CN117426951A - Wearable upper limb rehabilitation device - Google Patents
Wearable upper limb rehabilitation device Download PDFInfo
- Publication number
- CN117426951A CN117426951A CN202311764199.0A CN202311764199A CN117426951A CN 117426951 A CN117426951 A CN 117426951A CN 202311764199 A CN202311764199 A CN 202311764199A CN 117426951 A CN117426951 A CN 117426951A
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- motor
- output shaft
- rod
- strap
- fixing plate
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 50
- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 210000000323 shoulder joint Anatomy 0.000 claims abstract description 18
- 238000005452 bending Methods 0.000 claims abstract description 4
- 210000000245 forearm Anatomy 0.000 claims description 9
- 230000036541 health Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 7
- 238000012549 training Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 4
- 210000000707 wrist Anatomy 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
Classifications
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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
- A61H1/0281—Shoulder
-
- 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
- A61H2201/0157—Constructive details portable
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/062—Shoulders
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention provides a wearable upper limb rehabilitation device which comprises a movable assembly and a wearable assembly, wherein the movable assembly comprises a shoulder movable mechanism and a hand movable mechanism, the shoulder movable mechanism comprises a first motor, the first motor is rotationally connected with a first traction rod through a first output shaft, the first traction rod is connected with a second motor, the second motor is rotationally connected with a second traction rod through a second output shaft, the second traction rod is connected with a third motor, the third motor is rotationally connected with a third traction rod through a third output shaft, the third traction rod is connected with a fourth motor, the fourth motor is rotationally connected with the hand movable mechanism through a fourth output shaft, the first traction rod, the second traction rod and the third traction rod form a bending angle of 120 degrees, and the intersection point of extension lines of the first output shaft, the second output shaft, the third output shaft and the fourth output shaft is the center point of a shoulder joint. Through adopting above-mentioned structure, can drive patient's shoulder joint and follow the spherical rotation of central point, ensure that patient's shoulder is fully movable, improve upper limbs recovered efficiency.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a wearable upper limb rehabilitation device.
Background
The upper limb participates in most of actions in daily activities, and the influence of the sports function damage on the sports ability and life quality of patients is particularly remarkable, so that the sports function recovery training of the upper limb is an extremely important link in the rehabilitation process of cerebral apoplexy patients.
At present, the rehabilitation of upper limb dysfunction mainly depends on the rehabilitation of a rehabilitation center instrument of a hospital, but needs to be assisted in rehabilitation, and consumes a great amount of manpower and material resources. Along with the proposal of the pension mode, people pay more attention to home rehabilitation, but the home rehabilitation equipment has single functional types and lacks systematic and intelligent instruments to complete active, passive, boosting and anti-resistance rehabilitation training.
The existing upper limb rehabilitation device is generally in a tail end traction type, the movable arm of the device is connected with the hand of a patient, the hand of the patient is pulled to move through the movement of the movable arm, but the shoulder of the patient cannot be trained in a targeted mode effectively, the mobility of the shoulder of the patient is insufficient, and the upper limb rehabilitation effect is poor.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a wearable upper limb rehabilitation device which is combined with a main control device to realize the active, passive, auxiliary and anti-resistance rehabilitation training modes of a system for driving an elbow by a shoulder. The invention aims to solve the technical problems of low upper limb rehabilitation efficiency and poor effect caused by lack of targeted training on the shoulders of a patient and insufficient shoulder mobility caused by driving hands of the patient by movable arms to perform upper limb rehabilitation training in the prior art.
In order to achieve the above object, the present invention is achieved by the following technical scheme:
the utility model provides a wearing formula upper limbs rehabilitation device, includes movable assembly and wearing subassembly, wearing subassembly is used for fixing on patient's health wearing formula upper limbs rehabilitation device, movable assembly includes shoulder movable mechanism and hand movable mechanism, hand movable mechanism is used for connecting patient's arm, shoulder movable mechanism includes first motor, second motor, third motor and the fourth motor that encircle patient's shoulder setting, the one side of first motor passes through adjusting part and connects wearing subassembly, first motor dorsad first traction lever is connected through first output shaft rotation, first traction lever is kept away from first motor's one end is connected second motor, second motor dorsad first traction lever's one end passes through second output shaft rotation connection second traction lever, second traction lever is kept away from second motor's one end is connected the third motor, third motor dorsad second traction lever's one side passes through the third output shaft rotation connection third traction lever, third motor is kept away from the third motor the one side of third traction lever the third motor back motor, the fourth motor is kept away from the fourth motor dorsad second motor is connected with the fourth traction lever, wherein the straight joint is formed by the straight extension line angle, the straight joint is formed by the straight joint, the straight joint is formed between the first extension line, the straight joint is the straight and the fourth joint is the patient's one end, and the straight joint is formed, the first traction rod is parallel to the second traction rod when the first output shaft and the third output shaft are located on the same axis, and the second traction rod is parallel to the third traction rod when the second output shaft and the fourth output shaft are located on the same axis.
Compared with the prior art, the invention has the beneficial effects that: when a patient needs to perform upper limb rehabilitation training, the wearable upper limb rehabilitation device can be directly fixed on the body through the wearable component, so that the phenomenon that the patient cannot move in a rehabilitation period is avoided due to a fixed setting mode, the wearable upper limb rehabilitation device can be matched with the daily activities of the patient through the wearable component, the portability and the practicability of the wearable upper limb rehabilitation device are improved, and the wearable upper limb rehabilitation device is suitable for a home rehabilitation scene; after the arm of the patient is connected with the hand movement mechanism, the first motor, the second motor, the third motor and the fourth motor are started, so that the first traction rod can traction the second motor to rotate along the first spherical surface along the central point of the shoulder joint of the patient, the second traction rod can traction the third motor to rotate along the second spherical surface along the central point of the shoulder joint of the patient, the third traction rod can traction the fourth motor to rotate along the third spherical surface along the central point of the shoulder joint of the patient, and the first spherical surface, the second spherical surface and the third spherical surface are concentric and gradually contracted through the arrangement of 120-degree bending angles of the first traction rod, the second traction rod and the third traction rod and the orientation arrangement of the first output shaft, the second output shaft and the fourth output shaft, so that the shoulder joint of the patient is driven to rotate along the central point of the shoulder joint of the patient, the shoulder movement degree of the patient is effectively ensured, the efficiency of the upper rehabilitation is improved, and in addition, the movement of the motor and the traction rod has no interference in the process of collision between the movement mechanism and the shoulder movement.
Further, the wearing assembly comprises an abutting part and a first constraint part, the first constraint part comprises a first strap and a second strap which are connected to two opposite side walls of the abutting part, the first strap is detached and connected with the second strap, the top of the abutting part is connected with a first strap and a second strap, and one ends, far away from the abutting part, of the first strap and the second strap are respectively connected with the first strap and the second strap.
Still further, the wearing assembly further comprises a waist support portion, one surface of the supporting portion is connected with the waist support portion, and the waist support portion is located at one end, far away from the first braces, of the supporting portion.
Still further, the wearing assembly further comprises a second restraint part, the second restraint part is arranged between the waist support part and the first restraint part, the second restraint part comprises a third strap and a fourth strap which are connected to two opposite side walls of the leaning part, and the third strap is detached and connected with the fourth strap.
Still further, adjusting part includes drive division and slide bar, wearing the subassembly on set up drive division, drive division drive connection the slide bar, so that the slide bar is along vertical reciprocating movement, the slide bar is kept away from drive division's one end is connected first motor.
Still further, the hand movable mechanism corresponds the unit including the big arm that connects gradually, the forearm corresponds the unit and holds the unit, the big arm corresponds the unit and includes first fixed plate and second fixed plate, fourth output shaft rotation is connected first fixed plate, first fixed plate is kept away from the one end of fourth output shaft is connected through first telescopic link the second fixed plate, the second fixed plate rotation is connected the forearm corresponds the unit.
Still further, the forearm corresponds the unit and includes rotating electrical machines, third fixed plate and fourth fixed plate, the second fixed plate is kept away from the one end of first telescopic link is connected the rotating electrical machines, the rotating electrical machines is through fifth output shaft rotation connection the third fixed plate, the third fixed plate is kept away from the one end of fifth output shaft is through the second telescopic link connection the fourth fixed plate.
Still further, the holding unit includes a holding rod, and one end of the fourth fixing plate, which is far away from the second telescopic rod, is provided with the holding rod.
Still further, the unit of gripping still includes dead lever and sliding ring, the fourth fixed plate is kept away from the one end of second telescopic link is connected the dead lever, the dead lever is kept away from the one end of fourth fixed plate is connected the sliding ring, annular spout is seted up to the inner wall of sliding ring, the both ends that grip the pole is relative all sliding connection in the annular spout.
Drawings
Fig. 1 is a schematic structural diagram of a wearable upper limb rehabilitation device according to an embodiment of the present invention at a first view angle;
fig. 2 is a schematic structural diagram of a wearable upper limb rehabilitation device according to an embodiment of the present invention at a second view angle;
fig. 3 is a schematic structural diagram of a wearable upper limb rehabilitation device according to an embodiment of the present invention at a third view angle;
fig. 4 is a schematic structural diagram of a wearable upper limb rehabilitation device according to an embodiment of the present invention at a fourth view angle;
description of main reference numerals:
10. a movable assembly; 110. a shoulder movement mechanism; 111. a first motor; 112. a second motor; 113. a third motor; 114. a fourth motor; 115. a first drawbar; 116. a second drawbar; 117. a third drawbar; 120. a hand movement mechanism; 121. a large arm corresponding unit; 1211. a first fixing plate; 1212. a second fixing plate; 1213. a first telescopic rod; 122. a forearm corresponding unit; 1221. a rotating electric machine; 1222. a third fixing plate; 1223. a fourth fixing plate; 1224. a second telescopic rod; 123. a grip unit; 1231. a grip lever; 1232. a fixed rod; 1233. a slip ring; 1234. a chute; 20. a wearing component; 210. an abutting portion; 220. a first constraint part; 221. a first strap; 222. a second strap; 230. a second constraint part; 240. a waist support part; 250. a first harness; 260. a second harness; 30. an adjustment assembly; 310. a driving section; 320. and a slide bar.
The invention will be further described in the following detailed description in conjunction with the above-described figures.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. Several embodiments of the invention are presented in the figures. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "mounted" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 to 4, the wearable upper limb rehabilitation device in the embodiment of the invention includes a movable component 10 and a wearable component 20, wherein the wearable component 20 is used for fixing the wearable upper limb rehabilitation device on a patient's body, when the patient needs to perform upper limb rehabilitation training, the wearable upper limb rehabilitation device can be directly fixed on the body through the wearable component 20, so as to avoid the problem that the patient cannot move during rehabilitation due to a fixed setting mode, and the wearable upper limb rehabilitation device can be adapted to the daily activities of the patient through the wearable upper limb rehabilitation device 20, and can be matched with the movable component 10 to integrate the upper limb rehabilitation work into the daily activities of the patient, thereby being suitable for home rehabilitation scenes and improving the portability and practicality of the wearable upper limb rehabilitation device.
Specifically, the wearing assembly 20 includes an abutment portion 210 and a first constraint portion 220, the abutment portion 210 is configured to abut against the back of the patient, the first constraint portion 220 includes a first strap 221 and a second strap 222 connected to two opposite sidewalls of the abutment portion 210, the first strap 221 is detachably connected to the second strap 222, preferably, a clamping seat is disposed at an end of the first strap 221 opposite to the abutment portion 210, and a buckle is disposed at an end of the second strap 222 opposite to the abutment portion 210, and the buckle is inserted into the clamping seat to enable the second strap 222 to be connected to the first strap 221. The abutment 210 may be fixed to the back of the patient by the first restraining part 220.
Further, the top of the abutting portion 210 is connected to the first strap 250 and the second strap 260, one ends of the first strap 250 and the second strap 260 away from the abutting portion 210 are respectively connected to the first strap 221 and the second strap 222, and the stress points can be distributed to the shoulders of the patient by arranging the first strap 250 and the second strap 260, so that the stability of the wearable upper limb rehabilitation device when the wearable upper limb rehabilitation device is fixed on the body of the patient is improved. Because the movable assembly 10 is further disposed on the wearing assembly 20, and the bottom of the abutting portion 210 is pressed against the waist of the patient due to the weight of the movable assembly 10, in order to ensure the waist health of the patient, the wearing assembly 20 further includes a waist support portion 240, and one side of the abutting portion 210 is connected to the waist support portion 240, it can be understood that the waist support portion 240 is located on one side of the abutting portion 210 facing the back of the patient. And the waist support 240 is located at an end of the abutting portion 210 away from the first strap 250, that is, the waist support 240 corresponds to the waist position of the patient.
In order to further improve the stability of the wearable upper limb rehabilitation device on the upper body of the patient, the wearable assembly 20 further comprises a second constraint part 230, the waist support part 240 and the first constraint part 220 are provided with the second constraint part 230, the second constraint part 230 comprises a third strap and a fourth strap connected to two opposite side walls of the leaning part 210, the third strap is detached and connected with the fourth strap, the connection mode between the third strap and the fourth strap is the same as the connection mode between the first strap 221 and the second strap 222, and the second constraint part 230 is not repeated here, so that the structural design of double support points is realized in cooperation with the first constraint part 220, and the stability of the integral structure is effectively improved.
The movable assembly 10 comprises a shoulder movable mechanism 110 and a hand movable mechanism 120, the hand movable mechanism 120 is used for connecting an arm of a patient, the shoulder movable mechanism 110 comprises a first motor 111, a second motor 112, a third motor 113 and a fourth motor 114 which are arranged around the shoulder of the patient, and the first motor 111, the second motor 112, the third motor 113 and the fourth motor 114 are sequentially connected. One surface of the first motor 111 is connected with the wearing assembly 20 through an adjusting assembly 30, the adjusting assembly 30 is used for adjusting the relative position between the first motor 111 and the wearing assembly 20, specifically, the adjusting assembly 30 comprises a driving part 310 and a sliding rod 320, the driving part 310 is arranged on the wearing assembly 20, the driving part 310 is in driving connection with the sliding rod 320 so that the sliding rod 320 moves vertically and reciprocally, one end, far away from the driving part 310, of the sliding rod 320 is connected with the first motor 111, after the wearing assembly 20 is worn, the vertical position of the sliding rod 320 can be adjusted through the driving part 310, and then the height adjustment of the movable assembly 10 is completed, so that patients with different heights can be adapted. Preferably, the sliding rod 320 has a telescopic function, so as to adjust the lateral distance between the movable assembly 10 and the wearable assembly 20, and further adapt to patients with different shoulder widths, and by setting the adjusting assembly 30, the adaptation degree between the wearable upper limb rehabilitation device and different patients is improved.
The first motor 111 is opposite to the surface of the adjusting component 30 and is rotationally connected with the first traction rod 115 through a first output shaft, one end of the first traction rod 115, which is far away from the first motor 111, is connected with the second motor 112, the second motor 112 is positioned on the surface of the first traction rod 115 opposite to the first motor 111, one surface of the second motor 112 opposite to the first traction rod 115 is rotationally connected with the second traction rod 116 through a second output shaft, one end of the second traction rod 116, which is far away from the second motor 112, is connected with the third motor 113, one surface of the third motor 113, which is far away from the second traction rod 116, is rotationally connected with the third traction rod 117 through a third output shaft, one end of the third traction rod 117, which is far away from the third motor 113, is connected with the fourth motor 114, the fourth motor 114 is positioned on the surface of the third traction rod 117 opposite to the third motor, the second traction rod 116 is connected with the first traction rod 116 through a straight and the first output shaft, the straight extension rod 120 is connected with the first traction rod 111, the straight extension rod 120 is formed between the straight extension rod and the straight extension rod 120, and the straight extension rod is arranged, and the straight extension rod is formed between the straight extension rod 120, the second traction rod 116 and the third traction rod 117 are arranged in the same manner, and will not be described in detail here.
The intersection point of the extension lines of the first output shaft, the second output shaft, the third output shaft and the fourth output shaft is the center point of the shoulder joint of the patient, so that the shoulder joint of the patient rotates along the center point of the shoulder joint of the patient in a spherical mode. After the arm of the patient is connected to the hand movement mechanism 120, the first motor 111, the second motor 112, the third motor 113 and the fourth motor 114 are started, so that the first traction rod 115 pulls the second motor 112 to rotate along the central point of the shoulder joint of the patient, the second traction rod 116 pulls the third motor 113 to rotate along the second spherical surface along the central point of the shoulder joint of the patient, the third traction rod 117 pulls the fourth motor 114 to rotate along the third spherical surface along the central point of the shoulder joint of the patient, and the first spherical surface, the second spherical surface and the third spherical surface are gradually contracted by setting the 120-degree bending angle of the first traction rod 115, the second traction rod 116 and the third traction rod 117 and setting the orientation of the first output shaft, the second output shaft, the third output shaft and the fourth output shaft, so that the shoulder joint of the patient rotates along the central spherical surface of the shoulder joint of the patient, and the efficiency of the patient in the movement range of the shoulder joint is fully improved.
Preferably, when the first output shaft and the third output shaft are positioned on the same axis, the first traction rod 115 is parallel to the second traction rod 116, and when the second output shaft and the fourth output shaft are positioned on the same axis, the second traction rod 116 is parallel to the third traction rod 117, that is, the first traction rod 115, the second traction rod 116 and the third traction rod 117 are gradually approaching the shoulder of the patient in units of thickness variation distances of the second motor 112 and the third motor 113. Through the specific position setting, the risk of collision between the first traction rod 115, the second traction rod 116 and the third traction rod 117 when the movable assembly 10 drives the shoulder of the patient to move can be avoided, and meanwhile, the risk of collision between the first motor 111, the second motor 112, the third motor 113 and the fourth motor 114 can be avoided, so that the use safety is ensured.
Further, the hand movement mechanism 120 includes a large arm corresponding unit 121, a small arm corresponding unit 122 and a holding unit 123 which are sequentially connected, it is understood that the large arm corresponding unit 121 corresponds to the large arm position of the patient, the small arm corresponding unit 122 corresponds to the small arm position of the patient, and the holding unit 123 corresponds to the palm position of the patient. When the patient completes wearing the wearing assembly 20, the upper limb rehabilitation work can be started by holding the holding unit 123.
The big arm corresponding unit 121 includes a first fixed plate 1211 and a second fixed plate 1212, the fourth output shaft is rotatably connected to the first fixed plate 1211, one end of the first fixed plate 1211, which is far away from the fourth output shaft, is connected to the second fixed plate 1212 through a first telescopic rod 1213, and the second fixed plate 1212 is rotatably connected to the small arm corresponding unit 122, it can be understood that one surface of the second fixed plate 1212, which faces the first fixed plate 1211, is concave inwards to form a first telescopic slot, one surface of the first fixed plate 1211, which faces the second fixed plate 1212, is connected to the first telescopic rod 1213, and the first telescopic rod 1213 is slidably connected in the first telescopic slot, and by adjusting the insertion depth of the first telescopic rod 1213 in the first telescopic slot, the distance between the first fixed plate 1211 and the second fixed plate 1212 is further adjusted, so as to adapt to big arms with different lengths. Further, the forearm corresponding unit 122 includes a rotating motor 1221, a third fixing plate 1222 and a fourth fixing plate 1223, one end of the second fixing plate 1212, which is far away from the first telescopic rod 1213, is connected to the rotating motor 1221, the rotating motor 1221 is rotationally connected to the third fixing plate 1222 through a fifth output shaft, and by setting the rotating motor 1221, the rotation connection between the forearm corresponding unit 121 and the forearm corresponding unit 122 is realized, so as to adapt the rotation of the elbow of the patient, expand the movement range of the upper limb of the patient, and improve the rehabilitation effect. The end of the third fixing plate 1222 away from the fifth output shaft is connected to the fourth fixing plate 1223 through a second telescopic rod 1224, and the second telescopic rod 1224 is used for adjusting the distance between the third fixing plate 1222 and the fourth fixing plate 1223, so as to adapt to different forearm lengths. The adjustment manner of the distance between the third fixing plate 1222 and the fourth fixing plate 1223 is identical to the adjustment manner of the distance between the first fixing plate 1211 and the second fixing plate 1212, and will not be described herein.
The holding unit 123 includes holding pole 1231, fourth fixed plate 1223 is kept away from the one end of second telescopic link 1224 sets up holding pole 1231, the patient is through using the hand to grasp holding pole 1231 realizes the fixed of upper limbs, preferably, holding unit 123 still includes dead lever 1232 and sliding ring 1233, fourth fixed plate 1223 is kept away from the one end of second telescopic link 1224 is connected dead lever 1232, understandably, dead lever 1232 is followed fourth fixed plate 1223 extends to patient's body direction, dead lever 1232 is kept away from one end of fourth fixed plate 1223 is connected sliding ring 1233, sliding ring 1233 perpendicular to dead lever 1232, annular runner 1234 is seted up to the inner wall of sliding ring 1233, holding pole 1231 opposite both ends all sliding connection in annular runner, through setting up sliding ring 1233, but the rotation of adaptation patient, through patient's hand, can further rotate the required wrist of the sliding ring 1231 when the wrist is provided with the higher wrist of the patient, can further rotate the upper limbs of the user.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing examples illustrate only a few embodiments of the invention and are described in detail herein without thereby limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (9)
1. The utility model provides a wearing formula upper limbs rehabilitation device, its characterized in that includes movable subassembly and wearing subassembly, wearing subassembly is used for fixing on patient's health wearing formula upper limbs rehabilitation device, movable subassembly includes shoulder movable mechanism and hand movable mechanism, hand movable mechanism is used for connecting patient's arm, shoulder movable mechanism includes first motor, second motor, third motor and the fourth motor that encircle patient's shoulder setting, the one side of first motor passes through adjusting part and connects wearing subassembly, the one side of first motor dorsad adjusting part passes through first output shaft rotation connection first traction lever, the one end that first traction lever kept away from first motor is connected the second motor, the one side of second motor dorsad first traction lever passes through second output shaft rotation connection second traction lever, one end of the second traction rod, which is far away from the second motor, is connected with the third motor, one surface of the third motor, which is far away from the second traction rod, is rotationally connected with the third traction rod through a third output shaft, one end of the third traction rod, which is far away from the third motor, is connected with the fourth motor, one surface of the fourth motor, which is far away from the third traction rod, is rotationally connected with the hand moving mechanism through a fourth output shaft, the first traction rod, the second traction rod and the third traction rod all comprise straight parts and extension parts, an angle of 120 DEG bending angle is formed between the straight parts and the extension parts, the intersection point of extension lines of the first output shaft, the second output shaft, the third output shaft and the fourth output shaft is the center point of a shoulder joint of a patient, so that the shoulder joint of the patient rotates along the center point sphere, the first traction rod is parallel to the second traction rod when the first output shaft and the third output shaft are located on the same axis, and the second traction rod is parallel to the third traction rod when the second output shaft and the fourth output shaft are located on the same axis.
2. The wearable upper limb rehabilitation device according to claim 1, wherein the wearable assembly comprises an abutting portion and a first constraint portion, the first constraint portion comprises a first strap and a second strap connected to two opposite side walls of the abutting portion, the first strap is detachably connected with the second strap, the top of the abutting portion is connected with a first strap and a second strap, and one ends of the first strap and the second strap away from the abutting portion are respectively connected with the first strap and the second strap.
3. The wearable upper limb rehabilitation device according to claim 2, wherein the wearing assembly further comprises a waist support portion, one surface of the abutting portion is connected with the waist support portion, and the waist support portion is located at one end of the abutting portion away from the first brace.
4. The wearable upper limb rehabilitation device according to claim 3, wherein the wearable assembly further comprises a second restraint portion, the second restraint portion is disposed between the waist support portion and the first restraint portion, the second restraint portion comprises a third strap and a fourth strap connected to two opposite side walls of the leaning portion, and the third strap is detachably connected to the fourth strap.
5. The wearable upper limb rehabilitation device according to claim 1, wherein the adjusting component comprises a driving part and a sliding rod, the driving part is arranged on the wearable component and is in driving connection with the sliding rod, so that the sliding rod moves vertically and reciprocally, and one end of the sliding rod, far away from the driving part, is connected with the first motor.
6. The wearable upper limb rehabilitation device according to claim 1, wherein the hand movement mechanism comprises a big arm corresponding unit, a small arm corresponding unit and a holding unit which are sequentially connected, the big arm corresponding unit comprises a first fixing plate and a second fixing plate, the fourth output shaft is rotationally connected with the first fixing plate, one end, far away from the fourth output shaft, of the first fixing plate is connected with the second fixing plate through a first telescopic rod, and the second fixing plate is rotationally connected with the small arm corresponding unit.
7. The wearable upper limb rehabilitation device according to claim 6, wherein the forearm corresponding unit comprises a rotating motor, a third fixing plate and a fourth fixing plate, wherein one end of the second fixing plate, which is far away from the first telescopic rod, is connected with the rotating motor, the rotating motor is rotationally connected with the third fixing plate through a fifth output shaft, and one end of the third fixing plate, which is far away from the fifth output shaft, is connected with the fourth fixing plate through a second telescopic rod.
8. The wearable upper limb rehabilitation device according to claim 7, wherein the holding unit includes a holding rod, and the end of the fourth fixing plate, which is far away from the second telescopic rod, is provided with the holding rod.
9. The wearable upper limb rehabilitation device according to claim 8, wherein the holding unit further comprises a fixing rod and a slip ring, one end of the fourth fixing plate, which is far away from the second telescopic rod, is connected with the fixing rod, one end of the fixing rod, which is far away from the fourth fixing plate, is connected with the slip ring, an annular chute is formed in the inner wall of the slip ring, and two opposite ends of the holding rod are slidably connected in the annular chute.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311764199.0A CN117426951A (en) | 2023-12-21 | 2023-12-21 | Wearable upper limb rehabilitation device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311764199.0A CN117426951A (en) | 2023-12-21 | 2023-12-21 | Wearable upper limb rehabilitation device |
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| CN117426951A true CN117426951A (en) | 2024-01-23 |
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| CN202311764199.0A Pending CN117426951A (en) | 2023-12-21 | 2023-12-21 | Wearable upper limb rehabilitation device |
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