Wrist rehabilitation machine

Abstract

The invention discloses a wrist rehabilitation machine which comprises a supporting vertical plate, a connecting frame, a supporting mechanism, a vertical transverse rotating mechanism, a vertical longitudinal rotating mechanism and a horizontal rotating mechanism. The connecting frame is fixedly connected to the back face and the bottom of the supporting vertical plate. The supporting mechanism is arranged on the back face of the supporting vertical plate. The vertical transverse rotating mechanism is rotationally connected to the front face of the supporting vertical plate. The vertical longitudinal rotating mechanism is arranged on the side, away from the supporting vertical plate, of the vertical transverse rotating mechanism. The horizontal rotating mechanism is arranged at the end, away from the vertical transverse rotating mechanism, of the vertical longitudinal rotating mechanism. The frame body structure provides equipment support and can support training arms at the same time, then the vertical transverse rotating mechanism, the vertical longitudinal rotating mechanism and the horizontal rotating mechanism are matched, rotation guiding of the wrist at all angles is carried out, through the flexible and diversified guiding training, the training effect is good, and the training effect is good. Therefore, the device is more flexible and convenient to use for wrist training.

Description

Technical Field

[0001] The invention relates to the field of rehabilitation equipment, and in particular to a wrist rehabilitation machine. Background Art

[0002] For some patients with hand injuries who need rehabilitation training, one of the rehabilitation training is wrist rehabilitation training. Through the auxiliary exercise of wrist rehabilitation training equipment, the goal is to enhance the strength, flexibility and stability of the wrist and help restore normal function.

[0003] At present, people can choose hospital electroshock therapy, acupuncture and equipment training for rehabilitation training. Among them, hospital electroshock therapy stimulates nerves and muscles through electrical stimulation to help relieve pain and increase muscle strength in the affected area, but it is also accompanied by pain during the training recovery process, and requires professional medical staff to host the operation, and it is not possible to train at home; Acupuncture therapy regulates the body's qi and blood, improves overall health, and reduces dependence on drugs, but this operation also requires a professional acupuncturist to operate, and it is not possible to train at home, and the existing training equipment does not have the function of multi-directional rotation control of the hand, it can only be passively driven. Due to the structural setting of the equipment itself, the structural weight of the equipment itself, when rotating the wrist for exercise, the passive operation of the equipment will generate inertial force, and these inertial forces will increase the burden on the trainee's wrist when they are opposite to the direction of the trainee's force, and may cause damage in severe cases.

[0004] Therefore, this solution proposes a wrist rehabilitation machine to solve the above problems. Summary of the invention

[0005] The object of the present invention is to provide a wrist rehabilitation machine to solve the problems raised in the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solution: a wrist rehabilitation machine, comprising:

[0007] A supporting vertical plate, wherein a through hole is formed in the middle of the supporting vertical plate;

[0008] A connecting frame, the connecting frame is fixedly connected to the back and bottom of the supporting upright board, and the connecting frame is used to support the vertical support of the upright board;

[0009] A supporting and placing mechanism, wherein the supporting and placing mechanism is arranged on the back of the supporting upright plate, and the top of the supporting and placing mechanism is arranged at the insertion hole, and is used for supporting the arm to be exercised;

[0010] A vertical and horizontal rotation mechanism, the vertical and horizontal rotation mechanism is rotatably connected to the front side of the supporting vertical plate, and the vertical and horizontal rotation mechanism is used to guide the wrist to rotate horizontally along the vertical plane;

[0011] A vertical longitudinal rotation mechanism, which is arranged on a side of the vertical transverse rotation mechanism away from the supporting upright plate, and is used to guide the wrist to rotate longitudinally along a vertical plane;

[0012] The horizontal rotation mechanism is arranged at one end of the vertical longitudinal rotation mechanism away from the vertical lateral rotation mechanism, and is used to guide the wrist to rotate horizontally.

[0013] Preferably, the connecting frame comprises:

[0014] A fixing frame, the fixing frame being fixedly connected to the back side of the supporting vertical plate;

[0015] Support legs, a plurality of said support legs are fixedly connected to the bottom of the fixed frame symmetrically along the horizontal and longitudinal directions;

[0016] A support plate is placed, and the support plate is erected on the top of multiple supporting legs along the horizontal longitudinal direction. A control component is arranged between the support plate and the bottom of the supporting vertical plate, and the control component is used to drive and control the rotation angle and rotation speed of the vertical and horizontal rotating mechanism.

[0017] The wrist rehabilitation machine according to claim 1, characterized in that the support and release mechanism comprises:

[0018] A connecting support plate, wherein the connecting support plate is fixedly connected to the back side of the supporting upright plate;

[0019] A U-shaped hand rest is fixedly connected to the top of the connecting support plate, and the top height of the U-shaped hand rest is set at the insertion hole.

[0020] Preferably, the vertical and horizontal rotation mechanism comprises:

[0021] A rotating guide rail, the rotating guide rail is fixedly connected to the front side of the supporting vertical plate, and a through hole concentric with the insertion hole is opened in the middle of the rotating guide rail;

[0022] The rotating gear ring is rotatably connected to the front side of the rotating guide rail, and a plurality of groups of connecting rollers are symmetrically arranged along the center on the back side of the rotating gear ring. The rotating gear ring is rotatably sleeved with the rotating guide rail through the plurality of connecting rollers, and the control member is used to toggle and control the rotating gear ring.

[0023] Preferably, the control element comprises:

[0024] A first drive motor, wherein the first drive motor is disposed on the back side of the supporting vertical plate;

[0025] A first micro switch, wherein a plurality of the first micro switches are symmetrically arranged on the back side of the supporting vertical plate along a horizontal direction;

[0026] The first rotary encoder, the first rotary encoder, the first rotary encoder is inserted and connected to the middle part of the support plate, and the rotating shaft of the first rotary encoder is transmission-connected to the output end of the first drive motor, the first rotary encoder and the transmission part of the first drive motor are sleeved with a control gear, and the outer wall of the control gear is meshed with the outer wall of the rotating gear ring.

[0027] Preferably, a connecting ring is fixedly connected to the front side of the rotating gear ring, and a plurality of L-shaped steel plates are symmetrically arranged along the horizontal center on the front side of the connecting ring, and the plurality of L-shaped steel plates are used to connect the vertical longitudinal rotating mechanism.

[0028] Preferably, the vertical longitudinal rotation mechanism comprises:

[0029] A rotation driving unit, wherein the rotation driving unit is fixedly connected to an end of one of the L-shaped steel plates;

[0030] A rotation control unit, the rotation control unit is fixedly connected to the end of another L-shaped steel plate, and the rotation control unit and the rotation drive unit are symmetrically arranged along the horizontal center;

[0031] Connecting arms, multiple groups of connecting arms are respectively fixedly connected to the end of the rotation control part and the rotation drive part away from the L-shaped steel plate, and the multiple groups of connecting arms are used to connect the horizontal rotation mechanism.

[0032] Preferably, the rotary drive unit comprises:

[0033] a first rotating arm, one side of which is meshed with a first gear and a second gear, wherein a set of the connecting arms rotates coaxially with the second gear;

[0034] The second rotary encoder is arranged at the other side of the first rotary arm, and the rotating shaft of the second rotary encoder rotates coaxially with the first gear.

[0035] Preferably, the rotation control unit comprises:

[0036] A second rotating arm, one side of which is meshed with a third gear and a fourth gear, and another set of the connecting arms rotates coaxially with the fourth gear;

[0037] a second drive motor, wherein the second drive motor is disposed on the other side of the second rotating arm, and an output end of the second drive motor rotates coaxially with the third gear;

[0038] A second micro switch, wherein a plurality of the second micro switches are symmetrically arranged at one end of the second rotating arm close to the fourth gear.

[0039] Preferably, the horizontal rotation mechanism comprises:

[0040] A placing plate, wherein a third driving motor and a third rotary encoder are disposed at the bottom end of the placing plate, a fifth gear and a sixth gear are meshed at the top end of the placing plate, the fifth gear rotates coaxially with the output end of the third driving motor, and the sixth gear rotates coaxially with the rotating shaft of the third rotary encoder;

[0041] A third micro switch, wherein a plurality of the third micro switches are arranged at the top of the placement plate, and the plurality of the third micro switches are symmetrically arranged along the center of the fifth gear;

[0042] A D-shaped handle is fixedly connected to the top end of the fifth gear.

[0043] Technical effects and advantages of the present invention:

[0044] The present invention firstly forms an operating frame structure with a supporting upright connecting frame and a supporting and releasing mechanism. The frame structure can provide equipment support while performing arm supporting and releasing training. Then, a vertical transverse rotation mechanism, a vertical longitudinal rotation mechanism and a horizontal rotation mechanism are matched to guide the rotation of the wrist at various angles. Through such flexible and diverse guided training, the use of the device for wrist training is more flexible and convenient. At the same time, the use of controllable auxiliary guided training makes the operation of the wrist rehabilitation machine safer and more reliable during wrist rehabilitation training. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0046] Figure 2 It is a right side view of the overall structure of the present invention.

[0047] Figure 3 It is a front view of the overall structure of the present invention.

[0048] Figure 4 It is a schematic diagram of the structural connection of the supporting upright plate, the connecting frame and the vertical and horizontal rotating mechanism of the present invention.

[0049] Figure 5 It is a right view of the connection structure of the supporting upright plate, the connecting frame and the vertical and horizontal rotating mechanism of the present invention.

[0050] Figure 6 This is a front view of the connection between the supporting upright plate, the connecting frame and the vertical and horizontal rotating mechanism structure of the present invention.

[0051] Figure 7 This is a rear view of the connection between the supporting upright plate, the connecting frame and the vertical and horizontal rotating mechanism structure of the present invention.

[0052] Figure 8 It is a schematic diagram of the connection between the connecting ring and the vertical longitudinal rotating mechanism structure of the present invention.

[0053] Fig. 9 It is a front view of the connection between the connecting ring and the vertical longitudinal rotating mechanism structure of the present invention.

[0054] Fig.10 It is a right view of the connection between the connecting ring and the vertical longitudinal rotating mechanism structure of the present invention.

[0055] Fig.11 It is a left view of the connection between the connecting ring and the vertical longitudinal rotating mechanism structure of the present invention.

[0056] Fig.12 It is a structural schematic diagram of the horizontal rotation mechanism of the present invention.

[0057] Fig.13 It is the structural right view of the horizontal rotating mechanism of the present invention.

[0058] Fig.14 It is a structural front view of the horizontal rotation mechanism of the present invention.

[0059] Fig.15 It is a top view of the structure of the horizontal rotation mechanism of the present invention.

[0060] In the figure: 1. Support upright plate; 2. Fixed frame; 201. Support leg; 202. Placement support plate; 3. Rotating guide rail; 4. Rotating gear ring; 401. Connecting roller; 5. Connecting ring; 501. L-shaped steel plate; 6. U-shaped hand rest; 601. Connecting support plate; 7. First drive motor; 701. Control gear; 8. First micro switch; 9. First rotary encoder; 10. First rotating arm; 11. Second rotary encoder; 12. First gear; 13. Second gear; 14. Second rotating arm; 15. Second drive motor; 16. Third gear; 17. Fourth gear; 18. Second micro switch; 19. Connecting arm; 20. Placement plate; 21. Third drive motor; 22. Third rotary encoder; 23. Fifth gear; 24. Sixth gear; 25. Third micro switch; 26. D-shaped handle. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0062] Embodiment 1, the present invention provides as follows Figure 1 - Figure 7 A wrist rehabilitation machine shown includes:

[0063] A support plate 1, wherein a through hole is provided in the middle of the support plate 1;

[0064] A connecting frame, the connecting frame is fixedly connected to the back and bottom of the supporting upright board 1, and the connecting frame is used to support the vertical support of the upright board 1;

[0065] Specifically, the connecting frame includes:

[0066] A fixing frame 2, the fixing frame 2 is fixedly connected to the back side of the supporting vertical plate 1;

[0067] Support legs 201, a plurality of support legs 201 are symmetrically fixedly connected to the bottom of the fixing frame 2 along the horizontal and longitudinal directions;

[0068] The support plate 202 is placed and erected on the top of the plurality of support legs 201 along the horizontal longitudinal direction. A control component is provided between the support plate 202 and the bottom of the support vertical plate 1, and the control component is used to drive and control the rotation angle and rotation speed of the vertical and horizontal rotation mechanism.

[0069] It should be noted that the fixed frame 2 is fixed to the side of the back of the supporting vertical plate 1 by bolts, and the fixed frame 2 as a whole is a "door"-shaped frame structure, the interior of which is connected and fixed by the horizontally and longitudinally arranged support legs 201, and the fixed connection between the support legs 201 and the fixed frame 2 is also in the form of bolts or welding, and a hole is opened in the middle of the support plate 202 along the horizontal and longitudinal direction, and the hole is used for the setting of the control part.

[0070] A supporting and placing mechanism, which is arranged on the back of the supporting upright plate 1, and the top of the supporting and placing mechanism is arranged at the insertion hole, and is used to support the arm to be exercised;

[0071] Specifically, the support and release mechanism includes:

[0072] A connecting support plate 601, which is fixedly connected to the back side of the supporting upright plate 1;

[0073] The U-shaped hand rest 6 is fixedly connected to the top of the connecting support plate 601, and the top height of the U-shaped hand rest 6 is set at the insertion hole.

[0074] It should be noted that the connecting support plate 601 is fixedly connected to the back of the supporting vertical plate 1 by means of bolts, and the U-shaped hand rest 6 is fixed to the top of the connecting support plate 601. In this way, the U-shaped hand rest 6 is fixed to the supporting vertical plate 1 by using the connecting support plate 601, and at the same time, the U-shaped structure of the U-shaped hand rest 6 can be supported at the insertion hole of the supporting vertical plate 1. In this way, when the user's arm is inserted and placed on the top of the U-shaped hand rest 6, the user's hand can be inserted in the insertion hole, thereby facilitating the rotation training of the wrist part.

[0075] A vertical and horizontal rotation mechanism, the vertical and horizontal rotation mechanism is rotatably connected to the front side of the supporting upright plate 1, and the vertical and horizontal rotation mechanism is used to guide the wrist to rotate horizontally along the vertical plane;

[0076] A vertical longitudinal rotation mechanism, which is arranged on a side of the vertical transverse rotation mechanism away from the supporting upright plate 1, and is used to guide the wrist to rotate longitudinally along a vertical plane;

[0077] The horizontal rotation mechanism is arranged at one end of the vertical longitudinal rotation mechanism away from the vertical transverse rotation mechanism, and is used to guide the wrist to rotate horizontally.

[0078] Specifically, the vertical and horizontal rotation mechanism includes:

[0079] A rotating guide rail 3, the rotating guide rail 3 is fixedly connected to the front side of the supporting upright plate 1, and a through hole concentric with the insertion hole is opened in the middle of the rotating guide rail 3;

[0080] The rotating gear ring 4 is rotatably connected to the front side of the rotating guide rail 3, and a plurality of connecting rollers 401 are symmetrically arranged along the center on the back side of the rotating gear ring 4. The rotating gear ring 4 is rotatably sleeved with the rotating guide rail 3 through the plurality of connecting rollers 401, and the control member is used to toggle and control the rotating gear ring 4.

[0081] The front side of the rotating gear ring 4 is fixedly connected with a connecting ring 5 , and the front side of the connecting ring 5 is symmetrically provided with a plurality of L-shaped steel plates 501 along the horizontal center, and the plurality of L-shaped steel plates 501 are used to connect the vertical longitudinal rotating mechanism.

[0082] It should be noted that the rotating guide rail 3 is composed of a ring plate structure on both sides, and a gap is provided between the two layers of the ring plate structure, so that the roller part of the connecting roller 401 can be inserted and connected between the two layers of the ring plates. At the same time, through such insertion, the roller of the connecting roller 401 can be clamped and restricted, thereby ensuring that the rotating gear ring 4 can rotate under the support of the connecting roller 401 and the rotating guide rail 3.

[0083] Furthermore, the control element includes:

[0084] A first driving motor 7, which is disposed on the back of the supporting vertical plate 1;

[0085] A first micro switch 8, wherein a plurality of first micro switches 8 are symmetrically arranged on the back side of the supporting vertical plate 1 along a horizontal direction;

[0086] The first rotary encoder 9, the first rotary encoder 9, the first rotary encoder 9 is inserted and connected to the middle part of the support plate 202, and the rotating shaft of the first rotary encoder 9 is transmission-connected to the output end of the first drive motor 7, and the transmission part of the first rotary encoder 9 and the first drive motor 7 is sleeved with a control gear 701, and the outer wall of the control gear 701 is meshed with the outer wall of the rotating gear ring 4.

[0087] It should be noted that the functions of micro switches include: controlling circuits. Micro switches can be used to control the switching state of circuits, and are usually used to turn power on and off, start or stop equipment; detecting position. Micro switches can sense position changes of mechanical parts, and are often used in limit switches and travel switches to ensure that equipment works in the correct position; providing feedback. In some control systems, micro switches can be used as feedback devices to feedback the current state to the control system, including whether a button is pressed or a door is closed.

[0088] In the setting of this scheme, the rotation position of the rotating gear ring 4 can be located through the symmetrically arranged first micro switch 8, and the rotation angle of the rotating gear ring 4 can also be controlled according to the position setting of the first micro switch 8. With such a structural coordination, the position monitoring of the lateral rotation of the vertical plane can be carried out, thereby realizing the monitoring and protection of the lateral rotation of the vertical plane of the wrist.

[0089] The rotary encoder is a sensor used to measure the rotation angle, position and speed. In the setting of this solution, the rotation angle and speed of the drive motor are detected by the rotary encoder, so as to further protect the equipment from lateral rotation in the vertical plane.

[0090] Embodiment 2, the present invention provides as follows Figure 1 , Figure 2 , Figure 3 , Figure 8 - Fig.11 A wrist rehabilitation machine shown includes:

[0091] A support plate 1, wherein a through hole is provided in the middle of the support plate 1;

[0092] A connecting frame, the connecting frame is fixedly connected to the back and bottom of the supporting upright board 1, and the connecting frame is used to support the vertical support of the upright board 1;

[0093] Specifically, the connecting frame includes:

[0094] A fixing frame 2, the fixing frame 2 is fixedly connected to the back side of the supporting vertical plate 1;

[0095] Support legs 201, a plurality of support legs 201 are symmetrically fixedly connected to the bottom of the fixing frame 2 along the horizontal and longitudinal directions;

[0096] The support plate 202 is placed and erected on the top of the plurality of support legs 201 along the horizontal longitudinal direction. A control component is provided between the support plate 202 and the bottom of the support vertical plate 1, and the control component is used to drive and control the rotation angle and rotation speed of the vertical and horizontal rotation mechanism.

[0097] A supporting and placing mechanism, which is arranged on the back of the supporting upright plate 1, and the top of the supporting and placing mechanism is arranged at the insertion hole, and is used to support the arm to be exercised;

[0098] Specifically, the support and release mechanism includes:

[0099] A connecting support plate 601, which is fixedly connected to the back side of the supporting upright plate 1;

[0100] The U-shaped hand rest 6 is fixedly connected to the top of the connecting support plate 601, and the top height of the U-shaped hand rest 6 is set at the insertion hole.

[0101] A vertical and horizontal rotation mechanism, the vertical and horizontal rotation mechanism is rotatably connected to the front side of the supporting upright plate 1, and the vertical and horizontal rotation mechanism is used to guide the wrist to rotate horizontally along the vertical plane;

[0102] A vertical longitudinal rotation mechanism, which is arranged on a side of the vertical transverse rotation mechanism away from the supporting upright plate 1, and is used to guide the wrist to rotate longitudinally along a vertical plane;

[0103] The horizontal rotation mechanism is arranged at one end of the vertical longitudinal rotation mechanism away from the vertical transverse rotation mechanism, and is used to guide the wrist to rotate horizontally.

[0104] Specifically, the vertical longitudinal rotation mechanism includes:

[0105] A rotation driving unit, the rotation driving unit is fixedly connected to an end of one of the L-shaped steel plates 501;

[0106] A rotation control unit, which is fixedly connected to the end of another L-shaped steel plate 501, and the rotation control unit and the rotation drive unit are symmetrically arranged along the horizontal center;

[0107] The connecting arms 19, the multiple groups of connecting arms 19 are respectively fixedly connected to the ends of the rotation control part and the rotation drive part away from the L-shaped steel plate 501, and the multiple groups of connecting arms 19 are used to connect the horizontal rotation mechanism.

[0108] Further, the rotation drive unit includes:

[0109] A first rotating arm 10, one side of which is meshed with a first gear 12 and a second gear 13, wherein a set of connecting arms 19 rotates coaxially with the second gear 13;

[0110] The second rotary encoder 11 is disposed on the other side of the first rotary arm 10 , and the rotating shaft of the second rotary encoder 11 rotates coaxially with the first gear 12 .

[0111] One end of the first rotating arm 10 is fixedly connected to one end of one group of L-shaped steel plates 501 away from the connecting ring 5, so that the first rotating arm 10 is supported and connected by the L-shaped steel plate 501, and the second rotary encoder 11 is provided to detect the rotation angle and rotation speed of the first gear 12, so as to perform the transfer and rotation speed monitoring of the longitudinal rotation in the vertical plane, and the rotation of the first gear 12 is realized by the meshing transmission of the second gear 13, and the second gear 13 rotates synchronously with the connecting arm 19 rotating coaxially therewith. After the connecting arm 19 is connected to the horizontal rotating mechanism, they are connected in series into a whole, so that the rotation of the rotating drive unit is synchronously transmitted with the subsequent rotating control unit.

[0112] The rotation control unit includes:

[0113] A second rotating arm 14, one side of which is meshed with a third gear 16 and a fourth gear 17, and another set of connecting arms 19 rotates coaxially with the fourth gear 17;

[0114] A second drive motor 15, which is disposed on the other side of the second rotating arm 14, and an output end of the second drive motor 15 rotates coaxially with the third gear 16;

[0115] The second micro switches 18 , a plurality of second micro switches 18 , are symmetrically arranged at one end of the second rotating arm 14 close to the fourth gear 17 .

[0116] It should be noted that the second micro switch 18 detects the rotation angle of the fourth gear 17, and feeds back the detection to the second drive motor 15, so that the output of the second drive motor 15 can be converted in forward and reverse directions according to the setting, thereby enabling the rotation angle and rotation direction of the third gear 16 and the fourth gear 17 to be stably controlled, thereby ensuring the stability of the vertical plane longitudinal rotation training.

[0117] Embodiment 3, the present invention provides as follows Figure 1 , Figure 2 , Figure 3 , Fig.12 - Fig.15 A wrist rehabilitation machine shown includes:

[0118] A support plate 1, wherein a through hole is provided in the middle of the support plate 1;

[0119] A connecting frame, the connecting frame is fixedly connected to the back and bottom of the supporting upright board 1, and the connecting frame is used to support the vertical support of the upright board 1;

[0120] Specifically, the connecting frame includes:

[0121] A fixing frame 2, the fixing frame 2 is fixedly connected to the back side of the supporting vertical plate 1;

[0122] Support legs 201, a plurality of support legs 201 are symmetrically fixedly connected to the bottom of the fixing frame 2 along the horizontal and longitudinal directions;

[0123] The support plate 202 is placed and erected on the top of the plurality of support legs 201 along the horizontal longitudinal direction. A control component is provided between the support plate 202 and the bottom of the support vertical plate 1, and the control component is used to drive and control the rotation angle and rotation speed of the vertical and horizontal rotation mechanism.

[0124] A supporting and placing mechanism, which is arranged on the back of the supporting upright plate 1, and the top of the supporting and placing mechanism is arranged at the insertion hole, and is used to support the arm to be exercised;

[0125] Specifically, the support and release mechanism includes:

[0126] A connecting support plate 601, which is fixedly connected to the back side of the supporting upright plate 1;

[0127] The U-shaped hand rest 6 is fixedly connected to the top of the connecting support plate 601, and the top height of the U-shaped hand rest 6 is set at the insertion hole.

[0128] A vertical and horizontal rotation mechanism, the vertical and horizontal rotation mechanism is rotatably connected to the front side of the supporting upright plate 1, and the vertical and horizontal rotation mechanism is used to guide the wrist to rotate horizontally along the vertical plane;

[0129] A vertical longitudinal rotation mechanism, which is arranged on a side of the vertical transverse rotation mechanism away from the supporting upright plate 1, and is used to guide the wrist to rotate longitudinally along a vertical plane;

[0130] The horizontal rotation mechanism is arranged at one end of the vertical longitudinal rotation mechanism away from the vertical transverse rotation mechanism, and is used to guide the wrist to rotate horizontally.

[0131] Specifically, the horizontal rotation mechanism includes:

[0132] A placing plate 20 is provided, wherein a third driving motor 21 and a third rotary encoder 22 are provided at the bottom end of the placing plate 20, and a fifth gear 23 and a sixth gear 24 are meshed at the top end of the placing plate 20, wherein the fifth gear 23 and the output end of the third driving motor 21 rotate coaxially, and the sixth gear 24 rotates coaxially with the rotating shaft of the third rotary encoder 22;

[0133] A third micro switch 25, wherein a plurality of third micro switches 25 are disposed at the top of the placement plate 20, and the plurality of third micro switches 25 are symmetrically disposed along the center of the fifth gear 23;

[0134] The D-shaped handle 26 is fixedly connected to the top of the fifth gear 23 .

[0135] It should be noted that the rotation angle and direction of the fifth gear 23 are detected by the third microswitch 25, and the detected signal is fed back to the third drive motor 21, so as to control the third drive motor 21 for forward and reverse rotation control, thereby driving the fifth gear 23 to rotate, and the fifth gear 23 transmits the rotating power to the sixth gear 24, and the sixth gear 24 drives the third rotary encoder 22 to rotate, so as to monitor the rotation angle and speed, thereby ensuring the detection of the horizontal orbiting angle and speed.

[0136] In actual operation, the user places his arm on the top of the U-shaped hand rest 6 and holds the D-shaped handle 26 with his hand;

[0137] When the horizontal rotation mechanism is started, the third driving motor 21 drives the fifth gear 23 to rotate, and the D-shaped handle 26 rotates synchronously with the fifth gear 23, so as to perform horizontal rotation training of the wrist;

[0138] When the vertical longitudinal rotation mechanism is started, the second drive motor 15 drives the third gear 16 to rotate, and under the meshing transmission, the fourth gear 17 drives the connected connecting arm 19 to perform vertical longitudinal rotation. At this time, driven by the placement plate 20, multiple groups of connecting arms 19 rotate synchronously, so that the vertical longitudinal rotation mechanism rotates and operates, thereby performing vertical longitudinal rotation training of the wrist;

[0139] When the vertical and horizontal rotation mechanism is started, the first drive motor 7 drives the rotating gear ring 4 to rotate by controlling the gear 701. At this time, the rotating gear ring 4 drives the connecting ring 5 to rotate, and the connecting ring 5 drives the vertical longitudinal rotation mechanism and the horizontal rotation mechanism to rotate vertically and horizontally synchronously, so as to perform vertical and horizontal rotation training of the wrist.

[0140] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A wrist rehabilitation machine, characterized in that: include: A supporting upright plate (1), wherein a through hole is provided in the middle of the supporting upright plate (1); A connecting frame, the connecting frame is fixedly connected to the back and bottom of the supporting upright plate (1), and the connecting frame is used to support the vertical support of the upright plate (1); A supporting and placing mechanism, the supporting and placing mechanism is arranged on the back of the supporting upright plate (1), and the top of the supporting and placing mechanism is arranged at the insertion hole, and is used for supporting the arm to be exercised; A vertical and horizontal rotation mechanism, the vertical and horizontal rotation mechanism is rotatably connected to the front side of the supporting vertical plate (1), and the vertical and horizontal rotation mechanism is used to guide the wrist to rotate horizontally along a vertical plane; A vertical longitudinal rotation mechanism, the vertical longitudinal rotation mechanism being arranged on a side of the vertical transverse rotation mechanism away from the supporting upright plate (1), the vertical longitudinal rotation mechanism being used to guide the wrist to rotate longitudinally along a vertical plane; The horizontal rotation mechanism is arranged at one end of the vertical longitudinal rotation mechanism away from the vertical lateral rotation mechanism, and is used to guide the wrist to rotate horizontally.

2. A wrist rehabilitation machine according to claim 1, characterized in that: The connecting frame comprises: A fixing frame (2), the fixing frame (2) being fixedly connected to the back side of the supporting vertical plate (1); Support legs (201), a plurality of the support legs (201) being fixedly connected to the bottom of the fixed frame (2) in a horizontal and longitudinally symmetrical manner; A support plate (202) is placed, and the support plate (202) is erected on the top of a plurality of support legs (201) along a horizontal longitudinal direction. A control member is provided between the support plate (202) and the bottom of the supporting upright plate (1), and the control member is used to drive and control the rotation angle and rotation speed of the vertical and horizontal rotation mechanism.

3. The wrist rehabilitation machine according to claim 1, characterized in that: The supporting and releasing mechanism comprises: A connecting support plate (601), wherein the connecting support plate (601) is fixedly connected to the back side of the supporting upright plate (1); A U-shaped hand rest (6), wherein the U-shaped hand rest (6) is fixedly connected to the top of the connecting support plate (601), and the top height of the U-shaped hand rest (6) is set at the insertion hole.

4. The wrist rehabilitation machine according to claim 2, characterized in that: The vertical and horizontal rotation mechanism comprises: A rotating guide rail (3), the rotating guide rail (3) being fixedly connected to the front surface of the supporting vertical plate (1), and a through hole concentric with the insertion hole is opened in the middle of the rotating guide rail (3); A rotating gear ring (4) is rotatably connected to the front side of the rotating guide rail (3), and a plurality of groups of connecting rollers (401) are symmetrically arranged along the center on the back side of the rotating gear ring (4). The rotating gear ring (4) is rotatably sleeved with the rotating guide rail (3) through the plurality of groups of connecting rollers (401), and the control member is used to toggle and control the rotating gear ring (4).

5. The wrist rehabilitation machine according to claim 4, characterized in that: The control element comprises: A first drive motor (7), wherein the first drive motor (7) is arranged on the back side of the supporting vertical plate (1); A first micro switch (8), wherein a plurality of the first micro switches (8) are symmetrically arranged on the back side of the supporting vertical plate (1) in a horizontal direction; The first rotary encoder (9), the first rotary encoder (9), the first rotary encoder (9) is inserted and connected to the middle part of the support plate (202), and the rotating shaft of the first rotary encoder (9) is transmission-connected to the output end of the first drive motor (7), the transmission part of the first rotary encoder (9) and the first drive motor (7) is sleeved with a control gear (701), and the outer wall of the control gear (701) is meshed with the outer wall of the rotating gear ring (4).

6. The wrist rehabilitation machine according to claim 4, characterized in that: The front side of the rotating gear ring (4) is fixedly connected to a connecting ring (5), and the front side of the connecting ring (5) is symmetrically provided with a plurality of L-shaped steel plates (501) along the horizontal center, and the plurality of L-shaped steel plates (501) are used to connect the vertical longitudinal rotating mechanism.

7. The wrist rehabilitation machine according to claim 6, characterized in that: The vertical longitudinal rotation mechanism comprises: A rotation driving unit, the rotation driving unit being fixedly connected to an end of one of the L-shaped steel plates (501); A rotation control unit, the rotation control unit is fixedly connected to the end of another L-shaped steel plate (501), and the rotation control unit and the rotation drive unit are symmetrically arranged along the horizontal center; Connecting arms (19), multiple groups of the connecting arms (19) are respectively fixedly connected to the ends of the rotation control unit and the rotation drive unit away from the L-shaped steel plate (501), and the multiple groups of the connecting arms (19) are used to connect the horizontal rotation mechanism.

8. The wrist rehabilitation machine according to claim 7, characterized in that: The rotary drive unit comprises: A first rotating arm (10), one side of which is meshed with a first gear (12) and a second gear (13), wherein a group of the connecting arms (19) rotates coaxially with the second gear (13); A second rotary encoder (11), wherein the second rotary encoder (11) is arranged on the other side of the first rotary arm (10), and the rotating shaft of the second rotary encoder (11) rotates coaxially with the first gear (12).

9. The wrist rehabilitation machine according to claim 7, characterized in that: The rotation control unit comprises: A second rotating arm (14), one side of which is meshed with a third gear (16) and a fourth gear (17), and another set of connecting arms (19) rotates coaxially with the fourth gear (17); A second drive motor (15), wherein the second drive motor (15) is arranged on the other side of the second rotating arm (14), and an output end of the second drive motor (15) rotates coaxially with the third gear (16); A second micro switch (18), wherein a plurality of the second micro switches (18) are symmetrically arranged at one end of the second rotating arm (14) close to the fourth gear (17).

10. The wrist rehabilitation machine according to claim 7, characterized in that: The horizontal rotation mechanism comprises: A placement plate (20), wherein a third drive motor (21) and a third rotary encoder (22) are arranged at the bottom end of the placement plate (20), and a fifth gear (23) and a sixth gear (24) are meshed at the top end of the placement plate (20), wherein the fifth gear (23) and the output end of the third drive motor (21) rotate coaxially, and the sixth gear (24) rotate coaxially with the rotating shaft of the third rotary encoder (22); A third micro switch (25), wherein a plurality of the third micro switches (25) are arranged at the top of the placement plate (20), and the plurality of the third micro switches (25) are symmetrically arranged along the center of the fifth gear (23); A D-shaped handle (26), wherein the D-shaped handle (26) is fixedly connected to the top end of the fifth gear (23).

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