CN113304448B

CN113304448B - Upper limb rehabilitation training device

Info

Publication number: CN113304448B
Application number: CN202110778913.6A
Authority: CN
Inventors: 王勇; 武迪; 葛亮; 肖飞云; 刘正士
Original assignee: Hefei University of Technology
Current assignee: Hefei University of Technology
Priority date: 2021-07-09
Filing date: 2021-07-09
Publication date: 2024-05-17
Anticipated expiration: 2041-07-09
Also published as: CN113304448A

Abstract

The invention discloses an upper limb rehabilitation training device, which comprises a base, wherein the base is movable; and the upper limb training mechanism is arranged at one end of the support frame far away from the base, and is a swinging guide rod mechanism or a crank rocker mechanism which is composed of a support part, a rotating shaft, a hand auxiliary tool, a crank, a rod piece and a sliding piece. The upper limb rehabilitation training device can eliminate local degrees of freedom, so that abnormal joint reaction can be restrained, a certain movement angle is generated on bilateral wrist joints, and a good wrist joint training effect is achieved.

Description

Upper limb rehabilitation training device

Technical Field

The invention relates to the technical field of sports equipment, in particular to an upper limb rehabilitation training device.

Background

At present, the population aging degree of China is increased, and the number of patients with unhealthy limbs is increased, so that limb rehabilitation auxiliary devices become research hotspots in the rehabilitation field, and various rehabilitation robots designed by research teams at home and abroad are put into practical use.

The existing limb rehabilitation training device has small joint movement angle in the rehabilitation training process, the wrist joint cannot be well trained, and the expected rehabilitation training effect cannot be achieved; in addition, the existing limb rehabilitation training device does not consider the training requirement of the human wrist joint or set the wrist joint training function, and can not achieve the expected rehabilitation training effect because the wrist joint cannot be well trained in the rehabilitation training process. The rehabilitation training device on the bed lacks wrist joint exercise training function.

Therefore, it is important to develop an upper limb rehabilitation training device which has a reasonable structure and can meet the requirement of wrist rehabilitation training.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide an upper limb rehabilitation training device capable of meeting the requirements of wrist rehabilitation training.

To achieve the above and other related objects, the present invention provides an upper limb rehabilitation training device, comprising:

A base;

the support frame is arranged on the base;

The upper limb training mechanism is arranged at one end of the support frame far away from the base and comprises a support part, a rotating shaft, a hand auxiliary tool, a crank, a rod piece and a sliding piece, and the upper limb training mechanism is a swinging guide rod mechanism or a crank rocker mechanism;

When the upper limb training mechanism is a swing guide rod mechanism, the supporting component is arranged at one end of the supporting frame far away from the base; the rotary shaft is rotatably arranged on the supporting component; the crank is fixedly connected with the rotary shaft; the crank is rotationally connected with the sliding piece; the hand auxiliary tool is fixedly arranged on the sliding piece; the rod piece and the sliding piece form a moving pair, and the rod piece and the supporting part form a rotating pair; or alternatively

When the upper limb training mechanism is a crank rocker mechanism, the supporting part is arranged at one end of the supporting frame far away from the base; the rotary shaft is rotatably arranged on the supporting component; the crank is fixedly connected with the rotary shaft; the crank is rotationally connected with the rod piece; the hand auxiliary tool is fixedly arranged on the rod piece; the rod piece and the sliding piece form a moving pair, and the sliding piece and the supporting part form a rotating pair.

In an alternative embodiment of the present invention, the support frame includes a column, a column base, and a cantilever, the column base is mounted on the base, the column is mounted on the column base, the cantilever is mounted on an end of the column away from the column base, and the support member is mounted on the cantilever.

In an alternative embodiment of the invention, the height of the upright is adjustable and the length of the cantilever is adjustable.

In an alternative embodiment of the invention, the end of the support member remote from the swivel axis is rotatably mounted to the end of the cantilever that is not connected to the upright.

In an alternative embodiment of the invention, the upper limb training mechanism further comprises a driving member disposed in the support member, the driving member being connected to the swivel shaft.

In an optional embodiment of the present invention, when the upper limb training mechanism is a swing guide rod mechanism, a position of a rotation center of the rod member is adjustable; when the upper limb training mechanism is a crank rocker mechanism, the position of the rotation center of the sliding piece is adjustable.

In an optional embodiment of the present invention, the upper limb rehabilitation training device further includes a clamping component disposed on the support frame; the clamping assembly comprises a mounting seat, a movable clamping piece, a fixed clamping piece, a locking knob and a height adjusting mechanism.

In an alternative embodiment of the invention, the rehabilitation training device further comprises a handrail, wherein the handrail is mounted on the support frame.

In an alternative embodiment of the invention, the length of the crank is adjustable.

In an alternative embodiment of the present invention, the upper limb rehabilitation training device further comprises a resistance component disposed in the support component, wherein the resistance component comprises a friction assembly, a magnetic control resistance generator or a flywheel.

The upper limb rehabilitation training device can eliminate local degrees of freedom, so that abnormal joint reaction is inhibited, a certain movement angle is generated on bilateral wrist joints, and a good wrist joint training effect is achieved.

The hand auxiliary tool of the upper limb movement training mechanism of the upper limb rehabilitation training device can be fixed on the second rod piece/the second sliding piece and forms the same position of the revolute pair with the second crank, and at the moment, the hand auxiliary tool is in circular rotation motion relative to the second rotation shaft, but still can keep swinging relative to the rotation centers of the second rod piece/the second sliding piece and the revolute pair of the second crank because the hand auxiliary tool is still positioned on the second rod piece/the second sliding piece, so that the hand auxiliary tool has a proper wrist joint movement angle.

The upper limb rehabilitation training device has the advantages of simple structure, small volume and convenient overall arrangement.

The base of the upper limb rehabilitation training device is stable in structure and is provided with wheels, and the upper limb rehabilitation training device is convenient to move.

The length of the crank, the rod piece, the upright post of the support frame and the cantilever of the upper limb rehabilitation training device can be adjusted, so that the upper limb rehabilitation training device can better adapt to the exercise training requirements of different crowds, and the training effect is ensured.

The upper limb movement training mechanism of the upper limb rehabilitation training device can directly reform the existing rehabilitation training device and the like so as to have the wrist joint training function.

The upper limb rehabilitation training device disclosed by the invention can meet the rehabilitation training requirements of people who cannot get out of bed.

Drawings

Fig. 1 is a schematic perspective view of an upper limb rehabilitation training device according to an embodiment of the present invention.

Fig. 2 is a schematic perspective view of another embodiment of an upper limb rehabilitation training device according to the embodiment of the invention.

Fig. 3 is a schematic perspective view of a third embodiment of an upper limb rehabilitation training device according to an embodiment of the present invention.

Fig. 4 is a schematic perspective view of a fourth embodiment of an upper limb rehabilitation training device according to an embodiment of the present invention.

Description of element reference numerals

A base 1; a universal wheel 2; a support 3; a column 31; a post base 32; a cantilever 33; a first hand wheel 35; a second hand wheel 36; a handrail 4; an upper limb training mechanism 5; a support member 51; a hand auxiliary tool 52; a rotation shaft 53; a crank 54; a slider 55; a rod 56; a support 57; a fixing plate 571; a movable plate 572; a man-machine interaction device 6; a clamping assembly 7; a locking knob 71; a mounting base 72; a movable clip 73; a fixed clip 74; a height adjustment mechanism 75.

Detailed Description

Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.

It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the illustrations, not according to the number, shape and size of the components in actual implementation, and the form, number and proportion of each component in actual implementation may be arbitrarily changed, and the layout of the components may be more complex.

Example 1

Referring to fig. 1, the present embodiment describes an upper limb rehabilitation training device, which includes a base 1, a support frame 3, an upper limb training mechanism 5 and a clamping assembly 7.

Referring to fig. 1, in this embodiment, the base 1 is two parallel bars arranged at intervals, and rollers are mounted at bottoms of two ends of each bar, so that the whole limb rehabilitation training machine for a bed can be conveniently moved, the rollers can be universal wheels 2 with locking devices, for example, the limb rehabilitation training machine for a bed can be conveniently moved to a designated position (for example, a bedside) and can be fixed through the locking devices. Of course, in some embodiments, the base 1 may be provided without rollers.

Referring to fig. 1, in the present embodiment, the support frame 3 is disposed on one side of the base 1, and the length of the support frame 3 is adjustable. The support frame 3 includes a column base 32, a column 31 and a cantilever 33, wherein the column base 32 is fixedly mounted at one end of the base 1, the lower end of the column 31 is fixedly connected with the column base 32, the cantilever 33 is arranged at the top end of the column 31 and extends towards one side of the base 1 where the column base 32 is not arranged, and the cantilever 33 can be horizontally arranged or can have an inclination angle with the horizontal direction.

Referring to fig. 1, in this embodiment, the height of the upright 31 is adjustable, the upright 31 adopts a manual screw telescopic rod structure design (of course, other adjustment modes can be adopted to realize the length adjustment of the upright 31), a first hand wheel 35 is disposed on one side of the upright 31, the first hand wheel 35 is used as a driving part of the screw telescopic rod structure, and an operator can adjust the height of the upright 31 through the first hand wheel 35 to realize the height adjustment of the upper limb training mechanism 5.

Referring to fig. 1, in this embodiment, the length of the cantilever 33 is adjustable, for example, the cantilever 33 may also be designed with a manual screw telescopic rod structure (of course, the length of the cantilever 33 may also be adjusted by other adjustment methods), a second hand wheel 36 is disposed on the cantilever 33, the second hand wheel 36 is used as a driving portion of the screw telescopic rod structure, and an operator may adjust the length of the cantilever 33 through the second hand wheel 36 to realize the position adjustment of the upper limb training mechanism 5 along the length direction of the cantilever 33.

Referring to fig. 1, in the present embodiment, the upper limb training mechanism 5 is a swing guide mechanism, and includes a support member 51, a hand auxiliary tool 52, a rotating shaft 53, a crank 54, a slider 55, a rod 56 (a guide rod serving as the swing guide mechanism), and a support 57. The support member 51 is rotatably mounted at one end of the cantilever 33 far away from the upright post 31, so that the upper limb training mechanism 5 can be conveniently adjusted to a proper position, the rotating shaft 53 is rotatably mounted at one end of the support member 51 far away from the support frame 3, the crank 54 is fixedly connected with the end of the rotating shaft 53, the crank 54 is rotatably connected with the sliding member 55, the hand auxiliary tool 52 is mounted on the sliding member 55, the rod member 56 and the sliding member 55 form a moving pair, the rod member 56 and the support 57 form a rotating pair, and the support 57 is mounted at one end of the support member 51 far away from the rotating shaft 53. When the crank 54 rotates, the sliding member 55 is driven to move along the rod 56, and the rod 56 is driven to swing reciprocally around the rotation center.

As an example, the hand auxiliary tool 52 of the upper limb exercise training mechanism may be fixed on the sliding member 55 at the same position as the crank 54 forming a revolute pair, and the hand auxiliary tool 52 is generally rotated circumferentially about the rotation shaft 53, but still located on the sliding member 55, so that the rotation centers of the sliding member 55 and the revolute pair of the crank 54 can still be kept swinging, so as to have a proper wrist joint movement angle.

Referring to fig. 1, in the present embodiment, the support 57 includes a pair of fixed plates 571 and a pair of movable plates 572, the pair of fixed plates 571 are disposed on two sides of the supporting member 51 and extend toward a side far away from the base 1, a movable plate 572 is mounted on an outer side of each fixed plate 571 in a height-adjustable manner, one end of the rod 56 far away from the sliding member 55 forms a revolute pair with the movable plate 572, and the height (i.e. the vertical position) of the rotation center of the rod 56 is adjusted by adjusting the position of the movable plate 572 on the fixed plate 571. The mounting position of the support 57 on the support member 51 is also adjustable, so that the horizontal position of the rotation center of the lever 56 is also adjustable. When the upper limb training is performed, a proper training posture can be selected by adjusting the position (vertical position or horizontal position) of the rotation center of the adjustment lever 56. It will be appreciated that the position of the centre of rotation of the lever 56 may also be fixed.

Referring to fig. 1, in a specific example of the present embodiment, the hand assistive device 52, the crank 54, the sliding member 55, the rod 56, and the support 57 include two parts, which are respectively located on two sides of the supporting member 51. The two cranks 54 are respectively mounted and fixed at two ends of the rotating shaft 53, each crank 54 is rotatably connected with the hand auxiliary tool 52 or the sliding member 55 on the same side, each hand auxiliary tool 52 is fixedly mounted on the sliding member 55 on the same side, each sliding member 55 and the rod member 56 on the same side form a moving pair, and each rod member 56 and the support 57 form a rotating pair.

Of course, in some embodiments, the support 57 may not be provided, and the lever 56 may directly form a revolute pair with the supporting member 51.

Referring to fig. 1, in this embodiment, the crank 54 is a rod-type crank, one end of which is fixedly connected to one end of the rotating shaft 53, and the other end of which is rotatably connected to the sliding member 55. Of course, in other embodiments, the crank 54 may be a disc crank.

In this embodiment, the gauge size of the crank 54 (defined as the length of the rod crank or the diameter of the disc crank) is adjustable.

Referring to fig. 1, in this embodiment, the upper limb rehabilitation training device further includes a clamping assembly 7, where the clamping assembly 7 is used for fixing the upper limb rehabilitation training device to the bed when the upper limb rehabilitation training device moves to the bedside. The clamping assembly 7 comprises a mounting seat 72, a movable clamping piece 73, a fixed clamping piece 74, a locking knob 71 and a height adjusting mechanism 75. The mounting seat 72 is slidably mounted on the upright post 31 of the support frame 3, and the mounting seat 72 is slidably matched with an upright post sliding rail (not shown) arranged on the upright post 31; the height adjusting mechanism 75 is located between the mounting base 72 and the base 1, the height adjusting mechanism 75 may be, for example, a pneumatic spring or an electric push rod, the fixed end of the height adjusting mechanism 75 is mounted at the bottom of the upright column 31 (or may be mounted on the column base 32 or the base 1), and the output end of the height adjusting mechanism 75 is connected with the mounting base 72, so that the height of the clamping assembly 7 can be adjusted by the height adjusting mechanism 75 to adapt to beds with different heights.

The fixed clamping piece 74 comprises a first clamping plate and a first horizontal plate arranged at the top end of the first clamping plate, the movable clamping piece 73 comprises a second clamping plate and a second horizontal plate arranged at the top end of the second clamping plate, the fixed clamping piece 74 is fixed at one end of the mounting seat 72, an opening is formed in the first horizontal plate, a sliding groove corresponding to the opening is formed in the second horizontal plate, the second horizontal plate of the movable clamping piece 73 is overlapped and mounted on the first horizontal plate of the fixed clamping piece 74, a thread section of the locking knob 71 sequentially penetrates through the sliding groove and the opening and is fixed through a nut in a screwing mode, and the fixed clamping piece 74 and the movable clamping piece 73 enclose an inverted U-shaped clamping opening. When the clamping assembly 7 is clamped, the locking knob 71 is firstly unscrewed, the distance between the first clamping plate and the second clamping plate is adjusted by adjusting the relative position of the sliding groove on the fixed clamping piece 74, so as to realize the clamping action, and the locking knob 71 is locked.

Referring to fig. 1, in the present embodiment, the upper limb rehabilitation training device further includes a handrail 4, where the handrail 4 is used for a user to hold; the handrail 4 is installed on the clamping assembly 7 and comprises an installation seat, and can be lifted and lowered along with the clamping assembly 7 at the same time, so as to adapt to beds with different heights or other use environments. Of course, the armrest 4 and the clamping assembly 7 may also each be individually adjustable in position.

Referring to fig. 1, in this embodiment, the upper limb rehabilitation training device further includes a human-computer interaction device 6, where the human-computer interaction device is an intelligent control center and is used to control the upper limb rehabilitation training device to work. The man-machine interaction device 6 may be disposed on top of the support 3 (or may be disposed at other suitable positions). As an example, the man-machine interaction device 6 is arranged on a cantilever 33 of the support frame 3. As an example, the man-machine interaction device 6 may be a remote control or a touch screen, etc.

Referring to fig. 1, in this embodiment, the upper limb rehabilitation training device further includes a driving component disposed in the supporting component 51, and the driving component is connected to the rotating shaft 53. The drive member may be a motor, or a combination of a motor and a decelerator, or a flywheel.

In this embodiment, the upper limb rehabilitation training device further includes a resistance component disposed in the support component 51, where the resistance component includes a friction component, a magnetic control resistance generator, or a flywheel. The friction assembly comprises a friction plate and a friction plate seat which are matched with each other, the friction plate is installed on the rotating shaft 53, the friction plate seat is installed at one end, close to the rotating shaft 53, of the supporting component 51, and the friction plate seat are controlled to be screwed or loosened through the man-machine interaction device 6 to adjust the movement resistance. The magnetic control resistance generator comprises an aluminum disc flywheel and a permanent magnet assembly which are matched with each other, the aluminum disc flywheel is mounted on the rotating shaft 53, the permanent magnet assembly is mounted at one end, close to the rotating shaft 53, of the supporting component 51, the magnetic control resistance generator cuts magnetic induction lines between permanent magnets through the aluminum disc flywheel to generate eddy current to form resistance, and the man-machine interaction device 6 adjusts the distance between the aluminum disc and the permanent magnets to achieve adjustment of the resistance.

It will be appreciated that the support member 51 may of course comprise only a resistance member, without a drive member, and that the resistance member may be manually adjusted for operation or controlled for operation by the human interaction device 6.

It will be appreciated that the drive member may be employed directly as the resistance member without the additional provision of a friction pack or a magnetically controlled resistance generator as the resistance member. Taking a driving device with a motor or a combination of the motor and a speed reducer as an example, direct current which is not more than rated current of the motor can be input to the motor, so that the motor is in an energy consumption braking state and becomes a resistance source.

The upper limb rehabilitation training device of the embodiment can realize independent upper limb training, and when the upper limb is trained, a person can adopt sitting posture (for example sitting on a bed) or standing posture or prone posture.

The upper limb rehabilitation training device of the embodiment can comprise three training modes, namely a passive training mode, a power-assisted training mode and an active training mode.

During passive training, the power sources are all from the driving part, the hands hold the hand auxiliary tool 52, the driving part drives the crank 54 to rotate to drive the hand auxiliary tool 52 to move, and the hand auxiliary tool 52 drives the wrist to do reciprocating swing.

During power-assisted training, between passive training and active training, the power source part comes from the driving part and part comes from the human hand, the man-machine interaction device 6 is operated to control the driving part to be converted into a power-assisted training mode, and the intelligent induction system (comprising a sensor and a control circuit) is started to complete power-assisted training in cooperation with the human wrist joint.

When the human body is actively trained, the human hand is used as a power source to drive the hand auxiliary tool 52 to move, the human-computer interaction device 6 can control the training resistance, the resistance of different magnitudes can exercise the muscle movement of the human body upper limb, and the control capacity of the brain nerve to the muscle movement is remodeled in a layered and graded mode.

The upper limb rehabilitation training device can eliminate local degrees of freedom, so that abnormal joint reaction is restrained, a certain movement angle is generated on bilateral wrist joints, and a good wrist joint training effect is achieved. The hand auxiliary tool of the upper limb movement training mechanism of the upper limb rehabilitation training device can be fixed on the sliding part and forms the same position of the revolute pair with the crank, and at the moment, the hand auxiliary tool is in circular rotation relative to the rotating shaft, but still can keep swinging relative to the rotating centers of the sliding part and the revolute pair of the crank because the hand auxiliary tool is still positioned on the sliding part, so that the hand auxiliary tool has a proper wrist joint movement angle. The upper limb rehabilitation training device of the embodiment has the advantages of simple structure, small volume and convenient overall arrangement. The base of the upper limb rehabilitation training device is stable in structure and is provided with wheels, and the upper limb rehabilitation training device is convenient to move. The upper limb training mechanism of the upper limb rehabilitation training device of the embodiment is adjustable in position and can be stored. The length of the crank, the rod piece, the stand column of the support frame and the cantilever of the upper limb rehabilitation training device can be adjusted, so that the upper limb rehabilitation training device can be well adapted to the exercise training requirements of different crowds, and the training effect is ensured. The upper limb movement training mechanism of the upper limb rehabilitation training device of the embodiment can directly reform the existing rehabilitation training device and the like so as to have the wrist joint training function. The rehabilitation training device can meet the rehabilitation training requirements of people who cannot get out of bed.

Example two

As shown in fig. 2, this embodiment describes another upper limb rehabilitation training device. The upper limb rehabilitation training device of the embodiment adopts different upper limb training mechanisms 5 with the same other structures, so that the description is not repeated, wherein the upper limb training mechanism 5 of the embodiment is a crank rocker mechanism, and the upper limb training mechanism 5 of the embodiment is a swing guide rod mechanism.

As shown in fig. 2, in the present embodiment, the upper limb training mechanism 5 is a crank rocker mechanism, and includes a support member 51, a hand assist tool 52, a pivot shaft 53, a crank 54, a slider 55 (as a rocker of the crank rocker mechanism), a rod 56 (as a link of the crank rocker mechanism), and a support 57. The support member 51 is rotatably mounted at one end of the cantilever 33 far away from the upright post 31, so that the upper limb training mechanism 5 can be conveniently adjusted to a proper position, the rotating shaft 53 is rotatably mounted at one end of the support member 51 far away from the support frame 3, the crank 54 is fixedly connected with the end of the rotating shaft 53, the crank 54 is rotatably connected with the rod member 56, the hand auxiliary tool 52 is fixedly mounted on the rod member 56, the rod member 56 and the sliding member 55 form a sliding pair, the sliding member 55 and the support 57 form a revolute pair, and the support 57 is mounted at one end of the support member 51 far away from the rotating shaft 53. In the drawings of the present embodiment, the hand auxiliary tool 52 is illustrated by a handle, however, the hand auxiliary tool 52 may also be a support plate, and the hand is placed on the support plate when in use, and is fixed by a limiting object such as a strap, so that the hand moves along with the support plate.

As shown in fig. 2, in the present embodiment, the support 57 includes a pair of fixed plates 571 and a pair of movable plates 572, the pair of fixed plates 571 are disposed on both sides of the supporting member 51 and extend toward a side far away from the base 1, a movable plate 572 is mounted on an outer side of each fixed plate 571 in a height-adjustable manner, the sliding member 55 and the movable plate 572 form a revolute pair, and a height (i.e., a vertical position) of a rotation center of the sliding member 55 is adjusted by adjusting a position of the movable plate 572 on the fixed plates 571. The mounting position of the pedestal 57 on the support member 51 is also adjustable, so that the horizontal position of the rotation center of the slider 55 is also adjustable. When the upper limb training is performed, an appropriate training posture can be selected by adjusting the position (vertical position or horizontal position) of the rotation center of the slider 55. It will be appreciated that the position of the centre of rotation of the slider 55 may also be fixed.

Referring to fig. 2, in a specific example of the present embodiment, the hand assistive device 52, the crank 54, the sliding member 55, the rod 56, and the support 57 include two parts, which are respectively located on two sides of the supporting member 51. The two cranks 54 are respectively mounted and fixed at two ends of the rotating shaft 53, each crank 54 is rotatably connected with the hand auxiliary tool 52 or the rod member 56 on the same side, each hand auxiliary tool 52 is fixedly mounted on the rod member 56 on the same side, each sliding member 55 and the rod member 56 on the same side form a moving pair, and each sliding member 55 and the support 57 form a rotating pair.

Of course, in some embodiments, the support 57 may not be provided, and the sliding member 55 may directly form a revolute pair with the supporting member 51.

Referring to fig. 2, in this embodiment, the crank 54 is a rod-type crank, one end of which is fixedly connected to one end of the rotating shaft 53, and the other end of which is rotatably connected to the rod 56. Of course, in other embodiments, the crank 54 may be a disc crank.

In this embodiment, the upper limb rehabilitation training device further includes a driving member disposed in the supporting member 51, and the driving member is connected to the rotating shaft 53. The drive member may be a motor, or a combination of a motor and a decelerator, or a flywheel. Details of the first embodiment are described in the relevant portions, and are not described herein.

In this embodiment, the upper limb training mechanism 5 further includes a resistance member disposed within the support member 51, the resistance member including a friction assembly, a magnetic control resistance generator, or a flywheel. Details of the first embodiment are described in the relevant portions, and are not described herein.

In this embodiment, as shown in fig. 2, the upper limb rehabilitation training device further includes a handrail 4 and a man-machine interaction device 6. Details of the first embodiment are described in the relevant portions, and are not described herein.

The upper limb rehabilitation training device of the embodiment can realize independent upper limb training, and when the upper limb is trained, a human body can adopt sitting posture (for example, sitting on a bed) or standing posture or prone posture.

The upper limb rehabilitation training device of the embodiment can comprise three training modes, namely a passive training mode, a power-assisted training mode and an active training mode, and the detailed description of the related parts of the embodiment is provided.

The upper limb rehabilitation training device can eliminate local degrees of freedom, so that abnormal joint reaction is restrained, a certain movement angle is generated on bilateral wrist joints, and a good wrist joint training effect is achieved. The hand auxiliary tool of the upper limb movement training mechanism of the upper limb rehabilitation training device can be fixed on the rod member and forms the same position of the revolute pair with the crank, and at the moment, the hand auxiliary tool is in circular rotation relative to the rotary shaft, but still can keep the relative rod member and the rotary center of the revolute pair of the crank to swing because the hand auxiliary tool is still positioned on the rod member, so that the upper limb rehabilitation training device has a proper wrist joint movement angle. The upper limb rehabilitation training device of the embodiment has the advantages of simple structure, small volume and convenient overall arrangement. The base of the upper limb rehabilitation training device is stable in structure and is provided with wheels, and the upper limb rehabilitation training device is convenient to move. The upper limb training mechanism of the upper limb rehabilitation training device of the embodiment is adjustable in position and can be stored. The length of the crank, the rod piece, the stand column of the support frame and the cantilever of the upper limb rehabilitation training device can be adjusted, so that the upper limb rehabilitation training device can be well adapted to the exercise training requirements of different crowds, and the training effect is ensured. The upper limb movement training mechanism of the upper limb rehabilitation training device of the embodiment can directly reform the existing rehabilitation training device and the like so as to have the wrist joint training function. The rehabilitation training device can meet the rehabilitation training requirements of people who cannot get out of bed.

Example III

Referring to fig. 3, the present embodiment describes another upper limb rehabilitation training device, which includes a base 1 and an upper limb training mechanism 5 disposed on the base 1, a support frame 3 and the upper limb training mechanism.

The upper limb rehabilitation training device of the embodiment adopts the same upper limb training mechanism 5 compared with the upper limb rehabilitation training device of the embodiment I, and the detail is shown in the embodiment I. The differences are mainly represented in that: except that the clamping assembly 7 is removed, the structure of the base 1 and the support frame 3 is changed, and the upper limb training mechanism 5 is connected with the support frame 3 in a different manner.

Referring to fig. 3, in this embodiment, the base 1 is formed by a cylinder and a T-shaped member, and rollers (not shown) may be mounted on the bottom of the base 1, so that the whole joint rehabilitation training device may be moved conveniently. Of course, in some embodiments, the base 1 may be provided without rollers.

Referring to fig. 3, in this embodiment, the support frame 3 is installed on one side of the base 1, and the length of the support frame 3 is adjustable. The support frame 3 includes a column 31 and a cantilever 33, the column 31 includes a first pole section and a second pole section, the lower end of the first pole section is fixedly connected with the base 1, the lower end of the second pole section is inserted into the upper end of the first pole section and locked by a locking knob (not labeled in the figure), the cantilever 33 is mounted at the upper end of the column 31, and the cantilever 33 and the column 31 may be fixedly connected or rotationally connected. The length of the support frame can be adjusted by unscrewing the locking knob and adjusting the length of the second rod section inserted into the first rod section, and the support frame is locked by the locking knob (not labeled in the figure) after being adjusted to a proper length. Of course, the supporting frame 3 may also adopt the structure of the first embodiment.

Referring to fig. 3, in the present embodiment, the upper limb training mechanism 5 is fixedly connected to an end of the cantilever 33 away from the upright 31. Specifically, the end of the support member 51 remote from the pivot shaft 53 is fixedly connected to the end of the cantilever 33 remote from the upright 31.

Example IV

Referring to fig. 4, the present embodiment describes a fourth upper limb rehabilitation training device, which includes a base 1 and an upper limb training mechanism 5 disposed on the base 1, a support frame 3 and the upper limb training mechanism.

The upper limb rehabilitation training device of the embodiment adopts the same upper limb training mechanism 5 compared with the upper limb rehabilitation training device of the embodiment II, and the detail is shown in the embodiment II. The differences are mainly represented in that: except that the clamping assembly 7 is removed, the structure of the base 1 and the support frame 3 is changed, and the upper limb training mechanism 5 is connected with the support frame 3 in a different manner.

Referring to fig. 4, in this embodiment, the base 1 is formed by a cylinder and a T-shaped member, and rollers (not shown) may be mounted on the bottom of the base 1, so that the whole joint rehabilitation training device may be moved conveniently. Of course, in some embodiments, the base 1 may be provided without rollers.

Referring to fig. 4, in this embodiment, the support frame 3 is installed on one side of the base 1, and the length of the support frame 3 is adjustable. The support frame 3 includes a column 31 and a cantilever 33, the column 31 includes a first rod section and a second rod section, the lower end of the first rod section is fixedly connected with the base 1, the lower end of the second rod section is inserted into the upper end of the first rod section and locked by a locking knob (not labeled in the figure), the water cantilever 333 is mounted at the upper end of the column 31, and the cantilever 33 and the column 31 may be fixedly connected or rotationally connected. The length of the support frame can be adjusted by unscrewing the locking knob and adjusting the length of the second rod section inserted into the first rod section, and the support frame is locked by the locking knob (not labeled in the figure) after being adjusted to a proper length. Of course, the supporting frame 3 may also adopt the structure of the first embodiment.

Referring to fig. 4, in the present embodiment, the upper limb training mechanism 5 is fixedly connected to an end of the cantilever 33 away from the upright 31. Specifically, the end of the support member 51 remote from the pivot shaft 53 is fixedly connected to the end of the cantilever 33 remote from the upright 31.

The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.

In the description herein, numerous specific details are provided, such as examples of components and/or methods, to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that an embodiment of the invention can be practiced without one or more of the specific details, or with other apparatus, systems, components, methods, components, materials, parts, and so forth. In other instances, well-known structures, materials, or operations are not specifically shown or described in detail to avoid obscuring aspects of embodiments of the invention.

Reference throughout this specification to "one embodiment," "an embodiment," or "a particular embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment, and not necessarily all embodiments, of the present invention. Thus, the appearances of the phrases "in one embodiment," "in an embodiment," or "in a specific embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics of any specific embodiment of the present invention may be combined in any suitable manner with one or more other embodiments. It will be appreciated that other variations and modifications of the embodiments of the invention described and illustrated herein are possible in light of the teachings herein and are to be considered as part of the spirit and scope of the invention.

It will also be appreciated that one or more of the elements shown in the figures may also be implemented in a more separated or integrated manner, or even removed because of inoperability in certain circumstances or provided because it may be useful depending on the particular application.

In addition, any labeled arrows in the drawings/figures should be considered only as exemplary, and not limiting, unless otherwise specifically indicated. Furthermore, the term "or" as used herein is generally intended to mean "and/or" unless specified otherwise. Combinations of parts or steps will also be considered as being noted where terminology is foreseen as rendering the ability to separate or combine is unclear.

As used in the description herein and throughout the claims that follow, unless otherwise indicated, "a", "an", and "the" include plural references. Also, as used in the description herein and throughout the claims that follow, unless otherwise indicated, the meaning of "in …" includes "in …" and "on …".

The above description of illustrated embodiments of the invention, including what is described in the abstract, is not intended to be exhaustive or to limit the invention to the precise forms disclosed herein. Although specific embodiments of, and examples for, the invention are described herein for illustrative purposes only, various equivalent modifications are possible within the spirit and scope of the present invention, as those skilled in the relevant art will recognize and appreciate. As noted, these modifications can be made to the present invention in light of the foregoing description of illustrated embodiments of the present invention and are to be included within the spirit and scope of the present invention.

The systems and methods have been described herein in general terms as being helpful in understanding the details of the present invention. Furthermore, various specific details have been set forth in order to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that an embodiment of the invention can be practiced without one or more of the specific details, or with other apparatus, systems, assemblies, methods, components, materials, parts, and/or the like. In other instances, well-known structures, materials, and/or operations are not specifically shown or described in detail to avoid obscuring aspects of embodiments of the invention.

Thus, although the invention has been described herein with reference to particular embodiments thereof, a latitude of modification, various changes and substitutions are intended in the foregoing disclosures, and it will be appreciated that in some instances some features of the invention will be employed without a corresponding use of other features without departing from the scope and spirit of the invention as set forth. Therefore, many modifications may be made to adapt a particular situation or material to the essential scope and spirit of the present invention. It is intended that the invention not be limited to the particular terms used in following claims and/or to the particular embodiment disclosed as the best mode contemplated for carrying out this invention, but that the invention will include any and all embodiments and equivalents falling within the scope of the appended claims. Accordingly, the scope of the invention should be determined only by the following claims.

Claims

1. An upper limb rehabilitation training device, characterized by comprising:

A base;

the support frame is arranged on the base;

When the upper limb training mechanism is a crank rocker mechanism, the supporting part is arranged at one end of the supporting frame far away from the base; the rotary shaft is rotatably arranged on the supporting component; the crank is fixedly connected with the rotary shaft; the crank is rotationally connected with the rod piece; the hand auxiliary tool is fixedly arranged on the rod piece; the rod piece and the sliding piece form a moving pair, and the sliding piece and the supporting part form a rotating pair;

When the upper limb training mechanism is a swing guide rod mechanism, the position of the rotation center of the rod piece is adjustable;

When the upper limb training mechanism is a crank rocker mechanism, the position of the rotation center of the sliding piece is adjustable;

The length of the crank is adjustable.

2. The upper limb rehabilitation training device according to claim 1, wherein the support frame comprises a column, a column base and a cantilever, the column base is mounted on the base, the column is mounted on the column base, the cantilever is mounted on one end of the column far away from the column base, and the support member is mounted on the cantilever.

3. The upper limb rehabilitation training device according to claim 2, wherein the height of the upright is adjustable and the length of the cantilever is adjustable.

4. The upper limb rehabilitation training device according to claim 2, wherein an end of the support member remote from the swivel shaft is rotatably mounted to an end of the cantilever arm which is not connected to the upright.

5. The upper limb rehabilitation training device according to claim 1, wherein the upper limb training mechanism further comprises a driving member provided in the supporting member, the driving member being connected with the rotation shaft.

6. The upper limb rehabilitation training device according to claim 1, further comprising a clamping assembly disposed on the support frame; the clamping assembly comprises a mounting seat, a movable clamping piece, a fixed clamping piece, a locking knob and a height adjusting mechanism.

7. The upper limb rehabilitation training device of claim 1 further comprising a handrail mounted on the support frame.

8. The upper limb rehabilitation training device of claim 1 further comprising a resistance component disposed within the support component, wherein the resistance component comprises a friction assembly, a magnetic control resistance generator, or a flywheel.