Desktop upper limb rehabilitation training equipment with cable drive

Abstract

The present invention discloses a cable-driven desktop upper limb rehabilitation training device, which includes a base, a first cable-driven unit, a second cable-driven unit, a sliding assembly and a handle. The sliding assembly includes two guide rods rotatably mounted on the base and extending along the Y-axis direction, and a sliding rod slidably mounted on the two guide rods and extending along the X-axis direction; the handle is mounted on the sliding rod and can slide along the length direction of the sliding rod. The first cable-driven unit is used to drive the handle to move along the Y-axis direction, and the second cable-driven unit is used to drive the handle to move along the X-axis direction. The present invention adopts a cable-driven transmission method, which has better flexibility and safety compared with the rigid transmission method of the existing desktop upper limb rehabilitation training device.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly relates to a desktop upper limb rehabilitation training device in a cable-driven form. Background Art

[0002] In the rehabilitation treatment process of most upper limb dysfunction patients, therapists need to conduct one-on-one manual rehabilitation training for patients. This training process has a high labor intensity and a long time. Generally speaking, it is difficult for therapists to ensure the continuity and quality of rehabilitation training. In addition, due to the uneven levels of various therapists, the effect of rehabilitation training is difficult to guarantee.

[0003] In recent years, some upper limb rehabilitation training devices have gradually entered hospitals at all levels and began to replace part of the physical work of therapists. The existing forms of upper limb rehabilitation training devices are mainly divided into exoskeleton type and end traction type. Among them, the end traction type rehabilitation training device is widely used due to its simple structure and convenient wearing. The end traction type upper limb rehabilitation training device can be further divided into desktop type and space type. The desktop type rehabilitation training device usually only includes two training degrees of freedom in a plane, and the space type rehabilitation training device usually includes more than three training degrees of freedom in space.

[0004] The desktop type rehabilitation training device usually has the advantages of more compact structure, easy layout, lower cost and simple operation. However, the drive of the existing desktop type rehabilitation training device usually adopts the method of motor plus gear reducer. For example, a two-degree-of-freedom upper limb rehabilitation training device disclosed in Chinese Patent CN104814856A. The two sides of the upper limb rehabilitation training mechanism adopt four pairs of bevel gears with an axis intersection angle of 90 degrees and a transmission ratio of 1:1. A brake is installed on the left rotating shaft of the left upper limb rehabilitation trainer. When the brake is opened, when the front end of one side of the patient's upper limb makes a circular motion, the front end of the other side of the upper limb makes a circular motion in the opposite direction. This device has poor reverse driving ability, high stiffness in the transmission process, and is easily affected by the non-linear friction of the rigid reducer during the transmission process. Therefore, it is difficult for the device to provide a compliant rehabilitation training experience. Summary of the Invention

[0005] To solve the technical problems existing in the existing desktop type rehabilitation training device, such as poor reverse driving ability of the device, high stiffness in the transmission process, and being easily affected by the non-linear friction of the rigid reducer during the transmission process, the present invention provides a desktop upper limb rehabilitation training device in a cable-driven form.

[0006] The technical solution adopted by the present invention is:

[0007] A cable-driven desktop upper limb rehabilitation training device, comprising a base, a first cable drive unit, a second cable drive unit, a sliding assembly and a handle. The sliding assembly includes two guide rods rotatably installed on the base and extending along the Y-axis direction, and a slide rod slidably installed on the two guide rods and extending along the X-axis direction; the handle is slidably installed on the slide rod along the length direction of the slide rod, the first cable drive unit is used to drive the slide rod to drive the handle to move along the Y-axis direction, and the second cable drive unit is used to drive the handle to move along the length direction of the slide rod.

[0008] Further, the first cable drive unit includes a first rotating shaft and a second rotating shaft rotatably installed on the base and extending along the Y-axis direction, a first motor for driving the first rotating shaft to rotate, and a second transmission cable; one end of the second transmission cable is fixed on the slide rod, and the other end bypasses the first rotating shaft and the second rotating shaft and is finally fixed on the slide rod.

[0009] Furthermore, the first cable drive unit further includes a first cable pulley and a first transmission cable, the output shaft of the first motor is connected to the first cable pulley through the first transmission cable, and the first cable pulley is coaxially and fixedly sleeved on the first rotating shaft. The reduction drive of the first motor can be realized through the first cable pulley and the first transmission cable, and the flexibility of the entire device is further increased.

[0010] Further, the second cable drive unit includes two sets of link assemblies with the same structure and symmetrically arranged, a second cable pulley rotatably installed on the base, a second motor for driving the second cable pulley to rotate, and a third transmission cable; the link assembly includes a first link and a second link, one end of the first link is connected to the slide rod through a first rotating pair, the other end is connected to the second link through a second rotating pair, the other end of the second link is connected to the base through a third rotating pair, and pulleys rotating in the same xy plane are provided on each rotating pair of the two sets of link assemblies. One end of the third transmission cable is fixed on the handle, and the other end sequentially bypasses the pulleys on the first link assembly, the second cable pulley, and the pulleys on the second link assembly and is finally fixed on the handle.

[0011] Furthermore, the second cable drive unit further includes a fourth transmission cable, and the output shaft of the second motor is connected to the second cable pulley through the fourth transmission cable. The reduction drive of the second motor can be realized through the second cable pulley and the fourth transmission cable, and the flexibility of the entire device is further increased.

[0012] Further, a chute is provided on the slide rod along the X-axis direction, and the lower end of the handle is slidably connected with the chute. The stability and smoothness of the handle moving along the X-axis direction are increased.

[0013] Furthermore, the first rotating pair, the second rotating pair and the third rotating pair are all pin shafts; the pulley is rotatably sleeved on the upper end of the pin shaft. The structure is simple and the installation is convenient.

[0014] Further, the second rope pulley is located inside the central connection line of the two third pin shafts of the two link assemblies, and its upper end is connected to the third drive rope, and its lower end is connected to the fourth drive rope. This prevents movement interference and further improves the smoothness of the device.

[0015] Further, in the initial state, the sliding rod is located in the middle of the first guide rod and the second guide rod. The first link and the second link of the first link assembly form a V shape with the opening facing left, and the third link and the fourth link of the second link assembly form a V shape with the opening facing right; during the movement of the handle, the sum of the distance from the first pin shaft to the second pin shaft and the distance from the second pin shaft to the third pin shaft is always greater than the distance from the first pin shaft to the third pin shaft. This prevents the occurrence of motion dead points and makes the movement of the device more flexible and smoother.

[0016] Advantages of the present invention:

[0017] 1. The cable-driven desktop upper limb rehabilitation training device of the present invention adopts a cable-driven transmission method, which has better flexibility and safety compared with the rigid transmission method of the existing desktop upper limb rehabilitation training device.

[0018] 2. When in use, the present invention can separately realize the movement of the handle along the X-axis direction or the Y-axis direction, or can simultaneously realize the movement of the handle along the X-axis direction and the Y-axis direction, which is flexible and convenient. Description of the Drawings

[0019] Figure 1 is a schematic structural diagram of the cable-driven desktop upper limb rehabilitation training device of the present invention.

[0020] Figure 2 is a schematic connection structure diagram of the first motor and the rope pulley of the present invention. Detailed Embodiments

[0021] The present invention will be further described below with reference to specific examples for the convenience of understanding the present invention, but the present invention is not limited thereby.

[0022] As Figure 1 and Figure 2 shown, this embodiment provides a cable-driven desktop upper limb rehabilitation training device, including a base 1, a first cable drive unit, a second cable drive unit, a sliding assembly and a handle 16.

[0023] The sliding assembly includes a first guide rod 7, a second guide rod 8 and a sliding rod 9.

[0024] As Figure 1As shown in the figure, the first guide rod 7 and the second guide rod 8 are arranged in parallel on the left and right sides of the upper surface of the base 1 and are fixedly connected to the base 1; both ends of the slide rod 9 are connected to the first guide rod 7 and the second guide rod 8 in a perpendicular state through a moving pair, enabling the slide rod 9 to translate along the axial directions of the first guide rod 7 and the second guide rod 8; in this embodiment, the slide rod 9 is connected to the first guide rod 7 and the second guide rod 8 through linear bearings to reduce friction and make the movement more flexible.

[0025] The handle 16 is composed of a disc and a cylinder passing through the disc. The cylinder on the lower side of the disc is connected to the slide rod 9 through a moving pair, enabling the handle 16 to move along the length direction of the slide rod 9, and the cylinder on the upper side of the disc is for the patient to hold. In this embodiment, a chute is provided on the slide rod 9, and the cylinder on the lower side of the handle 16 is in sliding fit with the chute.

[0026] The first cable drive unit includes a first motor 2, a first cable pulley 4, a first rotating shaft 5, a second rotating shaft 6, a first transmission cable 17, and a second transmission cable 18.

[0027] As Figure 1 and Figure 2 shown in the figure, the first motor 2 is fixedly installed on the lower surface of the base 1; the first rotating shaft 5 and the second rotating shaft 6 are arranged in parallel on the front and rear sides of the upper surface of the base 1, and both ends of the two are connected to the base 1 through a rotating pair, enabling them to rotate around their respective axial directions respectively; in this embodiment, the rotating shaft and the base are connected through bearings to reduce the motor load; the first cable pulley 4 is coaxially and fixedly connected to the first rotating shaft 5, enabling it to rotate around the axial direction of the first rotating shaft 5; annular grooves for accommodating the first transmission cable 17 are circumferentially provided on the outer surfaces of the motor output shaft and the first cable pulley 4 to improve the transmission stability; the output shaft of the first motor 2 is connected to the first cable pulley 4 through the first transmission cable 17 to achieve flexible speed reduction transmission. A U-shaped notch for the first transmission cable 17 to pass through is provided on the base 1.

[0028] As Figure 1 shown in the figure, the second cable drive unit includes a second motor 3, a first connecting rod 10, a second connecting rod 11, a third connecting rod 12, a fourth connecting rod 13, a pulley 14, a second cable pulley 15, a third transmission cable 19, and a fourth transmission cable 20.

[0029] The second motor 3 is fixedly installed on the upper side of the base 1 and is located inside the second rotating shaft 6; the second rope pulley 15 is connected to the base 1 through a rotating pair. In this embodiment, the rotating shaft and the base are connected through a bearing to reduce the motor load; the second rope pulley 15 is in the shape of a stepped cylinder with a larger upper part and a smaller lower part. The smaller lower cylinder is connected to the output shaft of the second motor 3 through a fourth transmission rope 20, which can achieve flexible speed reduction transmission. The outer surfaces of the motor output shaft and the small cylinder of the second rope pulley are both circumferentially provided with annular grooves for accommodating the fourth transmission rope 20, and the outer circumferential surface of the large cylinder at the upper end of the second rope pulley 15 is circumferentially provided with an annular groove for accommodating the third transmission rope 19 to improve the transmission stability.

[0030] One end of the first connecting rod 10 is rotatably connected to the sliding rod 9 through a first pin shaft, and the other end is rotatably connected to the second connecting rod 11 through a second pin shaft. The other end of the second connecting rod 11 is rotatably connected to the base 1 through a third pin shaft. The axes of the first pin shaft, the second pin shaft, and the third pin shaft are kept parallel, and pulleys 14 are coaxially fixedly installed at the upper ends of the respective pin shafts. The rotation axes of the respective pulleys 14 are parallel and are in the same plane.

[0031] The third connecting rod 12 has the same structure as the first connecting rod 10, and the fourth connecting rod 13 has the same structure as the second connecting rod 11; the installation methods of the third connecting rod 12 and the fourth connecting rod 13 are the same as those of the first connecting rod 10 and the second connecting rod 11 and are in a symmetric form; pulleys 14 are also installed on the pin shafts of the third connecting rod 12 and the fourth connecting rod 13. The rotation axes of the pulleys 14 on the first connecting rod 10, the second connecting rod 11, the third connecting rod 12, and the fourth connecting rod 13 are parallel and are in the same plane. The first connecting rod 10, the second connecting rod 11, the third connecting rod 12, and the fourth connecting rod 13 form two groups of connecting rod assemblies, and the connection line of the two third pin shafts of the two groups of connecting rod assemblies is located outside the second rope pulley 15.

[0032] As Figure 1 shown, one end of the second transmission rope 18 is fixedly connected to the sliding rod 9, and the other end then sequentially bypasses the first rotating shaft 5 and the second rotating shaft 6 and finally is also fixedly connected to the sliding rod 9, thereby forming a rope winding closed loop Ⅰ.

[0033] As Figure 1 shown, one end of the third transmission rope 19 is first fixedly connected to the handle 16, and its other end sequentially bypasses the pulleys 14 on the first connecting rod 10 and the second connecting rod 11, the second rope pulley 15, and the pulleys 14 on the third connecting rod 12 and the fourth connecting rod 13, and finally is also fixedly connected to the handle 16, thereby forming a rope winding closed loop Ⅱ.

[0034] As Figure 1 and Figure 2As shown in the figure, driven by the first motor 2, through the first transmission rope 17 and the first rope pulley 4, the first rotating shaft 5 can be rotated along its own axis direction; under the rotation of the first rotating shaft 5, through the transmission of the second transmission rope 18, the sliding rod 9 can be moved along the axis directions of the first guide rod 7 and the second guide rod 8, and further drive the handle 16 to move along the Y-axis direction.

[0035] As Figure 1 shown in the figure, driven by the second motor 3, through the transmission of the fourth transmission rope 20, the second rope pulley 15 and the symmetrically arranged pulleys 14, the handle 16 can be moved along the length direction of the sliding rod 9, that is, along the X-axis direction.

[0036] The working mode of the present invention is:

[0037] As Figure 1 shown in the figure, in the initial state, the sliding rod 9 is located in the middle of the first guide rod 7 and the second guide rod 8, the first connecting rod 10 and the second connecting rod 11 form a V-shaped with the opening facing left, and the third connecting rod 12 and the fourth connecting rod 13 form a V-shaped with the opening facing right.

[0038] When performing upper limb rehabilitation training, the patient holds the upper cylindrical part of the handle 16 with the left hand (or right hand), starts the first motor 2 and the second motor 3, and under the drive of the first transmission rope 17, the second transmission rope 18, the third transmission rope 19 and the fourth transmission rope 20, the training actions of moving along the Y-axis direction and moving along the X-axis direction can be realized;

[0039] During the training process, by controlling the rotation time of the first motor 2, the moving distance of the sliding rod 9 is controlled, so that the sum of the distance from the first pin shaft to the second pin shaft and the distance from the second pin shaft to the third pin shaft is always greater than the distance from the first pin shaft to the third pin shaft, preventing the occurrence of a dead point of motion.

[0040] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and retouches can be made, and these improvements and retouches are also within the protection scope of the present invention.

Claims

1. A desktop upper limb rehabilitation training device with a cable drive form, characterized in that It includes a base (1), a first wire drive unit, a second wire drive unit, a sliding assembly, and a handle (16); the sliding assembly includes two guide rods rotatably mounted on the base (1) and extending in the Y-axis direction, and a slide bar (9) slidably mounted on the two guide rods and extending in the X-axis direction; the handle (16) is slidably mounted on the slide bar (9) along the length direction of the slide bar (9), the first wire drive unit is used to drive the slide bar (9) to drive the handle (16) to move in the Y-axis direction, and the second wire drive unit is used to drive the handle (16) to move along the length direction of the slide bar (9); The first wire drive unit includes a first rotating shaft (5) and a second rotating shaft (6) rotatably mounted on the base (1) and extending in the Y-axis direction, a first motor (2) for driving the first rotating shaft (5) to rotate, and a second transmission wire (18); one end of the second transmission wire (18) is fixed on the slide bar (9), and the other end bypasses the first rotating shaft (5) and the second rotating shaft (6) and is finally fixed on the slide bar (9); The second wire drive unit includes two sets of link assemblies with the same structure and symmetrically arranged, a second wire pulley (15) rotatably mounted on the base (1), a second motor (3) for driving the second wire pulley (15) to rotate, and a third transmission wire (19); the link assembly includes a first link and a second link, one end of the first link is connected to the slide bar (9) through a first rotating pair, the other end is connected to the second link through a second rotating pair, the other end of the second link is connected to the base (1) through a third rotating pair, and a pulley (14) that rotates in the same XY plane is provided on each rotating pair of the two sets of link assemblies. One end of the third transmission wire (19) is fixed on the handle (16), and the other end sequentially bypasses the pulley (14) on the first link assembly, the second wire pulley (15), and the pulley (14) on the second link assembly and is finally fixed on the handle (16).

2. The desktop upper limb rehabilitation training device with a cable drive form according to claim 1, characterized in that The first wire drive unit further includes a first wire pulley (4) and a first transmission wire (17), the output shaft of the first motor (2) is connected to the first wire pulley (4) through the first transmission wire (17), and the first wire pulley (4) is coaxially and fixedly sleeved on the first rotating shaft (5).

3. A cable-driven desktop upper limb rehabilitation training device according to claim 1, characterized in that, The second wire drive unit further includes a fourth transmission wire (20), and the output shaft of the second motor (3) is connected to the second wire pulley (15) through the fourth transmission wire (20).

4. A cable-driven desktop upper limb rehabilitation training device according to claim 1, characterized in that, A chute is provided on the slide bar (9) in the X-axis direction, and the lower end of the handle (16) is slidably connected to the chute.

5. A cable-driven desktop upper limb rehabilitation training device according to claim 1, characterized in that, The first rotating pair, the second rotating pair, and the third rotating pair are all pin shafts, and the pulley (14) is rotatably sleeved on the upper end of the pin shaft.

6. The desktop upper limb rehabilitation training device with a cable drive form according to claim 1, characterized in that, The second wire pulley (15) is located inside the center connection line of the two third pin shafts of the two sets of link assemblies, and its upper end is connected to the third transmission wire (19), and its lower end is connected to the fourth transmission wire (20).

7. A cable-driven desktop upper limb rehabilitation training device according to claim 1, characterized in that, In the initial state, the sliding rod (9) is located in the middle of the first guide rod (7) and the second guide rod (8). The first connecting rod (10) and the second connecting rod (11) of the first connecting rod assembly form a V shape with the opening facing left, and the third connecting rod (12) and the fourth connecting rod (13) of the second connecting rod assembly form a V shape with the opening facing right. During the movement of the handle, the sum of the distance from the first pin shaft to the second pin shaft and the distance from the second pin shaft to the third pin shaft is always greater than the distance from the first pin shaft to the third pin shaft.

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