CN114983763A - Training massage device for upper limb rehabilitation of stroke patient - Google Patents

Abstract

The invention relates to the technical field of treatment training of upper limbs of patients with cerebral apoplexy, in particular to a training massage device for upper limb rehabilitation of patients with cerebral apoplexy, which comprises a body supporting unit, a massage unit, a leg supporting unit and a training unit, wherein the body supporting unit enables the patients to keep sitting positions so as to further stabilize the upper body of the patients, the massage unit is combined to massage the back of the patients during the rehabilitation training, the waist pain of the patients caused by the overlarge lumbar pressure of the patients during the rehabilitation training by keeping the sitting positions for a long time is avoided, the leg supporting unit can help the legs of the patients to adjust comfortable postures during the upper limb training of the patients, the training unit can simply train the arms at one side of the patients with hemiplegia to carry out various postures, the body balance of the patients can be ensured during the training through the cooperation, and the comfort degree of the training process of the patients is improved, and the device can adjust the training posture of the patient according to the training plan made by the doctor, thereby enabling the patient to recover the health more quickly.

Description

A training massage device for upper limb rehabilitation of stroke patients

technical field

The invention relates to the technical field of treatment and training of the upper limbs of stroke patients, in particular to a training massage device for the rehabilitation of the upper limbs of stroke patients.

Background technique

Stroke mainly includes cerebral hemorrhage, cerebral infarction, subarachnoid hemorrhage, etc. According to statistics, about 75% of stroke patients still have functional impairment after treatment, and most of them are sports represented by hemiplegia. Dysfunction and stroke sequelae are not only expensive to treat, increase the economic burden of the patient's family, but also bring physical pain and inconvenience to the patient themselves. During the treatment of hemiplegic sequelae of stroke patients, the treatment of upper limb motor dysfunction is more difficult than The treatment of motor dysfunction of lower extremities, so the rehabilitation of upper extremity function of hemiplegic after stroke has always been one of the more difficult problems in clinical practice. Studies have shown that in addition to surgery and drug treatment, scientific rehabilitation training can improve limb function rehabilitation of stroke hemiplegic patients. Therefore, an upper limb rehabilitation training device is needed to assist patients to complete the upper limb rehabilitation training formulated by doctors according to the actual conditions of the patients, so as to help the patients recover.

The Chinese Patent Application No. 2019113322434 discloses a passive motion system for upper limbs for stroke rehabilitation, including a base, a movement mechanism and a support mechanism arranged on the base; the movement mechanism includes a stator outer cylinder, which is coaxially arranged outside the stator. The rotor inner cylinder in the cylinder and the electromagnetic drive coil wound outside the stator outer cylinder, the stator outer cylinder is fixed on the base and its axis is parallel to the horizontal plane, there is a gap between the rotor inner cylinder and the stator outer cylinder, and the outer surface of the rotor inner cylinder is The surface is embedded with permanent magnets corresponding to the electromagnetic drive coils; the left and right sides of the rotor inner cylinder are fixedly sleeved with rotating bearings and fixed in the stator outer cylinder through the rotating bearings; the rotor inner cylinder is connected with two sides along its axial direction respectively. Rotary handle extended; controller connected to master terminal. The present invention can assist stroke patients to carry out the rehabilitation training of shoulder joint lifting and wrist and elbow joint flexion and extension. The above patent has the problem that the patient's body cannot be well fixed during the training process, which causes the patient to fall easily during the training process, resulting in secondary Injured defects.

However, the current training massage device for upper limb rehabilitation of stroke patients has great defects. The current training massage device cannot fix the patient's body well during the training process, which causes the patient to fall easily during the training process, resulting in secondary Injury; the existing massage training device cannot adjust the patient's training posture, resulting in poor patient comfort during training and increasing the patient's pain; the current training massage device cannot well match the patient's height and body shape, resulting in the device matching the patient's upper limbs The degree of training is poor, resulting in poor training effect.

SUMMARY OF THE INVENTION

In view of the problems in the prior art, the present invention provides a training massage device for upper limb rehabilitation of stroke patients.

A training massage device for upper limb rehabilitation of stroke patients, comprising a body support unit, a massage unit, a leg support unit and a training unit, wherein the massage unit and the leg support unit are located inside the body support unit, and the training unit is located in the body support unit. On one side, the body support unit includes a base, a backrest and a folding board. The backrest is installed on the top of one side of the base, and the folding board is movably connected to the bottom of the base on the side away from the backrest. One side of the base is movably matched with an armrest. The end of the folding plate away from the base is installed with two card slots, and several slots are opened at equal distances on the card slots. The patient can sit on the base, the back is close to the backrest, and the hand on the movable side of the body can hold the armrest. Keep the body stable during upper limb rehabilitation training, so that the patient's training effect is better;

Among them, the leg support unit includes a flip frame, a fixed frame and two foot pedals, the flip frame and the fixed frame are hinged, the two foot pedals are respectively located on both sides of the fixed frame, and sliders slide on both sides of the fixed frame 2. A connecting block is installed on the end of the foot pedal close to the fixing frame, the second sliding block and the connecting block 2 are connected by rotating the shaft, the bottom of the fixing frame is matched with the bayonet opened in the card slot, and the bottom of the fixing frame is clamped in Inside the bayonet, the position of the foot pedal can be adjusted by clamping the bottom of the fixing frame in the bayonet at different positions, and the slider 2 drives the foot pedal to move up and down along the fixing frame 2, so as to match the leg length and posture of the patient, so that the foot pedal can be adjusted. The patient maintains a comfortable posture for training, and at the same time cooperates with the foot pedal to rotate along the connecting block through the rotating shaft, so that the foot pedal can be adjusted at any time according to the placement angle of the patient's foot, so as to avoid the angle of the foot pedal being too stiff and unable to be adjusted, resulting in the patient's ankle during training. Injury further aggravates the condition.

Preferably, the base is in a hollow cuboid structure, the base and the folding plate are hinged through hinges, the end of the flip frame away from the fixing frame and the inner side wall of the bottom of the base near the end of the fixing frame are hinged through pins, and the bottom of the fixing frame is clamped in In the bayonet at different positions, the foot pedal can be adjusted to move up and down along the fixed frame with the slider 2, so as to flexibly match the leg length and posture of the patient. Fold, and then turn the two foot pedals over and close to the two sides of the fixed frame respectively, and cooperate with the base and the folding board to be hinged through hinges, the flipping frame and the fixed frame can be folded into the interior of the base, and then combined with the base and the folding board. The hinges flip the folding plate over against the base, enabling the device to fold when not in use.

Preferably, a third motor is installed on both sides of the fixing frame, one end of the third motor is connected with a screw rod through a rotating shaft, the screw rod penetrates the top of the second slider, and a screw hole is installed on the top of the second slider, and the screw The hole is matched with the screw thread, and there are notches on both sides of the fixing frame. The section of the second slider is in a "T" shape. The driving shaft drives the lead screw to rotate, and the rotating lead screw is threaded with the screw holes installed on the top of the slider two, and combined with the bottom of the slider two to slide in the slot opened by the fixed frame two, so that the slider two can be lifted and lowered along the fixed frame. The lifting slider 2 drives the foot pedal to rise and fall through the connecting block.

Preferably, the second connecting rod is fixed through the end of the turning frame close to the fixing frame, and ball bearings are installed on both sides of one end of the fixing frame near the turning frame, and the second connecting rod is rotated and rotatably fitted in the middle of the ball bearing, so that the fixing frame is It can rotate along the turning frame through the cooperation between the second connecting rod and the ball bearing.

Preferably, a slot is provided on the side of the base close to the handrail, a slide rail two is installed inside the slot, a slideway is opened in the middle of the slide rail two, and a toothed plate two is installed inside the slideway opened by the slide rail two , the cross-section of the second slide rail is an "I"-shaped structure, a slider one is fitted on the slide rail two, a first motor is installed on the side of the slider one away from the handrail, and the first motor is connected with a connecting rod through the rotating shaft , the connecting rod is fixedly connected with the bottom of the handrail, a gear one is installed in the middle of the connecting rod, the gear one meshes with the tooth plate two, the first motor drives the shaft to drive the connecting rod to rotate, and the rotating connecting rod drives the gear one to rotate, Gear 1 meshes with tooth plate 2, cooperates with slider 1 to slide along slide rail 2, and then drives the armrest to rise and fall, so that the armrest can adjust the height of the armrest according to the position of the patient's arm when sitting, which can better support the patient and facilitate the patient's body. The intact side of the hand grasps, so that the patient has a stable focus point during training.

Preferably, the backrest is hollow, the massage unit is installed inside the backrest, the massage unit includes a support column and a number of massage hammers, and the several massage hammers are installed on both sides of the support column at equal distances and equal numbers, and the support column is fixed. Inside the backrest, the support column is a hollow cuboid structure, and a second motor is installed on the inner side walls of both sides of the bottom of the support column. The second motor is connected with a rotating rod through the rotating shaft, on the side of the rotating rod close to the massage hammer, etc. A number of connecting rods are installed at a distance, and the first connecting rod is fixedly connected with the end of the massage hammer close to the support column. The second motor drives the rotating shaft to drive the rotating rod to rotate, and the rotating rotating rod drives the massage hammer to move in a circle through the first connecting rod, and then Percussion massage on the patient's back to avoid excessive pressure on the patient's lumbar spine by staying in a sitting position for a long time for rehabilitation training.

Preferably, the training unit includes a bottom bar, a mounting plate, an upper arm fixing plate and a forearm fixing plate, the mounting plate is located above the bottom bar, the upper arm fixing plate is located on one side of the bottom bar, the forearm fixing plate is located below the upper arm fixing plate, on the base A notch is opened at the bottom of the side away from the folding plate, a toothed plate 1 is installed inside the notch, a slide rail 1 is installed under the toothed plate 1, and a fifth motor is installed at the bottom of the bottom rod, and the fifth motor passes through the rotating shaft. Gear 3 is connected, gear 3 meshes with tooth plate 1, slide block 3 is installed under gear 3, slide rail 1 has an "I"-shaped structure, and slide rail 1 is adapted to slide block 3, and the slide rail 1 is adapted to slide 3. Block 3 slides along the slide rail, the fifth motor drives the shaft to drive gear 3 to rotate, the rotating gear 3 meshes with the toothed plate, and slides along the slide rail together with the slider 3, so that the bottom rod can move.

Preferably, the bottom rod has a hollow structure, a telescopic rod is drawn inside the bottom rod, a slot is opened on one side of the telescopic rod, a toothed plate three is installed inside the slot, and the bottom rod is close to the toothed plate three. A fourth motor is installed on one side, and the fourth motor is connected with the second gear through the rotating shaft. The second gear meshes with the toothed plate three. A sixth motor is installed on the top of the telescopic rod. The sixth motor is connected with the mounting plate through the rotating shaft. The motor drives the rotating shaft to drive the second gear to rotate, the rotating gear two meshes with the toothed plate three so that the telescopic rod drives the mounting plate to rise and fall, and the sixth motor drives the rotating shaft to drive the mounting plate to rotate, so that the mounting plate can be lifted and rotated at the same time.

Preferably, a seventh motor is installed on the upper end face of the mounting plate, the seventh motor is connected with an installation rod through a rotating shaft, an eighth motor is installed on the top of the installation rod, and the eighth motor is connected with a connecting frame 1 through the rotating shaft, and the connecting frame The section of the first is an inverted "U"-shaped structure. The upper arm fixing plate is located inside the connecting frame 1. A ninth motor is installed at one end of the connecting frame 1. The ninth motor is connected with the upper arm fixing plate through the rotating shaft. A connecting frame 2 is installed at the bottom, and the cross section of the connecting frame 2 is an inverted "U"-shaped structure. The forearm fixing plate is located inside the connecting frame 2, and a tenth motor is installed at one end of the connecting frame 2. The tenth motor is connected to the forearm through the rotating shaft. The fixing plate is connected, and several straps are installed on one side of the upper arm fixing plate and the forearm fixing plate. The seventh motor drives the rotating shaft to drive the installation rod to rotate, and then drives the upper arm fixing plate and the forearm fixing plate to perform circular motion along the installation rod, so that the The patient's arm swings back and forth, the eighth motor drives the rotating shaft to drive the connecting frame to rotate, and then drives the upper arm fixing plate and the forearm fixing plate to rotate, which drives the patient's arm to rotate, and the ninth motor drives the rotating shaft to drive the upper arm fixing plate to rotate, so that the forearm fixing plate swings accordingly. The patient's arm is swung left and right, and the tenth motor drives the rotating shaft to drive the forearm fixed plate to rotate, so that the patient's arm can stretch and flex.

Preferably, the use method of the training massage device specifically includes the following steps:

Step 1: The family members help the patient to sit on the base, the first motor drives the rotating shaft to drive the connecting rod to rotate, the rotating connecting rod drives the gear 1 to rotate, the rotating gear 1 meshes with the tooth plate 2, and the sliding block 1 slides along the slide rail 2. Then drive the armrest up and down, so that the armrest can adjust the height of the armrest according to the arm position of the patient when sitting, which can better support the patient and facilitate the grasping of the patient's healthy hand, so that the patient can have a stable focus during training. , so as to maintain the balance of the body and prevent the patient from falling;

Step 2: After adjusting the armrest, clamp the bottom of the fixed frame in the bayonet at different positions, and cooperate with the slider 2 to drive the foot pedal to move up and down along the fixed frame to adjust the position of the foot pedal, and combine the third motor to drive the shaft to drive the screw rod Rotate, the rotating screw is threaded with the screw holes installed on the top of the slider 2, and the bottom of the slider 2 slides along the slot opened in the fixing frame 2, so that the sliding block 2 is lifted and lowered along the fixing frame, and the lifting slider 2 Drive the foot pedal up and down through the connecting block to match the length and posture of the patient's legs, put the patient's feet on the foot pedal, and cooperate with the foot pedal to rotate along the connecting block through the rotating shaft, so that the foot pedal can be adjusted according to the position of the patient's foot. The placement angle can be adjusted at any time, which can help the patient's legs to adjust to a comfortable posture when the patient performs upper limb training;

Step 3: After the patient's posture is fixed, the fifth motor drives the rotating shaft to drive the gear 3 to rotate, the rotating gear 3 meshes with the toothed plate, and the sliding block 3 slides along the slide rail, so that the bottom rod can move, which is then driven by the mounting plate. The upper arm fixed plate and the forearm fixed plate move, combined with the fourth motor to drive the rotating shaft to drive the second gear to rotate, the rotating gear two meshes with the toothed plate three so that the telescopic rod drives the mounting plate to rise and fall, and the sixth motor drives the rotating shaft to drive the mounting plate to rotate, so that the mounting plate It can be lifted and rotated at the same time, so as to drive the upper arm fixing plate and the forearm fixing plate to lift and rotate so as to be close to the patient, so that the device fits with different patients, and the upper arm of the patient is tightly attached to the upper arm fixing plate through the Velcro on the strap. Put the patient's forearm against the forearm fixing plate, the seventh motor drives the rotating shaft to drive the installation rod to rotate, and then drives the upper arm fixing plate and the forearm fixing plate to move in a circular motion along the installation rod, so that the patient's arm swings back and forth, and the eighth motor drives the rotating shaft to drive the connecting frame Once rotated, the upper arm fixing plate and the forearm fixing plate are driven to rotate, and the patient's arm is driven to rotate, and the arm rotates inwardly and outwardly. Swing and lift the arm, the tenth motor drives the rotating shaft to drive the forearm fixed plate to rotate, so that the patient's arm can stretch and flex, and carry out rehabilitation training. The upper limb movement range and training intensity can be changed according to the actual situation of the patient, and the training intensity can be gradually increased according to the patient's physical condition, which is suitable for upper limb rehabilitation training for stroke patients at all stages;

Step 4: During the training process, the second motor drives the rotating shaft to drive the rotating rod to rotate, and the rotating rotating rod drives the massage hammer to move in a circular motion through the connecting rod, and then massages the patient's back to avoid staying in a sitting position for a long time for rehabilitation training The pressure on the patient's lumbar spine is too high, causing the patient's lower back pain.

Beneficial effects of the present invention:

(1) The present invention can adjust the height of the armrest according to the arm position of the patient when sitting by lifting and lowering the armrest. The device can better support the patient and at the same time, it is convenient for the hand on the side of the patient's body to grasp the armrest, so that the patient can be trained during training. There is a stable focus point at times, so as to maintain the balance of the body, with the bottom of the fixing frame stuck in the bayonet at different positions, combined with the slider 2 to drive the foot pedal to move up and down along the fixing frame 2, the position of the foot pedal can be adjusted to match the patient. The leg length and posture of the patient can be adjusted so that the patient can maintain a comfortable posture for training. At the same time, the foot pedal can be rotated along the connecting block through the rotating shaft, so that the foot pedal can be adjusted at any time according to the placement angle of the patient's foot, so as to avoid the angle of the foot pedal being too stiff. The inability to adjust causes the patient to injure the ankle during training and aggravate the condition, which not only improves the patient's body balance and comfort during training, but also ensures the patient's safety during the training process and effectively prevents the patient from secondary injury.

(2) In the present invention, the bottom of the fixed frame is clamped in the bayonet of different positions, and the second sliding block drives the foot pedal to move up and down along the second fixed frame to adjust the position of the foot pedal, and then flexibly adjust to the patient's leg length and posture. Matching, combined with the hinged hinge of the flip frame and the fixed frame, the flip frame and the fixed frame can be folded up, and then the two foot pedals can be turned over to be close to the two sides of the fixed frame respectively, and then the base and the folding plate can be hinged through the hinge, which can be The flip frame and the fixed frame are folded into the interior of the base, and then combined with the base and the folding board, the folding board is turned over and close to the base through hinge hinges, so that the leg support unit can be placed in the base when the device is idle. The device has a higher degree of matching with patients, is more flexible in use and has a wider application range. On the other hand, the device can be easily folded and stored when not in use, which reduces the footprint of the device, thereby greatly improving space utilization.

(3) The fifth motor drives the rotating shaft in the present invention to drive the third gear to rotate, the rotating gear three meshes with the toothed plate, so that the bottom rod can move, and the moving bottom rod drives the upper arm fixing plate and the forearm fixing plate to move through the mounting plate, Combined with the fourth motor to drive the rotating shaft to drive the second gear to rotate, the rotating gear two meshes with the toothed plate three so that the telescopic rod drives the mounting plate to rise and fall, and the sixth motor drives the rotating shaft to drive the mounting plate to rotate, so that the mounting plate can be moved up and down and can be rotated at the same time, thereby driving The upper arm fixing plate and the forearm fixing plate are lifted and rotated to be close to the patient and fit different patients, so that the device is suitable for patients with different body shapes and heights, which is convenient for training and has strong applicability, which is conducive to the popularization and use of the device.

(4) In the present invention, the upper arm of the patient is tightly attached to the upper arm fixing plate by the Velcro on the strap, and the patient's forearm is tightly attached to the forearm fixing plate. The seventh motor drives the rotating shaft to drive the installation rod to rotate, thereby driving the upper arm fixing plate and the forearm. The fixed plate moves in a circular motion along the installation rod, driving the patient's arm to swing back and forth, and the eighth motor drives the rotating shaft to drive the connecting frame to rotate, which in turn drives the upper arm fixed plate and the forearm fixed plate to rotate, and drives the patient's arm to rotate to perform internal rotation and external rotation of the arm. , the ninth motor drives the rotating shaft to drive the upper arm fixed plate to rotate, so that the forearm fixed plate swings with it, and drives the patient's arm to swing left and right to carry out the arm lifting movement. The above cooperation enables the patient to do a variety of upper limb rehabilitation exercises according to the plan made by the doctor, and can change the upper limb movement range and training intensity according to the actual situation of the patient. For upper limb rehabilitation training, the operation is simple and the training effect is good.

(5) The present invention uses the body support unit to keep the patient in a sitting position, thereby stabilizing the upper body of the patient. Combined with the massage unit, the patient's back can be massaged during rehabilitation training, so as to avoid excessive pressure on the lumbar spine of the patient who remains in a sitting position for a long time for rehabilitation training. , causing the patient's waist pain, the leg support unit can help the patient's legs adjust a comfortable posture when the patient is training upper limbs, thereby reducing the patient's fatigue during the training process. Through the training of various postures, the above cooperation can not only ensure the patient's body balance during training, reduce the pressure on other body parts during the patient's training, and improve the comfort of the patient's training process, but also the equipment can be based on the training plan formulated by the doctor Adjust the patient training position so that the patient can recover faster.

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

FIG. 1 is a schematic diagram of the overall structure of the present invention.

FIG. 2 is a schematic diagram of the connection between the massage unit and the leg support unit in the present invention.

FIG. 3 is a schematic diagram of the second structure of the slide rail in the present invention.

FIG. 4 is a schematic diagram of the connection between the slider 1 and the first motor in the present invention.

FIG. 5 is a cross-sectional view of the support column in the present invention.

FIG. 6 is a schematic diagram of the structure of the fixing frame in the present invention.

FIG. 7 is a schematic diagram of the structure of the foot pedal in the present invention.

FIG. 8 is a schematic structural diagram of a training unit in the present invention.

FIG. 9 is a schematic structural diagram of the fourth motor and the second gear in the present invention.

Figure 10 is a rear view of the base in the present invention.

Figure 11 is a side view of the bottom post in the present invention.

In the figure: 1, body support unit; 101, base; 1011, tooth plate one; 1012, slide rail one; 102, armrest; 103, slide rail two; 104, tooth plate two; 105, slider one; 1 motor; 107, connecting rod; 108, gear 1; 109, backrest; 110, folding plate; 111, card slot; 2, massage unit; 201, support column; 202, massage hammer; 203, second motor; 204, Rod; 205, connecting rod one; 3, leg support unit; 301, turning frame; 302, fixing frame; 303, connecting rod two; 304, third motor; 305, screw rod; 306, foot pedal; 307 , slider two; 308, connecting block; 4, training unit; 401, bottom rod; 402, telescopic rod; 403, fourth motor; 404, gear two; 405, tooth plate three; 406, fifth motor; 407, Gear three; 408, slider three; 409, sixth motor; 410, mounting plate; 411, seventh motor; 412, mounting rod; 413, eighth motor; 414, connecting frame one; 415, ninth motor; 416 , upper arm fixing plate; 417, connecting frame two; 418, tenth motor; 419, forearm fixing plate; 420, straps.

Detailed ways

In order to make it easy to understand the technical means, creation features, achieved goals and effects of the present invention, the present invention will be further described below with reference to the specific embodiments.

As shown in Figures 1-11, a training massage device for upper limb rehabilitation of stroke patients includes a body support unit 1, a massage unit 2, a leg support unit 3 and a training unit 4, a massage unit 2 and a leg support unit 3 All are located inside the body support unit 1, the training unit 4 is located on one side of the body support unit 1, and the body support unit 1 includes a base 101, a backrest 109 and a folding board 110, the backrest 109 is installed on the top of one side of the base 101, the folding The plate 110 is movably connected to the bottom of the base 101 on the side away from the backrest 109 , the armrest 102 is movably fitted up and down on one side of the base 101 , and two card slots 111 are installed on the end of the folding plate 110 away from the base 101 . There are several bayonet openings at equal distances, the patient can sit on the base 101, the back is close to the backrest 109, and the hand on the movable side of the body holds the armrest 102, so that the body can be kept stable during the upper limb rehabilitation training, thereby making the The training effect of the patient is better. The body support unit 1 is used to keep the patient in a sitting position, thereby stabilizing the patient's upper body. Combined with the massage unit 2, the patient's back can be massaged during rehabilitation training, avoiding long-term sitting for rehabilitation training. The pressure of the lumbar spine is too large, which causes the patient's waist pain. The leg support unit 3 can help the patient's legs to adjust a comfortable posture when the patient performs upper limb training, thereby reducing the patient's fatigue during the training process. The training unit 4 can help the patient with hemiplegia One side of the arm can be trained in a variety of simple postures. Through the above cooperation, it can not only ensure the patient's body balance during training, reduce the pressure on other body parts during the patient's training, and improve the comfort of the patient's training process. It can adjust the patient's training posture according to the training plan formulated by the doctor, so that the patient can recover faster;

The leg support unit 3 includes a flip frame 301, a fixed frame 302 and two foot pedals 306. The flip frame 301 and the fixed frame 302 are hingedly connected, and the two foot pedals 306 are located on both sides of the fixed frame 302 respectively. Two sliding blocks 307 slide on both sides of the 302, and a connecting block 308 is installed at one end of the foot pedal 306 close to the fixing frame 302. Matching with the bayonet opened in the card slot 111, the bottom of the fixing frame 302 is clamped inside the bayonet, and then the bottom of the fixing frame 302 is clamped in the bayonet at different positions, and the slider 2 307 is used to drive the footrest 306 along the fixing. The lifting and lowering of the frame 2 302 can adjust the position of the foot pedal 306 to match the leg length and posture of the patient, so that the patient can maintain a comfortable posture for training. 306 can be adjusted at any time according to the placement angle of the patient's foot, so as to avoid the angle of the foot pedal 306 being too stiff and unable to be adjusted, causing the patient's ankle to be injured during training and aggravating the condition, improving the comfort of the patient during training, and ensuring the safety of the patient. Effectively prevent the patient from secondary injury.

In an optional implementation of the embodiment of the present invention, the base 101 has a hollow cuboid structure, the base 101 and the folding plate 110 are hinged through hinges, and the end of the flip frame 301 away from the fixing frame 302 and the end of the base 101 close to the fixing frame 302 are hinged. The inner side wall of the bottom is hinged by a pin, the bottom of the fixed frame 302 is stuck in the bayonet of different positions, and the sliding block 2 307 drives the foot pedal 306 to move up and down along the fixed frame 302, so that the position of the foot pedal 306 can be adjusted flexibly. Matching the leg length and posture of the patient, the flip frame 301 and the fixed frame 302 are hinged to be able to be folded, and then the two footrests 306 are turned over to be close to the two sides of the fixed frame 302 respectively, and cooperate with the base 101 and the folding board 110 Through the hinge hinge, the flip frame 301 and the fixed frame 302 can be folded into the interior of the base 101, and then combined with the base 101 and the folding board 110 through hinge hinge, the folding board 110 can be turned over to be close to the base 101, thereby enabling the device Folding when not in use, on the one hand, it can be more flexible in use, has a higher degree of matching with patients, and has a wider application range; space utilization.

In an optional implementation of the embodiment of the present invention, a third motor 304 is installed on both sides of the fixing frame 302 , and one end of the third motor 304 is connected with a lead screw 305 through a rotating shaft, and the lead screw 305 penetrates through the second slider 307 On the top of the sliding block 307, there are screw holes installed on the top of the second sliding block 307. The screw holes are threaded with the screw rod 305. There are notches on both sides of the fixing frame 302. Slide the bottom of the second slider 307 in the slot opened by the second fixing frame 302, the third motor 304 drives the rotating shaft to drive the lead screw 305 to rotate, and the rotating lead screw 305 is threaded with the screw holes installed on the top of the second slider 307, and combined The bottom of the slider 2 307 slides along the slot opened by the fixing frame 2 302, so that the slider 2 307 is moved up and down along the fixing frame 302, and the lifting slider 2 307 drives the foot pedal 306 to rise and fall through the connecting block 308, thereby providing a foot pedal The movement of the position of the plate 306 provides power support to ensure the feasibility of the movement of the foot pedal 306 .

In an optional implementation of the embodiment of the present invention, the second connecting rod 303 is fixed through the end of the turning frame 301 close to the fixing frame 302, and ball bearings are installed on both sides of one end of the fixing frame 302 near the turning frame 301, and the connecting rod The second rod 303 is rotatably fitted in the middle of the ball bearing, so that the fixing frame 302 can rotate along the turning frame 301 through the cooperation of the second connecting rod 303 and the ball bearing, thereby improving the flexibility of the fixing frame 302 .

In an optional implementation of the embodiment of the present invention, a slot is provided on the side of the base 101 close to the handrail 102, a slide rail 2 103 is installed inside the slot, and a slide rail is opened in the middle of the slide rail two 103. A toothed plate 2 104 is installed inside the slideway opened by the slide rail two 103. The cross section of the slide rail two 103 is an "I"-shaped structure, and a slider one 105 is fitted on the slide rail two 103. A first motor 106 is installed on one side of the handrail 102. The first motor 106 is connected with a connecting rod 107 through a rotating shaft, and the connecting rod 107 is fixedly connected with the bottom of the handrail 102. A gear 108 is installed in the middle of the connecting rod 107. 108 meshes with the second tooth plate 104, the first motor 106 drives the shaft to drive the connecting rod 107 to rotate, the rotating connecting rod 107 drives the gear one 108 to rotate, the rotating gear one 108 meshes with the second tooth plate 104, and cooperates with the slider one 105 to slide along the The second rail 103 slides, and then drives the armrest 102 to rise and fall, so that the armrest 102 can adjust the height of the armrest 102 according to the arm position of the patient when sitting, so as to better support the patient and facilitate the hand of the patient on the intact side to grasp, so that the patient There is a stable focus point during training, so as to maintain the balance of the body, prevent the patient from falling, and ensure the safety of the patient during training.

In an optional implementation of the embodiment of the present invention, the backrest 109 is hollow, and the massage unit 2 is installed inside the backrest 109. The massage unit 2 includes a support column 201 and a number of massage hammers 202, and the several massage hammers 202 are respectively Equidistant and equal numbers are installed on both sides of the support column 201, and the support column 201 is fixed inside the backrest 109. The support column 201 has a hollow cuboid structure, and a second motor is installed on the inner side walls of both sides of the bottom of the support column 201. 203, the second motor 203 is connected with a rotating rod 204 through the rotating shaft, and a number of connecting rods 205 are installed equidistantly on the side of the rotating rod 204 close to the massage hammer 202, and the connecting rod 1 205 and the massage hammer 202 are close to the support column 201. One end is fixedly connected, the two sides of the support column 201 are equidistantly provided with notches, the connecting rod 1 205 rotates inside the notch, the second motor 203 drives the rotating shaft to drive the rotating rod 204 to rotate, and the rotating rotating rod 204 is driven by the connecting rod 1 205 The massage hammer 202 moves in a circle, and then taps and massages the patient's back, so as to avoid excessive pressure on the patient's lumbar spine while sitting in a sitting position for a long time for rehabilitation training, causing the patient's waist pain, effectively relieving the patient's pain and reducing the patient's training. time pain.

In an optional implementation of the embodiment of the present invention, the training unit 4 includes a bottom bar 401, a mounting plate 410, an upper arm fixing plate 416 and a forearm fixing plate 419, the mounting plate 410 is located above the bottom bar 401, and the upper arm fixing plate 416 is located at the bottom On one side of the rod 401, the forearm fixing plate 419 is located below the upper arm fixing plate 416, and a notch is opened at the bottom of the side of the base 101 away from the folding plate 110. A slide rail 1012 is installed below the bottom rod 401, and a fifth motor 406 is installed at the bottom of the bottom rod 401. The fifth motor 406 is connected with a gear three 407 through a rotating shaft. The slider 3 408 is installed, the section of the sliding rail 1 1012 is in an "I" shape, the sliding rail 1 1012 is adapted to the slider 3 408, and the slider 3 408 is slid along the sliding rail 1012, the bottom rod 401 A number of balls are installed at the bottom. When the bottom rod 401 moves, the balls roll along the ground, which can reduce the friction between the bottom rod 401 and the ground, avoid the wear of the bottom rod 401, and prolong the service life of the device. The fifth motor 406 drives the rotating shaft The gear three 407 is driven to rotate, the rotating gear three 407 meshes with the tooth plate one 1011, and the slider three 408 slides along the slide rail one 1012, so that the bottom rod 401 can move and ensure the flexibility of the bottom rod 401.

In an optional implementation of the embodiment of the present invention, the bottom rod 401 has a hollow structure, a telescopic rod 402 is drawn inside the bottom rod 401, and a slot is opened on one side of the telescopic rod 402, and is installed inside the slot There is a toothed plate 405, a fourth motor 403 is installed on the side of the bottom rod 401 close to the toothed plate 3 405, the fourth motor 403 is connected with a second gear 404 through a rotating shaft, and the second gear 404 is meshed with the toothed plate 3 405. A sixth motor 409 is installed on the top of the rod 402. The sixth motor 409 is connected to the mounting plate 410 through a rotating shaft. The fourth motor 403 drives the rotating shaft to drive the second gear 404 to rotate. The rotating gear two 404 meshes with the third tooth plate 405 to make the telescopic rod 402 The mounting plate 410 is driven up and down, and the sixth motor 409 drives the rotating shaft to drive the mounting plate 410 to rotate, so that the mounting plate 410 can be rotated while being lifted and lowered to ensure the flexibility of the mounting plate 410 .

In an optional implementation of the embodiment of the present invention, a seventh motor 411 is installed on the upper end face of the mounting plate 410 , the seventh motor 411 is connected with an installation rod 412 through a rotating shaft, and a bearing seat is installed on the upper end face of the installation plate 410 , and the installation rod 412 is rotatably fitted in the middle of the bearing seat, which can keep the mounting rod 412 stable and rotate at the same time, and improve the stability and flexibility of the mounting rod 412. The eighth motor 413 is installed on the top of the mounting rod 412, and the eighth motor 413 is used for A connecting frame 1 414 is connected through the rotating shaft. The cross section of the connecting frame 1 414 is an inverted "U"-shaped structure. The upper arm fixing plate 416 is located inside the connecting frame 1 414. A ninth motor 415 is installed at one end of the connecting frame 1 414. The ninth motor 415 is connected with the upper arm fixing plate 416 through a rotating shaft, and a second connecting frame 417 is installed at the bottom of the upper arm fixing plate 416. The cross section of the second connecting frame 417 is an inverted "U"-shaped structure, and the forearm fixing plate 419 is located in the second connecting frame. Inside 417, a tenth motor 418 is installed at one end of the second connecting frame 417. The tenth motor 418 is connected to the forearm fixing plate 419 through a rotating shaft. The strap 420 is mounted on the strap 420 with a Velcro. The male and female surfaces of the Velcro are connected to encircle the patient's arm, so as to keep it fixed. The seventh motor 411 drives the shaft to drive the installation rod 412 to rotate, thereby driving the upper arm fixing plate 416 and the forearm. The fixing plate 419 performs a circular motion along the mounting rod 412, so that the patient's arm swings back and forth, the eighth motor 413 drives the rotating shaft to drive the connecting frame 414 to rotate, and then drives the upper arm fixing plate 416 and the forearm fixing plate 419 to rotate, driving the patient's arm to rotate, the ninth The motor 415 drives the rotating shaft to drive the upper arm fixing plate 416 to rotate, so that the forearm fixing plate 419 swings along with it, so that the patient's arm swings left and right, and the tenth motor 418 drives the rotating shaft to drive the forearm fixing plate 419 to rotate, so that the patient's arm is stretched and flexed. According to the above cooperation, It can enable patients to do simple upper limb rehabilitation exercises according to the plan made by the doctor, and can change the upper limb movement range and training intensity according to the actual situation of the patients. It is suitable for stroke patients at all stages to carry out upper limb rehabilitation training.

In an optional implementation of the embodiment of the present invention, the use method of the training massage device specifically includes the following steps:

Step 1: The family members help the patient to sit on the base 101, the first motor 106 drives the rotating shaft to drive the connecting rod 107 to rotate, the rotating connecting rod 107 drives the first gear 108 to rotate, and the rotating gear 1 108 meshes with the second tooth plate 104 and cooperates with the slider. The first 105 slides along the slide rail 2 103, and then drives the armrest 102 to rise and fall, so that the armrest 102 can adjust the height of the armrest 102 according to the arm position of the patient when sitting, which can better support the patient and facilitate the hand of the patient's healthy side. Grip, so that the patient has a stable focus point during training, so as to maintain the balance of the body, prevent the patient from falling, and ensure the safety of the patient during training;

Step 2: After adjusting the armrest 102, the bottom of the fixing frame 302 is clamped in the bayonet at different positions, and the second sliding block 307 is used to drive the footrest 306 to move up and down along the fixing frame 302 to adjust the position of the footrest 306. Combined with the third The motor 304 drives the rotating shaft to drive the lead screw 305 to rotate, and the rotating lead screw 305 is threaded with the screw holes installed on the top of the second slider 307, and the bottom of the second slider 307 slides along the slot opened in the second fixed frame 302, thereby making the sliding The second block 307 rises and falls along the fixing frame 302, and the lifting slider 2 307 drives the foot pedal 306 to rise and fall through the connecting block 308 to match the length and posture of the patient's legs. The pedal 306 rotates along the connecting block 308 through the rotating shaft, so that the foot pedal 306 can be adjusted at any time according to the placement angle of the patient's foot, which can help the patient's leg to adjust a comfortable posture when the patient is performing upper limb training, thereby reducing the patient's stress during the training process. fatigue;

Step 3: After the patient's posture is fixed, the fifth motor 406 drives the rotating shaft to drive the gear 3 407 to rotate, the rotating gear 3 407 meshes with the tooth plate 1 1011, and slides along the slide rail 1012 in conjunction with the slider 3 408, so that the bottom bar 401 can be moved. move, and then drive the upper arm fixing plate 416 and the forearm fixing plate 419 to move through the mounting plate 410, and combine with the fourth motor 403 to drive the shaft to drive the second gear 404 to rotate, and the rotating gear two 404 meshes with the third tooth plate 405 so that the telescopic rod 402 drives the mounting plate 410 lifts up and down, the sixth motor 409 drives the shaft to drive the mounting plate 410 to rotate, so that the mounting plate 410 can be moved up and down and can be rotated, thereby driving the upper arm fixing plate 416 and the forearm fixing plate 419 to lift and rotate so as to be close to the patient, so that the device is different from other devices. The patient is fitted, and the upper arm of the patient is closely attached to the upper arm fixing plate 416 through the Velcro on the strap 420, and the patient's forearm is closely attached to the forearm fixing plate 419. The seventh motor 411 drives the rotating shaft to drive the installation rod 412 to rotate, thereby driving the upper arm to be fixed. The plate 416 and the forearm fixing plate 419 move in a circular motion along the mounting rod 412, so that the patient's arm swings back and forth. The eighth motor 413 drives the rotating shaft to drive the connecting frame 414 to rotate, thereby driving the upper arm fixing plate 416 and the forearm fixing plate 419 to rotate, driving the patient's arm. Rotate to perform internal rotation and external rotation of the arm. The ninth motor 415 drives the rotating shaft to drive the upper arm fixing plate 416 to rotate, so that the forearm fixing plate 419 swings along with it, so that the patient's arm swings left and right to perform arm lifting motion, and the tenth motor 418 drives the rotating shaft to drive The forearm fixing plate 419 rotates to make the patient's arm stretch and flex, and perform rehabilitation training. According to the above cooperation, the patient can do a variety of upper limb rehabilitation exercises according to the plan made by the doctor, and the upper limb movement range and training can be changed according to the actual situation of the patient. The intensity and training intensity can be gradually increased according to the patient's physical condition, suitable for upper limb rehabilitation training for stroke patients at all stages, with simple operation and good training effect;

Step 4: During the training process, the second motor 203 drives the rotating shaft to drive the rotating rod 204 to rotate, and the rotating rotating rod 204 drives the massage hammer 202 to move in a circle through the connecting rod 1 205, and then massages the patient's back to avoid prolonged The pressure on the lumbar spine of the patient in the sitting position for rehabilitation training is too large, which causes the patient's lumbar pain, which effectively relieves the patient's pain and relieves the patient's pain during training.

During use, first, the family members support the patient to sit on the base 101, the first motor 106 drives the rotating shaft to drive the connecting rod 107 to rotate, the rotating connecting rod 107 drives the gear one 108 to rotate, and the rotating gear one 108 meshes with the second tooth plate 104, Cooperate with the slider 1 105 to slide along the slide rail 2 103, and then drive the armrest 102 to rise and fall, so that the armrest 102 can adjust the height of the armrest 102 according to the arm position of the patient when sitting, which can better support the patient and facilitate the patient's healthy side. Hand grasping, so that the patient has a stable focus point during training, so as to maintain the balance of the body, prevent the patient from falling, and ensure the safety of the patient during training;

Next, after adjusting the armrest 102, the bottom of the fixing frame 302 is clamped in the bayonet at different positions, and the second slider 307 is used to drive the footrest 306 to move up and down along the fixing frame 302 to adjust the position of the footrest 306. Combined with the third motor 304 drives the rotating shaft to drive the lead screw 305 to rotate, the rotating lead screw 305 is threaded with the screw holes installed on the top of the second slider 307, and combined with the bottom of the second slider 307 to slide along the slot opened in the second fixed frame 302, so that the slider The second 307 moves up and down along the fixed frame 302, and the lifting slider 2 307 drives the foot pedal 306 to rise and fall through the connecting block 308 to match the length and posture of the patient's legs, put the patient's feet on the foot pedal 306, and cooperate with the foot pedal The plate 306 rotates along the connecting block 308 through the rotating shaft, so that the foot pedal 306 can be adjusted at any time according to the placement angle of the patient's foot, which can help the patient's leg to adjust a comfortable posture when the patient is performing upper limb training, thereby reducing the patient's fatigue during the training process. ;

Then, after the patient's posture is fixed, the fifth motor 406 drives the rotating shaft to drive the gear three 407 to rotate, the rotating gear three 407 meshes with the tooth plate one 1011, and slides along the slide rail one 1012 in conjunction with the slider three 408, so that the bottom rod 401 can move Then, the upper arm fixing plate 416 and the forearm fixing plate 419 are driven to move by the mounting plate 410, and the second gear 404 is driven by the fourth motor 403 to drive the rotating shaft to rotate. Lifting and lowering, the sixth motor 409 drives the rotating shaft to drive the mounting plate 410 to rotate, so that the mounting plate 410 can be lifted and lowered while rotating, thereby driving the upper arm fixing plate 416 and the forearm fixing plate 419 to lift and rotate so as to be close to the patient, so that the device is compatible with different patients. Fitting, the upper arm of the patient is tightly attached to the upper arm fixing plate 416 through the Velcro on the strap 420, and the patient's forearm is attached to the forearm fixing plate 419. The seventh motor 411 drives the rotating shaft to drive the installation rod 412 to rotate, thereby driving the upper arm fixing plate 416 and the forearm fixing plate 419 perform a circular motion along the mounting rod 412, so that the patient's arm swings back and forth, the eighth motor 413 drives the shaft to drive the connecting frame 414 to rotate, and then drives the upper arm fixing plate 416 and the forearm The fixing plate 419 rotates, and drives the patient's arm to rotate , to carry out the internal rotation and external rotation of the arm, the ninth motor 415 drives the rotating shaft to drive the upper arm fixing plate 416 to rotate, so that the forearm fixing plate 419 swings along with it, so that the patient's arm swings left and right to carry out the arm lifting movement, and the tenth motor 418 drives the rotating shaft to drive the forearm The fixed plate 419 rotates to make the patient's arm stretch and flex, and perform rehabilitation training. According to the above cooperation, the patient can do a variety of upper limb rehabilitation exercises according to the plan made by the doctor, and the upper limb movement range and training intensity can be changed according to the actual situation of the patient. , the training intensity can be gradually increased according to the patient's physical condition, suitable for stroke patients of all stages to carry out upper limb rehabilitation training, the operation is simple, and the training effect is good;

Finally, in the training process, the second motor 203 drives the rotating shaft to drive the rotating rod 204 to rotate, and the rotating rotating rod 204 drives the massage hammer 202 to move in a circle through the connecting rod 1 205, and then massages the patient's back to avoid prolonged maintenance. The pressure on the lumbar spine of patients undergoing rehabilitation training in the sitting position is too large, which causes the patient's low back pain, which effectively relieves the patient's pain and relieves the patient's pain during training.

In the present invention, the height of the armrest 102 can be adjusted according to the arm position of the patient when sitting by lifting and lowering the armrest 102. The device can better support the patient, and at the same time, it is convenient for the patient's healthy hand to grasp the armrest 102, so that the patient can be trained during training. There is a stable point of focus at times, so as to maintain the balance of the body, and the bottom of the fixed frame 302 is stuck in the bayonet at different positions. Combined with the second slider 307 to drive the foot pedal 306 to rise and fall along the second fixed frame 302, the foot pedal 306 can be adjusted. position, so as to match the leg length and posture of the patient, so that the patient can maintain a comfortable posture for training, and at the same time cooperate with the foot pedal 306 to rotate along the connecting block 308 through the rotating shaft, so that the foot pedal 306 can be adjusted at any time according to the placement angle of the patient's feet, Avoid the angle of the foot pedal 306 is too stiff and cannot be adjusted, which will lead to the patient's ankle injury during training and aggravate the disease, which not only improves the patient's body balance and comfort during training, but also ensures the patient's safety during training. Effectively Prevent secondary injury to the patient.

In the present invention, the bottom of the fixing frame 302 is clamped in the bayonet at different positions, and the second sliding block 307 drives the foot pedal 306 to move up and down along the fixing frame 2 302, so that the position of the foot pedal 306 can be adjusted flexibly with the patient's leg length and length. The postures are matched, combined with the hinged connection of the flip frame 301 and the fixed frame 302, the flip frame 301 and the fixed frame 302 can be folded, and then the two foot pedals 306 can be turned over to be close to the two sides of the fixed frame 302 respectively, and then cooperate with the base 101 and the fixed frame 302. The folding plate 110 is hinged through a hinge, and the flip frame 301 and the fixing frame 302 can be folded into the interior of the base 101, and then the base 101 and the folding plate 110 are combined with the hinge to make the folding plate 110 turn over and close to the base 101, so that the When the device is not in use, the leg support unit 3 is placed in the base 101. On the one hand, the device has a higher degree of matching with the patient, and is more flexible and applicable to a wider range. On the other hand, the device can be easily folded and stored when it is not in use. , reducing the footprint of the device, thereby greatly improving the utilization of space.

In the present invention, the fifth motor 406 drives the rotating shaft to drive the third gear 407 to rotate, and the rotating gear three 407 meshes with the first tooth plate 1011, so that the bottom rod 401 can move, and the moving bottom rod 401 drives the upper arm fixing plate 416 and The forearm fixing plate 419 moves, combined with the fourth motor 403 to drive the rotating shaft to drive the second gear 404 to rotate, the rotating gear two 404 meshes with the third tooth plate 405 so that the telescopic rod 402 drives the mounting plate 410 to rise and fall, and the sixth motor 409 drives the rotating shaft to drive the mounting plate 410 Rotation, so that the mounting plate 410 can be lifted and rotated at the same time, thereby driving the upper arm fixing plate 416 and the forearm fixing plate 419 to lift and rotate to be close to the patient and fit different patients, so that the device is suitable for patients with different body types and heights, convenient The training has strong applicability and is conducive to the popularization and use of the device.

In the present invention, the upper arm of the patient is closely attached to the upper arm fixing plate 416 by the Velcro on the strap 420, and the patient's forearm is attached to the forearm fixing plate 419. The seventh motor 411 drives the rotating shaft to drive the installation rod 412 to rotate, thereby driving the upper arm fixing plate 416 and the forearm fixing plate 419 perform circular motion along the mounting rod 412, driving the patient's arm to swing back and forth, the eighth motor 413 drives the shaft to drive the connecting frame 414 to rotate, and then drives the upper arm fixing plate 416 and the forearm fixing plate 419 to rotate, driving the patient's arm to rotate The ninth motor 415 drives the rotating shaft to drive the upper arm fixing plate 416 to rotate, so that the forearm fixing plate 419 swings with it, and drives the patient's arm to swing left and right to carry out the arm lifting movement. The tenth motor 418 drives the rotating shaft to drive the forearm The rotation of the fixed plate 419 drives the patient’s arm to stretch and flex. According to the above cooperation, the patient can do a variety of upper limb rehabilitation exercises according to the plan made by the doctor, and the upper limb movement range and training intensity can be changed according to the actual situation of the patient. According to the patient's physical condition, it is suitable for stroke patients of all stages to carry out upper limb rehabilitation training. The operation is simple and the training effect is good.

The present invention uses the body support unit 1 to keep the patient in a sitting position, thereby stabilizing the upper body of the patient, and in combination with the massage unit 2, the patient's back can be massaged during rehabilitation training, so as to avoid excessive pressure on the lumbar spine of the patient who remains in a sitting position for a long time for rehabilitation training. Cause the patient's waist pain, the leg support unit 3 can help the patient's legs adjust a comfortable posture when the patient is training upper limbs, thereby reducing the patient's fatigue during the training process, and the training unit 4 is simple. It can not only ensure the patient's body balance during training, reduce the pressure on other body parts during training, and improve the comfort of the patient's training process through the above cooperation. Plan to adjust the patient training position so that the patient can recover faster.

The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments, and the descriptions in the above-mentioned embodiments and the description are only to illustrate the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will also There are various changes and improvements which fall within the scope of the claimed invention. The claimed scope of the present invention is defined by the appended claims and their equivalents.

Claims (10)

1. The utility model provides a cerebral apoplexy patient upper limbs are recovered with training massage device, includes health support element (1), massage unit (2), shank support element (3) and training unit (4), its characterized in that: massage unit (2) and shank support element (3) all are located the inside of health support element (1), training unit (4) are located one side of health support element (1), health support element (1) includes base (101), back (109) and folded sheet (110), the top at base (101) one side is installed to back (109), the bottom of back (109) one side is kept away from in base (101) swing joint to folded sheet (110), one side about the swing joint of base (101) has handrail (102), two draw-in grooves (111) are installed to the one end that base (101) were kept away from in folded sheet (110), a plurality of bayonet socket has been seted up to draw-in groove (111) equidistance, and the patient can sit on base (101), hugs closely back (109), and handrail (102) are held to the hand that the health can move about one side, can be when carrying out upper limbs rehabilitation training, the body is kept stable, and the training effect of the patient is better;

the leg supporting unit (3) comprises a roll-over stand (301), a fixed frame (302) and two pedals (306), the roll-over stand (301) is hinged to the fixed frame (302), the two pedals (306) are respectively positioned on two sides of the fixed frame (302), two sliding blocks (307) are respectively arranged on two sides of the fixed frame (302) in a sliding mode, a connecting block (308) is installed at one end, close to the fixed frame (302), of each pedal (306), the sliding blocks (307) are rotatably connected with the connecting block (308) through a rotating shaft, the bottom of the fixed frame (302) is matched with a bayonet formed by the clamping grooves (111), the bottom of the fixed frame (302) is clamped inside the bayonet, the bottom of the fixed frame (302) is clamped in the bayonet at different positions, and the sliding blocks (307) are matched to drive the pedals (306) to lift along the fixed frame (302) so that the positions of the pedals (306) can be adjusted, further matching the leg length and the posture of the patient, and keeping the patient in a comfortable posture for training.

2. The training and massaging device for the rehabilitation of the upper limbs of the stroke patient according to the claim 1, which is characterized in that: the base (101) is a hollow cuboid structure, the base (101) is hinged to the folding plate (110) through a hinge, and one end of the turnover frame (301) far away from the fixed frame (302) is hinged to the inner side wall of the base (101) close to the bottom of one end of the fixed frame (302) through a pin shaft.

3. The training and massaging device for the upper limb rehabilitation of the stroke patient as claimed in claim 2, wherein: third motor (304) are all installed to the both sides of mount (302), the one end of third motor (304) is connected with lead screw (305) through the pivot, lead screw (305) run through the top of slider two (307), the screw is installed at the top of slider two (307), screw and lead screw (305) screw-thread fit, the notch has all been seted up to the both sides of mount (302), the cross-section of slider two (307) is "T" type structure, the bottom of slider two (307) slides in the notch that mount two (302) were seted up.

4. The training and massaging device for the upper limb rehabilitation of the stroke patient according to claim 3, characterized in that: a second connecting rod (303) penetrates through and is fixed at one end, close to the fixed frame (302), of the turnover frame (301), ball bearings are mounted on two sides of one end, close to the turnover frame (301), of the fixed frame (302), and the second connecting rod (303) is in rotating fit with the middle of the ball bearings.

5. The training and massaging device for the rehabilitation of the upper limbs of the stroke patient according to the claim 1, which is characterized in that: the base (101) is close to one side of handrail (102) and has been seted up the notch, notch internally mounted has two slide rails (103), the slide has been seted up at the middle part of two slide rails (103), the slide internally mounted that two slide rails (103) were seted up has two pinion rack (104), the cross-section of two slide rails (103) is "worker" style of calligraphy structure, the adaptation has slider (105) on two slide rails (103), one side that handrail (102) were kept away from in slider (105) is installed first motor (106), first motor (106) are connected with connecting rod (107) through the pivot, the bottom fixed connection of connecting rod (107) and handrail (102), the mid-mounting of connecting rod (107) has first gear (108), first gear (108) and pinion rack (104) meshing.

6. The training and massaging device for the rehabilitation of the upper limbs of the stroke patient according to the claim 1, which is characterized in that: backrest (109) are the cavity setting, install the inside at backrest (109) massage unit (2), massage unit (2) are including support column (201) and a plurality of massage hammer (202), the both sides in support column (201) are installed to a plurality of massage hammer (202) equidistance respectively, the inside in backrest (109) is fixed in support column (201), support column (201) are hollow cuboid structure, second motor (203) are all installed to the inside wall of the bottom both sides of support column (201), second motor (203) are connected with bull stick (204) through the pivot, a plurality of connecting rod (205) are installed to one side equidistance that bull stick (204) are close to massage hammer (202), one end fixed connection that connecting rod (205) and massage hammer (202) are close to support column (201).

7. The training and massaging device for the rehabilitation of the upper limbs of the stroke patient according to the claim 1, which is characterized in that: the training unit (4) comprises a bottom rod (401), a mounting plate (410), an upper arm fixing plate (416) and a forearm fixing plate (419), the mounting plate (410) is located above the bottom rod (401), the upper arm fixing plate (416) is located on one side of the bottom rod (401), the forearm fixing plate (419) is located below the upper arm fixing plate (416), a notch is formed in the bottom of one side, away from the folding plate (110), of the base (101), a first toothed plate (1011) is installed inside the notch, a first sliding rail (1012) is installed below the first toothed plate (1011), a fifth motor (406) is installed at the bottom of the bottom rod (401), the fifth motor (406) is connected with a third gear (407) through a rotating shaft, the third gear (407) is meshed with the first toothed plate (1011), a third sliding block (408) is installed below the third gear (407), the cross section of the first sliding rail (1012) is of an I-shaped structure, and the first sliding rail (1012) is matched with the third sliding block (408), and the third slider (408) slides along the first slide rail (1012).

8. The training and massaging device for the rehabilitation of the upper limbs of the stroke patient according to the claim 7, which is characterized in that: bottom bar (401) are hollow structure, the inside pull of bottom bar (401) has telescopic link (402), the notch has been seted up to one side of telescopic link (402), notch internally mounted has pinion rack three (405), fourth motor (403) are installed to one side that bottom bar (401) are close to pinion rack three (405), fourth motor (403) are connected with gear two (404) through the pivot, gear two (404) and pinion rack three (405) meshing, sixth motor (409) are installed at the top of telescopic link (402), sixth motor (409) are connected with mounting panel (410) through the pivot.

9. The training and massaging device for the rehabilitation of the upper limbs of the stroke patient according to the claim 8, which is characterized in that: a seventh motor (411) is installed on the upper end face of the installation plate (410), the seventh motor (411) is connected with an installation rod (412) through a rotating shaft, an eighth motor (413) is installed at the top of the installation rod (412), the eighth motor (413) is connected with a first connecting frame (414) through a rotating shaft, the section of the first connecting frame (414) is in an inverted U-shaped structure, an upper arm fixing plate (416) is located inside the first connecting frame (414), a ninth motor (415) is installed at one end of the first connecting frame (414), the ninth motor (415) is connected with the upper arm fixing plate (416) through a rotating shaft, a second connecting frame (417) is installed at the bottom of the upper arm fixing plate (416), the section of the second connecting frame (417) is in an inverted U-shaped structure, a forearm fixing plate (419) is located inside the second connecting frame (417), a tenth motor (418) is installed at one end of the second connecting frame (417), and the tenth motor (418) is connected with the fixing plate (419) through a rotating shaft, a plurality of binding bands (420) are arranged on one side of the upper arm fixing plate (416) and one side of the forearm fixing plate (419).

10. The training and massage apparatus for upper limb rehabilitation of stroke patient according to any one of claims 1-9, characterized in that: the use method of the training massage device specifically comprises the following steps:

the method comprises the following steps: family members hold up a patient to sit on the base (101), the first motor (106) drives the rotating shaft to drive the connecting rod (107) to rotate, the rotating connecting rod (107) drives the first gear (108) to rotate, the first rotating gear (108) is meshed with the second toothed plate (104), the first sliding block (105) is matched to slide along the second sliding rail (103), and then the handrail (102) is driven to lift, so that the height of the handrail (102) can be adjusted according to the arm position of the patient when the patient sits, the patient can be better supported and the hand on one side of the patient with a good body can be conveniently grasped, the patient can have a stable force point during training, and the body balance is kept;

step two: after the handrail (102) is adjusted, the bottom of the fixed frame (302) is clamped in clamping openings at different positions, the second sliding block (307) is matched to drive the pedal (306) to lift along the fixed frame (302) to adjust the position of the pedal (306), the third motor (304) is combined to drive the rotating shaft to drive the screw rod (305) to rotate, the rotating screw rod (305) is in threaded fit with a screw hole arranged at the top of the second sliding block (307), the bottom of the second sliding block (307) is combined to slide in a groove opening formed in the second fixed frame (302), the second sliding block (307) is further lifted along the fixed frame (302), the lifted second sliding block (307) drives the pedal plate (306) to lift through the connecting block (308) to be matched with the leg length and the posture of a patient, the feet of the patient are placed on the pedal plate (306), and the pedal plate (306) is matched to rotate along the connecting block (308) through the rotating shaft, so that the pedal plate (306) can be adjusted at any time according to the placing angle of the feet of the patient;

step three: after the posture of a patient is fixed, a fifth motor (406) drives a rotating shaft to drive a gear three (407) to rotate, the rotating gear three (407) is meshed with a toothed plate one (1011), a sliding block three (408) is combined to slide along a sliding rail one (1012) so that a bottom rod (401) can move, an upper arm fixing plate (416) and a forearm fixing plate (419) are driven to move through a mounting plate (410), a fourth motor (403) is combined to drive the rotating shaft to drive a gear two (404) to rotate, the rotating gear two (404) is meshed with the toothed plate three (405) so that a telescopic rod (402) drives the mounting plate (410) to lift, a sixth motor (409) drives the rotating shaft to drive the mounting plate (410) to rotate, the mounting plate (410) can lift while rotating, the upper arm fixing plate (416) and the forearm fixing plate (419) are driven to lift and rotate to attach to different patients, an upper arm of a patient is tightly attached to an upper arm fixing plate (416) through magic tapes on a binding band (420), a forearm of the patient is tightly attached to a forearm fixing plate (419), a seventh motor (411) drives a rotating shaft to drive a mounting rod (412) to rotate so as to drive the upper arm fixing plate (416) and the forearm fixing plate (419) to perform circular motion along the mounting rod (412) so as to enable an arm of the patient to swing back and forth, an eighth motor (413) drives the rotating shaft to drive a first connecting frame (414) to rotate so as to drive the upper arm fixing plate (416) and the forearm fixing plate (419) to rotate so as to drive the arm of the patient to rotate, arm inward-rotating and outward-rotating motion is performed, a ninth motor (415) drives the rotating shaft to drive the upper arm fixing plate (416) to rotate so that the forearm fixing plate (419) swings along with the arm of the patient to lift the arm, a tenth motor (418) drives the rotating shaft to drive the forearm fixing plate (419) to rotate, the arms of the patient are enabled to do stretching and bending motions to carry out rehabilitation training, according to the cooperation, the patient can do various upper limb rehabilitation motions according to the plan formulated by the doctor, and the motion amplitude and the training intensity of the upper limbs can be changed according to the actual condition of the patient;

step four: in the training process, the second motor (203) drives the rotating shaft to drive the rotating rod (204) to rotate, the rotating rod (204) drives the massage hammer (202) to move circumferentially through the first connecting rod (205), and then the back of a patient is beaten and massaged.

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