CN114392125A - A flexible upper limb rehabilitation training device - Google Patents

Abstract

The invention belongs to the technical field of rehabilitation medical equipment, and particularly relates to a flexible upper limb rehabilitation training device. The invention comprises a seat, a height adjustment assembly and a training arm; the training arm comprises: a shoulder joint assembly, an elbow joint assembly, a forearm rotation assembly, and a wrist joint assembly; the height adjusting component is used for adjusting the height of the training arm; the shoulder joint component is used for driving the shoulder joint to do adduction/abduction, internal rotation/external rotation and flexion/extension movement; the elbow joint component is used for driving the elbow joint to do flexion/extension movement; the forearm rotating component is used for driving the forearm to do pronation/supination movement; the wrist joint component is used for driving the wrist joint to do flexion/extension movement. According to the invention, six-freedom joint rehabilitation training of a patient can be realized, the shoulder joint, the elbow joint and the wrist joint of the patient can be trained in a targeted manner, the large arm component and the small arm component are adjusted through the first sliding component and the second sliding component, and the patient with different arm lengths can be adapted.

Description

A flexible upper limb rehabilitation training device

technical field

The invention belongs to the technical field of rehabilitation medical equipment, and in particular relates to a flexible upper limb rehabilitation training device.

Background technique

With the increasing aging of the population, the incidence of stroke is also increasing year by year. Even if timely treatment is given, most patients will still have many sequelae of varying degrees after the onset of stroke, and these sequelae will greatly It reduces the self-care ability of patients and seriously affects the quality of life of patients and their families. Through timely and repeated rehabilitation exercise training for hemiplegic patients, the damaged nervous system in the process of stroke can be repaired, and the musculoskeletal and other motor systems can be strengthened, which is helpful for the rehabilitation of the upper limbs of patients.

In traditional upper limb rehabilitation training, rehabilitation therapists use different techniques to train patients' shoulder joints, elbow joints, wrist joints, and finger-metacarpal joints. This kind of training process is monotonous and repetitive, the rehabilitation therapists consume a lot of physical strength, and the efficiency is low, and it is difficult to ensure the stability and continuity of the rehabilitation training.

The upper limb rehabilitation robot can overcome the influence of factors such as insufficient manpower or low efficiency of traditional physiotherapists, and has received widespread attention from the society. The research and development of rehabilitation robots in China is still in its infancy, and most of them are based on mature industrial robot technology. Compared with foreign countries, there is still a big gap. At present, most of the rehabilitation robots developed in China have problems such as high cost, poor adaptability, and insufficient training modes. Due to the strong robustness of the machinery industry, the main structure of the rehabilitation robot is still in series, and the trial and error cost of the new structure is very high, and it is difficult to promote. Therefore, under the condition that the current rehabilitation nursing needs cannot be met and the labor force is insufficient, it is urgent to develop a device with good economy, simple structure and targeted training for each joint of the upper limbs of patients, and it also has broad market prospects. and of good social significance.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the defects in the prior art that the shoulder joint, elbow joint and wrist joint cannot be targeted for training, the structure of the equipment is complex, the driving force is inconvenient to be adjusted, and the rehabilitation joint is not comprehensive. It is a flexible upper limb rehabilitation training device for targeted training of shoulder joints, elbow joints and wrist joints, as well as for easy adjustment of driving force.

The technical scheme adopted by the present invention to solve its technical problems is:

A flexible upper limb rehabilitation training device is characterized by comprising a seat, a height adjustment assembly symmetrically installed on both sides of the seat through a training arm bracket, and a training arm fixed on the height adjustment assembly through an adjustment rod; The training arm comprises: a shoulder joint assembly, an elbow joint assembly connected with the shoulder joint assembly through a large arm assembly, a forearm rotation assembly connected with the elbow joint assembly through a forearm assembly, and a wrist connected with the forearm rotation assembly joint components;

Height adjustment components for adjusting the height of the entire training arm;

Shoulder joint assembly, used to drive the shoulder joint to do adduction/abduction movement, internal rotation/external rotation movement and flexion/extension movement;

Elbow joint assembly, used to drive the elbow joint to do flexion/extension movement;

Forearm rotation assembly, used to drive the forearm to do pronation/supination;

The wrist joint assembly is used to drive the wrist joint for flexion/extension movement.

Further, the shoulder joint assembly includes a shoulder fixing plate fixedly connected with the adjusting rod, a first motor mounted on the shoulder fixing plate, and one end is coaxially fixedly connected with the output shaft of the first motor. a first crank frame, a second motor mounted on the other end of the first crank frame, a second crank frame whose one end is coaxially and fixedly connected to the output shaft of the second motor, and a second crank frame mounted on the second crank frame A third motor on the other end.

Further, the boom assembly includes: an upper boom plate connected to the output shaft of the third motor, a lower boom plate slidably connected to the upper boom plate through the first sliding assembly, and fixed on the upper boom plate. a first sliding rail on the inner side of the upper boom plate and an arc-shaped boom supporting plate slidably connected to the first sliding rail through a first sliding block; the first sliding assembly includes: a fixed end fixed on the The first push rod on the upper boom plate, the telescopic end of the first push rod is fixedly connected with the lower boom plate, and two third slide rails are vertically fixed on the inner side of the upper boom plate , the lower boom plate slides along the third sliding rail through the third sliding block.

Further, the forearm assembly includes: an upper forearm plate, a lower forearm plate slidably connected to the upper forearm plate through a second sliding assembly, a second slide rail fixed on the upper forearm plate, and The arc-shaped forearm support plate is slidably connected to the second sliding rail through the second sliding block; the second sliding assembly includes: a second push rod whose fixed end is fixed on the upper forearm plate, the first The telescopic end of the second push rod is fixedly connected with the lower forearm plate, two fourth sliding rails are vertically fixed on the inner side of the upper forearm plate, and the lower forearm plate passes along the fourth sliding block along the The fourth slide rail slides.

Further, the forearm rotating assembly includes: a rotating chassis fixedly connected to the lower forearm plate, a first swing arm and a second swing arm that are symmetrically rotatably connected to both ends of the rotating chassis, mounted on the first swing arm. A motor bracket at the upper end of the swing arm and the upper end of the second swing arm, a rotary motor mounted on the motor bracket, a first driving pulley coaxially connected to the output shaft of the rotary motor, and the first drive pulley through a belt The first driven pulley connected by the driving pulley and the first driven pulley, the first rotating shaft of the first driven pulley passes through one end of the motor support and is fixedly connected with the first swing arm, the motor support A bearing is rotatably connected to the first rotating shaft, a second rotating shaft is fixedly installed on the first swing arm, a first handle bracket is rotatably installed on the second rotating shaft through the bearing, and a first handle bracket is installed on the first handle bracket coaxial with the second rotating shaft A fixed second driving pulley, the second driving pulley is connected with a second driven pulley through a belt drive; one end of the second rotating shaft of the second driven pulley is fixedly installed on the first handle bracket, The other end is coaxially fixed with a wrist joint connecting piece through the second handle bracket; the second handle bracket is rotatably connected with the second rotating shaft through a bearing, and the second handle bracket is mounted on the second swing arm through a bracket fixing shaft The second handle bracket is rotatably connected to the bracket fixing shaft.

Further, the wrist joint assembly includes: a wrist joint fixing frame fixedly installed on the wrist joint connecting piece, a rotating frame leg whose one end is rotatably installed on the wrist joint fixing frame, and the other end of the rotating frame leg is fixed The connected wrist joint frame body, the fifth motor mounted on the wrist joint frame body, the third driving pulley coaxially connected with the output shaft of the fifth motor, and the third driving pulley through the wrist joint belt A third driven pulley connected with a transmission and a grip rod arranged on the wrist joint frame body, the third driven pulley is fixedly connected with the wrist joint fixing frame through the wrist joint rotating shaft, and the wrist joint A tensioning frame for tensioning the wrist joint belt is also fixedly connected to the rotating shaft, and the wrist joint rotating shaft is rotatably connected with the rotating frame legs.

Further, the elbow joint assembly includes: a fourth motor mounted on the lower arm plate, and an output shaft of the fourth motor is connected to the upper forearm plate.

Further, the height adjustment assembly includes: a length adjustment control rod, a first installation block and a second installation block that are slidably installed on the length adjustment control rod and are arranged opposite to each other, and a third installation block fixed on the training arm bracket. An installation block and a fourth installation block fixedly connected with the adjustment rod; a first length adjustment rod is rotatably connected between the first installation block and the third installation block, and the second installation block is connected to the third installation block. A second length-adjusting rod is rotatably connected between the three installation blocks, a third length-adjusting rod is rotatably connected between the first installation block and the fourth installation block, and the second installation block is connected to the fourth installation block. A fourth length adjusting rod is rotatably connected between the blocks; the length adjusting control rod is a threaded rod, and an adjusting nut is provided on the outer sides of the first mounting block and the second mounting block.

Further, a vertically extending chute is provided on the training arm bracket, and the adjusting rod passes through the chute and slides along the chute.

Further, a plurality of adjustment holes are arranged side by side on the side of the seat, and the lower part of the training arm bracket is provided with a fifth slide rail for the seat to slide and a fixing hole docked with the adjustment hole. The hole is a threaded hole, and a fixing bolt penetrates through the fixing hole and is screwed with different adjustment holes to adjust the width of the seat.

The beneficial effects of the flexible upper limb rehabilitation training device of the present invention are:

1. The present invention can drive the patient to carry out six-free joint rehabilitation training through the shoulder joint assembly, the elbow joint assembly, the forearm rotation assembly and the wrist joint assembly, and can carry out targeted training on the patient's shoulder joint, elbow joint and wrist joint, The large arm assembly and the small arm assembly are adjusted through the first sliding assembly and the second sliding assembly, which can adapt to patients with different arm lengths.

2. The present invention can adjust the height of the entire training arm relative to the seat according to the height of the patient by being provided with a height adjustment component, and can also adjust the left and right sides according to the shoulder width of the patient through the fifth slide rail set on the training arm bracket. The position of the two training arm supports on the seat, thus adapting to patients with different shoulder widths.

3. The two training arms and the seat are set as a detachable mechanism, which is suitable for rehabilitation training in different environments. When the injured patient is damaged by one arm, only one training arm needs to be installed for rehabilitation training. It is easy to install and has a relatively small volume. It is small and can effectively reduce the rejection psychology of patients in the process of use.

Description of drawings

The present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

Fig. 1 is the overall structure diagram of the embodiment of the present invention;

2 is a structural diagram of a shoulder joint assembly according to an embodiment of the present invention;

3 is a structural diagram of a large arm assembly and a small arm assembly according to an embodiment of the present invention;

4 is another perspective structural diagram of the boom assembly and the small arm assembly according to the embodiment of the present invention;

5 is a structural diagram of a forearm rotating assembly according to an embodiment of the present invention;

Fig. 6 is another perspective structural diagram of the forearm rotating assembly according to the embodiment of the present invention;

7 is a structural diagram of a wrist joint assembly according to an embodiment of the present invention;

8 is a connection diagram of the height adjustment assembly and the training arm support according to the embodiment of the present invention;

9 is a structural diagram of a height adjustment assembly according to an embodiment of the present invention;

FIG. 10 is a structural diagram of a seat according to an embodiment of the present invention.

In the figure: 1, seat, 2, training arm bracket, 3, height adjustment assembly, 30, length adjustment lever, 31, first mounting block, 32, second mounting block, 33, third mounting block, 34, Fourth mounting block, 35, First length adjustment rod, 36, Second length adjustment rod, 37, Third length adjustment rod, 38, Fourth length adjustment rod, 39, Adjustment nut, 4, Shoulder joint assembly, 40, Shoulder fixing plate, 41, first motor, 42, first crank frame, 43, second motor, 44, second crank frame, 45, third motor, 5, boom assembly, 50, upper boom plate, 51, the first push rod, 52, the third slide rail, 53, the third slider, 54, the lower boom plate, 55, the first slide rail, 56, the first slider, 57, the arc boom support plate , 6, elbow joint assembly, 61, fourth motor, 7, forearm assembly, 70, upper forearm plate, 71, second push rod, 72, fourth slide rail, 73, fourth slider, 74, lower Forearm plate, 75, Second slide rail, 76, Second slider, 77, Arc-shaped forearm support plate, 8, Forearm rotation assembly, 80, Swivel chassis, 81, First swing arm, 82, Second Swing arm, 83, Motor bracket, 84, Rotary motor, 85, First drive pulley, 86, First driven pulley, 87, First shaft, 88, Second shaft, 89, First handle bracket, 810, second driving pulley, 811, second driven pulley, 812, second handle bracket, 813, wrist joint connector, 814, bracket fixing shaft, 9, wrist joint assembly, 90, wrist joint fixing frame, 91, Rotary frame leg, 92, wrist joint frame body, 93, fifth motor, 94, third driving pulley, 95, wrist joint belt, 96, third driven pulley, 97, grip rod, 98, wrist joint shaft , 99, tensioner, 10, adjusting hole, 11, fifth rail, 12, fixing hole, 13, fixing bolt, 14, adjusting rod, 15, chute.

Detailed ways

The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are all simplified schematic diagrams, and only illustrate the basic structure of the present invention in a schematic manner, so they only show the structures related to the present invention.

As shown in Figures 1-10, a specific embodiment of a flexible upper limb rehabilitation training device of the present invention includes a seat 1, height adjustment components 3 symmetrically installed on both sides of the seat 1 through training arm brackets 2, The training arm in which the rod 14 is fixed on the height adjustment assembly 3; the training arm includes: the shoulder joint assembly 4, the elbow joint assembly 6 connected with the shoulder joint assembly 4 through the large arm assembly 5, and the elbow joint assembly through the forearm assembly 7 6 the forearm rotating assembly 8 connected and the wrist joint assembly 9 connected with the forearm rotating assembly 8;

Height adjustment component 3, used to adjust the height of the entire training arm;

The shoulder joint assembly 4 is used to drive the shoulder joint to perform adduction/abduction movement, internal rotation/external rotation movement and flexion/extension movement;

Elbow joint assembly 6, used to drive the elbow joint to do flexion/extension movement;

The forearm rotation assembly 8 is used to drive the forearm to do pronation/supination;

The wrist joint assembly 9 is used to drive the wrist joint to perform flexion/extension movement.

Referring to FIG. 2 , the shoulder joint assembly 4 includes a shoulder fixing plate 40 fixedly connected with the adjusting rod 14 , a first motor 41 mounted on the shoulder fixing plate 40 , and a coaxial fixed connection with one end of the output shaft of the first motor 41 . The first crank frame 42 , the second motor 43 mounted on the other end of the first crank frame 42 , the second crank frame 44 having one end fixedly connected to the output shaft of the second motor 43 , and the other side mounted on the second crank frame 44 . The third motor 45 on one end; the first motor 41 works to drive the shoulder joint to do adduction/abduction movement, the second motor 43 works to drive the shoulder joint to do internal rotation/external rotation movement, and the third motor 45 works to drive the shoulder joint to do flexion /Stretching exercises. When the shoulder joint assembly 4 is working, the first motor 41 is nested and installed on the shoulder fixing plate, and its output shaft is connected with the first crank frame 42. The rotation axis of the first motor 41 is a vertical axis, so the first motor 41 works The shoulder joint can be driven to do adduction/abduction movement; the second motor 43 is nested and installed at the other end of the first crank frame 42, and its output shaft is connected with the second crank frame 44, between the two planes of the first crank frame 42 is 90°, so the rotation axis of the second motor 43 is the sagittal axis, which can drive the shoulder joint to do internal rotation/external rotation; the third motor 45 is nested and installed at the other end of the second crank frame 44, and its output shaft and The upper boom plate 50 is connected, and the two planes of the second curved frame 44 are 90°, so the rotation axis of the third motor 45 is a frontal axis, which can drive the shoulder joint to perform flexion/extension movement.

As shown in FIGS. 3-4 , the boom assembly 5 includes: an upper boom plate 50 connected to the output shaft of the third motor 45 , and a lower boom plate slidably connected to the upper boom plate 50 through the first sliding assembly 54. The first sliding rail 55 fixed on the inner side of the upper boom plate 50 and the arc-shaped boom supporting plate 57 slidably connected to the first sliding rail 55 through the first sliding block 56; the first sliding assembly includes: a fixed end The first push rod 51 fixed on the upper boom plate 50, the telescopic end of the first push rod 51 is fixedly connected with the lower boom plate 54, and two third slides are vertically fixed on the inner side of the upper boom plate 50. The rail 52, the first push rod 51 is telescopic, and drives the lower arm plate 54 to slide along the third slide rail 52 through the third slider 53, which is used to adjust the extension length of the lower arm plate 54, which can be adjusted according to different patients' arms length to adjust the protruding length of the lower boom plate 54 .

3 and 4 , the forearm assembly 7 includes: an upper forearm plate 70 , a lower forearm plate 74 slidably connected to the upper forearm plate 70 through a second sliding assembly, and a second forearm plate 74 fixed on the upper forearm plate 70 The sliding rail 75 and the arc-shaped forearm support plate 77 slidably connected to the second sliding rail 75 through the second sliding block 76; the second sliding assembly includes: a second push rod 71 whose fixed end is fixed on the upper forearm plate 70, The telescopic end of the second push rod 71 is fixedly connected to the lower forearm plate 74 , two fourth sliding rails 72 are vertically fixed on the inner side of the upper forearm plate 70 , the second push rod 71 is telescopic and drives the lower forearm plate 74 slides along the fourth sliding rail 72 through the fourth sliding block 73 to adjust the extension length of the lower forearm plate, and the extension length of the lower forearm plate 74 can be adjusted according to the length of the forearm of different patients.

As shown in FIGS. 5-6 , the forearm rotating assembly 8 includes: a rotating base frame 80 fixedly connected to the lower forearm plate 74 , a first swing arm 81 and a second swing arm 82 symmetrically rotatably connected to both ends of the rotating base frame 80 , the motor bracket 83 installed on the upper end of the first swing arm 81 and the upper end of the second swing arm 82, the rotary motor 84 installed on the motor bracket 83, the first driving pulley 85 coaxially connected with the output shaft of the rotary motor 84, The first driven pulley 86 that is connected to the first driving pulley 85 through a belt, the first rotating shaft 87 of the first driven pulley 86 passes through one end of the motor bracket 83 and is fixedly connected to the first swing arm 81 , the motor bracket 83 is rotatably connected to the first shaft 87 through a bearing, a second shaft 88 is fixedly installed on the first swing arm 81, a first handle bracket 89 is rotatably installed on the second shaft 88 through a bearing, and a first handle bracket 89 is installed on the A second driving pulley 810 fixed coaxially with the second rotating shaft 88, the second driving pulley 810 is connected with a second driven pulley 811 through a belt drive; one end of the second rotating shaft 88 of the second driven pulley 811 It is fixedly installed on the first handle bracket 89, and the other end is coaxially fixed with a wrist joint connector 813 through the second handle bracket 812; the second handle bracket 812 is rotatably connected with the second shaft 88 through a bearing, and the second handle bracket 812 The fixing shaft 814 is mounted on the second swing arm 82 , and the second handle bracket 812 is rotatably connected with the bracket fixing shaft 814 . In this embodiment, the diameter of the first driving pulley 85 is smaller than the diameter of the first driven pulley 86 , and the rotational speed of the first driving pulley 85 is greater than the rotational speed of the first driven pulley 86 , so that the first driving pulley 85 A proper transmission ratio is formed with the first driven pulley 86, so that the speed of the pronation and supination movement of the forearm is proper, not too fast or too slow. The motor bracket 83 is V-shaped, the upper end of the first swing arm 81 and the upper end of the second swing arm 82 are respectively connected to the two ends of the motor bracket 83 in rotation. The swing arm 81 , the second swing arm 82 , the first handle bracket 89 and the second handle bracket 812 utilize the principle of parallelogram motion to achieve rehabilitation training for the forearm. Assuming that when the rotating motor 84 rotates counterclockwise, it drives the first driving pulley 85 to rotate counterclockwise. The first driving pulley 85 acts as a driving pulley and transmits force to the first driven pulley 86 through the first belt to realize counterclockwise rotation. The first rotating shaft 87 of the first driven pulley 86 drives the first swing arm 81 coaxially connected to it, and transmits the force to the second driving pulley 810 through the second rotating shaft on the first swing arm 81, and then passes through the belt. The motion is transmitted to the second driven pulley 811, and the second driven pulley 811 drives the coaxially connected wrist joint 813 to move, thereby realizing the pronation action of the right arm, and vice versa, realizing the supination action of the right arm. The pronation and supination training movements of the forearm can effectively exercise the pronator teres and pronator muscles, as well as the supinator and biceps muscles. The flexible forearm rehabilitation training device in the present invention has a simple structure, and realizes the combination of active and passive training.

Referring to FIG. 7 , the wrist joint assembly 9 includes: a wrist joint fixing frame 90 fixedly mounted on the wrist joint connecting member 813 , a rotating frame leg 91 rotatably mounted on the wrist joint fixing frame 90 at one end, and the other end of the rotating frame leg 91 The wrist joint frame body 92 is fixedly connected, the fifth motor 93 installed on the wrist joint frame body 92, the third driving pulley 94 coaxially connected with the output shaft of the fifth motor 93, and the third driving pulley 94 through the wrist joint belt 95. The driving pulley 94 is connected with the third driven pulley 96 and the grip rod 97 arranged on the wrist joint frame body 92, and the third driven pulley 96 is fixedly connected with the wrist joint fixing frame 90 through the wrist joint rotating shaft 98, The wrist joint rotating shaft 98 is also fixedly connected with a tensioning frame 99 for tensioning the wrist joint belt 95 , and the wrist joint rotating shaft 98 is rotatably connected with the rotating frame legs 91 . When the patient's right hand grasps the grip rod 97, assuming that the fifth motor 93 rotates clockwise, the third driving pulley 94 acts as a driving pulley and transmits the force to the third driven pulley 96 through the belt to realize clockwise rotation, and the third driven pulley 96 rotates clockwise. The wrist joint rotating shaft 98 of the pulley 96 drives the coaxially connected rotating frame legs 91 to rotate, thereby driving the wrist joint frame body 92 to rotate, thereby realizing the flexion movement of the patient's wrist joint, and vice versa when the fifth motor 93 rotates counterclockwise, the wrist joint is rotated. Stretching of the joints.

The elbow joint assembly 6 includes: a fourth motor 61 mounted on the lower arm plate 54 , and the output shaft of the fourth motor 61 is connected to the upper forearm plate 70 . The rotation of the fourth motor 61 drives the elbow joint to perform flexion/extension movement.

As shown in FIG. 8 and FIG. 9 , the height adjustment assembly 3 includes: a length adjustment control rod 30 , a first installation block 31 and a second installation block 32 which are slidably installed on the length adjustment control rod 30 and are arranged opposite to each other, and are fixed on the training arm. The third mounting block 33 on the bracket 2 and the fourth mounting block 34 fixedly connected with the adjusting rod 14; the first length adjusting rod 35 is rotatably connected between the first mounting block 31 and the third mounting block 33, and the second mounting block A second length-adjusting rod 36 is rotatably connected between 32 and the third installation block 33, a third length-adjusting rod 37 is rotatably connected between the first installation block 31 and the fourth installation block 34, and the second installation block 32 and the fourth A fourth length adjustment rod 38 is rotatably connected between the installation blocks 34 ; the length adjustment control rod 30 is a threaded rod, and an adjustment nut 39 is provided on the outer sides of the first installation block 31 and the second installation block 32 . In order to facilitate the screwing, the adjusting nut 39 is in the form of a wing nut. The adjusting nut 39 is screwed to make it close to the outer ends of the first mounting block 31 and the second mounting block 32, and then the first mounting block 31 and the second mounting block 32 are adjusted. The distance of the mounting block 32 to adjust the height of the shoulder fixing plate 40 . During the use of the robot, when the patient sits on the chair 1, adjust the adjusting nut 39 to reduce or increase the distance between the first mounting block 31 and the second mounting block 32, and at this time drive and fix the fourth mounting block The shoulder fixing plate 40 on the 34 moves up and down, so as to adjust the height of the training arm; the training arm bracket 2 is provided with a vertically extending chute 15, and the adjusting rod 14 passes through the chute 15 and slides along the slide. The slot 15 moves up and down to adjust the height of the training arm.

Referring to FIG. 10 , a plurality of adjustment holes 10 are arranged side by side on the side of the seat 1 , the lower part of the training arm bracket 2 is provided with a fifth slide rail 11 for the seat 1 to slide, and a fixing hole 12 docking with the adjustment hole 10 . 10 is a threaded hole, and a fixing bolt 13 protrudes from the fixing hole 12 and is screwed with different adjusting holes 10 to adjust the width of the seat 1 . The two training arms and the seat 1 are set as a detachable mechanism, which is suitable for rehabilitation training in different environments. When the injured patient is damaged by one arm, only one training arm needs to be installed for rehabilitation training, which is easy to install and small in size , effectively reduce the rejection psychology of patients in the process of use.

When the patient performs rehabilitation training, the patient sits on the seat 1, and the seat 1 can be placed on other existing training platforms or benches or other platforms where the robot can be placed. , adjust the position of the left and right training arm brackets 2 on the seat 1 through the fifth slide rail 11 provided on the training arm bracket 2, and tighten the fixing bolts 13 to fix the training arm bracket 2 on the seat 1, so as to adapt to the Patients with different shoulder widths. Put the patient's forearm on the curved forearm support plate 57, and the forearm on the curved forearm support plate 77, and bind it with straps or Velcro to prevent the forearm and forearm from following during the training. Secondary damage caused by not following the training rhythm of the device. According to the length of the patient's forearm and forearm, respectively adjust the lower arm plate 54 and the lower arm plate 74 through the first sliding assembly and the second sliding assembly, so that the patient's hand holds the grip bar 97, turn on the power switch, and the device Encourage patients to undergo rehabilitation training.

It should be understood that the specific embodiments described above are only used to explain the present invention, but not to limit the present invention. Obvious changes or modifications derived from the spirit of the present invention are still within the protection scope of the present invention.

Claims (10)

1. A flexible upper limb rehabilitation training device, characterized in that: it comprises a seat (1), a height adjustment assembly (3) symmetrically installed on both sides of the seat (1) through a training arm bracket (2), and a height adjustment assembly (3) by adjusting A training arm in which the rod (14) is fixed on the height adjustment assembly (3); the training arm comprises: a shoulder joint assembly (4), an elbow joint connected with the shoulder joint assembly (4) through a large arm assembly (5) an assembly (6), a forearm rotating assembly (8) connected with the elbow joint assembly (6) through the forearm assembly (7), and a wrist joint assembly (9) connected with the forearm rotating assembly (8); a height adjustment component (3) for adjusting the height of the entire training arm; The shoulder joint assembly (4) is used for driving the shoulder joint to perform adduction/abduction movement, internal rotation/external rotation movement and flexion/extension movement; The elbow joint assembly (6) is used for driving the elbow joint to perform flexion/extension movement; The forearm rotation assembly (8) is used to drive the forearm to do pronation/supination; The wrist joint assembly (9) is used for driving the wrist joint to perform flexion/extension movement. 2 . A flexible upper limb rehabilitation training device according to claim 1 , wherein the shoulder joint assembly ( 4 ) comprises a shoulder fixing plate ( 40 ) fixedly connected with the adjusting rod ( 14 ). The first motor (41) on the shoulder fixing plate (40), the first crank frame (42), one end of which is fixedly connected to the output shaft of the first motor (41) coaxially, are mounted on the first motor (42). A second motor (43) on the other end of a crank frame (42), a second crank frame (44) coaxially and fixedly connected to the output shaft of the second motor (43) at one end, and a second crank frame (44) mounted on the second crank frame A third motor (45) on the other end of the frame (44). 3. A flexible upper limb rehabilitation training device according to claim 1, characterized in that: the boom assembly (5) comprises: an upper boom plate connected to the output shaft of the third motor (45) (50), a lower boom plate (54) slidably connected to the upper boom plate (50) through a first sliding assembly, a first slide rail (54) fixed on the inner surface of the upper boom plate (50) 55) and an arc-shaped boom support plate (57) slidably connected to the first sliding rail (55) through a first sliding block (56); the first sliding assembly includes: a fixed end fixed on the upper large arm A first push rod (51) on the arm plate (50), the telescopic end of the first push rod (51) is fixedly connected with the lower boom plate (54), and the upper boom plate (50) is Two third sliding rails (52) are vertically fixed on the inner side, and the lower arm plate (54) slides along the third sliding rails (52) through a third sliding block (53). 4 . The flexible upper limb rehabilitation training device according to claim 1 , wherein the forearm assembly (7) comprises: an upper forearm plate (70), which is connected to the upper forearm through a second sliding assembly. 5 . The lower forearm plate (74) slidably connected with the plate (70), the second sliding rail (75) fixed on the upper forearm plate (70), and the second sliding block (76) and the second sliding rail (75) An arc-shaped forearm support plate (77) to which the rail (75) is slidably connected; the second sliding assembly includes: a second push rod (71) whose fixed end is fixed on the upper forearm plate (70), the The telescopic end of the second push rod (71) is fixedly connected with the lower forearm plate (74), and two fourth sliding rails (72) are vertically fixed on the inner surface of the upper forearm plate (70). The lower forearm plate (74) slides along the fourth sliding rail (72) through the fourth sliding block (73). 5. A flexible upper limb rehabilitation training device according to claim 1, characterized in that: the forearm rotating assembly (8) comprises: a rotating chassis (80) fixedly connected to the lower forearm plate (74) , a first swing arm (81) and a second swing arm (82) that are symmetrically rotatably connected to both ends of the rotating chassis (80), mounted on the upper end of the first swing arm (81) and the second swing arm (82) ) a motor bracket (83) at the upper end, a rotary motor (84) mounted on the motor bracket (83), a first driving pulley (85) coaxially connected to the output shaft of the rotary motor (84), A first driven pulley (86) connected to the first driving pulley (85) through a belt drive, and a first rotating shaft (87) of the first driven pulley (86) from the motor bracket One end of (83) passes through and is fixedly connected to the first swing arm (81), the motor bracket (83) is rotatably connected to the first shaft (87) through a bearing, and the first swing arm (81) ) is fixedly installed with a second rotating shaft (88), the second rotating shaft (88) is rotatably installed with a first handle bracket (89) through a bearing, and the first handle bracket (89) is installed with a coaxial fixed with the second rotating shaft (88). The second driving pulley (810) of the second driving pulley (810) is connected with a second driven pulley (811) through a belt drive; the second rotating shaft ( One end of 88) is fixedly mounted on the first handle bracket (89), and the other end passes through the second handle bracket (812) and is coaxially fixed with a wrist joint connector (813); the second handle bracket (812) is connected to the second handle bracket (812) through a bearing The second rotating shaft (88) is rotatably connected, the second handle bracket (812) is mounted on the second swing arm (82) through the bracket fixing shaft (814), and the second handle bracket (812) is connected to the second swing arm (82). The bracket fixing shaft (814) is rotatably connected. 6. A flexible upper limb rehabilitation training device according to claim 1, characterized in that: the wrist joint assembly (9) comprises: a wrist joint fixing frame (90) fixedly installed on the wrist joint connecting piece (813) , a rotating frame leg (91) installed on the wrist joint fixing frame (90) at one end, a wrist joint frame body (92) fixedly connected with the other end of the rotating frame leg (91), mounted on the wrist joint frame body The fifth motor (93) on (92), the third driving pulley (94) coaxially connected with the output shaft of the fifth motor (93), and the third driving pulley (95) through the wrist joint belt (95) A pulley (94) drives a third driven pulley (96) connected to it and a handle (97) provided on the wrist joint frame (92), the third driven pulley (96) passing through The wrist joint rotating shaft (98) is fixedly connected with the wrist joint fixing frame (90), and the wrist joint rotating shaft (98) is also fixedly connected with a tensioning frame (99) for tensioning the wrist joint belt (95), so The wrist joint rotating shaft (98) is rotatably connected with the rotating frame leg (91). 7. A flexible upper limb rehabilitation training device according to claim 1, wherein the elbow joint assembly (6) comprises: a fourth motor (61) mounted on the lower arm plate (54) , the output shaft of the fourth motor (61) is connected with the upper forearm plate (70). 8. A flexible upper limb rehabilitation training device according to claim 1, wherein the height adjustment component (3) comprises: a length adjustment control rod (30), a length adjustment control rod (30) slidably installed on the length adjustment control rod (30) ) on the two oppositely arranged first mounting blocks (31) and second mounting blocks (32), the third mounting block (33) fixed on the training arm bracket (2), and the adjustment rod (14) A fourth mounting block (34) that is fixedly connected; a first length adjusting rod (35) is rotatably connected between the first mounting block (31) and the third mounting block (33), and the second mounting block A second length adjusting rod (36) is rotatably connected between (32) and the third installation block (33), and the first installation block (31) and the fourth installation block (34) are rotatably connected There is a third length adjustment rod (37), and a fourth length adjustment rod (38) is rotatably connected between the second installation block (32) and the fourth installation block (34); the length adjustment control rod ( 30) is a threaded rod, and adjusting nuts (39) are provided on the outer sides of the first mounting block (31) and the second mounting block (32). 9 . The flexible upper limb rehabilitation training device according to claim 8 , wherein a vertically extending chute ( 15 ) is provided on the training arm support ( 2 ), and the adjusting rod ( 14 ) extends from the The chute (15) passes through and slides along the chute (15). 10. A flexible upper limb rehabilitation training device according to claim 8, characterized in that: a plurality of adjustment holes (10) are arranged side by side on the side of the seat (1), and the training arm bracket (2) is provided with a plurality of adjustment holes (10) side by side. The lower part is provided with a fifth slide rail (11) for the seat (1) to slide and a fixing hole (12) butted with the adjustment hole (10), the adjustment hole (10) is a threaded hole, and a fixing bolt ( 13) The width of the seat (1) is adjusted by screwing through the fixing holes (12) and connecting with different adjusting holes (10).

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