A passive upper limb rehabilitation device based on gas-electric hybrid drive

Abstract

The present invention discloses a passive upper limb rehabilitation device based on gas-electric hybrid drive, including a frame assembly, a boom support assembly, a drive assembly, a belt coupling linkage mechanism, a forearm support plate, and a pneumatic artificial muscle drive assembly; the drive assembly is slidably connected to the frame assembly, the belt coupling linkage mechanism is installed on the frame assembly, one end of the boom support assembly is rotationally connected to the proximal end of the belt coupling linkage mechanism, the other end of the boom support assembly is slidably connected to the frame assembly, one end of the pneumatic artificial muscle drive assembly is connected to the proximal end of the belt coupling linkage mechanism, and the other end of the pneumatic artificial muscle drive assembly is connected to the frame assembly. The present invention adopts pneumatic artificial muscle and motor hybrid drive, and there is a certain degree of flexibility between man and machine, which greatly reduces the impact between the patient's upper limb and the rehabilitation device, and has the characteristics of small size, light weight, flexibility, etc., and can be widely used in the scene of patient upper limb rehabilitation.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a passive upper limb rehabilitation device based on gas-electric hybrid drive. Background Art

[0002] Stroke is commonly referred to as "stroke" or cerebrovascular accident. It refers to persistent brain nerve dysfunction caused by acute cerebrovascular disease. 85% of patients suffer from hemiplegia, especially in the elderly. According to statistics, there are about 1.5 million new cases of stroke in China each year. Currently, there are more than 8 million stroke patients in the country, and the disability rate is as high as 75%. According to the global stroke death distribution map, the annual stroke mortality rate in China is about 151-251 people per 100,000 people.

[0003] The fundamental cause of disability caused by stroke is not the damage to the limbs themselves, which causes the loss or decline of bone and muscle function, but the damage to the central nervous system of the human body, which makes it impossible to effectively control the movement of the limbs, resulting in the patient's partial limb behavioral ability loss and the formation of hemiplegia symptoms, which is a central nervous system movement disorder. After the onset of a stroke, only a small number of people can recover through treatment, and most will have symptoms of limb behavioral disorders, and hemiplegia will occur in severe cases. An effective method is to switch to rehabilitation training immediately after treatment, and through rehabilitation, the connection between the limbs and the central nervous system of brain damage is re-established, and the brain damage site is gradually stimulated to promote recovery, so as to achieve effective control of limb behavior. Therefore, rehabilitation treatment is crucial for stroke patients.

[0004] Rehabilitation treatment for stroke patients is generally provided by physical therapists who have direct, long-term physical contact with patients one-on-one, with the physical therapists assisting patients in physical exercises. Patients are trained to perform a large number of repetitive exercises to gradually stimulate damaged brain nerves and repair them. This type of repetitive, one-on-one training is inefficient, costly, and not suitable for home use. Rehabilitation devices, as a mechanical system suitable for long-term, complex, and repetitive labor, have been widely used in many industries. Rehabilitation devices suitable for stroke rehabilitation training, especially upper limb rehabilitation devices, are still under development.

[0005] Compared with the rehabilitation training of patients by physical therapists, the use of rehabilitation devices to achieve rehabilitation training has its unique advantages:

[0006] 1) Rehabilitation devices can repeat complex training movements for a long time, reducing the heavy physical labor of physical therapists;

[0007] 2) Rehabilitation devices can improve the efficiency of rehabilitation training. A physical therapist can monitor the movement of several rehabilitation devices in real time and provide rehabilitation training to several patients at the same time, reducing the number of physical therapists and manpower costs;

[0008] 3) The rehabilitation device is more suitable for precise rehabilitation training and flexible training. It can accurately adjust the motion parameters and force parameters applied to the patient in real time, making the treatment more flexible and accurate;

[0009] 4) In the later stages of rehabilitation treatment and after the patient returns home, the rehabilitation device can be partially or completely independent of the physical therapist under the guidance of the physical therapist and enjoy similar treatment effects as the physical therapist.

[0010] At present, most rehabilitation devices on the market are driven by motors, which are rigid drivers that will have a greater impact on the patient's limbs when starting, stopping or changing speed. Patients training on a rigid rehabilitation device will increase the impact between the patient and the rehabilitation device, and the patient's limbs are very fragile. This rigid rehabilitation device can easily cause secondary damage to the patient's limbs, resulting in poor rehabilitation effects or even counterproductive effects. Furthermore, most rehabilitation devices on the market have only developed one specification or a few fixed specifications. They are not suitable for different rehabilitation patients and cannot provide accurate rehabilitation training for patients. Summary of the invention

[0011] The present invention aims to provide a passive upper limb rehabilitation device based on gas-electric hybrid drive, which solves the shortcomings of the above-mentioned prior art and has the characteristics of customized design. The motion trajectory of the patient's upper limb wrist joint (arm lifting action) under the assistance of a physical therapist is collected by video acquisition devices such as mobile phones and cameras, and then a belt-coupled connecting rod mechanism is generated through a corresponding algorithm. For different patients, the parameters of the belt-coupled connecting rod mechanism are different, so that the function of implementing precise rehabilitation training for different patients is achieved; pneumatic artificial muscles and motor hybrid drive are adopted, and the pneumatic artificial muscles are flexible drivers. Therefore, during the rehabilitation training process, there is a certain flexibility between man and machine, which greatly reduces the impact between the patient's upper limbs and the rehabilitation device. The device has the characteristics of small size, light weight, flexibility, etc., and can be widely used in the scenario of patient upper limb rehabilitation.

[0012] To achieve the above-mentioned purpose, the present invention provides a passive upper limb rehabilitation device based on gas-electric hybrid drive, including a frame assembly, a boom support assembly, a drive assembly, a belt coupling linkage mechanism, a forearm support plate, and a pneumatic artificial muscle drive assembly; the drive assembly is slidably connected to the frame assembly, the belt coupling linkage mechanism is installed on the frame assembly, the drive assembly is connected to the belt coupling linkage mechanism pulley, one end of the boom support assembly is rotatably connected to the proximal end of the belt coupling linkage mechanism, the other end of the boom support assembly is slidably connected to the frame assembly, the forearm support plate is connected to the distal end of the belt coupling linkage mechanism, one end of the pneumatic artificial muscle drive assembly is connected to the proximal end of the belt coupling linkage mechanism, and the other end of the pneumatic artificial muscle drive assembly is connected to the frame assembly, and a locking mechanism is provided at each sliding connection.

[0013] Preferably, the frame assembly includes a chassis, an angle code A, an angle code B, a guide rail, a longitudinal slider, a transverse slider, a mounting plate A, and a mounting plate B; the chassis is located at the bottom of the frame assembly, the guide rail is vertically arranged, and the chassis and the guide rail are connected by angle codes A and B; the longitudinal slider is longitudinally slidably connected to the guide rail, and the drive assembly is connected to the longitudinal slider; the transverse slider is arranged on the longitudinal slider, the transverse slider is transversely slidably connected to the longitudinal slider, and one end of the upper arm support assembly is connected to the transverse slider; the mounting plate A is longitudinally slidably connected to the guide rail, one end of the pneumatic artificial muscle drive assembly is connected to the mounting plate A, and the other end of the pneumatic artificial muscle drive assembly is connected to the belt coupling connecting rod mechanism; the mounting plate B is longitudinally slidably connected to the guide rail, and the belt coupling connecting rod mechanism is connected to the mounting plate B.

[0014] Furthermore, the bottom of the chassis is provided with universal wheels, and there are multiple universal wheels, which are evenly distributed on the bottom of the chassis.

[0015] Preferably, the boom support assembly includes a first shaft and a boom support baffle, one end of the first shaft is connected to the frame assembly, the other end of the first shaft is connected to the upper end of the boom support baffle, the lower end of the boom support baffle is rotatably connected to the proximal end of the belt coupling connecting rod mechanism, and an arc-shaped baffle is provided on the side of the boom support baffle, which is adapted to the shape of the human elbow joint.

[0016] Preferably, the driving assembly includes a motor, a first pulley, and a first transmission belt. The motor is mounted on the frame assembly. The first pulley is coaxially connected to the output shaft of the motor. The first pulley is connected to the belt coupling linkage mechanism through the first transmission belt.

[0017] Preferably, the belt-coupling linkage mechanism includes a second shaft, a second pulley, a first rod, a third pulley, a second rod, a fourth pulley, a second transmission belt, a fifth pulley, a third rod, a third shaft, and a fastening nut; one end of the second shaft is connected to the frame assembly, and the other end of the second shaft is connected to the big arm support assembly; the second pulley is hinged to the second shaft, and the second pulley is connected to the driving assembly pulley; one end of the first rod is hinged to the second shaft and is fixedly connected to the second pulley; the third pulley is fixedly connected to the second shaft; one end of the second rod is hinged to the second shaft; the fourth pulley is hinged to the second shaft and is fixedly connected to the second rod, and the fourth pulley is connected to the pneumatic artificial muscle driving assembly; the third pulley and the fifth pulley are connected through the second transmission belt; the third shaft is hinged to the other end of the first rod, and the third shaft is hinged to the other end of the second rod; the fifth pulley is fixedly connected to the third shaft; one end of the third rod is fixedly connected to one end of the third shaft, and the other end of the third rod is connected to the forearm support plate; the locking nut is installed at the other end of the third shaft.

[0018] Furthermore, the forearm support plate is provided with through holes, and there are at least six through holes.

[0019] Furthermore, a bandage is wrapped around the forearm support plate, and the bandage passes through the through hole.

[0020] Preferably, the pneumatic artificial muscle assembly includes a pneumatic artificial muscle, a double earring, and a steel wire rope; one end of the pneumatic artificial muscle is connected to the frame assembly, the other end of the pneumatic artificial muscle is connected to the double earring, one end of the steel wire rope is connected to the double earring, and the other end of the steel wire rope is connected to the proximal end of the belt coupling linkage mechanism.

[0021] Preferably, the locking mechanism is a bolt and nut locking or a latch locking.

[0022] Compared with the existing technology, the present invention has the following technical effects:

[0023] 1. The present invention can repeat complicated training movements for a long time, reducing the heavy physical labor of physiotherapists;

[0024] 2. The present invention can improve the efficiency of rehabilitation training. A physiotherapist can monitor the movement of several rehabilitation devices in real time and provide rehabilitation training to several patients at the same time, thereby reducing the number of physiotherapists and manpower costs;

[0025] 3. The present invention is suitable for precise rehabilitation training and flexibility training;

[0026] 4. In the later stage of rehabilitation treatment and after the patient returns home, the patient can partially or completely leave the physical therapist under the guidance of the physical therapist and enjoy the similar treatment effect of the physical therapist;

[0027] 5. The present invention facilitates personalized customization, because the upper limb motion trajectory of an individual is different. By collecting the upper limb motion trajectory data of the user and regenerating the size of the actuator, personalized customization can be achieved to achieve a better auxiliary standing effect, and rehabilitation treatment is more flexible and accurate;

[0028] 6. The present invention adopts a purely mechanical belt-coupled connecting rod structure, and uses the self-locking property of the structure to provide safety protection for users. It has higher reliability, lower cost, and greater popularity. The device can truly achieve independent operation and self-care in life.

[0029] 7. The pneumatic artificial muscle used in the present invention is a new type of pneumatic actuator, which has the advantages of simple structure, light weight, good interchangeability, harmlessness to the human body, etc. It is a pneumatic actuator that can be widely used in rehabilitation devices. Compared with motors, pneumatic cylinders, hydraulic cylinders and other drivers, pneumatic artificial muscles have good flexibility, which can reduce the impact between people and rehabilitation devices in the compliance control of upper limb rehabilitation devices;

[0030] 8. In the present invention, the longitudinal slider, the mounting plate A and the mounting plate B can slide on the guide rail to adjust the position of the rehabilitation device. After the position is adjusted, they can be locked by bolts to adapt to patients of different heights and body shapes and ensure the stability of the device;

[0031] 9. The present invention adopts a gas-electric hybrid drive method, using pneumatic artificial muscles as the driving elements of the rehabilitation process, which has good flexibility. However, pneumatic artificial muscles can only output pulling force but not thrust. Therefore, it is impossible to rely on a single pneumatic artificial muscle to drive the rehabilitation device to return. Using an electric motor as the driving element of the return process makes up for the defect that pneumatic muscles cannot output thrust. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0034] Figure 2 for Figure 1 Schematic diagram of the structure viewed from direction B;

[0035] Figure 3 for Figure 1 A schematic diagram of the structure viewed from the direction A;

[0036] Figure 4 It is a structural schematic diagram of the belt coupling connecting rod mechanism of the present invention;

[0037] Figure 5 It is a schematic diagram of the overall structure in actual use;

[0038] Icons: 1-frame assembly, 101-chassis, 102-angle code A, 103-angle code B, 104-guide rail, 105-mounting plate A, 106-transverse slider, 107-longitudinal slider, 108-mounting plate B, 2-big arm support assembly, 201-first axis, 202-big arm support baffle, 3-drive assembly, 301-first transmission belt, 302-first pulley, 303-motor, 4-belt coupling connecting rod machine Structure, 401-second axis, 402-second pulley, 403-first rod, 404-third pulley, 405-second rod, 406-fourth pulley, 407-second transmission belt, 408-fifth pulley, 409-third rod, 4010-third axis, 4011-fastening nut, 5-forearm support plate, 6-pneumatic artificial muscle drive assembly, 601-pneumatic artificial muscle, 602-double earrings, 603-wire rope. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0040] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0041] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0042] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0043] In the description of the embodiments of the present application, it should be noted that the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the application is usually placed when in use, or the orientation or positional relationship commonly understood by those skilled in the art, or the orientation or positional relationship in which the product of the application is usually placed when in use, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0044] In the description of the embodiments of the present application, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0045] Example

[0046] A passive upper limb rehabilitation device based on gas-electric hybrid drive, comprising a frame assembly 1, a large arm support assembly 2, a drive assembly 3, a belt coupling linkage mechanism 4, a small arm support plate 5, and a pneumatic artificial muscle drive assembly 6; the drive assembly 3 is slidably connected to the frame assembly 1, the belt coupling linkage mechanism 4 is installed on the frame assembly 1, the drive assembly 3 is connected to the belt pulley of the belt coupling linkage mechanism 4, one end of the large arm support assembly 2 is rotatably connected to the proximal end of the belt coupling linkage mechanism 4, the other end of the large arm support assembly 2 is slidably connected to the frame assembly 1, the small arm support plate 5 is connected to the distal end of the belt coupling linkage mechanism 4, one end of the pneumatic artificial muscle drive assembly 6 is connected to the proximal end of the belt coupling linkage mechanism 4, and the other end of the pneumatic artificial muscle drive assembly 6 is connected to the proximal end of the belt coupling linkage mechanism 4. One end is connected to the frame assembly 1, and each sliding connection is provided with a locking mechanism to ensure the stability of the device; wherein the frame assembly 1 provides support and fixation for the entire device, the upper arm support assembly 2 is installed on the frame assembly 1 to provide support for the patient's upper arm, the belt coupling linkage mechanism 4 is installed on the frame assembly 1 as the motion actuator in the entire device, and the forearm support plate 5 is installed at the end of the belt coupling linkage mechanism 4 to provide support for the patient's forearm, and drives the patient's forearm to move when the belt coupling linkage mechanism 4 moves; the driving assembly 3 is installed on the frame assembly 1 to provide power for the return of the belt coupling linkage mechanism 4; the pneumatic artificial muscle assembly 6 is installed on the frame assembly 1 to provide power for the belt coupling linkage mechanism 4 during the rehabilitation process.

[0047] The rack assembly 1 includes a chassis 101, an angle code A102, an angle code B103, a guide rail 104, a longitudinal slider 107, a transverse slider 106, a mounting plate A105, and a mounting plate B108; the chassis 101 is located at the bottom of the rack assembly 1, the guide rail 104 is vertically arranged, the chassis 101 and the guide rail 104 are connected by angle codes A102 and B103, wherein two angle codes A102 are installed on two symmetrical surfaces at the bottom of the guide rail 104, and two angle codes B103 are also installed on the other two symmetrical surfaces at the bottom of the guide rail 104, and the angle code A102 is connected to the circular guide rail 104. The shaped chassis 101 is fixedly connected by threaded connection, the angle code A102 is fixedly connected to the guide rail 104 by threaded connection, the angle code B103 is fixedly connected to the circular chassis 101 by threaded connection, and the angle code B103 is fixedly connected to the guide rail 104 by threaded connection; the longitudinal slider 107 is longitudinally slidably connected to the guide rail 104, and the drive assembly 3 is connected to the longitudinal slider 107; the transverse slider 106 is arranged on the longitudinal slider 107, and the transverse slider 106 is transversely slidably connected to the longitudinal slider 107. After the position of the longitudinal slider 107 is adjusted, it can be matched with bolts and nuts or latches The horizontal slider 106 can slide horizontally on the longitudinal slider 107, and the horizontal slider 106 can be locked with the longitudinal slider 107 by means of bolts and nuts or latches. One end of the big arm support assembly 2 is connected to the horizontal slider 106; the mounting plate A105 is connected to the guide rail 104 for longitudinal sliding movement, and the mounting plate A105 can adjust the position in the vertical direction on the guide rail 104. After the mounting plate A105 is adjusted in position, it can be locked by means of bolts and nuts or latches. One end of the pneumatic artificial muscle drive assembly 6 is connected to the mounting plate A1 05 is connected, and the other end of the pneumatic artificial muscle drive component 6 is connected to the belt coupling connecting rod mechanism 4; the mounting plate B108 is longitudinally slidably connected to the guide rail 104, and the mounting plate B108 can be adjusted in the vertical direction of the guide rail 104. After the position of the mounting plate B108 is adjusted, it can be locked by bolts and nuts or by latches. The belt coupling connecting rod mechanism 4 is connected to the mounting plate B108, and the positions of the mounting plate A105, the mounting plate B108, the horizontal slider 106, and the longitudinal slider 108 are adjusted according to the patient's body shape to meet the patient's needs.

[0048] Universal wheels are arranged at the bottom of the chassis 101. There are a plurality of universal wheels, which are evenly distributed at the bottom of the chassis 101. The universal wheels are arranged at the bottom to facilitate the movement of the device.

[0049] The upper arm support assembly 2 includes a first shaft 201 and an upper arm support baffle 202, wherein one end of the first shaft 201 is connected to the frame assembly 1, and the other end of the first shaft 201 is connected to the upper end of the upper arm support baffle 202, and the lower end of the upper arm support baffle 202 is rotatably connected to the proximal end of the belt coupling connecting rod mechanism 4, and an arc-shaped baffle is provided on the side of the upper arm support baffle 202, which is adapted to the shape of the human elbow joint. The upper arm support assembly 2 is used to support and stabilize the patient's upper arm, has a good ergonomic design, and is convenient for placing the patient's elbow joint.

[0050] The driving assembly 3 includes a motor 303, a first pulley 302, and a first transmission belt 301. The motor 303 is installed on the frame assembly 1. The first pulley 302 is coaxially connected to the output shaft of the motor 303. The first pulley 302 is connected to the belt coupling linkage 4 through the first transmission belt 302. The power of the motor 303 is transmitted to the belt coupling linkage 4 through the first transmission belt 302, thereby providing power for the return stroke of the belt coupling linkage 4.

[0051] The belt coupling linkage mechanism 4 includes a second shaft 401, a second pulley 402, a first rod 403, a third pulley 404, a second rod 405, a fourth pulley 406, a second transmission belt 407, a fifth pulley 408, a third rod 409, a third shaft 4010, and a fastening nut 4011; one end of the second shaft 401 is connected to the frame assembly 1, and the other end of the second shaft 401 is connected to the boom support assembly 2; the second pulley 402 is hinged to the second shaft 401, and the second pulley 402 is connected to the pulley of the driving assembly 3; one end of the first rod 403 is hinged to the second shaft 401 and fixedly connected to the second pulley 402; the third pulley 404 is fixedly connected to the second shaft 401; one end of the second rod 405 is hinged to the second shaft 401; the fourth pulley 406 is hinged to the second shaft 401 and fixedly connected to the second rod 405, and the fourth pulley 406 is connected to the pneumatic The artificial muscle drive component 6 is connected; the third pulley 404 and the fifth pulley 408 are connected through the second transmission belt 407; the third shaft 4010 is hinged to the other end of the first rod 403, and the third shaft 4010 is hinged to the other end of the second rod 405; the fifth pulley 408 is fixedly connected to the third shaft 4010; one end of the third rod 409 is fixedly connected to one end of the third shaft 4010, and the other end of the third rod 409 is connected to the forearm support plate 5; the locking nut 4011 is installed at the other end of the third shaft 4010, and the parameters of the first rod 403, the second rod 405, and the third rod 409 in the belt coupling linkage mechanism 4 and the parameters of the second pulley 402, the third pulley 404, the fourth pulley 406, and the fifth pulley 408 are all generated according to the patient's upper limb movement trajectory, have good adaptability, and can be used for accurate rehabilitation training for different patients. The forearm support plate 5 is provided with through holes, and there are at least six through holes. A bandage is wrapped around the forearm support plate 5, and the bandage passes through the through holes. The bandage can be wrapped to fix the patient's forearm to prevent the patient's forearm from falling off and causing secondary injury. During the entire rehabilitation training, the belt-coupled connecting rod mechanism 4 drives the forearm support plate 5 to drive the patient's entire upper limb movement to achieve rehabilitation training.

[0052] The pneumatic artificial muscle assembly 6 includes a pneumatic artificial muscle 601, a double earring 602, and a steel wire rope 603; one end of the pneumatic artificial muscle 601 is connected to the frame assembly 1, and the other end of the pneumatic artificial muscle 601 is connected to the double earring 602, one end of the steel wire rope 603 is connected to the double earring 602, and the other end of the steel wire rope 603 is wound around the fourth pulley 406 of the belt coupling connecting rod mechanism 4. The pneumatic artificial muscle 601 is a pneumatic actuator with the advantages of simple structure, light weight, good interchangeability, and harmlessness to the human body. It can be widely used as a pneumatic actuator in rehabilitation devices. Compared with motors, pneumatic cylinders, hydraulic cylinders and other drivers, the pneumatic artificial muscle 601 has good flexibility and can reduce the impact on the human body during the use of the upper limb rehabilitation device.

[0053] Since the patient's upper limbs can only be rehabilitated with some simple movements, overly complex training movements may cause secondary damage to the patient's damaged limbs. For upper limb rehabilitation training, arm lifting is a good and practical training movement. For this reason, the present invention performs rehabilitation training by assisting the patient to lift his arm.

[0054] Rehabilitation training process:

[0055] Preparation stage: adjust the positions of the mounting plate A105, the horizontal slider 106, the vertical slider 107, and the mounting plate B108 according to the patient's body shape data, and lock the above-mentioned parts after the positions are adjusted. The above-mentioned operation can not only ensure that the position height of the rehabilitation device of the present invention is well adapted to the patient, but also ensure the structural stability of the present invention. After the adjustment is completed, the physiotherapist slowly lifts the patient's upper arm and places it on the upper arm support baffle 202, and then slowly lifts the forearm and places it on the forearm support plate 5. The physiotherapist fixes the patient's wrist joint on the forearm support plate 5 with a bandage. At this time, the entire belt coupling linkage mechanism 4 is in the lowest position.

[0056] Training and rehabilitation process: At this time, the motor 303 is in a power-off state, and the pneumatic artificial muscle 601 is filled with gas. At this time, the artificial muscle 601 is started to contract and the fourth pulley 406 is pulled to rotate through the wire rope 603, thereby driving the entire belt-coupled connecting rod mechanism 4 to perform a lifting movement, thereby driving the patient's entire upper limb to perform a lifting movement. During the whole process, the patient's own muscles do not exert force, but move under the traction of the rehabilitation device, so it is a passive training process.

[0057] Training return process: At this time, the pneumatic artificial muscle 601 is in a deflated and relaxed state, and the motor 303 is energized to drive the first pulley 302 to rotate, and the second pulley 402 is driven to rotate through the first transmission belt 301, thereby driving the entire belt-coupled connecting rod mechanism 4 to perform a downward movement, thereby driving the patient's entire upper limb to perform a downward movement and stop at the initial position.

[0058] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, technicians familiar with the field may make various corresponding changes and deformations based on the present invention, but these corresponding changes and deformations should all fall within the scope of protection of the claims attached to the present invention.

Claims

1. A passive upper limb rehabilitation device based on gas-electric hybrid drive, characterized in that: The invention comprises a frame assembly (1), a large arm support assembly (2), a driving assembly (3), a belt coupling link mechanism (4), a small arm support plate (5), and a pneumatic artificial muscle driving assembly (6); the driving assembly (3) is slidably connected to the frame assembly (1), the belt coupling link mechanism (4) is mounted on the frame assembly (1), the driving assembly (3) is connected to a pulley of the belt coupling link mechanism (4), one end of the large arm support assembly (2) is rotatably connected to the proximal end of the belt coupling link mechanism (4), the other end of the large arm support assembly (2) is slidably connected to the frame assembly (1), the small arm support plate (5) is connected to the distal end of the belt coupling link mechanism (4), one end of the pneumatic artificial muscle driving assembly (6) is connected to the proximal end of the belt coupling link mechanism (4), and the other end of the pneumatic artificial muscle driving assembly (6) is connected to the frame assembly (1), and each sliding connection is provided with a locking mechanism; The frame assembly (1) comprises a chassis (101), an angle bracket A (102), an angle bracket B (103), a guide rail (104), a longitudinal slider (107), a transverse slider (106), a mounting plate A (105), and a mounting plate B (108); the chassis (101) is located at the bottom of the frame assembly (1); the guide rail (104) is arranged vertically; the chassis (101) and the guide rail (104) are connected via the angle bracket A (102) and the angle bracket B (103); the longitudinal slider (107) is longitudinally slidably connected to the guide rail (104); the driving assembly (3) is connected to the longitudinal slider (107); the transverse slider (106) is arranged on the longitudinal slider On the block (107), the transverse slider (106) is connected to the longitudinal slider (107) in a transverse sliding manner, and one end of the upper arm support assembly (2) is connected to the transverse slider (106); the mounting plate A (105) is connected to the guide rail (104) in a longitudinal sliding manner, one end of the pneumatic artificial muscle drive assembly (6) is connected to the mounting plate A (105), and the other end of the pneumatic artificial muscle drive assembly (6) is connected to the belt coupling connecting rod mechanism (4); the mounting plate B (108) is connected to the guide rail (104) in a longitudinal sliding manner, and the belt coupling connecting rod mechanism (4) is connected to the mounting plate B (108); the bottom of the chassis (101) is provided with a universal wheel; The upper arm support assembly (2) comprises a first shaft (201) and an upper arm support baffle (202); one end of the first shaft (201) is connected to the frame assembly (1); the other end of the first shaft (201) is connected to the upper end of the upper arm support baffle (202); the lower end of the upper arm support baffle (202) is rotatably connected to the proximal end of the belt coupling link mechanism (4); and a circular arc-shaped baffle is provided on the side of the upper arm support baffle (202), which is adapted to the shape of a human elbow joint.

2. A passive upper limb rehabilitation device based on gas-electric hybrid drive according to claim 1, characterized in that: There are a plurality of universal wheels, which are evenly distributed at the bottom of the chassis (101).

3. The passive upper limb rehabilitation device based on gas-electric hybrid drive according to claim 1, characterized in that: The driving assembly (3) comprises a motor (303), a first pulley (302), and a first transmission belt (301); the motor (303) is mounted on the frame assembly (1); the first pulley (302) is coaxially connected to an output shaft of the motor (303); and the first pulley (302) is connected to a belt coupling connecting rod mechanism (4) via the first transmission belt (301).

4. The passive upper limb rehabilitation device based on gas-electric hybrid drive according to claim 1, characterized in that: The belt coupling linkage mechanism (4) comprises a second shaft (401), a second pulley (402), a first rod (403), a third pulley (404), a second rod (405), a fourth pulley (406), a second transmission belt (407), a fifth pulley (408), a third rod (409), a third shaft (4010), and a fastening nut (4011); one end of the second shaft (401) is connected to the frame assembly (1), and the other end of the second shaft (401) is connected to the boom support assembly (2); the second pulley (402) is hinged to the second shaft (401), and the second pulley (402) is connected to the pulley of the driving assembly (3); one end of the first rod (403) is hinged to the second shaft (401) and is fixedly connected to the second pulley (402); the third pulley (404) is fixedly connected to the second shaft (401). The first rod (403) and the second rod (405) are connected by a hinged connection; one end of the second rod (405) is hinged to the second shaft (401); the fourth pulley (406) is hinged to the second shaft (401) and fixedly connected to the second rod (405), and the fourth pulley (406) is connected to the pneumatic artificial muscle drive assembly (6); the third pulley (404) and the fifth pulley (408) are connected via a second transmission belt (407); the third shaft (4010) is hinged to the other end of the first rod (403), and the third shaft (4010) is hinged to the other end of the second rod (405); the fifth pulley (408) is fixedly connected to the third shaft (4010); one end of the third rod (409) is fixedly connected to one end of the third shaft (4010), and the other end of the third rod (409) is connected to the forearm support plate (5); and a fastening nut (4011) is installed at the other end of the third shaft (4010).

5. A passive upper limb rehabilitation device based on gas-electric hybrid drive according to claim 1 or 4, characterized in that: The forearm support plate (5) is provided with through holes, and there are at least six through holes.

6. The passive upper limb rehabilitation device based on gas-electric hybrid drive according to claim 5, characterized in that: A bandage is wrapped around the forearm support plate (5), and the bandage passes through the through hole.

7. The passive upper limb rehabilitation device based on gas-electric hybrid drive according to claim 1, characterized in that: The pneumatic artificial muscle driving component (6) comprises a pneumatic artificial muscle (601), a double earring (602), and a steel wire rope (603); one end of the pneumatic artificial muscle (601) is connected to the frame component (1), the other end of the pneumatic artificial muscle (601) is connected to the double earring (602), one end of the steel wire rope (603) is connected to the double earring (602), and the other end of the steel wire rope (603) is connected to the proximal end of the belt coupling link mechanism (4).

8. The passive upper limb rehabilitation device based on gas-electric hybrid drive according to claim 1, characterized in that: The locking mechanism is a bolt and nut locking or a latch locking.

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