CN205598172U - Intelligence upper limbs joint rehabilitation ware - Google Patents

Intelligence upper limbs joint rehabilitation ware Download PDF

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Publication number
CN205598172U
CN205598172U CN201620269111.7U CN201620269111U CN205598172U CN 205598172 U CN205598172 U CN 205598172U CN 201620269111 U CN201620269111 U CN 201620269111U CN 205598172 U CN205598172 U CN 205598172U
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CN
China
Prior art keywords
axle
controller
joint
lifting column
elbow
Prior art date
Application number
CN201620269111.7U
Other languages
Chinese (zh)
Inventor
刘晓林
Original Assignee
浙江医院
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 浙江医院 filed Critical 浙江医院
Priority to CN201620269111.7U priority Critical patent/CN205598172U/en
Application granted granted Critical
Publication of CN205598172U publication Critical patent/CN205598172U/en

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Abstract

The utility model discloses an intelligence upper limbs joint rehabilitation ware, including base, elevating gear, controller, display screen, training arm, elbow fixer, spring -grip, install elevating gear on the base, elevating gear installs on upper portion controller, controller the place ahead installation display screen, elevating gear side -mounting training arm, the training arm is connected with the controller electricity, and elevating gear is connected with the controller electricity, be equipped with power module in the base, power module is connected with the controller, the training arm is including shoulder rotation axis, shoulder joint kinematic axis, connecting rod, elbow joint kinematic axis, wrist rotation axis, wrist joint kinematic axis, palm fixed plate. The utility model discloses have a plurality of degrees of freedom, supplementary patient carries out the athletic training of upper limbs, can adjust the height, and by program control, the back -to -back running condition can be adjusted at any time to recovered training data can be obtained in real time, supplementary rehabilitation training more is of value to.

Description

A kind of Intelligent upper limb joint recovering device
[technical field]
This utility model relates to the technical field of medical apparatus and instruments, the particularly technology of Intelligent upper limb joint recovering device Field.
[background technology]
For the patient of joint injury, postoperative needs carries out substantial amounts of rehabilitation training, it addition, for hemiplegia, Muscular disorders, nervous system disease, the patient of cerebrovascular disease, rehabilitation training has highly important curative effect, Can substantially alleviate patient pain, accelerate joint function rehabilitation.Traditional exercise rehabilitation training is by therapist's manpower Patient is assisted to carry out.Use device for rehabilitation auxiliary treatment, not only make up conventional motion rehabilitation training cerebral infarction Inefficiency, the unattractive patient of training process dull in content passively accept, there is too many subjective factors Evaluation index not accurately, can not the shortcoming such as visual feedback treatment information in real time, and assistant analysis suffering limb Every kinematic parameter, to promote the improvement of rehabilitation training pattern, provides brand-new treatment hands for rehabilitation medicine Section.
Having had some device for healing and training at present, the degree of freedom of existing rehabilitation training system is less, The scope of training is limited, and the patient adaptability needing different building shape difference is poor.
[utility model content]
The purpose of this utility model solves the problems of the prior art exactly, proposes a kind of Intelligent upper limb joint health Multiple device, has multiple degree of freedom, can adjust height, real by programme-control, back-to-back running situation, and energy Time obtain rehabilitation training data, be of value to auxiliary rehabilitation exercise.
For achieving the above object, the utility model proposes a kind of Intelligent upper limb joint recovering device, including base, Lowering or hoisting gear, controller, display screen, training arm, elbow holder, pinch meter, described base is installed Having lowering or hoisting gear, lowering or hoisting gear top to be provided with controller, display screen is installed in controller front;Lowering or hoisting gear Training arm is installed in side, and training arm is electrically connected with the controller, and lowering or hoisting gear is electrically connected with the controller;Institute Being provided with power module in stating base, power module is connected with controller;Described training arm includes that shoulder rotates Axle, shoulder joint kinesitherapy axle, connecting rod, elbow joint motion axle, wrist rotary shaft, wrist joints sporting axle, palm Fixed plate, shoulder rotary shaft is hinged with shoulder joint kinesitherapy axle, and shoulder joint kinesitherapy axle is sequentially connected with elbow by connecting rod Articulating shaft, wrist rotary shaft, wrist joints sporting axle, palm fixed plate.
As preferably, described elbow joint motion axle is provided with elbow holder, elbow joint motion axle and carpal joint Connecting rod between kinematic axis is provided with wrist fixing band, and palm fixed plate is provided with finger fixing band, and palm is solid Being provided with pinch meter before determining plate, pinch meter is arranged on wrist joints sporting axle.
As preferably, described shoulder joint kinesitherapy axle is provided with first sensor, elbow joint motion axle is installed There is the second sensor, wrist joints sporting axle is provided with the 3rd sensor.
As preferably, described lowering or hoisting gear includes the first lifting column, the second lifting column, the 3rd lifting column, hands Dynamic adjusting knob, the 3rd lifting column is enclosed within the second lifting column, and the second lifting column is enclosed within the first lifting column, Manual adjustment knob is positioned at the first lifting column side.
As preferably, in described controller, be additionally provided with processor, memorizer, communication module, communication module without Line connects client.
As preferably, described base bottom is additionally provided with roller, and roller is folded in chassis interior.
The beneficial effects of the utility model: this utility model has multiple degree of freedom, auxiliary patient carries out upper limb Shoulder joint rotates, outer pendulum is interior receives;Elbow joint bends and stretches;Carpal joint rotates, outreach adduction, coordinates to carry out simultaneously Training, shoulder joint, elbow joint and carpal joint are carried out multi-faceted exercise.Can adjust the suitableeest Different patients should use, and each joint motions degree of freedom maintains same with human body joint motion degree of freedom substantially Axle, enhances comfortableness and the reliability of device for rehabilitation, by programme-control, back-to-back running situation, can adjust at any time Whole, and rehabilitation training data can be obtained in real time, it is relatively beneficial to auxiliary rehabilitation exercise.
Feature of the present utility model and advantage will combine accompanying drawing by embodiment and be described in detail.
[accompanying drawing explanation]
Fig. 1 is the structural representation of this utility model a kind of Intelligent upper limb joint recovering device;
Fig. 2 is the internal module figure of this utility model a kind of Intelligent upper limb joint recovering device.
In figure: 1-base, 2-lowering or hoisting gear, 21-the first lifting column, 22-the second lifting column, 23-the 3rd liter Fall post, 24-manual adjustment knob, 3-controller, 31-processor, 32-memorizer, 33-communication module, 34-power module, 4-display screen, 5-training arm, 51-take on rotary shaft, 52-shoulder joint kinesitherapy axle, 53- Elbow joint motion axle, 54-connecting rod, 55-wrist rotary shaft, 56-wrist joints sporting axle, 57-palm fixed plate, 6-first sensor, 7-the second sensor, 8-the 3rd sensor, 9-elbow holder, 10-wrist fixing band, 11- Finger fixing band, 12-pinch meter, 13-roller, 14-client.
[detailed description of the invention]
Refering to Fig. 1, Fig. 2, this utility model, including base 1, lowering or hoisting gear 2, controller 3, display screen 4, training arm 5, elbow holder 9, pinch meter 12, described base 1 is provided with lowering or hoisting gear 2, rises Falling unit 2 top is provided with controller 3, and display screen 4 is installed in controller 3 front;Lowering or hoisting gear 2 side is pacified Dress training arm 5, training arm 5 electrically connects with controller 3, and lowering or hoisting gear 2 electrically connects with controller 3; Being provided with power module 34 in described base 1, power module 34 is connected with controller 3;Described training arm 5 include takeing on rotary shaft 51, shoulder joint kinesitherapy axle 52, connecting rod 54, elbow joint motion axle 53, wrist rotary shaft 55, wrist joints sporting axle 56, palm fixed plate 57, shoulder rotary shaft 51 is hinged with shoulder joint kinesitherapy axle 52, Shoulder joint kinesitherapy axle 52 is sequentially connected with elbow joint motion axle 53, wrist rotary shaft 55, wrist pass by connecting rod 54 Joint kinematic axis 56, palm fixed plate 57.Being provided with elbow holder 9 on described elbow joint motion axle 53, elbow closes Connecting rod 54 between joint kinematic axis 53 and wrist joints sporting axle 56 is provided with wrist fixing band 10, and palm is fixed Plate 57 is provided with finger fixing band 11, is provided with pinch meter 12 before palm fixed plate 57, and pinch meter 12 is installed On wrist joints sporting axle 56.Being provided with first sensor 6 on described shoulder joint kinesitherapy axle 52, elbow joint is transported Second sensor 7 is installed on moving axis 53, wrist joints sporting axle 56 is provided with the 3rd sensor 8.Described Lowering or hoisting gear 2 includes first lifting column the 21, second lifting column the 22, the 3rd lifting column 23, manual adjustment knob 24, the 3rd lifting column 23 is enclosed within the second lifting column 22, and the second lifting column 22 is enclosed within the first lifting column 21 In, manual adjustment knob 24 is positioned at the first lifting column 21 side.It is additionally provided with processor in described controller 3 31, memorizer 32, communication module 33, communication module 33 wireless connections client 14.Described base 1 end Portion is additionally provided with roller 13, and it is internal that roller 13 is folded in base 1.
Utility model works process:
This utility model one Intelligent upper limb joint recovering device in the course of the work, first regulates lowering or hoisting gear 2, adjusts Whole device for rehabilitation height, adapts to the needs of different patient, and device for rehabilitation can be placed on seat rear, it is also possible to puts Put at bedside.During use, by the arm of patient by elbow holder 9, wrist fixing band 10, finger fixing band 11 fix, and connecting rod 54 can be the most flexible, adapt to patient's arm length.Then controlled by controller 3 Performing device, drive patient's upper limb to do rehabilitation training, finger can temper 12 by pinch meter, the first sensing The device timely feedback data of the 6, second sensor the 7, the 3rd sensor 8 to processor 31, adjust movement angle and The anglec of rotation, rehabilitation training data are sent to client 14 by communication module 33, facilitate user to inquire about and divide Analysis rehabilitation process.Roller 13 is easy to mobile device for rehabilitation, and roller 13 can be received, firm banking 1 position.
This utility model, has multiple degree of freedom, and auxiliary patient receives in carrying out the rotation of upper limb shoulder joint, outer pendulum; Bending and stretching of elbow joint;The active carried out is coordinated in carpal rotation, the multiple freedom of motion of outreach adduction simultaneously Training, carries out multi-faceted exercise to shoulder joint, elbow joint and carpal joint.Height can be adjusted adapt to Different patients use, and each joint motions degree of freedom maintains coaxial with human body joint motion degree of freedom substantially, Enhance comfortableness and the reliability of device for rehabilitation, by programme-control, back-to-back running situation, can adjust at any time, And rehabilitation training data can be obtained in real time, it is relatively beneficial to auxiliary rehabilitation exercise.
Above-described embodiment is to explanation of the present utility model, is not to restriction of the present utility model, any to this Scheme after utility model simple transformation belongs to protection domain of the present utility model.

Claims (6)

1. an Intelligent upper limb joint recovering device, it is characterised in that: include base (1), lowering or hoisting gear (2), control Device (3), display screen (4), training arm (5), elbow holder (9), pinch meter (12), described base (1) On lowering or hoisting gear (2) is installed, lowering or hoisting gear (2) top is provided with controller (3), controller (3) front Display screen (4) is installed;Training arm (5), training arm (5) and controller are installed in lowering or hoisting gear (2) side (3) electrical connection, lowering or hoisting gear (2) electrically connects with controller (3);Described base is provided with power module in (1) (34), power module (34) is connected with controller (3);Described training arm (5) includes takeing on rotary shaft (51), shoulder joint kinesitherapy axle (52), connecting rod (54), elbow joint motion axle (53), wrist rotary shaft (55), Wrist joints sporting axle (56), palm fixed plate (57), shoulder rotary shaft (51) cuts with scissors with shoulder joint kinesitherapy axle (52) Connecing, shoulder joint kinesitherapy axle (52) is sequentially connected with elbow joint motion axle (53) by connecting rod (54), wrist rotates Axle (55), wrist joints sporting axle (56), palm fixed plate (57).
2. a kind of Intelligent upper limb joint recovering device as claimed in claim 1, it is characterised in that: described elbow joint is transported Elbow holder (9) is installed, between elbow joint motion axle (53) and wrist joints sporting axle (56) on moving axis (53) Connecting rod (54) be provided with wrist fixing band (10), palm fixed plate (57) is provided with finger fixing band (11), The front pinch meter (12) that is provided with of palm fixed plate (57), pinch meter (12) is arranged on wrist joints sporting axle (56).
3. a kind of Intelligent upper limb joint recovering device as claimed in claim 1, it is characterised in that: described shoulder joint is transported Being provided with first sensor (6) on moving axis (52), elbow joint motion axle is provided with the second sensor on (53) (7), wrist joints sporting axle (56) is provided with the 3rd sensor (8).
4. a kind of Intelligent upper limb joint recovering device as claimed in claim 1, it is characterised in that: described lowering or hoisting gear (2) the first lifting column (21), the second lifting column (22), the 3rd lifting column (23), manual adjustment knob are included (24), the 3rd lifting column (23) is enclosed within the second lifting column (22), and the second lifting column (22) is enclosed within first liter In fall post (21), manual adjustment knob (24) is positioned at the first lifting column (21) side.
5. a kind of Intelligent upper limb joint recovering device as claimed in claim 1, it is characterised in that: described controller (3) Inside it is additionally provided with processor (31), memorizer (32), communication module (33), communication module (33) wireless connections Client (14).
6. a kind of Intelligent upper limb joint recovering device as according to any one of claim 1 to 5, it is characterised in that:
Described base (1) bottom is additionally provided with roller (13), and it is internal that roller (13) is folded in base (1).
CN201620269111.7U 2016-04-01 2016-04-01 Intelligence upper limbs joint rehabilitation ware CN205598172U (en)

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Application Number Priority Date Filing Date Title
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CN205598172U true CN205598172U (en) 2016-09-28

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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106726341A (en) * 2016-12-06 2017-05-31 西安交通大学 Variation rigidity elbow joint healing robot and its control method based on man-machine impedance matching model
CN107260487A (en) * 2017-07-03 2017-10-20 天津理工大学 Portable upper limb rehabilitation robot and its Digital Simulation implementation method based on LabVIEW
CN108187310A (en) * 2017-12-21 2018-06-22 东南大学 The limb motion for feeling information and attitude information based on power is intended to understand and upper-limbs rehabilitation training robot and its control method
CN108721053A (en) * 2018-05-30 2018-11-02 康健天下有限公司 Intelligence answers health manipulator
CN109044731A (en) * 2018-07-30 2018-12-21 杭州电子科技大学 Shoulder joint synkinesia device and its synkinesia method
CN109078302A (en) * 2018-07-02 2018-12-25 北可精密机械(上海)有限公司 A kind of active multi-joint strength building instrument of upper limb
CN109620639A (en) * 2018-12-17 2019-04-16 贵州大学 A kind of control device and control method of healing and training elbow joint equipment

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106726341A (en) * 2016-12-06 2017-05-31 西安交通大学 Variation rigidity elbow joint healing robot and its control method based on man-machine impedance matching model
CN107260487A (en) * 2017-07-03 2017-10-20 天津理工大学 Portable upper limb rehabilitation robot and its Digital Simulation implementation method based on LabVIEW
CN108187310A (en) * 2017-12-21 2018-06-22 东南大学 The limb motion for feeling information and attitude information based on power is intended to understand and upper-limbs rehabilitation training robot and its control method
CN108187310B (en) * 2017-12-21 2019-05-31 东南大学 Feel that the limb motion of information and posture information is intended to understand and upper-limbs rehabilitation training robot and its control method based on power
CN108721053A (en) * 2018-05-30 2018-11-02 康健天下有限公司 Intelligence answers health manipulator
CN109078302A (en) * 2018-07-02 2018-12-25 北可精密机械(上海)有限公司 A kind of active multi-joint strength building instrument of upper limb
CN109078302B (en) * 2018-07-02 2020-09-25 北可精密机械(上海)有限公司 Active multi-joint strength training instrument for upper limbs
CN109044731A (en) * 2018-07-30 2018-12-21 杭州电子科技大学 Shoulder joint synkinesia device and its synkinesia method
CN109620639A (en) * 2018-12-17 2019-04-16 贵州大学 A kind of control device and control method of healing and training elbow joint equipment

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CF01 Termination of patent right due to non-payment of annual fee
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Granted publication date: 20160928

Termination date: 20170401