Upper limb joint rehabilitation device

Abstract

The invention provides an upper limb joint rehabilitation device, and relates to the technical field of medical instruments, and the upper limb joint rehabilitation device comprises a finger joint rehabilitation device which comprises a finger joint driving mechanism and a finger joint resetting mechanism; the wrist joint rehabilitation device comprises a wrist joint driving mechanism and a wrist joint resetting mechanism; the elbow joint rehabilitation device comprises an elbow joint driving mechanism and an elbow joint resetting mechanism; the shoulder joint rehabilitation device comprises an upper arm transverse swinging mechanism and an upper arm vertical swinging mechanism; the base is fixed to the side, close to the corresponding upper limb, of the body of the patient, the shoulder joint rehabilitation device is arranged on the base, and the shoulder joint rehabilitation device, the elbow joint rehabilitation device, the wrist joint rehabilitation device and the finger joint rehabilitation device are sequentially connected. The invention provides an upper limb joint rehabilitation device which is simple, light and convenient to popularize.

Description

Technical Field

[0001] This application relates to the technical field of medical devices, and particularly to an upper limb joint rehabilitation device. Background Art

[0002] Stroke is characterized by high incidence, high recurrence rate, high disability rate, high mortality rate and high economic burden. With the continuous development of medical technology, the mortality rate of stroke patients has decreased significantly, but sequelae such as hemiplegia are still likely to be left. Usually, the upper limb of hemiplegic patients is more severely affected than the lower limb, seriously affecting the limb function of patients and reducing the quality of life.

[0003] Clinical experiments show that timely and appropriate rehabilitation training helps stroke patients recover their damaged limb motor function. Traditional rehabilitation methods mainly rely on rehabilitation physicians for assisted training. The physician is responsible for formulating rehabilitation plans and assisting patients to relearn motor skills, such as moving fingers, stretching the arm, swinging the upper arm, etc. Traditional rehabilitation training is labor-intensive, very time-consuming and expensive. Moreover, patients are prone to impatience during the training process, which is not conducive to the continuous progress of rehabilitation treatment, resulting in poor treatment effects. At present, many research institutions around the world have carried out research on rehabilitation robots and developed various types of upper limb rehabilitation robots. The limitations of these robotic devices are that they are large in size, complex in structure, and high in cost, making it difficult to popularize. Therefore, there is an urgent need to develop a more concise and portable upper limb joint rehabilitation device. Summary of the Invention

[0004] In order to make the upper limb rehabilitation device concise, portable and easy to popularize, this application provides an upper limb joint rehabilitation device.

[0005] The upper limb joint rehabilitation device provided by this application adopts the following technical solutions: An upper limb joint rehabilitation device, comprising: A finger joint rehabilitation device, comprising a finger joint driving mechanism for driving the finger to swing towards the palm and a finger joint reset mechanism for driving the finger to swing away from the palm; A wrist joint rehabilitation device, comprising a wrist joint driving mechanism for pulling the palm to swing towards the forearm and a wrist joint reset mechanism for driving the palm to swing away from the forearm; An elbow joint rehabilitation device, comprising an elbow joint driving mechanism for pulling the forearm to swing towards the upper arm and an elbow joint reset mechanism for driving the forearm to swing away from the upper arm; A shoulder joint rehabilitation device, comprising a transverse swing mechanism for driving the upper arm to swing horizontally and a vertical swing mechanism for driving the upper arm to swing vertically; The base is fixed to one side of the patient's body close to the corresponding upper limb. The shoulder joint rehabilitation device is arranged on the base, and the shoulder joint rehabilitation device, elbow joint rehabilitation device, wrist joint rehabilitation device and finger joint rehabilitation device are connected in sequence.

[0006] Furthermore, the shoulder joint rehabilitation device further includes an upper arm fixing arc plate and an upper arm fixing belt arranged on the upper arm fixing arc plate. The upper arm fixing belt is used to fix the upper arm inside the upper arm fixing arc plate. The upper arm yaw mechanism includes a sliding seat, a sliding drive assembly and a reset assembly. The sliding seat is slidably connected to the base along the direction close to or away from the patient's body. The upper arm fixing arc plate is connected to the sliding seat through an upper arm pitch mechanism. The sliding drive assembly is used to drive the sliding seat to slide away from the patient's body, and the reset assembly is used to drive the sliding seat to move close to the patient's body.

[0007] Furthermore, the sliding drive assembly includes a first motor fixedly arranged on the base, a first traction wheel rotatably arranged on the base and a first traction rope. The first motor drives the first traction wheel to rotate. One end of the first traction rope is wound around the first traction wheel, and the other end is connected to the sliding seat.

[0008] Furthermore, the reset assembly includes a fixed side plate, a side plate fixing belt arranged on the fixed side plate and a reset spring. The fixed side plate is fixed to one side of the patient's body close to the corresponding upper limb through the side plate fixing belt. The reset spring is a tension spring and one end is connected to the fixed side plate, and the other end is connected to the sliding seat.

[0009] Furthermore, the upper arm pitch mechanism includes a second traction wheel rotatably arranged on the base, a guide wheel rotatably arranged on the sliding seat, a second traction rope and a spring telescopic rod. The first motor drives the second traction wheel to rotate. The guide wheel is arranged below the upper arm fixing arc plate. One end of the second traction rope is connected to the bottom of the upper arm arc plate, and the other end bypasses the guide wheel and is wound around the second traction wheel. One end of the spring telescopic rod is connected to the sliding seat, and the other end is connected to the upper arm fixing arc plate.

[0010] Furthermore, the elbow joint rehabilitation device further includes a forearm fixing arc plate and a forearm fixing belt. The forearm fixing belt is used to fix the patient's forearm inside the forearm fixing arc plate. The elbow joint drive mechanism includes a second motor, a third traction wheel and a third traction rope. The second motor is fixedly arranged on the upper arm fixing arc plate. The third traction wheel is rotatably arranged on the upper arm fixing arc plate. One end of the third traction rope is wound around the third traction wheel, and the other end is connected to the forearm fixing arc plate.

[0011] Furthermore, the elbow joint reduction mechanism includes a first strip-shaped airbag and a first air pump. One end of the first strip-shaped airbag is connected to the upper arm fixed arc plate, and the other end is connected to the forearm fixed arc plate. The first air pump is arranged on the forearm fixed arc plate and is used to inflate or deflate the first strip-shaped airbag.

[0012] Furthermore, the wrist joint driving mechanism includes a rehabilitation glove, a third motor, a fourth traction wheel, and a fourth traction rope; The rehabilitation glove includes a glove body and five finger sleeve parts connected to the glove body. The rehabilitation glove is worn on the patient's hand; The third motor is fixedly arranged on the forearm fixed arc plate. The fourth traction wheel is rotatably arranged on the forearm fixed arc plate. The third motor drives the fourth traction wheel to rotate. One end of the third traction rope is wound around the fourth traction wheel, and the other end is connected to the palm part of the glove body; The wrist joint reduction mechanism includes a second strip-shaped airbag and a second air pump. One end of the second strip-shaped airbag is connected to the upper arm fixed arc plate, and the other end is connected to the glove body. The second air pump is arranged on the forearm fixed arc plate and is used to inflate or deflate the second strip-shaped airbag.

[0013] Furthermore, the finger joint driving mechanism includes a fourth motor, a fifth traction wheel, and five fifth traction ropes. The fourth motor is fixedly arranged on the rehabilitation glove. The fifth traction wheel is rotatably arranged on the rehabilitation glove. One end of each of the five fifth traction ropes is wound around the fifth traction wheel, and the other ends are respectively connected to the five finger sleeve parts.

[0014] Furthermore, the finger joint reduction structure includes a first magnetic block arranged on the palm part of the glove body and five second magnetic blocks respectively arranged on the five finger sleeve parts. The sides of the first magnetic block and the second magnetic blocks close to each other are arranged with the same pole.

[0015] In summary, the present application includes at least one of the following beneficial technical effects: 1. By decomposing the upper limb joint rehabilitation device into finger joint, wrist joint, elbow joint, and shoulder joint rehabilitation devices, and further decomposing each joint rehabilitation device into a driving mechanism and a reduction mechanism, it can effectively drive the swing of each joint. Compared with the rehabilitation by a therapist, it can automate the rehabilitation process, reduce the possibility of the patient having an anxious mood, and facilitate the continuous progress of rehabilitation training; compared with the existing upper limb rehabilitation robots, each mechanism of the present application has a simple structure and low cost while ensuring the rehabilitation effect; 2. The shoulder joint rehabilitation device drives the upper arm to swing horizontally through the upper wall yaw mechanism and controls the vertical swing of the upper arm through the upper arm pitch mechanism, ensuring that the shoulder joint can swing freely within a certain range, effectively preventing joint contracture and promoting functional recovery; 3. The reduction of the shoulder joint uses spring reduction, which can improve the comfort of patients and save energy. For the reduction of the elbow joint and wrist joint, through the inflation of strip-shaped airbags and with the assistance of gravity when the patient is lying down, the reduction is controlled in a novel and simple way and can further save energy. The finger joint is reduced by the magnetic force of the first magnet and the second magnet, which can make the patient's finger swing towards the palm with a damping feeling, and after the fourth motor releases the fourth traction rope, the magnetic force cooperates with gravity to make the patient's finger move away from the palm for reduction. Description of the Drawings

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0017] Figure 1 It is a schematic diagram of the first perspective of the overall structure of the embodiment of the present application.

[0018] Figure 2 It is a schematic diagram of the second perspective of the overall structure of the embodiment of the present application.

[0019] Figure 3 It is a schematic diagram of the first perspective of the specific structure of the shoulder joint rehabilitation device of the embodiment of the present application.

[0020] Figure 4 It is a schematic diagram of the second perspective of the specific structure of the shoulder joint rehabilitation device of the embodiment of the present application.

[0021] Figure 5 It is a schematic diagram of the first perspective of the specific structure of the elbow joint, wrist joint and finger joint rehabilitation device of the embodiment of the present application.

[0022] Figure 6 It is a schematic diagram of the second perspective of the specific structure of the elbow joint, wrist joint and finger joint rehabilitation device of the embodiment of the present application Reference Numerals: 1, base; 11, control module; 12, power supply module; 2, shoulder joint rehabilitation device; 21, upper arm fixing arc plate; 211, upper arm fixing belt; 22, sliding seat; 221, guide rod; 23, sliding drive assembly; 231, first motor; 232, first traction wheel; 233, first traction rope; 24, reduction assembly; 241, fixed side plate; 242, side plate fixing belt; 243, return spring; 25, upper arm vertical swing mechanism; 251, spring telescopic rod; 252, guide wheel; 253, second traction wheel; 254, second traction rope; 3. Elbow joint rehabilitation device; 31. Forearm fixed arc plate; 311. Forearm fixing strap; 32. Elbow joint driving mechanism; 321. Second motor; 322. Third traction wheel; 323. Third traction rope; 33. Elbow joint reset mechanism; 331. First strip-shaped airbag; 332. First air pump; 4. Wrist joint rehabilitation device; 41. Rehabilitation glove; 42. Third motor; 43. Fourth traction wheel; 44. Fourth traction rope; 45. Second strip-shaped airbag; 46. Second air pump; 5. Finger joint rehabilitation device; 51. Fourth motor; 52. Fifth traction wheel; 53. Fifth traction rope; 541. First magnet; 542. Second magnet. Detailed implementation manners

[0023] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without creative efforts shall fall within the protection scope of the present invention.

[0024] An embodiment of the present application discloses an upper limb joint rehabilitation device. Taking the rehabilitation of the right upper limb of a patient as an example, by installing the upper limb joint rehabilitation device on the bed and setting it on the right side of the patient, the caregiver places the upper limb of the patient in the lying position with the palm facing up on the upper limb joint rehabilitation device of the present application for upper limb rehabilitation operations. Refer to Figure 1 and Figure 2 , the upper limb joint rehabilitation device includes: The finger joint rehabilitation device 46 second air pump; 5, including a finger joint driving mechanism for driving the finger to swing towards the palm and a finger joint reset mechanism for driving the finger to swing away from the palm; The wrist joint rehabilitation device 4, including a wrist joint driving mechanism for pulling the palm to swing towards the forearm and a wrist joint reset mechanism for driving the palm to swing away from the forearm; The elbow joint rehabilitation device 3, including a wrist joint driving mechanism for pulling the forearm to swing towards the upper arm and an elbow joint reset mechanism 33 for driving the forearm to swing away from the upper arm; The shoulder joint rehabilitation device 2, including an upper arm transverse swing mechanism for driving the upper arm to swing horizontally and an upper arm vertical swing mechanism 25 for driving the upper arm to swing vertically; The base 1 is in the shape of a rectangular plate. The bottom of the base 1 is provided with medical tape to be fixed on the hospital bed. A control module 11 and a power module 12 are provided on the bottom plate. The operation of each device is controlled through the control module 11, and the power module 12 supplies power to the control module 11 and each device to realize the automatic operation of the upper limb rehabilitation device of the present application.

[0025] The shoulder joint rehabilitation device 2 is provided on the base 1. The shoulder joint rehabilitation device 2, the elbow joint rehabilitation device 3, the wrist joint rehabilitation device 4, and the finger joint rehabilitation device 46 are connected in sequence by a second air pump; 5, so that the upper limb joint rehabilitation device of the present application can act on each joint of the entire upper limb, effectively prevent joint contracture, and achieve the purpose of promoting the recovery of upper limb joint function.

[0026] Among them, please refer to Figure 3 , in addition to the upper arm horizontal swing mechanism and the upper arm vertical swing mechanism 25, the shoulder joint rehabilitation device 2 further includes an upper arm fixed arc plate 21 and an upper arm fixing belt 211 provided on the upper arm fixed arc plate 21. The upper arm fixed arc plate 21 is a circular arc plate or a U-shaped plate, and its width can adapt to the size of the upper limb. Different size specifications can be set according to different body size ranges. There are two groups of upper arm fixing belts 211 and they are spaced on the upper arm fixed arc plate 21. Each group of upper arm fixing belts 211 includes two sections. The two sections of the upper arm fixing belts 211 are respectively fixedly connected to both ends of the upper arm fixed arc plate 21, and the two sections of the upper arm fixing belts 211 are adhered by Velcro or connected by a buckle (similar to a schoolbag buckle), so as to facilitate adjusting the length of the fixing belt and adjusting the tightness of fixing the patient's upper arm.

[0027] Specifically, as Figure 3 and Figure 4 shown, the upper arm horizontal swing mechanism includes a sliding seat 22, a sliding drive assembly 23, and a reset assembly 24. The sliding seat 22 is a rectangular block. Two guide rods 221 are horizontally mounted on the base 1. The sliding seat 22 is penetrated through the two guide rods 221, so that the sliding seat 22 is slidably connected to the base 1 along the direction close to or away from the patient's body. The upper arm fixed arc plate 21 is connected to the sliding seat 22 through the upper arm vertical swing mechanism 25, so as to ensure that the upper arm fixed arc plate 21 can swing along the direction close to or away from the patient's body driven by the sliding seat 22, and can also swing up and down through the upper arm vertical swing mechanism 25, so that the upper arm can swing flexibly and improve the rehabilitation effect of the shoulder joint.

[0028] Furthermore, the sliding drive assembly 23 includes a first motor 231, a first traction wheel 232, and a first traction rope 233. The first motor 231 is a servo motor and is fixedly installed on the side of the base 1 away from the patient's body by bolts. The first traction wheel 232 is rotatably installed on the base 1 through a rotating shaft and a rotating seat. One end of the first traction rope 233 is wound around the first traction wheel 232, and the other end is fixedly adhered to the side wall of the sliding seat 22. The first motor 231 controls the rotation of the first traction wheel 232 through forward and reverse rotation, performs rope winding and unwinding operations, and controls the pulling amount of the first traction rope 233 by controlling the rotation speed and rotation time of the first motor 231, so as to control the sliding amount of the sliding seat 22, so as to control the swing of the upper arm around the shoulder joint within a reasonable range.

[0029] In addition, the reset assembly 24 includes a fixed side plate 241, a side plate fixing belt 242 arranged on the fixed side plate 241, and a reset spring 243. The fixed side plate 241 is an arc-shaped plate that fits the side of the human body. The side plate fixing belt 242 is the same as the upper arm fixing belt 211, and is also provided with two groups, each group is divided into two sections, and the two sections of the side plate fixing belt 242 are bonded by Velcro. The fixed side plate 241 is placed on the right side of the patient, and the two sections of the side plate fixing belt 242 extend from the back and chest of the patient away from the fixed side plate 241 and intersect and fix with each other to achieve the fixation of the fixed side plate 241. There are two reset springs 243, and the two reset springs 243 are arranged on the fixed side plate 241 at intervals. One end of the reset spring 243 is welded and fixed to the fixed side plate 241, and the other end is welded and fixed to the side wall of the sliding seat 22.

[0030] Therefore, the control module 11 controls the first motor 231 to drive the first traction wheel 232 to rotate, so that the first traction rope 233 is wound around the first traction wheel 232, causing the sliding seat 22 to slide away from the patient. Subsequently, the first motor 231 drives the first traction wheel 232 to rotate in the opposite direction. At the same time, the return spring 243 pulls the sliding seat 22 to slide close to the patient's body, so that the patient's upper arm swings back and forth laterally.

[0031] On the other hand, still referring to Figure 3 and Figure 4 The upper arm vertical swing mechanism 25 includes a second traction wheel 253, a guide wheel 252, a second traction rope 254 and a spring telescopic rod 251. The second traction wheel 253 is coaxially rotatably arranged on the base 1 with the first traction wheel 232. The guide wheel 252 is rotatably arranged on the top surface of the sliding seat 22 in the same way and is located directly below the upper arm fixed arc plate 21. One end of the second traction rope 254 is still fixed to the center position of the bottom of the upper arm fixed slide plate, and the other end is passed around the guide wheel 252 and is wound around the second traction wheel 253. The spring telescopic rod 251 can be either an external spring or an internal spring. The two ends of the spring telescopic rod 251 are respectively fixedly connected to the bottom of the upper arm fixed arc plate 21 and the top surface of the sliding seat 22 by bolts.

[0032] Thus, when the first motor 231 drives the first traction wheel 232, the second traction wheel 253 rotates together, and the upper arm fixed arc plate 21 is pulled downward by the second traction rope 254. When the first motor 231 rotates in the opposite direction, the upper arm arc plate moves upward under the action of the spring telescopic rod 251, thereby realizing the upper arm to swing up and down. Compared with setting a spring alone, the spring telescopic rod 251 can improve the stability of the upper arm fixed arc plate 21, so that the patient's upper arm can swing in a controllable manner, and reduce the discomfort of the patient caused by the upper arm shaking at will.

[0033] In this embodiment, the first motor 231 drives the first traction wheel 232 and the second traction wheel 253 to rotate at the same time, which has a simple structure and simple control, but can only realize the tilting swing of the upper arm, but cannot realize the upper arm to swing vertically or horizontally alone. As an alternative embodiment, a fifth motor can be fixedly arranged on the base 1, and the fifth motor drives the second traction wheel 253 to rotate alone, so that the upper arm fixed arc plate 21 can swing up and down or left and right alone, thereby improving the flexibility of control.

[0034] On the other hand, the second air pump 5 of the elbow joint rehabilitation device 3, the wrist joint rehabilitation device 4 and the finger joint rehabilitation device 46 are specifically explained in detail.

[0035] Please refer to Figure 5 and Figure 6 In addition to the elbow joint driving mechanism 32 and the elbow joint resetting mechanism 33, the elbow joint rehabilitation device 3 also includes a forearm fixing arc plate 31 and a forearm fixing belt 311. The forearm fixing arc plate 31 is an arc-shaped plate. The forearm fixing belt 311 has the same structure as the upper arm fixing belt 211. When installed, the arc-shaped opening of the forearm fixing arc plate 31 is set downward, and the forearm fixing belt 311 wraps around the forearm to bind the forearm fixing arc plate 31 to the patient's forearm.

[0036] The elbow joint drive mechanism 32 includes a second motor 321, a third traction wheel 322, and a third traction rope 323. The second motor 321 is a servo motor. The second motor 321 is fixed on the upper arm fixed arc plate 21 by bolts. The third traction wheel 322 is rotatably arranged on one side of the upper arm fixed arc plate 21 through a rotating shaft and an L-shaped rotating seat. One end of the third traction rope 323 is wound around the third traction wheel 322, and the other end is adhesively fixed to the forearm fixed arc plate 31. The second motor 321 controls the rotation of the third traction wheel 322 by forward and reverse rotation to perform rope collection and release operations. The speed and rotation time of the second motor 321 are controlled by the control module 11 to control the pulling amount of the third traction rope 323, thereby controlling the displacement of the forearm fixed arc plate 31, so as to control the forearm to swing around the elbow joint within a reasonable range.

[0037] In addition, the elbow joint resetting mechanism 33 includes a first strip airbag 331 and a first air pump 332. The first strip airbag 331 is arranged on the side of the upper arm fixed arc plate 21 away from the third traction rope 323, so as to be staggered with the third traction rope 323 to prevent interference. One end of the first strip airbag 331 is bonded and fixed to the upper arm fixed arc plate 21, and the other end is bonded and fixed to the forearm fixed arc plate 31. The first air pump 332 is a micro air pump. The first air pump 332 is fixed to the side of the upper arm fixed arc plate 21 away from the second motor 321 by bolts. The first air pump 332 is connected to the first strip airbag 331 through an air pipe, so as to realize the inflation and degassing of the strip airbag.

[0038] It can be seen that when the elbow joint rehabilitation device 3 is running, the second motor 321 controls the third traction wheel 322 to wind up the third traction rope 323, so as to pull the forearm to rotate close to the upper arm. Subsequently, the second motor 321 reverses to release the third traction rope 323. At the same time, the first air pump 332 inflates the first airbag, so that the first airbag changes from a deflated strip that can be deformed arbitrarily to a strip column with a certain hardness, so as to support the forearm to swing away from the upper arm. The control unit controls the second motor 321 and the first air pump 332 to operate repeatedly, and the forearm can swing up and down around the elbow joint, achieving the purpose of moving the elbow joint.

[0039] In addition, the wrist joint drive mechanism includes a rehabilitation glove 41, a third motor 42, a fourth traction wheel 43 and a fourth traction rope 44. The rehabilitation glove 41 is an open-fingered glove. The rehabilitation glove 41 includes a glove body and five finger sleeve parts connected to the glove body. The five finger sleeve parts correspond to the five fingers of the patient respectively. The end of the finger sleeve part is located near the end of the second joint of the patient's finger, which is convenient for pulling the patient's finger to rotate around the finger joint. The third motor 42 is fixed on the forearm fixing arc plate 31 by bolts. The fourth traction wheel 43 is rotatably arranged on the forearm fixing arc plate 31. One end of the fourth traction rope 44 is wound around the fourth traction wheel 43, and the other end is fixedly bonded to the palm of the glove body. The third motor 42 controls the fourth traction rope 44 to pull the patient's palm to rotate around the wrist joint close to the forearm. The control principle is the same as that of the first motor 231 and the second motor 321, and will not be elaborated here.

[0040] Furthermore, the wrist joint reset mechanism includes a second strip-shaped airbag 45 and a second air pump. One end of the second strip-shaped airbag 45 is fixedly bonded to the upper arm fixing arc plate 21, and the other end is bonded and fixed to one side of the glove body. The second air pump is a micro air pump and is fixed on the forearm fixing arc plate 31 by bolts. The working principle of the second strip-shaped airbag 45 and the second air pump is the same as that of the first strip-shaped airbag 331 and the first air pump 332, and will not be elaborated here.

[0041] It can be seen that the principle of the wrist joint rehabilitation device 4 is the same as that of the elbow joint rehabilitation device 3. Both use a motor in cooperation with a traction rope as the drive and a strip-shaped airbag in cooperation with an air pump for reset. The structure is simple, the effect is obvious, it can effectively drive the swing of the elbow joint and the wrist joint, and there will be no interference between them. The cost is low, the control is simple, and the practicability is strong.

[0042] On the other hand, the knuckle drive mechanism includes a fourth motor 51, a fifth traction wheel 52, and five fourth traction ropes 44. Among them, a mounting plate is adhesively fixed at the palm of the glove body. The fourth motor 51 is a servo motor and is fixed to the mounting plate by bolts. The fifth traction wheel 52 is rotatably arranged on the mounting plate through a rotating shaft and a rotating seat. One end of each of the five fourth traction ropes 44 is wound around the fifth traction wheel 52 in a staggered manner, and the other ends are respectively adhesively fixed to the ends of the five finger sleeves. The fourth motor 51 controls the rotation of the fifth traction wheel 52 through forward and reverse rotations to perform rope winding and unwinding operations. By controlling the rotation speed and rotation time of the fourth motor 51, the pulling amount of the fifth traction rope 53 is controlled, so as to control the movement amount of the five finger sleeves, so as to synchronously control the five fingers to rotate around the knuckles close to the palm within a reasonable range. Moreover, through the cooperation of the knuckle reset mechanism and the reverse rotation of the fourth motor 51, the five fingers rotate around the knuckles away from the palm.

[0043] Specifically, referring to Figure 5 and Figure 6 , the knuckle reset mechanism includes a first magnet 541 and five second magnets 542. The area of the first magnet 541 is larger than that of the second magnet 542. The first magnet 541 is adhesively fixed to the mounting plate, and the five second finger blocks are respectively adhesively fixed to the sides of the five finger sleeves close to the palm. The sides of the first magnet 541 and the second magnet 542 close to each other are arranged with the same poles.

[0044] In the specific implementation process, after the fourth motor 51 controls the fifth traction rope 53 to pull the five finger sleeves to rotate close to the palm, the first magnet 541 and the second magnet 542 generate repulsive magnetic forces, so that a damping feeling is generated when the patient's finger part bends close to the palm, improving comfort; subsequently, the fourth motor 51 rotates in the reverse direction to release the fifth traction rope 53, and the five finger sleeves are reset away from the palm under the repulsive magnetic force of the second magnet 542 and the first magnet 541. The control unit controls the forward and reverse rotations of the fourth motor 51, so that the bending and resetting of the patient's finger part are realized, and the exercise of the knuckles is achieved.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An upper limb joint rehabilitation device, characterized in that, Comprising: A finger joint rehabilitation device, including a finger joint driving mechanism for driving the finger to swing towards the palm and a finger joint resetting mechanism for driving the finger to swing in a direction away from the palm; A wrist joint rehabilitation device, including a wrist joint driving mechanism for pulling the palm to swing towards the forearm and a wrist joint resetting mechanism for driving the palm to swing in a direction away from the forearm; An elbow joint rehabilitation device, including an elbow joint driving mechanism for pulling the forearm to swing towards the upper arm and an elbow joint resetting mechanism for driving the forearm to swing in a direction away from the upper arm; A shoulder joint rehabilitation device, including a horizontal swing mechanism for driving the upper arm to swing horizontally and a vertical swing mechanism for driving the upper arm to swing vertically; A base, fixed to one side of the patient's body close to the corresponding upper limb, the shoulder joint rehabilitation device is arranged on the base, and the shoulder joint rehabilitation device, elbow joint rehabilitation device, wrist joint rehabilitation device and finger joint rehabilitation device are connected in sequence.

2. The upper limb joint rehabilitation device according to claim 1, characterized in that, The shoulder joint rehabilitation device further includes an upper arm fixing arc plate and an upper arm fixing belt arranged on the upper arm fixing arc plate, and the upper arm fixing belt is used to fix the upper arm inside the upper arm fixing arc plate; The horizontal swing mechanism of the upper arm includes a sliding seat, a sliding driving component and a resetting component. The sliding seat is slidably connected to the base in a direction close to or away from the patient's body. The upper arm fixing arc plate is connected to the sliding seat through a vertical swing mechanism of the upper arm. The sliding driving component is used to drive the sliding seat to slide away from the patient's body, and the resetting component is used to drive the sliding seat to move close to the patient's body.

3. The upper limb joint rehabilitation device according to claim 2, wherein, The sliding driving component includes a first motor fixedly arranged on the base, a first traction wheel rotatably arranged on the base and a first traction rope. The first motor drives the first traction wheel to rotate. One end of the first traction rope is wound around the first traction wheel, and the other end is connected to the sliding seat.

4. The upper limb joint rehabilitation device according to claim 3, characterized in that, The resetting component includes a fixed side plate, a side plate fixing belt arranged on the fixed side plate and a reset spring. The fixed side plate is fixed to one side of the patient's body close to the corresponding upper limb through the side plate fixing belt. The reset spring is a tension spring and one end is connected to the fixed side plate, and the other end is connected to the sliding seat.

5. The upper limb joint rehabilitation device according to claim 3, characterized in that, The vertical swing mechanism of the upper arm includes a second traction wheel rotatably arranged on the base, a guide wheel rotatably arranged on the sliding seat, a second traction rope and a spring telescopic rod. The first motor drives the second traction wheel to rotate. The guide wheel is arranged below the upper arm fixing arc plate. One end of the second traction rope is connected to the bottom of the upper arm arc plate, and the other end bypasses the guide wheel and is wound around the second traction wheel. One end of the spring telescopic rod is connected to the sliding seat, and the other end is connected to the upper arm fixing arc plate.

6. The upper limb joint rehabilitation device according to claim 2, wherein, The elbow joint rehabilitation device further includes a forearm fixing arc plate and a forearm fixing belt, and the forearm fixing belt is used to fix the patient's forearm inside the forearm fixing arc plate; The elbow joint driving mechanism includes a second motor, a third traction wheel and a third traction rope. The second motor is fixedly arranged on the upper arm fixing arc plate, the third traction wheel is rotatably arranged on the upper arm fixing arc plate, one end of the third traction rope is wound around the third traction wheel, and the other end is connected to the forearm fixing arc plate.

7. The upper limb joint rehabilitation device according to claim 6, characterized in that, The elbow joint reduction mechanism includes a first strip-shaped airbag and a first air pump. One end of the first strip-shaped airbag is connected to the upper arm fixed arc plate, and the other end is connected to the forearm fixed arc plate. The first air pump is arranged on the forearm fixed arc plate and is used to inflate or deflate the first strip-shaped airbag.

8. The upper limb joint rehabilitation device according to claim 6, wherein, The wrist joint driving mechanism includes a rehabilitation glove, a third motor, a fourth traction wheel, and a fourth traction rope. The rehabilitation glove includes a glove body and five finger sleeve parts connected to the glove body. The rehabilitation glove is worn on the patient's hand. The third motor is fixedly arranged on the forearm fixed arc plate. The fourth traction wheel is rotatably arranged on the forearm fixed arc plate. The third motor drives the fourth traction wheel to rotate. One end of the third traction rope is wound around the fourth traction wheel, and the other end is connected to the palm part of the glove body. The wrist joint reduction mechanism includes a second strip-shaped airbag and a second air pump. One end of the second strip-shaped airbag is connected to the upper arm fixed arc plate, and the other end is connected to the glove body. The second air pump is arranged on the forearm fixed arc plate and is used to inflate or deflate the second strip-shaped airbag.

9. The upper limb joint rehabilitation device according to claim 8, wherein, The finger joint driving mechanism includes a fourth motor, a fifth traction wheel, and five fifth traction ropes. The fourth motor is fixedly arranged on the rehabilitation glove. The fifth traction wheel is rotatably arranged on the rehabilitation glove. One end of each of the five fifth traction ropes is wound around the fifth traction wheel, and the other ends are respectively connected to the five finger sleeve parts.

10. The upper limb joint rehabilitation device according to claim 9, characterized in that, The finger joint reduction structure includes a first magnet arranged on the palm part of the glove body and five second magnets respectively arranged on the five finger sleeve parts. The sides of the first magnet and the second magnets close to each other are arranged with the same polarity.

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