CN114145961A - Intelligent multifunctional upper limb rehabilitation all-in-one machine - Google Patents
Intelligent multifunctional upper limb rehabilitation all-in-one machine Download PDFInfo
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- CN114145961A CN114145961A CN202111422391.2A CN202111422391A CN114145961A CN 114145961 A CN114145961 A CN 114145961A CN 202111422391 A CN202111422391 A CN 202111422391A CN 114145961 A CN114145961 A CN 114145961A
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- forearm
- palm
- support
- driving mechanism
- upper arm
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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
-
- 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
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- 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
Abstract
The invention discloses an intelligent multifunctional upper limb rehabilitation all-in-one machine which comprises a base, a forearm supporting assembly, an upper arm supporting assembly and a palm supporting assembly, wherein the forearm supporting assembly and the upper arm supporting assembly are rotatably fixed on the base so that an included angle between the forearm supporting assembly and the upper arm supporting assembly is adjustable, and the palm supporting assembly is rotatably fixed on the forearm supporting assembly so that the palm supporting assembly can rotate. Compared with the prior art, set up rotatable forearm supporting component, upper arm supporting component, forearm supporting component's forearm support passes through forearm actuating mechanism drive rotation or the patient is from independently rotating to realize the crooked tensile motion of elbow joint, set up rotatable palm supporting component on forearm supporting component, with the tensile of realization wrist joint and finger, bucking motion, guaranteed upper limbs rehabilitation training's exactness, reduce rehabilitation training's the degree of difficulty, improve recovered treatment.
Description
Technical Field
The invention relates to a medical instrument, in particular to an intelligent multifunctional upper limb rehabilitation all-in-one machine.
Background
In patients with fractured upper limbs, for example: peripheral fractures such as shoulder joints, elbow joints, wrist joints and the like are often caused by joint stiffness due to improper or untimely rehabilitation training after fracture internal fixation, even fracture delayed healing or bone nonunion is caused, the joint rehabilitation training tool used after fracture internal fixation at home and abroad is a training instrument for rehabilitation only aiming at one joint, but the rehabilitation training instrument for performing a plurality of joints after upper limb fracture internal fixation is not reported in documents at present, in a rehabilitation outpatient service, patients suffering from upper limb joint stiffness can often affect two or three joint functions of an upper limb after fracture internal fixation at a certain position, further cause upper limb dysfunction, cannot perform normal life and work, while in patients in clinic, most of the patients suffering from rehabilitation training experience of rehabilitation institutions, but only one joint is emphatically trained, instead, some patients have wrist joint dislocation or muscle tissue pain around fracture during training, and do not want to continue training.
The stroke is a common disease in neurology, the disability rate is as high as 70-80%, the main complication is hemiplegia, and 55-75% of patients with hemiplegia after stroke have impaired functions of the upper limbs on the hemiplegia side, so that the individual mobility is greatly limited. In the prior art, there are many rehabilitation therapies for recovering the upper limb functions of patients, such as mandatory motor therapy, traditional hand function training, auxiliary robot rehabilitation training, functional electrical stimulation and co-training of both upper limbs. However, most of the above therapies require intensive training of the upper limbs of the patients, and the treatment requires a therapist to perform one-to-one training for the patients for several weeks, which makes it difficult for most patients to insist on the completion and makes the treatment expensive. In addition, the upper limb hemiplegia and shoulder pain reach 30% after four months of stroke occurrence, so that the patients are collided to carry out limb function training, the treatment effect is reduced, the upper limb function of the patients is recovered slowly, and the diseases such as shoulder-hand syndrome, shoulder joint subluxation, upper limb flexor spasm and the like are further caused.
Disclosure of Invention
The invention aims to provide an intelligent multifunctional upper limb rehabilitation all-in-one machine, which can assist patients suffering from upper limb fracture internal fixation and upper limb hemiplegia to perform rehabilitation training of upper limb overall function recovery.
In order to solve the problems, the invention adopts the following technical scheme: an intelligent multifunctional upper limb rehabilitation all-in-one machine comprises a base, a forearm supporting assembly, an upper arm supporting assembly and a palm supporting assembly, wherein the forearm supporting assembly and the upper arm supporting assembly are rotatably fixed on the base so that an included angle between the forearm supporting assembly and the upper arm supporting assembly is adjustable, and the palm supporting assembly is rotatably fixed on the forearm supporting assembly so that the palm supporting assembly can rotate;
the forearm support component comprises a telescopic forearm support and a forearm driving mechanism, the forearm support is rotatably fixed on the base, the forearm driving mechanism is arranged on the base so as to drive the forearm support to rotate towards the base through the forearm driving mechanism, and a forearm support piece for supporting the forearm and a forearm fixing band are arranged on the forearm support;
the upper arm supporting assembly comprises a telescopic upper arm support and an angle adjusting mechanism, the upper arm support is rotatably fixed on the base, the angle fixing mechanism is arranged between the base and the upper arm support so as to limit the rotating angle of the adjusted upper arm support, and an upper arm supporting piece and an upper arm fixing belt which are used for supporting the upper arm are arranged on the upper arm support;
the palm supporting component comprises a palm supporting plate and a palm driving mechanism for driving the palm supporting plate to rotate in multiple angles, and the palm supporting plate is fixedly connected to the forearm support through the palm driving mechanism; a flexible finger sleeve and a finger bending mechanism for adjusting the bending degree of the fingers are arranged on the palm supporting plate;
the base is also provided with a controller which is respectively connected with and controls the forearm driving mechanism, the palm driving mechanism and the finger bending mechanism.
Furthermore, the forearm driving mechanism comprises a forearm driving motor and a gear transmission group, and the forearm driving motor drives the forearm support to rotate through the gear transmission group.
Furthermore, the gear transmission group comprises a first gear and a second gear, the first gear is fixed on an output shaft of the forearm driving motor, the second gear is fixed on the base through a rotating shaft, the forearm support is fixed on the rotating shaft of the second rotating shaft, and the first gear is meshed with the second gear.
Furthermore, a motor sliding guide rail is arranged at the position, located on the forearm driving motor, of the base, so that the first gear and the second gear on the driving motor are separated.
The palm driving mechanism comprises an outer ring piece, an inner ring piece, a first palm driving mechanism and a second palm driving mechanism, the outer ring piece is rotatably fixed at one end, away from the upper arm support, of the forearm support through an outer ring support, the first palm driving mechanism is fixed on the outer ring support and drives the outer ring piece to rotate up and down, a palm supporting plate is fixed on the inner ring piece, the inner ring piece is coaxially arranged in an inner hole of the outer ring piece, a circle of outer ring sliding groove is formed in the inner hole wall of the outer ring piece, a plurality of connecting rods are arranged on the outer wall of the inner ring piece and surround the outer wall of the inner ring piece, one of the connecting rods is composed of the second palm driving mechanism, and the rest of the connecting rods extend into the outer ring sliding groove to enable the inner ring piece to axially rotate in the outer ring piece under the driving of the second palm driving mechanism.
Furthermore, the second palm driving mechanism comprises a second palm driving motor and a traveling wheel, the second palm driving motor is fixed on the outer wall of the inner ring piece, the traveling wheel is arranged in the outer ring sliding groove, the wheel wall of the traveling wheel is in contact with the groove wall of the outer ring sliding groove, and the output shaft of the second palm driving motor extends into the outer ring sliding groove and is connected with the traveling wheel so as to drive the traveling wheel to rotate and travel in the outer ring sliding groove after the second palm driving motor drives the traveling wheel to rotate, and the inner ring piece is driven to rotate.
Further, crooked mechanism of finger includes first crooked actuating mechanism, the crooked actuating mechanism of second, and first crooked actuating mechanism and the crooked actuating mechanism of second locate the top and the below of palm backup pad respectively, and first crooked actuating mechanism is connected with the finger stall through first acting as go-between to make finger stall bending upwards after first acting as go-between of first crooked actuating mechanism pulling, the crooked actuating mechanism of second is connected with the finger stall through the second acting as go-between, makes the finger stall bending downwards after acting as go-between with the second crooked actuating mechanism pulling second.
Further, still be equipped with the tensile actuating mechanism of finger on the finger sleeve to pulling finger sleeve is along the axial displacement of finger sleeve, the tensile actuating mechanism of finger is including rotating the support, pulling support and pulling motor, rotating the support and rotationally setting up and keeping away from forearm supporting component in the palm backup pad and serve, rotating the support and act as go-between the contact with the second, the pulling support rotationally sets up in the palm backup pad, pulling motor locates in the palm backup pad and with pulling leg joint, the crooked actuating mechanism of second locates on this pulling support, when rotating in order to drive the crooked actuating mechanism of second through pulling mechanism, act as go-between the pulling to the second.
Furthermore, angle fixed establishment includes adjusting pole, supporting legs, and the regulation pole is located on the base and is located the upper arm support below, is equipped with the spacing groove that the interval set up on adjusting the pole, and the supporting legs rotationally fixes on the upper arm support.
Furthermore, the finger stall is an inflatable bag body, an inflation hole is formed in the finger stall, an inflation pump is arranged on the base and connected with the inflation hole, and therefore the finger stall can be inflated.
Compared with the prior art, the invention is provided with the rotatable forearm support assembly and the upper arm support assembly, the forearm support of the forearm support assembly is driven to rotate by the forearm driving mechanism or the patient rotates autonomously to realize the elbow joint bending and stretching movement, the rotatable palm support assembly is arranged on the forearm support assembly to realize the stretching and bending movement of the wrist joint and the fingers, the correctness of the upper limb rehabilitation training is ensured, the difficulty of the rehabilitation training is reduced, and the rehabilitation treatment effect is improved.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a side view of the present invention.
Fig. 3 is a schematic structural view of the forearm drive mechanism of the invention.
Fig. 4 is a schematic structural view of the palm support assembly of the present invention.
Fig. 5 is a schematic structural view of a second palm drive mechanism of the present invention.
Fig. 6 is a schematic structural view of the finger bending mechanism of the present invention.
Fig. 7 is a schematic structural view of the first palm drive mechanism of the present invention.
Figure 8 is a schematic diagram of a finger glove of the present invention.
Fig. 9 is a schematic structural view of a forearm support of the invention.
Fig. 10 is a rear view of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
As shown in fig. 1 and fig. 2, an intelligent multifunctional upper limb rehabilitation all-in-one machine comprises a base 1, a forearm supporting component 2, an upper arm supporting component 3 and a palm supporting component 4,
the forearm support assembly 2 comprises a telescopic forearm support 21 and a forearm driving mechanism 22, the forearm support 21 is rotatably fixed on the base 1, the forearm driving mechanism 22 is arranged on the base 1 to drive the forearm support 21 to rotate through the forearm driving mechanism 22, and a forearm support member 23 for supporting the forearm and a forearm fixing strap 24 are arranged on the forearm support 21;
the upper arm supporting component 3 comprises a telescopic upper arm support 31 and an angle adjusting mechanism 32, the upper arm support 31 is rotatably fixed on the base 1, the angle fixing mechanism 32 is arranged between the base 1 and the upper arm support 31 to limit the rotating angle of the adjusted upper arm support 31, and an upper arm support 33 and an upper arm fixing belt 34 which are used for supporting the upper arm are arranged on the upper arm support 31;
the palm support component 4 comprises a palm support plate 41 and a palm driving mechanism for driving the palm support plate 41 to rotate in multiple angles, and the palm support plate 41 is fixedly connected to the forearm support 21 through the palm driving mechanism; a flexible finger stall 43 and a finger bending mechanism for adjusting the bending degree of fingers are arranged on the palm support plate 41, and the finger stall 43 is connected to the palm support plate 41;
the base 1 is also provided with a controller 5, and the controller 5 is respectively connected with and controls the forearm driving mechanism 22, the palm driving mechanism and the finger bending mechanism.
As shown in fig. 1, 2 and 3, the base 1 is composed of two symmetrically arranged bases 11, the forearm support assembly 2 and the upper arm support assembly 3 are arranged between the two bases 11, one end of the forearm support 21 opposite to the upper arm support 31 is fixed between the two bases 11 through a rotating shaft, and one end of the upper arm support 31 opposite to the forearm support 21 is also fixed between the two bases 11 through a rotating shaft.
In the present invention, the end of the finger glove 43 near the forearm support 21 is attached to the palm support plate 41 to ensure that the finger glove 43 can be flexed.
As shown in fig. 1 and 2, in the present invention, the forearm support 21 may be implemented by the following structure: the forearm support 21 is composed of a left forearm frame 211 and a right forearm frame 211 which are symmetrically arranged on the two bases 11, the forearm frame 211 is composed of two U-shaped forearm sub-frames 212, hollow rod bodies at two sides of the two forearm sub-frames 212 are mutually inserted to ensure that the distance between the two forearm sub-frames 212 is adjustable, the first limiting mechanism 213 is disposed on the rod of the two forearm sub-frames 212, the first limiting mechanism 213 is composed of a through hole 214 disposed on the rod of one forearm sub-frame 212 and a spring piece 215 (shown in fig. 9) disposed on the rod of the other forearm sub-frame 212, the through hole 214 is disposed at equal intervals along the axis of the rod of the forearm sub-frame 212, the spring piece 215 can be fixed on the end of the rod of the forearm sub-frame 212, to be inserted into the corresponding through holes 214 through the limiting posts 216 on the elastic sheet 215 to limit the current distance between the two forearm subframes 212; of the two forearm subframes 212, the one forearm subframe 212 adjacent to the upper arm support 31 is connected to the base 11 via a pivot, the forearm support 23 is fixed to the lower end rod of the one forearm subframe 212 connected to the base 11, and the forearm fixing strap 24 is fixed to the upper end rod of the one forearm subframe 212 connected to the base 11.
As shown in fig. 1 and 2, the structure of the upper arm support 31, the upper arm supporting member 33, and the upper arm fixing belt 34 can also be realized by the structure of the forearm support 21, and the forearm support 21 has been described in detail above, and will not be described again.
In the present invention, both the upper arm support 33 and the forearm support 23 can extend along the length direction of the long arm support 31 and the forearm support 21 to better support the upper arm and the forearm, and of course, the upper arm support 33 and the forearm support 23 can be provided with soft cushion plates, and the cushion plates are provided with replaceable cushion covers (not shown in the figure) to improve the comfort and the sanitary requirements.
The upper arm fixing band 34 and the forearm fixing band 24 are formed by rolling bands with elasticity, and hook and loop fasteners are arranged on the rolling bands to fix forearms and upper arms with different diameters.
As shown in fig. 3, a flexible support 6 for supporting the elbow is provided between the upper arm support 31 and the forearm support 21, so that the flexible support 6 can be bent when the elbow joint rotates.
As shown in fig. 1 and 2, the angle fixing mechanism 32 includes an adjusting lever 321 and a supporting leg 322, the adjusting lever 321 is disposed on the base 1 and located below the upper arm support 31, the adjusting lever 321 is provided with a spacing groove 323 disposed at an interval, and the supporting leg 322 is rotatably fixed on the upper arm support 31, so that after the included angle between the upper arm support 31 and the forearm support 21 is adjusted, the adjusting lever 321 is inserted into the corresponding spacing groove 323 to limit the included angle.
As shown in fig. 3, the forearm driving mechanism 22 includes a forearm driving motor 221 and a gear transmission set 222, the forearm driving motor 221 drives the forearm support 21 to rotate through the gear transmission set 222, specifically, the forearm driving motor 221 may be fixed on the base 1, the gear transmission set 222 includes a first gear 2221 and a second gear 2222, the first gear 2221 is fixed on an output shaft of the forearm driving motor 221, the second gear 2222 is fixed on a rotating shaft of the forearm support 21, and the first gear 2221 is engaged with the second gear 2222 to drive the forearm support 21 to rotate through the motor.
As shown in fig. 3, the gear train 222 may employ a crossed axis gear train, i.e., the first gear 2221 is perpendicular to the axis of the second gear 2222; as can be seen from the figure, the output shaft of the forearm driving motor 221 is upward, and of course, the gear transmission set 222 may further be provided with a third gear 2223, the third gear 2223 is fixed on the base 1 through a rotating shaft, and the third gear 2223 is arranged between the first gear 2221 and the second gear 2222 and is engaged with each other.
As shown in fig. 3 and 10, on the basis of the gear transmission set 222, a motor sliding guide 223 is disposed on the base 1 at a position of the forearm driving motor 221 to drive the first gear 2221 on the forearm driving motor 221 to disengage from the second gear 2222 or the third gear 2223, so as to achieve autonomous training of the patient, specifically, the motor sliding guide 223 may be a slider of the linear motor forearm driving motor 221 fixed on the motor sliding guide 223, and a track of the motor sliding guide 223 is fixed on the base 1.
In the present invention, a protective cover 12 is provided on both bases 11 to prevent the bandage or clothing from being wound into the gear train 222.
As shown in fig. 4, 5 and 6, the palm driving mechanism includes an outer ring member 421, an inner ring member 422, a first palm driving mechanism 423 and a second palm driving mechanism 424, the outer ring member 421 is rotatably fixed on one end of the forearm support 21 away from the upper arm support 31 by an outer ring support 4211, the first palm driving mechanism 423 is fixed on the outer ring support 4211, the first palm driving mechanism 423 drives the outer ring member 421 to rotate up and down, a palm support plate 41 is fixed on the inner ring member 422, the inner ring member 422 is coaxially arranged in the inner hole of the outer ring member 421, a circumferential outer ring sliding slot 4212 is arranged on the inner hole wall of the outer ring member 421, a plurality of connecting rods 4221 are arranged on the outer wall of the inner ring member 422, the connecting rods 4221 are arranged around the outer wall of the inner ring member 422 for a circle, one of the connecting rods 4221 is formed by the second palm driving mechanism 424, the other connecting rods 4221 extend into the outer ring sliding slot 4212 to be driven by the second palm driving mechanism 424, causing the inner ring member 422 to rotate axially within the outer ring member 421.
As shown in fig. 4, 5 and 6, the outer ring member 421 is fixed to the end of the forearm support 21 away from the upper arm support 31 by an outer ring support 4211, with the center of the outer ring member 421 being opposite to the center of the forearm support 21.
In the present invention, two outer ring supports 4211 are provided, symmetrically provided on both sides of the end of the forearm support 21 remote from the upper arm support 31.
As shown in fig. 1, in the present invention, the palm support plate 41 may be configured to be adapted to the shape of the palm, and includes two finger portions and a palm portion, wherein the two finger portions are provided as the thumb and are symmetrically disposed on the palm portion, i.e., six finger portions are provided in total, so as to satisfy the use of the left hand and the right hand, and the finger sleeves are respectively disposed on the finger portions.
As shown in fig. 7, the first palm driving mechanism 423 includes a first palm driving motor 4231 and a palm transmission mechanism 4232, opposite ends of the outer ring member 421 are fixed on the outer ring support 4211 through rotating shafts, the first palm driving motor 4231 is fixed on the outer ring support 4211, the first palm driving motor 4231 is connected with the rotating shaft of the outer ring member 421 through the palm transmission mechanism 4232, so that the first palm driving motor 4231 drives the palm transmission mechanism 4232 to drive the outer ring member 421 to rotate up and down; specifically, the palm transmission mechanism 4232 may adopt a belt transmission, and includes two rotating wheels 4233, a rotating wheel respectively disposed on an output shaft of the first palm driving motor 4231, a rotating wheel disposed on a rotating shaft of the outer ring member 421, and a transmission belt 4234, and the transmission belt 4234 is sleeved on the two rotating wheels 4233, so as to realize the up-and-down stretching of the wrist joint.
As shown in fig. 5, the second hand driving mechanism 424 comprises a second hand driving motor 4241 and a traveling wheel 4242, the second hand driving motor 4241 is fixed on the outer wall of the inner ring member 422, the traveling wheel 4242 is arranged in the outer ring chute 4212, the wheel wall of the traveling wheel 4242 is in contact with the groove wall of the outer ring chute 4212, the output shaft of the second hand driving motor 4241 extends into the outer ring chute 4212 and is connected with the traveling wheel 4242, so that after the second hand driving motor 4241 drives the traveling wheel 4242 to rotate, the traveling wheel 4242 rotates in the outer ring chute 4212 to travel, and drives the inner ring member 422 to rotate, thereby realizing the inner and outer rotation of the shoulder and elbow joint; specifically, in addition to the link 4221 serving as the second palm drive mechanism 424, three links 4221 are provided, and four links 4221 are arranged on the outer wall of the inner ring member 422 in a cross shape.
As shown in fig. 6, the finger bending mechanism includes a first bending driving mechanism 441, a second bending driving mechanism 442, and a first bending driving mechanism 441 and a second bending driving mechanism 442 respectively disposed above and below the palm support plate 41, the first bending driving mechanism 441 is connected to the finger stall 43 through a first pull wire 4413 to bend the finger stall 43 upward by pulling the first pull wire 4413 through the first bending driving mechanism 441, and the second bending driving mechanism 442 is connected to the finger stall 43 through a second pull wire 4421 to bend the finger stall 43 downward by pulling the second pull wire 4421 through the second bending driving mechanism 442.
As shown in fig. 6, in the present invention, the number of the first pull wires 4413 is equal to the number of the finger stalls, that is, six, and the number of the second pull wires 4421 is four, and the four pull wires are respectively connected to the remaining four finger stalls 43 except for the two finger stalls 43 as the thumbs, and the finger stalls 43 are four in the middle as viewed in the drawing.
As shown in fig. 6, the first bending driving mechanism 441 is suspended above the palm support plate 41 by an arch support 4414 disposed above the palm support plate 41, the first bending driving mechanism 441 includes a first bending motor 4411 and a first wire rotating wheel 4412, the first bending motor 4411 is fixed at the center of an end surface of the arch support 4414 opposite to the palm support plate 41, the rotating shaft of the first bending motor 4411 is perpendicular to the plate surface of the palm support plate 41, the first wire rotating wheel 4412 is connected to the output shaft of the first bending motor 4411 to horizontally rotate the first wire rotating wheel 4412, the first wire 4413 is wound on the first wire rotating wheel 4412, one end of the first wire 4413 is connected to an end of the finger stall 43 away from the forearm support 21 to tighten or loosen the first wire 44 when the first wire rotating wheel 4412 rotates, thereby bending the finger stall 43 upward.
As shown in fig. 6, in order to ensure that the first pulling wire 4413 can be well tightened or loosened, the first bending driving mechanism 441 may further include a wire wheel housing 4414, the wire wheel housing 4414 is a hollow cylindrical structure, an inner cavity of the wire wheel housing 4414 is larger than a diameter of the first wire wheel 4412, the wire wheel housing 4414 is sleeved outside the first wire wheel 4412, the wire wheel housing 4414 is provided with wire holes 4415 having the same number as the first pulling wire 4413, the wire holes 4415 are arranged along a circumferential direction of the wire wheel housing 4414, the wire wheel housing 4414 is fixed on the first bending motor 4411 or the arcuate bracket 4414, and after the wire wheel housing 4414 is fixed on the first bending motor 4411 or the arcuate bracket 4414, the wire holes 4415 are just opposite to the wire grooves of the first wire wheel 4412; one end of each first wire 4413 is wound on the first wire rotating wheel 4412 after passing through the wire passing hole 4415.
As shown in fig. 6, the second bending driving mechanism 442 includes a second bending motor 4422 and a second wire turning wheel 4423, the second wire turning wheel 4423 is connected to an output shaft of the second bending motor 4422, where the number of the second wire turning wheels 4423 is the same as the number of the second pulling wires 4421, and the second wire turning wheels 4423 are fixed to a same rotating shaft, the rotating shaft is connected to the output shaft of the second bending motor 4422, one end of the second pulling wire 4421 is wound on the second wire turning wheel 4423, and the other end is fixed to an end of the finger glove 43 away from the forearm support 21, so as to realize downward bending of the finger glove 43.
The first bending driving mechanism and the second bending driving mechanism described above are used to achieve the effect of bending the finger inserted into the finger stall 43.
As shown in fig. 6, in the present invention, the axes of the first wire turning wheel 4412 and the second wire turning wheel 4423 are perpendicular to each other.
As shown in fig. 6, a finger-stretching driving mechanism 45 is further provided on the finger stall 43 to pull the finger stall 43 to move along the axial direction of the finger stall 43, the controller 5 is connected to control the finger-stretching driving mechanism 45, the finger-stretching driving mechanism 45 includes a rotating bracket 451, a pulling bracket 452 and a pulling motor 453, the rotating bracket 451 is the same as the first pulling wire 4413 in number and is rotatably provided at an end of the palm support plate 41 away from the forearm support assembly 2, the rotating bracket 451 is arranged opposite to the finger stall 43 provided with the first pulling wire 4413 one by one, the rotating bracket 451 is in contact with the second pulling wire 4421 and tensions the second pulling wire 4421, the pulling bracket 452 is rotatably provided on the palm support plate 41, the pulling motor 453 is provided on the palm support plate 41 and is connected to the pulling bracket 452, the second bending driving mechanism 442 is provided on the pulling bracket 452 to drive the second bending driving mechanism 442 to rotate by the pulling mechanism 452, the second pull wire 4421 is pulled to realize the stretching movement of the fingers, and when the finger stretching driving mechanism 45 continuously works, the pulling support 452 rotates back and forth to swing the pulling support 452, so that the vibration stretching function of the meridians and collaterals of the upper limbs is achieved; a rotating wheel 4511 is arranged on the rotating bracket 451, and the second pulling wire 4421 is propped against the rotating wheel 4511.
As shown in fig. 6, the pulling support 452 is formed by L-shaped supports 4521 symmetrically disposed on left and right sides of the palm portion of the palm support plate 41, one or two pulling motors 453 are disposed on left and/or right sides of the palm portion of the palm support plate 41, the L-shaped support 4521 includes a first arm 4522 and a second arm 4523, the first arm 4522 is connected to an output shaft of the pulling motor 453, the second bending motor 4422 is fixed to the second arm 4523 of one of the L-shaped supports 4521, one end of a rotating shaft of the second wire rotating wheel 4423 is connected to an output shaft of the second bending motor 4422, and the other end is rotatably connected to the second arm 4523 of the opposite L-shaped support 4521.
As shown in fig. 6, in order to ensure the synchronous rotation effect of the pulling brackets 452, two pulling motors 453 are provided; two second bending motors 4422 may be provided, such that the two second bending motors 4422 are respectively fixed to the second arms 4523 of the two L-shaped brackets 4521, and the rotating shafts of the second wire rotating wheel 4423 are connected to the output shafts of the second bending motors 4422.
As shown in fig. 6, a first groove 431 is formed on an upper surface of an end portion of the finger portion of the palm support plate 41, and the rotating bracket 451 is rotatably fixed to both side groove walls of the first groove 431, and of course, a second groove 432 is formed on a lower surface of an end portion of the finger portion so that the second wire 4421 can be wound on the second wire reel 4423 after passing through the second groove 432.
In order to prevent the problem that the first and second wires 4413 and 4421 are easily broken when pulled, the first and second wires 4413 and 4421 are elastic.
As shown in fig. 1, the finger stall 43 is an inflatable bag body, an inflation hole is formed in the finger stall 43, an inflator 46 is arranged on the base 1, and the inflator 46 is connected with the inflation hole to inflate the finger stall 43, so that after a finger of a user is inserted into the finger stall 43, the finger stall 43 is inflated through the inflator 46, the finger stall 43 is firmly embedded with the finger, and the finger cannot be pulled out of the finger stall 43.
As shown in fig. 8, finger stall 43 is composed of three inflatable bladders, the three bladders are communicated with each other, the size of the three bladders after being inflated can be different, so as to be more suitable for the diameters of the distal section, the middle section and the proximal section of the finger, the inflation hole is arranged on the bladder opposite to the proximal section, so that when the finger stall is inflated, the bladder located at the proximal section can be inflated firstly, then the bladder located at the middle section is inflated, and finally the bladder located at the distal section is inflated.
In the present invention, the controller 5 is electrically connected to the forearm driving motor 221, the first palm driving motor 4231, the second palm driving motor 4241, the first bending motor 4411, the second bending motor 4422, the pulling motor 453 and the inflator 46, respectively, so as to control the forearm driving motor 221, the first palm driving motor 4231, the second palm driving motor 4241, the first bending motor 4411, the second bending motor 4422, the pulling motor 453 and the inflator 46 according to the start time, the order, the duration, the mode and the like.
The controller 5 can be provided with a touch screen for convenient operation, 9 starting keys are additionally arranged below the touch screen, and are respectively a starting button of functional equipment with the functions of bending and stretching the elbow up and down, stretching the wrist joint back and palm, bending and bending the wrist joint back and the palm, rotating the upper limb inside and outside, bending and stretching the finger, dredging the upper limb channels and collaterals, combining all joints of the upper limb with integrated training and the like, and meanwhile, a passive training button (depending on a machine training mode), an assisted exercise button (combining a man-machine with a common training mode), an active exercise button (autonomous human training mode) and an inflation key are arranged according to an exercise mode.
During the use, adjust upper arm support 31 according to user's upper arm height earlier, after adjusting the completion, the user stretches into the upper limbs from upper arm support 31, make the upper arm be arranged in upper arm support 31, the forearm is arranged in forearm support 21, the finger inserts among the finger cover 43, then fix upper arm and forearm through upper arm fixed band 34, forearm fixed band 24, at this moment, upper arm fixed band 34 and forearm fixed band 24 are accurate and then set up corresponding mode on controller 5 with can inserting the finger, carry out the rehabilitation training.
The invention saves manpower and material resources, intelligently trains the upper limb, can ensure the correctness and the identity of the rehabilitation training of the upper limb, avoids the wrong rehabilitation training of the upper limb, can also ensure the accuracy and the rigidness of the rehabilitation training of the upper limb, can be combined by a human machine when the upper limb of a patient has partial self-ability, and can carry out the rehabilitation training of the function of the upper limb by the human body and the machine together under the assistance of the kinetic energy device of the machine; when the upper limb has the autonomous movement capability, the controller is closed, the human body autonomously carries out the rehabilitation training of the functions of the upper limb by means of the machine device, and the multi-mode and multi-function combined integrated training method promotes the internal fixation of the fracture of the upper limb and the rehabilitation of the functions of the hemiplegic upper limb.
Claims (10)
1. The utility model provides a recovered all-in-one of intelligent multi-functional upper limbs which characterized in that: the palm robot comprises a base (1), a forearm supporting assembly (2), an upper arm supporting assembly (3) and a palm supporting assembly (4), wherein the forearm supporting assembly (2) and the upper arm supporting assembly (3) are rotatably fixed on the base (1) so that an included angle between the forearm supporting assembly (2) and the upper arm supporting assembly (3) is adjustable, and the palm supporting assembly (4) is rotatably fixed on the forearm supporting assembly (2) so that the palm supporting assembly (4) can rotate;
the forearm supporting component (2) comprises a telescopic forearm support (21) and a forearm driving mechanism (22), the forearm support (21) is rotatably fixed on the base (1), the forearm driving mechanism (22) is arranged on the base (1) to drive the forearm support (21) to rotate towards through the forearm driving mechanism (22), and a forearm support piece (23) for supporting the forearm and a forearm fixing strap (24) are arranged on the forearm support (21);
the upper arm supporting component (3) comprises a telescopic upper arm support (31) and an angle adjusting mechanism (32), the upper arm support (31) is rotatably fixed on the base (1), the angle fixing mechanism (32) is arranged between the base (1) and the upper arm support (31) to limit the rotating angle of the adjusted upper arm support (31), and an upper arm support piece (33) for supporting an upper arm and an upper arm fixing belt (34) are arranged on the upper arm support (31);
the palm supporting component (4) comprises a palm supporting plate (41) and a palm driving mechanism for driving the palm supporting plate (41) to rotate in multiple angles, and the palm supporting plate (41) is fixedly connected to the forearm support (21) through the palm driving mechanism; a flexible finger sleeve (43) and a finger bending mechanism for adjusting the bending degree of the fingers are arranged on the palm support plate (41);
the base (1) is also provided with a controller (5), and the controller (5) is respectively connected with and controls the forearm driving mechanism (22), the palm driving mechanism and the finger bending mechanism.
2. The intelligent multifunctional upper limb rehabilitation all-in-one machine according to claim 1, characterized in that: the forearm driving mechanism (22) comprises a forearm driving motor (221) and a gear transmission group (222), and the forearm driving motor (221) drives the forearm support (21) to rotate through the gear transmission group (222).
3. The intelligent multifunctional upper limb rehabilitation all-in-one machine according to claim 2, characterized in that: the gear transmission set (222) comprises a first gear (2221) and a second gear (2222), the first gear (2221) is fixed on an output shaft of a forearm driving motor (221), the second gear (2222) is fixed on the base (1) through a rotating shaft, the forearm support (21) is fixed on the rotating shaft of the second rotating shaft (2222), and the first gear (2221) is meshed with the second gear (2222).
4. The intelligent multifunctional upper limb rehabilitation all-in-one machine according to claim 3, characterized in that: a motor sliding guide rail (223) is arranged at the position, located on the forearm driving motor (221), of the base (1) so as to enable a first gear (2221) on the driving motor (221) to be separated from a second gear (2222).
5. The intelligent multifunctional upper limb rehabilitation all-in-one machine according to claim 1, characterized in that: the palm driving mechanism comprises an outer ring piece (421), an inner ring piece (422), a first palm driving mechanism (423) and a second palm driving mechanism (424), the outer ring piece (421) is rotatably fixed on one end, far away from an upper arm support (31), of a forearm support (21) through an outer ring support (4211), the first palm driving mechanism (423) is fixed on the outer ring support (4211), the first palm driving mechanism (423) drives the outer ring piece (421) to rotate up and down, a palm support plate (41) is fixed on the inner ring piece (422), the inner ring piece (422) is coaxially arranged in an inner hole of the outer ring piece (421), a circle of outer ring sliding groove (4212) is formed in the inner hole wall of the outer ring piece (421), a plurality of connecting rods (4221) are arranged on the outer wall of the inner ring piece (422), the connecting rods (4221) are arranged around the outer wall of the inner ring piece (422) in a circle, one connecting rod (4221) is composed of the second palm driving mechanism (424), the other connecting rods (4221) extend into the outer ring sliding groove (4212) to enable the inner ring piece (422) to axially rotate in the outer ring piece (421) under the driving of the second palm driving mechanism (424).
6. The intelligent multifunctional upper limb rehabilitation all-in-one machine according to claim 5, characterized in that: the second palm driving mechanism (424) comprises a second palm driving motor (4241) and a traveling wheel (4242), the second palm driving motor (4241) is fixed on the outer wall of the inner ring piece (422), the traveling wheel (4242) is arranged in an outer ring sliding groove (4212), the wheel wall of the traveling wheel (4242) is in contact with the groove wall of the outer ring sliding groove (4212), the output shaft of the second palm driving motor (4241) extends into the outer ring sliding groove (4212) and is connected with the traveling wheel (4242), and after the second palm driving motor (4241) drives the traveling wheel (4242) to rotate, the traveling wheel (4242) rotates in the outer ring sliding groove (4212) to travel in a rotating mode, so that the inner ring piece (422) is driven to rotate.
7. The intelligent multifunctional upper limb rehabilitation all-in-one machine according to claim 6, characterized in that: the finger bending mechanism comprises a first bending driving mechanism (441) and a second bending driving mechanism (442), the first bending driving mechanism (441) and the second bending driving mechanism (442) are respectively arranged above and below the palm supporting plate (41), the first bending driving mechanism (441) is connected with the finger stall (43) through a first pull wire (4413) so as to enable the finger stall (43) to bend upwards after the first pull wire (4413) is pulled through the first bending driving mechanism (441), and the second bending driving mechanism (442) is connected with the finger stall (43) through a second pull wire (4421) so as to enable the finger stall (43) to bend downwards after the second pull wire (4421) is pulled through the second bending driving mechanism (442).
8. The intelligent multifunctional upper limb rehabilitation all-in-one machine according to claim 7, characterized in that: the finger stall (43) is further provided with a finger stretching driving mechanism (45) to pull the finger stall (43) to move along the axial direction of the finger stall (43), the finger stretching driving mechanism (45) comprises a rotating support (451), a pulling support (452) and a pulling motor (453), the rotating support (451) is rotatably arranged at one end, away from the forearm supporting component (2), of the palm supporting plate (41), the rotating support (451) is in contact with the second pull wire (4421), the pulling support (452) is rotatably arranged on the palm supporting plate (41), the pulling motor (453) is arranged on the palm supporting plate (41) and connected with the pulling support (452), the second bending driving mechanism (442) is arranged on the pulling support (452), so as to pull the second pulling wire (4421) when the pulling mechanism (452) drives the second bending driving mechanism (442) to rotate.
9. The intelligent multifunctional upper limb rehabilitation all-in-one machine according to claim 1, characterized in that: the angle fixing mechanism (32) comprises an adjusting rod (321) and supporting feet (322), the adjusting rod (321) is arranged on the base (1) and located below the upper arm support (31), limiting grooves (323) which are arranged at intervals are formed in the adjusting rod (321), and the supporting feet (322) are rotatably fixed on the upper arm support (31).
10. The intelligent multifunctional upper limb rehabilitation all-in-one machine according to any one of claims 1 to 9, characterized in that: the finger stall (43) is an inflatable bag body, an inflation hole is formed in the finger stall (43), an inflation pump (46) is arranged on the base (1), and the inflation pump (46) is connected with the inflation hole to inflate the finger stall (43).
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