar groove, 662. Massage Briquetting groove, 663, massage return spring, 67, massage expansion rod, 68, massage briquetting, 69, massage plate;

7. Upper arm rotation centering mechanism, 71. Upper arm centering connection block, 72. Upper arm centering spring group;

8. Forearm tension adjustment mechanism, 81, ball screw frame, 82, forearm tension adjustment motor, 83, leading screw, 84, pulley support frame, 85, pulley, 86, elastic belt;

9, joint traction mechanism, 91, moving sheath support block, 92, coil, 93, moving sheath, 94, movable magnetic core.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are part of the present invention Examples, not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

As shown in Figures 1 to 13, the structural relationship is as follows: it includes a shoulder joint movement mechanism 1, an upper arm rotation mechanism 2, an elbow flexion and extension mechanism 3, a forearm rotation mechanism 4, and a wrist joint flexion and extension mechanism 5, which are installed and connected in sequence. The forearm tension adjustment mechanism 8 on the joint flexion and extension mechanism 3;

The shoulder joint motion mechanism 1 includes a fixed support 11, a shoulder joint swing-out and adduction drive motor 12, a shoulder joint swing-out and adduction movement connecting rod 13, a shoulder joint flexion and extension drive motor 14, a shoulder joint flexion and extension support frame 15, a flexion and extension slide Block 16, shoulder joint flexion and extension crank 17 and flexion and extension compensation slide block 18; the drive motor 12 is installed on the fixed bracket 11 and is located above the shoulder of the user, and its output end is connected with the shoulder joint outward and inward. The top of the movement connecting rod 13 is connected and fixed, and the shoulder joint is swung outward and inward. The movement connecting rod 13 is set to fit the top of the user's shoulder and the outer side of the big arm; the shoulder joint swings outward and adduction drive motor 12 is used to drive the shoulder joint to swing outward and inward The movement connecting rod 13 performs the rotation of the shoulder joint in the outward swing and inward direction relative to the fixed bracket 11, that is, the movement of the first degree of freedom of the shoulder joint movement mechanism 1, and also the movement of the first degree of freedom of the upper limb rehabilitation training device;

The shoulder joint flexion and extension support frame 15 is located on the outer side of the user's big arm, and its front end is rotationally connected with the bottom end of the shoulder joint outward swing and adduction movement connecting rod 13, and the shoulder joint flexion and extension drive motor 14 is installed on the shoulder joint outward swing and adduction movement connection. On the rod 13; the front end of the shoulder joint flexion and extension crank 17 is connected and fixed with the output end of the shoulder joint flexion and extension drive motor 14, and the end is rotatably connected with the flexion and extension slider 16, and the flexion and extension slider 16 slides with the shoulder joint flexion and extension support frame 15 Cooperate to connect, and form the sliding pair along the length of the shoulder joint flexion and extension support frame 15; Swing out and inward movement connecting rod 13 rotates in the direction of flexion and extension of the shoulder joint, that is, the movement of the second degree of freedom of the shoulder joint movement mechanism 1, and also the movement of the second degree of freedom of the upper limb rehabilitation training device; the flexion and extension slider The sliding pair between 16 and the shoulder joint flexion and extension support frame 15 is used to perform linear compensation for the position deviation generated between the shoulder joint flexion and extension crank 17 and the shoulder joint flexion and extension support frame 15 during the movement;

The flexion-extension compensation slide block 18 is slidably connected to the shoulder joint flexion-extension support frame 15, and the two form a sliding pair along the length of the shoulder joint flexion-extension support frame 15;

The upper arm rotation mechanism 2 includes an upper arm rotation support plate 21, an upper arm rotation drive motor 22, an arc guide rail 23, an arc guide rail support roller 24, an arc rack 25 and an upper arm support sleeve 26, and the upper arm rotation support plate 21 is connected and fixed on the flexion and extension On the compensation slide block 18, an upper arm rotation drive motor 22 is mounted on it and at least four arc guide rail support rollers 24 are rotatably connected to each other. In the limit groove of arc guide rail support roller 24, and can slide in each limit groove; There are no less than two arc guide rail support rollers 24; one side of the arc guide rail 23 is provided with an arc rack 25, and the arc rack 25 is engaged with the output end of the upper arm rotation drive motor 22 to connect the upper arm rotation drive gear,

The upper arm rotation drive motor 22 is used for transmission through the upper arm rotation drive gear and the arc rack 25, and drives the arc guide rail 23 to drive the upper arm support sleeve 26 to rotate in the direction of the arm rotation relative to the upper arm rotation support plate 21, that is, the upper arm rotation mechanism 2 The movement of the first degree of freedom is also the movement of the third degree of freedom of the upper limb rehabilitation training device; it should be noted that the movement of the big arm rotation direction is actually supported by the shoulder joint in the human body structure, so this movement is also The movement of the third degree of freedom of the shoulder joint in the human body structure; the upper arm support sleeve 26 is connected and fixed with the arc guide rail 23 through the upper arm support sleeve connecting plate, and is used to fix the user's big arm; the arc guide rail 23, each arc guide rail support The axes of the roller 24, the arc rack 25 and the upper arm support sleeve 26 are all parallel to the length of the user's arm;

Elbow joint flexion and extension mechanism 3 comprises elbow joint flexion and extension motor 31, electromagnetic clutch 32, elbow joint support frame 33, elbow joint displacement compensation plate 34, elbow joint displacement guide rod 35 and connecting block 38, and two elbow joint support frames 33 are located at respectively The front side and the back side of the user's forearm naturally drooping, two elbow joint displacement compensating plates 34 are respectively arranged on the front side and the rear side of the user's forearm drooping naturally, the front end and the same side of the elbow joint displacement compensating plate 34 The end of the elbow joint support frame 33 is rotationally connected and forms a rotating pair whose axis is located at the user's elbow; the elbow joint flexion and extension motor 31 is installed on any elbow joint support frame 33, and its output end is connected to the elbow joint displacement compensation plate on the same side. 34 is provided with an electromagnetic clutch 32 between the front ends. When the electromagnetic clutch 32 is engaged, the output end of the elbow joint flexion and extension motor 31 is equivalent to being connected and fixed with the front end of the elbow joint displacement compensation plate 34 on the same side. When the electromagnetic clutch 32 is separated , the output end of the elbow joint flexion and extension motor 31 is equivalent to being separated from the front end of the elbow joint displacement compensation plate 34 on the same side;

The elbow joint flexion and extension motor 31 is used to drive the elbow joint displacement compensation plate 34 to rotate in the direction of elbow joint flexion and extension relative to the elbow joint support frame 33 when the electromagnetic clutch 32 is engaged, that is, the movement of the first degree of freedom of the elbow joint flexion and extension mechanism 3 , which is also the movement of the fourth degree of freedom of the upper limb rehabilitation training device;

The two elbow joint displacement guide rods 35 are connected by sliding fit between the ends of the two elbow joint displacement compensation plates 34 and the elbow joint displacement compensation plate 34 on the same side respectively, and form a sliding pair along the length of the elbow joint displacement compensation plate 34. The side of each elbow joint displacement compensation plate 34 is connected and fixed with connecting block 38; When the joint flexes and extends in the direction of rotation, the position deviation caused by the non-concentric rotation of the user's forearm and elbow joint displacement compensation plate 34 is linearly compensated;

The forearm rotation mechanism 4 comprises the forearm rotation telescopic link 41, the forearm rotation support base 42, the forearm rotation drive motor 43, the limit rotation block 44 and the arc inner rack 45, the forearm rotation support base 42 passes the forearm rotation expansion link 41 and the connecting block 38 connection, the forearm rotation support seat 42 and the limit rotation block 44 are in an arc-shaped plate structure, and the rear end surface of the forearm rotation support seat 42 and the front end surface of the limit rotation block 44 are slidably connected to form a sliding pair; the limit rotation The outer side of the block 44 is connected and fixed with an arc-shaped inner rack 45, and the forearm rotation drive motor 43 is installed on the forearm rotation support seat 42, and its output end is connected and fixed with a forearm rotation drive gear meshed with the arc-shaped inner rack 45; the forearm rotates The drive motor 43 is used to drive the limit rotation block 44 to rotate in the forearm rotation direction relative to the forearm rotation support base 42 through the arc-shaped inner rack 45 and the forearm rotation drive gear, that is, the movement of the first degree of freedom of the forearm rotation mechanism 4, At the same time, it is also the movement of the fifth degree of freedom of the upper limb rehabilitation training device; the forearm rotation support base 42 and the forearm rotation drive motor 43 fit the user's forearm to wear, and the telescopic direction of the forearm rotation telescopic rod 41 is along the length of the user's forearm;

Wrist joint flexion and extension mechanism 5 includes wrist joint flexion and extension motor 51, grip handle 52, wrist joint support frame 53, wrist joint displacement compensation plate 54 and wrist joint displacement guide rod 55, and two wrist joint support frames 53 are located at the user's small The front side and the back side when the arm is naturally drooping, the two wrist joint displacement compensation plates 54 are respectively arranged on the front side and the rear side when the user's hands are naturally drooping, and the front end of the wrist joint displacement compensation plate 54 is connected to the wrist joint on the same side. The end of the support frame 53 is rotatably connected and forms a rotating pair whose axis is located at the user's wrist; the wrist joint flexion and extension motor 51 is installed on any wrist joint support frame 53, and its output end is connected to the front end of the wrist joint displacement compensation plate 54 on the same side. The connection is fixed; the wrist joint flexion and extension motor 51 is used to drive the wrist joint displacement compensation plate 54 to rotate in the direction of wrist joint flexion and extension relative to the wrist joint support frame 53, that is, the movement of the first degree of freedom of the wrist joint flexion and extension mechanism 5, and also for the upper limb The movement of the sixth degree of freedom of the rehabilitation training device;

The two wrist joint displacement guide rods 55 are respectively connected by sliding fit between the ends of the two wrist joint displacement compensation plates 54 and the wrist joint displacement compensation plate 54 on the same side, and form a sliding pair along the length of the wrist joint displacement compensation plate 54. The grip handle 52 is connected and fixed to the ends of the two wrist joint displacement guide rods 55, and the sliding pair between the wrist joint displacement compensation plate 54 and the wrist joint displacement guide rod 55 is used to guide the wrist joint displacement compensation plate 54 relative to the wrist joint displacement guide. When the rod 55 rotates in the direction of flexion and extension of the wrist joint, it linearly compensates the position deviation caused by the non-concentric rotation of the user's hand and the wrist joint displacement compensation plate 54;

The forearm tension adjustment mechanism 8 includes a ball screw frame 81, a forearm tension adjustment motor 82, a lead screw 83, a pulley support frame 84, a pulley 85 and an elastic belt 86, and the ball screw frame 81 is connected and fixed on the elbow joint displacement compensation plate 34. Rotate and install leading screw 83 on it, and pulley support frame 84 is threadedly connected on the leading screw 83 by the guide block that its back is provided with, and pulley support frame 84 and leading screw 83 form the moving pair along leading screw 83 axial directions, and this moving pair The formation needs to constrain the direction of rotation of the guide block, such as making the back of the guide block fit the plate surface of the ball screw frame 81, so that the relative rotation of the lead screw 83 and the guide block is converted into the direction of the guide block along the axis of the lead screw 83. linear motion;

The pulley support frame 84 is rotatably equipped with two pulleys 85, and the elastic band 86 passes between the two pulleys 85, and is tensioned and wound on one pulley 85. Its front end is connected and fixed with the elbow support frame 33, and the other end is connected with the elbow joint. Displacement compensation plate 34 or connecting block 38 is connected and fixed;

The forearm tension adjustment motor 82 is installed on the ball screw frame 81, and the forearm tension adjustment gear connected to its output end is engaged with the lead screw gear connected and fixed on the leading screw 83; The lead screw gear drives the guide block to drive the pulley support frame 84 to slide along the lead screw 83 to adjust the positions of the two pulleys 85, thereby realizing the adjustment of the tension force of the elastic belt 86;

The elastic band 86 of the forearm tension adjusting mechanism 8 can change the tensioned pulley 85 due to the change of the relative position during the relative rotation of the elbow joint support frame 33 and the elbow joint displacement compensating plate 34, but in addition to rapidly changing the tension pulley 85 Outside the process, it is guaranteed to be tensioned with a pulley 85, and always maintain a tensioned state and generate a tension force;

The tension force of the elastic band 86 acts as an opposing force during the relative rotation of the elbow joint support frame 33 and the elbow joint displacement compensation plate 34, so as to resist the rotational force of the user's forearm and form a certain obstacle to the rotation of the patient's forearm; in addition , the tension of the elastic band 86 always provides a small driving force that tends to drive the relative rotation of the elbow joint support frame 33 and the elbow joint displacement compensation plate 34, and the patient can actively resist the driving force to maintain the elbow joint during the training process. The supporting frame 33 and the elbow joint displacement compensating plate 34 are relatively static, so as to achieve the purpose of training the muscle and nerve tissue of the patient's upper limbs;

Preferably, it also includes a flexion-extension compensation slider 18 and a massage mechanism 6. The flexion-extension compensation slider 18 is slidably connected to the shoulder joint flexion-extension support frame 15, and the two form a sliding movement along the length of the shoulder joint flexion-extension support frame 15. vice;

Massage mechanism 6 comprises massage connection plate 61, massage drive motor 62, massage cam 63, massage pressure bar 64, massage roller 65, massage support frame 66, massage extension rod 67, massage pressing block 68 and massage plate 69, massage connection plate 61 is connected and fixed on the flexion-extension compensation slider 18, on which two massage drive motors 62 are installed, and the output ends of the massage drive motors 62 are connected and fixed with a massage cam 63; the openings of the two arc-shaped massage support frames 66 are on the same side Set and connect to the massage connecting plate 61, the connecting line between the centers of the two massage support frames 66 is along the length of the user's big arm;

The opposite end faces of the two massage support frames 66 are provided with a massage bar groove 661 of an arcuate structure, and the massage bar groove 661 is equipped with a massage bar 64, which is rotatably connected with a corresponding massage cam 63. Cooperate with the massage roller 65 of contact; Massage supporting frame 66 is provided with each massage briquetting groove 662 on the outside or the inner circumference of massage pressing bar groove 661, is provided with in this massage briquetting groove 662 along corresponding The massage pressing block 68 of the radial movement of massage supporting frame 66, and be provided with massage return spring 663; One end of the spring 663 is connected and fixed to the end of the corresponding massage pressing block groove 662, and the other end is connected and fixed to the corresponding massage pressing block 68. The massage return spring 663 and the arc-shaped protrusion are respectively located on both sides of the corresponding massage pressing block 68;

The massage briquetting grooves 662 on the two massage support frames 66 are symmetrically arranged in pairs, and the corresponding pair of massage briquetting blocks 68 are hinged with the two ends of the same massage telescopic rod 67 respectively, and the massage telescopic rod 67 is connected with a fixed massage board 69 , the massage board 69 is disconnected at the telescopic position of the corresponding massage telescopic rod 67; the massage support frame 66 and the massage board 69 are arranged on the user's big arm;

The massage mechanism 6 is installed on the flexion-extension compensation slider 18, and the sliding pair between the flexion-extension compensation slider 18 and the shoulder joint flexion-extension support frame 15 is used to drive the shoulder joint flexion-extension support frame following the user's big arm in the massage mechanism 6 When the connecting rod 13 rotates in the direction of flexion and extension of the shoulder joint relative to the outward swing and inward movement of the shoulder joint, the position deviation caused by the non-concentric rotation of the user's big arm and the shoulder joint flexion and extension support frame 15 is linearly compensated.

Preferably, it also includes a joint traction mechanism 9, the joint traction mechanism 9 includes a moving sheath support block 91, a coil 92, a moving sheath 93, a movable magnetic core 94 and a wrist fixing structure, and the moving sheath support block 91 is located at two Wrist joint displacement compensating plate 54 side, and is connected and fixed with two wrist joint displacement compensating plates 54, and each coil 92 that axial line and user's forearm length direction is arranged parallel to and fixed on it, the quantity of movable magnetic core 94 and The position corresponds to the setting of the coil 92;

The movable magnetic core 94 is inserted into the coil 92 by one end of the corresponding coil 92, and is connected and fixed with the other end of the coil 92 through the joint traction return spring. The movable magnetic core 94 and the corresponding coil 92 form a The sliding pair in the axial direction; the mobile sheath 93 is connected and fixed with the free ends of each movable magnetic core 94, and the wrist fixing structure is installed on it, and the wrist fixing structure is worn and fixed on the user's wrist.

Preferably, both the moving sheath support block 91 and the moving sheath 93 are arc-shaped, and the coils 92 and the movable magnetic cores 94 are evenly distributed along the circumferential direction of the moving sheath support block 91 and the moving sheath 93 .

Preferably, it also includes an upper arm rotation centering mechanism 7 and an upper arm fixing structure. The upper arm rotation centering mechanism 7 includes an upper arm centering connection block 71 and an upper arm centering spring group 72. Each upper arm centering connection block 71 is along the inner side of the upper arm support sleeve 26. Evenly distributed in the circumferential direction, each upper arm centering connection block 71 is respectively connected to the upper arm support sleeve 26 through the corresponding upper arm centering spring group 72; On the outer side of the arm fixing structure, the upper arm fixing structure is worn and fixed on the user's upper arm.

Preferably, the upper arm fixing structure and the wrist fixing structure include a fixed contact sleeve, a fixed strap, a fixed ring and a Velcro. The fixed contact sleeve is in an arc-shaped structure, and one end of the fixed ring is provided; one end of the strap is not fixed to the fixed contact sleeve. The ends of the ring are connected and fixed, and the other end passes through the fixing ring and is folded outwards, and is pasted and fixed on the Velcro sticker provided on the outer side.

Preferably, the elbow joint displacement compensation plate 34 and the wrist joint displacement compensation plate 54 are respectively provided with an elbow joint displacement guide rod hole groove and a wrist joint displacement guide rod hole groove, and the corresponding elbow joint displacement guide rod 35 and wrist joint displacement guide rod 55 are respectively slidingly fitted and connected in the hole groove of the elbow joint displacement guide rod and the hole groove of the wrist joint displacement guide rod;

The ends of the elbow joint displacement guide rod hole groove and the wrist joint displacement guide rod hole groove are respectively provided with displacement compensation limiters for limiting the sliding limit positions of the elbow joint displacement guide rod 35 and wrist joint displacement guide rod 55, and the elbow joint displacement guide rod A displacement compensating spring is also arranged in the hole groove and the wrist joint displacement guide rod hole groove. One end of the displacement compensation spring is connected and fixed with the elbow joint displacement guide rod hole groove or the front end of the wrist joint displacement guide rod hole groove, and the other end is connected with the elbow joint displacement guide rod hole groove. The front end of guide rod 35 or wrist joint displacement guide rod 55 is connected and fixed.

Preferably, the front end and the end of the elastic band 86 are respectively connected and fixed with the elbow joint support frame 33 and the elbow joint displacement compensation plate 34 or the connection block 38 through the connecting column, and the connecting column extends to the outside of the elbow joint flexion and extension mechanism 3 and the pulley 85, so as to Ensure that the elastic band 86 does not interfere with other structures of the elbow joint flexion and extension mechanism 3 and the forearm tension adjustment mechanism 8; The moving stroke realizes the set tension adjustment.

Preferably, the shoulder joint swings out and retracts the drive motor 12, the shoulder joint flexes and extends the drive motor 14, the upper arm rotates the drive motor 22, the elbow joint flexes and extends the motor 31, the forearm rotates the drive motor 43, the wrist joint flexes and extends the motor 51 and the forearm tension adjustment motor 82 The output shafts of the reducer are connected to the reducer, and the output shaft of the correspondingly connected reducer is the output end;

The drive motor 12 for swinging and retracting the shoulder joint, the flexion and extension drive motor 14 for the shoulder joint, the rotation drive motor 22 for the upper arm, the flexion and extension motor 31 for the elbow joint, the rotation drive motor 43 for the forearm and the flexion and extension motor 51 for the wrist joint are servo motors.

Preferably, also include mobile frame, elevating assembly and seat, elevating assembly and seat are installed on mobile frame top, and mobile frame bottom is provided with each universal wheel; The executive end is connected and fixed, the shoulder joint flexion and extension drive motor 14 is installed at the position from the lower part to the bottom of the shoulder joint outward swing and inward movement connecting rod 13, the mobile frame is used to conveniently realize the movement of the upper limb rehabilitation training device, and the lifting component is used to drive the rest Each mechanism rises or falls to realize the height adjustment of other mechanisms.

In specific use, the shoulder joint movement mechanism 1, the upper arm rotation mechanism 2, the elbow joint flexion and extension mechanism 3, the forearm rotation mechanism 4, and the wrist joint flexion and extension mechanism 5 all have a passive rehabilitation training mode, which can drive the user's upper limbs through corresponding motors. Locations for Rehabilitation Exercises:

When the shoulder joint movement mechanism 1 performs passive mode rehabilitation training, the rotation speed output by the shoulder joint swing-out drive motor 12 is decelerated by the reducer, and drives the shoulder joint swing-out and draw-in movement connecting rod 13 to rotate relative to the fixed bracket 11 to drive the use The patient's shoulder joints should do outward swing and adduction rehabilitation exercises;

After being decelerated by the reducer, the output speed of the shoulder joint flexion and extension driving motor 14 drives the shoulder joint flexion and extension crank 17 to rotate, and the flexion and extension slider 16 follows the movement of the shoulder joint flexion and extension crank 17, and slides along the shoulder joint flexion and extension support frame 15, Drive the shoulder joint flexion and extension support frame 15 to rotate, that is, drive the user's shoulder joint to do flexion and extension rehabilitation training;

When the upper arm rotation mechanism 2 performs rehabilitation training in passive mode, the output speed of the upper arm rotation drive motor 22 is decelerated by the reducer and transmitted to the upper arm rotation drive gear, and the arc rack 25 meshing with the upper arm rotation drive gear rotates with the upper arm rotation drive gear. The arc guide rails 23 are driven to drive the user's shoulder joints to perform the arm rotation rehabilitation training action under the limitation of each arc guide rail support roller 24 .

When the elbow joint flexion and extension mechanism 3 performs passive mode rehabilitation training, the electromagnetic clutch 32 is engaged, and the rotation speed output by the elbow joint flexion and extension motor 31 is decelerated by the reducer, and then transmitted to the elbow joint displacement compensation plate 34 through the electromagnetic clutch 32 to drive the elbow joint displacement compensation The plate 34 rotates to drive the user's elbow joint to do flexion and extension rehabilitation training;

When the forearm rotation mechanism 4 performs passive mode rehabilitation training, the rotation speed output by the forearm rotation drive motor 43 is decelerated by the reducer and then transmitted to the forearm rotation drive gear, which drives the arc-shaped inner rack 45 meshing with the forearm rotation drive gear to rotate and limit the rotation The block 44 slides along the forearm rotation support seat 42 following the arc-shaped inner rack 45, and drives the user's elbow joint to perform forearm rotation rehabilitation training.

When the wrist joint flexion and extension mechanism 5 performs passive mode rehabilitation training, the rotation speed output by the wrist joint flexion and extension motor 51 is decelerated by the reducer, and drives the wrist joint displacement compensation plate 54 to rotate, driving the user's wrist joint to perform flexion and extension rehabilitation training.

Among them, the elbow joint flexion and extension mechanism 3 can also execute the active rehabilitation training mode. In this mode, the pretension force of the elastic band 86 of the forearm tension adjustment mechanism 8 should be adjusted first according to the actual situation of the user. The specific process is as follows: After the speed output by the forearm tension regulating motor 82 is decelerated by the reducer, the power is transmitted to the lead screw gear through the forearm tension regulating gear, which drives the lead screw to rotate, drives the guide block and the pulley support frame 84 to slide along the lead screw, and realizes 86 elastic belts. The adjustment of the tight position, and then realize the adjustment of the pretension force of the elastic belt 86;

When the elbow joint flexion and extension mechanism 3 performs rehabilitation training in the active mode, the electromagnetic clutch 32 is disconnected, the elbow joint flexion and extension motor 31 does not provide driving force, and the user performs elbow flexion and extension rehabilitation training actions by his own strength.

When the user's elbow joint is at rest, the tension force of the elastic band 86 provides a driving force that tends to drive the user's elbow joint to flex and extend, and the user resists with his own elbow joint strength; when the user's elbow joint flexes and extends, the elastic band The tension of 86 provides resistance and hinders the progress of flexion and extension.

The massage mechanism 6 presses and massages the user's big arm during the rehabilitation training process. The specific process is: the rotational speed output by the two massage drive motors 62 is transmitted to the two massage cams 63, driving the two massage cams that are in contact with the massage cams 63. The roller 65 makes periodic reciprocating motions along the length of the user's big arm while rotating; the two massage pressing rods 64 follow the linear motion of the two massage rollers 65 and periodically overcome the elastic force of each massage return spring 663 Press each massage pressing bar groove 661 along each massage pressing block groove 662, and then drive the two ends of each massage plate 69 to move periodically along the radial direction perpendicular to the length of the user's forearm, and press the user's forearm .

The joint traction mechanism 9 stretches the joints of the user during the rehabilitation training process. The specific process is: each coil 92 is energized, and each movable magnetic core 94 is driven to stretch toward the user's hand along the length of the user's forearm. The patient's wrist can increase the user's joint space, reduce muscle tension, and effectively relieve the patient's pain and discomfort during rehabilitation training.

Before the user performs rehabilitation training, the upper arm is bound and fixed by the fixed strap of the upper arm fixing structure, and the wrist is bound and fixed by the fixed strap of the wrist fixing structure. According to the patient's condition, according to the rehabilitation training plan formulated by the medical staff, carry out rehabilitation training in the specified mode, specified time, and specified intensity.

It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is a relationship between these entities or operations. There is no such actual relationship or order between them. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be described in the foregoing embodiments Modifications are made to the recorded technical solutions, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (10)

1. An upper limb rehabilitation training device capable of adjusting training tension force is characterized in that: comprises a shoulder joint movement mechanism (1), an upper arm rotation mechanism (2), an elbow joint bending and stretching mechanism (3), a forearm rotation mechanism (4) and a wrist joint bending and stretching mechanism (5) which are sequentially installed and connected, and a forearm tension adjusting mechanism (8) installed on the elbow joint bending and stretching mechanism (3);

the shoulder joint movement mechanism (1) comprises a fixed bracket (11), a shoulder joint outward-swinging inward-folding driving motor (12), a shoulder joint outward-swinging inward-folding movement connecting rod (13), a shoulder joint buckling and stretching driving motor (14), a shoulder joint buckling and stretching supporting frame (15), a buckling and stretching sliding block (16), a shoulder joint buckling and stretching crank (17) and a buckling and stretching compensation sliding block (18); the shoulder joint outward-swinging inward-folding driving motor (12) is arranged on the fixed support (11) and is positioned above the shoulder of a user, the output end of the motor is fixedly connected with the top end of the shoulder joint outward-swinging inward-folding moving connecting rod (13), and the shoulder joint outward-swinging inward-folding moving connecting rod (13) is attached to the top of the shoulder of the user and is arranged outside the big arm; the shoulder joint outward-swinging and inward-folding driving motor (12) is used for driving the shoulder joint outward-swinging and inward-folding moving connecting rod (13) to rotate in the shoulder joint outward-swinging and inward-folding direction relative to the fixed bracket (11);

The shoulder joint buckling and stretching support frame (15) is positioned on the outer side of a large arm of a user, the front end of the shoulder joint buckling and stretching support frame is rotationally connected with the bottom end of the shoulder joint outward-swinging inward-folding movement connecting rod (13), and the shoulder joint buckling and stretching driving motor (14) is arranged on the shoulder joint outward-swinging inward-folding movement connecting rod (13); the front end of a shoulder joint buckling and stretching crank (17) is fixedly connected with the output end of the shoulder joint buckling and stretching driving motor (14), the tail end of the shoulder joint buckling and stretching crank is rotationally connected with the buckling and stretching sliding block (16), and the buckling and stretching sliding block (16) is connected with the shoulder joint buckling and stretching supporting frame (15) in a sliding fit manner, and a sliding pair along the length direction of the shoulder joint buckling and stretching supporting frame (15) is formed; the shoulder joint buckling extension driving motor (14) is used for driving the shoulder joint buckling extension crank (17) to rotate so as to drive the shoulder joint buckling extension supporting frame (15) to rotate in the direction of buckling extension of the shoulder joint relative to the shoulder joint outward-swinging inward-folding movement connecting rod (13);

the buckling and stretching compensation sliding block (18) is connected to the shoulder joint buckling and stretching supporting frame (15) in a sliding fit manner, and a sliding pair along the length direction of the shoulder joint buckling and stretching supporting frame (15) is formed by the buckling and stretching compensation sliding block and the shoulder joint buckling and stretching supporting frame;

the upper arm rotating mechanism (2) comprises an upper arm rotating support plate (21), an upper arm rotating driving motor (22), an arc guide rail (23), arc guide rail supporting rollers (24), an arc rack (25) and an upper arm supporting sleeve (26), wherein the upper arm rotating support plate (21) is fixedly connected to the buckling and stretching compensating sliding block (18), the upper arm rotating driving motor (22) is arranged on the upper arm rotating support plate and is rotationally connected with at least four arc guide rail supporting rollers (24), limiting grooves are formed in the arc guide rail supporting rollers (24), and the arc guide rail (23) is matched and clamped in the limiting grooves of the arc guide rail supporting rollers (24) and can slide in the limiting grooves; each arc guide rail supporting roller (24) is arranged above and below the arc guide rail (23), and the number of the arc guide rail supporting rollers (24) arranged above and below the arc guide rail (23) is not less than two; the upper arm rotating driving motor (22) is used for driving the upper arm supporting sleeve (26) to rotate in the large arm rotating direction relative to the upper arm rotating supporting plate (21) through the transmission of the upper arm rotating driving gear and the arc rack (25); the upper arm support sleeve (26) is fixedly connected with the circular arc guide rail (23) through an upper arm support sleeve connecting plate and is used for fixing the big arm of a user; the axes of the arc guide rail (23), the arc guide rail supporting rollers (24), the arc racks (25) and the upper arm supporting sleeve (26) are parallel to the length direction of the big arm of the user;

The elbow joint bending and stretching mechanism (3) comprises an elbow joint bending and stretching motor (31), an electromagnetic clutch (32), an elbow joint support frame (33), an elbow joint displacement compensation plate (34), an elbow joint displacement guide rod (35) and a connecting block (38), wherein the two elbow joint support frames (33) are respectively arranged at the front side and the rear side of a user when the big arm naturally sags, the two elbow joint displacement compensation plates (34) are respectively arranged at the front side and the rear side of a user when the forearm naturally sags, and the front end of the elbow joint displacement compensation plate (34) is rotationally connected with the tail end of the elbow joint support frame (33) at the same side to form a revolute pair with an axis positioned at the elbow of the user; the elbow joint bending and stretching motor (31) is arranged on any elbow joint supporting frame (33), and the electromagnetic clutch (32) is arranged between the output end of the elbow joint bending and stretching motor and the front end of the elbow joint displacement compensation plate (34) on the same side; the elbow joint bending and stretching motor (31) is used for driving the elbow joint displacement compensation plate (34) to rotate relative to the elbow joint support frame (33) in the elbow joint bending and stretching direction when the electromagnetic clutch (32) is absorbed;

the two elbow joint displacement guide rods (35) are respectively connected with the elbow joint displacement compensation plates (34) on the same side by the tail ends of the two elbow joint displacement compensation plates (34) in a sliding fit manner, sliding pairs along the length directions of the elbow joint displacement compensation plates (34) are formed, and the side surfaces of the two elbow joint displacement compensation plates (34) are fixedly connected with the connecting blocks (38);

The forearm rotating mechanism (4) comprises a forearm rotating telescopic rod (41), a forearm rotating supporting seat (42), a forearm rotating driving motor (43), a limiting rotating block (44) and an arc-shaped inner rack (45), the forearm rotating supporting seat (42) is connected with the connecting block (38) through the forearm rotating telescopic rod (41), the forearm rotating supporting seat (42) and the limiting rotating block (44) are of arc-shaped plate structures, and the rear end face of the forearm rotating supporting seat (42) is connected with the front end face of the limiting rotating block (44) in a sliding fit manner to form a sliding pair; an arc-shaped inner rack (45) is fixedly connected to the outer side of the limiting rotating block (44), the forearm rotation driving motor (43) is arranged on the forearm rotation supporting seat (42), and the output end of the forearm rotation driving motor is fixedly connected with a forearm rotation driving gear meshed with the arc-shaped inner rack (45); the forearm rotation driving motor (43) is used for driving the limiting rotation block (44) to rotate relative to the forearm rotation supporting seat (42) in the forearm rotation direction through the arc-shaped inner rack (45) and the forearm rotation driving gear; the forearm rotation support seat (42) and the forearm rotation driving motor (43) are attached to the forearm of a user to be worn, and the telescopic direction of the forearm rotation telescopic rod (41) is along the length direction of the forearm of the user;

The wrist joint bending and stretching mechanism (5) comprises a wrist joint bending and stretching motor (51), a grabbing handle (52), a wrist joint support frame (53), a wrist joint displacement compensation plate (54) and a wrist joint displacement guide rod (55), wherein the two wrist joint support frames (53) are respectively arranged on the front side and the rear side of a user when the forearm of the user naturally sags, the two wrist joint displacement compensation plates (54) are respectively arranged on the front side and the rear side of the user when the hand of the user naturally sags, and the front ends of the wrist joint displacement compensation plates (54) are rotationally connected with the tail ends of the wrist joint support frames (53) on the same side to form a revolute pair with axes positioned at the wrist of the user; the wrist joint bending and stretching motor (51) is arranged on any one of the wrist joint supporting frames (53), and the output end of the wrist joint bending and stretching motor is fixedly connected with the front end of the wrist joint displacement compensation plate (54) on the same side; the wrist joint bending and stretching motor (51) is used for driving the wrist joint displacement compensation plate (54) to rotate relative to the wrist joint support frame (53) in the wrist joint bending and stretching direction; the two wrist joint displacement guide rods (55) are respectively connected with the wrist joint displacement compensation plates (54) on the same side in a sliding fit manner by the tail ends of the two wrist joint displacement compensation plates (54), sliding pairs along the length directions of the wrist joint displacement compensation plates (54) are formed, and the gripping handles (52) are fixedly connected with the tail ends of the two wrist joint displacement guide rods (55);

The forearm tension adjusting mechanism (8) comprises a ball screw frame (81), a forearm tension adjusting motor (82), a screw (83), a pulley support frame (84), a pulley (85) and an elastic belt (86), wherein the ball screw frame (81) is fixedly connected to the elbow joint displacement compensation plate (34), the screw (83) is rotatably arranged on the ball screw frame, the pulley support frame (84) is connected to the screw (83) through a guide block arranged on the back of the pulley support frame in a threaded fit manner, and the pulley support frame (84) and the screw (83) form a moving pair along the axis of the screw (83);

the pulley support frames (84) are rotatably provided with two pulleys (85), the elastic belt (86) passes through the two pulleys (85) and is wound on one pulley (85) in a tensioning manner, the front end of the elastic belt is fixedly connected with the elbow joint support frames (33), and the other end of the elastic belt is fixedly connected with the elbow joint displacement compensation plates (34) or the connecting blocks (38);

the forearm tension adjusting motor (82) is arranged on the ball screw frame (81), and a forearm tension adjusting gear connected with the output end of the forearm tension adjusting motor is meshed with a screw gear connected and fixed on the screw (83); the forearm tension adjusting motor (82) is used for driving the guide block to drive the pulley support frame (84) to slide along the screw rod (83) through the forearm tension adjusting gear and the screw rod gear so as to adjust the positions of the two pulleys (85), and further the tension of the elastic belt (86) is adjusted.

2. The upper limb rehabilitation training device with adjustable training tension according to claim 1, wherein: the device further comprises a buckling and stretching compensation sliding block (18) and a massage mechanism (6), wherein the buckling and stretching compensation sliding block (18) is connected to the shoulder joint buckling and stretching support frame (15) in a sliding fit manner, and a sliding pair along the length direction of the shoulder joint buckling and stretching support frame (15) is formed by the buckling and stretching compensation sliding block and the massage mechanism;

the massage mechanism (6) comprises a massage connecting plate (61), a massage driving motor (62), a massage cam (63), a massage pressing rod (64), a massage roller (65), a massage supporting frame (66), a massage telescopic rod (67), a massage pressing block (68) and a massage plate (69), wherein the massage connecting plate (61) is fixedly connected to the buckling and stretching compensation sliding block (18), two massage driving motors (62) are arranged on the massage connecting plate, and the massage cam (63) is fixedly connected to the output end of the massage driving motor (62); the openings of the two arc-shaped massage supporting frames (66) are arranged on the same side and are connected and fixed on the massage connecting plate (61), and the connecting line of the centers of the two massage supporting frames (66) is along the length direction of the big arm of the user;

the two opposite end surfaces of the massage supporting frames (66) are provided with massage pressing rod grooves (661) with arc structures, the massage pressing rod grooves (661) are internally matched with the massage pressing rods (64), and the massage pressing rods (64) are rotationally connected with massage rollers (65) which are in matched contact with the corresponding massage cams (63); each massage pressing block groove (662) is circumferentially arranged on the outer side or the inner side of the massage pressing rod groove (661) on the massage supporting frame (66), each massage pressing block (68) which can move along the corresponding radial direction of the massage supporting frame (66) in the corresponding massage pressing block groove (662) is arranged in the massage pressing block groove (662), and a massage reset spring (663) is arranged in the massage pressing block groove (662); the outer end of the massage pressing block groove (662) is provided with an arc-shaped protruding block facing one side of the corresponding massage pressing rod (64), one end of the massage return spring (663) is fixedly connected with the end part of the corresponding massage pressing block groove (662), the other end of the massage return spring is fixedly connected with the corresponding massage pressing block (68), and the massage return spring (663) and the arc-shaped protruding block are respectively positioned at two sides of the corresponding massage pressing block (68);

The massage pressing block grooves (662) on the two massage supporting frames (66) are symmetrically arranged in pairs, a corresponding pair of massage pressing blocks (68) are respectively hinged with two ends of the same massage telescopic rod (67), the massage telescopic rod (67) is connected and fixed with the massage plate (69), and the massage plate (69) is disconnected at the telescopic position of the corresponding massage telescopic rod (67); the massage supporting frame (66) and the massage plate (69) are attached to the big arm of the user.

3. An upper limb rehabilitation training device with adjustable training tension according to claim 2, wherein: the wrist joint traction mechanism (9) comprises a movable sheath supporting block (91), coils (92), a movable sheath (93), movable magnet cores (94) and a wrist fixing structure, wherein the movable sheath supporting block (91) is positioned at the sides of the two wrist joint displacement compensation plates (54) and fixedly connected with the two wrist joint displacement compensation plates (54), each coil (92) with an axis parallel to the length direction of a user's forearm is fixedly connected to the movable sheath supporting block, and the number and the positions of the movable magnet cores (94) are corresponding to the coil (92);

the movable magnet core (94) is inserted into the coil (92) through one end of the corresponding coil (92) in a matched manner, and is fixedly connected with the other end of the coil (92) through a joint traction reset spring, and the movable magnet core (94) and the corresponding coil (92) form a sliding pair along the axis direction of the movable magnet core; the movable sheath (93) is fixedly connected with the free end of each movable magnetic iron core (94), and the wrist fixing structure is arranged on the movable sheath and is fixedly worn on the wrist of a user.

4. An upper limb rehabilitation training device with adjustable training tension according to claim 3, wherein: the movable sheath supporting blocks (91) and the movable sheaths (93) are arc-shaped, and the coils (92) and the movable magnet cores (94) are uniformly distributed along the circumferences of the movable sheath supporting blocks (91) and the movable sheaths (93).

5. An upper limb rehabilitation training device with adjustable training tension according to claim 3, wherein: the upper arm rotating centering mechanism (7) comprises upper arm centering connecting blocks (71) and upper arm centering spring groups (72), the upper arm centering connecting blocks (71) are uniformly distributed along the circumference of the inner side of the upper arm supporting sleeve (26), and the upper arm centering connecting blocks (71) are respectively connected with the upper arm supporting sleeve (26) through the corresponding upper arm centering spring groups (72); the upper arm fixing structure is arranged on the inner side of the upper arm supporting sleeve (26), each upper arm centering connecting block (71) is connected and fixed to the outer side face of the upper arm fixing structure, and the upper arm fixing structure is fixed to the upper arm of a user in a wearing mode.

6. The upper limb rehabilitation training device with adjustable training tension according to claim 5, wherein: the upper arm fixing structure and the wrist fixing structure comprise a fixing contact sleeve, a fixing strap, a fixing ring and a magic tape, the fixing contact sleeve is of an arc-shaped structure, and one end of the fixing contact sleeve is provided with the fixing ring; one end of the binding belt is fixedly connected with the end part of the fixed contact sleeve, which is not provided with the fixed ring, and the other end of the binding belt penetrates through the fixed ring to be folded outwards and is fixedly stuck on a magic tape arranged on the outer side of the binding belt.

7. The upper limb rehabilitation training device with adjustable training tension according to claim 1, wherein: the elbow joint displacement compensation plate (34) and the wrist joint displacement compensation plate (54) are respectively provided with an elbow joint displacement guide rod hole groove and a wrist joint displacement guide rod hole groove, and the corresponding elbow joint displacement guide rod (35) and wrist joint displacement guide rod (55) are respectively connected in the elbow joint displacement guide rod hole groove and the wrist joint displacement guide rod hole groove in a sliding fit manner;

the elbow joint displacement guide rod hole groove and the tail end of the wrist joint displacement guide rod hole groove are respectively provided with a displacement compensation limiting block used for limiting the sliding limit position of the elbow joint displacement guide rod (35) and the wrist joint displacement guide rod (55), the elbow joint displacement guide rod hole groove and the wrist joint displacement guide rod hole groove are internally provided with a displacement compensation spring, one end of the displacement compensation spring is fixedly connected with the front end of the elbow joint displacement guide rod hole groove or the front end of the wrist joint displacement guide rod hole groove, and the other end of the displacement compensation spring is fixedly connected with the front end of the elbow joint displacement guide rod (35) or the wrist joint displacement guide rod (55).

8. The upper limb rehabilitation training device with adjustable training tension according to claim 1, wherein: the front end and the tail end of the elastic belt (86) are respectively connected and fixed with the elbow joint support frame (33) and the elbow joint displacement compensation plate (34) or the connecting block (38) through connecting columns, and the connecting columns extend to the outer sides of the elbow joint bending and stretching mechanism (3) and the pulleys (85); the connecting lines of the two connecting columns are perpendicular to the axis of the screw rod (83).

9. The upper limb rehabilitation training device with adjustable training tension according to claim 1, wherein: the shoulder joint outward swing adduction driving motor (12), the shoulder joint flexion and extension driving motor (14), the upper arm rotation driving motor (22), the elbow joint flexion and extension motor (31), the forearm rotation driving motor (43), the wrist joint flexion and extension motor (51) and the forearm tension adjusting motor (82) are all connected with speed reducers, and the output shafts of the correspondingly connected speed reducers are used as output ends;

the shoulder joint outward swing adduction driving motor (12), the shoulder joint flexion and extension driving motor (14), the upper arm rotation driving motor (22), the elbow joint flexion and extension motor (31), the forearm rotation driving motor (43) and the wrist joint flexion and extension motor (51) are servo motors.

10. The upper limb rehabilitation training device with adjustable training tension according to claim 1, wherein: the lifting assembly and the seat are arranged at the top of the movable frame, and the bottom of the movable frame is provided with universal wheels; the front end of a fixed support (11) of the shoulder joint movement mechanism (1) is fixedly connected with the execution end of the lifting assembly, and the shoulder joint buckling extension driving motor (14) is arranged at the lower part of the shoulder joint outward-swinging inward-folding movement connecting rod (13) to the bottom position.

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