CN202654370U - Multi-joint linkage limb rehabilitation device - Google Patents

Multi-joint linkage limb rehabilitation device Download PDF

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Publication number
CN202654370U
CN202654370U CN 201220202132 CN201220202132U CN202654370U CN 202654370 U CN202654370 U CN 202654370U CN 201220202132 CN201220202132 CN 201220202132 CN 201220202132 U CN201220202132 U CN 201220202132U CN 202654370 U CN202654370 U CN 202654370U
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CN
China
Prior art keywords
joint
multi
rehabilitation device
elbow
shoulder
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CN 201220202132
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Chinese (zh)
Inventor
方明
黄汐
李有森
朱伟强
苏益平
施朝晖
盛华东
吕欢
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浙江科惠医疗器械有限公司
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Priority to CN 201220202132 priority Critical patent/CN202654370U/en
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Publication of CN202654370U publication Critical patent/CN202654370U/en

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Abstract

The utility model belongs to rehabilitation materials and particularly discloses a multi-joint linkage limb rehabilitation device. The multi-joint linkage limb rehabilitation device comprises three motors and supports and is characterized in that the supports consist of a shoulder joint movable support, an elbow joint movable support and a wrist joint movable support which are driven by the three motors respectively; and the three movable supports respectively simulate the natural movement trails of shoulder, elbow and wrist joints so as to form an integrated linkage mechanism which is controlled by a micro computer. According to the multi-joint linkage limb rehabilitation device, the three motors are used for finishing the whole set of movement; the multi-joint linkage limb rehabilitation device is high in control performance and can realize a plurality of training modes; the natural movement trails of the shoulder, elbow and wrist joints are simulated by a rotation movement mode, so that the requirement that hurt limbs of a patient are needed to do two-dimensional composite motion in a plane can be met; and the rehabilitation device is simple in structure, and the joint movement supports can be driven and controlled conveniently.

Description

一种多关节联动的肢体康复装置 Physical rehabilitation apparatus of a multi-joint linkage

技术领域 FIELD

[0001] 本实用新型属于肢体康复设备,具体是一种多关节联动的肢体康复装置。 The utility model is physical rehabilitation equipment, physical rehabilitation in particular a multi-joint linkage means of the [0001] present.

背景技术 Background technique

[0002] 我国是人口大国,同时也是医疗水平相对落后的发展中国家,由于疾病、运动伤害和意外伤害导致的残疾人群有着相当高的比例和绝对数量;而我国又是中风病的高发地区之一,在幸存者中约70% -80%的病人留有不同程度的残疾。 [0002] China is a populous country, but also the medical level is relatively backward developing countries, people with disabilities due to the disease, sports injuries and accident cause has a very high percentage and absolute number; while China is the stroke of the high incidence of First, among the survivors about 70% -80% of patients left with varying degrees of disability. 肢体运动功能障碍,不仅给患者自身带来诸多生活上的不便,也给家庭和社会带来巨大的不利影响。 Motor dysfunction, not only a lot of inconvenience to the patient's own life, but also a huge negative impact on families and society. 对于这类病人,对其残疾部位进行康复训练是十分重要和关键的医疗手段,及早进行康复训练可以大大减少残疾的可能性。 For these patients, rehabilitation training is a very important part of their disability and critical medical treatment, early rehabilitation can greatly reduce the likelihood of disability. 在骨科临床上康复是一种治疗程序,用以减少骨科疾患治疗后的病废,其目的是恢复功能,即在治疗的基础上,强调预防挛缩,应用训练方法,锻练肌肉力量,刺激潜在能力以恢复或代偿已丧失的功能。 In orthopedics rehabilitation is a treatment program to reduce waste disease after orthopedic disorders treatment, which aims to restore function, that is, on the basis of treatment, emphasizing the prevention of contractures, application training methods, exercise muscles and stimulate potential ability to restore or compensate the lost function. 就一般而言,一个手术的预后效果,一半取决于手术后的康复治疗。 A general rule, a surgical prognosis, half depending on rehabilitation after surgery. 因此,康复治疗对于骨科临床上具有重大的意义与作用。 Therefore, the rehabilitation of great significance and role in the orthopedic clinic.

[0003] 传统的康复治疗中,治疗师手把手地对患者进行一对一的康复训练,这种方式的训练效率和训练强度难以保证,训练效果受到治疗师水平的影响,即使是结合目前市场上已存在的较为成熟的关节康复器设备(CPM),普遍采用电机作为驱动器,通过丝杆传动,改变电机的转动为螺母的直线平移运动,带动连杆实现关节的屈伸运动,这种康复器只能进行简易的关节康复训练,虽然能取得一定的康复效果,但仍然缺乏多关节联动的康复训练,难以对康复治疗进行优化并获得最佳效果。 [0003] The traditional rehabilitation therapy, the therapist hands-on-one patient rehabilitation, training efficiency and training intensity is difficult to guarantee in this way, the training effect is affected therapist level, even in conjunction with the current market existing mature joint rehabilitation apparatus (the CPM), commonly used as a drive motor, a screw drive through the changed rotation of the motor into a linear translational movement of the nut, drive bar linkage joint flexion and extension, which is only rehabilitation It can be a simple joint rehabilitation training, although able to achieve a certain effect of rehabilitation, but still lacks rehabilitation multi-joint linkage, it is difficult to optimize the rehabilitation and get the best results.

发明内容 SUMMARY

[0004] 本实用新型的目的是针对现有技术的不足,提供一种结构简单、实用方便、效果良好、成本低的多关节联动的肢体康复装置。 [0004] The object of the present invention is less than for the prior art, to provide a simple physical rehabilitation device structure, convenient and practical, a good effect, low-cost multi-joint linkage.

[0005] 本实用新型所采用的技术方案是: [0005] aspect of the present invention is used:

[0006] 本实用新型一种多关节联动的肢体康复装置,包括三个电机和支架,其特征在于:支架由肩关节活动支架、肘关节活动支架、腕关节活动支架组成,分别由三个电机驱动,三个活动支架分别模拟肩、肘、腕关节自然运动轨迹制成一体化联动机构,由微电脑控制。 [0006] limb rehabilitation device according to the present invention a multi-joint linkage comprising three motors and a bracket, comprising: a bracket holder shoulder joint, elbow joint movable support, the movable support wrist, namely the three motors drive, simulate three movable support shoulder, elbow, wrist made of natural trajectory integration linkage mechanism, controlled by a microcomputer.

[0007] 本实用新型肩关节活动支架,有较大的长度,其运动域可以覆盖正常人上肢的运动范围,故可以带动患者患肢完成大范围、大幅度的康复运动训练,从而可以充分提供中枢神经康复所需的运动刺激。 [0007] The present invention shoulder joint bracket, have a greater length, which can cover the range of motion of the motion field normal upper extremity, it can be driven by a wide range of patient limb completed, substantial rehabilitation exercise training, which can provide a sufficiently central nervous motor stimulation needed for rehabilitation.

[0008] 本实用新型肘关节活动支架,与驱动电机同步带动回转传动,保证了肘关节运动支架的运动精度,运行速度可持续平稳的调节,以适应不同阶段的康复锻炼要求。 [0008] The present invention elbow bracket activities, the drive motor driving the rotary drive synchronized to ensure the accuracy of the movement of the elbow joint movement of the carriage, the running speed smoothly sustainable adjusted to accommodate the requirements of different stages of rehabilitation exercises.

[0009] 本实用新型腕关节活动支架,采用回转运动方式,模拟手腕自然运动轨迹,采用微电脑控制,可方便地设置手腕的活动范围。 [0009] The present invention wrist movable support, use rotary motion to simulate natural wrist trajectory, microcomputer control, the range can be easily set wrist activity.

[0010] 本实用新型采用了三个电机来完成整套运动,具有较高的控制性能,实现多种训练模式;采用回转运动方式模拟肩、肘、腕关节自然运动轨迹,能够满足患者患肢在平面内进行二维复合运动的需要,且结构简单,有利于多关节运动支架的驱动和控制。 [0010] The present invention uses three motors to complete the entire movement, having a high control performance, achieving various training mode; simulate pivoting movement using the shoulder, elbow, wrist natural trajectory to meet the patient limb the need for a two-dimensional complex plane of movement, and simple structure is conducive to driving and controlling the multi-joint movement of the carriage.

附图说明 BRIEF DESCRIPTION

[0011] 图I为本实用新型结构示意图。 [0011] FIG novel structural diagram I useful present.

具体实施方式 Detailed ways

[0012] 如图I所示,一种多关节联动的肢体康复装置,包括三个电机和支架,其特征在于:支架由肩关节活动支架I、肘关节活动支架2、腕关节活动支架3组成,分别由肩关节电机4、肘关节电机5、腕关节电机6驱动,可相应模拟肩、肘、腕关节自然运动轨迹。 [0012] FIG I, the physical rehabilitation apparatus of a multi-joint linkage, including three motors and a bracket, comprising: a bracket movable bracket I shoulder, elbow movable support 2, consisting of wrist movable support 3 , respectively, by shoulder motor 4, the motor 5 elbow, wrist joint the drive motor 6, can be simulated corresponding shoulder, elbow, wrist natural trajectory. 微电脑统一协调控制三个电机,驱动相应的活动支架,合成肩、肘、腕关节的综合动作。 Harmonization controlling microcomputer three motors drive the respective movable support, synthesis of the shoulder, elbow, wrist action integrated.

[0013] 本实用新型采用回转运动方式通过肩关节电机4带动肩关节活动支架I转动,实现肩关节运动;肘关节电机5与肘关节活动支架2同步回转运动,实现肘关节运动;腕关节电机6转动后带动腕关节活动支架3,实现腕关节活动。 [0013] The present invention uses rotational movement driven by the motor 4 by way of the shoulder joint shoulder bracket rotatably I realize shoulder joint; elbow elbow motor 5 and the movable frame synchronizing rotary motion to achieve the motion elbow; wrist joint motors after 6 driven rotation of wrist movable support 3, to achieve wrist activity.

[0014] 本实用新型按照预定的运动轨迹,带动患者患肢,进行康复动作训练,简洁轻巧,具有一定的灵活性,提高训练动作的种类,增大动作幅度,在多个平面内内对患肢各个关节进行训练。 [0014] The present invention in accordance with a predetermined trajectory to drive the patient limb, rehabilitation training operation, simple and lightweight, have some flexibility, to improve the type of exercises, increasing range of motion, in a plurality of planes of the patient each limb joint training.

Claims (1)

1.一种多关节联动的肢体康复装置,包括三个电机和支架,其特征在于:支架由肩关节活动支架、肘关节活动支架、腕关节活动支架组成,分别由三个电机驱动,三个活动支架分别模拟肩、肘、腕关节自然运动轨迹制成一体化联动机构,由微电脑控制。 A multi-joint linkage limb rehabilitation device comprising a motor and three stent, characterized in that: a shoulder bracket movable bracket, the movable support elbow, wrist movable support composition, are driven by three motors, three movable support simulate the shoulder, elbow, wrist made of natural trajectory integration linkage mechanism, controlled by a microcomputer.
CN 201220202132 2012-05-04 2012-05-04 Multi-joint linkage limb rehabilitation device CN202654370U (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102670378A (en) * 2012-05-04 2012-09-19 浙江科惠医疗器械有限公司 Multi-joint linked limb recovery device
CN103356361A (en) * 2013-08-06 2013-10-23 常州大学 Parallel type shoulder joint rehabilitation training machine
CN105411815A (en) * 2016-01-26 2016-03-23 哈尔滨工业大学 Wearable DOF (dual degrees of freedom) elbow rehabilitation training device
CN105640739A (en) * 2016-03-21 2016-06-08 哈尔滨工业大学 Upper limb rehabilitation exoskeleton based on space gravity balance
CN105853150A (en) * 2016-06-03 2016-08-17 上海电气集团股份有限公司 Rehabilitation training demonstration method and upper limb rehabilitation training device

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102670378A (en) * 2012-05-04 2012-09-19 浙江科惠医疗器械有限公司 Multi-joint linked limb recovery device
CN103356361A (en) * 2013-08-06 2013-10-23 常州大学 Parallel type shoulder joint rehabilitation training machine
CN103356361B (en) * 2013-08-06 2015-11-18 常州大学 A kind of parallel healing and training shoulder joint machine
CN105411815A (en) * 2016-01-26 2016-03-23 哈尔滨工业大学 Wearable DOF (dual degrees of freedom) elbow rehabilitation training device
CN105640739A (en) * 2016-03-21 2016-06-08 哈尔滨工业大学 Upper limb rehabilitation exoskeleton based on space gravity balance
CN105640739B (en) * 2016-03-21 2017-08-25 哈尔滨工业大学 A kind of upper limb healing ectoskeleton balanced based on space gravity
CN105853150A (en) * 2016-06-03 2016-08-17 上海电气集团股份有限公司 Rehabilitation training demonstration method and upper limb rehabilitation training device

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Owner name: ZHEJIANG CANWELL MEDICAL CO., LTD.

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