A three-degree-of-freedom upper limb rehabilitation device

Abstract

The present invention relates to a three-degree-of-freedom upper limb rehabilitation device, which includes a seat assembly, a forearm spin motion mechanism, an elbow joint flexion and extension motion mechanism, and a forearm horizontal swing mechanism. The seat assembly is placed on the ground, and the forearm spin motion mechanism, the elbow joint flexion and extension motion mechanism, and the forearm horizontal swing mechanism are all installed on the seat assembly; the forearm spin motion mechanism realizes the spin motion of the forearm, the elbow joint flexion and extension motion mechanism realizes the flexion and extension motion of the elbow joint, and the forearm horizontal swing mechanism realizes the reciprocating swing motion of the forearm in the horizontal direction. The present invention can realize three-degree-of-freedom motions of the patient's forearm, including spin, elbow joint flexion and extension, and forearm horizontal swing. Each degree of freedom can perform independent motions; the rehabilitation device is separated from the patient. During use, only the arm part is fixed to the rehabilitation device, making the rehabilitation training safer; the overall length of the forearm support rod for placing the patient's forearm is adjustable to meet the usage requirements of different patients.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation equipment, and in particular to a three-degree-of-freedom upper limb rehabilitation device. Background Art

[0002] "Stroke" is a common disease among the elderly. For the rehabilitation treatment of stroke patients, the traditional rehabilitation method mainly involves physical exercise training by rehabilitation doctors for patients.

[0003] Currently, there are also rehabilitation robots that assist patients in treatment and help patients exercise their upper and lower limbs to gradually restore limb function. However, the existing rehabilitation robots still need to be greatly improved in terms of humanization, intelligence, and structural optimization. First of all, the volume of the upper limb rehabilitation robot is still relatively large. Especially for the wearable upper limb rehabilitation robot, not only is it cumbersome to wear, but also due to the need for larger-sized parts at the joint axis to reduce the movement speed, the wearable part is heavy, causing a heavier burden on the affected limb. Most of the upper limb rehabilitation robots also have problems such as complex structures, and the need to improve safety, stability, and comfort. Summary of the Invention

[0004] The technical problem to be solved by the present invention is: In order to overcome the deficiencies in the prior art, the present invention provides a three-degree-of-freedom upper limb rehabilitation device with a simple structure and easy operation, so as to achieve the spin of the patient's forearm, the flexion and extension of the elbow joint, and the horizontal swing movement of the forearm, and meet the training requirements in different rehabilitation periods.

[0005] The technical solution adopted by the present invention to solve its technical problems is: A three-degree-of-freedom upper limb rehabilitation device, comprising:

[0006] Seat assembly: having a machine base, a fixed column, and an adjustment rod. The fixed frame is disposed in front of the machine base at intervals, and the adjustment rod is telescopically installed on the fixed column. A platform is rotatably installed on the machine base, and a forearm support frame is fixed on the rear end face of the platform;

[0007] Forearm spin motion mechanism: including a large forearm support rod, a small forearm support rod, and a grip. The rear end of the large forearm support rod is rotatably connected to the forearm support frame, the small forearm support rod is inserted and matched with the front end of the large forearm support rod, a vertical flat plate is fixed at the front end of the small forearm support rod, and the grip is rotatably installed on the vertical flat plate;

[0008] Elbow joint flexion and extension motion mechanism: including an arc gear, a wide gear, and a double-wheel frame. The double-wheel frame is located below the large forearm support rod and is fixed to the platform. The arc gear is fixed to the lower end face of the middle part of the large forearm support rod, the wide gear is rotatably installed at the front end of the double-wheel frame, and the wide gear is meshed with the arc gear for transmission;

[0009] The forearm horizontal swing mechanism includes a swinging large gear, a swinging small gear and a reduction motor. The reduction motor is installed in the machine base. The swinging large gear is fixed to the rear end of the platform. The swinging small gear is fixed on the output shaft of the reduction motor. The swinging small gear meshes with the swinging large gear to drive the platform to swing horizontally.

[0010] Specifically, the seat assembly includes a seat plate, an armrest is fixed on one side of the seat plate, a machine base is fixed at the rear end of the other side of the seat plate, a fixed column is located at the front end of the other side of the seat plate, an adjustment rod extends into the center hole of the fixed column and is adjustably connected to the fixed column through a spring pin; a motor hole and a platform connection hole are opened on the machine base.

[0011] Furthermore, a rotating short shaft is fixed to the bottom surface of the rear end of the platform, and the rotating short shaft is rotatably connected to the platform connecting hole on the machine base through a bearing.

[0012] The forearm spinning motion mechanism includes a spinning motor, a spinning pinion and a spinning gear. A motor box is fixed to the front end surface of the vertical plate, the spinning motor is installed in the motor box, the output shaft of the spinning motor is connected to a reducer, and the spinning pinion is installed on the output shaft of the reducer; a right-angle connecting rod is fixedly connected to the upper end surface of the handle, and a transmission short shaft is provided at the lower end of the vertical section of the right-angle connecting rod. The front end of the transmission short shaft extends out of the vertical plate and rotates with the vertical plate through a bearing. The spinning gear is installed at the front end of the transmission short shaft, and the spinning pinion is meshed with the spinning gear for transmission.

[0013] A row of small holes are distributed along the length direction of the small forearm support rod. The small forearm support rod is adjustably connected to the large forearm support rod by inserting a spring pin into the small hole to facilitate adjustment of the overall length of the forearm support rod to meet the usage needs of different patients.

[0014] The elbow joint flexion and extension movement mechanism includes a flexion and extension motor fixed on a platform and a reducer connected to the flexion and extension motor in transmission. A motor gear is installed on the output shaft of the reducer. The axle of the wide gear is rotatably connected to the double wheel frame through a bearing. A transition gear that meshes with the motor gear is installed on the protruding end of the axle of the wide gear.

[0015] The inner side of the circular arc gear is a semicircular protrusion and the outer side is evenly distributed straight teeth. A concave roller is rotatably installed on the rear end of the double wheel frame through a bearing. The concave roller cooperates with the semicircular protrusion on the inner side of the arc gear to limit and guide the movement direction of the arc gear. The wide gear meshes with the straight teeth on the outer side of the arc gear.

[0016] Furthermore, the reduction motor is installed in a motor hole on the machine base.

[0017] The beneficial effects of the present invention are as follows: The present invention can achieve three degrees of freedom of movement, namely, the spin of the patient's forearm, the flexion and extension of the elbow joint, and the swing of the forearm in the horizontal direction. Each degree of freedom can move independently. The rehabilitation device is separated from the patient. When in use, only the arm part of the patient is fixed to the rehabilitation device, and the affected limb has no weight burden, making the rehabilitation exercise training safer and the usage method simpler. The overall length of the forearm support rod for placing the patient's forearm is adjustable to meet the usage needs of different patients and improve the comfort of using the rehabilitation device. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below in conjunction with the drawings and embodiments.

[0019] Figure 1 is a schematic diagram of the overall structure of the present invention.

[0020] Figure 2 is a schematic diagram of the structure of the forearm spin motion mechanism of the present invention.

[0021] Figure 3 is a schematic diagram of the structure of the elbow flexion and extension motion mechanism of the present invention.

[0022] Figure 4 is a schematic diagram of the structure of the forearm horizontal swing mechanism of the present invention.

[0023] Figure 5 is a schematic diagram of the structure of the seat assembly of the present invention.

[0024] In the figure: 1. Seat assembly, 2. Forearm spin motion mechanism, 3. Elbow flexion and extension motion mechanism, 4. Forearm horizontal swing mechanism, 5. Seat plate, 6. Armrest, 7. Machine base, 8. Fixed column, 9. Adjusting rod, 10. Platform, 11. Motor hole, 12. Platform connection hole, 13. Forearm support frame, 14. Large forearm support rod 15. Small forearm support rod, 16. Grip, 17. Spin motor, 18. Spin small gear, 19. Spin large gear, 20. Vertical flat plate, 21. Motor box, 22. Right-angle connecting rod, 23. Transmission short shaft, 24. Magic tape 25. Flexion and extension motor, 26. Motor gear, 27. Intermediate gear, 28. Arc gear, 29. Wide gear, 30. Concave roller, 31. Double-wheel frame, 32. Motor mounting seat, 33. Swing large gear, 34. Swing small gear, 35. Reduction motor. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] The present invention will now be described in further detail with reference to the drawings. These drawings are all simplified schematic diagrams, only illustrating the basic structure of the present invention in a schematic manner, so they only show the components related to the present invention.

[0026] As Figure 1A three-degree-of-freedom upper limb rehabilitation device shown in the figure includes a seat assembly 1, a forearm spin motion mechanism 2, an elbow joint flexion and extension motion mechanism 3, and a forearm horizontal swing mechanism 4. The seat assembly 1 is placed on the ground, and the forearm spin motion mechanism 2, the elbow joint flexion and extension motion mechanism 3, and the forearm horizontal swing mechanism 4 are all installed on the seat assembly.

[0027] As Figure 5 shown, the seat assembly 1: includes a seat board 5, armrests 6, a machine base 7, fixing columns 8, and adjusting rods 9. The armrests 6 are fixed to the right side edge of the seat board 5. A backrest is installed at the rear end of the seat board 5. Legs are respectively fixed at the four corner ends of the bottom surface of the seat board 5. The seat board 5 provides body support and body pose fixation for the patient during rehabilitation training.

[0028] The machine base 7 is fixed to the outer side surface of the left rear end of the seat board 5. The fixing column 8 is fixed to the outer side surface of the left front end of the seat board 5. The adjusting rod 9 is provided with small holes arranged at intervals. The adjusting rod 9 is inserted into the central hole of the fixing column 8 and is connected to the fixing column 8 in an adjustable manner by inserting a spring pin into the small holes. The adjusting rod 9 can be telescopically installed on the fixing column 8 to adjust the installation height of the elbow joint flexion and extension motion mechanism 3 and play a limiting role in the flexion and extension motion of the elbow joint.

[0029] A platform 10 is installed on the machine base 7. A motor hole 11 and a platform connection hole 12 are provided on the machine base 7. A rotating short shaft is fixed to the bottom surface of the rear end of the platform 10. The rotating short shaft is rotationally connected to the platform connection hole 12 on the machine base 7 through a bearing to realize the horizontal swing of the platform 10. A forearm support frame 13 is fixed on the rear end surface of the platform 10.

[0030] As Figure 2 shown, the forearm spin motion mechanism 2: includes a large forearm support rod 14, a small forearm support rod 15, a grip 16, a spin motor 17, a spin small gear 18, and a spin large gear 19. The rear end of the large forearm support rod 14 is rotationally connected to the forearm support frame 13 through a pin shaft and a bearing. A row of small holes is distributed in the length direction of the small forearm support rod 15. The rear end of the small forearm support rod 15 is inserted into the front end of the large forearm support rod 14 and is connected to the large forearm support rod 14 in an adjustable plug-in fit by inserting a spring pin into the small holes to facilitate adjusting the overall length of the forearm support rod to meet the usage requirements of different patients.

[0031] A vertical plate 20 is fixed at the front end of the small forearm support rod 15, and a motor box 21 is fixed to the front end surface of the vertical plate 20 by screws. The motor box 21 has a motor fixing frame built in it, and the spin motor 16 is installed in the motor fixing frame. The spin motor 17 adopts a forward and reverse motor, and the output shaft of the spin motor 17 is connected to a reducer; the handle 16 is located above the small forearm support rod 15 on the rear side of the vertical plate 20, and a right-angle connecting rod 22 is fixedly connected to the upper end surface of the handle 16, and a transmission short shaft 23 is fixedly connected to the lower end of the vertical section of the right-angle connecting rod 22. The transmission short shaft 23 is rotatably matched with the vertical plate 20 through a bearing, and the transmission short shaft 23 extends out of the front end surface of the vertical plate 20. The spin pinion 18 is installed on the output shaft of the reducer, and the spin gear 19 is installed on the front end of the transmission short shaft 23 extending out of the vertical plate 20, and the spin pinion 18 is meshed with the spin gear 19 for transmission.

[0032] The patient's forearm is placed on the forearm support rod composed of the large forearm support rod 14 and the small forearm support rod 15, and the hand holds the handle 16 and is fixed by the Velcro 24 connected to the handle 16. The spin motor 17 drives the spin pinion 18 to rotate through the reducer, and the spin pinion 18 engages with the transmission spin large gear 19 to drive the handle 16 to rotate left and right, thereby realizing the spin movement of the patient's forearm.

[0033] like Figure 3 As shown, the elbow joint flexion and extension movement mechanism 3 includes a flexion and extension motor 25 that can rotate forward and reverse, a motor gear 26, a transition gear 27, an arc gear 28, a wide gear 29, a concave roller 30 and a double wheel frame 31.

[0034] The double wheel frame 31 is located below the large forearm support rod 14 and is fixed to the platform 10 by screws. The circular arc gear 28 is welded and fixed to the lower end face of the middle part of the large forearm support rod 14. The inner side of the circular arc gear 28 has a semicircular protrusion and the outer side has evenly distributed spur teeth. The axle of the wide gear 29 is rotatably mounted on the front end of the double wheel frame 31 through a bearing, and the concave roller 30 is rotatably mounted on the rear end of the double wheel frame 31 through a bearing. The concave roller 30 cooperates with the semicircular protrusion on the inner side of the arc gear 28 to limit and guide the movement direction of the arc gear 28. The wide gear 29 meshes with the spur teeth on the outer side of the arc gear 28 for transmission.

[0035] A motor mounting seat 32 is fixed on the outer convex plate at the front end of the platform 10, the flexion and extension motor 25 is mounted on the motor mounting seat 32 and is connected to a reducer for transmission, the motor gear 26 is mounted on the output shaft of the reducer, and the transition gear 27 is mounted on the protruding end of the axle of the wide gear 29 and meshes with the motor gear 26 for transmission.

[0036] The patient's forearm is placed on the large forearm support rod 14. The flexion and extension motor 25 drives the motor gear 26 to rotate through a speed reducer. The motor gear 26 drives the wide gear 29 to rotate through the intermediate gear 27. The wide gear 29 meshes with and drives the arc gear 28 to move, pushing the large forearm support rod 14 up and down, thereby realizing the flexion and extension movement of the patient's elbow joint.

[0037] As Figure 4 shown, the forearm horizontal swing mechanism 4 includes a swing large gear 33, a swing small gear 34, and a reduction motor 35. The reduction motor 35 is installed in the motor hole 11 on the machine base 7. The swing large gear 33 is fixed to the rear end face of the platform 10 by screws. The swing small gear 34 is fixed on the output shaft of the reduction motor 35. The swing small gear 34 meshes with and drives the swing large gear 33 to drive the platform 10 to make a horizontal swing.

[0038] After the patient's forearm is placed on the large forearm support rod 14, the reduction motor 35 is started to drive the swing small gear 34 to mesh with and drive the swing large gear 33, driving the platform 10 to swing back and forth in the horizontal direction, thereby realizing the swing movement of the patient's forearm in the horizontal direction.

[0039] By combining and installing the above mechanisms on the seat assembly 1, when the patient sits on the seat plate 5 and places the forearm on the large forearm support rod 14, three-degree-of-freedom movements of the forearm's self-rotation, elbow joint flexion and extension, and forearm horizontal swing can be realized, thus meeting the requirements of the patient's forearm rehabilitation training.

[0040] Inspired by the ideal embodiments of the present invention described above, through the above description, relevant staff can completely make various changes and modifications without departing from the technical idea of this invention. The technical scope of this invention is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A three-degree-of-freedom upper limb rehabilitation device, Its characteristics are: include: Seat assembly: It has a seat plate, a base, a fixed column and an adjustment rod. The base is fixed to the outer side of the rear left side of the seat plate, the fixed column is fixed to the outer side of the front left side of the seat plate, the adjustment rod is telescopically mounted on the fixed column, a platform is rotatably mounted on the base, and a forearm support frame is fixed to the rear end surface of the platform; The forearm self-spinning motion mechanism comprises a large forearm support rod, a small forearm support rod, a grip, a self-spinning motor, a self-spinning pinion and a self-spinning large gear. The rear end of the large forearm support rod is rotatably connected to the forearm support frame, the small forearm support rod is plugged and matched with the front end of the large forearm support rod, a vertical plate is fixed to the front end of the small forearm support rod, and the grip is rotatably mounted on the vertical plate; a motor box is fixed to the front end surface of the vertical plate, the self-spinning motor is mounted in the motor box, the output shaft of the self-spinning motor is connected to a reducer, and the self-spinning pinion is mounted on the output shaft of the reducer; a right-angle connecting rod is fixed to the upper end surface of the grip, a transmission short shaft is provided at the lower end of the vertical section of the right-angle connecting rod, the front end of the transmission short shaft extends out of the vertical plate and is rotatably matched with the vertical plate through a bearing, the self-spinning large gear is mounted on the front end of the transmission short shaft, and the self-spinning pinion is meshed with the spin large gear for transmission; Elbow joint flexion and extension movement mechanism: includes an arc gear, a wide gear, a double wheel frame, a flexion and extension motor fixed on the platform and a reducer connected to the flexion and extension motor, the double wheel frame is located below the large forearm support rod and fixed to the platform, the arc gear is fixed to the lower end surface of the middle part of the large forearm support rod, the wide gear is rotatably mounted on the front end of the double wheel frame, and the wide gear is meshed with the arc gear for transmission; the motor gear is mounted on the output shaft of the reducer, the axle of the wide gear is rotatably connected to the double wheel frame through a bearing, and a transition gear meshed with the motor gear for transmission is mounted on the protruding end of the axle of the wide gear; The forearm horizontal swing mechanism includes a swinging gear, a swinging pinion and a reduction motor. The reduction motor is installed in the machine base. The swinging gear is fixed to the rear end of the platform. The swinging pinion is fixed on the output shaft of the reduction motor. The swinging pinion meshes with the swinging gear to drive the platform to swing horizontally.

2. The three-degree-of-freedom upper limb rehabilitation device according to claim 1, Its characteristics are: An armrest is fixed on one side of the seat plate, the machine base is fixed at the rear end of the other side of the seat plate, the fixed column is located at the front end of the other side of the seat plate, the adjustment rod extends into the center hole of the fixed column and is adjustably connected to the fixed column through a spring pin; a motor hole and a platform connection hole are opened on the machine base.

3. The three-degree-of-freedom upper limb rehabilitation device according to claim 2, Its characteristics are: A rotating short shaft is fixed on the bottom surface of the rear end of the platform, and the rotating short shaft is rotatably connected to the platform connecting hole on the machine base through a bearing.

4. The three-degree-of-freedom upper limb rehabilitation device according to claim 1, Its characteristics are: A row of small holes are distributed in the length direction of the small forearm support rod, and the small forearm support rod is adjustably connected to the large forearm support rod by inserting a spring pin into the small hole.

5. The three-degree-of-freedom upper limb rehabilitation device according to claim 1, Its characteristics are: The inner side of the arc gear is a semi-circular protrusion, and the outer side is evenly distributed straight teeth. A concave roller is rotatably installed at the rear end of the double wheel frame through a bearing. The concave roller cooperates with the semi-circular protrusion on the inner side of the arc gear, and the wide gear meshes with the straight teeth on the outer side of the arc gear.

6. The three-degree-of-freedom upper limb rehabilitation device according to claim 2, characterized in that: The reduction motor is installed in the motor hole on the machine base.

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