CN115227548A - Three-degree-of-freedom upper limb rehabilitation device - Google Patents

Three-degree-of-freedom upper limb rehabilitation device Download PDF

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Publication number
CN115227548A
CN115227548A CN202210897497.6A CN202210897497A CN115227548A CN 115227548 A CN115227548 A CN 115227548A CN 202210897497 A CN202210897497 A CN 202210897497A CN 115227548 A CN115227548 A CN 115227548A
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CN
China
Prior art keywords
gear
forearm
motor
fixed
swing
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Pending
Application number
CN202210897497.6A
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Chinese (zh)
Inventor
潘礼正
张美雪
丁忆
闵云霄
唐自勤
赵红飞
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Changzhou University
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Changzhou University
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Priority to CN202210897497.6A priority Critical patent/CN115227548A/en
Publication of CN115227548A publication Critical patent/CN115227548A/en
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G15/00—Operating chairs; Dental chairs; Accessories specially adapted therefor, e.g. work stands
    • A61G15/007—Physiotherapeutic chairs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G15/00—Operating chairs; Dental chairs; Accessories specially adapted therefor, e.g. work stands
    • A61G15/10—Parts, details or accessories
    • A61G15/12—Rests specially adapted therefor, e.g. for the head or feet
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0277—Elbow
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A61H1/0285—Hand
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0119—Support for the device
    • A61H2201/0138—Support for the device incorporated in furniture
    • A61H2201/0149—Seat or chair
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1463—Special speed variation means, i.e. speed reducer
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • A61H2201/1638—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2203/00—Additional characteristics concerning the patient
    • A61H2203/04—Position of the patient
    • A61H2203/0425—Sitting on the buttocks
    • A61H2203/0431—Sitting on the buttocks in 90°/90°-position, like on a chair
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A61H2205/065—Hands

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Biophysics (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention relates to a three-degree-of-freedom upper limb rehabilitation device which comprises a seat component, a forearm spinning motion mechanism, an elbow joint flexion and extension motion mechanism and a forearm horizontal swinging mechanism, wherein the seat component is placed on the ground; the forearm spin motion mechanism realizes the spin motion of the forearm, the elbow joint flexion and extension motion mechanism realizes the flexion and extension motion of the elbow joint, and the forearm horizontal swing mechanism realizes the reciprocating swing motion of the forearm in the horizontal direction. The invention can realize the three-freedom-degree motion of the spin of the forearm, the flexion and extension of the elbow joint and the swing of the forearm in the horizontal direction of a patient, and each freedom degree moves independently; the recovery device is separated from the patient, when the rehabilitation device is used, only the arm part and the recovery device are fixed, and the recovery training is safer; the total length of the forearm supporting rod for placing the forearm of the patient can be adjusted, and the use requirements of different patients can be met.

Description

Three-degree-of-freedom upper limb rehabilitation device
Technical Field
The invention relates to the technical field of rehabilitation equipment, in particular to a three-degree-of-freedom upper limb rehabilitation device.
Background
Apoplexy is a common disease in the elderly population, and aims at the rehabilitation therapy of a patient with apoplexy, and the traditional rehabilitation method is mainly used for performing physical exercise training therapy on the patient by a rehabilitation doctor.
At present, a rehabilitation robot is used for performing auxiliary treatment on a patient to help the patient to exercise upper limbs and lower limbs so as to gradually recover the limb functions. However, the existing rehabilitation robot needs to be greatly improved in the aspects of humanization, intellectualization and structural optimization, firstly, the size of the upper limb rehabilitation robot is still large, especially, the wearable upper limb rehabilitation robot is cumbersome to wear, moreover, as the joint shaft part needs to be a large-size part to reduce the movement speed, the worn part has large mass, the affected limb is heavy in burden, and most of the upper limb rehabilitation robots also have the problems of complex structure and need to improve the safety stability and comfort.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in order to overcome the defects in the prior art, the invention provides the three-degree-of-freedom upper limb rehabilitation device which is simple in structure and easy to operate, so that the spin of the forearm, the flexion and extension of the elbow joint and the horizontal swing motion of the forearm of a patient are realized, and the training requirements in different rehabilitation periods are met.
The technical scheme adopted by the invention for solving the technical problems is as follows: a three degree-of-freedom upper limb rehabilitation device comprising:
a seat assembly: the device is provided with a machine base, fixing columns and adjusting rods, wherein the fixing frames are arranged in front of the machine base at intervals, the adjusting rods are telescopically arranged on the fixing columns, a platform is rotatably arranged on the machine base, and a front arm supporting frame is fixed on the rear end face of the platform;
forearm spin motion: the rear end of the large forearm supporting rod is rotatably connected with the forearm supporting frame, the small forearm supporting rod is in inserting fit with the front end of the large forearm supporting rod, the front end of the small forearm supporting rod is fixed with a vertical flat plate, and the handle is rotatably arranged on the vertical flat plate;
the elbow joint flexion and extension movement mechanism comprises: the device comprises an arc gear, a wide gear and a double-wheel frame, wherein the double-wheel frame is positioned below a large forearm supporting rod and fixedly connected with a platform, the arc gear is fixed with the lower end face of the middle part of the large forearm supporting rod, the wide gear is rotatably arranged at the front end of the double-wheel frame, and the wide gear is in meshing transmission with the arc gear;
forearm horizontal swinging mechanism: the swing device comprises a swing large gear, a swing small gear and a speed reducing motor, wherein the speed reducing motor is arranged in a base, the swing large gear is fixed with the rear end of a platform, the swing small gear is fixed on an output shaft of the speed reducing motor, and the swing small gear is meshed with the swing large gear to drive the platform to swing horizontally.
Specifically, the seat assembly comprises a seat plate, wherein a handrail is fixed on one side of the seat plate, the seat is fixed at the rear end of the other side of the seat plate, the fixed column is positioned at the front end of the other side of the seat plate, and the adjusting rod extends into a central hole of the fixed column and is adjustably connected with the fixed column through a spring pin; the base is provided with a motor hole and a platform connecting hole.
Furthermore, a rotating short shaft is fixed on the bottom surface of the rear end of the platform and is rotatably connected with a platform connecting hole in the base through a bearing.
The front arm spin movement mechanism comprises a spin motor, a spin pinion and a spin gear wheel, a motor box is fixed on the front end face of the vertical flat plate, the spin motor is installed in the motor box, the output shaft of the spin motor is connected with a speed reducer, and the spin pinion is installed on the output shaft of the speed reducer; the upper end face of the handle is fixedly connected with a right-angle connecting rod, the lower end part of the vertical section of the right-angle connecting rod is provided with a transmission short shaft, the front end of the transmission short shaft extends out of the vertical flat plate and is in running fit with the vertical flat plate through a bearing, the spinning large gear is arranged at the front end of the transmission short shaft, and the spinning small gear is in meshing transmission with the spinning large gear.
Little forearm bracing piece length direction distribute one row of aperture, little forearm bracing piece passes through the spring catch and inserts downthehole and big forearm bracing piece adjustable connection of aperture to in the convenience adjust forearm bracing piece overall length, adapt to different patients' user demand.
The elbow joint flexion and extension movement mechanism comprises a flexion and extension motor fixed on the platform and a speed reducer in transmission connection with the flexion and extension motor, a motor gear is installed on an output shaft of the speed reducer, a wheel shaft of the wide gear is in rotary connection with the double-wheel frame through a bearing, and a transition gear in meshing transmission with the motor gear is installed on an extending end of the wheel shaft of the wide gear.
The inner side of the arc gear is provided with semicircular bulges, the outer side of the arc gear is provided with straight teeth which are uniformly distributed, the rear end of the double-wheel frame is rotatably provided with a concave roller wheel through a bearing, the concave roller wheel is matched with the semicircular bulges on the inner side of the arc gear to limit and guide the motion direction of the arc gear, and the wide gear is meshed with the straight teeth on the outer side of the arc gear.
Furthermore, the speed reducing motor is installed in a motor hole on the base.
The beneficial effects of the invention are: the invention can realize the three-freedom-degree motion of the spin of the forearm, the flexion and extension of the elbow joint and the swing of the forearm in the horizontal direction of a patient, and each freedom degree moves independently; the recovery device is separated from the patient, when the patient uses the rehabilitation device, only the arm part and the recovery device are fixed, the affected limb has no weight burden, the recovery exercise training is safer, and the use method is simple; the total length of the forearm supporting rod for placing the forearm of the patient can be adjusted to adapt to the use requirements of different patients and improve the use comfort of the rehabilitation device.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural diagram of the forearm spin movement mechanism of the invention.
Fig. 3 is a schematic structural diagram of the elbow flexion-extension movement mechanism of the invention.
Fig. 4 is a schematic structural diagram of the forearm horizontal swinging mechanism of the invention.
Figure 5 is a schematic view of the seat assembly of the present invention.
In the figure: 1. the chair comprises a chair component, 2 parts of a front arm self-rotating movement mechanism, 3 parts of an elbow joint bending and stretching movement mechanism, 4 parts of a front arm horizontal swinging mechanism, 5 parts of a chair plate, 6 parts of an armrest, 7 parts of a machine base, 8 parts of a fixing column, 9 parts of an adjusting rod, 10 parts of a platform, 11 parts of a motor hole, 12 parts of a platform connecting hole, 13 parts of a front arm supporting frame, 14 parts of a large front arm supporting rod, 15 parts of a small front arm supporting rod, 16 parts of a handle, 17 parts of a self-rotating motor, 18 parts of a self-rotating small gear, 19 parts of a self-rotating large gear, 20 parts of a vertical flat plate, 21 parts of a motor box, 22 parts of a right-angle connecting rod, 23 parts of a transmission short shaft, 24 parts of a magic tape 25 parts of a bending and stretching motor, 26 parts of a motor gear, 27 parts of a transition gear, 28 parts of an arc gear, 29 parts of a wide gear, 30 parts of a concave roller, 31 parts of a double-wheel frame, 32 parts of a motor mounting base, 33 parts of a swing large gear, 34 parts of a swing small gear, and 35 parts of a speed reducing motor.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
As shown in fig. 1, the three-degree-of-freedom upper limb rehabilitation device includes a seat assembly 1, a forearm spin movement mechanism 2, an elbow joint flexion and extension movement mechanism 3, and a forearm horizontal swing mechanism 4, wherein the seat assembly 1 is placed on the ground, and the forearm spin movement mechanism 2, the elbow joint flexion and extension movement mechanism 3, and the forearm horizontal swing mechanism 4 are all mounted on the seat assembly.
As shown in fig. 5, the seat assembly 1: including seat board 5, handrail 6, frame 7, fixed column 8 and regulation pole 9, handrail 6 is fixed at 5 right sides edges of seat board, and the back is installed to 5 rear ends of seat board, and 5 bottom surface quadrangle ends of seat board are fixed with the landing leg respectively, and seat board 5 supports and the fixed of health position appearance when providing the rehabilitation for the patient.
Frame 7 is fixed with the lateral surface of 5 left sides rear ends of seat board, fixed column 8 is fixed with 5 left sides front end lateral surfaces of seat board, the aperture of interval range has been seted up on adjusting pole 9, it inserts in the centre bore of fixed column 8 and inserts aperture and fixed column 8 through the spring catch and realizes adjustable the connection to adjust pole 9, through adjusting scalable the installing on fixed column 8 of pole 9, the mounting height for adjusting elbow joint and bending and stretching motion mechanism 3, and the motion of bending and stretching to the elbow joint plays limiting displacement.
The machine base 7 is provided with a platform 10, the machine base 7 is provided with a motor hole 11 and a platform connecting hole 12, the bottom surface of the rear end of the platform 10 is fixed with a rotary short shaft, the rotary short shaft is rotatably connected with the platform connecting hole 12 on the machine base 7 through a bearing to realize the horizontal swing of the platform 10, and a front arm supporting frame 13 is fixed on the rear end surface of the platform 10.
As shown in fig. 2, the forearm spin movement mechanism 2: the rear end of the large forearm support rod 14 is rotatably connected with the forearm support frame 13 through a pin shaft and a bearing, a row of small holes are distributed in the length direction of the small forearm support rod 15, the rear end of the small forearm support rod 15 is inserted into the front end of the large forearm support rod 14 and is inserted into the small holes through a spring pin to realize adjustable splicing and matching with the large forearm support rod 14, so that the total length of the forearm support rod can be conveniently adjusted, and the use requirements of different patients are met.
A vertical flat plate 20 is fixed at the front end of the small forearm support rod 15, a motor box 21 is fixed on the front end face of the vertical flat plate 20 through a screw, a motor fixing frame is arranged in the motor box 21, a spin motor 16 is arranged in the motor fixing frame, the spin motor 17 adopts a forward and reverse rotation motor, and an output shaft of the spin motor 17 is connected with a speed reducer; the handle 16 is positioned above the small forearm support rod 15 at the rear side of the vertical flat plate 20, the upper end face of the handle 16 is fixedly connected with a right-angle connecting rod 22, the lower end part of the vertical section of the right-angle connecting rod 22 is fixedly connected with a transmission short shaft 23, the transmission short shaft 23 is in rotating fit with the vertical flat plate 20 through a bearing, the transmission short shaft 23 extends out of the front end face of the vertical flat plate 20, the spinning pinion 18 is installed on an output shaft of the speed reducer, the spinning large gear 19 is installed on the front end of the transmission short shaft 23 extending out of the vertical flat plate 20, and the spinning pinion 18 is in meshing transmission with the spinning large gear 19.
The forearm of the patient is placed on the forearm support rod formed by the big forearm support rod 14 and the small forearm support rod 15, the hand holds the grip 16 and fixes the hand through the magic tape 24 connected to the grip 16, the spin motor 17 drives the spin pinion 18 to rotate through the speed reducer, and the spin pinion 18 is meshed with the spin big gear 19 to drive the grip 16 to rotate left and right, so that the spin movement of the forearm of the patient is realized.
As shown in fig. 3, the elbow flexion-extension movement mechanism 3: comprises a positive and negative rotation flexion and extension motor 25, a motor gear 26, a transition gear 27, an arc gear 28, a wide gear 29, a concave roller 30 and a double-wheel frame 31.
The double-wheel frame 31 is positioned below the large forearm supporting rod 14 and fixedly connected with the platform 10 through screws, the circular arc gear 28 is fixedly welded with the lower end face of the middle part of the large forearm supporting rod 14, a semicircular bulge is arranged on the inner side of the circular arc gear 28, straight teeth are uniformly distributed on the outer side of the circular arc gear 28, a wheel shaft of the wide gear 29 is rotatably arranged at the front end of the double-wheel frame 31 through a bearing, the concave roller 30 is rotatably arranged at the rear end of the double-wheel frame 31 through a bearing, the concave roller 30 is matched with the semicircular bulge on the inner side of the circular arc gear 28 to limit and guide the movement direction of the circular arc gear 28, and the wide gear 29 is in meshing transmission with the straight teeth on the outer side of the circular arc gear 28.
A motor mounting seat 32 is fixed on an outer convex plate at the front end of the platform 10, the bending and stretching motor 25 is mounted on the motor mounting seat 32 and is in transmission connection with a speed reducer, a motor gear 26 is mounted on an output shaft of the speed reducer, and a transition gear 27 is mounted on a wheel shaft extending end of the wide gear 29 and is in meshing transmission with the motor gear 26.
The forearm of the patient is placed on the big forearm support rod 14, the flexion-extension motor 25 drives the motor gear 26 to rotate through the speed reducer, the motor gear 26 drives the wide gear 29 to rotate through the transition gear 27, and the wide gear 29 is meshed with the transmission arc gear 28 to move so as to push the big forearm support rod 14 to move up and down, so that the flexion-extension movement of the elbow joint of the patient is realized.
As shown in fig. 4, the forearm horizontal swing mechanism 4: the swing large gear 33 is fixed with the rear end face of the platform 10 through a screw, the swing small gear 34 is fixed on an output shaft of the speed reducing motor 35, and the swing small gear 34 is meshed with the swing large gear 33 to drive the platform 10 to swing horizontally.
After the forearm of the patient is placed on the forearm support rod 14, the gear motor 35 is started to drive the swing pinion 34 to be meshed with the swing large gear 33, so as to drive the platform 10 to swing back and forth in the horizontal direction, and therefore the swinging movement of the forearm of the patient in the horizontal direction is realized.
The mechanism is assembled and installed on the seat component 1, a patient sits on the seat plate 5, and the forearm is placed on the large forearm supporting rod 14, so that the three-degree-of-freedom movement of the forearm in all three degrees of freedom including the rotation of the forearm, the flexion and extension of the elbow joint and the horizontal swing of the forearm can be realized, and the requirement of forearm rehabilitation training of the patient can be met.
In light of the foregoing description of the preferred embodiment of the present invention, many modifications and variations will be apparent to those skilled in the art without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.

Claims (8)

1. A three-degree-of-freedom upper limb rehabilitation device is characterized in that: the method comprises the following steps:
a seat assembly: the device is provided with a base, a fixed column and an adjusting rod, wherein the fixed frames are arranged in front of the base at intervals, the adjusting rod is telescopically arranged on the fixed column, a platform is rotatably arranged on the base, and a front arm supporting frame is fixed on the rear end face of the platform;
forearm spin motion: the rear end of the large forearm supporting rod is rotatably connected with the forearm supporting frame, the small forearm supporting rod is in inserting fit with the front end of the large forearm supporting rod, a vertical flat plate is fixed at the front end of the small forearm supporting rod, and the handle is rotatably arranged on the vertical flat plate;
elbow joint flexion and extension movement mechanism: the device comprises an arc gear, a wide gear and a double-wheel frame, wherein the double-wheel frame is positioned below a large forearm supporting rod and fixedly connected with a platform, the arc gear is fixed with the lower end face of the middle part of the large forearm supporting rod, the wide gear is rotatably arranged at the front end of the double-wheel frame, and the wide gear is in meshing transmission with the arc gear;
forearm horizontal swinging mechanism: the swing device comprises a swing large gear, a swing small gear and a speed reducing motor, wherein the speed reducing motor is arranged in a base, the swing large gear is fixed with the rear end of a platform, the swing small gear is fixed on an output shaft of the speed reducing motor, and the swing small gear is meshed with the swing large gear to drive the platform to swing horizontally.
2. The three-degree-of-freedom upper limb rehabilitation device according to claim 1, characterized in that: the seat assembly comprises a seat plate, a handrail is fixed on one side of the seat plate, the base is fixed at the rear end of the other side of the seat plate, the fixed column is positioned at the front end of the other side of the seat plate, and the adjusting rod extends into a central hole of the fixed column and is in adjustable connection with the fixed column through a spring pin; the engine base is provided with a motor hole and a platform connecting hole.
3. The three-degree-of-freedom upper limb rehabilitation device according to claim 2, characterized in that: and a rotating short shaft is fixed on the bottom surface of the rear end of the platform and is rotatably connected with a platform connecting hole on the base through a bearing.
4. The three-degree-of-freedom upper limb rehabilitation device according to claim 1, characterized in that: the front arm spin movement mechanism comprises a spin motor, a spin pinion and a spin gear wheel, a motor box is fixed on the front end face of the vertical flat plate, the spin motor is installed in the motor box, the output shaft of the spin motor is connected with a speed reducer, and the spin pinion is installed on the output shaft of the speed reducer; the upper end face of the handle is fixedly connected with a right-angle connecting rod, the lower end part of the vertical section of the right-angle connecting rod is provided with a transmission short shaft, the front end of the transmission short shaft extends out of the vertical flat plate and is in running fit with the vertical flat plate through a bearing, the spinning large gear is arranged at the front end of the transmission short shaft, and the spinning small gear is in meshing transmission with the spinning large gear.
5. The three-degree-of-freedom upper limb rehabilitation device according to claim 4, characterized in that: the length direction of the small forearm supporting rod is distributed with a row of small holes, and the small forearm supporting rod is inserted into the small holes through spring pins and is adjustably connected with the large forearm supporting rod.
6. The three-degree-of-freedom upper limb rehabilitation device according to claim 3, characterized in that: the elbow joint flexion and extension movement mechanism comprises a flexion and extension motor fixed on the platform and a speed reducer in transmission connection with the flexion and extension motor, a motor gear is installed on an output shaft of the speed reducer, a wheel shaft of the wide gear is in rotary connection with the double-wheel frame through a bearing, and a transition gear in meshing transmission with the motor gear is installed on an extending end of the wheel shaft of the wide gear.
7. The three-degree-of-freedom upper limb rehabilitation device according to claim 6, characterized in that: the inner side of the circular arc gear is provided with semicircular bulges, the outer side of the circular arc gear is provided with straight teeth which are uniformly distributed, the rear end of the double-wheel frame is rotatably provided with a concave roller wheel through a bearing, the concave roller wheel is matched with the semicircular bulges at the inner side of the circular arc gear, and the wide gear is meshed with the straight teeth at the outer side of the circular arc gear.
8. The three-degree-of-freedom upper limb rehabilitation device according to claim 2, characterized in that: the speed reducing motor is arranged in a motor hole on the base.
CN202210897497.6A 2022-07-28 2022-07-28 Three-degree-of-freedom upper limb rehabilitation device Pending CN115227548A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210897497.6A CN115227548A (en) 2022-07-28 2022-07-28 Three-degree-of-freedom upper limb rehabilitation device

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CN117860521A (en) * 2023-03-23 2024-04-12 上海市奉贤区中心医院 Breast cancer postoperative rehabilitation training device

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117860521A (en) * 2023-03-23 2024-04-12 上海市奉贤区中心医院 Breast cancer postoperative rehabilitation training device

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