CN104814856B - Two-freedom-degree upper limb rehabilitation training device - Google Patents
Two-freedom-degree upper limb rehabilitation training device Download PDFInfo
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 66
- 230000033001 locomotion Effects 0.000 claims abstract description 37
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- 206010019468 Hemiplegia Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
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Abstract
Description
一、技术领域1. Technical field
本发明涉及一种两自由度上肢康复训练装置，属于康复医疗器械领域。The invention relates to a two-degree-of-freedom upper limb rehabilitation training device, which belongs to the field of rehabilitation medical equipment.
二、背景技术2. Background technology
我国每年中风、偏瘫、脑外伤患者人数在逐年增加，而康复事业资金投入远跟不上患者人数的增长速度，康复医院、专业医师也是少之又少，采用康复器械不仅可以代替专业医师康复训练，同时无需去专业康复医疗机构，不仅节约患者的治疗成本，而且康复训练变的简单便捷。The number of patients with stroke, hemiplegia, and traumatic brain injury in my country is increasing year by year, and the investment in rehabilitation is far behind the growth rate of the number of patients. There are also very few rehabilitation hospitals and professional doctors. The use of rehabilitation equipment can not only replace the rehabilitation training of professional doctors , At the same time, there is no need to go to a professional rehabilitation medical institution, which not only saves the treatment cost of patients, but also makes rehabilitation training simple and convenient.
本两自由度上肢康复训练装置，不仅结构简单、成本低，便于患者接受，而且无需外界辅助，实现一侧上肢前端画圆或前后移动的主动运动带动另一侧上肢同步进行反向画圆或同向前后移动，无需外界动力驱动，安全性很高。This two-degree-of-freedom upper limb rehabilitation training device not only has a simple structure, low cost, and is easy for patients to accept, but also requires no external assistance, and realizes the active movement of the front end of one upper limb to draw a circle or move back and forth to drive the other upper limb to simultaneously draw a reverse circle or It moves forward and backward at the same time, without external power drive, and has high safety.
三、发明内容3. Contents of the invention
本发明的目的在于：为上肢功能障碍患者提供一种一侧上肢前端自主画圆、或前后移动，带动另一侧上肢前端反向画圆或同向前后移动的康复运动，上肢前端运动继而带动整个上肢的协同运动。The purpose of the present invention is to provide patients with upper limb dysfunction with a rehabilitation exercise in which the front end of one side of the upper limb draws a circle independently, or moves back and forth, and drives the front end of the other side of the upper limb to draw a circle in the opposite direction or move forward and backward at the same time. Coordinated movement of the entire upper body.
本发明的目的是这样实现的：The purpose of the present invention is achieved like this:
一种两自由度上肢步康复训练装置，包括座椅3、上下位置调整机构、左侧上肢康复运动机构与右侧上肢康复运动机构，上下位置调整机构能够沿着立柱上下位置调整，上下位置调整机构上固定有支架6，支架6上设置有水平台601，水平台601左右两侧关于患者左右对称安装有左侧上肢康复运动机构和右侧上肢康复运动机构；A two-degree-of-freedom upper limb rehabilitation training device, including a seat 3, an up and down position adjustment mechanism, a left upper limb rehabilitation movement mechanism and a right upper limb rehabilitation movement mechanism. A support 6 is fixed on the mechanism, and a water platform 601 is arranged on the support 6, and the left and right upper limb rehabilitation movement mechanisms are installed symmetrically on the left and right sides of the water platform 601 with respect to the patient;
水平台601左侧固定安装有沿前后方向水平放置的直线导轨二12，直线导轨二12上安装有滑块二15，滑块二15上固定有移动台16，移动台16固定在滑块二15上，左侧驱动板17与移动台16垂直固定连接，左侧驱动板17上设有轴承支撑的左侧传动轴30，左侧传动轴30后端固定安装有锥齿轮一23，锥齿轮一23与锥齿轮二22啮合，锥齿轮二22固定在竖直设置的左侧转轴24靠近中间位置，左侧转轴24上端固定安装在转动盘28的中心，转动盘28上固定有手掌固定装置，左侧转轴24采用轴承支撑，所述的左侧传动轴30的前端固定有锥齿轮三31，所述的锥齿轮三31与锥齿轮四37啮合，锥齿轮四37固定在左右设置的中间传动轴32的左端，中间传动轴32采用轴承支撑，所述的中间传动轴32右端固定有锥齿轮五36，锥齿轮五36与右侧传动轴最前方的锥齿轮六35啮合；所述的左侧上肢康复运动机构包括直线导轨二12，滑块二15、左侧驱动板17、左侧传动轴30、锥齿轮三31、锥齿轮一23、锥齿轮二22、转动盘28、手掌固定装置，左侧上肢康复运动机构与右侧上肢康复运动机构关于患者成左右对称。The left side of the water platform 601 is fixedly installed with a linear guide rail 2 12 placed horizontally along the front and rear direction, a slide block 2 15 is installed on the linear guide rail 2 12, a mobile platform 16 is fixed on the slide block 2 15, and the mobile platform 16 is fixed on the slide block 2 15, the left side drive plate 17 is vertically fixedly connected with the mobile platform 16, the left side drive plate 17 is provided with the left side drive shaft 30 supported by bearings, the left side drive shaft 30 rear end is fixedly equipped with a bevel gear-23, the bevel gear The first 23 meshes with the second bevel gear 22, the second bevel gear 22 is fixed on the vertically arranged left shaft 24 near the middle position, and the upper end of the left shaft 24 is fixedly installed in the center of the rotating disk 28, and the rotating disk 28 is fixed with a palm fixing device , the left shaft 24 is supported by bearings, the front end of the left transmission shaft 30 is fixed with a bevel gear three 31, the bevel gear three 31 meshes with the bevel gear four 37, and the bevel gear four 37 is fixed in the middle of the left and right settings The left end of transmission shaft 32, intermediate transmission shaft 32 adopts bearing support, described intermediate transmission shaft 32 right ends are fixed with bevel gear 5 36, and bevel gear 5 36 meshes with bevel gear 6 35 at the front of the right transmission shaft; The left upper limb rehabilitation movement mechanism comprises linear guide rail two 12, slide block two 15, left drive plate 17, left transmission shaft 30, bevel gear three 31, bevel gear one 23, bevel gear two 22, rotating disk 28, palm fixed The device, the left upper limb rehabilitation movement mechanism and the right upper limb rehabilitation movement mechanism are left-right symmetrical about the patient.
还设置有导轨钳制器13，用于钳制移动台16沿着直线导轨二12运动。A guide rail clamp 13 is also provided for clamping the movement of the mobile platform 16 along the linear guide rail 2 12 .
左侧转轴24还设置有制动器19。The left rotating shaft 24 is also provided with a brake 19 .
所述制动器19上设置有制动器手柄20；导轨钳制器13上设置有导轨钳制器手柄14。The brake 19 is provided with a brake handle 20 ; the guide rail clamp 13 is provided with a guide rail clamp handle 14 .
上下位置调整机构为螺母丝杠调节机构。The up and down position adjustment mechanism is a nut screw adjustment mechanism.
所述螺母丝杠调节机构的具体结构为：立柱2上固定有导轨4、丝杠9，丝杠9与导轨4平行竖直放置，丝杠9上的螺母8、导轨4上的滑块5与支架6固定连接，所述的丝杠9上端固定有手轮11。The concrete structure of described nut lead screw adjustment mechanism is: guide rail 4, leading screw 9 are fixed on the column 2, leading screw 9 and guide rail 4 are vertically placed in parallel, nut 8 on the leading screw 9, slide block 5 on the guide rail 4 Fixedly connected with the bracket 6, the upper end of the screw 9 is fixed with a handwheel 11.
所述的所述的锥齿轮一23与锥齿轮二22、锥齿轮三31与锥齿轮四37、锥齿轮五36与锥齿轮六35齿轮传动均使用轴交角为90度的锥齿轮传动，且传动比为1∶1。Described described bevel gear one 23 and bevel gear two 22, bevel gear three 31 and bevel gear four 37, bevel gear five 36 and bevel gear six 35 gear transmission all use the bevel gear transmission that the shaft intersection angle is 90 degrees, and The transmission ratio is 1:1.
手掌固定装置结构如下：转动盘28上表面固定有左侧手掌杆27，左侧手掌杆27外表面活套有左侧套筒26，左侧套筒26两端固定有手掌绑带25。The structure of the palm fixing device is as follows: the left side palm bar 27 is fixed on the upper surface of the rotating disk 28, the left side palm bar 27 outer surface looper has a left side sleeve 26, and the left side sleeve 26 two ends are fixed with a palm strap 25.
与现有技术相比，本发明具有如下优点：Compared with prior art, the present invention has following advantage:
1.无需外界提供动力，患者一侧上肢自主运动，带动另一侧不能自主运动的上肢进行康复训练。1. Without the need for external power, one side of the patient's upper limb moves autonomously, driving the other side of the upper limb that cannot move independently to perform rehabilitation training.
2.实现患者上肢两个方向同步运动，患者两侧上肢运动既可以反向画圆，又可以同向前后方向移动。2. Realize the synchronous movement of the patient's upper limbs in two directions. The movement of the upper limbs on both sides of the patient can not only draw a circle in the opposite direction, but also move forward and backward in the same direction.
3.安全性高，无需外界动力驱动，患者一侧上肢主动运动带动另一侧被动运动，当运动范围过大或牵引力过大时，患者会感觉到疼痛而减小运动幅度，进行自我保护，防止患者受伤。3. High safety, without external power drive, the active movement of one side of the upper limb of the patient drives the passive movement of the other side. When the range of motion is too large or the traction force is too large, the patient will feel pain and reduce the range of motion for self-protection. Prevent patient injury.
4.采用上下高度调整机构和大臂固定位置调整机构，适应不同患者的需要。4. The upper and lower height adjustment mechanism and the arm fixed position adjustment mechanism are adopted to meet the needs of different patients.
5.机构简单，成本低，便于患者接受与推广。5. The mechanism is simple, the cost is low, and it is easy for patients to accept and popularize.
四、附图说明4. Description of drawings
图1是两自由度上肢康复训练装置的总体结构图Figure 1 is the overall structure of the two-degree-of-freedom upper limb rehabilitation training device
图2是两自由度上肢康复训练装置上下调整部分结构示意图Figure 2 is a structural schematic diagram of the upper and lower adjustment parts of the two-degree-of-freedom upper limb rehabilitation training device
图3是两自由度上肢康复训练装置前后移动传动部分结构示意图Figure 3 is a schematic diagram of the structure of the front and rear movement transmission part of the two-degree-of-freedom upper limb rehabilitation training device
图4是两自由度上肢康复训练装置手掌转动传动部分结构示意图Figure 4 is a schematic diagram of the structure of the palm rotation transmission part of the two-degree-of-freedom upper limb rehabilitation training device
五、具体实施方式5. Specific implementation
结合图1～4，本发明的两自由度上肢康复训练装置包括底座1、立柱2、座椅3、上下位置调整机构、左侧上肢康复运动机构与右侧上肢康复运动机构。按照人坐于座椅时的方位定义左右方向，以便于描述本申请。所述立柱2前侧面的右侧固定有导轨一4，导轨一4竖直放置，导轨一4上安装有滑块一5，所述的立柱2前侧面的左侧沿竖直方向固定有轴承轴承座一7、轴承轴承座二10，轴承轴承座一7和轴承轴承座二10装配有丝杠9，丝杠9与导轨一4平行竖直放置，丝杠9上装有螺母8，螺母8和滑块一5前表面与支架6竖直方向一边形成固定连接，支架6另一边沿水平方向放置，所述的丝杠9位于轴承轴承座二10的上端固定有手轮11。1-4, the two-degree-of-freedom upper limb rehabilitation training device of the present invention includes a base 1, a column 2, a seat 3, an up-and-down position adjustment mechanism, a left upper limb rehabilitation movement mechanism and a right upper limb rehabilitation movement mechanism. The left and right directions are defined according to the orientation of a person sitting on a seat, so as to facilitate the description of this application. The right side of the front side of the column 2 is fixed with a guide rail-4, the guide rail-4 is placed vertically, the slide block-5 is installed on the guide rail-4, and the left side of the front side of the column 2 is fixed with a bearing along the vertical direction. Bearing block one 7, bearing block two 10, bearing block one 7 and bearing block two 10 are equipped with lead screw 9, lead screw 9 and guide rail one 4 parallel vertical placement, lead screw 9 is equipped with nut 8, nut 8 Form fixed connection with slide block one 5 front surface and support 6 vertical direction one side, support 6 other limit places along horizontal direction, and described leading screw 9 is positioned at the upper end of bearing housing two 10 and is fixed with handwheel 11.
所述的支架6上设置有水平台601，水平台601左右两侧关于患者左右对称安装有左侧上肢康复运动机构和右侧上肢康复运动机构，水平台601上表面左侧固定安装有沿前后方向水平放置的直线导轨二12，直线导轨二12上安装有滑块二15，滑块二15上固定有移动台16，移动台16呈倒置的“几”字形，其下侧的水平边固定在滑块二15的上表面上，其上方的水平边上表面与左侧驱动板17前端固定连接，左侧驱动板17中间位置上表面固定有轴承轴承座二29，轴承轴承座二29内孔中安装有左侧传动轴30，左侧传动轴30后端固定安装有锥齿轮一23，锥齿轮一23与锥齿轮二22啮合，锥齿轮二22固定在左侧转轴24靠近中间位置，左侧转轴24上端固定安装有转动盘28，转动盘28上表面固定有左侧手掌杆27，左侧手掌杆27外表面活套有左侧套筒26并与之形成转动连接，左侧套筒26两端固定有手掌绑带25，左侧转轴24靠近下方安装在轴承轴承座三21的内孔中，轴承轴承座三21固定在左侧驱动板17后端的下表面上，左侧转轴24最下端固定安装在制动器19的内孔中，用以制动左侧转轴24，制动器19上设置有制动器手柄20，制动器上表面固定在制动器支架18上，制动器支架18固定在左侧驱动板17靠近后端的下表面上，导轨钳制器13安装在直线导轨二12上并与之形成滑动连接，导轨钳制器13同时固定在移动台16的最前侧竖直表面上，用以制动直线导轨二12，导轨钳制器13上设置有钳制器手柄14，所述的左侧传动轴30的前端固定有锥齿轮三31。The support 6 is provided with a water platform 601, the left and right sides of the water platform 601 are symmetrically installed with the left upper limb rehabilitation movement mechanism and the right upper limb rehabilitation movement mechanism with respect to the patient, and the left side of the upper surface of the water platform 601 is fixedly installed with The linear guide rail 2 12 placed horizontally in the direction, the slider 2 15 is installed on the linear guide rail 2 12, the mobile platform 16 is fixed on the slider 2 15, and the mobile platform 16 is in the shape of an inverted "several", and the horizontal side of the lower side is fixed On the upper surface of the slide block two 15, the upper surface of the horizontal edge above it is fixedly connected with the front end of the left side drive plate 17, and the upper surface of the left side drive plate 17 middle position is fixed with a bearing housing two 29, and the inner bearing housing two 29 The left side transmission shaft 30 is installed in the hole, and the rear end of the left side transmission shaft 30 is fixedly equipped with a bevel gear one 23, the bevel gear one 23 meshes with the bevel gear two 22, and the bevel gear two 22 is fixed on the left side rotating shaft 24 near the middle position, The upper end of the left rotating shaft 24 is fixedly equipped with a rotating disc 28, the upper surface of the rotating disc 28 is fixed with a left palm bar 27, and the left side sleeve 26 is looped on the outer surface of the left palm bar 27 and forms a rotational connection with it. The two ends of the tube 26 are fixed with palm straps 25, and the left side shaft 24 is installed in the inner hole of the bearing housing three 21 near the bottom. The bottom end of 24 is fixedly installed in the inner hole of the brake 19 to brake the left shaft 24, the brake 19 is provided with a brake handle 20, the upper surface of the brake is fixed on the brake bracket 18, and the brake bracket 18 is fixed on the left drive plate 17 On the lower surface near the rear end, the guide rail clamp 13 is installed on the linear guide rail 2 12 and forms a sliding connection with it, and the guide rail clamp 13 is fixed on the frontmost vertical surface of the mobile platform 16 at the same time, in order to brake the linear guide rail Two 12, the guide rail clamp 13 is provided with a clamp handle 14, and the front end of the left transmission shaft 30 is fixed with a bevel gear 3 31.
所述的锥齿轮三31与锥齿轮四37啮合，锥齿轮四37固定在中间传动轴32的最左端，中间传动轴32安装在轴承轴承座四34的内孔中，轴承轴承座四34固定在连接板33上，连接板33固定在移动台16上方的两水平边上，所述的中间传动轴32最右端固定有锥齿轮五36，锥齿轮五36与右侧传动轴最前方的锥齿轮六35啮合。The bevel gear three 31 meshes with the bevel gear four 37, the bevel gear four 37 is fixed on the leftmost end of the intermediate transmission shaft 32, the intermediate transmission shaft 32 is installed in the inner hole of the bearing housing four 34, and the bearing housing four 34 is fixed On the connection plate 33, the connection plate 33 is fixed on the two horizontal sides above the mobile platform 16, and the rightmost end of the middle transmission shaft 32 is fixed with a bevel gear 5 36, and the bevel gear 5 36 is connected to the frontmost cone of the right transmission shaft. Gear six 35 meshes.
所述的左侧上肢康复运动机构包括直线导轨二12，滑块二15、左侧驱动板17、左侧传动轴30、锥齿轮三31、锥齿轮一23、锥齿轮二22、转动盘28、左侧手掌杆27，左侧上肢康复运动机构与右侧上肢康复运动机构关于患者成左右对称。Described left upper limb rehabilitation movement mechanism comprises linear guide rail two 12, slide block two 15, left side drive plate 17, left side drive shaft 30, bevel gear three 31, bevel gear one 23, bevel gear two 22, rotating disk 28 , the left palm bar 27, the left upper limb rehabilitation movement mechanism and the right upper limb rehabilitation movement mechanism become left-right symmetry about the patient.
本发明所述的每对齿轮传动均使用轴交角为90度的齿轮传动，且传动比为1∶1。Each pair of gear transmissions in the present invention uses a gear transmission with a shaft intersection angle of 90 degrees, and the transmission ratio is 1:1.
患者坐在座椅3上，转动手轮11，调整支架6的上下位置，继而调整左、右两侧上肢康复运动机构高度使患者更为舒适，患者左侧手掌掌心贴在左侧套筒26上，绑紧左侧手掌绑带25，旋转导轨钳制器手柄14来锁紧导轨钳制器13，使滑块二15不能前后移动，扳动制动器手柄20来松开制动器19，患者左手推动左侧手掌杆27，患者上肢前端以转动盘28为中心做画圆动作，通过锥齿轮二22与锥齿轮一23啮合，带动左侧传动轴30转动，通过锥齿轮三31与锥齿轮四37啮合带动中间传动轴32转动，带动锥齿轮五36与锥齿轮六35啮合，带动右侧传动轴，从而使右侧上肢前端也做画圆动作，由于经过四对锥齿轮的啮合，左右两侧上肢前端画圆动作方向相反。如果扳动制动器手柄20，锁紧制动器19，转动盘28不能转动，松开导轨钳制器手柄14，患者左侧手掌前后推动转动盘28，推动轴承轴承座三21带动左侧驱动板17前后方向受力，使移动台16沿直线导轨二12前后移动，移动台16同样带动右侧上肢康复运动机构前后移动，使患者右侧上肢前后移动。如果同时松开导轨钳制器13和制动器19，患者左侧手掌既可以转动、又可前后推动转动盘28，是上述两种情况的合成远动，右侧手掌同样做反向转动、同向前后移动。The patient sits on the seat 3, turns the hand wheel 11, adjusts the up and down position of the bracket 6, and then adjusts the height of the upper limb rehabilitation movement mechanism on the left and right sides to make the patient more comfortable. The patient's left palm is attached to the left sleeve 26 , tighten the left palm strap 25, rotate the guide rail clamp handle 14 to lock the guide rail clamp 13 so that the slider 2 15 cannot move back and forth, pull the brake handle 20 to release the brake 19, and the patient pushes the left hand The palm rod 27, the front end of the patient's upper limbs is centered on the rotating disk 28 to draw a circle, the second bevel gear 22 is meshed with the bevel gear one 23, and the left drive shaft 30 is driven to rotate, and the third bevel gear 31 is meshed with the bevel gear four 37. The middle transmission shaft 32 rotates, drives bevel gear five 36 and bevel gear six 35 to mesh, and drives the right transmission shaft, so that the front end of the right upper limb also performs a circle movement. The direction of the circle movement is reversed. If the brake handle 20 is pulled, the brake 19 is locked, the rotating disk 28 cannot rotate, the guide rail clamp handle 14 is released, the patient's left palm pushes the rotating disk 28 forward and backward, and the bearing seat 3 21 is driven to drive the left driving plate 17 in the front and rear direction. Under force, the mobile platform 16 is moved back and forth along the linear guide rail 2 12, and the mobile platform 16 also drives the right upper limb rehabilitation movement mechanism to move back and forth, so that the patient's right upper limb is moved back and forth. If the guide rail clamp 13 and the brake 19 are loosened at the same time, the left palm of the patient can rotate and push the rotating disk 28 back and forth, which is the synthetic telemotion of the above two situations, and the right palm also rotates in the opposite direction, forward and backward move.
如果患者右侧上肢主动运动，传动机构运动路线反向，同样使左侧上肢被动的同向前后移动、反向转动。If the patient's right upper limb actively moves, the movement route of the transmission mechanism is reversed, and the left upper limb is also passively moved forward and backward and reversely rotated.
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