CN206822826U - joint rehabilitation training device - Google Patents

Abstract

It the utility model is related to a kind of joint rehabilitation training device, including device frame and drive mechanism, drive mechanism includes the motor with motor casing and motor output shaft, the rotary shaft that pivot center extends along the longitudinal direction is rotatably equipped with device frame, one end of rotary shaft is provided with the first torque output structure, motor output shaft is connected with rotary shaft, and the pull pressure sensor being supported to the motor casing is provided with device frame.The utility model solves the problems, such as to use torque sensor dynamometry value jitter caused by brush wear in the prior art.

Description

Joint rehabilitation training device

Technical field

It the utility model is related to the joint rehabilitation training device in a kind of rehabilitation mechanical.

Background technology

Cerebral apoplexy or apoplexy are a kind of sudden Cerebrovascular disorders obstacle diseases, and cerebral apoplexy typically results in componental movement Dysfunction, paralytic especially occupy the hemiplegic patient of significant proportion, how bring white elephant to family and society Effective rehabilitation is carried out to hemiplegia patient, recovers or the basic motion function for recovering hemiplegic patient is one long-term and difficult Huge task.

In order to realize the recovery of motion function, re -training must be just carried out to muscle, traditional rehabilitation means are main Will be based on the singlehanded dynamic treatment of the single pair for the treatment of physician, this rehabilitation mode, therapeutic effect unobvious, treatment cycle is long, Not only the amount of labour of therapist is big, while also expends patient's energy, increases the burden of medical worker.

Therefore correctly convalescence device and correct method of rehabilitation are most important, and I has applied for theme in June, 2016 Entitled " a kind of joint rehabilitation training device and its training stand ", Publication No. CN104887457 utility model patent Shen Please, the rehabilitation that a kind of method of rehabilitation of my utility model is disclosed in the utility model patent and is matched with the method for rehabilitation Device, take the lead in the method for rehabilitation introducing primitive concept, according to organization of human body and movement characteristic, complicated motion, can decompose For several single positions, the single degree of freedom, the rotary motion rotated around corresponding joint, this most basic unit is referred to as Primitive, this motion is called elementary motions, by the training step by step to each primitive, so as to recover final motion energy Power.

Include drive mechanism and fixator, the torque output of drive mechanism for the convalescence device of above-mentioned method of rehabilitation End is connected by torque transfer arrangement and fixator, is provided with the drive path of torque output and drive mechanism Torque sensor, fixator are sole fixed mount or palm fixed mount, during use the axis of torque transfer arrangement respectively at The axis coincidence of the corresponding free degree in the joint of corresponding limbs train, pass through the mode of operation such as active and passive of drive mechanism To realize the training to limbs.Problems be present in existing this convalescence device：1st, torque sensor needs to rotate to measure Data, to rotate and be less susceptible to set, the brush of torque sensor can wear, jitter, and either photoelectricity is still in addition The Costco Wholesale of wireless torque sensor is all higher；2nd, existing this fixator is only capable of having one to sole, palm etc. The main joint of the individual free degree（Or for compared with large joint）It is trained, for a finger, the free degree is more, it is not necessary that to every The individual free degree carries out individually training, and, it is necessary to which every finger is completely trained as a training unit, existing limbs are fixed Frame can not be trained to the articulations digitorum manus of finger.

Utility model content

The purpose of this utility model is to provide a kind of joint rehabilitation training device, to solve to pass using moment of torsion in the prior art Sensor dynamometry value is because of the jitter caused by brush wear the problem of.

To achieve these goals, technical scheme is used by the utility model：

A kind of joint rehabilitation training device, including device frame and drive mechanism, drive mechanism include having motor casing and electricity The motor of machine output shaft, the rotary shaft that pivot center extends along the longitudinal direction is rotatably equipped with device frame, rotary shaft One end is provided with the first torque output structure, and motor output shaft is connected with rotary shaft, is provided with device frame to the electricity The pull pressure sensor that casing is supported.

Device frame includes preceding riser, rear riser, and the rear and front end difference rolling assembling of rotary shaft is on forward and backward riser, electricity Machine output shaft is the hollow shaft that extends along the longitudinal direction of axis, rotary shaft coaxial line be arranged in the hollow shaft and with the sky Mandrel is fixedly connected.

The motor casing is located at the left side of the rotary shaft, and motor casing is arranged in left-right direction, be fixed with motor casing with The suspension that motor casing is set up in parallel, pull pressure sensor support the motor casing by being connected with the suspension.

The limit spacing structure for limiting the rotary shaft reciprocating rotation limit is additionally provided with device frame.

Position limit arm is coaxially installed with rotary shaft, limit spacing structure includes the block positioned at the position limit arm both sides, limit The two sides of position arm are used to coordinate with corresponding block block and limit the reciprocating rotation limit of rotary shaft.

The beneficial effects of the utility model are：When being trained using this joint rehabilitation training device, the power of trainer By rotary shaft back transfer to motor output shaft, to motor casing, motor casing has to rotate the power acting in opposition of motor output shaft The trend that moving axis is rotated, the pull pressure sensor can of motor casing is supported accurately to measure the force value, pressure sensing Use, the cost of product is reduced, while the setting structure of pull pressure sensor is relatively easy, in the absence of such as torque sensor In the easily worn part such as brush, signal stabilization.

Brief description of the drawings

Fig. 1 is the structural representation of the embodiment 1 of joint rehabilitation training device in the utility model；

Fig. 2 is Fig. 1 left view；

Fig. 3 is Fig. 1 top view；

Fig. 4 is the structural representation of Tu1Zhong articulations digitorum manus training institution；

Fig. 5 is the cooperation schematic diagram of training band and fingerstall in Fig. 4；

Fig. 6 is the finger tip trajectory diagram of finger to be trained in the utility model；

Fig. 7 is the structural representation of the embodiment 2 of joint rehabilitation training device in the utility model；

Fig. 8 is Fig. 7 left view；

Fig. 9 is Fig. 7 top view；

Figure 10 is limit spacing structure and the cooperation schematic diagram of position limit arm in Fig. 7；

Figure 11 is A-A in Figure 10 to sectional view；

Figure 12 is the cooperation schematic diagram of sole support and the first torque output structure in Fig. 7；

Figure 13 is Figure 12 top view.

Embodiment

The embodiment of joint rehabilitation training device is as shown in figures 1 to 6：Including drive mechanism and articulations digitorum manus training institution, driving Mechanism includes device frame and horizontally disposed motor 1, and motor 1 is the reducing motor for being capable of vertical output, and driving is electric The electricity that machine extends along the longitudinal direction including the motor casing arranged in left-right direction and the axis being assemblied in by bearing on motor casing Machine output shaft, motor output shaft are hollow shaft, are rotated on device frame and are provided with the rotary shaft that pivot center extends along the longitudinal direction 10, device frame includes bottom plate 3 and the preceding portrait 4 being fixedly arranged on bottom plate, rear riser 13, the both ends rolling assembling of rotary shaft 10 in On forward and backward riser, rotary shaft is passed through by the center of motor output shaft, and rotary shaft passes through driving key and motor output shaft coaxial line Drive connection.The first torque output structure and the second torque output structure, the first torque output structure bit are provided with rotary shaft In the end of rotary shaft, the second torque output structure is located at the middle part of rotary shaft, and the second torque output structure is consolidated including coaxial line Rotating wheel 12 in rotary shaft, rotating wheel is a circular wheel in the present embodiment, and rotating wheel 12 is made up of nylon material, dress The position limiting structure being additionally provided with frame for limiting rotating wheel slewing area is put, projection, position limiting structure bag are provided with rotating wheel The forward and backward block at left and right sides of projection is included, positive stop coordinates with projection block can limit rotating clockwise for rotating wheel The limit, backstop and projection block coordinate can limit rotating wheel to rotate counterclockwise the limit, pass through position limiting structure and projection Coordinate so as to be limited in the rotational travel of rotating wheel in certain scope.Motor casing is located at the left side of rotary shaft 10, motor casing On be installed with the suspension 14 being be arranged in parallel with motor casing, pull pressure sensor 2, pressure are provided between suspension 14 and bottom plate 3 The upper end of sensor 2 is hinged and connected with suspension 14, and lower end and the bottom plate 3 of pull pressure sensor 2 are hinged and connected, suspension and motor casing Axle can be relatively rotated by, which belonging to, has the rotating turret of rotation trend.When not in use, pull pressure sensor forms a supporting leg, To be supported to motor casing, preceding, riser forms a supporting leg, so as to ensure the shelf-stability of whole drive mechanism.

Articulations digitorum manus training institution includes the mechanism rack 5 on the right side of rotary shaft, and mechanism rack 5 is fixedly arranged on the bottom plate of device frame On, mechanism rack includes the front vertical plate and back vertical plate that time interval is set, and the upper right side of forward and backward riser is provided with arc-shaped notch 30, There is gap 31 between the upper end of forward and backward riser and rotating turret.Guide frame, the guide direction of guide frame are set in mechanism rack Arc extension is moved towards along involute, guide frame includes two spaced needle bearing groups, two needle rollers in the present embodiment Bearing group is setting up and down, and the top needle bearing group in position is referred to as upper needle bearing group 9, and the needle bearing group of position on the lower is referred to as Lower needle bearing group 8, each needle bearing group include the multiple needle bearings 6 for moving towards order arrangement along guide frame, The axis of needle bearing extends along the longitudinal direction, and the both ends of each needle bearing rotate respectively to be arranged on forward and backward riser.It is oriented to knot It is oriented on structure and is equipped with training piece, training piece is a bent training made of nylon or plastics in the utility model Training band made of band 11, nylon or plastics can bend and can transmission and draw thrust, it is possible to achieve in the both direction of finger Training, training band include the linkage section 11-1 being fixedly linked with the outer peripheral face of rotating wheel 12 and between two needle bearing groups With corresponding needle bearing roll be oriented to coordinate guide section 11-2, linkage section can be fixed on by screw or adhesive means turn On driving wheel 12, it is also equipped with being similarly used for training with the needle bearing group in mechanism rack in the present embodiment, on rotating turret The device frame needle bearing being oriented to upper end.Finger attachment structure includes being used for the fingerstall of the finger belly insertion of the finger to be trained 23, fingerstall 23 is connected by connecting plate 24 with the training band 11, and one end and the fingerstall 23 of connecting plate 24 are hinged and connected, connecting plate 24 other end is hinged and connected with training band.The upper right side of forward and backward riser is provided with horizontal carriage 20, and palm can be placed during use In in horizontal carriage 20.In Fig. 4, Fig. 5, Fig. 6, item 21 represents finger, and item 22 represents finger-joint, and dotted line represents in Fig. 4, Fig. 5 One of state.

First torque output structure is the outer square head structure being coaxially set with rotary shaft, in use, can be by accordingly Limb support（Limb support can be the sole fixed mount or palm fixed mount described in such as background technology）It is fixed on first The interior square hole of outer square head structure adaptation inserting can be arranged in torque output structure, on limb support.Of the present utility model In other embodiments, the first torque output structure can also be interior square hole structure, is now provided with limb support and interior side The outer square toes of hole adaptation, certain first torque output structure can also be flange arrangement, now need to set on limb support There is corresponding adpting flange, two flanges are fixed together by connecting bolt.

The guide direction of guide frame why be not standard the extension of circular arc direction, be because as shown in fig. 6, finger For three sections, that is to say, that the free degree of complete finger is multiple degrees of freedom rather than one degree of freedom, the bending and stretching process of finger Naturally it is the motion of a multivariant compound motion rather than a single-degree-of-freedom, finger is depicted in figure and is bending or is stretching During fingertip motions track, it is a regular circular arc that the movement locus 25 for showing finger tip, which is not, but one is gradually opened Wire shaped, therefore the guide direction of the guide frame in the utility model is also extended using involute direction, is so more conformed to Ergonomics, it is consistent with the actual motion track of finger, ensure training effect；Motor casing and articulations digitorum manus training institution are placed in The both sides of rotary shaft, it is possible to achieve the rational deployment in space, facilitate the setting of motor and articulations digitorum manus training institution.

When in use, by the finger tip insertion fingerstall of finger to be trained, needle bearing makes the joint rehabilitation training device With the running resistance that can reduce training band, the frictional resistance of training band can be ignored substantially, and the power of such finger can be with In the pull pressure sensor accurately reacted, it is beneficial to the accurate measurement of force value.It can be used when being trained to articulations digitorum manus following Four steps are tested：The first step, because patient muscle does not have locomitivity also now, i.e. patient muscle is in pine completely Relax or in complete state of paralysis, so people is motionless in this step, drive mechanism provides active force, and rotary shaft can be clockwise Rotation can also rotate counterclockwise, and so after preliminary motion study is obtained, pull pressure sensor can after having the generation of positive force Learnt with entering second step；Second step, people move together with joint rehabilitation training device, the force direction and human body of drive mechanism Force direction it is consistent, the force dynamics of drive mechanism can gradually increase, so incremental cyclic training；3rd Step, drive mechanism are failure to actuate, and people moves, and now human body applies static force to joint rehabilitation training device, and the power is by rotating crop rotation For rotary shaft, the power is applied on motor output shaft by rotary shaft, and reaction is produced between motor output shaft and motor casing Power, pull pressure sensor realizes the measurement to human body force value by measuring the reaction force, between rotating turret and mechanism rack With gap, such mechanism rack will not be to forming active force, so as to ensure the accurate measurement of force value between rotating turret, now can be with Carry out power training and evaluation；4th step, people move together with joint rehabilitation training device, the motion side of joint rehabilitation training device It is so with different levels to train step by step in opposite direction with human motion, be advantageous to the gradual recovery of muscle.Pull pressure sensor is made For a leg structure of device frame, the function of pressure tactility apparatus is enriched, simplifies the structure of device frame, pressure sensing Device can easily measure finger when drive mechanism is failure to actuate and, to the active force of joint rehabilitation training device, measure accurately, compared to torsion Structure simplifies for square sensor, and cost is relatively low.

In other embodiments of the present utility model：When it is not very high that training precision, which is required, guide frame is led It can also extend to direction along circular arc；Certain guide frame may not be needle bearing structure, for example guide barrel construction； Certain training band can also be made up of magnetic material, now can avoid training band and guide frame using magnetic suspension structure Between have frictional force, fingerstall directly can also be hinged and connected with training band；Certain finger attachment structure may not be fingerstall knot Structure, a such as connecting hole is opened up on training band, the finger tip of finger realize finger and training piece through the connecting hole Transmission is connected, or can also be tied up finger on training band with rope；Training band can also be other bent soft by cloth etc. Property material be made, when training band is made up of cloth, the device can only realize finger one direction training；Certain training piece can be with Banded structure, such as, training piece be only one can in guide frame guiding movement movable block；Rotating wheel also may be used So that using sector structure, now forward and backward block can be coordinated to limit turning for rotating wheel by stopping with the both sides side bumper of rotating wheel Dynamic scope；Suspension can not also be set, and now pull pressure sensor can be directly arranged between motor casing and base；Motor Motor output shaft can also be solid construction, now rotary shaft can pass through shaft coupling or spline and is driven with motor output shaft Connection；The axis of certain motor output shaft can also extend in left-right direction, now motor output shaft can by bevel gear with Rotary shaft is connected；Articulations digitorum manus training institution can not also be as a part for this joint rehabilitation training device, such as disappears Fei Zheke purchase or autogamys in addition；The rotating wheel in rotary shaft is may not be when such as torque output structure, such as is being turned The end set drive splines or shaft coupling of moving axis, fixator of the prior art can be connected to moment of torsion during use On export structure.

The embodiment 2 of joint rehabilitation training device is as shown in Fig. 7 ~ 13：The embodiment 2 of joint rehabilitation training device is with implementing Unlike example 1, the first torque output structure 51 is provided only with rotary shaft 10 and is not provided with the second torque output structure, rehabilitation Training cartridge also includes the limb support being made up of sole fixed mount, and sole fixed mount includes pedal 45 and is arranged at pedal end The toe binding 46 in portion, the toe of rehabilitation personnel is inserted in toe binding during use, joint and the rotary shaft coaxial line of toe, is come with this The rehabilitation training to toe is realized, connecting shaft 47 corresponding with the first torque output structure is provided with limb support, first turns round Square export structure 51 includes multiple elastic arms, and connecting shaft 47 is plugged in the endoporus that elastic arm surrounds, consolidated in the periphery of elastic arm A fixed anchor ear, the connection of the torque output structure of connecting shaft more than 47 first is realized by anchor ear, in order to ensure connecting shaft and elasticity Fixed between arm, connecting shaft is multiple edge body structure.Device frame includes left socle 40 and right support 43, the bottom plate of device frame 3 are fixedly arranged on left and right support, and bottom plate is higher than the bottom of left and right support, can so ensure that limb support has certain height Degree, certain space is conceded for the rotation of limb support.Coaxial line is installed with position limit arm 50 in rotary shaft, is provided with device frame Position-arresting disk 42, position-arresting disk 42 is circumferentially spaced to offer multiple mounting holes radially extended along rotary shaft, and limitation rotary shaft is reciprocal First limited block and second limited block of the limit spacing structure of rotational limitation including being located at position limit arm both sides, the first limited block, Second limited block is the latch 44 for being plugged in corresponding mounting hole, is provided with screwed hole on the hole arm of mounting hole, is used in screwed hole In installation jackscrew, the fixation to latch is realized by jackscrew, the two sides of position limit arm are respectively used to and the first limited block, the second limit Position block block coordinates so as to limit the reciprocating rotation limit of rotary shaft, by changing latch in different mounting holes, Ke Yigai Become rotation limitation scope of the limit position limiting structure to rotary shaft.Figure middle term 41 represents pin, and item 2 represents pull pressure sensor.

Claims (5)

1. a kind of joint rehabilitation training device, including device frame and drive mechanism, drive mechanism includes having motor casing and motor The motor of output shaft, it is characterised in that:The rotary shaft that pivot center extends along the longitudinal direction is rotatably equipped with device frame, The first torque output structure and the second torque output structure are provided with rotary shaft, the first torque output structure is located at rotary shaft End, the second torque output structure are located at the middle part of rotary shaft, and the second torque output structure is fixedly arranged on rotary shaft including coaxial line On rotating wheel, motor output shaft and rotary shaft be connected, and the drawing being supported to the motor casing is provided with device frame Pressure sensor.

2. joint rehabilitation training device according to claim 1, it is characterised in that：Device frame includes preceding riser, rear riser, For the rear and front end difference rolling assembling of rotary shaft on forward and backward riser, motor output shaft is the sky that axis extends along the longitudinal direction Mandrel, rotary shaft coaxial line are arranged in the hollow shaft and are fixedly connected with the hollow shaft.

3. joint rehabilitation training device according to claim 1, it is characterised in that：The motor casing is located at the rotary shaft Left side, motor casing is arranged in left-right direction, and the suspension being set up in parallel with motor casing, pull pressure sensor are fixed with motor casing The motor casing is supported by being connected with the suspension.

4. joint rehabilitation training device according to claim 1, it is characterised in that：It is additionally provided with device frame for limiting The limit spacing structure of the rotary shaft reciprocating rotation limit.

5. joint rehabilitation training device according to claim 4, it is characterised in that：Coaxial fixed limited location in rotary shaft Arm, limit spacing structure include the block positioned at the position limit arm both sides, and the two sides of position limit arm are used for and corresponding block block Coordinate and limit the reciprocating rotation limit of rotary shaft.